JP2601753B2 - Article transfer equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic tape
The present invention relates to a device for transferring articles in the shape of a hollow disk such as a key.

[0002]

2. Description of the Related Art One of the magnetic tape manufacturing processes involves manufacturing
There is an inspection process for inspecting the manufactured magnetic tape. This inspection
In the inspection step, a magnetic tape having a predetermined length
Into a pancake, and wrap this pancake with magnetic tape.
Edge inspection of magnetic tape
And pinholes are checked for good and defective products.
I have.

In the above magnetic tape inspection apparatus, the inspection
Uninspected pancakes from the stock axis in the front stocker
Take it out, attach it to the delivery shaft,
Damage while winding the magnetic tape on the winding shaft
Inspection for pinholes and pinholes, etc.
Remove the inspected pancake from the
After selecting the good products and inspecting them, insert them into the stock shaft in the stocker.
A series of work is being performed. And the above
Cakes, stock shafts, delivery shafts, winding shafts, etc.
While being attached to the shafts of
The auto clamper is in contact with the inner surface of the hub insertion hole.
The posture is fixed substantially vertically. By the way, the magnetic tape
In the inspection device, the pancakes are
A robot hand for attaching and detaching to and from
A mechanical chuck is attached to this type of robot hand.
Have been. This mechanical chuck is located in the radial direction of the shaft.
Is provided with a movable engaging claw.
The shaft in the axial direction of the shaft
Forward and backward to operate the mechanical chuck,
Was grasped and inserted.

[0004]

However, the above-mentioned
In the cake removal device, the core between the robot hand and the shaft
(Depending mainly on the accuracy of the robot hand detection mechanism, etc.)
Exists), and the pancakes whose posture is fixed with an auto clamper
Centering of the shaft and the shaft (mainly the auto clamper
Not depend on the accuracy of the stock axis)
When transferring pancakes from the
Do not center the pancake and transfer it,
Damage to the robot hand and the feed axis,
There is a possibility that the hub of the brake will be damaged. Also, take-up shaft
When transferring pancakes to the stock shaft
Next, the robot hand centers and moves the pancake
Cannot be mounted, resulting in damage to the robot hand and stock axis.
It can cause scratches and damage to the pancake hub.
is there.

[0005] The present invention uses a hand to make pancakes and the like.
When transferring an aerial disk-shaped article to the stock axis,
The purpose is to be able to transfer articles by centering them.

[0006]

According to a first aspect of the present invention, there is provided an article transfer apparatus for removing a hollow disk-shaped article from a stock shaft using the hand, wherein the hand sucks a side surface of the article. A stock shaft having an elastic suction pad and a posture holding pad abutting on a side surface of the article, a stock shaft capable of inserting a large number of articles in a multilayer shape, and a stock shaft arranged at a base end side of the stock tube. radius perpendicular articles on the cylinder and push plate for pushing the distally stock tube, is disposed on the distal end side of the stock tube with respect to the central axis of the stock tube
Moves in a direction, are housed in and out of its, projected, and a centering pin which allowed to centering and abuts against the inner peripheral portion of the article at the forefront position of the stock tube central axis of the article to the central axis of the stock tube An article on the stock cylinder is sandwiched between the posture holding pad of the hand and the pushing plate of the stock shaft, and while holding the vertical posture of the article, the article is moved to the stock cylinder by the movement of the posture holding pad and the pushing plate. The center of the article can be centered on the stock axis and the center axis of the hand by centering the centering pin on the inner periphery of the article positioned at the forefront of the stock cylinder. Thus, the article can be sucked and gripped. The present invention according to claim 2 is an article transfer device that inserts a hollow disk-shaped article to its stock shaft using a hand, wherein the hand has an elastic suction pad that suctions a side surface of the article, strike with the stock axis, and the stock tube capable of inserting a number of articles in multi-layer form, move in and out of the axial direction of the stock tube
It expands and contracts in and out in the radial direction perpendicular to the center axis of the stock cylinder, is adsorbed by the elastic suction pad of the hand, and is locked to the inner peripheral portion of the article positioned in front of the stock cylinder so that the center of the article is An expanding arm for centering the shaft on the center axis of the stock shaft, allowing the article sucked by the elastic suction pad of the hand to be positioned in front of the stock cylinder, and moving the expanding arm toward the tip of the stock cylinder. The expanding arm is expanded and locked to the inner peripheral portion of the article, the center axis of the article is centered on the center axis of the stock axis, and the suction of the article by the elastic suction pad of the hand is released. The expanding arm is drawn into the inside of the stock tube so that the article can be inserted into the inside of the stock tube.

[0007]

According to the first aspect of the present invention, the following functions are provided.
There is. The goods are removed from the stock shaft and transferred to the sending shaft, etc.
Of the hand's posture holding pad and stock shaft
The object on the stock cylinder is sandwiched between the plates,
Position the article at the forefront of the stock cylinder while maintaining the posture
I can. And the thing positioned at the forefront of the stock tube
A centering pin is abutted against the inner periphery of the product, and the center axis of the product is
Center on the stock axis and the center axis of the hand.
The above article is sucked and gripped by the elastic suction pad of the
You. Therefore, remove the article from the stock axis using the hand.
The object is well centered and gripped
Can be smoothly transferred to the feed axis, etc.
It will be.

According to the second aspect of the present invention, the following is provided.
There is action. When goods are transferred from the take-up shaft etc. to the stock shaft,
The goods sucked by the suction pad of the hand
Position in front. Then, expand the arm
Move to the distal end side, expand the spreading arm, and
Locked to the inner periphery, the center axis of the article is the center axis of the stock axis
Centered on the hand and the article by the elastic suction pad of the hand
Release the suction and move the expanding arm inward of the stock cylinder.
Then, the article is inserted inside the stock tube. still,
During the centering described above with the spreading arm,
Of the elastic deformation of the suction pad
It can be easily shifted in the range, and the suction pad
Does not hinder interrogation. Therefore, using the hand
When an article is inserted into the stock shaft
Can be smoothly centered and inserted smoothly
Becomes

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

(1) Tape Evaluation Apparatus FIG. 1 is a front view showing a tape evaluation apparatus to which a pancake transport apparatus as one embodiment of an article transport apparatus according to the present invention is applied.

The tape evaluation device 1 includes a tape evaluation traveling device 5 as an evaluation traveling means for evaluating the magnetic characteristics of the magnetic tape 4 as a band wound on the pre-evaluation pancake 2 as a pre-evaluation coil; A pancake conveying device 6 as a coil conveying means for carrying the pre-evaluation pancake 2 into the evaluation traveling device 5 and carrying out the evaluated pancake 3 as an evaluated coil, and a sending shaft side for cutting and joining the magnetic tape 4. Dispatch shaft side tape cutting and joining means 7 as cutting and joining means, winding shaft side tape cutting and joining device 8 as winding shaft side cutting and joining means, and sending shaft side joining part discarding the tape joint part of magnetic tape 4 The leading end of the magnetic tape 4 is guided to a predetermined position. A tape tip attaching apparatus 12 as the tape tip extractor 11 and strip tip bonding means as strip tip drawing means, tape-cleaning device 1 of the magnetic tape 4 as a cleaning means of the web to dust
3 is configured.

The tape evaluation traveling device 5 is installed at the center of the front of the evaluation device housing 1A,
, A rotating shaft driven and driven, a winding shaft 15 supporting and rotating the evaluated pancake 3, and a magnetic tape 4 arranged between the rotating shaft 14 and the winding shaft 15.
A characteristic evaluation unit 16 for evaluating the magnetic characteristics of the transmission shaft 14,
Magnetic tape 4 extending between characteristic evaluation section 16 and winding shaft 15
And a plurality of drive rolls 17 and guide rolls 18 for guiding the traveling of the vehicle. Also, the sending shaft 14
A tape separation detection sensor 19 is provided on the side, and detects that the magnetic tape 4 has completely separated from the pancake hub 20 as the coil hub in the pancake 2 before evaluation.

Next, the pancake conveying device 6 will be described in detail later.
0 is carried into the take-up shaft 15 from the sending shaft 14, and the pre-evaluation pancake 2 stored in the pre-evaluation pancake stock shaft 22 is carried into the sending shaft 14. The pancake 3 is transported to the evaluated pancake stock shaft 23. In addition, the tape cleaning device 13
As will be described in detail later, there are two types, a single-stage tape cleaning device 24 and a multi-stage tape cleaning device 25. Two multistage tape cleaning devices 25 are provided, one each between the sending shaft 14 and the characteristic evaluation unit 16 and between the winding shaft 15 and the characteristic evaluation unit 16 in the tape evaluation traveling device 5. 24 is provided between the take-up shaft 15 and the characteristic evaluation unit 16. The two types of the single-stage tape cleaning device 24 and the multi-stage tape cleaning device 25 remove dust and foreign matter from the tape during the evaluation of the magnetic properties of the tape.

