JP5432970B2 - Tire ply material manufacturing equipment - Google Patents

Description

  The present invention manufactures a tire ply material that joins cut pieces in order at a sticking position on a sticking conveyor to form a long tire ply material such as a carcass ply or a belt ply with high accuracy and efficiency. Relates to the device.

  For example, a tire ply material 10 such as a carcass ply or a belt ply has a long belt-like body 12 in which an array of tire cords 11 arranged in parallel is covered with rubber, as conceptually shown in FIG. Formed as a raw fabric. Specifically, the long belt-like body 12 is moved from the tip side thereof to a predetermined angle θ with respect to the cord length direction of the tire cord 11 (usually about 90 ° in the case of a carcass ply and usually in the case of a belt ply. The parallelogram-shaped cut pieces 13 are formed by sequentially cutting at 10 to 40 °), and the edge portions E1 and E2 on both sides parallel to the cord length direction of the cut pieces 13 are illustrated in FIG. As shown in 12 (A) to (C), the long tire ply material 10 is formed by sequentially joining.

And the thing of the structure shown to FIG. 13 (A) and (B) is described in the following patent documents 1 and 2 as an apparatus which joins the cut pieces 13 sequentially and forms the ply material 10 for tires. . In the figure, reference numeral a denotes a transport device, which transports the long strip 12 along the length of the cord. Reference numeral b denotes a cutting device, which sequentially cuts the transported long band-like body 12 from the tip side thereof at a predetermined angle θ with respect to the cord length direction to form a parallelogram-shaped cutting piece 13. . The cut piece 13 that has been cut is transported to the carry-in position P1 by the transport device a. The symbol c is a transfer device, which moves the cut piece 13 at the carry-in position P1 to the affixing position P2 on the affixing conveyor d, and moves the edge E1 of the cut piece 13 to the cut piece that has been moved first. It joins sequentially to the edge part E2 of the 13 _m sticking conveyor conveyance direction back side. Further, the affixing conveyor d is arranged at an angle α equal to the angle θ with respect to the cord length direction, and the affixing position is obtained by pitch feeding at an interval W corresponding to the cutting direction width of the cut piece 13. The cut pieces 13 can be sequentially joined at P2.

The transfer device c is a belt conveyor that can be raised and lowered with the lower surface of the belt as a suction surface cs, and transfers the cut piece 13 received at the loading position P1 to above the attaching position P2 and descends. it allows the edge E1 of the cut piece 13, successively stuck on the edge portion E2 of the cut pieces 13 _m to wait on joining conveyor d.

  However, in this transfer device c, since the cut piece 13 is attracted and carried by magnetic force, when the tire cord is formed of a non-magnetic material such as an organic fiber cord, and when the cut piece 13 is a wide surface, Use is greatly limited, such as difficult handling. Moreover, every time the cutting angle θ of the cut piece 13 is changed, the arrangement angle α of the sticking conveyor d needs to be changed.

  Therefore, even when the tire cord is made of an organic fiber cord and the cut piece 13 has a wide surface, the cut piece 13 can be transferred and pasted from the loading position P1 to the pasting position P2 with high accuracy, and the cutting angle θ is changed. Also in this case, a new apparatus for transferring a cut piece that can eliminate the need to change the arrangement angle α of the sticking conveyor d is desired.

JP 2004-17499 A JP 2004-18187 A

  Therefore, the present invention can transfer and paste the cut piece from the carry-in position to the sticking position with high accuracy even when the tire cord is made of an organic fiber cord and the cut piece has a wide surface. An object of the present invention is to provide a tire ply material manufacturing apparatus that can form various types of tire ply materials for carcass ply, belt ply, etc. with high accuracy and efficiency, without changing the arrangement angle of an affixing conveyor. It is said.

