JP6663332B2 - Belt transport device - Google Patents

Description

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

  When manufacturing a belt such as a power 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 (cut at right angles). There are cases. When such a belt is formed, the belt being manufactured may be wound around a pair of rollers (pulleys) and subjected to various processes. An example of such a process is a bias cut process. The bias cut process is a process of cutting both side surfaces of each belt in a bias shape, and a V-belt having a substantially trapezoidal cross section is formed (for example, see Patent Documents 1 to 3).

  The bias cut is a process of cutting both side surfaces of the belt by rotating a pair of cutting blades while the belt is wound around a pair of rollers (belt running portion) and rotated. The operation of inserting the belt into the bias cut device and the operation of removing the V-belt after the bias cut from the bias cut device are manually performed by a person. In addition, the work of hanging the belt on the pair of rollers and the work of removing the belt from the pair of rollers are usually performed manually.

  On the other hand, there has been known a configuration in which articles are automatically transported by a robot in a factory (for example, see Patent Documents 4 and 5).

Japanese Patent Publication No. 4-2425 JP 2006-200732 A JP 2006-205335 A JP-A-4-42390 JP-A-11-5133

  2. Description of the Related Art When manufacturing a belt such as a power transmission belt, it is required from the viewpoint of improving belt productivity that automation of belt conveyance can be achieved. However, Patent Documents 4 and 5 merely disclose a general article conveying device, and cannot be said to disclose a conveying device suitable for conveying a belt. In addition, it is preferable to increase the versatility of the belt conveyance.

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

  (1) In order to solve the above problem, a belt transport device according to an aspect of the present invention is a belt transport device for transporting an endless belt, wherein the belt is suspended and held. Is provided.

  According to this configuration, the belt is conveyed while being suspended by the holding mechanism. Thus, for example, the belt can be easily applied to a device that performs a predetermined process on the belt while holding the belt with two shafts that can be relatively displaced so as to approach or separate from each other. As described above, the use of the holding mechanism makes it easier to transfer the belt to the belt transfer target. The holding mechanism is configured to convey the belt in a suspended state. As a result, the holding mechanism only needs to be able to lift the belt when the belt is taken out from the feeder section or the like, and can lift the belt without contracting the bent shape of the belt. Thereby, the versatility of the holding mechanism regarding the belt conveyance can be further improved. Therefore, according to the present invention, it is possible to provide a belt transport device having a configuration more suitable for transporting an endless belt.

  (2) Preferably, the holding mechanism is configured to hold an upper end of the belt.

  According to this configuration, the holding mechanism can hold the belt in a state where the entire belt is suspended by holding the upper end of the belt. With such a configuration, the holding mechanism can hold a plurality of types of belts having different characteristics such as size and rigidity in the same manner. Thereby, the versatility of the belt conveying device can be further improved. Further, for example, when the belt is transferred from the holding mechanism to a belt holding unit having a pair of upper and lower shafts, the belt is transferred from the holding mechanism to the belt holding unit in a vertically elongated shape. With such a configuration, the belt can be hung on the holding portion in a state where the width of the space inside the belt is larger than the diameter of each shaft portion. Therefore, the operation of transferring the belt from the holding mechanism to the holding unit can be easily performed.

  (3) More preferably, the holding mechanism is configured to hold one portion of the belt in a circumferential direction of the belt.

  According to this configuration, the holding mechanism can be formed more compact.

  (4) Preferably, the holding mechanism has a pair of receiving portions for receiving and holding a pair of side surfaces of the belt.

  According to this configuration, the belt can be held by sandwiching the belt between the pair of receiving portions. Further, by changing the interval between the pair of receiving portions, belts having different sizes such as widths can be received by the pair of receiving portions. Thereby, the versatility of the belt transport device can be further improved.

  (5) More preferably, the holding mechanism has an actuator for changing an interval between the pair of receiving portions.

  According to this configuration, the belt can be held by the pair of receiving portions and the belt holding can be released by the actuator.

  (6) More preferably, the actuator is configured to be able to drive each of the receiving portions along a facing direction in which the pair of receiving portions face each other.

  According to this configuration, each of the two receiving portions can be displaced by the actuator. Accordingly, when the belt is held by the pair of receiving portions, it is possible to suppress the belt from being moved toward one of the receiving portions, and the belt can be held in a more natural state.

  (7) Preferably, the receiving portion has an opposing surface arranged to oppose a corresponding side surface of the belt, and the opposing surface is formed in a shape along the shape of the side surface.

  According to this configuration, the contact area between the belt and the receiving portion can be further increased. Thereby, the force for holding the belt can be further increased by the pair of receiving portions.

  (8) More preferably, in a state where the pair of receiving portions hold the belt, when a position where the pair of receiving portions receives the belt is viewed along the circumferential direction of the belt, The facing surface is formed in a shape that makes line contact with the side surface of the belt.

  According to this configuration, the contact length between the pair of receiving portions and the belt in the thickness direction of the belt can be further increased at the portion where the pair of receiving portions receives the belt. Thus, the pair of receiving portions can hold the belt in a more stable posture. As a result, a wider belt can be reliably held by the holding mechanism. Therefore, the versatility of the belt conveying device can be improved.

  (9) Preferably, the holding mechanism is configured to be able to hold the V-belt as the belt, and the facing surface includes an inclined surface along an inclined shape of a side surface of the V-belt.

  According to this configuration, it is possible to realize a belt conveyance device particularly suitable for conveying the V-belt.

  (10) Preferably, a plurality of types of the opposing surfaces are provided corresponding to the plurality of types of the belts, and the opposing surfaces of the different types are arranged in a predetermined arrangement direction.

  According to this configuration, the holding mechanism can hold the belt by using the optimal facing surface for each of a plurality of different types of belts. Therefore, the holding mechanism can hold each of the plurality of different types of belts with a stronger holding force. Thereby, the versatility of the holding mechanism can be increased.

  (11) More preferably, the arrangement direction is a thickness direction of the belt at a position held by the pair of receiving portions when the belt is held by the pair of receiving portions.

  According to this configuration, when the belt is held by the pair of receiving portions, by changing the position of the facing surface along the thickness direction of the belt at the portion held by the pair of receiving portions, The optimal facing surface for different belts can be opposed to the belt.

  (12) Preferably, the plurality of opposing surfaces of different types are different in at least one of a shape and an inclination angle.

  According to this configuration, even if the difference between the shapes of a plurality of types of belts is large, it is possible to form an opposing surface having a shape that more closely matches the shape of the pair of side surfaces of each belt. Accordingly, the holding mechanism can hold the plurality of types of belts with a higher holding force. As a result, the versatility of the belt transport device can be increased.

  (13) Preferably, the belt transport device further includes a displacement mechanism for displacing the holding mechanism.

  According to this configuration, the holding mechanism can be displaced by the displacement mechanism.

  (14) More preferably, the belt transport device is configured to transfer the belt to a belt holding unit of a predetermined processing device, and the displacement mechanism hangs the belt on a lower portion of the belt holding unit. After the operation, the holding mechanism is configured to be displaced so as to perform an operation of hanging over the belt holding unit.

  According to this configuration, a portion of the belt that is far from the portion held by the holding mechanism can be hung first on the belt holding portion, and then a portion of the belt held by the holding mechanism can be hung on the belt holding portion. . With such a configuration, the belt can be wound around the belt holding unit while maintaining the belt in a more stable posture. Further, the belt transport device can wind the belt around the belt holding unit in a similar manner regardless of the size of the belt. Thereby, the versatility of the belt transport device can be further improved.

  (15) More preferably, the lower portion and the upper portion of the belt holding portion are arranged in a predetermined axial direction, and when the belt is hung on the belt holding portion, the displacement mechanism is configured to move along the axial direction. The holding mechanism is configured to be displaced.

