JP6326327B2 - Belt conveyor - Google Patents

Description

  The present invention relates to a belt conveyance device for conveying an endless belt.

  When manufacturing a belt such as a transmission belt including a V-belt, a plurality of belts having a rectangular cross section are formed by cutting a belt sleeve obtained by molding and vulcanization at a predetermined width (perpendicular cut). There is a case. In this case, a V-belt having a substantially trapezoidal cross section is formed by applying a bias cut that cuts both side surfaces of each belt into a bias shape (see, for example, Patent Documents 1 to 3).

  The bias cut is, for example, a process of cutting both side surfaces of the belt by rotating the pair of cutting blades in a state where the belt is wound around the pair of rollers (belt traveling unit) and rotated. Thereby, both side surfaces of the belt are formed in a tapered shape. That is, the triangular cross section of both side surfaces of the belt is cut, and the cut portion is removed as endless cut waste. The operation of inserting the belt into the bias cut device and the operation of taking out the V belt and cut waste after the bias cut from the bias cut device are performed manually.

  On the other hand, a configuration is known in which article transportation at a factory is automatically performed by a robot (see, for example, Patent Documents 4 and 5).

Japanese Patent Publication No. 4-2525 Japanese Patent Laid-Open No. 2006-200732 JP 2006-205335 A Japanese Utility Model Publication No. 4-42390 Japanese Patent Laid-Open No. 11-5133

  When manufacturing a belt such as a transmission belt, it is required from the viewpoint of improving the productivity of the belt that the conveyance of the belt can be automated. However, Patent Documents 4 and 5 merely disclose general article conveying apparatuses, and cannot be said to disclose a conveying apparatus suitable for belt conveyance.

  An object of the present invention is to solve the above-described problems, and to provide a belt conveying device having a configuration more suitable for conveying an endless belt such as a transmission belt.

(1) In order to solve the above problems, a belt conveyance device according to an aspect of the present invention is a belt conveyance device for conveying an endless belt, and the belt is bent in a radial direction of the belt. A holding mechanism for holding the belt in a state, the holding mechanism including a belt gripping mechanism for sandwiching and holding the belt in the width direction of the belt, and the belt gripping mechanism includes a belt gripping mechanism in the width direction of the belt. A first receiving portion that receives one of the pair of side surfaces, a second receiving portion that receives the other of the pair of side surfaces, and a relative displacement of the second receiving portion relative to the first receiving portion in the width direction. And a displacement mechanism .

According to this configuration, the belt is conveyed while being bent in the radial direction of the belt. Accordingly, for example, the belt can be easily hung on a device that performs a predetermined process on the belt while the belt is held by two shafts that can be relatively displaced so as to be close to or separated from each other. As described above, by using the holding mechanism, it is possible to more easily perform the belt transfer operation to the belt transfer target. Therefore, according to the present invention, it is possible to provide a belt conveying device having a configuration more suitable for conveying an endless belt.
Further, a belt gripping mechanism is provided. Thereby, it can suppress more reliably that a belt falls from a holding mechanism in the middle of conveying a belt. In this case, when the holding mechanism receives the belt or delivers the belt, the holding of the belt by the belt gripping mechanism is released, and the belt is held in a state where the belt can be easily put in and out of the holding mechanism. It is also possible to keep it.
Furthermore, the state in which the belt is gripped by the first receiving portion and the second receiving portion by the operation of the displacement mechanism, and the state in which the holding of the belt by the gripping mechanism is released by separating the second receiving portion from the belt, Can be switched. Further, the belt gripping mechanism can grip the belt without being restricted by the type and size of the belt (belt thickness, circumference, etc.). Thereby, the versatility of a belt conveying apparatus can be made higher.

  (2) Preferably, the holding mechanism includes a pressurizing unit that pressurizes the outer peripheral surface of the belt inward in the radial direction of the outer peripheral surface to bend the belt.

  According to this configuration, the belt applies an elastic repulsion force to the pressurizing unit by holding the pressurizing unit in a state where the belt is pressed. As a result, a frictional force is generated between the pressure unit and the belt, so that the pressure unit can hold the belt.

  (3) More preferably, the said pressurizing part has a some pressurization piece which is arrange | positioned spaced apart in the circumferential direction of the said belt, and can contact the outer peripheral surface of the said belt.

  According to this configuration, the belt can be held by the cooperation of the plurality of pressure pieces.

  (4) More preferably, the holding mechanism includes a support member that collectively supports the plurality of pressure pieces.

  According to this configuration, the plurality of pressure pieces can be firmly supported by the support member. Thereby, the pressure piece can hold a belt having a larger weight.

  (5) Preferably, the plurality of pressure pieces include pressure pieces arranged to face each other with the belt interposed therebetween.

  According to this configuration, the belt can be held in a more stable posture by the pressure pieces facing each other.

  (6) Preferably, the plurality of pressure pieces include pressure pieces arranged diagonally.

  According to this configuration, the belt can be held in a more stable posture by the pressure pieces arranged diagonally.

( 7 ) More preferably, the holding mechanism includes a pressurizing unit that pressurizes the outer peripheral surface of the belt inward in the radial direction of the outer peripheral surface to bend the belt, and the pressurizing unit includes the belt And a plurality of pressure pieces that can contact the outer peripheral surface of the belt, and the first receiving portion is provided on the predetermined pressure piece.

  According to this configuration, the position where the pressure unit holds the belt and the position where the belt gripping mechanism holds the belt can be aligned. Thus, the belt posture change can be suppressed before and after the operation of the belt gripping mechanism holding the belt and before and after the operation of releasing the holding of the belt. As a result, the holding mechanism can receive and deliver the belt in a more stable posture.

( 8 ) Preferably, the first receiving part and the second receiving part are arranged in pairs in the width direction of the belt.

  According to this configuration, one second receiving portion is provided for each first receiving portion. Thereby, a belt can be more reliably grasped by cooperation with the 1st receiving part and the 2nd receiving part.

( 9 ) More preferably, a plurality of the first receiving portions are provided apart from each other in the circumferential direction of the belt.

  According to this structure, the 1st receiving part and 2nd receiving part which make a pair will be provided in multiple places, and a belt can be hold | maintained with the more stable attitude | position by a gripping mechanism.

(1 0 ) Preferably, when the first receiving portion is viewed from the width direction of the belt, a plurality of the first receiving portions are provided so as to sandwich the belt.

  According to this configuration, the belt gripping mechanism can hold the belt in a more balanced manner. As a result, the belt gripping mechanism can hold the belt in a more stable posture. Thereby, the holding mechanism can convey the belt at a higher speed.

(1 1 ) Preferably, the first receiving portion is disposed diagonally.

  According to this configuration, the belt can be held in a more stable posture by the cooperation of the first receiving portion and the second receiving portion.

(1 2 ) Preferably, the displacement mechanism includes a movable base to which a plurality of the second receiving portions are fixed, and an actuator for displacing the movable base in the width direction.

  According to this structure, the second receiving portion receives the side surface of the belt and the first receiving portion and the second receiving portion grip the belt by the operation of the actuator, and the second receiving portion is separated from the belt. It is possible to easily switch between the state in which the gripping operation is released.

(1 3 ) Preferably, the holding mechanism bends the belt elongated in a predetermined longitudinal direction, and holds an intermediate portion of the belt in the predetermined longitudinal direction bent inward in the radial direction of the belt. To do.

  According to this configuration, the belt can be held in a shape close to the shape of the belt when the operator manually inserts the belt into the apparatus. Thereby, even if it conveys a belt by operation | movement of a conveying apparatus instead of a worker's manual work, it is not necessary to change the structure of apparatuses other than a conveying apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the belt conveying apparatus which has a structure more suitable with respect to conveyance of endless belts, such as a transmission belt, can be provided.

It is a typical top view of the power transmission belt manufacturing device concerning one embodiment of the present invention. (A) It is a side view of a biaxial stretching apparatus, (b) It is a front view of a biaxial stretching apparatus. It is a side view of a bias cut device. It is a side view of a discharge part. It is a typical perspective view of a main displacement mechanism. It is a top view of an insertion hand and an extraction hand. It is the figure which expanded the insertion hand of FIG. It is a front view of an insertion hand. It is a side view of an insertion hand. It is the figure which expanded the taking-out hand of FIG. It is a side view of an extraction hand. It is a side view of a biaxial extension device and an insertion hand, and (a), (b), and (c) each show the state of delivering a belt from a biaxial extension device to an insertion hand. It is a typical perspective view which shows the state with which the belt was hold | maintained at the insertion hand. It is a side view of a bias cut device and an insertion hand, (a), (b), and (c) each show the state of delivering a belt from an insertion hand to a bias cut device. It is a side view of a bias cut device and an extraction hand, and shows the state which delivers a V belt and cut waste from a bias cut device to an extraction hand, respectively (a), (b), and (c). It is a top view which shows the state in which the taking-out hand is holding the V belt and cut waste. It is a side view of a taking-out hand and a discharge part, and shows the state which delivers a V belt and cut waste from a take-out hand to a discharge part, respectively (a), (b), and (c).

  Hereinafter, embodiments of the present invention will be described.

  FIG. 1 is a schematic plan view of a transmission belt manufacturing apparatus 1 according to an embodiment of the present invention. Referring to FIG. 1, a transmission belt manufacturing apparatus 1 (hereinafter also simply referred to as manufacturing apparatus 1) is used to manufacture a V belt as a transmission belt for transmitting power. Examples of such V belts include V belts used in power transmission applications such as general industrial machines and automobiles. More specifically, examples of the V belt include a wrapped V belt, a low edge V belt, and a V-ribbed belt.

  The manufacturing apparatus 1 turns the belt 101 into a V-belt 102 by cutting both side surfaces of the belt 101 in the width direction W of the belt 101 having an endless annular shape and a rectangular cross section in an inclined manner. The belt 101 and the belt 102 may be collectively referred to as “belt 100”. As will be described later, when the belt 101 becomes the V-belt 102 in the manufacturing apparatus 1, cut waste 103 is generated together with the V-belt 102. In this embodiment, the V belt 102 and the cut waste 103 are separately discharged from the manufacturing apparatus 1.