On the other hand, the feed shaft side tape cutting and joining device 7
The magnetic tape 4, which is installed near the delivery shaft 14 between the delivery shaft 14 and the property evaluation unit 16 in the tape evaluation traveling device 5 and is sent from the pancake 2 before evaluation, is cut and joined.
The feed shaft side tape cutting and joining device 7 includes a tape holding block 26, a tape cutter 27 (FIG. 2) and a splicer 28, and further includes a main shift roller 29 and a vacuum box 31.

The tape holding block 26 is shown in FIGS.
As shown in the figure, the fixed block 32 and the movable block 33
The fixed block 32 is fixed to the evaluation device housing 1A and is immovable, but the movable block 33 is moved in the moving direction of the tape cutter 27, that is, the evaluation device housing 1A as shown by a two-dot chain line in FIG. Is provided so as to be shiftable in a vertical direction with respect to the front of the camera. The fixed block 32 and the movable block 33 are provided with an evaluation path 34 and a discard path 35, respectively. The evaluation path 34 of the fixed block 32 and the evaluation path 34 of the movable block 33 communicate with each other, and the path 35 of the fixed block 32 and the path 35 of the movable block 33 communicate with each other. You. Further, when the movable block 33 is shifted in the cutter moving direction, the evaluation path 34 of the movable block 33 is set so as to communicate with the discard path 35 of the fixed block 32.

The evaluation path 34 and the discard path 3
A large number of vacuum holes 36 are drilled in 5, and a negative pressure acts on the vacuum holes 36 so that the magnetic tape 4 is attracted and fixed to the evaluation path 34 or the discard path 35. FIG. 3 shows a state in which the magnetic tape 4 is suction-fixed to the discard path 35, and the suction-fix of the magnetic tape 4 is released in the evaluation path 34.

The tape cutter 27 includes a fixed block 32.
The magnetic tape 4 which is provided so as to be able to reciprocate between the joining portions of the movable block 33 and the suction tape 35 as shown in FIG.
Cut as shown in (B). Also, the splicer 28
Is a tape holding block 26 as shown in FIG.
A splice tape 38 as an adhesive tape is configured to be supplied to the operation surface 37 facing the (fixed block 32 and the movable block 33), and moves toward the tape holding block 26 to adhere the splice tape 38 to the magnetic tape 4. . The splicer 28 joins the cut magnetic tapes 4.

The main shift roller 29 is installed so as to be able to advance and retreat toward the tape holding block 26 (the fixed block 32 and the movable block 33), as shown by a two-dot chain line in FIG. As the main shift roller 29 advances, the magnetic tape 4 is set near the evaluation path 34 of the fixed block 32 and the movable block 33. In addition, the vacuum box 31 is installed between the sending shaft 14 and the movable block 33, and as shown in FIG. 7C, the end of the magnetic tape 4 separated from the pancake hub 20 of the evaluated pancake 3. When the magnetic tape 4 is cut by the tape cutter 27 by sucking the terminal portion, tension is applied to the magnetic tape 4 to facilitate cutting. The vacuum box 31 further sucks and discards the end portion of the magnetic tape 4 after cutting by the tape cutter 27. As shown in FIG. 1, guide rollers 39 are provided before and after the tape holding block 26 in the tape running direction.

Next, the winding shaft side tape cutting and joining device 8
It has a tape holding block 26, a tape cutter 27, and a splicer 28, which are configured similarly to the above-described sending shaft side tape cutting and joining device 7, and further includes a guide roller 39. The winding shaft-side tape cutting and joining device 8 includes a winding shaft 15 and a characteristic evaluation unit 1 in the tape evaluation traveling device 5.
The pancake 3 which has been installed near the winding shaft 15 between
Then, the magnetic tape 4 wound around the winding shaft side winding shaft 10 described later is cut and joined. The movable block 33 of the tape holding block 26 in the winding shaft side tape cutting and joining device 8
Is the movable block 33 of the feed shaft side tape cutting and joining device 7.
In the same manner as described above, in addition to shifting in the moving direction of the tape cutter 27, as shown by the one-dot chain line in FIG. 2, the tape cutter 27 can be shifted in the running direction of the magnetic tape 4, and both of these shifts are selected. .

Therefore, when the tape running direction shift is selected, the winding shaft side tape cutting and joining device 8
After cutting the magnetic tape 4 as shown in FIGS. 5A, 5B and 5C, as shown in FIG.
3 is separated from the fixed block 32 in the tape running direction, a gap 40 is set between both cut surfaces of the cut magnetic tape 4, and the cut two tapes are separated by the splicer 2.
As shown in FIG. 5 (E), the splicing tape 38 is used for bonding. As a result, the splice tape 38
Is exposed by an amount corresponding to the gap 40, and the adhesive surface 40A of the exposed splice tape 38 is exposed.
The evaluated pancake 3 wound on the winding shaft 15 by
Is fixed to the outermost magnetic tape 4 of the evaluated pancake 3.

The delivery shaft side tape joint discarding device 9 shown in FIG. 1 is configured as a delivery shaft side discarding shaft (henceforth, referred to as a "dispensing shaft discarding shaft 9").
Is disposed adjacent to the feed shaft side tape cutting and joining device 7. As shown in FIG. 7 (2), the sending shaft side unwinding shaft 9 is connected to the splicer 28 of the sending shaft side tape cutting and joining device 7 at the end of the magnetic tape 4 of the pancake 2 before evaluation.
The tape joining portion including the splice tape 38 joined by the above is wound up and discarded.

The winding shaft side tape joint discarding device 10
As shown in FIG. 1, is configured as a take-up shaft-side unwinding shaft 10 (henceforth, referred to as a "winding-shaft-side unwinding shaft 10") as shown in FIG. It is arranged close to the device 8. This winding shaft side unwinding shaft 10
As shown in FIG. 7 (4), the winding shaft side tape cutting and joining device 8 connects the magnetic tape 4 extending from the winding shaft side unwinding shaft 10 and the magnetic tape 4 running on the tape evaluation traveling device 5. The joined tape joint was wound up and discarded, and as shown in FIG. 8 (4), the pancake 2 before evaluation was joined at the start end of the magnetic tape 4 by the splicer 28 of the tape cutting and joining apparatus 7 on the delivery shaft side. Take up and discard the tape joint.

The tape leading-out device 11 shown in FIG.
Is mounted on the delivery shaft 14 side in the tape evaluation traveling device 5 and includes a vacuum box 41 with a chuck and a sub-roller 42. As shown in FIG. 8B, the vacuum box 41 with a chuck sucks and grips the tape start end portion of the pancake 2 before evaluation carried into the delivery shaft 14 by the transport hand 21. Further, as shown in FIG. 8 (3), the vacuum box 41 with a chuck is provided so as to be movable toward and beyond the tape cutting and joining device 7 on the delivery shaft side and to be gripped by the tape cutting and joining device 7. The leading end of the magnetic tape 4 is guided onto the tape holding block 26 of the tape cutting and joining device 7 on the sending shaft side. The sub-roller 42 is configured to be able to advance and retreat toward the tape holding block 26 of the feed shaft side tape cutting and joining device 7. As shown in FIGS. 8 (3) and 13 (B), by the advance of the sub-roller 42, the tape start end guided on the tape holding block 26 by the vacuum box 41 with the chuck is used for evaluating the tape holding block 26. Pressed on path 34.

Finally, the tape tip affixing device 12 comprises:
As shown in FIG. 1, the tape evaluation traveling device 5 is provided on the winding shaft 15 side and includes a vacuum chuck 43 and a water receiving tray 44. The water receiving tray 44 stores water.
Further, the vacuum chuck 43 holds the water receiving tray 4 from above the tape holding block 26 of the winding shaft side tape cutting and joining device 8.
4 is provided so as to be able to reciprocate horizontally in the horizontal direction, and is provided movably in the vertical direction from directly above the winding shaft 15 to the winding shaft 15, and further from directly above the water receiving tray 44 to the water receiving tray 44. It is provided movably in the vertical direction opposite to it. As shown in FIGS. 9 (2) and 9 (3), the vacuum chuck 43 is configured to be able to suck the magnetic tape 4 on the tape holding block 26 of the winding shaft side tape cutting and joining device 8 by negative pressure. Therefore, the tape tip attaching device 12
The suction end of the magnetic tape 4 on the tape holding block 26 on the winding shaft side tape cutting and joining device 8, that is, the tape start end of the pancake 2 before evaluation is sucked and gripped by the vacuum chuck 43. The water in the water receiving tray 44 is applied to the tape start end, and the water causes the tape start end to adhere to the pancake hub 20 on the winding shaft 15.