  According to this configuration, the belt transport device can perform an operation of hanging the belt on the lower portion and the upper portion of the belt holding unit based on the axial direction. For example, when the belt conveyance device places the belt on the upper part next to the lower part of the belt holding unit, the upper part and the lower part are arranged along the axial direction. Therefore, it is possible to more easily control the alignment of the belt between the belt and the lower portion and between the belt and the upper portion. Accordingly, in the belt transport device, the control of winding the belt around the belt holding unit can be performed with higher accuracy. In addition, using this belt transport device for transporting many types of belts without being affected by the size (length and width, etc.) of the belt and the flexibility (hardness and flexibility) of the belt. Can be. Therefore, the versatility of the belt conveying device can be improved.

  (16) Preferably, the lower portion and the upper portion of the belt holding portion are configured to be relatively displaceable in a predetermined axial direction, and the displacement mechanism is configured such that the lower portion and the upper portion temporarily approach each other. In the state, the holding mechanism is operated so as to hang the belt on the lower portion and the upper portion.

  According to this configuration, the belt transport device can wind the belt around the belt holding unit without applying an excessive tensile force to the belt regardless of the size of the belt. Thereby, the versatility of the belt transport device can be further improved.

  (17) Preferably, the belt transport device is configured so that the belt can be detached from a belt holding portion of a predetermined processing device, and the belt holding portion has the belt at upper and lower portions of the belt holding portion. Wherein the holding mechanism operates to hold a portion of the belt extending between the upper portion and the lower portion, and then the portion holding the belt is The belt is configured to be displaced by the displacement mechanism so as to be the upper end of the belt.

  According to this configuration, the holding mechanism first holds a portion of the belt wound around the belt holding portion that is not in contact with the belt holding portion, and then performs an operation of removing the belt from the belt holding portion. The belt can be removed from the belt holding section. With such an operation, the holding mechanism can more reliably remove the belt from the belt holding unit while securely holding the belt.

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

It is a schematic plan view of the power transmission belt manufacturing device concerning one embodiment of the present invention. It is a front view of a feeder part. 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 displacement mechanism. FIG. 2 is a schematic plan view of a main part of the belt transport device, showing a state in which an insertion hand and an extraction hand are viewed in plan. It is a side view of an insertion hand. It is a side view of an extraction hand. 5 is a flowchart for explaining the main points of an example of the operation of the belt transport device. It is a schematic diagram which shows a mode that an insertion hand takes out a belt from a feeder part. (A)-(d) is a schematic diagram which shows a mode that an insertion hand attaches a belt to a bias cut device. (A)-(b) is a schematic diagram which shows a mode that an insertion hand takes out a belt from a feeder part during the cutting operation by a bias cut device. (A)-(e) is a schematic diagram which shows a mode that an extraction hand takes out a V belt from a bias cut device. It is a schematic diagram which shows a mode that an extraction hand discharges a V belt to a discharge part. It is a figure showing a modification. It is a figure showing another modification.

  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 one embodiment of the present invention. Referring to FIG. 1, a transmission belt manufacturing device 1 (hereinafter, also simply referred to as manufacturing device 1) is used for manufacturing a V-belt as a transmission belt for transmitting power. As such a V-belt, a V-belt used in power transmission applications such as general industrial machines and automobiles can be exemplified. More specifically, as the above-mentioned V-belt, a wrapped V-belt, a low-edge V-belt, a V-ribbed belt or the like can be exemplified.

  The manufacturing apparatus 1 turns the belt 101 into a V-belt 102 by cutting both side surfaces of the endless annular belt 101 having a rectangular cross-section in the width direction in the width direction. Note that the belt 101 and the belt 102 may be collectively referred to as “belt 100”.

  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 for preventing 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 feeder unit 3, a bias cut device 4, a discharge unit 5, and a belt transport device 6 for transporting the belt 100.

  The belt transport device 6 has a displacement mechanism 10, an insertion hand 11, and an extraction hand 12.

  The outline of the operation of the manufacturing apparatus 1 in the present embodiment is as follows. That is, in the manufacturing apparatus 1, the belt 101 held by the feeder unit 3 is transported to the bias cut device 4 by the insertion hand 11 of the belt transport device 6. Then, the bias cut device 4 cuts both side surfaces 100a, 100a of the belt 101 in an inclined manner. As a result, the cross section of the belt 101 is formed in a V shape, and the belt 101 becomes the V belt 102. The V-belt 102 is transported to the discharge unit 5 by the removal hand 12 of the belt transport device 6.

  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 CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), or a PLC (Programmable Logic Controller). The operation panel 2 has operation buttons operated by a worker, and outputs a predetermined electric signal to the various devices based on the operation of the operation buttons. The operation panel 2 is connected to a bias cut device 4 and a belt transport device 6.

  FIG. 2 is a front view of the feeder unit 3. 1 and 2, the feeder unit 3 holds the belt 101 in such a manner that the belt 101 can be taken out by the belt transport device 6. More specifically, in the present embodiment, the feeder unit 3 holds the belt 101 so that the upper end of the belt 101 can be gripped by the belt conveyance device 6.

  The feeder unit 3 has a column 3a and a beam 3b.

  The column 3a extends upward from the ground and supports the beam 3b. The beam portion 3b is provided as a portion where the inner peripheral portion of the belt 101 is hung. The beam portion 3b is formed in a beam shape extending substantially horizontally from one side surface of the column 3a, and is cantilevered by the column 3a. The beam 3b has an angular upper part when viewed from the axial direction of the main shaft 3a. Thereby, the upper end 100b of the belt 101 hung on the beam 3b is in a state of being lifted from the beam 3b, and is not in contact with the beam 3b. The belt 101 has an elliptical shape elongated vertically in the feeder portion 3.

  The belt 101 is transported from the feeder unit 3 to the bias cut device 4 using the insertion hand 11 of the belt transport device 6. When the belt 101 held by the feeder unit 3 is taken out of the feeder unit 3 by the insertion hand 11, the insertion hand 11 lifts the belt 101 after holding the upper end 100b of the belt 101.

  FIG. 3 is a side view of the bias cut device 4. Referring to FIGS. 1 and 3, the bias cut device 4 cuts both side surfaces 100 a, 100 a in the width direction of the belt 101 in an inclined shape, thereby forming a cross-sectional shape of the belt 101 (perpendicular to the circumferential direction C1 of the belt 101). (Shape in cross section) is used to form a V-shape. In the present embodiment, the belt transport device 6 is disposed between the bias cut device 4 and the feeder unit 3, and the bias cut device 4 is arranged around the belt transport device 6 together with the feeder unit 3.

  The bias cut device 4 has a base 4a, a belt holding portion 4d including a lower shaft portion 4b and an upper shaft portion 4c, a cutter 4e, and a cut waste pushing portion 4f.

  The base 4a extends upward from the ground and supports the belt holding unit 4d, the cutter 4e, and the cut waste pushing-out unit 4f. The lower shaft portion 4b and the upper shaft portion 4c of the belt holding portion 4d are provided as portions where the inner peripheral portion of the belt 101 (V-belt 102) is hung. The lower shaft portion 4b and the upper shaft portion 4c extend from one side surface of the base 4a and are arranged in parallel with each other. A receiving plate 35 is attached to the lower shaft portion 4b. The receiving plate 35 is a plate-shaped portion provided to receive the lower end portion 100c of the belt 101 that is displaced at a high speed by the insertion hand 11 to attenuate the swing of the lower end portion 100c of the belt 101.

  The upper shaft portion 4c is supported by a base 4a via a driving mechanism (not shown), and the upper shaft portion 4c and the lower shaft portion 4b face each other with respect to the base 4a (in this embodiment, up and down directions). Direction). That is, in the present embodiment, the lower shaft portion 4b and the upper shaft portion 4c of the belt holding portion 4d are arranged in a predetermined axial direction L1 extending vertically. The lower shaft portion 4b and the upper shaft portion 4c are configured to be relatively displaceable in the axial direction L1. Thereby, the upper shaft portion 4c can be displaced in a direction approaching the lower shaft portion 4b (upward) and in a direction away from the lower shaft portion 4b (downward).