  The belt 101 has a configuration in which a core wire is spirally wound inside an endless annular sheet. This sheet is formed using, for example, natural rubber (NR), styrene butadiene rubber (SBR), or the like. The core wire is used as a reinforcing member that prevents the belt 101 (V-belt 102) from breaking. The material of the core wire is, for example, polyester.

  The manufacturing apparatus 1 includes an operation panel (control unit) 2, a biaxial stretching device 3, a bias cut device 4, a discharge unit 5, and a belt conveyance system 6.

  The belt conveyance system 6 includes a main displacement mechanism 20, an insertion hand 21, and an extraction hand 22.

  The outline | summary of operation | movement of the manufacturing apparatus 1 in this embodiment is as follows. That is, in the manufacturing apparatus 1, the belt 101 held by the biaxial stretching apparatus 3 is conveyed to the bias cut apparatus 4 by the insertion hand 21 of the belt conveyance system 6. Then, the bias cutting device 4 cuts both side surfaces of the belt 101 in an inclined manner. Thereby, the cross section of the belt 101 is formed in a V shape, and the belt 101 becomes the V belt 102.

  In addition, cut scraps 103 are generated on both sides of the V-belt 102 by the cutting operation of the bias cutting device 4. The V belt 102 and the cut waste 103 are transported to the hanging table 11 by the take-out hand 22 of the belt transport system 6, and the V belt 102 and the cut waste 103 are sorted separately.

  The operation panel 2 is provided for controlling operations of various devices in the manufacturing apparatus 1. The operation panel 2 is formed using, for example, a computer including a central processing unit (CPU), a random access memory (RAM), and a read only memory (ROM), or a programmable logic controller (PLC). The operation panel 2 has operation buttons operated by an operator, and outputs predetermined electrical signals to the various devices based on the operation buttons being operated. The operation panel 2 is connected to the biaxial stretching device 3, the bias cut device 4, and the belt conveyance system 6.

  FIG. 2A is a side view of the biaxial stretching device 3. FIG. 2B is a front view of the biaxial stretching device 3. Referring to FIG. 1, FIG. 2 (a) and FIG. 2 (b), the biaxial stretching device 3 is provided to elongate the belt 101 along a predetermined longitudinal direction (vertical direction in this embodiment). It has been.

  The biaxial stretching device 3 includes a support column 3a, a main shaft 3b, and a sub shaft 3c.

  The support column 3a extends upward from the ground and supports the main shaft 3b and the sub shaft 3c. The main shaft 3b and the sub shaft 3c are provided as portions where the inner peripheral portion of the belt 101 is hung. The main shaft 3b and the sub shaft 3c extend from one side surface of the column 3a and are arranged in parallel to each other. The auxiliary shaft 3c is supported by the support column 3a via a drive mechanism (not shown), and is relative to the support column 3a in a direction in which the auxiliary shaft 3c and the main shaft 3b face each other (vertical direction in the present embodiment). Displaceable. Thereby, the sub-shaft 3c can be displaced in a direction approaching the main shaft 3b (upward direction) and a direction away from the main shaft 3b (downward direction).

  A belt 101 stored in a feeder section (not shown) is supplied to the main shaft 3b and the sub shaft 3c using a chuck member (not shown). At this time, the distance between the main shaft 3b and the sub shaft 3c is shortened by arranging the sub shaft 3c closer to the main shaft 3b. In this state, the chuck member places the belt 101 on the main shaft 3b. Next, the sub shaft 3c is displaced downward. Thus, the belt 101 is stretched and bent by the main shaft 3b and the sub shaft 3c, and has a shape elongated in the longitudinal direction (vertical direction).

  The belt 101 is conveyed to the bias cutting device 4 by using the insertion hand 21 of the belt conveyance system 6. When the belt 101 is transferred from the biaxial stretching device 3 to the insertion hand 21, the auxiliary shaft 3 c is displaced toward the main shaft 3 b and releases the tension applied to the belt 101. As a result, the belt 101 is deformed so as to swell in the horizontal direction from a vertically elongated shape, and is sandwiched between the insertion hands 21.

  FIG. 3 is a side view of the bias cut device 4. Referring to FIGS. 1 and 3, the bias cutting device 4 cuts both end portions in the width direction of the belt 101 in an inclined shape, thereby forming a cross-sectional shape of the belt 101 (a shape in a cross-section perpendicular to the circumferential direction of the belt 101). ) To be V-shaped. The bias cut device 4 is adjacent to the biaxial stretching device 3 and is arranged around the main displacement mechanism 20 of the belt conveying system 6 together with the biaxial stretching device 3.

  The bias cut device 4 includes a base 4a, a main shaft 4b, a sub shaft 4c, a cutter 4d, and a cut waste pushing portion 4e.

  The base 4a extends upward from the ground, and supports the main shaft 4b, the sub shaft 4c, the cutter 4d, and the cut waste pushing portion 4e. The main shaft 4b and the sub shaft 4c are provided as portions on which the inner peripheral portion of the belt 101 (V belt 102) is hung. The main shaft 4b and the sub shaft 4c extend from one side surface of the base 4a and are arranged in parallel to each other. The sub shaft 4c is supported by the base 4a via a drive mechanism (not shown), and is relative to the base 4a in the direction in which the sub shaft 4c and the main shaft 4b face each other (vertical direction in the present embodiment). Displaceable. Thereby, the sub-shaft 4c can be displaced in a direction approaching the main shaft 4b (upward direction) and in a direction away from the main shaft 4b (downward direction).

  The main shaft 4b and the sub shaft 4c are formed in a cylindrical shape. An annular groove is formed in each of the intermediate portion of the main shaft 4b and the intermediate portion of the auxiliary shaft 4c, and the belt 101 is hung on these grooves. As a result, the belt 101 is held in a stable posture by the main shaft 4b and the sub shaft 4c.

  As described above, the belt 101 from the biaxial stretching device 3 is supplied to the main shaft 4 b and the sub shaft 4 c using the insertion hand 21 of the belt conveyance system 6. At this time, the distance between the main shaft 4b and the sub shaft 4c is shortened by arranging the sub shaft 4c closer to the main shaft 4b. In this state, the insertion hand 21 places the belt 101 on the main shaft 4b. Next, the sub shaft 4c is displaced downward.

  Thus, the belt 101 is stretched and bent by the main shaft 4b and the sub shaft 4c, and has a shape elongated in the longitudinal direction (vertical direction). The main shaft 4b is rotated by an electric motor (not shown). The belt 101 stretched between the main shaft 4b and the sub shaft 4c is cut by the cutter 4d.

  The cutter 4d is provided in order to cut both side surfaces of the belt 101 in a state of being tensioned by being hung on the main shaft 4b and the sub shaft 4c. The cutter 4d is attached to an actuator (not shown), for example, and can be displaced to a position where both side surfaces of the belt 101 are cut and a position separated from the belt 101. The cutter 4d cuts both side surfaces of the belt 101 by coming into contact with both side surfaces of the belt 101 that is rotationally driven by the main shaft 4b and the sub shaft 4c.

  As a result, the belt 101 becomes the V belt 102. Further, endless cut waste 103 is generated on both sides of the V belt 102 in the width direction W of the belt 101. The cross-sectional shape of the cut waste 103 (the shape of the cut waste 103 in a cross section orthogonal to the longitudinal direction of the cut waste 103) is a triangular shape. The V belt 102 and the cut waste 103 are transported to the discharge unit 5 using the take-out hand 22 of the belt transport system 6.

  When the V belt 102 and the cut waste 103 are transferred from the bias cutting device 4 to the take-out hand 22, the auxiliary shaft 4c is displaced toward the main shaft 4b and releases the tension applied to the V belt 102. As a result, the V-belt 102 is deformed so as to swell in the horizontal direction from the vertically elongated shape and is sandwiched between the take-out hands 22. Moreover, the cut waste 103 is transferred from the bias cutting device 4 to the take-out hand 22 by the cut waste push-out portion 4e pushing out the cut waste 103 to the take-out hand 22 side. For example, the cut waste pushing portion 4e is disposed adjacent to the main shaft 4b and supported by the base 4a.

  The cut waste pushing portion 4e is formed using, for example, an air cylinder device, and has a movable portion 4h. The movable portion 4h extends substantially parallel to the main shaft 4b and can be moved forward and backward with respect to the base 4a.

  When the movable portion 4h is displaced so as to protrude from the base 4a, the cut waste 103 is pushed out from the main shaft 4b. In this way, the V-belt 102 and the cut waste 103 are transferred from the bias cutting device 4 to the take-out hand 22 and then conveyed to the discharge unit 5.

  FIG. 4 is a side view of the discharge unit 5. Referring to FIGS. 1 and 4, discharge unit 5 is provided as a part from which V belt 102 and cut waste 103 are discharged from manufacturing apparatus 1, and V belt 102 and cut waste 103 are sorted separately from each other. Hold in state. The discharge unit 5 is adjacent to the bias cut device 4 and is arranged around the main displacement mechanism 20 of the belt conveyance system 6 together with the bias cut device 4.

  The discharge unit 5 includes a hanging table 11 and a cut waste bin 12.

  The hanging stand 11 is provided as a portion on which the V-belt 102 conveyed from the bias cut device 4 using the take-out hand 22 is hung. The hanging base 11 includes a column 11a, a V-belt hanging portion 11b, and a baffle plate 11c. The column 11a extends upward from the ground, and a V-belt hooking portion 11b is fixed to the column 11a.

  The V-belt hooking portion 11b is a portion that extends from the column 11a toward the main displacement mechanism 20 and receives the V-belt 102. The V-belt hanging portion 11b is formed in a shape that extends horizontally from the column 11a and then inclines upward as it moves away from the column 11a. The V-belt 102 is held by the V-belt hooking portion 11b by hooking the inner peripheral surface of the V-belt 102 to the tip of the V-belt hooking portion 11b. A baffle plate 11c is fixed to the lower part of the tip of the V belt hook 11b.