In order to solve the above-mentioned problem, the invention of claim 1 of the present application grasps and moves the cut piece transported to the carry-in position to the sticking position on the sticking conveyor, and the first connecting edge of the cut piece. A ply material manufacturing apparatus for forming a long tire ply material by sequentially joining a portion to a second connecting edge on the rear side in the conveying direction of the sticking conveyor of the cut piece that has been moved first ,
The cutting piece is formed by sequentially cutting a long belt-like body, in which an array of tire cords aligned in parallel is covered with rubber, in a direction crossing the cord length direction of the tire cord from the tip side. Each of the cut pieces has the first and second connection end edges on both sides parallel to the cord length direction of the four sides, and the first and second connection edges. The first and second connection end edges including the end edges are sequentially joined together,
The manufacturing apparatus includes:
A first gripping and moving device provided with a first gripping tool for gripping the first connecting edge of the cut piece at the loading position at the tip of the first robot arm; and a second robot arm A second gripping movement device provided with a second gripping tool for gripping the second connecting edge of the cutting piece at the loading position at the tip;
Moreover, at least the first gripping tool is
One gripping means for gripping the end portion on the one side in the cord length direction at the first connection end edge portion from both upper and lower surfaces of the cutting piece ;
The other gripping means for gripping the end portion on the other side in the cord length direction at the first connection end edge portion from both upper and lower surfaces of the cutting piece ;
Tensioning means capable of moving the one and the other gripping means closer to and away from each other along the cord length direction, and pulling and tensioning the gripped first connecting edge on both sides in the cord length direction by the separation. It is characterized by comprising.

  According to a second aspect of the present invention, the one and the other gripping means can be moved up and down and lifted by sucking and lifting one end or the other end of the first connecting edge in the cord length direction. And an end gripping tool for gripping the end portion lifted by the vacuum pad.

  Moreover, in Claim 3, the said 1st holding tool uses the 1st edge part for a connection of the cutting piece moved to the said attachment position, and the 2nd edge part for a connection of the cutting piece moved previously. It has a pressing roller that presses against.

  According to a fourth aspect of the present invention, the second gripping tool has a plurality of vacuum pads arranged in parallel along the second connection edge, and sucks and holds the second connection edge. It is characterized by having an adsorption holder.

  As described above, according to the present invention, a first gripping moving device in which a first gripping tool for gripping a first connecting edge of a cutting piece is provided at the tip of a first robot arm, and a second connection A second gripping and moving device provided with a second gripping tool for gripping the working edge at the tip of the second robot arm. Accordingly, even when the tire cord is made of an organic fiber cord and the cut piece has a wide surface, the cut piece is lifted while holding the edge portions (first and second connecting edge portions) on both sides thereof. , Can be freely transferred from the loading position to the pasting position. In addition, since each gripping tool is provided at the tip of the robot arm, even if the cutting angle is changed, the cutting piece can be redirected and transferred to the application position, making it unnecessary to change the arrangement angle of the application conveyor. Can do.

  The first gripping tool includes a tensioning means for moving the one gripping means and the other gripping means closer to or away from each other in the cord length direction. Accordingly, the gripping means can be stretched by pulling the gripped first connecting end edge on both sides in the cord length direction by the separation movement of the gripping means. This is because when the tire cord is an organic fiber cord and the cut piece has a wide surface, the cut piece is too weak, causing wrinkles and deformation during transfer, and misalignment during pasting. For example, the formation accuracy of the tire ply material tends to be lowered. On the other hand, by stretching the first connecting edge, it is possible to suppress wrinkles and deformation during the transfer, misalignment at the time of pasting, etc. It can be formed with high accuracy.

It is a top view which shows notionally one Example of the manufacturing apparatus of the ply material for tires of this invention. (A), (B) is the side view and top view which show notionally the detection means which detects the position of the edge part for a connection of the cutting piece in a carrying-in position. It is a conceptual diagram which presents the recognition method of the position of the edge part for a connection by a detection means. It is a perspective view which shows a 1st holding | grip movement apparatus. It is a front view which shows a 1st holding | grip movement apparatus. (A), (B) is the elements on larger scale explaining the operation | movement which a holding means hold | grips the edge part of the 1st edge part for a connection. (A), (B) is the elements on larger scale explaining further the operation | movement in which a holding means hold | grips the edge part of the 1st edge part for a connection. It is a perspective view which shows the 2nd holding | grip movement apparatus. It is a front view which shows the 2nd holding | grip movement apparatus. It is a conceptual diagram which shows operation | movement of a pressing roller. It is a conceptual diagram which illustrates the formation method of the ply material for tires. (A)-(C) are expanded sectional views explaining the joining method between cut pieces. (A) is a conceptual diagram which shows the manufacturing apparatus of the conventional ply material for tires, (B) is a perspective view which shows the transfer apparatus used for it.