  The axial direction L1 is not limited to the vertical direction, and may be a direction inclined with respect to the vertical direction.

  Each of the distal ends of the lower shaft portion 4b and the upper shaft portion 4c has a pulley. Each pulley has a pair of sheave surfaces, and the belt 100 is disposed in a groove between the pair of sheave surfaces. That is, in each of the lower shaft portion 4b and the upper shaft portion 4c, the belt 100 is wound around a pair of pulleys. Thus, the belt 100 is held in a stable posture by the lower shaft portion 4b and the upper shaft portion 4c.

  As described above, the belt 101 from the feeder unit 3 is supplied to the lower shaft portion 4b and the upper shaft portion 4c using the insertion hand 11 of the belt transport device 6. Prior to the operation of winding the belt 101 around the lower shaft portion 4b and the upper shaft portion 4c of the bias cut device 4, the upper shaft portion 4c is displaced toward the lower shaft portion 4b by a driving mechanism (not shown). Thereby, the interval between the lower shaft portion 4b and the upper shaft portion 4c is temporarily shortened. In this state, the insertion hand 11 hangs the lower end portion 100c of the belt 101 on the lower shaft portion 4b. Next, the insertion hand 11 hangs the upper end portion 100b of the belt 101 on the upper shaft portion 4c. Thereafter, the upper shaft 4c is displaced by a driving mechanism (not shown) so as to be separated from the upper shaft 4c.

  As a result, the belt 101 is stretched and bent by the lower shaft portion 4b and the upper shaft portion 4c, and has a shape elongated in the longitudinal direction (vertical direction). The lower shaft portion 4b is rotated by an electric motor (not shown). The belt 101 stretched on the lower shaft portion 4b and the upper shaft portion 4c is subjected to a cutting process by a cutter 4e.

  The cutters 4e are provided to cut both side surfaces 100a of the belt 101 in a state where the belts 101 are hung on the lower shaft portion 4b and the upper shaft portion 4c and are given a tensile force. The cutter 4e is attached to, for example, an actuator (not shown), and can be displaced between a position where the side surfaces 100a, 100a of the belt 101 are cut and a position separated from the belt 101. The cutter 4e cuts both side surfaces 100a, 100a of the belt 101 by coming into contact with both side surfaces 100a, 100a of the belt 101, which is driven to rotate by the lower shaft portion 4b and the upper shaft portion 4c.

  As a result, the belt 101 becomes the V-belt 102. Further, endless cut chips 103 are generated on both sides of the V-belt 102 in the width direction of the belt 101. The V-belt 102 is transported to the discharge unit 5 using the take-out hand 12 of the belt transport device 6. On the other hand, the cut waste 103 is pushed out by the cut waste pushing part 4 f and discharged to the waste bin 14. The waste container 14 is, for example, a basket member disposed below the beam 3b.

  After the cutting process by the bias cut device 4, the V belt 102 is carried out from the bias cut device 4 to the take-out hand 12. Prior to the unloading operation, the upper shaft portion 4c is displaced toward the lower shaft portion 4b to cancel the application of the tensile force to the V-belt 102. Next, the V-belt 102 is held by the removal hand 12, and the V-belt 102 is removed from the lower shaft portion 4b and the upper shaft portion 4c.

  After that, the take-out hand 12 conveys the belt 102 to the discharge unit 5. Further, the cut waste pushing portion 4f pushes the cut waste 103 to the distal end portions of the lower shaft portion 4b and the upper shaft portion 4c, so that the cut waste 103 is discharged to the waste container 14. The cut waste pushing portion 4f is supported by the base 4a.

  The cut waste pushing portion 4f is formed by using, for example, an air cylinder device. When the movable portion of the cut waste pushing portion 4f is displaced so as to protrude from the base 4a, the cut waste 103 is pushed out from the lower shaft portion 4b and the upper shaft portion 4c.

  FIG. 4 is a side view of the discharge unit 5. Referring to FIGS. 1 and 4, the discharge unit 5 is adjacent to the bias cut device 4 and is arranged along with the bias cut device 4 around the displacement mechanism 10 of the belt transport device 6.

  In the present embodiment, the feeder unit 3, the discharge unit 5, and the bias cut device 4 are arranged counterclockwise in the order of the feeder unit 3, the discharge unit 5, and the bias cut device 4 around the belt conveyance device 6 in plan view. The device 4 is arranged. Note that the arrangement of the belt transport device 6, the feeder unit 3, the discharge unit 5, and the bias cut device 4 in the present embodiment is an example, and another arrangement may be adopted.

  The discharge unit 5 is provided as a portion on which the V-belt 102 conveyed from the bias cut device 4 using the take-out hand 12 is hung. The discharge unit 5 has a support 5a and a V-belt hook 5b. The support 5a extends upward from the ground, and a V-belt hook 5b is fixed to the support 5a.

  The V-belt hook portion 5b is a portion extending from the column 5a toward the displacement mechanism 10, and is a portion that receives the V-belt 102. The V-belt hook portion 5b has, for example, a shape that is inclined upward so as to go away from the column 5a. The V-belt 102 is held by the V-belt hook 5b by hooking the inner peripheral surface of the V-belt 102 to the tip of the V-belt hook 5b.

  The schematic configuration of the feeder unit 3, the bias cut device 4, and the discharge unit 5 has been described above. Next, the belt transport device 6 will be described in more detail.

  Referring to FIG. 1, as described above, the belt transport device 6 transports the endless belt 101 from the feeder unit 3 to the bias cut device 4, and further removes the V belt 102 formed by the bias cut device 4. , From the bias cut device 4 to the discharge unit 5.

  As described above, the belt conveyance device 6 includes the displacement mechanism 10, the insertion hand (first holding mechanism) 11 for carrying the belt 101 into the belt holding unit 4d of the bias cut device 4, and the V-belt 102 holding the belt. And an unloading hand (second holding mechanism) 12 for unloading from the section 4d, and further includes a bracket 13.

  In the following, unless otherwise specified, the description will be made based on a state in which the belt 100 is held by the insertion hand 11 or the removal hand 12.

  The insertion hand 11 is provided to transport the belt 101 from the feeder unit 3 to the bias cut device 4. The take-out hand 12 is provided to convey the V-belt 102 from the bias cut device 4 to the discharge unit 5. The displacement mechanism 10 is connected to the insertion hand 11 and the removal hand 12 via the bracket 13, and displaces the insertion hand 11 and the removal hand 12 to transport the belt 101 and the V-belt 102.

  More specifically, the insertion hand 11 receives the belt 101 from the feeder unit 3, and the displacement mechanism 10 displaces the insertion hand 11 holding the belt 101 from the position on the feeder unit 3 side to the position on the bias cut device 4 side. Let it. Then, the insertion hand 11 transfers the belt 101 to the bias cut device 4.

  The take-out hand 12 receives the V-belt 102 formed by the cutting by the bias cut device 4 from the bias cut device 4. The take-out hand 12 is configured to transfer the V-belt 102 to the V-belt hook 5b of the discharge unit 5.

  FIG. 5 is a schematic perspective view of the displacement mechanism 10. Referring to FIGS. 1 and 5, a displacement mechanism 10 is provided for displacing the insertion hand 11 and the removal hand 12 in order to transport the belt 100. The displacement mechanism 10 is formed using, for example, a multi-axis joint mechanism (a plurality of joint mechanisms). This multi-axis joint mechanism is, for example, a six-axis joint mechanism.

  The displacement mechanism 10 has a fixed part 23 and a movable part 24 that is pivotally supported by the fixed part 23.