  The baffle plate 11c is provided in order to prevent the cut waste 103 dropped from the take-out hand 22 from being caught on the V-belt hooking portion 11b. The baffle plate 11c is a plate-like member and extends in parallel with the direction in which the V-belt hanging portion 11b extends. In the present embodiment, the baffle plate 11c is provided as a triangular plate-like portion having a predetermined thickness.

  As will be described later, when the V-belt 102 is discharged from the take-out hand 22 to the V-belt hooking portion 11b, the height position of the V-belt 102 is higher than the height position of the cut waste 103. For this reason, when the V-belt 102 falls from the take-out hand 22 so as to be hooked on the V-belt hooking portion 11b, the cut waste 103 does not get hooked on the V-belt hooking portion 11b but hits the baffle plate 11c. It falls into the cut waste bin 12 of 11b. The cut waste bin 12 is provided as a container in which the cut waste 103 dropped from the take-out hand 22 is stored.

  The above is the schematic configuration of the biaxial stretching device 3, the bias cut device 4, and the discharge unit 5. Next, the belt conveyance system 6 will be described in more detail.

  Referring to FIG. 1, as described above, the belt conveyance system 6 conveys the endless belt 101 from the biaxial stretching device 3 to the bias cut device 4, and further, the V belt formed by the bias cut device 4. 102 and the cut waste 103 are provided to convey the bias cut device 4 to the discharge unit 5.

  In the present embodiment, the biaxial stretching device 3, the bias cut device 4, and the discharge unit 5 are sequentially arranged in the clockwise direction in plan view. The biaxial stretching device 3 is installed at the first position P1, the bias cut device 4 is installed at the second position P2, and the discharge unit 5 is installed at the third position P3. The first position P1 and the second position P2 are adjacent to each other. The second position P2 and the third position P3 are positions adjacent to each other.

  As described above, the belt conveyance system 6 includes the main displacement mechanism (displacement mechanism) 20, the insertion hand (first holding mechanism) 21, and the take-out hand (second holding mechanism) 22.

  In the following description, the belt 100 is held by the insertion hand 21 or the extraction hand 22 as a reference.

  The insertion hand 21 is provided to convey the belt 101 from the biaxial stretching device 3 (first position P1) to the bias cut device 4 (second position P2). The take-out hand 22 is provided to convey the V-belt 102 from the bias cut device 4 (second position P2) to the discharge unit 5 (third position P3). The main displacement mechanism 20 is connected to the insertion hand 21 and the extraction hand 22 and displaces the insertion hand 21 and the extraction hand 22 to convey the belt 101 and the V-belt 102.

  More specifically, the insertion hand 21 receives the belt 101 from the biaxial stretching device 3 (belt holding device) at the first position P1, and the main displacement mechanism 20 receives the insertion hand 21 holding the belt 101 in the first position P1. It is displaced from the position P1 to the second position P2. Then, the insertion hand 21 delivers the belt 101 to the bias cut device 4 at the second position P2.

  The take-out hand 22 receives, from the bias cut device 4, the V belt 102 formed by the cut by the bias cut device 4 and the cut waste 103 generated by the cut by the bias cut device 4. The take-out hand 22 is configured to pass the V-belt 102 to the V-belt hooking portion 11b of the discharge portion 5 and discharge the cut waste 103 to the cut waste bin 12 at the third position P3.

  FIG. 5 is a schematic perspective view of the main displacement mechanism 20. Referring to FIGS. 1 and 5, main displacement mechanism 20 is formed using, for example, a multi-axis joint mechanism. This multi-axis joint mechanism is, for example, a six-axis joint mechanism.

  The main displacement mechanism 20 includes a fixed portion 23 and a movable portion 24 supported by the fixed portion 23 so as to be rotatable.

  The fixing part 23 is fixed to the ground. A movable part 24 is connected to the fixed part 23. The movable part 24 is provided as a robot arm. The movable unit 24 displaces the insertion hand 21 between the biaxial stretching device 3 (first position P1) and the bias cut device 4 (second position P2) by using a turning operation, and the take-out hand 22 is moved. It is displaced between the bias cut device 4 (second position P2) and the discharge section 5 (third position P3).

  The movable part 24 includes a first joint part 25, a second joint part 26, a first part 27, a third joint part 28, a second part 29, a fourth joint part 30, and a bracket support part 31. ,have.

  The first joint portion 25 is supported by the fixed portion 23, and can turn around an axis extending in the vertical direction with respect to the fixed portion 23. A second joint portion 26 is attached to the first joint portion 25. The second joint portion 26 supports the first portion 27 so that the first portion 27 can turn around an axis extending substantially horizontally.

  The first portion 27 is formed in a beam shape extending linearly. A third joint portion 28 is attached to the distal end portion of the first portion 27. For example, the third joint portion 28 supports the base end portion of the second portion 29 so that the second portion 29 can turn around an axis parallel to the turning axis of the second joint portion 26. The second portion 29 is formed in a beam shape extending linearly. A fourth joint portion 30 is attached to the distal end portion of the second portion 29. For example, the fourth joint portion 30 supports the bracket support portion 31 so that the bracket support portion 31 can turn around an axis parallel to the turning axis of the second joint portion 26. The bracket support portion 31 is formed in a shaft shape, and is configured to be able to turn around this axis using an electric motor (not shown).

  The bracket support portion 31 supports a first bracket 33 (to be described later) of the insertion hand 21 and a second bracket 50 (to be described later) of the take-out hand 22 so as to be rotatable around the bracket support portion 31. Thereby, the bracket support part 31 (the front-end | tip part of the movable part 24) of the movable part 24 can displace the insertion hand 21 and the extraction hand 22 around the bracket support part 31. FIG.

  Although an example of the main displacement mechanism 20 has been described, this need not be the case. The main displacement mechanism 20 has the above-described configuration as long as the insertion hand 21 can be transported from the biaxial stretching device 3 to the bias cut device 4 and the take-out hand 22 can be transported from the bias cut device 4 to the discharge unit 5. It does not have to be.

  FIG. 6 is a plan view of the insertion hand 21 and the extraction hand 22. FIG. 7 is an enlarged view of the insertion hand 21 of FIG. FIG. 8 is a front view of the insertion hand 21. FIG. 9 is a side view of the insertion hand 21.

  Referring to FIG. 1 and FIGS. 6 to 9, a belt conveying device 32 for conveying the belt 101 is formed by the insertion hand 21 and the main displacement mechanism 20. The insertion hand 21 is an example of “a holding mechanism that holds the belt 101 in a state of being bent in the radial direction of the belt 101”, and an example of a “first holding mechanism”.

  The insertion hand 21 includes a first bracket 33, a support member 34, a pressure unit 35, and a belt gripping mechanism 36.

  The first bracket 33 is formed by using, for example, a metal plate, and is elongated in a predetermined longitudinal direction N1. One end portion of the first bracket 33 is coupled to a bracket support portion 31 provided at the tip of the movable portion 24 of the main displacement mechanism 20 using a fixing member such as a bolt and a nut. A support member 34 is fixed to the other end of the first bracket 33.

  The support member 34 is formed using a rectangular metal plate or the like. In the present embodiment, the support member 34 is disposed so as to be orthogonal to the first bracket 33. The support member 34 supports the pressure unit 35.

  The pressurizing unit 35 is provided to press the outer peripheral surface of the belt 101 inward in the radial direction of the outer peripheral surface to bend the belt 101. When the pressure unit 35 bends the belt 101, the belt 101 generates an elastic repulsive force that is directed radially outward of the belt 101. As a result, the belt 101 is held so as to be pressed against the pressure unit 35. The pressure unit 35 extends so as to be orthogonal to the support member 34.

  The pressurizing unit 35 has a plurality of pressurizing pieces 35a to 35d. Each of the pressure pieces 35 a to 35 d is arranged to be spaced apart in the circumferential direction of the belt 101 when the belt 101 is held by the pressure unit 35, and can contact the outer peripheral surface of the belt 101. The pressure pieces 35a to 35d are fixed to the support member 34, and the pressure pieces 35a to 35d are collectively supported by the support member 34. Each of the pressure pieces 35 a to 35 d is in direct contact with the outer peripheral surface of the belt 101. The pressure pieces 35a to 35d cooperate to hold the belt 101.

  The pressure piece 35 a is disposed adjacent to one of the four corners of the support member 34 and is adjacent to one edge 34 a of the support member 34. The pressing piece 35a is formed using a rectangular flat plate-like member. In the pressing piece 35a, the inner surface that contacts the belt 101 forms a flat surface. The pressure piece 35b is arranged so as to be spaced apart from the pressure piece 35a in the circumferential direction of the belt 101.

  The pressure piece 35 b is disposed adjacent to one of the four corners of the support member 34 and is adjacent to the edge 34 a of the support member 34. The pressurizing piece 35a and the pressurizing piece 35b are arranged apart from each other in the vertical direction when the pressurizing unit 35 holds the belt 101.

  The pressure piece 35b is formed using a rectangular flat plate-like member. In the pressing piece 35b, the inner surface that contacts the belt 101 forms a flat surface. The pressure piece 35 c is arranged so as to be separated from the pressure piece 35 b in the circumferential direction of the belt 101.

  The pressure piece 35 c is disposed adjacent to one of the four corners of the support member 34, and is adjacent to one edge 34 b of the support member 34. The edge 34a and the edge 34b are parallel. The pressing piece 35c is formed using a rectangular flat plate-like member. In the pressing piece 35 c, the inner surface that comes into contact with the belt 101 forms a flat surface. The pressure piece 35d is arranged so as to be spaced apart from the pressure piece 35c in the circumferential direction of the belt 101.

  The pressure piece 35 d is disposed adjacent to one of the four corners of the support member 34, and is adjacent to the edge 34 b of the support member 34. The pressing piece 35c and the pressing piece 35d are arranged apart from each other in the vertical direction. The pressing piece 35d is formed using a columnar member. The outer peripheral surface of the pressing piece 35d is in contact with the belt 101.

  The pressure pieces 35a to 35d have a configuration in which the pressure pieces 35a to 35d are arranged to face each other with the belt 101 interposed therebetween. Specifically, the pressure pieces 35a and 35d are arranged so as to face substantially horizontally with the belt 101 interposed therebetween. Similarly, the pressure pieces 35b and 35c are arranged to face each other with the belt 101 interposed therebetween.