Hereinafter, embodiments of the present invention will be described in detail.
The tire ply material manufacturing apparatus 1 according to the present embodiment (hereinafter sometimes referred to as a ply material manufacturing apparatus 1) has, as shown in FIG. 1, an end of the first robot arm 2 at the loading position P <b> 1. The first gripping and moving device 4 provided with the first gripping tool 3 that grips the first connecting edge E1 in the cutting piece 13 and the tip of the second robot arm 5 at the loading position P1. And a second gripping moving device 7 provided with a second gripping tool 6 for gripping the second connecting edge E2 of the cutting piece 13.

Then, the ply material manufacturing apparatus 1 grips and moves the cutting piece 13 conveyed to the loading position P1 by the conveying device 16 such as a belt conveyor to the attaching position P2 on the attaching conveyor 17. first the connecting edges E1, sequentially bonded to the second connection edge portion E2 which is a joining conveyor conveying direction rear side of the cut pieces 13 _m, which is moved first long ply material for a tire 10 is formed.

  Here, as shown in FIG. 11, the cut piece 13 includes a long belt-like body 12 in which an array of tire cords 11 aligned in parallel is covered with rubber, and a cord length of the tire cord 11 from the tip side. A parallelogram is formed by sequentially cutting at an angle θ with respect to the vertical direction. In each cut piece 13, the sides on both sides parallel to the cord length direction of the four sides are referred to as the first and second connection edges e1 and e2, and the first and second connection edges e1. , E2 are referred to as the first and second connection edge portions E1 and E2. In the present specification, the sides of the four sides that are not cut are referred to as first and second side edges fa and fb, and the side edge portion including the first and second side edges fa and fb. May be referred to as first and second side edge portions Fa and Fb.

  In the cut piece 13 of this example, as shown in FIG. 12B, the end faces Es of the first and second connection end edges E1 and E2 form slopes, and the slopes overlap each other. However, as shown in FIG. 12C, the end surface Es can be used as a step surface, and the step surfaces can be joined to each other by overlapping. Further, as shown in FIG. 12A, the first and second connecting edge portions E1 and E2 can be overlapped and joined in steps.

  Next, as shown in FIG. 2, the ply material manufacturing apparatus 1 according to the present embodiment detects the positions of the first and second connecting edge portions E1 and E2 of the cutting piece 13 at the carry-in position P1. Detection means 9 is provided. In this example, the detection means 9 includes a photographing means 9A and a position recognition means 9B. Specifically, the photographing means 9A is a camera 9A1 installed above the carry-in position P1, and the first and second connection end edges E1 of the cutting piece 13 that stops at the carry-in position P1. E2 is photographed and the image data is obtained. As the camera 9 </ b> A <b> 1, a CCD camera for taking a still image is used, and the taken image data is taken into the computer 15. The first and second connection edge portions E1 and E2 may be photographed simultaneously by one camera 9A1, or may be photographed separately using the two cameras 9A1.

  The position recognizing means 9B is an arithmetic unit of the computer 15 in this example, and binarizes the image data to obtain the contour lines of the first and second connecting edge portions E1 and E2. . FIG. 3 representatively shows the outline of the first connecting edge E1.

  Then, from the contour line of the first connecting edge E1, the first side edge straight line fax in which the contour of the first side edge fa becomes a straight line and the contour of the second side edge fb in a straight line. A second side edge straight line portion fbx and a first connection edge straight line portion e1x in which the outline of the first connection end edge e1 is a straight line are detected, and an extension line of the first side edge straight line portion fax , Recognizing the intersection point where the extension line of the first connecting edge straight line part e1x intersects as the first vertex Q1a of the first connecting edge part E1, and the extension line of the second side edge straight line part fbx; The intersection point where the extended line of the first connecting edge straight line portion e1x intersects is recognized as the second vertex Q1b of the first connecting edge portion E1.