  The fixing part 23 is fixed to the ground. The movable part 24 is connected to the fixed part 23. The movable section 24 is provided as a robot arm. The movable unit 24 displaces the insertion hand 11 between the feeder unit 3 and the bias cut device 4 and displaces the take-out hand 12 between the bias cut device 4 and the discharge unit 5 by using a turning operation. .

  The movable part 24 is connected to both the insertion hand 11 and the removal hand 12 via the bracket 13. Therefore, in practice, the insertion hand 11 and the removal hand 12 are integrally displaced with the displacement of the movable part 24. With such a configuration, the movable unit 24 uses the turning operation to move the insertion hand 11 and the removal hand 12 closer to the belt holding unit 4d of the bias cut device 4, and It is possible to carry out an operation of separating.

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

  The first joint portion 25 is supported by the fixed portion 23 and is rotatable around an axis extending in the vertical direction with respect to the fixed portion 23. The second joint 26 is attached to the first joint 25. The second joint 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 28 is attached to the distal end of the first portion 27. The third joint 28 supports, for example, a base end of the second part 29 so that the second part 29 can turn around an axis parallel to the turning axis of the second joint 26. The second portion 29 is formed in a beam shape extending linearly. The fourth joint 30 is attached to the tip of the second portion 29.

  The fourth joint 30 supports the bracket support 31 so that the bracket support 31 can turn around an axis parallel to the turning axis of the second joint 26, for example. The bracket support portion 31 is formed in a shaft shape and constitutes a distal end portion of the movable portion 24 of the displacement mechanism 10, and is configured to be able to turn around the axis using an electric motor (not shown).

  The bracket support portion 31 supports the bracket 13 so as to be pivotable around the bracket support portion 31. As a result, the bracket support portion 31 of the movable portion 24 (the distal end portion of the movable portion 24) can displace the insertion hand 11 and the take-out hand 12 around the bracket support portion 31, which is a shaft portion.

  Although an example of the displacement mechanism 10 has been described, the present invention is not limited to this. The displacement mechanism 10 is not limited to the above-described configuration as long as the insertion hand 11 can be transported from the feeder unit 3 to the bias cut device 4 and the unloading hand 12 can be transported from the bias cut device 4 to the discharge unit 5. Good.

  FIG. 6 is a schematic plan view of a main part of the belt transport device 6, showing a state where the insertion hand 11 and the removal hand 12 are viewed in plan. FIG. 7 is a side view of the insertion hand 11. FIG. 8 is a side view of the removal hand 12.

  Referring to FIG. 1 and FIGS. 6 to 8, the insertion hand 11 and the removal hand 12 are supported by the bracket support 31 of the displacement mechanism 10 via the bracket 13 as described above.

  The bracket 13 is provided as a part that connects the insertion hand 11 and the removal hand 12 so as to be integrally displaceable with each other, and that is connected to the displacement mechanism 10. In the present embodiment, the bracket 13 is formed in an L shape. In the present embodiment, the bracket 13 is formed by forming one plate member into an L shape. The bracket 13 only needs to be able to hold the insertion hand 11 and the removal hand 12 in a state where they are separated from each other, and the specific shape is not limited.

  The bracket 13 has a supported part 32, a first bracket part 33, and a second bracket part 34.

  The supported portion 32 is provided as a portion connected to the bracket support portion 31 of the displacement mechanism 10. The supported portion 32 is disposed substantially at the center of the bracket 13. In the present embodiment, the supported portion 32 is disposed at the center of gravity of the bracket 13. Thus, the moment of inertia of the bracket 13 when the bracket 13 is turned by the bracket support portion 31 can be further reduced.

  A first bracket portion 33 and a second bracket portion 34 extend from the supported portion 32. The first bracket portion 33 is provided for connecting the insertion hand 11 and the bracket support portion 31 of the displacement mechanism 10. The second bracket part 34 is provided for connecting the take-out hand 12 and the bracket support part 31 of the displacement mechanism 10.

  The direction D1 in which the first bracket portion 33 extends from the supported portion 32 (bracket support portion 31) is different from the direction D2 in which the second bracket portion extends from the supported portion 32 (bracket support portion 31). In the present embodiment, when the bracket 13 is viewed in plan, the first bracket portion 33 and the second bracket portion 34 extend at an angle of approximately 90 °.

  Each of the first bracket 13 and the second bracket 13 is formed in a rectangular flat plate shape extending from the supported portion 32. The insertion hand 11 is supported at the tip (one end) of the first bracket 33. The take-out hand 12 is supported at the tip (one end) of the second bracket portion 34.

  The insertion hand 11 and the removal hand 12 are provided as holding mechanisms capable of transporting the corresponding belts 101 and 102 while suspending and holding the corresponding belts 101 and 102, respectively. In the present embodiment, the insertion hand 11 and the removal hand 12 are configured to hold the upper ends 100b of the corresponding belts 101 and 102, respectively. In the present embodiment, the insertion hand 11 and the removal hand 12 are each configured to hold one portion of the corresponding belt 101, 102 in the circumferential direction C1 of the belt 101, 102. In the present embodiment, the insertion hand 11 and the removal hand 12 have the same configuration, and are formed in the same shape.

  In a state where the bracket 13 is viewed in a plan view, the insertion hand 11 is disposed in a region surrounded by an outer line of the bracket 13. The insertion hand 11 is installed on the back surface of the bracket 13, and faces downward when the belt 101 is transported. In the present embodiment, the insertion hand 11 is arranged in a region of about half of the first bracket 33 in the longitudinal direction of the first bracket 33.

  The insertion hand 11 has an actuator 41 and a pair of receiving portions 42 and 43.

  The actuator 41 is provided as a drive source for changing the interval between the pair of receiving portions 42, 43. In the present embodiment, the actuator 41 is configured to be able to drive each of the receiving portions 42, 43 along the facing direction D3 in which the pair of receiving portions 42, 43 face each other. The actuator 41 is provided as a support for supporting the pair of receivers 42 and 43. The actuator 41 is formed using, for example, a fluid pressure cylinder, and is configured to operate by a power source such as compressed air. The actuator 41 is formed in an elongated block shape in the facing direction D3 in which the pair of receiving portions 42 and 43 face each other. In the present embodiment, the facing direction D3 is parallel to the direction in which the first bracket portion 33 extends.

  The actuator 41 has a main body 41a and a pair of movable parts 41b and 41c.

  The main body portion 41 a is provided as a portion having a cylinder chamber and the like of the actuator 41, and is formed in a block shape elongated in the longitudinal direction of the first bracket portion 33. The main body portion 41a is fixed to the back surface of the bracket 13. The main part 41a supports the pair of movable parts 41b and 41c so as to be slidable with respect to the main part 41a.

  The pair of movable portions 41b and 41c are arranged on one side surface (the side surface facing downward in FIG. 7) of the main body portion 41a opposite to the surface fixed to the bracket 13. The pair of movable portions 41b and 41c are movable with respect to the main body portion 41a in the longitudinal direction of the main body portion 41a (the longitudinal direction of the first bracket portion 33).

  The pair of movable portions 41b and 41c are connected to each other using, for example, a rack and pinion mechanism, and are configured to be displaced in opposite directions along the longitudinal direction of the main body portion 41a. That is, the pair of movable portions 41b and 41c can be relatively displaced in a direction approaching each other and in a direction separating from each other. A pair of receiving portions 42, 43 are fixed to the pair of movable portions 41b, 41c. That is, the receiving portion 42 is fixed to the movable portion 41b, and the receiving portion 43 is fixed to the movable portion 41c.