  Moreover, the pressurization pieces 35a-35d have the structure arrange | positioned diagonally. Specifically, a virtual line segment that connects the center of the inner surface of the pressure piece 35a and the center of the inner surface of the pressure piece 35c is defined as a diagonal line X1. Further, a virtual line segment connecting the center of the inner surface of the pressure piece 35b and the outer peripheral surface of the pressure piece 35d is defined as a diagonal line X2. These diagonal lines X1 and X2 intersect inside the belt 101. With the above configuration, the pressure pieces 35a and 35c are arranged diagonally, and the pressure pieces 35b and 35d are arranged diagonally.

  Further, the insertion hand 21 bends the belt 101 in a predetermined longitudinal direction (vertical direction in the present embodiment) and elongates the intermediate portion of the belt 101 in the predetermined longitudinal direction inward in the radial direction of the belt. Do not hold. Specifically, the inner surfaces of the pressure pieces 35 a and 35 b are inclined so as to approach the edge 34 a as the distance from the center of the support member 34 increases. In addition, the inner surface of the pressure piece 35 c is inclined so as to approach the edge 34 b as the distance from the center of the support member 34 increases.

  With this configuration, the belt 101 bends in a V shape between the pressure pieces 35a and 35b and bends in a substantially V shape between the pressure pieces 35c and 35d. As a result, the belt 101 is elongated in the vertical direction, and the intermediate portion of the belt 101 in the vertical direction is bent inward in the radial direction of the belt 101. In a state where the belt 101 is held by the pressure unit 35 having the above configuration, the belt gripping mechanism 36 prevents the belt 101 from falling by holding the belt 101 in the width direction W of the belt 101. .

  The belt gripping mechanism 36 includes a first receiving portion 37, a second receiving portion 38, and a displacement mechanism 39.

  The first receiving portion 37 is provided to receive one of the pair of side surfaces of the belt 101 in the width direction W of the belt 101. In the present embodiment, the first receiving part 37 is provided in the pressure part 35. Specifically, a plurality of first receiving portions 37 (two in the present embodiment) are provided, and are arranged on the pressure pieces 35a and 35c, respectively. The two first receiving portions 37 are spaced apart from each other in the circumferential direction of the belt 101.

  One first receiving portion 37 is provided at the tip of the pressure piece 35a and is formed in a small piece protruding from the inner surface of the pressure piece 35a. The other first receiving portion 37 is provided at the tip of the pressure piece 35c and is formed in a small piece protruding from the inner surface of the pressure piece 35c.

  With the above configuration, when the first receiving portion 37 is viewed from the width direction W, a plurality of the first receiving portions 37 are provided so as to sandwich the belt 101. Moreover, the 1st receiving part 37 is arrange | positioned diagonally by being provided in the pressure pieces 35a and 35c. A second receiving portion 38 is disposed so as to face the first receiving portion 37.

  The second receiving portion 38 is provided to receive the other of the pair of side surfaces of the belt 101 in the width direction W of the belt 101. In the present embodiment, the second receiving portion 38 is provided in the displacement mechanism 39. Specifically, a plurality of (in this embodiment, two) second receiving portions 38 are provided. In the present embodiment, the number of second receiving portions 38 is the same as the number of first receiving portions 37. Each first receiving portion 37 is arranged in pairs with the corresponding second receiving portion 38 in the width direction W.

  Each of the second receiving portions 38 is formed in a flat plate shape and is disposed so as to face the corresponding first receiving portion 37 in the width direction W. One second receiving portion 38 is disposed so as to overlap the inner surface of the pressure piece 35a. The other second receiving portion 38 is disposed so as to overlap the inner surface of the pressing piece 35c. Each second receiving portion 38 is displaced in the width direction W (longitudinal direction N1) by the operation of the displacement mechanism 39. The displacement mechanism 39 is provided to displace the second receiving portion 38 relative to the first receiving portion 37 in the width direction W.

  The displacement mechanism 39 has a movable base 40 and an actuator 41.

  The movable base 40 is provided as a portion that supports the two second receiving portions 38. The movable base 40 is disposed adjacent to the support member 34. The movable base 40 is formed using a plate member, and is formed in a shape extending from the center of the support member 34 to the pressure piece 35a and extending to the pressure piece 35c when viewed from the width direction W. In the present embodiment, when viewed from the width direction W, the movable base 40 is formed in a substantially S shape. One second receiving portion 38 is fixed to one end portion of the movable base 40. Further, the other second receiving portion 38 is fixed to the other end portion of the movable base 40. Thereby, the movable base 40 can be displaced integrally with the second receiving portion 38 in the width direction W. The movable base 40 is displaced in the width direction W by the actuator 41.

  The actuator 41 is an air cylinder device, for example, and is configured to operate using a working fluid such as air. The actuator 41 has a fixed part 41a and a movable part 41b. The fixing part 41a is fixed to the first bracket 33, for example. The fixed portion 41a supports the movable portion 41b so as to be displaceable in the width direction W1. The movable portion 41 b passes through a through hole formed in the support member 34. The movable base 40 is fixed to the tip of the movable portion 41b.

  The above is the schematic configuration of the insertion hand 21. Next, a schematic configuration of the take-out hand 22 will be described.

  FIG. 10 is an enlarged view of the take-out hand 22 of FIG. FIG. 11 is a side view of the take-out hand 22.

  With reference to FIGS. 1, 6, 10, and 11, the take-out hand 22 is configured to receive the V-belt 102 and the cut waste 103 from the bias cut device 4 at the second position P <b> 2. The take-out hand 22 and the main displacement mechanism 20 form a V-belt conveying device 45 for taking out and conveying the V-belt 102 and the cut waste 103 from the bias cut device 4. The take-out hand 22 is an example of “a holding mechanism that holds the V-belt and cut waste received from the cutting device in a state where they are arranged at different positions”. The V belt conveyance device 32 holds the V belt 102 and the cut waste 103 so that the height position of the V belt 102 and the height position of the cut waste 103 are different.

  The take-out hand 22 includes a second bracket 50, a first base member 51, a second base member 52, a V belt holding portion 53, and a cut waste holding portion 54.

  The second bracket 50 is provided as a part connected to the main displacement mechanism 20 in the take-out hand 22. The second bracket 50 is formed using, for example, a metal plate, and is elongated in a predetermined longitudinal direction N2. One end portion of the second bracket 50 is fixed to a bracket support portion 31 provided at the tip of the movable portion 24 of the main displacement mechanism 20 using a fixing member such as a bolt and a nut.

  In the present embodiment, the direction in which the first bracket 33 extends from the bracket support portion 31 (longitudinal direction N1) is different from the direction in which the second bracket 50 extends from the bracket support portion 31 (longitudinal direction N2). In the present embodiment, in a plan view (the state shown in FIG. 6), the longitudinal direction N1 and the longitudinal direction N2 intersect at an inferior angle θ, for example, at an angle of about 110 degrees. The inferior angle θ is not limited to the above-illustrated values. A first base member 51 is fixed to the other end of the second bracket 50.

  The first base member 51 is fixed to one side surface (back surface in FIG. 11) of the second bracket 50 using a fixing member such as a screw. The first base member 51 extends away from the second bracket 50 along the longitudinal direction N2 from the second bracket 50. A second base member 52 is fixed to the first base member 51.

  The second base member 52 is attached to the other side surface of the first base member 51 opposite to the one side surface fixed to the second bracket 50. The second base member 52 extends away from the second bracket 50 along the longitudinal direction N2. A V-belt holding portion 53 is attached to the first base member 51 and the second base member 52.

  The V belt holding portion 53 is provided as a portion for holding the V belt 102 in the take-out hand 22. The V belt holding portion 53 is configured to hold the outer peripheral surface of the V belt 102 in a state where the V belt 102 is deformed so as to bend in the radial direction of the V belt 102.

  The V belt holding portion 53 includes a pair of V belt holding plates 55, a pair of holding plate actuators 56, a pair of claw members 57, a pair of claw member actuators 58, and a V belt gripping mechanism 59. doing.

  The pair of holding plate actuators 56 are provided to open and close the pair of V belt holding plates 55. The pair of holding plate actuators 56 are arranged apart from each other in a direction perpendicular to the longitudinal direction N2 (left and right direction LR parallel to the left and right direction of the bias cutting device 4) in plan view.

  Each holding plate actuator 56 is, for example, a rotary actuator, and is configured to operate using fluid pressure such as air pressure. Each holding plate actuator 56 is supported by the second base member 52. Each holding plate actuator 56 can rotate the corresponding V-belt holding plate 55 around a shaft portion 56a extending in the vertical direction UD. The shaft portion 56 a is parallel to the bracket support portion 31.

  The pair of V belt holding plates 55 are disposed so as to receive the outer peripheral surface of the V belt 102 and sandwich the V belt 102 therebetween. The pair of V belt holding plates 55 is fixed to the shaft portion 56a of the corresponding belt holding plate actuator 56, and is configured to be swingable around the shaft portion 56a integrally with the shaft portion 56a. As the pair of V-belt holding plates 55 swings, the pair of V-belt holding plates 55 is opened and closed.

  The pair of V-belt holding plates 55 are spaced apart in a direction (left-right direction LR) orthogonal to the longitudinal direction N2 in plan view. Each V belt holding plate 55 is formed using a metal plate or the like. In each V belt holding plate 55, one side surface facing each other is defined as an inner side surface 55a, and one side surface opposite to the inner side surface 55a is defined as an outer side surface 55b. In the present embodiment, the one side surface 55a and the other side surface 55b are flat surfaces parallel to each other.

  Each V-belt holding plate 55 has a first portion 55c, a second portion 55d, and a third portion 55e.

  The first portion 55c, the second portion 55d, and the third portion 55e are arranged in this order along the longitudinal direction N2. The first portion 55c, the second portion 55d, and the third portion 55e are each formed in a substantially rectangular shape. The first portion 55 c constitutes the base end portion of the V belt holding plate 55. The inner side surface 55a of the first portion 55c is fixed to the shaft portion 56a using a fixing member such as a screw. The first portion 55c is continuous with the second portion 55d.