Further, by the same method, as shown in FIG. 2B, the first vertex Q2a and the second vertex of the second connection edge E2 are obtained from the contour line of the second connection edge E2. Recognize Q2b. With a similar method, first in the second connecting edges E2 in the cut pieces 13 _m which is moved first to wait on the joining conveyor 17, a second vertex Q2a ', Q2b' also recognizes.

  Such a detecting means 9 can accurately detect the apex position of each edge portion when the curl is stretched flat even when curled deformation occurs in the edge portion of the cut piece 13. It becomes possible, and the joining between the edge portions E1 and E2 for connection can be performed with high accuracy.

In the ply material manufacturing apparatus 1 according to the present embodiment, the first and second gripping and moving apparatuses 4 and 7 are controlled based on the data obtained by the detecting means 9. Thereby, the 1st, 2nd connection edge part E1, E2 of the cutting piece 13 in the said carrying-in position P1 can be hold | gripped correctly. Grasped the cut pieces 13 also the first, second vertex Q1a, the position of Q1b is first cut pieces 13 _m on the joining conveyor 17, a second vertex Q2a ', Q2b' to a position to suit the position of the It can be moved accurately, and the cut pieces 13 can be joined with high accuracy.

  Next, the first gripping / moving device 4 of the ply material manufacturing apparatus 1 includes a first gripping tool 3 at the tip of the first robot arm 2 as shown in FIGS. The first gripping tool 3 includes one gripping means 20 that grips one end portion E1a in the cord length direction on the first connecting edge E1, and an end portion E1b on the other side in the cord length direction. The other gripping means 21 for gripping and the tensioning means 22 for moving the one gripping means 20, 21 closer to or away from each other along the cord length direction.

  Specifically, the first gripping tool 3 includes a support base 24 that is attached to the tip of the first robot arm 2 via, for example, a U-shaped mounting bracket 23. The support base 24 has a horizontally long shape extending in parallel with the first connection edge e1, and a pair of moving bases 25, 25 facing both sides in the longitudinal direction K are moved toward and away from each other. Arranged as possible.

  In this example, a linear bearing portion 26 having, for example, a guide groove shape extending in the longitudinal direction K is formed on, for example, the upper surface of the support base 24. Further, a ball screw shaft 28 parallel to the linear bearing portion 26 is pivotally attached to the support base 24. The central portion of the ball screw shaft 28 of this example is gear-coupled to a motor M fixed to the mounting bracket 23, a left screw portion is provided on one side of the central portion, and a right screw portion is provided on the other side. Are formed respectively.

  In the present example, each of the movable bases 25 has a rectangular tube shape that is extrapolated to the support base 24, and a slide part that is guided by the linear bearing part 26 is formed on the lower surface of the upper piece part 24U. In addition, a nut portion 29 that is screwed with the ball screw shaft 28 is formed on the upper surface of the upper piece portion 24U. As a result, the movable bases 25 and 25 can move in the longitudinal direction K by a distance that is free by the rotation of the motor M. In this example, the tension means 22 is configured by the motor M, the linear bearing portion 26, the ball screw shaft 28, and the moving base 25.

  On the moving table 25, the other gripping means 20, 21 are attached. On the other hand, the other gripping means 20 and 21 have substantially the same configuration, and therefore, the following description will be given by taking the one gripping means 20 as a representative. As shown in FIG. 6A in an enlarged manner, the gripping means 20 is provided with a lifting tool 31 and an end gripping tool 32 on a mounting plate 30 that is attached to the lower end of the movable table 25. The mounting plate 30 of this example has a Z-shape in which a sub-plate portion 30b extending outward in the longitudinal direction K is provided at the outer end in the longitudinal direction K of the substrate portion 30a attached to the moving table 25 via a downward bent portion. Shape.

  And the said lifting tool 31 which has the vacuum pad 33 which can be moved up and down and adsorb | sucks and lifts the edge part E1a or E1b in the said 1st edge part E1 by a lift by the board | substrate part 30a is attached. In this example, the lifting tool 31 is attached to the first cylinder 34 fixed to the substrate portion 30a with the rod 34a facing downward, and a lower end of the rod of the first cylinder 34 via a mounting bracket 35, and is adsorbed. The vacuum pad 33 is provided with the portion 33a facing downward.