  The pair of receiving portions 42 and 43 are provided for receiving the pair of side surfaces 100 a and 100 a of the belt 101 and holding the belt 101. Each of the receiving portions 42 and 43 is displaced in the longitudinal direction of the facing direction D3 with respect to the main portion 41a together with the corresponding movable portions 41b and 41c. Thus, the pair of receiving portions 42 and 43 can be relatively displaced in a direction approaching each other and in a direction separating from each other. That is, the pair of receiving portions 42 and 43 can perform an operation of gripping and holding the belt 101 and an operation of releasing the holding and separating the belt 101 from the insertion hand 11.

  The distance between the pair of receiving portions 42 and 43 is set to, for example, about 70 mm at the maximum and about 8 mm at the minimum. That is, the pair of receiving portions 42 and 43 as a pair of claw portions have an interval of about 70 mm when opened, and an interval of approximately 8 mm when closed, and the stroke of the pair of receiving portions 42 and 43 is approximately 62 mm. Becomes Further, the holding force (holding force) for holding the belt 101 by the pair of receiving portions 42 and 43 is set to 90 N or more in the present embodiment.

  The pair of receiving portions 42, 43 have a pair of opposing surfaces 42a, 43a arranged to oppose the pair of side surfaces 100a, 100a of the belt 101. That is, each of the receiving portions 42 and 43 has the opposing surfaces 42a and 43a arranged to oppose the corresponding side surfaces 100a and 100a of the belt 101.

  The pair of opposing surfaces 42a and 43a have shapes that are symmetric in the opposing direction D3 in which the pair of receiving portions 42 and 43 oppose each other. In the present embodiment, the opposing surfaces 42a and 43a are configured to come into contact with the elastic belt 101 and to come into surface contact with the corresponding side surfaces 100a and 100a of the belt 101 elastically deformed by the contact.

  Specifically, each of the opposed surfaces 42a and 43a includes inclined surfaces 42b and 43b. The inclined surfaces 42b and 43b are formed in a tapered shape that is inclined with respect to a direction (thickness direction of the bracket 13) orthogonal to the facing direction D3 in which the pair of receiving portions 42 and 43 face each other. The distance between the pair of inclined surfaces 42b and 43b is increased as the distance from the main body 41a (bracket 13) of the actuator 41 is approached.

  At a position where the pair of inclined surfaces 42b, 43b grips the belt 101, the pair of inclined surfaces 42b, 43b extends over at least half of the belt 101 in the thickness direction of the belt 100. 101 extends over the entire area. With such a configuration, in a state where the pair of receiving portions 42 and 43 hold the belt 101, a portion where the pair of receiving portions 42 and 43 receives the belt 101 is viewed along the circumferential direction C <b> 1 of the belt 101. When viewed (as viewed as shown in FIG. 7), each of the opposing surfaces 42a and 43a is formed in a shape that comes into line contact with the corresponding side surface 100a and 100a of the belt 101.

  Protrusions 44 are formed at one end of each of the facing surfaces 42a and 43a farthest from the movable portions 41b and 41c. The protrusions 44, 44 are formed so as to protrude from the corresponding inclined surfaces 42b, 43b, and protrude in directions approaching each other. In a state where the pair of receiving portions 42 and 43 hold the belt 101, at locations where the pair of receiving portions 42 and 43 are receiving the belt 101, the protrusions 44 and 44 are attached to the receiving portions 42 and 43 in the circumferential direction C <b> 1. 43 are formed over the entire area. The amount of protrusion of each of the projections 44, 44 from the inclined surfaces 42b, 43b is a small value of, for example, about 1 mm to 2 mm. The projections 44, 44 can suppress the belt 101 from falling by receiving the belt 101.

  The pair of movable portions 41b and 41c that support the pair of receiving portions 42 and 43 are provided with a pair of pressing surfaces 41d and 41e. Each pressing surface 41d, 41e is formed on one side surface of the movable portions 41b, 41c facing the corresponding inclined surfaces 42b, 43b. In the present embodiment, each of the pressing surfaces 41d and 41e is a flat surface parallel to the facing direction D3. With the above configuration, the pair of pressing surfaces 41d and 41e can receive the outer peripheral surface of the belt 101 sandwiched between the pair of receiving portions 42 and 43. As a result, the belt 101 is firmly held by the pair of receiving portions 42 and 43 and the pair of pressing surfaces 41d and 41e, and is prevented from falling by the pair of protrusions 44 and 44.

  The take-out hand 12 is arranged adjacent to the insertion hand 11 having the above configuration.

  In a state where the bracket 13 is viewed in a plan view, the take-out hand 12 is arranged so that a part thereof protrudes from a region surrounded by an outline of the bracket 13. The take-out hand 12 is installed on the back surface of the bracket 13 and faces downward when the V-belt 102 is conveyed. In the present embodiment, the take-out hand 12 is disposed at the distal end of the second bracket 34 in the longitudinal direction of the second bracket 34.

  The take-out hand 12 has an actuator 51 and a pair of receiving portions 52 and 53.

  The actuator 51 is provided as a drive source for changing the interval between the pair of receiving portions 52 and 53. In the present embodiment, the actuator 51 is configured to be able to drive each of the receiving portions 52 and 53 along the facing direction D4 where the pair of receiving portions 52 and 53 face each other. Further, the actuator 51 is provided as a supporting portion that supports the pair of receiving portions 52 and 53. The actuator 51 is formed using, for example, a fluid pressure cylinder, and is configured to operate by a power source such as compressed air. The actuator 51 is formed in an elongated block shape in the facing direction D4 in which the pair of receiving portions 52 and 53 face each other. In the present embodiment, the facing direction D4 is orthogonal to the direction in which the second bracket portion 34 extends.

  The actuator 51 has a main body 51a and a pair of movable parts 51b, 51c.

  The main body portion 51a is provided as a portion having a cylinder chamber or the like of the actuator 51, and is formed in a block shape that is elongated in the short direction of the second bracket portion 34 when the bracket 13 is viewed in plan. The main body 51a is fixed to the back surface of the bracket 13. The main part 51a supports the pair of movable parts 51b and 51c so as to be slidable with respect to the main part 51a.

  The pair of movable portions 51b and 51c are arranged on one side surface (the side surface facing downward in FIG. 8) of the main body portion 51a opposite to the surface fixed to the bracket 13. The pair of movable portions 51b and 51c are movable with respect to the main portion 51a in the longitudinal direction of the main portion 51a (the short direction of the second bracket portion 34 when the bracket 13 is viewed in plan). The pair of movable parts 51b and 51c are connected to each other using, for example, a rack and pinion mechanism, and are configured to be displaced in opposite directions along the longitudinal direction of the main body part 51a. That is, the pair of movable parts 51b and 51c can be relatively displaced in a direction approaching each other and in a direction separating from each other. A pair of receiving portions 52, 53 are fixed to the pair of movable portions 51b, 51c. That is, the receiving portion 52 is fixed to the movable portion 51b, and the receiving portion 53 is fixed to the movable portion 51c.

  The pair of receiving portions 52 and 53 are provided for receiving the pair of side surfaces 100 a and 100 a of the V belt 102 and holding the V belt 102. Each of the receiving portions 52 and 53 is displaced in the facing direction D4 with respect to the main portion 51a together with the corresponding movable portions 51b and 51c. Thus, the pair of receiving portions 52 and 53 can be relatively displaced in a direction approaching each other and in a direction separating from each other. That is, the pair of receiving portions 52 and 53 can perform an operation of holding and holding the V-belt 102 and an operation of releasing the holding and separating the V-belt 102 from the take-out hand 12.

  The distance between the pair of receiving portions 52 and 53 is set to, for example, about 70 mm at the maximum and about 8 mm at the minimum. That is, the pair of receiving portions 52 and 53 as a pair of claw portions have an interval of about 70 mm when opened, and have an interval of about 8 mm when closed, and the stroke of the pair of receiving portions 52 and 53 is about 62 mm. Becomes Further, the holding force (holding force) for holding the V belt 102 by the pair of receiving portions 52 and 53 is set to 90 N or more in the present embodiment.