  The second portion 55 d forms an intermediate portion of the V belt holding plate 55. In the vertical direction UD, the length of the second portion 55d is set longer than the length of the first portion 55c. The upper end portion of the second portion 55d extends flush with the upper end portion of the first portion 55c. The lower end portion of the second portion 55d is located below the lower end portion of the first portion 55c. The second portion 55d is continuous with the third portion 55e.

  The third portion 55 e forms the tip of the V belt holding plate 55. In the vertical direction UD, the length of the third portion 55e is set to be longer than the length of the second portion 55d. The upper end portion of the third portion 55e is located above the upper end portion of the second portion 55d. The lower end portion of the third portion 55e extends flush with the lower end portion of the second portion 55d.

  The third portion 55e is a portion where the V-belt 102 is in direct contact. When the inner surface 55a of the third portion 55e bends the V-belt 102, the V-belt 102 generates an elastic repulsive force that is directed outward in the radial direction of the V-belt 102. Thereby, the V-belt 102 is held so as to be pressed against the V-belt holding plate 55.

  A pair of claw members 57 are arranged so as to be adjacent to the pair of V belt holding plates 55 having the above-described configuration, and a pair of claws are provided so as to be adjacent to the pair of belt holding plate actuators 56. A member actuator 58 is arranged.

  The pair of claw member actuators 58 is provided to open and close the pair of claw members 57. The pair of claw member actuators 58 are spaced apart in the left-right direction LR in plan view.

  Each claw member actuator 58 is an air cylinder, for example, and is configured to operate using fluid pressure such as air pressure. Each claw member actuator 58 is supported by the first base member 51, for example. Each claw member actuator 58 displaces the corresponding claw member 57, particularly the tip of the claw member 57, in a direction toward or away from the corresponding V-belt holding plate 55.

  The pair of claw members 57 are disposed between the pair of V belt holding plates 55. Each claw member 57 forms a through hole 60 through which the V-belt 102 is passed in cooperation with the corresponding V-belt holding plate 55.

  The base end portion of each claw member 57 is supported by a corresponding claw member actuator 58. Thus, the pair of V-belt holding plates 55 and the corresponding claw members 57 are configured to be relatively displaceable in directions approaching each other and in directions away from each other.

  The pair of claw members 57 are spaced apart in the left-right direction LR in plan view. Each claw member 57 is formed using a metal rod or the like. Each claw member 57 extends along the longitudinal direction N <b> 2 and passes between intermediate portions of the pair of V-belt holding plates 55 in the vertical direction UD. Each claw member 57 is formed in a substantially V shape.

  Each claw member 57 has a first portion 57a and a second portion 57b.

  The first portion 57 a constitutes the proximal end portion and the intermediate portion of the claw member 57. As the first portion 57a extends from the corresponding shaft portion 56a, the first portion 57a extends so that the distance between the pair of first portions 57a becomes narrower. The first portion 57 a extends to the third portion 55 e of the pair of V belt holding plates 55. A second portion 57b extends from the tip of the first portion 57a.

  The second portion 57 b constitutes the tip portion of the claw member 57. As the second portion 57b extends from the corresponding first portion 57a, the second portion 57b extends so that the distance between the pair of second portions 57b increases. The tip of the second portion 57b protrudes from one end of the pair of V-belt holding plates 55 to one side (the bias cut device 4 side) in the longitudinal direction N2. A V-belt gripping mechanism 59 is disposed adjacent to the claw member 57 having the above configuration.

  The V belt gripping mechanism 59 is provided to hold the V belt 102 in the width direction W (longitudinal direction N2) of the V belt 102.

  The V belt gripping mechanism 59 includes a first receiving portion 61, a second receiving portion 62, and a V belt gripping mechanism displacement mechanism 63.

  The first receiving portion 61 is provided to receive one of the pair of side surfaces of the V belt 102 in the width direction W of the V belt 102. In the present embodiment, the first receiving portion 61 is provided on the inner side surface 55 a of the third portion 55 e of the V-belt holding plate 55. In the present embodiment, a plurality (two in the present embodiment) of the first receiving portions 61 are provided and arranged on the inner side surface 55 a of each V-belt holding plate 55.

  The first receiving portion 61 may be provided only on one of the pair of V belt holding plates 55. Each first receiving portion 61 is formed in a protruding shape extending along the vertical direction UD, and extends from the upper end portion to the lower end portion of the inner side surface 55a. Each first receiving portion 61 is arranged to face the second portion 57b of the corresponding claw member 57 in the left-right direction LR. A second portion 57b is arranged so as to face the first portion 57a.

  The second receiving portion 62 is provided to receive the other of the pair of side surfaces of the V belt 102 in the width direction W of the V belt 102. In the present embodiment, the second receiving portion 62 is supported by the displacement mechanism 63 for the V belt gripping mechanism. Specifically, a plurality of (in this embodiment, two) second receiving portions 62 are provided. In the present embodiment, the number of second receiving portions 62 is the same as the number of first receiving portions 61. That is, a pair of second receiving portions 62 is provided so as to face the pair of first receiving portions 61 in the longitudinal direction N2.

  Each second receiving portion 62 is formed in a flat plate shape using a metal plate. One side surface of each second receiving portion 62 extends along the inner side surface 55a of the corresponding V-belt holding plate 55, and is slidable with the inner side surface 55a. Each second receiving portion 62 is displaced in the longitudinal direction N2 by the operation of the displacement mechanism 63 for the V belt gripping mechanism.

  The V-belt gripping mechanism displacement mechanism 63 is provided to displace the second receiving portion 62 relative to the first receiving portion 61 in the width direction W. The displacement mechanism 63 for the V-belt gripping mechanism is an example of “a displacement mechanism for displacing the second receiving portion with respect to the first receiving portion in the width direction of the V-belt”.

  The displacement mechanism 63 for the V belt gripping mechanism includes a movable base 64 and a V belt gripping mechanism actuator 65 for displacing the movable base 64 in the width direction W.

  The movable base 64 has a first portion 64a and a second portion 64b. The first portion 64 a is attached to each second receiving portion 62. For example, the first portion 64 a is formed in an L shape in a plan view, and one side surface of the first portion 64 a is fixed to one side surface of the corresponding second receiving portion 62.

  The second part 64b is fixed to one side face of the first part 64a facing the second bracket 50 side. The second portion 64b is formed in a flat plate shape extending in the left-right direction LR. Both ends of the second part 64b in the left-right direction LR are fixed to the corresponding first part 64a. An intermediate portion of the second portion 64 b in the left-right direction LR is connected to the V-belt grip mechanism actuator 65.

  The V-belt gripping mechanism actuator 65 is an air cylinder device, for example, and is configured to operate using a working fluid such as air. The V-belt gripping mechanism actuator 65 has a fixed portion 65a and a movable portion 65b. The fixing portion 65a is fixed to the second bracket 50. The fixed portion 65a supports the movable portion 65b so as to be displaceable in the width direction W (longitudinal direction N2). The movable portion 65b protrudes from the fixed portion 65a toward the movable base 64, and is supported by the movable portion 65b so as to be slidable. The second portion 64b of the movable base 64 is fixed to the distal end portion of the movable portion 65b. A cut waste holder 54 is provided together with the V belt holder 53 having the above-described configuration.

  The cut waste holding unit 54 holds the cut waste 103 passed from the bias cutting device 4 to the take-out hand 22 so as to hang down.

  The cut waste holder 54 includes a pair of V-belt holding plates 55, a pair of holding plate actuators 56, a pair of claw members 57, a pair of claw member actuators 58, and a pair of guide members 66. doing.

  That is, the cut waste holder 54 includes a pair of V-belt holding plates 55 as a component of the V-belt holder 53, a pair of holding plate actuators 56, a pair of claw members 57, and a pair of claw member actuators. 58. Therefore, in the following, detailed description of the same components as the components of the V-belt holding portion 53 in the cut waste holding portion 54 will be omitted.

  In the cut waste holding portion 54, a through hole portion 60 through which the cut waste 103 is passed is formed by cooperation of each V belt holding plate 55 and the corresponding claw member 57. That is, the through-hole portion 60 is formed as a hole portion through which the cut waste 103 is passed and the V-belt 102 is passed. The through hole 60 is formed between each claw member 57 and the corresponding V belt holding plate 55 when the tip of each claw member 57 is in contact with the corresponding V belt holding plate 55.

  As described above, each claw member 57 is formed in a rod shape extending along the longitudinal direction N2 (the width direction W of the V belt 102), and the V member 102 holds the V belt 102 with respect to the V belt 102. It arrange | positions so that it may extend over the both sides of the width direction W of the belt 102. Thereby, when the take-out hand 22 receives the V belt 102 and the cut waste 103 from the bias cut device 4, each claw member 57 can receive the cut waste 103 on both sides of the V belt 102. A pair of guide members 66 are disposed adjacent to the claw member 57.

  The guide member 66 extends along the discharge direction (one of the longitudinal directions N2) of the cut waste 103 from the cut waste holding portion 54, and is provided to guide the displacement of the cut waste 103 in the discharge direction. In the present embodiment, a pair of guide members 66 are provided, but this need not be the case. The number of guide members 66 may be one, or three or more.

  Each guide member 66 is formed in a rod shape extending along the longitudinal direction N2. A base end portion of each guide member 66 is fixed to the first base member 51. Each guide member 66 is spaced apart in the left-right direction LR and is located above the pair of claw members 57. In a state in which the pair of claw members 57 are separated from the corresponding V-belt holding plates 55, the pair of guide members 66 are disposed so as to sandwich the pair of claw members 57 in plan view.

  The above is the schematic configuration of the belt conveyance system 6. Next, an example of the operation of the belt conveyance system 6 will be described.

  12 is a side view of the biaxial stretching device 3 and the insertion hand 21. FIGS. 12 (a), 12 (b), and 12 (c) show the belt 101 inserted from the biaxial stretching device 3, respectively. A state of delivery to the hand 21 is shown. FIG. 13 is a schematic perspective view showing a state in which the belt 101 is held by the insertion hand 21.