Next, the operation of the above-described tape evaluation apparatus 1 will be described with reference to FIGS.

During tape evaluation The first pancake before evaluation and the pancake hub 20 are manually carried into the sending shaft 14 and the take-up shaft 15 by the operator, respectively, and the tape start end 4 of the pancake 2 before evaluation.
Is wound around the drive roll 17 and the guide roll 18 of the tape evaluation traveling device 5 and passed through the characteristic evaluation unit 16. Further, the starting end of the magnetic tape 4 is attached to the pancake hub 20 on the winding shaft 15 with water. FIG. 6A shows a state in which the magnetic tape 4 is wound.

In this state, in the feed shaft side tape cutting and joining device 7, as shown in FIG. 10A, the magnetic tape 4 extending from the unwound shaft 9 is attracted to the unwound path 35 of the fixed block 32. Fixed. On the other hand, in the winding shaft side tape cutting and joining device 8, as shown in FIG. 10B, the evaluation path 34 of the fixed block 32 and the movable block 33.
Then, the magnetic tape 4 passed through the tape evaluation traveling device 5 and attached to the pancake hub 20 on the winding shaft 15 is fixed by suction. The magnetic tape 4 extending from the winding shaft-side unscrew shaft 10 is attached to the unwinding path 35 of the fixed block 32 of the winding shaft-side tape cutting and joining device 8.

Thereafter, as shown in FIGS. 6A and 6B, the take-up shaft 15 and the drive roll 17 of the tape evaluation traveling device 5 are driven to rotate, and the characteristic evaluation unit 16 controls the magnetic characteristics of the magnetic tape 4. To evaluate. During this evaluation, FIG.
0 (C), as shown in FIG.
At this time, the magnetic tape 4 sucked and fixed to the evaluation path 34 of the fixed block 32 and the movable block 33 is released and the magnetic tape 4 is moved on the evaluation path 34 by the winding shaft 1.
5 is running toward the pancake hub 20.

After the evaluation of the tape The number of revolutions of the delivery shaft 14 decreases with the feeding of the magnetic tape 4 in the pancake 2 before the evaluation, which shifts from FIG. 6 (1) to (2). A radius of 2 is detected. When the radius of the pre-evaluation pancake 2 reaches a predetermined value, the winding shaft 15 and the drive roll 17 are stopped, and the evaluation of the magnetic tape 4 is completed (FIG. 7).
(1)).

After the evaluation is completed, the main roller 29 advances in the sending shaft side tape cutting and joining device 7 to press the magnetic tape 4, and as shown in FIG.
The magnetic tape 4 is suction-fixed by negative pressure in the evaluation path 34 of the movable block 33, and the tape cutter 27 is fixed.
Is cut at Thereafter, the movable block 33 is moved to the position shown in FIG.
FIG. 7B shows a shift in the cutter moving direction as shown in FIG.
As shown in FIG. 11C and FIG. 11C, the splicer 28 is joined by using a splice tape 38. By this joining, the magnetic tape 4 at the end of the pancake 2 before evaluation is joined to the magnetic tape 4 from the sending-out-side unwinding shaft 9, and then the unwinding path 35 of the fixed block 32 and the movable block 3
Then, the suction fixing of the evaluation path 34 is released, and the sending shaft side unwinding shaft 9 is driven to rotate, and is taken up and discarded by the sending shaft side unwinding shaft 9.

As shown in FIG. 7 (3), the end of the magnetic tape 4 of the pancake 2 before evaluation is connected to the pancake hub 20.
When the tape separation detection sensor 19 detects that the tape has been separated from the tape, the sending shaft side unwinding shaft 9 stops, and the unwinding ends. Thereafter, as shown in FIG. 11 (D), the magnetic tape 4 is suction-fixed by the discarding path 35 of the fixed block 32 and the evaluation path 34 of the movable block 33, and the end portion of the magnetic tape 4 is vacuumed. Box 31 is adsorbed (FIG. 7).
(3)) A tension is applied to the magnetic tape 4. Then, the magnetic tape 4 is cut by the tape cutter 27, and the cut pieces of the magnetic tape 4 are sucked and discarded by the vacuum box 31, and as shown in FIG. Return to

On the other hand, after the evaluation of the magnetic tape 4 is completed, in the winding shaft side tape cutting and joining device 8, as shown in FIGS. The magnetic tape 4 is suction-fixed by negative pressure in the evaluation path 34, and the magnetic tape 4 is cut by the tape cutter 27. Thereafter, the movable block 33 is moved to the position shown in FIG.
As shown in FIG. 5B and FIG. 5D, the magnetic tape 4 is shifted in the running direction to be separated from the fixed block 32, and a gap 40 is set in the cut surface of the magnetic tape 4. This gap 40
After setting, as shown in FIGS. 7 (2) and 12 (C),
The magnetic tape 4 is joined using the splicing tape 38 by the splicer 28, and then the magnetic tape 4 is released from the fixed block 32 and the movable block 34 by the evaluation path 34, and the winding shaft 15 is driven to rotate. The magnetic tape 4 is wound around the evaluated pancake 3 (FIG. 12D).
In this winding state, as shown in FIGS. 5 (F) and 7 (3), the adhesive surface 40A of the splice tape 38 is attached to the outermost magnetic tape 4 already wound on the evaluated pancake 3. You.

Next, as shown in FIGS. 7 (3) and 12 (E), the movable block 33 returns to the home position, and the magnetic tape 4 is attracted and fixed by the evaluation path 34 of the fixed block 32 and the movable block 33. Thereafter, the magnetic tape 4 is cut by the tape cutter 27. After this cutting, the movable block 33 shifts in the cutter moving direction (FIG. 12F), and the splicer 2
At 8, the magnetic tape 4 is joined using the splice tape 38 (FIG. 12 (G)). By this joining, the magnetic tape 4 traveling on the tape evaluation traveling device 5 and the magnetic tape 4 extending from the winding shaft side unwinding shaft 10 are joined. Further, after the joining, the suction and fixation of the magnetic tape 4 by the evaluation path 34 of the fixed block 32 is released, and the evaluated pancake 3 is removed.
Is separated from the winding shaft side tape cutting and joining device 8.

After the winding of the evaluated pancake 3 by the winding shaft 15 is completed, the transfer hand 21 (FIG. 1) of the pancake transfer device 6 is moved to the position shown in FIG.
The evaluated pancake 3 on the winding shaft 15 shown in (4) is carried out to the evaluated pancake stock shaft 23 (FIG. 1), and FIG.
The pancake hub 20 on the delivery shaft 14 shown in (4) is carried into the take-up shaft 15 and the pancake stock shaft 22 before evaluation is taken.
The pre-evaluation pancake 2 (FIG. 1) is carried onto the delivery shaft 14 as shown in FIG.

At this time, the feed shaft side tape cutting and joining device 7
In FIG. 13A, as shown in FIG. 13A, the magnetic tape 4 extending to the tape evaluation traveling device 5 in the evaluation path 34 of the fixed block 32 and the magnetic tape 4 extending to the sending shaft side unwinding shaft 9 in the unwinding path 35. Each of the tapes 4 is suction-fixed by negative pressure. Further, in the winding shaft side tape cutting and joining device 8, as shown in FIG. 14 (A), the path 35 for removing the fixed block 32 and the path 34 for evaluating the movable block 33.
The magnetic tape 4 joined by the splice tape 38 is fixed by suction under negative pressure. The bonded magnetic tape 4 includes a winding shaft-side unwinding shaft 10 and a tape evaluation traveling device 5.
The tape extends to

Before the evaluation of the tape After the pre-evaluation pancake 2 is carried in, as shown in FIG. 8 (2), the delivery shaft 14 is driven to rotate and the pre-evaluation pancake 2 is rotated, and the tape tip pulling device 11 is attached with a chuck. The vacuum box 41 sucks and chucks the starting end of the magnetic tape 4 of the rotated pre-evaluation pancake 2. Subsequently, the vacuum box 41 with the chuck is shown in FIG.
As shown in (3), it moves to the feed shaft side tape cutting and joining device 7 side, and stops between the sub roller 42 and the main roller 29. After this stop, the sub-roller 42 advances, and the starting end of the magnetic tape 4 pulled out from the pre-evaluation pancake 2 is placed on the evaluation path 34 in the fixed block 32 and the movable block 33 of the feed shaft side tape cutting and joining device 7. Press (FIG. 13B).