  The pair of receiving portions 52, 53 have a pair of opposing surfaces 52a, 53a arranged to oppose a pair of side surfaces 100a, 100a of the V-belt 102. That is, each receiving portion 52, 53 has opposing surfaces 52a, 53a arranged to oppose corresponding side surfaces 100a, 100a of V-belt 102.

  The facing surfaces 52a and 53a have shapes that are symmetrical in the facing direction D4 in which the pair of receiving portions 52 and 53 face each other. In the present embodiment, the opposing surfaces 52a, 53a are formed in a shape that conforms to the shapes of the corresponding side surfaces 100a, 100a of the V-belt 102, and are configured to make surface contact with these side surfaces 100a, 100a.

  Specifically, each of the opposing surfaces 52a, 53a includes inclined surfaces 52b, 53b. The inclined surfaces 52b, 53b are formed in a shape that follows the inclined shapes of the corresponding side surfaces 100a, 100a of the V-belt 102. In the present embodiment, the inclined surfaces 52b and 53b are formed in a tapered shape that is inclined with respect to a direction (the thickness direction of the bracket 13) orthogonal to the facing direction D4 in which the pair of receiving portions 52 and 53 face each other. The distance between the pair of inclined surfaces 52b and 53b is increased as the distance from the main body 51a (bracket 13) of the actuator 51 is reduced.

  The inclination angle θ3 of each inclined surface 52b, 53b is set based on the inclination angle θ2 of the side surface 100a with respect to the thickness direction of the V-belt 102. These inclination angles θ2 and θ3 may be the same, or the difference between the inclination angles θ2 and θ3 may be several degrees to about ten and several degrees. The inclination angle θ3 of each of the inclined surfaces 52b, 53b is set, for example, between 28 ° and 38 °, and in the present embodiment, is set to 33 °, which is the center between 28 ° and 38 °. The V-belt 102 has elasticity. For this reason, even if the inclination angles θ2 and θ3 do not match, if the difference between these inclination angles θ2 and θ3 is within a certain range, the inclined surfaces 52b and 53b can make surface contact with the pair of side surfaces 100a and 100a. It is.

  At a position where the pair of inclined surfaces 52b, 53b grips the V belt 102, the pair of inclined surfaces 52b, 53b extends over at least half of the V belt 102 in the thickness direction of the V belt 102. In the figure, the V belt 102 extends over the entire area. With such a configuration, in a state where the pair of receiving portions 52 and 53 are holding the V-belt 102, the position where the pair of receiving portions 52 and 53 receive the V-belt 102 is moved in the circumferential direction C1 of the V-belt 102. When viewed along, each of the opposing surfaces 52a, 53a is formed in a shape that is in line contact with the corresponding side surface 100a, 100a of the V-belt 102.

  Protrusions 54, 54 are formed at one end of each of the opposing surfaces 52a, 53a farthest from the movable portions 51b, 51c. The protrusions 54, 54 are formed to protrude from the corresponding inclined surfaces 52b, 53b, and protrude in directions approaching each other. In a state where the pair of receiving portions 52 and 53 are holding the V-belt 102, at the place where the pair of receiving portions 52 and 53 are receiving the V-belt 102, the protrusions 54 and 54 are in the circumferential direction C <b> 1. 52 and 53 are formed over the entire area. The amount of protrusion of each of the projections 54, 54 from the inclined surfaces 52b, 53b is, for example, a small value of about 1 mm to 2 mm. The projections 54, 54 can prevent the V belt 102 from falling by receiving the V belt 102.

  The pair of movable portions 51b and 51c supporting the pair of receiving portions 52 and 53 are provided with a pair of pressing surfaces 51d and 51e. Each pressing surface 51d, 51e is formed on one side surface of the movable portions 51b, 51c facing the corresponding inclined surfaces 52, 53b. In the present embodiment, each of the pressing surfaces 51d and 51e is a flat surface parallel to the facing direction D4. With the above configuration, the pair of pressing surfaces 51d and 51e can receive the outer peripheral surface of the V-belt 102 held between the pair of receiving portions 52 and 53. As a result, the V-belt 102 is firmly held by the pair of receiving portions 52 and 53 and the pair of pressing surfaces 51d and 51e, and is prevented from falling by the pair of protrusions 54 and 54.

  With the above configuration, the belt 101 when the insertion hand 11 is holding the belt 101 and the V-belt 102 when the unloading hand 12 is holding the V-belt 102 are substantially parallel to each other (at an angle). Is several degrees or less). That is, in the present embodiment, the facing direction D3 of the pair of receiving portions 42 and 43 of the insertion hand 11 and the facing direction D4 of the pair of receiving portions 52 and 53 of the removal hand 12 are arranged in parallel. Further, the pair of receiving portions 42 and 43 and the pair of receiving portions 52 and 53 are separated from each other in a direction orthogonal to the facing direction D3 when the bracket 13 is viewed in plan.

  Further, in the facing direction D3 (the facing direction D4), the position P1 where the insertion hand 11 holds the belt 101 and the position P2 where the removal hand 102 holds the V-belt 102 are shifted from each other. In the present embodiment, the positions P1 and P2 are set to be larger than the width of the belt 100 in the facing direction D3.

  Next, an example of the operation of transporting the belt 100 by the belt transport device 6 will be described more specifically.

  FIG. 9 is a flowchart for explaining the gist of an example of the operation of the belt transport device 6. In the following, when description is made using a flowchart, figures other than the flowchart are also appropriately referred to. FIG. 10 is a schematic diagram illustrating a state in which the insertion hand 11 takes out the belt 101 from the feeder unit 3. FIGS. 11A to 11D are schematic diagrams illustrating a state in which the insertion hand 11 attaches the belt 101 to the bias cut device 4. FIGS. 12A and 12B are schematic diagrams illustrating a state in which the insertion hand 11 takes out the belt 101 from the feeder unit 3 during the cutting operation by the bias cut device 4. FIGS. 13A to 13E are schematic diagrams illustrating a state in which the take-out hand 12 takes out the V-belt 102 from the bias cut device 4. FIG. 14 is a schematic diagram illustrating a state in which the removal hand 12 discharges the V-belt 102 to the discharge unit 5.

  Referring to FIG. 9, when the operation panel 2 is operated by the operator to issue a bias cut command for the belt 101 in the manufacturing apparatus 1, first, the insertion hand 11 takes out the belt 101 from the feeder unit 3. Is performed (step S1). Specifically, first, the displacement mechanism 10 displaces the insertion hand 11 toward the feeder unit 3. Then, as shown in FIG. 10, the pair of receiving portions 42 and 43 of the insertion hand 11 are arranged so as to sandwich the upper end portion 100 b of the belt 101 wrapped around the feeder portion 3. Next, by the operation of the actuator 41, the pair of receiving portions 42 and 43 are displaced so as to approach each other, and hold and hold the upper end portion 100b of the belt 101.

  Next, the insertion hand 11 lifts the belt 101 from the feeder unit 3 while holding the belt 101, is displaced to the bias cut device 4 by the displacement mechanism 10, and the belt 101 is carried out of the feeder unit 3. Thereafter, the insertion hand 11 attaches the belt 101 to the belt holding unit 4d of the bias cut device 4 (Step S2). Specifically, as shown in FIG. 11, the displacement mechanism 10 performs an operation of hanging the belt 101 on the lower shaft portion 4b of the belt holding portion 4d, and then performs an operation of hanging the belt 101 on the upper shaft portion 4c of the belt holding portion 4d. Then, the insertion hand 11 is displaced.