  FIG. 14 is a side view of the bias cutting device 4 and the insertion hand 21. FIGS. 14A, 14B, and 14C show the belt 101 from the insertion hand 21 to the bias cutting device 4 respectively. It shows the state of passing to.

  15 is a side view of the bias cutting device 4 and the take-out hand 22. FIGS. 15 (a), 15 (b) and 15 (c) show the V-belt 102 and the cut waste 103, respectively, as a bias cutting device. 4 shows a state of delivery from 4 to the takeout hand 22. FIG. 16 is a plan view showing a state in which the take-out hand 22 holds the V belt 102 and the cut waste 103.

  FIG. 17 is a side view of the take-out hand 22 and the discharge unit 5. FIGS. 17A, 17B, and 17C show the V belt 102 and the cut waste 103 from the take-out hand 22, respectively. A state of delivery to the discharge unit 5 is shown.

  With reference to FIG. 12A, in the belt manufacturing apparatus 1, the belt conveyance system 6 receives the belt 101 from the biaxial stretching apparatus 3. Specifically, first, in the biaxial stretching device 3, the main shaft 3b and the sub shaft 3c are arranged at a predetermined distance, and the belt 101 is given a predetermined tension to the main shaft 3b and the sub shaft 3c. It is stretched in a shape that extends in an elongated state. In this state, the insertion hand 21 is displaced toward the biaxial stretching device 3 by the operation of the main displacement mechanism 20.

  Thereby, as shown in FIG. 12A, the pressurizing portion 35 of the insertion hand 21 is disposed on the side of the belt 101. Next, as shown in FIG. 12B, the secondary shaft 3c of the biaxial stretching device 3 is displaced toward the main shaft 3b. Thereby, the application of tension to the belt 101 is released. As a result, the belt 101 is elastically deformed so as to be circular, and comes into contact with the pressure pieces 35 a to 35 d of the pressure unit 35. As a result, the belt 101 is pressed against the pressure pieces 35 a to 35 d and is held by the insertion hand 21.

  Further, the second receiving portion 38 of the belt gripping mechanism 36 moves forward to the biaxial stretching device 3 side by the operation of the belt gripping mechanism actuator 41. As a result, the belt 101 is gripped by the first receiving portions 37 of the belt gripping mechanism 36 and the corresponding second receiving portions 38. That is, the belt 101 is held by both the pressure unit 35 and the belt gripping mechanism 36, and is prevented from dropping from the insertion hand 21. Next, as shown in FIG. 12C, the insertion hand 21 is displaced so as to retract from the biaxial stretching device 3 by the operation of the main displacement mechanism 20. Referring to FIGS. 12C and 13, at this time, as described above, the belt 101 is elongated in the vertical direction as a result of being held by the belt gripping mechanism 36, and in the vertical direction. The intermediate portion of the belt 101 is bent inward in the radial direction of the belt 101. In the present embodiment, the belt 101 is held in a figure 8 shape in the insertion hand 21. Thereby, the belt 101 is held by the insertion hand 21 with a high holding force.

  The insertion hand 21 is conveyed to the bias cut device 4 by the operation of the main displacement mechanism 20 as shown in FIG. Referring to FIG. 14A, the main displacement mechanism 20 inserts the insertion hand 21 into the bias cut device 4 in a state where the main shaft 4b and the sub shaft 4c are close to each other. Accordingly, the belt 101 is disposed so as to surround the main shaft 4b and the sub shaft 4c of the bias cut device 4. In this state, the second receiving portion 38 of the belt gripping mechanism 36 is displaced away from the first receiving portion 37. As a result, the holding of the belt 101 by the belt gripping mechanism 36 is released.

  Next, the auxiliary shaft 4c of the bias cut device 4 is displaced so as to move away from the main shaft 4b. As a result, as shown in FIG. 14B, the belt 101 is given a tension by the main shaft 4b and the sub shaft 4c, and has an elongated shape. Thereby, the belt 101 is released from contact with the pressure pieces 35a to 35d of the pressure unit 35, and the holding of the belt 101 by the pressure unit 35 is released.

  Thereafter, as shown in FIG. 14C, the main displacement mechanism 20 retracts the insertion hand 21 so as to be separated from the bias cut device 4. In this state, the bias cut device 4 performs a bias cut process on the belt 101.

  Next, the main displacement mechanism 20 rotates the bracket support portion 31 so that the take-out hand 22 faces the bias cut device 4 from the state where the insertion hand 21 faces the bias cut device 4. Then, as shown in FIG. 15A, the main displacement mechanism 20 inserts the take-out hand 22 into the bias cut device 4.

  As a result, as shown in FIG. 15A, the pair of V belt holding plates 55 of the take-out hand 22 removes the V belt 102 generated from the belt 101 and the cut waste 103 on both sides in the width direction W of the V belt 102. It arrange | positions so that it may pinch | interpose. Next, of the pair of cut scraps 103, the cut scraps 103 on the back side of the main shaft 4 b are pushed out to the tip end side (extraction hand 22 side) of the main shaft 4 b by the cut scrap pushing-out portion 4 e of the bias cut device 4.

  Next, as shown in FIG. 16, the pair of claw members 57 of the take-out hand 22 is displaced toward the corresponding V belt holding plate 55 side by the operation of the pair of claw member actuators 58. Thus, the through hole 60 is formed by the claw member 57 and the corresponding V belt holding plate 55, and the cut waste 103 and the V belt 102 are passed through the through hole 60. Accordingly, the pair of V belt holding plates 55 and the pair of claw members 57 cooperate to grip the V belt 102 and the cut waste 103.

  In this state, as shown in FIGS. 15B and 16, the auxiliary shaft 4 c of the bias cut device 4 is displaced toward the main shaft 4 b. As a result, the application of tension to the V-belt 102 is released. As a result, the V-belt 102 is elastically deformed so as to be circular, and contacts the inner side surfaces 55a of the pair of V-belt holding plates 55. As a result, the V-belt 102 is pressed against the pair of V-belt holding plates 55 and is held by the take-out hand 22.

  Further, the second receiving portion 62 of the V-belt gripping mechanism 59 moves forward to the bias cut device 4 side by the operation of the V-belt gripping mechanism actuator 65. As a result, the V belt 102 is gripped by the first receiving portions 61 of the V belt gripping mechanism 59 and the corresponding second receiving portions 62. That is, the V-belt 102 is held by both the pair of V-belt holding plates 55 and the V-belt gripping mechanism 59 and is prevented from dropping from the take-out hand 22.

  Next, as shown in FIG. 15 (c), the take-out hand 22 is displaced by the operation of the main displacement mechanism 20 so as to move backward from the bias cut device 4 while being lifted. At this time, the main displacement mechanism 20 operates the main displacement mechanism 20 so as to vibrate the take-out hand 22 once up and down. Thereby, the cut waste 103 is reliably separated from the V belt 102 and is hung on the pair of claw members 57 and the pair of guide members 66. That is, the main displacement mechanism 20 operates as a vibration source that applies vibration to the V belt holding portion 53 and the cut waste holding portion 54. As a result, the cut waste 103 is held by the take-out hand 22 while being positioned below the V-belt 102.

  The take-out hand 22 is conveyed to the discharge unit 5 by the operation of the main displacement mechanism 20 as shown in FIG. The main displacement mechanism 20 arranges the take-out hand 22 so that the V-belt 102 surrounds the hanging base 11 of the discharge portion 5 and the upper end portion of the cut waste 103 faces the baffle plate 11c of the discharge portion 5.

  Next, the operation of the V belt gripping mechanism actuator 65 causes the second receiving portion 62 of the V belt gripping mechanism 59 to move away from the first receiving portion 61. As a result, the holding of the V belt 102 by the V belt gripping mechanism 59 is released. Next, the pair of V-belt holding plates 55 are opened by the operation of the pair of V-belt holding plate actuators 56 as shown in FIG. In addition, in FIG.17 (b) and FIG.17 (c), the extraction hand 22 is simplified and shown.

  As a result, the V-belt 102 held on the pair of V-belt holding plates 55 is dropped and hung on the hanging table 11 and held on the hanging table 11. Next, as shown in FIG. 17C, the take-out hand 22 (cut waste holding portion 54) moves the tip of the cut waste holding portion 54 downward by the operation of the main displacement mechanism 20. 103 is dropped from the cut waste holder 54.

  At this time, the cut waste 103 is located below the front end of the hanging base 11 and faces the baffle plate 11c. For this reason, the cut waste 103 is not accidentally hung on the rack 11 and falls into the cut waste bin 12. At this time, the cut waste 103 falls substantially straight while being guided by the guide member 66.

  As described above, according to the present embodiment, the belt conveyance device 32 has the insertion hand 21. According to this configuration, the belt 101 is conveyed by the insertion hand 21 while being bent in the radial direction of the belt 101. Thereby, the belt 101 can be easily hung on the bias cutting device 4. As described above, by using the insertion hand 21, the delivery work of the belt 101 to the bias cut device 4 can be facilitated. Therefore, it is possible to provide the belt conveying device 32 having a configuration more suitable for conveying the endless belt 101.

  Further, according to the belt conveyance device 32, the insertion hand 21 includes the pressure unit 35. According to this configuration, the belt 101 applies an elastic repulsion force to the pressure unit 35 by holding the pressure unit 35 in a state where the belt 101 is pressurized. As a result, a frictional force is generated between the pressure unit 35 and the belt 101, so that the pressure unit 35 can hold the belt 101.

  Moreover, according to the belt conveyance apparatus 32, the pressurization part 35 has several pressurization piece 35a-35d. According to this configuration, the belt 101 can be held by the cooperation of the plurality of pressure pieces 35a to 35d.

  Further, according to the belt conveyance device 32, the plurality of pressure pieces 35 a to 35 d can be firmly supported by the support member 34. Thereby, the pressure pieces 35a to 35d can hold the belt 101 having a larger weight.

  Further, according to the belt conveyance device 32, the pressure pieces 35a and 35d and the pressure pieces 35b and 35c are arranged so as to face each other with the belt 101 interposed therebetween. According to this configuration, the belt 101 can be held in a more stable posture by the pressure pieces 35a and 35d and the pressure pieces 35b and 35c facing each other.