The evaluation path 34 of the movable block 33 sucks and fixes the pressed magnetic tape 4 by negative pressure.
As shown in FIG. 3 (C), it is cut by the tape cutter 27. After the cutting, the cut pieces of the magnetic tape 4 that have been chucked in the vacuum box 41 with a chuck are suctioned and discarded by the vacuum box 41 with a chuck. Thereafter, as shown in FIG. 8D, the vacuum box with chuck 41 and the sub-roller 42 return to their original positions, and the splicer 28 uses the splice tape 38 to move the evaluation box 34 on the fixed block 32 and the movable block 33. (FIG. 13D).

By this joining, the magnetic tape 4 from the tape evaluation traveling device 5 and the pre-evaluation pancake 2
From the magnetic tape 4. After the joining, the magnetic tape 4 is released from the fixed path 32 and the movable block 33 in the feeding shaft side tape cutting / joining device 7 by suction at the evaluation path 34 (FIG. 13E).

On the other hand, in the winding shaft side tape cutting and joining device 8, at the same time as the release of the suction of the joining tape in the sending shaft side tape cutting and joining device 7 shown in FIG. In this way, the magnetic tape 4 is released from being attracted and fixed to the discarding path 35 of the fixed block 32 and the evaluation path 34 of the movable block 33 in the winding shaft side tape cutting and joining device 8. Then, as shown in FIG. 8 (4), the winding shaft side unwinding shaft 10 and the tape evaluation traveling device 5
The drive roll 17 of FIG. 13 is driven to rotate, and the tape joining portion by the splice tape 38 of FIG.
The tape joint portion by the splice tape 38 in (D) is wound around the winding shaft side unwinding shaft 10.

During the winding by the winding shaft side unwinding shaft 10, in the feed shaft side tape cutting and joining device 7, the main roller 29 returns to the home position as shown in FIG.
As shown in (E), the path 3 for discarding the movable block 32
The magnetic tape 4 extending to the sending shaft side unwinding shaft 9 is attracted and fixed only to the feeding shaft 5. In the winding shaft side tape cutting and joining device 8, the feed shaft side unwinding shaft 10 is used as shown in FIG.
At the stage where the tape joining portion shown in FIG. 3 (D) has been wound, the unwinding is completed, and as shown in FIG.
Then, the magnetic tape 4 is cut.

After this cutting, the movable block 33 is shifted to the original position as shown in FIG. 14D, and the drive roll 17 of the tape evaluation traveling device 5 shown in FIG. A slack is provided in the magnetic tape 4 immediately before the taper-side tape cutting and joining device 8. Next, the suction fixing of only the evaluation path 34 of the movable block 33 is released, and the vacuum chuck 43 of the tape tip affixing device 12 moves the magnetic force on the evaluation path 34 of the movable block 33 in the winding shaft side tape cutting and joining device 8. The tip of the tape 4 is sucked and chucked (FIG. 9 (2) and FIGS. 14 (D) and 14 (E)).
Thereafter, the vacuum chuck 43 attaches the water of the water receiving tray 44 to the tip of the magnetic tape 4, and attaches the tip of the magnetic tape 4 to the pancake hub 20 of the winding shaft 15 as shown in FIG. The magnetic tape 4 is set right above and descends, and the tip of the magnetic tape 4 is attached to the pancake hub 20 on the winding shaft 15 with water. Then, as shown in FIG. 14F, the magnetic tape 4 is suction-fixed to the evaluation path 34 of the fixed block 32 and the movable block 33 in the winding shaft side tape cutting and joining device 8.

After the preparation for the tape evaluation is completed as described above, as shown in FIG. 10C, the evaluation path 34 for the fixed block 32 and the movable block 33 in the tape cutting and joining device 8 on the winding shaft side. Then, the winding shaft 15 and the drive roll 17 are driven to rotate as shown in FIG. 6A, and the tape evaluation by the characteristic evaluation unit 16 is performed.

As described above, according to the tape evaluation device 1, the magnetic characteristics of the magnetic tape 4 can be evaluated by the characteristic evaluation section 16 of the tape evaluation traveling device 5, and the delivery shaft 14 can be evaluated by the pancake transport device 6. And the pancake 2 before evaluation on the winding shaft 15,
The evaluated pancake 3 and the pancake hub 20 can be carried in and out, and the leading end of the magnetic tape 4 can be set at a desired position by the tape leading end device 11 and the tape leading end attaching device 12. The magnetic tape 4 existing in the tape evaluation traveling device 5 by the shaft side tape cutting and joining device 7 and the winding shaft side tape cutting and joining device 8, the pancake 2 before evaluation, the evaluated pancake 3, and the unwinding on the sending shaft side. The shaft 9 and the take-up shaft-side unwinding shaft 10 can be cut and joined to the magnetic tape 4, and the outgoing shaft-side unwound shaft 9 and the take-up shaft-side unwound shaft 10 can be cut and joined by the tape. Since the tape joining portion can be discarded by the device 7 and the winding shaft side tape cutting / joining device 8, the magnetic properties of the magnetic tape 4 of the pancake can be continuously and automatically evaluated for a plurality of pancakes.

Further, in the winding shaft side tape cutting and joining device 8, the movable block 33 separates from the fixed block 32 in the running direction of the magnetic tape 4, and the magnetic tape 4 existing on the fixed block 32 and the movable block 33 is moved. Since the gap 40 can be set in the running direction of the magnetic tape 4, the splice tape 38 for joining the magnetic tape 4 on the fixed block 32 and the movable block 33 includes
The adhesive surface 40A is exposed at a position corresponding to the gap 40. For this reason, if this adhesive surface 40A is attached to the outermost magnetic tape 4 already wound on the evaluated pancake 3, the end of the magnetic tape 4 is unwound from the evaluated pancake 3. Can be prevented.

The change of the magnetic tape 4 in the tape evaluation device 1 is performed by the pancake conveying device 6, the sending shaft side and winding shaft side tape cutting and joining devices 7 and 8, the sending shaft side and winding shaft side tape joining portion. This is performed by the discarding devices 9 and 10, the tape tip pulling device 11 and the tape tip sticking device 12, and is not manually performed.
Can reduce the number of times workers enter and exit the clean room in which is installed. Therefore, the evaluation of the magnetic tape 4 can be performed in an environment with little dust, and a highly reliable magnetic tape cassette can be manufactured.

The above-described tape evaluation apparatus 1 evaluates the magnetic characteristics of the magnetic tape 4 and joins the magnetic magnetic tape 4 by exposing the sticking surface 40A to the splice tape 38. The present invention can be applied not only to the tape 4, but also to a film such as a movie film, a band-like cloth, paper, or the like, which is evaluated for its properties, and which is used to join a joint.

(2) Pancake Transporting Apparatus As shown in FIG. 1, the pancake transporting apparatus 6 serving as an article transporting apparatus includes, as described above, a pancake stock shaft 22 before evaluation and an evaluated pancake The pre-evaluation pancake 2 and the evaluated pancake 3 as articles are stored on the stock shaft 23, respectively, and the transport hand 21 grips the pre-evaluation pancake 2, the evaluated pancake 3, and the pancake hub 20, It is transported to a predetermined position.

The pancake stock shaft 22 before the evaluation is
A plurality of pancake stock shafts 2 are arranged on the right side of FIG.
3 are arranged on the left side. These pre-evaluated pancake stock axis 22 and evaluated pancake stock axis 2
As shown in FIGS. 15, 16 and 17, 3 is installed in parallel with the feed shaft 14 and the take-up shaft 15 of the tape evaluation traveling device 5 and attached to the frame 45 of the evaluation device housing 1A.

A horizontal moving guide 46 is disposed on the upper and lower front sides of the evaluation device housing 1A. A vertical moving guide 48 moves horizontally through a horizontal moving block 47 on the horizontal moving guide 46. The transfer hand 2 is moved on a vertical movement guide 48 via a vertical movement block 49.
1 moves vertically. The horizontal movement guides 46 are installed over both ends of the evaluation device housing 1A in the front horizontal direction, and the vertical movement guides 48 are installed over both ends of the evaluation device housing 1A in the front vertical direction. Therefore,
The transfer hand 21 is provided so as to be able to move substantially the entire area of the front surface of the tape evaluation device 1 including the pancake stock shaft 22 before evaluation and the pancake stock shaft 23 after evaluation.