  More specifically, the operation of the displacement mechanism 10 causes the insertion hand 11 to first displace the belt 101 to the vicinity of the lower shaft portion 4b of the belt holding portion 4d of the bias cut device 4, as shown in FIG. Then, the periphery of the lower end portion 100 c of the belt 101 is brought into contact with the receiving plate 35 of the bias cut device 4. Thereby, the posture of the belt 101 is stabilized. That is, the flexible belt 101 displaced at high speed by the displacement mechanism 10 and the insertion hand 11 quickly and stably assumes a position near the belt holding unit 4d. Thus, the time required for processing the belt 101 can be further reduced.

  Next, as shown in FIG. 11B, the insertion hand 11 attaches the lower end portion 100c of the belt 101 to the lower shaft portion 4b from below the lower shaft portion 4b of the belt holding portion 4d of the bias cut device 4. Multiply. The interval between the upper shaft portion 4c and the lower shaft portion 4b of the belt holding portion 4d is set in advance to be smaller than the interval between the upper shaft portion 4c and the lower shaft portion 4b during the bias cut operation.

  Next, as shown in FIG. 11C, the insertion hand 11 releases the holding of the belt 101, thereby hanging the belt 101 on the upper shaft portion 4c. Specifically, the pair of receiving portions 42 and 43 are displaced by the operation of the actuator 41 of the insertion hand 11 so as to be separated from each other. As a result, the upper end portion 100b of the belt 101, which has been disposed above the upper shaft portion 4c in advance, is released from being held by the insertion hand 11, and falls onto the upper shaft portion 4c. As a result, the belt 101 is put on the upper shaft portion 4c and the lower shaft portion 4b. That is, the displacement mechanism 10 operates the insertion hand 11 so as to hang the belt 101 on the lower shaft portion 4b and the upper shaft portion 4c in a state where the lower shaft portion 4b and the upper shaft portion 4c are temporarily close to each other. .

  Thereafter, the displacement mechanism 10 is displaced so as to be separated from the upper shaft portion 4c. Next, as shown in FIG. 11D, the upper shaft 4c is displaced away from the lower shaft 4b. As a result, the belt 101 is in a state where a tensile force is applied by the upper shaft portion 4c and the lower shaft portion 4b. With the above configuration, when the belt 101 is hung on the belt holding unit 4d, the displacement mechanism 10 is configured to displace the insertion hand 11 along the axial direction L1. Then, the belt 101 is subjected to a bias cut operation by the bias cut device 4 in a state where a tensile force is applied. As a result, the belt 101 becomes the V-belt 102.

  As described above, while the bias cut device 4 performs the bias cut process on the belt 101, the insertion hand 11 goes to the feeder unit 3 for the belt 101 to be next bias cut (step S3). Specifically, as shown in FIG. 12A, the insertion hand 11 is displaced from the position on the bias cut device 4 side to the feeder unit 3 side by the operation of the displacement mechanism 10. Then, the receiving portions 42 and 43 of the insertion hand 11 grasp the belt 101 held by the feeder portion 3 and then are displaced by the displacement mechanism 10 to the bias cut device 4 side as shown in FIG. I do. Then, the belt transport device 6 waits until the bias cut operation by the bias cut device 4 is completed. At this time, the take-out hand 12 is arranged so as to be adjacent to the bias cut device 4.

  When the bias cut process of the belt 101 by the bias cut device 4 is completed, the take-out hand 12 removes the V belt 102 hooked on the belt holding portion 4d of the bias cut device 4 from the belt holding portion 4d (step S4). More specifically, as shown in FIG. 13A, first, the displacement mechanism 10 moves the pair of receiving portions 52 and 53 (the receiving portion 53 is not shown in FIG. Are arranged between the upper shaft portion 4c and the lower shaft portion 4b and beside the upper shaft portion 4c.

  That is, the upper shaft portion 4c and the lower shaft portion 4b of the belt holding portion 4d receive the V belt 102, and the take-out hand 12 extends between the upper shaft portion 4c and the lower shaft portion 4b of the V belt 102. It works to keep the part that is. Thereby, the receiving portions 52 and 53 grip the V-belt 102. Next, the upper shaft portion 4c is displaced toward the lower shaft portion 4b as shown in FIG. Thus, the upper shaft portion 4c is separated from the V-belt 102, and the application of the tensile force to the V-belt 102 by the belt holding portion 4d is released.

  At this time, a portion near the upper end 100b of the V-belt 102 is held by the take-out hand 12. Then, the V-belt 102 is kept in a state of being in contact with the lower shaft portion 4b while slightly expanding in a direction orthogonal to the axial direction L1. Next, as shown in FIG. 13C, the take-out hand 12 is displaced by the displacement mechanism 10 so as to be located above the V-belt 102. As a result, the take-out hand 12 grasps the upper end 100b of the V-belt 102 and suspends and holds the V-belt 102. That is, the take-out hand 12 is displaced by the displacement mechanism 10 such that the portion of the V-belt 102 held by the take-out hand 12 becomes the upper end 100b of the V-belt 102.

  Next, as shown in FIG. 13D, the removal hand 12 is moved backward by the displacement mechanism 10 from the upper shaft portion 4c (in the axial direction of the upper shaft portion 4c, away from the upper shaft portion 4c). (To move toward). Thereby, the upper end portion 100b of the V-belt 102 is separated from the upper shaft portion 4c. From this state, the removal hand 12 is displaced downward by the displacement mechanism 10.

  Thus, as shown in FIG. 13E, the lower end portion 100c of the belt 101 is displaced downward from the lower shaft portion 4b, and the contact with the lower shaft portion 4b is released. Then, due to the elastic restoring force of the belt 101, the belt 101 is held by the take-out hand 12 in a state of being suspended straight in the vertical direction.

  Next, the insertion hand 11 attaches the next belt 101 to the belt holding unit 4d (step S5). The operation at this time is the same as the operation of the insertion hand 11 in step S2. Then, after the insertion hand 11 attaches the belt 101 to the belt holding unit 4d, the removal hand 12 discharges the V-belt 102 to the discharge unit 5 (Step S6).

  More specifically, as shown in FIG. 14, the removal hand 12 is displaced by the displacement mechanism 10 to the discharge unit 5. Then, the take-out hand 12 is displaced along the longitudinal direction of the discharge unit 5, whereby the V-belt 102 is passed through the discharge unit 5. When the V-belt 102 is passed through the discharge section 5, the take-out hand 12 opens the pair of receiving sections 52 and 53. As a result, the V-belt 102 falls to the discharge unit 5 side and is hung on the discharge unit 5.

  Next, when an end signal of the bias cut operation is given on the operation panel 2 (YES in step S7), the operation of the manufacturing apparatus 1 ends, and the operation of transporting the belt 100 by the belt transport apparatus 6 also ends.

  On the other hand, after the V-belt 102 is discharged to the discharge unit 5, if no end signal of the bias cut operation is given on the operation panel 2 (NO in step S <b> 7), the belt transport device 6 returns to steps S <b> 3 to The operation of S6 is repeated.

  As described above, according to the belt transport device 6, the belt 101 is transported in a suspended state by each of the insertion hand 11 and the removal hand 12. Accordingly, the belt 101 can be easily applied to the bias cut device 4 or the like that performs a predetermined process on the belt 101 while holding the belt 101 with the two shaft portions 4b and 4c that can be relatively displaced so as to approach or separate from each other. it can. As described above, by using the insertion hand 11 and the removal hand 12, the work of delivering the belt 100 to the object to which the belt 100 is delivered can be more easily performed. The insertion hand 11 and the removal hand 12 are each configured to convey the belt 100 in a suspended state. As a result, the insertion hand 11 and the removal hand 12 need only be able to lift the belt 100 when removing the belt 100 from the corresponding feeder unit 3 and the belt holding unit 4d, without receiving the contraction of the bent shape of the belt 100. , The belt 100 can be lifted. Thereby, the versatility of the insertion hand 11 and the removal hand 12 with respect to the conveyance of the belt 100 can be increased. Therefore, according to the present embodiment, it is possible to provide the belt transport device 6 having a configuration more suitable for transporting the endless belt 100.