  Further, according to the belt conveying device 32, the pressure pieces 35a and 35c and the pressure pieces 35b and 35d are respectively arranged diagonally. According to this configuration, the belt 101 can be held in a more stable posture by the pressure pieces 35a and 35c and the pressure pieces 35b and 35d arranged diagonally.

  Further, according to the belt conveying device 32, the insertion hand 21 includes the belt gripping mechanism 36. According to this configuration, it is possible to more reliably suppress the belt 101 from dropping from the insertion hand 21 while the belt 101 is being conveyed. In this case, when the insertion hand 21 receives the belt 101 or delivers the belt 101, the belt 101 is inserted into the insertion hand 21 by the pressure unit 35 while releasing the holding of the belt 101 by the belt gripping mechanism 36. It is also possible to keep it in a state where it can be easily taken in and out.

  Further, according to the belt conveying device 32, the belt 101 is gripped by the first receiving portion 37 and the second receiving portion 38 by the operation of the displacement mechanism 39 for the belt gripping mechanism, and the second receiving portion 38 is connected to the belt 101. It is possible to switch between the state in which the belt gripping mechanism 36 is released and the state in which the belt 101 is released is released. Further, the belt gripping mechanism 36 can grip the belt 101 without being restricted by the type and size of the belt 101 (such as the thickness and circumferential length of the belt 101). Thereby, the versatility of the belt conveying apparatus 32 can be made higher.

  Moreover, according to the belt conveyance apparatus 32, the 1st receiving part 37 of the belt gripping mechanism 36 is provided in the pressure pieces 35a and 35c. According to this configuration, the position where the pressure unit 35 holds the belt 101 and the position where the belt gripping mechanism 36 holds the belt 101 can be aligned. Thereby, the posture change of the belt 101 can be suppressed before and after the operation of the belt gripping mechanism 36 holding the belt 101 and before and after the operation of releasing the holding of the belt 101. As a result, the insertion hand 21 can receive and deliver the belt 101 in a more stable posture.

  Further, according to the belt conveying device 32, one second receiving portion 38 is provided for each first receiving portion 37 in the belt gripping mechanism 36. As a result, the belt 101 can be gripped more reliably by the cooperation of the first receiving portion 37 and the second receiving portion 38.

  Further, according to the belt gripping mechanism 36 of the belt conveying device 32, the first receiving portion 37 and the second receiving portion 38 that form a pair are provided at a plurality of locations (two locations). It can be held in a stable posture.

  Further, according to the belt gripping mechanism 36 of the belt conveying device 32, a plurality of the first receiving portions 37 are provided so as to sandwich the belt 101 when the first receiving portion 37 is viewed from the width direction W of the belt 101. According to this configuration, the belt gripping mechanism 36 can hold the belt 101 in a more balanced manner. As a result, the belt gripping mechanism 36 can hold the belt 101 in a more stable posture. Thereby, the insertion hand 21 can convey the belt 101 at a higher speed.

  Further, according to the belt conveyance device 32, the first receiving portions 37 of the belt gripping mechanism 36 are arranged diagonally. According to this configuration, the belt 101 can be held in a more stable posture by the cooperation of the first receiving portion 37 and the second receiving portion 38.

  Further, according to the belt conveying device 32, the operation of the belt gripping mechanism actuator 41 causes the second receiving portion 38 to receive the side surface of the belt 101 and grip the belt 101 with the first receiving portion 37 and the second receiving portion 38. The state and the state in which the second receiving portion 38 is separated from the belt 101 and the gripping operation of the belt 101 is released can be easily switched.

  Further, according to the belt conveyance device 32, the insertion hand 21 elongates the belt 101 in the vertical direction and holds the intermediate portion of the belt 101 in the vertical direction inwardly in the radial direction of the belt 101. According to this configuration, the belt 101 can be held in a shape close to the shape of the belt 101 when the belt 101 is inserted into the bias cut device 4 manually by an operator. As a result, even if the belt 101 is transported by the operation of the belt transport system 6 instead of the manual labor of the worker, it is not necessary to change the configuration of devices other than the belt transport system 6.

  Further, according to the V-belt conveying device 45, the take-out hand 22 can convey the V-belt 102 and the cut waste 103 formed by the bias cutting device 4 in a lump. In the take-out hand 22, the V-belt 102 and the cut waste 103 are held in a state where they are arranged at different height positions. Thereby, it is possible to easily perform the operation of separately taking out the V belt 102 and the cut waste 103 from the takeout hand 22. As a result, the V belt 102 and the cut waste 103 can be quickly and automatically conveyed by the take-out hand 22, so that the production efficiency of the V belt 102 can be further increased. Depending on the above, it is possible to realize the V-belt transport device 45 having a configuration more suitable for transporting the cut waste 103 generated along with the formation of the V-belt 102 and the V-belt 102.

  As described above, the takeout hand 22 holds the V belt 102 and the cut waste 103 so that the height position of the V belt 102 and the height position of the cut waste 103 are different. As a result, the height position of the V-belt 102 when the V-belt 102 is transferred from the take-out hand 22 to the platform 11 of the discharge unit 5, and the cut debris 103 from the take-out hand 22 to the cut waste bin 12 of the discharge unit 5. The height position of the cut waste 103 when delivered is different. Thereby, when the V belt 102 is delivered from the take-out hand 22 to the discharge unit 5, it is possible to suppress the cut waste 103 from being erroneously delivered to the discharge unit 5.

  Further, according to the V-belt conveyance device 45, the take-out hand 22 has a V-belt holding part 53 for holding the V-belt 102 and a cut waste holding part 54 for holding the cut waste 103. . According to this configuration, the take-out hand 22 can hold the V belt 102 and the cut waste 103 separately more reliably.

  Further, according to the V-belt conveyance device 45, the V-belt holding unit 53 is configured to hold the outer peripheral surface of the V-belt 102 in a state where the V-belt 102 is deformed so as to bend in the radial direction of the V-belt 102. . As a result, the V-belt 102 applies an elastic repulsion force to the V-belt holding portion 53. As a result of the friction force generated between the V belt holding portion 53 and the V belt 102, the V belt holding portion 53 can hold the V belt 102.

  Further, according to the V-belt conveying device 45, the V-belt 102 can be held with a simple configuration in which the V-belt 102 is sandwiched between the pair of V-belt holding plates 55.

  Further, according to the V-belt conveying device 45, the state in which the V-belt holding unit 53 holds the V-belt 102 and the state in which the holding is released by the swinging operation (opening / closing operation) of the pair of V-belt holding plates 55. Can be switched easily.

  Further, according to the V-belt conveying device 45, the through-hole portion 60 through which the V-belt 102 is passed is formed by the cooperation of each V-belt holding plate 55 and the corresponding claw member 57. According to this configuration, the V belt 102 can be held so as to sandwich the V belt 102 by the claw member 57 corresponding to the V belt holding plate 55. Thereby, it is possible to prevent an inadvertent displacement of the V belt 102 with respect to the pair of V belt holding plates 55. Therefore, the take-out hand 22 can convey the V belt 102 in a more stable posture.

  Further, according to the V-belt conveying device 45, the state in which the V-belt 102 is sandwiched between the V-belt holding plate 55 and the corresponding claw member 57 due to the relative displacement between the V-belt holding plate 55 and the claw member 57, It is possible to switch between the state in which the dead state is released.

  Further, according to the V-belt conveying device 45, the V-belt holding unit 53 includes the V-belt gripping mechanism 59. According to this configuration, it is possible to more reliably suppress the V belt 102 from dropping from the take-out hand 22 while the V belt 102 is being conveyed. In this case, when the take-out hand 22 receives the V-belt 102 or delivers the V-belt 102, the V-belt gripping mechanism 59 releases the state in which the V-belt 102 is gripped, thereby removing the V-belt 102. It is also possible to hold the V belt 102 with the V belt holding portion 53 in a state where it can be easily detached from the hand 22.

  Further, according to the V-belt conveyance device 45, the V-belt 102 is gripped by the first receiving portion 61 and the second receiving portion 62 by the operation of the displacement mechanism 63 for the V-belt holding mechanism, and the second receiving portion 62. It is possible to switch between the state where the V belt 102 is separated from the V belt 102 and the holding of the V belt 102 by the V belt gripping mechanism 59 is released. The V-belt gripping mechanism 59 can grip the V-belt 102 without being restricted by the type and size of the V-belt 102 (thickness, circumference, etc. of the V-belt 102). Thereby, the versatility of the V-belt conveyance apparatus 32 can be made higher.

  Further, according to the V-belt conveyance device 45, the first receiving portion 61 of the V-belt gripping mechanism 59 is provided on each V-belt holding plate 55. According to this configuration, the position where the V belt holding plate 55 holds the V belt 102 and the position where the V belt gripping mechanism 59 holds the V belt 102 can be aligned. Thereby, the posture change of the V belt 102 can be suppressed before and after the operation of the V belt gripping mechanism 59 holding the V belt 102 and before and after the operation of releasing the holding of the V belt 102. As a result, the take-out hand 22 can receive and deliver the V-belt 102 in a more stable posture.

  Further, according to the V-belt conveyance device 45, the first receiving portion 61 and the second receiving portion 62 of the V-belt gripping mechanism 59 are both provided on the two V-belt holding plates 55. As a result, the V-belt gripping mechanism 59 can hold the V-belt 102 at two locations, so that the V-belt 102 can be held more stably.

  Further, according to the V-belt conveyance device 45, the second receiving portion 62 receives the side surface of the V-belt 102 by the operation of the V-belt gripping mechanism actuator 65, and the first receiving portion 61 and the second receiving portion 62 form the V-belt. It is possible to easily switch between the state where the grip 102 is gripped and the state where the second receiving portion 62 is separated from the V belt 102 and the gripping operation of the V belt 102 is released.

  Moreover, according to the V-belt conveyance apparatus 45, the cut waste holding part 54 hold | maintains the cut waste 103 so that it may hang down. According to this configuration, the take-out hand 22 can hold the cut waste 103 at a lower height position. Thereby, the taking-out hand 22 can make the height position of the V-belt 102 different from the height position of the cut waste 103 more reliably. As a result, the take-out hand 22 can more easily perform the operation of sorting and discharging the V-belt 102 and the cut waste 103 into different places.