The horizontal moving guide 46 has a horizontal moving rail 50 extending to both ends of the horizontal moving guide 46, and a horizontal moving block 47 is slidably fitted on the horizontal moving rail 50. A horizontal drive motor 51 is provided on the back surface of the frame 45 of the evaluation device housing 1A. The driving force of the horizontal drive motor 51 is transmitted to the lower belt 53 via pulleys 52A, 52B, 52C and 52D, and transmitted to the upper belt 55 via the electric shaft 54 and the pulleys 52E and 52F. The electric shaft 54 includes pulleys 52C and 52E.
Are connected in the vertical direction. Also, the lower belt 53
The vertical movement guide 48 is fixed to the upper belt 52. Therefore, the vertical movement guide 48 moves in the horizontal direction via the lower belt 53 and the upper belt 55 by the rotational drive of the horizontal drive motor 51.

As shown in FIGS. 18 and 20, the vertical movement guide 48 includes two vertical movement rails 56, one screw shaft 57, and a vertical drive motor 58. Vertical moving rail 56 and screw shaft 57
Are installed between the upper and lower horizontal movement guides 46 in the vertical direction of the vertical movement guide 48. The vertical drive motor 58 is housed in a motor case 59 and rotates a screw shaft 57 via a pulley 60 and a belt 61. On the other hand, the vertical moving block 49 is slidably fitted to the vertical moving rail 56 as shown in FIG. Accordingly, the screw shaft 57 is rotated by the rotation of the vertical drive motor 58, and the vertical movement block 49, that is, the transport hand 21 is moved in the vertical direction of the vertical movement guide.

The transfer hand 21 is shown in FIGS.
20, a main cylinder 64 fixed to the hand main body 62 via a cylinder bracket 63.
A vacuum pad 67 as gripping means mounted on a piston rod 65 of the main cylinder 64 via a pad mounting plate 66; and a sub-cylinder 70 mounted on the hand main body 62 via a cylinder bar 68 and a cylinder plate 69. And a posture holding pad 72 as posture holding means fixed to the piston rod 71 of the sub cylinder 70.

The hand main body 62 is vertically moved
9 is fixed. The cylinder bracket 63 allows the vacuum pad 67 to move in the direction of the pancake hub 20, the pre-evaluation pancake 2, or the evaluated pancake 3. Six to eight vacuum pads 67 are installed in the circumferential direction of the pad mounting plate 66, and the side surface of the pancake hub 20 or the pancake hub 20 of the pre-evaluation pancake 2 or the evaluated pancake 3 is applied by negative pressure. The pancake hub 20 and the pre-evaluation pancake 2
Alternatively, the evaluated pancake 3 can be gripped. Instead of these vacuum pads 67, a spread-type chuck may be used.

The posture holding pad 72 moves back and forth with respect to the pre-evaluation pancake 2 by the action of the sub-cylinder 70.
One side of the pre-evaluation pancake 2 stored and stored in the pre-evaluation pancake stock shaft 22 can be pressed. The posture holding pad 72, evaluated before when the stock tube 73 before evaluation housed in (described later) pancakes 2 pancakes 2 are transferred to the tip portion of the stock tube 7 3, prior to use pancake 2 The posture of the pre-evaluation pancake 2 is held in the vertical direction so that the pre-evaluation pancake 2 does not tilt during the transfer in cooperation with a push plate 75 (described later) that presses the other side surface. Incidentally, two or three or more or more of the posture holding pads 72 may be provided around the plurality of vacuum pads 67.

The pancake stock shaft 22 before the evaluation is
As shown in FIG. 21, it is configured to include a stock cylinder 73, a delivery shaft 74, a pushing plate 75, a delivery shaft driving pulley 76, and a centering pin 77.

The stock tube 73 is fixed to the frame 45 of the evaluation device housing 1A via a mounting plate 78. This stock cylinder 73 functions as a storage means,
A large number of pre-evaluation pancakes 2 are stored and stored in a stacked state on the outer periphery. A base plate 79 is fixed to the base end of the stock cylinder 73, and an end plate 80 is fixed to a distal end of the stock cylinder 73 using fixing bolts 81. The delivery shaft 74 is rotatably supported by the base plate 79 and the end plate 80 via a bearing 82.

The delivery shaft drive pulley 76 is rotatably loosely fitted to the base end of the delivery shaft 74. This feed shaft driving pulley 7
6 is prevented from falling out of the delivery shaft 74 by a retaining bearing 83 fixed to the base end portion of the delivery shaft 74. Further, an electromagnetic clutch 84 is provided at the base end of the delivery shaft 74 adjacent to the delivery shaft drive pulley 76. When the electromagnetic clutch 84 is operated, the delivery shaft driving pulley 76 and the delivery shaft 74 are connected to rotate the delivery shaft 74, and
When the electromagnetic clutch 84 is not operated, this connection is released and the rotation of the delivery shaft 74 stops.

Further, a feed screw 85 is engraved on the feed shaft 74 at a position corresponding to the inside of the stock cylinder 73, and a slide member 86 is screwed onto the feed screw 85. Push plate 7
A plurality of, for example, three sheets 5 are fixed in the circumferential direction of the slide member, and function as transfer means. That is, when the delivery shaft 74 rotates during the operation of the electromagnetic clutch 84, the pushing plate 85 moves forward in the distal direction of the stock shaft 73 due to this rotation, and the leading end surface 75A of the pushing plate 75 moves the pancake 2 before evaluation in the storage state. To transfer the pre-evaluation pancake 2 toward the distal end of the stock tube 73. During this transfer, the posture holding pad 72 of the transfer hand 21 presses the opposite side surface of the pre-evaluation pancake 2.
Is always maintained in a vertical state without tilting.

The delivery shaft 74 is provided with an air passage 87 for supplying air over substantially the entire length along the center line. On the other hand, as shown in FIG. 23, a plurality of (for example, three) centering pins 77 are provided at predetermined intervals in the circumferential direction of the end plate 80. The centering pin 77 is disposed so as to be slidable in the radial direction of the end plate 80, slides outward in the radial direction of the end plate 80 by air pressure from the air passage 87, and moves from the outer peripheral surface of the stock cylinder 73. It is configured to be protrudable. Due to the projection of the centering pin 77, the tip of the centering pin 77 is stored on the inner peripheral surface of the pancake hub 20 of the pre-evaluation pancake 2 which is housed in the pre-evaluation pancake stock shaft 22 and located at the foremost position of the stock tube 73. The center axis of the pancake 2 before evaluation is the pancake stock axis 2 before evaluation.
2 coincides with the center axis (centering).

As shown in FIG. 23, a return spring 8 is provided between the centering pin 77 and the stock cylinder 73.
The centering pin 77 is housed in the end plate 80 when the supply of the air pressure is stopped. Also,
Reference numeral 89 in FIG. 21 denotes a position sensor, and the pushing plate 75 moves to the tip of the stock cylinder 73,
When the last one piece of pre-evaluation pancake 2 remains, the pancake 2 comes into contact with the end plate 80 and that fact is detected.

The evaluated pancake stock shaft 23 is
As shown in FIG. 22, the stock cylinder 90, the reciprocating cylinder 9
1. It has an expanding cylinder 92 and an expanding arm 93. The stock tube 90 is provided in the evaluation device housing 1.
A is fixed to the frame 45 of FIG. The stock tube 90 functions as a storage means, and a large number of evaluated pancakes 3 are stored and stored in a stacked state on the outer periphery.

The reciprocating cylinder 91 is fixed to the back surface of the frame 45 of the evaluation device housing 1A via the support plate 45. The piston rod 96 of the reciprocating cylinder 91 is connected via a coupling 98 to a reciprocating shaft 97 disposed in the stock cylinder 90, and the reciprocating shaft 97 is expanded via an adjuster 99 for length adjustment. It is connected to the cylinder 92. Advance shaft 9
7 is a shaft guide 1 fixed in the stock cylinder 90.
00 and slidably provided on the shaft guide 100. Further, a slide housing 101 is integrally or integrally formed with the expansion cylinder 92, and an expansion arm 93 is pivotally supported at a tip end of the slide housing 101. The slide housing 101
Is a head 1 slidably disposed in a stock tube 90.
02.