  An end gripping tool 32 is attached to the sub-plate portion 30 b of the mounting plate 30. This end gripping tool 32 is attached to the rod end of the second cylinder 36 with the second cylinder 36 fixed to the sub-plate portion 30b with the rod 36a facing inward in the longitudinal direction K, and in the longitudinal direction K. And a laterally movable table 37 that can move forward and backward.

  A receiving plate 38 for receiving the lower surface of the end portion E1a or E1b lifted by the vacuum pad 33 is provided on the lateral movement table 37 so as to protrude horizontally. A third cylinder 39 with the rod 39a facing downward is attached to the lateral movement table 37 on the upper side of the receiving plate 38, and a pressing plate 40 is attached to the lower end of the rod of the third cylinder 39. Attach.

  Thus, as shown in FIGS. 6A and 6B, the first gripping tool 3 adsorbs the end portions E1a and E1b of the cutting piece 13 by the vacuum pad 33 of the lifting tool 31. As the vacuum pad 33 is raised by the first cylinder 34, the end portions E1a and E1b can be lifted. Further, the end gripping tool 32 is advanced inward in the longitudinal direction K by the second cylinder 36, whereby a receiving plate 38 can be inserted below the lifted end portions E1a and E1b. Thereafter, as shown in FIG. 7A, the pressing plate 40 is lowered by the third cylinder 39, so that the end portions E1a and E1b are sandwiched between the receiving plate 38 and the pressing plate 40. It can be gripped. Further, each of the movable bases 25 is moved to the outside in the longitudinal direction by the motor M, and the other gripping means 20 and 21 are separated from each other, thereby holding the gripped first connection end as shown in FIG. The edge portion E1 can be stretched by pulling on both sides in the cord length direction.

  As shown in FIGS. 4 and 5, the first gripping tool 3 of the present example is provided at the center position between the one and the other gripping means 20, 21 of the first connecting edge E 1. A holding means 41 for adsorbing and holding the center is arranged. In this example, the holding means 41 includes a fourth cylinder 42 fixed to the board portion 30a with the rod 42a facing downward, and a vacuum pad 45 attached to the lower end of the rod of the fourth cylinder 42 via a mounting bracket 44. With.

  Next, the second gripping / moving device 7 of the ply material manufacturing apparatus 1 includes a second gripping tool 6 at the tip of the second robot arm 5 as shown in FIGS. In this example, the second gripping tool 6 includes a support base 47 that is attached to the tip of the second robot arm 5 via a mounting bracket 46, and a suction holding tool 48 supported by the support base 47. Yeah. The support 47 has a horizontally long shape extending in parallel with the second connection edge e2. The suction holding tool 48 includes a plurality of vacuum pads 49 arranged in parallel along the second connection edge e2, and can suck and hold the second connection edge E2. The second gripping tool 6 can also be configured with the same structure as the first gripping tool 3.

Since such a ply material manufacturing apparatus 1 includes the first and second gripping and moving devices 4 and 7, while gripping the first and second connection edge portions E1 and E2 of the cutting piece 13, The cut piece 13 can be moved from the carry-in position P1 to the pasting position P2. At this time, since the first gripping / moving device 4 has the tensioning means 22, the gripped first connecting edge E1 can be stretched by pulling both sides in the cord length direction. Therefore, even when the waist of the cut piece 13 is weak such that the tire cord 11 is made of an organic fiber cord, the cut piece 13 can be transferred without causing wrinkles or deformation. Further even if the first connecting edges E1 have deformation such as curling, because it is flat extended, a second connecting edge of the cut pieces 13 _m to wait on the joining conveyor 17 E2 In addition, it is possible to accurately superimpose and join without causing a positional shift, and to improve the joining accuracy. In addition, since the gripping tools 3 and 6 are provided at the tips of the robot arms 2 and 5, respectively, even when the cutting angle θ of the cutting piece 13 is changed, the cutting piece 13 is changed to the pasting position P2. Therefore, it is possible to eliminate the need for changing the arrangement angle of the sticking conveyor 17.