  Further, according to the V-belt conveying device 45, the cut waste holding part 54 can hold the cut waste 103 by the claw member 57 arranged so as to extend in the width direction W of the V belt 102.

  Further, according to the V-belt conveyance device 45, the claw member 57 extends over both sides in the width direction W of the V-belt 102 with respect to the V-belt 102 held by the V-belt holding portion 53. According to this configuration, both the cut waste 103 generated on both sides in the width direction of the V-belt 102 can be more reliably held by the claw member 57.

  Further, according to the V belt conveyance device 45, the cut waste holder 54 is formed with the through-hole portion 60 through which the cut waste 103 is passed in cooperation with each V belt holding plate 55 and the corresponding claw member 57. Yes. According to this configuration, the V belt 102 can be held with a simple configuration in which the V belt 102 is sandwiched between the pair of V belt holding plates 55. Further, the cut waste 103 can be held by the claw member 57 corresponding to the V belt holding plate 55 so as to sandwich the cut waste 103. Thereby, it is possible to prevent an inadvertent displacement of the cut waste 103 with respect to the pair of V belt holding plates 55. Therefore, the take-out hand 22 can carry the cut waste 103 in a more intended posture.

  Further, according to the V-belt conveying device 45, the cut scraps 103 are sandwiched between the V-belt holding plate 55 and the corresponding claw member 57 due to the relative displacement between the V-belt holding plate 55 and the claw member 57, It is possible to switch between the state in which the dead state is released.

  Further, according to the V-belt conveying device 45, when the cut waste 103 is discharged from the cut waste holding portion 54, the displacement of the cut waste 103 can be guided by the guide member 66. Thereby, the cut waste holding | maintenance part 54 can deliver the cut waste 103 to the cut waste bin 12 more reliably.

  Further, according to the V-belt conveying device 45, the cut waste 103 is discharged from the cut waste holding portion 54 by a simple operation in which the cut waste holding portion 54 operates so that the tip of the cut waste holding portion 54 is displaced downward. be able to.

  Further, according to the V-belt conveyance device 45, the main displacement mechanism 20 applies vibration to the take-out hand 22, so that the V-belt 102 held by the V-belt holding portion 53 and the cut waste holding portion 54 are held. The cut waste 103 can be more reliably separated.

  Further, according to the belt conveyance system 6, the belt 100 (belt 101) is sequentially conveyed from the first position P1 to the second position P2 and the third position P3 by the insertion hand 21 and the take-out hand 22. Further, the main displacement mechanism 20 operates both the insertion hand 21 and the extraction hand 22. Thereby, it is not necessary to displace the insertion hand 21 and the extraction hand 22 by separate mechanisms, and the belt 100 (the belt 101 and the V belt 102) can be automatically conveyed more efficiently. As a result, the conveyance efficiency of the belt 100 can be further increased. Depending on the above, the belt conveyance system 6 having a configuration more suitable for conveyance of the endless belt 100 can be provided.

  Moreover, according to the belt conveyance system 6, the movable part 24 of the main displacement mechanism 20 displaces the insertion hand 21 between the first position P1 and the second position P2 using a turning operation, and also takes out the removal hand 22. Is displaced between the second position P2 and the third position P3. According to this configuration, the region where the movable portion 24 of the main displacement mechanism 20 is displaced can be limited to a relatively narrow region around the fixed portion 23. Thereby, the displacement amount of the movable part 24 can be decreased. That is, the conveyance length of the belt 100 can be further shortened. Thereby, the conveyance efficiency of the belt conveyance system 6 can be made higher. Further, the belt conveyance system 6 can be made more compact.

  Further, according to the belt conveyance system 6, the bracket support portion 31 at the distal end portion of the movable portion 24 of the main displacement mechanism 20 is configured to be able to displace the insertion hand 21 and the extraction hand 22 around the bracket support portion 31. According to this configuration, in addition to the configuration in which the movable portion 24 pivots with respect to the fixed portion 23, the distal end of the movable portion 24 can displace the insertion hand 21 and the extraction hand 22 around the bracket support portion 31. is there. Thereby, the main displacement mechanism 20 can shorten the moving path of the insertion hand 21 and the extraction hand 22. Therefore, the conveyance length of the belt 100 can be further shortened. Thereby, the conveyance efficiency of the belt 100 using the main displacement mechanism 20 can be made higher. Further, the belt conveyance system 6 can be made more compact.

  Moreover, according to the belt conveyance system 6, the main displacement mechanism 20 includes a plurality of joint mechanisms. According to this configuration, the degree of freedom of the path of the distal end of the movable portion 24, that is, the path of the insertion hand 21 and the extraction hand 22 can be remarkably increased. Thereby, the freedom degree of the setting of the belt conveyance path | route in the belt conveyance system 6 can be made higher.

  Further, according to the belt conveyance system 6, the insertion hand 21 and the extraction hand 22 can be attached to the movable portion 24 of the main displacement mechanism 20 by attaching the first bracket 33 and the second bracket 50 to the bracket support portion 31.

  Further, according to the belt conveyance system 6, the direction in which the first bracket 33 extends from the bracket support portion 31 (longitudinal direction N1) is different from the direction in which the second bracket 50 extends from the bracket support portion 31 (longitudinal direction N2). Yes. According to this structure, the connection position of the 1st bracket 33 and the bracket support part 31 and the connection position of the 2nd bracket 50 and the bracket support part 31 can be made the same. Thereby, the bracket support part 31 can be made more compact.

  Further, according to the belt conveyance system 6, the insertion hand 21 can convey the belt 101 to the second position P2 after receiving the belt 101 at the first position P1.

  Further, according to the belt conveyance system 6, after the belt 101 is transferred from the insertion hand 21 to the bias cutting device 4, the belt 101 is cut to form the V belt 102 and the cut waste 103. The V belt 102 and the cut waste 103 are received by the takeout hand 22. Thereby, the conveyance of the belt 100 accompanying the cutting process (bias cut) for changing the belt 101 to the V belt 102 can be automated.

  Further, according to the belt conveyance system 6, the take-out hand 22 passes the V belt 102 to the hanging base 11 of the discharge unit 5 and discharges the cut waste 103 to the cut waste bin 12 at the third position P3. According to this configuration, the take-out hand 22 can discharge the belt 101 and the cut waste 103 separately at the third position P3.

  The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, you may change as follows.

  In the above-described embodiment, the belt conveyance system was used for applying a bias cut to the belt. However, this need not be the case. The belt conveyance device may be applied to a device (for example, a polishing machine, a scale measuring machine, a binding machine, or the like) that performs work by extending a belt on two axes.

  The present invention can be widely applied as a belt conveyance device.

21 Inserting hand (holding mechanism)
32 Belt conveying device 34 Support member 35 Pressurizing parts 35a, 35b, 35c, 35d Pressurizing piece 36 Belt gripping mechanism 37 First receiving part 38 Second receiving part 39 Displacement mechanism 40 Movable base 41 Actuator 101 Belt W Belt width direction

Claims (13)

A belt conveying device for conveying an endless belt,
A holding mechanism for holding the belt in a state bent in the radial direction of the belt ;
The holding mechanism includes a belt gripping mechanism for holding the belt in the width direction of the belt,
The belt gripping mechanism includes a first receiving portion that receives one of the pair of side surfaces of the belt in the width direction of the belt, a second receiving portion that receives the other of the pair of side surfaces, and the second receiving portion. And a displacement mechanism for causing relative displacement in the width direction with respect to one receiving portion . The belt conveyance device according to claim 1,
The belt conveying device according to claim 1, wherein the holding mechanism includes a pressure unit that pressurizes the outer peripheral surface of the belt inward in the radial direction of the outer peripheral surface to bend the belt. The belt conveyance device according to claim 2,
The belt conveying device according to claim 1, wherein the pressure unit includes a plurality of pressure pieces that are spaced apart from each other in the circumferential direction of the belt and are capable of contacting the outer circumferential surface of the belt. The belt conveyance device according to claim 3,
The belt conveyance device, wherein the holding mechanism includes a support member that collectively supports the plurality of pressure pieces. The belt conveyance device according to claim 3 or 4, wherein
The belt conveying apparatus, wherein the plurality of pressure pieces include pressure pieces arranged to face each other across the belt. The belt conveyance device according to any one of claims 3 to 5,
The belt conveying device, wherein the plurality of pressure pieces include pressure pieces arranged diagonally. The belt conveying device according to any one of claims 1 to 6 ,
The holding mechanism includes a pressure unit that pressurizes the outer peripheral surface of the belt inward in the radial direction of the outer peripheral surface to bend the belt,
The pressurizing unit includes a plurality of pressurizing pieces that are arranged separately from each other in the circumferential direction of the belt and can contact the outer peripheral surface of the belt.
The belt conveying device according to claim 1, wherein the first receiving portion is provided on the predetermined pressure piece. Claims 1 a belt conveying device according to any one of claims 7,
The belt conveying device according to claim 1, wherein the first receiving portion and the second receiving portion are arranged in a pair along the width direction of the belt. The belt conveyance device according to any one of claims 1 to 8 ,
The belt conveying apparatus according to claim 1, wherein a plurality of the first receiving portions are provided apart from each other in the circumferential direction of the belt. The belt conveyance device according to claim 9 ,
The belt conveying apparatus, wherein the first receiving portion is provided in a plurality so as to sandwich the belt when the first receiving portion is viewed from the width direction of the belt. The belt conveyance device according to claim 10 ,
The belt conveying device according to claim 1, wherein the first receiving portions are arranged diagonally. A belt conveying apparatus according to any one of claims 1 to 11,
The belt conveyance device, wherein the displacement mechanism includes a movable base to which a plurality of the second receiving portions are fixed, and an actuator for displacing the movable base in the width direction. A belt conveying apparatus according to any one of claims 1 to 1 2,
The holding mechanism is characterized in that the belt is slenderly bent in a predetermined longitudinal direction, and an intermediate portion of the belt in the predetermined longitudinal direction is bent and held inward in the radial direction of the belt, Belt conveyor.

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