A plurality (for example, three) of the above-mentioned expanding arms 93 are installed at the distal end of the slide housing 101 at predetermined intervals in the circumferential direction (FIG. 24). A locking claw 103 is formed at the tip of the expanding arm 93, and
An urging body 105 such as a spring is interposed between the base end of the slide housing 3 and the outer peripheral surface of the slide housing 101. The urging force of the urging body 105 holds the three locking claws 103 in a reduced diameter state.

The piston rod 1 of the expanding cylinder 92
06, the operating rod 10 via the coupling 107
8 are connected to each other, and a swelling portion 109 of the operating rod 108 is formed with a taper 110 for opening and closing. On the other hand, the stock tube 9
An end plate 111 is fixed to the leading end of the stock tube 90, and a guide rod 112 is fixed to the end plate 111 by bolts toward the inside of the stock cylinder 90. A guide hole 113 is formed in the operating rod 108 along the axis. The guide rod 112 is inserted into the guide hole 113.
The guide rod 112 guides this slide when the operating rod 108 slides.

In the evaluated pancake stock shaft 23, the reciprocating cylinder 91, the expanding cylinder 92, and the locking claw 103 of the expanding arm 93 are configured as a transfer means. That is, when the reciprocating cylinder 91 pushes out the piston rod 96, the expanding cylinder 92 advances through the advancing and retreating shaft 97 toward the distal end of the stock cylinder 90, and the expanding cylinder 92 advances through the slide housing 101 to advance. The locking claw 103 of the open arm 93 also advances in the same direction. The advance of the locking claw 103 causes the locking claw 103 to move forward.
Project forward from the end plate 111. When the locking claw 103 moves forward, the piston rod 106 of the expansion cylinder 92 is pushed out, and the diameter of the locking claw 103 is reduced by the action of the urging body 105. Further, due to the advance of the locking claw 103, the above-described engagement is caused in the inner peripheral portion of the pancake hub 20 of the evaluated pancake 3 conveyed to the leading end position of the pancake stock shaft 23 in the stock cylinder 90 after the evaluation by the conveyance hand 21. The pawl 103 is located. In this state, when the piston rod 106 of the expanding cylinder 92 is retracted, the opening and closing taper 11 of the operating rod 108 is opened.
0 presses the three expanding arms 93, and the locking claws 103 are expanded and locked on the inner peripheral portion of the pancake hub 20 of the evaluated pancake 3 on the transport hand 21. As a result, the center axis of the evaluated pancake stock axis 23 matches the center axis of the evaluated pancake 3 (centering).
After releasing the suction of the evaluated pancake 3 by the vacuum pad 67 of the transfer hand 21, the piston rod 96 of the advance / retreat cylinder 91 is retracted, and the evaluated pancake 3 is held in the locking claw 103 and the stock cylinder 90 is held in the state. It is stored inside.

The frame 4 of the evaluation device housing 1A
5, a contact sensor 114 is provided.
By 14, it is detected that the evaluated pancake 3 is stored and stored up to the full in the stock tube 90 of the evaluated pancake stock shaft 23. Also, reference numeral 115 in FIG.
Is an air vent hole. When the piston rod 96 of the reciprocating cylinder 91 is pushed out, the guide rod 112 is inserted into the guide hole 113 of the operating rod 108. In order to facilitate the insertion, the air in the guide hole 113 is discharged. Is what you do. Reference numeral 116 in FIG. 22 indicates a thrust bearing.

Next, the operation of the above-described pancake conveying device 6 will be described.

When the pancake 2 before evaluation shown in FIG. 1 is carried out from the pancake stock shaft 22 before evaluation, as shown in FIG. 15, first, the transfer hand 21 is driven by the horizontal drive motor 51 and the vertical The directional drive motor 58 moves the pancake stock shaft 22 to a predetermined pre-evaluation pancake stock shaft 22 position.

Next, as shown in FIG. 21, the push plate 75 of the pancake stock shaft 22 before evaluation is moved by the action of the delivery shaft driving pulley 76 and the delivery shaft 74 to remove the pancake 2 before evaluation when the electromagnetic clutch 84 is operated. It is transported toward the tip of the stock tube 73. At the time of this transfer, the posture holding pad 72 of the transport hand 21 shown in FIG. 19 advances toward the pancake stock shaft 22 before evaluation by the action of the sub-cylinder 70, and the pancake 2 before evaluation on the pancake stock shaft 22 before evaluation. Press the outer side surface at. Thereby, the pancake 2 before evaluation on the pancake stock shaft 22 before evaluation shown in FIG. 21 holds the posture in the vertical direction by the cooperation of the posture holding pad 72 and the pushing plate 75, while the posture of the stock tube 73 is maintained. Transferred to the tip. At this stage, the centering pin 77 of the pre-evaluation pancake stock shaft 22 protrudes, and the axis of the pre-evaluation pancake stock 2 matches the axis of the pre-evaluation pancake stock shaft 22 and the conveyance hand 21.

Next, the piston rod 65 of the main cylinder 64 in the transfer hand 21 shown in FIG. 19 is pushed out, and the vacuum pad 67 is positioned by the centering pin 77, the pushing plate 75 and the posture holding pad 72 before evaluation. 2 pancake hubs 2
The side at 0 is sucked and gripped. Thereafter, when the supply of air pressure is stopped, the centering pin 77 is moved to the end plate 8.
0, and the posture holding pad 7 of the transfer hand 21
2 retreats. The transfer hand 21 is configured as shown in FIG.
By the operation of the horizontal drive motor 51 and the vertical drive motor 58 shown in FIG. 1, the grasped pancake 2 before evaluation is carried into the delivery shaft 14 in FIG.

Carrying out pancake The transfer hand 21 also sucks and holds the evaluated pancake 3 on the winding shaft 15 with the vacuum pad 67 in the same manner as the above-mentioned pre-evaluation pancake 2. By the operation of the vertical drive motor 58, the grasped pancake 2 before evaluation is moved onto a predetermined pancake stock shaft 23 before evaluation shown in FIG. Then, the evaluated pancake stock shaft 23 shown in FIG. 22 pushes out the piston rod 106 of the expansion cylinder 92 and pushes out the piston rod 96 of the advance / retreat cylinder 91 in a state where the diameter of the locking claw 103 is reduced. 103 is moved toward the tip of the evaluated pancake stock shaft 23.

Next, the piston rod 106 of the expanding cylinder 92 is retracted, and the locking claw 103 is expanded by the action of the taper 110 for opening and closing. It is locked on the inner periphery of the pancake hub 20 and is simultaneously centered. Thereafter, the suction by the vacuum pad 67 of the transport hand 21 is released, and the piston rod 96 of the advance / retreat cylinder 91 in the evaluated pancake stock shaft 23 is retracted, and the evaluated pancake locked by the locking claw 103. 3 is stored in a predetermined position of the stock tube 90. After this storage,
The piston rod 106 of the expanding cylinder 92 is pushed out, and the locking claw 103 is reduced in diameter.

Effect The delivery shaft 74, the pushing plate 75, and the delivery shaft drive pulley 76 of the pancake stock shaft 22 before evaluation transfer the pancake 2 before evaluation on the stock tube 73 of the pancake stock shaft 22 before evaluation into the stock tube 73. The cylinder 9 is moved to the tip side, and the reciprocating cylinder 9 of the evaluated pancake stock shaft 23 is moved.
1. The expanding cylinder 92 and the locking claw 103 draw and transfer the evaluated pancake 3 on the transport hand 21 into the stock tube 90 and store it at a predetermined position in the stock tube 90. Further, the transfer hand 21 is provided with a sub-cylinder 70 and a posture holding pad 72 separately from the main cylinder 64 and the vacuum pad 67. The posture holding pad 72 is provided on the pancake stock shaft 22 before evaluation. Before the cake 2 is sucked and gripped by the vacuum pad 67 of the transport hand 21, the pancake stock shaft 2 before evaluation is
By cooperating with the second pressing plate 75, the posture of the pancake 2 before evaluation moving on the stock shaft 73 is appropriately maintained. For these reasons, the main cylinder 64 and the vacuum pad 67 of the transport hand 21 need only hold the pre-evaluation pancake 2 and the evaluated pancake 3,
The structure in which the pre-evaluation pancake 2 is transferred on the pre-evaluation pancake stock shaft 22 or the structure in which the evaluated pancake 3 is transferred on the evaluated pancake stock shaft 23, or the structure before the evaluation is performed on the pre-evaluation pancake stock shaft 22 A structure for optimizing the posture of the pancake 2 becomes unnecessary. Therefore, the configuration of the transport hand 21 is simplified as a whole, and its weight can be reduced. Therefore, without increasing the size of the horizontal drive motor 51 and the vertical drive motor 58 to increase the cost, The evaluated pancake 3 can be transported at a high speed.