Moreover, in the ply material manufacturing apparatus 1 of this example, as shown in FIG. 10, the first connection edge E1 of the cut piece 13 moved to the affixing position P2 is provided on the first gripping tool 3. , cut piece 13 and the second pressing roller 50 pressed against the connection edge portion E2 of _m waiting on joining conveyor 17 is disposed. The pressing roller 50 is a roller having an axis centered in the cord length direction, that is, the longitudinal direction K, and is pivotally supported via a roller holder 51 attached to one side surface of the support base 24 in this example. . The first gripping tool 3 is tilted so that the support base 24 is tilted from the normal state Y1 where the support base 24 is horizontal, and the pressing roller 50 is lower (lowermost) than other parts of the first gripping tool 3. The first robot arm 2 can be tilted to a tilted state Y2 that is a position). The first robot arm 2 lowers the entire first gripping tool 3 in the tilted state Y2, so that the pressing roller 50 at the lowest position presses the joint portion J to ensure the joining.

  As mentioned above, although especially preferable embodiment of this invention was explained in full detail, this invention is not limited to embodiment of illustration, It can deform | transform and implement in a various aspect.

DESCRIPTION OF SYMBOLS 1 Manufacturing apparatus 2 1st robot arm 3 1st holding | gripping tool 4 1st holding | grip movement apparatus 5 2nd robot arm 6 2nd holding | gripping tool 7 2nd holding | grip movement apparatus 10 Tire ply material 11 Tire cord 12 Long strip 13 Cut piece 17 Attaching conveyor 20 One gripping means 21 The other gripping means 22 Tensioning means 31 Lifting tool 32 End gripping tool 33 Vacuum pad 45 Vacuum pad 48 Suction holding tool 50 Pressing rollers E1, E2 First , Second connection edge E1a, E1b end portion e1, e2 first and second connection edge P1 loading position P2 pasting position

Claims (4)

The cut piece conveyed to the carry-in position is moved to the affixing position on the affixing conveyor, and the first connecting edge of the cut piece is on the rear side in the affixing conveyor conveyance direction of the cut piece that has been moved first. A ply material manufacturing apparatus for forming a long tire ply material by sequentially joining the second connecting edge portion,
The cutting piece is formed by sequentially cutting a long belt-like body, in which an array of tire cords aligned in parallel is covered with rubber, in a direction crossing the cord length direction of the tire cord from the tip side. Each of the cut pieces has the first and second connection end edges on both sides parallel to the cord length direction of the four sides, and the first and second connection edges. The first and second connection end edges including the end edges are sequentially joined together,
The manufacturing apparatus includes:
A first gripping and moving device provided with a first gripping tool for gripping the first connecting edge of the cut piece at the loading position at the tip of the first robot arm; and a second robot arm A second gripping movement device provided with a second gripping tool for gripping the second connecting edge of the cutting piece at the loading position at the tip;
Moreover, at least the first gripping tool is
One gripping means for gripping the end portion on the one side in the cord length direction at the first connection end edge portion from both upper and lower surfaces of the cutting piece ;
The other gripping means for gripping the end portion on the other side in the cord length direction at the first connection end edge portion from both upper and lower surfaces of the cutting piece ;
Tensioning means capable of moving the one and the other gripping means closer to and away from each other along the cord length direction, and pulling and tensioning the gripped first connecting edge on both sides in the cord length direction by the separation. An apparatus for producing a ply material for a tire, comprising:   The one and the other gripping means can be moved up and down and have a vacuum pad that lifts by adsorbing and lifting the end portion on one side or the other side in the cord length direction at the first connection end edge by raising, The tire ply material manufacturing apparatus according to claim 1, further comprising an end gripper that grips an end portion lifted by the vacuum pad.   The first gripping tool has a pressing roller that presses the first connecting edge of the cut piece moved to the affixing position to the second connecting edge of the cut piece that has been moved first. 3. The tire ply material manufacturing apparatus according to claim 1 or 2.   The second gripping tool has a plurality of vacuum pads arranged in parallel along the second connection edge, and has a suction holding tool that sucks and holds the second connection edge. The tire ply material manufacturing apparatus according to any one of claims 1 to 3.

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