Since the pre-evaluation pancake stock shaft 22 and the evaluated pancake stock shaft 23 are arranged in parallel with the feed shaft 14 and the take-up shaft 15 of the tape evaluation traveling device 5, the transport hand 21 performs these evaluations. When the pancakes 2 and 3 are carried in and out of the front pancake stock shaft 22 and the evaluated pancake stock shaft 23, it is not necessary to change the directions of the pancakes 2 and 3 by rotating or the like. Also from this viewpoint, the structure of the transfer hand 21 is simplified, and the control thereof is also facilitated.

The pancake conveying device 6 described above conveys the pre-evaluation pancake 2, the evaluated pancake 3, and the pancake hub 20, but is not limited thereto, and may be a hollow disk-shaped article, For example, the present invention can be applied to a device that transports a coil on which a band-shaped material such as a tape or a film is wound.

(3) Tape Cleaning Apparatus The tape cleaning apparatus 13 as a cleaning apparatus for a strip shown in FIG. 1 is installed in the tape evaluation traveling apparatus 5 as described above. The single-stage tape cleaning device 24 is installed in front of the winding shaft side tape cutting and joining device 8.

First, the single-stage tape cleaning device 24
As shown in FIGS. 25A and 25B, two cleaning tape delivery shafts 117, two cleaning tape winding shafts 118, and two delivery rollers 119A and 119B respectively.
19B, a base 120 and two pressing rolls 121.

The base 120 is fixed to the pedestal 122 and has a curved surface 123 as a curved surface. Tape guides 124 are provided on both sides of the curved surface 123. The tape guide 124 prevents the magnetic tape 4 and the cleaning tape 127 running on the arc surface 123 from skidding as described later.

The pressing roll 121 is rotatably supported at the tip of a roll arm 125, and these two roll arms 125 are coaxially supported by the pedestal 122 so as to be swingable. A pressing spring 126 is interposed between the roll arm 125 and the pedestal 122, and the urging force of the pressing spring 126 moves the roll arm 125 to the base 1.
20 is pressed against the circular arc surface 123 with a predetermined pressure. This predetermined pressure is set to a value that does not apply excessive tension to the magnetic tape 4 described later.

The two cleaning tape delivery shafts 11
7, the cleaning tape coil 128 of the cleaning tape 127 is inserted and supported. The two cleaning tapes 127 pulled out from the two cleaning tapes 128 are connected to the arc surface 1 of the base 120.
23 and the pressing roller 121, and the delivery roller 11
After passing between 9A and 119B, two cleaning tape winding shafts 118 are reached, and these two cleaning tape winding shafts 118 are wound. The cleaning tape winding shaft 118 is connected to a motor (not shown) via an electromagnetic powder clutch (not shown). Also, the delivery roller 11
9A and 119B make a pair, and are rotationally driven through a motor (not shown) to hold the cleaning tape 1 held therebetween.
27 is sent to the cleaning tape winding shaft 118 at a constant speed.

The magnetic tape 4 is mounted on the circular arc surface 12 of the base 120.
3 and the pressing roller 121, the guide roller 1 is interposed between two cleaning tapes 127 disposed in a direction B opposite to a running direction A of the cleaning tape 127.
The vehicle is guided by 29. Therefore, the magnetic tape 4 is simultaneously cleaned on both sides by the two cleaning tapes 127. As a result, even if the magnetic tape 4 is charged during this cleaning,
Is not performed, so that dust and foreign matter generated at the time of subsequent cleaning do not adhere to the magnetic tape 4.

The urging force of the pressing spring 126 causes the cleaning tape 12 to move through the roll arm 125.
7 is pressed, the pressure of the cleaning surface can be adjusted by the pressing spring 126, and the cleaning performance can be improved. At the same time, magnetic tape 4
When the running resistance of the pressing roller 121 becomes excessive,
Is separated from the cleaning tape 127 against the urging force of the pressing spring 126, so that the tension acting on the magnetic tape 4 does not become excessive, and the elongation of the magnetic tape 4 can be prevented.

Further, the delivery rollers 119A and 119
B drives the cleaning tape 127 at a constant speed, and the cleaning tape winding shaft 118 is driven by a motor via an electromagnetic powder clutch (not shown). When the running speed of the cleaning tape 127 by the rollers 119A and 119B is different, the cleaning tape winding shaft 118 runs idle, and the running speed of the cleaning tape 127 can be maintained constant. For this reason,
It is possible to keep the tension of the magnetic tape 4 constant and the cleaning constant.

Next, the multi-stage tape cleaning device 125
Will be described. This multi-stage tape cleaning device 1
The cleaning tape delivery shaft 117, cleaning tape take-up shaft 118, and delivery rollers 119A and 119B have the same configuration as the single-stage tape cleaning device 24 as shown in FIG. 130 (six) and cleaning roller 1
31 (seven), many (for example, six) one-side guide rollers 132, and many (for example, six) other-side guide rollers 133.

The cleaning rollers 130 and 131 are
It is rotatably supported by a roller plate 135 fixed to the base 134. The multiple cleaning rollers 130 and the multiple cleaning rollers 131 are arranged in series, but one cleaning roller 130 and one cleaning roller 131 are adjacent to each other and constitute one set (one stage).
And six sets (six stages) are provided as a whole. Also, the one-side guide roller 132 and the other-side guide roller 133
Are rotatably supported by a pedestal 134, and one guide roller 132 is arranged in series on the right side of the cleaning roller 130 in FIG. 26, and the other guide roller 133 is arranged in series on the left side of the cleaning roller 131 in FIG.

The cleaning tape 127 of the cleaning tape coil 128 inserted and supported on one of the cleaning tape sending shafts 117 is wound around the cleaning roller 130 and the one-side guide roller 132 alternately, and passes between the sending rollers 119A and 119B. Cleaning tape winding shaft 118. Further, the cleaning tape 127 of the cleaning tape coil 128 inserted and supported by the other cleaning tape sending shaft 117 includes the cleaning roller 131 and the other side guide roller 133.
Are alternately wound around the feed rollers 119A and 119.
The cleaning tape winds up the other cleaning tape winding shaft 118 through the interval B.

The magnetic tape 4 passes through the ends of the cleaning rollers 130 and 131 arranged in series, and the cleaning tape 1 wound around the cleaning rollers 130 and 131, respectively.
The cleaning tape 127 travels in a direction B opposite to the traveling direction A while contacting the cleaning tape 127. During this time, the magnetic tape 4
The front and back sides are cleaned by the cleaning tape 127 wound around the one set of cleaning rollers 130 and 131, and this cleaning is repeated for each set (stage), and is performed six times in total.

As described above, the front and back of the magnetic tape 4 are cleaned six times by the cleaning tape 127 wound around the six sets (six stages) of cleaning rollers 130 and 131, respectively.
The traveling speed of the magnetic tape 7 is set to be extremely lower than the traveling speed of the magnetic tape 4. In other words, while the magnetic tape 4 in the one-volume pre-evaluation pancake 2 on the delivery shaft 14 shown in FIG. 1 is evaluated by the tape evaluation unit 16, the cleaning tape 127 is replaced with the cleaning tape 127 shown in FIGS. ),
From the cleaning roller 130 to the one-side guide roller 13
2 to the next cleaning roller 130 (from the cleaning roller 131 to the other side guide roller 133).
Over the next cleaning roller 131)
Just set the running speed. During this time, the magnetic tape 4 runs at a high speed at which the evaluation of one tape of the pre-evaluation pancake 2 is completed. FIG. 27 (A), (B), (C)
In (D), the thick portion of the cleaning tape 127 corresponds to the dirty portion 13 of the tape due to cleaning.
6 is shown.

The delivery rollers 119A and 119B correspond to FIG.
While the transport hand 21 of the pancake transport device 6 shown in FIG. 27 transports the pre-evaluation pancake 2 and the evaluated pancake 3, the cleaning together with the cleaning tape winding shaft 118 is performed as shown in FIG. The cleaning tape 12 has a length corresponding to the length of the dirty portion 136, that is, a portion surrounded by a broken line frame 137 in FIG.
Wind up 7. At the stage when the new pre-evaluation pancake 2 is carried into the delivery shaft 14 by the carrying hand 21, FIG.
As shown in FIG. 7D, cleaning of the magnetic tape 4 is started again.

According to the multi-stage tape cleaning device 25, the traveling speed of the cleaning tape 127 traveling on the cleaning roller 130 and one guide roller 132, and the cleaning tape 127 traveling on the cleaning roller 131 and the other guide roller 133, respectively, is the traveling speed of the magnetic tape 4. , An arbitrary set (one stage) of cleaning rollers 1 for cleaning the front and back of the magnetic tape 4.
30 and 131, one of the cleaning rollers 1
The cleaning tape 127 wound around 30 or 131 generates a small amount of charge on the magnetic tape 4, and the cleaning tape 127 wound around the other cleaning roller 131 or 130 and the magnetic tape 4
The amount of dust (the amount of foreign matter) generated between them is also small. Therefore,
Even by the multi-stage cleaning by the multi-stage tape cleaning device 25 described above, it is possible to prevent foreign substances such as dust from adhering to the magnetic tape 4 due to charging.

The multi-stage tape cleaning device 2
5, one set (one stage) of adjacent cleaning rollers 1
Although the front and back of the magnetic tape 4 are simultaneously cleaned by 30 and 131, these cleaning rollers 130 and 131 are alternately arranged, and since these cleaning rollers 130 and 131 are not configured to sandwich the front and back of the magnetic tape 4, this Excessive tension does not act on the magnetic tape 4.

Further, as shown in FIG. 1, the single-stage tape cleaning device 24 and the multi-stage tape cleaning device 25 are installed in the tape evaluation traveling device 5, and the characteristic evaluation section 1
Since the cleaning of the magnetic tape 4 is performed during the evaluation of the magnetic tape 4 by 6, the processing of the magnetic tape 4 can be performed quickly.

Since the tape cleaning was performed before and after the evaluation of the magnetic tape 4 as described above, the characteristic evaluation unit 1
6 improves the reliability of the evaluation. At the same time, dust generated by passing through the characteristic evaluation unit 16 can be removed before being wound on the winding shaft 15, so that the reliability of the magnetic tape 4 wound on the evaluated pancake 3 is improved, As a result, high reliability of the magnetic tape cassette can be achieved.

The tape cleaning devices 24, 2
In 5, the case where the belt-like material is the magnetic tape 4 is described, but the present invention can be applied to cleaning of a film such as a movie film, a belt-like thin plate, paper or cloth.

[0095]

As described above , according to the present invention, the hand is
Using a hollow disk-shaped article such as pancake as a stock axis
When transferring items, centering and transferring items
It can be.

[Brief description of the drawings]

FIG. 1 is a front view showing a tape evaluation device to which a pancake transport device as one embodiment of an article transport device according to the present invention is applied.

FIG. 2 is a perspective view showing a part of the tape cutting and joining device on the delivery shaft side or the tape cutting and joining device on the winding shaft side of FIG. 1;

FIG. 3 is a perspective view showing a relationship between the tape cutting and joining apparatus shown in FIG. 2 and a magnetic tape;

FIG. 4 is a view showing the operation of the tape cutting and joining device on the delivery shaft side or the tape cutting and joining device on the winding shaft side shown in FIGS. 2 and 3;

FIG. 5 is a view showing another operation of the winding shaft-side tape cutting and joining device shown in FIGS. 2 and 3;

FIG. 6 is a diagram showing an operation during tape evaluation in the tape evaluation traveling device of FIG. 1;

FIG. 7 is a diagram showing an operation after the tape evaluation in the tape evaluation traveling device of FIG. 1;

FIG. 8 is a diagram showing a first half of an operation before tape evaluation in the tape evaluation traveling device of FIG. 1;

FIG. 9 is a diagram showing a latter half of the operation before the tape evaluation in the tape evaluation traveling device of FIG. 1;

FIG. 10 is a diagram showing an operation during tape evaluation in the feed shaft side tape cutting and joining device and the winding shaft side tape cutting and joining device shown in FIGS. 1 and 2;

FIG. 11 is a diagram showing the operation of the delivery shaft side tape cutting and joining apparatus shown in FIGS. 1 and 2 after the evaluation of the tape;

FIG. 12 is a diagram showing an operation after evaluation of the tape in the winding-shaft-side tape cutting and joining apparatus shown in FIGS. 1 and 2;

FIG. 13 is a diagram showing an operation of the delivery shaft side tape cutting and joining apparatus shown in FIGS. 1 and 2 before tape evaluation.

FIG. 14 is a diagram showing an operation before evaluation of the tape in the winding shaft side tape cutting and joining apparatus shown in FIGS. 1 and 2;

FIG. 15 is a front view mainly showing a pancake transport device in the tape evaluation device in FIG. 1;

16 is a right side view of the tape evaluation device of FIG.

17 is a right side view of the tape evaluation device of FIG.

FIG. 18 is an enlarged front view showing a part of FIG. 15;

FIG. 19 is a view as seen from the arrow XIX of FIG. 18;

FIG. 20 is a sectional view taken along the line XX-XX in FIG. 18;

FIG. 21 is a sectional view showing a pancake stock shaft before evaluation in FIG. 17;

FIG. 22 is a sectional view showing the evaluated pancake stock shaft shown in FIG. 16;

FIG. 23 is a sectional view taken along the line XXIII-XXIII in FIG. 21;

24 is a view as viewed in the direction of the arrows XXIV in FIG. 22.

FIG. 25 is a front view and a perspective view showing the single-stage tape cleaning device in FIG. 1 ;

FIG. 26 is a front view showing the multi-stage tape cleaning device in FIG. 1;

FIG. 27 is a view showing the operation of the multi-stage tape cleaning device of FIG. 26;

[Explanation of symbols]

2 Pre-evaluation pancake 3 Evaluated pancake 6 Pancake transport device 20 Pancake hub 21 Transport hand 22 Pre-evaluation pancake stock shaft 23 Evaluated pancake stock shaft 64 Main cylinder 67 Vacuum pad 70 Subcylinder 72 Posture holding pad 73 Stock cylinder 74 Delivery shaft 75 Push-in plate 76 Delivery shaft drive pulley 90 Stock shaft 91 Reciprocating cylinder 92 Expanding cylinder 93 Expanding arm 103 Locking pawl

Claims (2)

(57) [Claims] An article transfer device for removing a hollow disk-shaped article from its stock shaft using a hand, wherein the hand has an elastic suction pad for sucking the side of the article and a posture holding pad for contacting the side of the article. The stock shaft has a stock cylinder into which a number of articles can be inserted in a multilayer shape, and is arranged at the base end side of the stock cylinder and presses the articles on the stock cylinder toward the tip end of the stock cylinder. The push plate and the center of the stock cylinder
Go to the radius direction orthogonal to the axis, housed in and out of their
Is, protrudes, and a centering pin which allowed to centering and abuts against the inner peripheral portion of the article at the forefront position of the stock tube central axis of the article to the central axis of the stock tube, hand posture holding pad stock The article on the stock cylinder is sandwiched by the pushing plate of the shaft, and the article can be positioned at the forefront of the stock cylinder by moving the attitude holding pad and the pushing plate while holding the vertical attitude of the article. A centering pin is abutted against the inner periphery of the article positioned at the forefront, the center axis of the article is centered on the stock axis and the center axis of the hand, and the article can be sucked and held by the elastic suction pad of the hand An article transfer device, characterized in that: 2. An article transfer device for inserting a hollow disk-shaped article into its stock shaft using a hand, wherein the hand has an elastic suction pad for sucking a side surface of the article, and the stock shaft has a large number of stock shafts. A stock cylinder into which the same product can be inserted in multiple layers, and a stock cylinder that moves in and out in the axial direction of the stock cylinder and
The center of the radius direction of the enlarged or reduced in and out, is adsorbed to the elastic suction pads of the hand with the stock axis center axis of the locked to the inner peripheral portion of the article positioned in front of the stock tube and the article perpendicular against An expanding arm for centering the shaft, the article adsorbed by the elastic suction pad of the hand can be positioned in front of the stock cylinder, and the expanding arm is moved to the tip end of the stock cylinder, and the expanding arm is moved. Expanded and locked on the inner periphery of the article, centering the center axis of the article on the center axis of the stock axis, releasing the suction of the article by the elastic suction pad of the hand, and further expanding the arm to the stock cylinder An article transfer device characterized in that the article is drawn inward and the article can be inserted into a stock tube.