  According to the belt transport device 6, the insertion hand 11 and the removal hand 12 can hold the belt 100 in a state where the entire belt 100 is suspended by holding the upper end 100b of the belt 100, respectively. With such a configuration, the insertion hand 11 and the removal hand 12 can hold a plurality of types of belts having different characteristics such as size and rigidity in the same manner. Thereby, the versatility of the belt transport device 6 can be increased. When the belt 100 is transferred from the insertion hand 11 to the belt holding portion 4d having the pair of upper and lower shaft portions 4b and 4c, the belt 100 is transferred from the insertion hand 11 to the belt holding portion 4d in a vertically elongated shape. With such a configuration, the belt 100 can be hung on the belt holding portion 4d in a state where the width of the space inside the belt 100 is larger than the diameter of each of the shaft portions 4b and 4c. Therefore, the operation of transferring the belt 100 from the insertion hand 11 to the belt holding unit 4d can be easily performed.

  For example, if the belt 100 is configured to hold a part other than the upper end 100b, the belt 100 hangs down by its own weight, particularly in the case of the belt 100 having a long overall length and high flexibility. For this reason, it is difficult to maintain the space inside the belt 100 in a state suitable for inserting the belt holding portion 4d. Further, it is difficult to control the alignment between the shafts 4b and 4c of the belt holding unit 4d and the belt 100. In contrast, in the present embodiment, the belt 100 is conveyed while holding the upper end 100b of the belt 100. Therefore, it is possible to more reliably suppress the occurrence of the above-described inconvenience.

  Further, according to the belt transport device 6, the insertion hand 11 and the removal hand 12 are each configured to hold one portion of the belt 100 in the circumferential direction C1 of the belt 100. According to this configuration, each of the insertion hand 11 and the removal hand 12 can be formed more compact.

  Further, the insertion hand 11 and the take-out hand 12 are configured to hold one portion of the belt 100 in the circumferential direction C1 of the belt 100 therebetween. With such a configuration, there is no need to hold the belt 100 with the insertion hand 11 or the removal hand 12 after the belt 100 has been stretched in advance by a biaxial stretching device or the like. Therefore, the configuration for transporting the belt 100 in the belt transport device 6 can be further simplified.

  Further, according to the belt transport device 6, the insertion hand 11 and the removal hand 12 have a pair of receiving portions 42, 43; According to this configuration, the belt 100 can be held by sandwiching the belt 100 between the pair of receiving portions 42, 43; 52, 53. Also, by changing the interval between the pair of receiving portions 42, 43; 52, 53, the belts 100 having different sizes such as widths can be received by the pair of receiving portions 42, 43; Thereby, the versatility of the belt transport device 6 can be further improved.

  Further, according to the belt transport device 6, the insertion hand 11 and the removal hand 12 have actuators 41, 51 for changing the intervals between the corresponding pair of receiving portions 42, 43; 52, 53, respectively. . According to this configuration, holding of the belt 100 by the pair of receiving portions 42, 43; 52, 53 and release of the holding of the belt 100 can be performed by the actuators 41, 51.

  Further, according to the belt conveying device 6, the actuators 41, 51 of the insertion hand 11 and the take-out hand 12 are respectively connected to the respective receiving portions along the facing directions D3, D4 in which the pair of receiving portions 42, 43; 42, 43; 52, 53 can be driven. According to this configuration, each of the two receiving portions 42, 43; 52, 53 can be displaced by the corresponding actuator 41, 51. Accordingly, when the belt 101 is held by the pair of receiving portions 42, 43; 52, 53, the belt 101 is suppressed from being brought to the one receiving portion 42; 52 or the other receiving portion 43; 53 side. As a result, the belt 100 can be held in a more natural state.

  Further, according to the belt conveying device 6, the opposing surfaces 52a, 53a of the receiving portions 52, 53 are formed in a shape that follows the shapes of the side surfaces 100a, 100a of the V-belt 102. According to this configuration, the contact area between the V-belt 102 and the corresponding receiving portions 52 and 53 can be further increased. Thus, the force for holding the V-belt 102 can be increased by the pair of receiving portions 52 and 53.

  Further, according to the belt transport device 6, in a state in which the pair of receiving portions 42, 43; 52, 53 hold the belt 100, the portion where the pair of receiving portions 42, 43; When viewed along the circumferential direction C1 of the belt 100, each of the opposing surfaces 42a, 43a; 52a, 53a is formed in a shape that is in line contact with the corresponding side surface 100a, 100a of the belt 100. According to this configuration, the contact length between the pair of receiving portions 42, 43; 52, 53 and the belt 100 in the thickness direction of the belt 100 at the location where the pair of receiving portions 42, 43; Can be longer. Thereby, the pair of receiving portions 42, 43; 52, 53 can hold the belt 100 in a more stable posture. As a result, even the wider belt 100 can be reliably held by the insertion hand 11 and the removal hand 12. Therefore, the versatility of the belt transport device 6 can be improved.

  Further, according to the belt transport device 6, the facing surfaces 52a and 53a of the take-out hand 12 include the inclined surfaces 52b and 53b along the inclined shapes of the side surfaces 100a and 100a of the V-belt 102. According to this configuration, in particular, it is possible to realize the belt conveyance device 6 suitable for conveying the V-belt 102.

  Further, according to the belt transport device 6, the belt transport device 6 has the displacement mechanism 10. According to this configuration, the insertion hand 11 and the removal hand 12 can be displaced by the displacement mechanism 10.

  The belt transport device 6 is configured to transfer the belt 101 to the belt holding unit 4d of the bias cut device 4. The displacement mechanism 10 is configured to displace the insertion hand 11 so as to perform an operation of hanging the belt 101 on the lower shaft portion 4b of the belt holding portion 4d, and then perform an operation of hanging the belt 101 on the upper shaft portion 4c of the belt holding portion 4d. Have been. According to this configuration, a portion of the belt 101 that is far from the portion held by the insertion hand 11 is first hung on the belt holding portion 4d, and then the portion of the belt 101 held by the insertion hand 11 is 4d can be multiplied. With such a configuration, the belt 101 can be wound around the belt holding unit 4d while maintaining the belt 101 in a more stable posture. Further, the belt conveyance device 6 can wind the belt 101 around the belt holding unit 4d in a similar manner regardless of the size (length or the like) of the belt 101. Thereby, the versatility of the belt transport device 6 can be further improved.

  Further, according to the belt transport device 6, when the belt 101 is hung on the belt holding unit 4d, the displacement mechanism 10 is configured to displace the insertion hand 11 along the axial direction L1. According to this configuration, the belt transport device 6 can perform an operation of hanging the belt 101 on the lower shaft portion 4b and the upper shaft portion 4c of the belt holding portion 4d with reference to the axial direction L1. When the belt conveying device 6 hangs the belt 101 on the upper shaft portion 4c next to the lower shaft portion 4b of the belt holding portion 4d, the upper shaft portion 4c and the lower shaft portion 4b are arranged along the axial direction L1. Therefore, it is possible to more easily control the alignment of the belt 101 between the belt 101 and the lower shaft 4b and between the belt 101 and the upper shaft 4c. Thus, in the belt transport device 6, the control of winding the belt 101 around the belt holding unit 4d can be performed with higher accuracy. In addition, the belt transport apparatus can transport many types of belts 101 without being affected by the size (length and width, etc.) of the belt 101 and the flexibility (hardness and flexibility) of the belt 101. 6 can be used. Therefore, the versatility of the belt transport device 6 can be improved.

  Further, according to the belt transport device 6, the lower shaft portion 4b and the upper shaft portion 4c of the belt holding portion 4d are configured to be relatively displaceable in the axial direction L1. Further, the displacement mechanism 10 operates the insertion hand 11 so as to hang the belt 101 on the lower shaft portion 4b and the upper shaft portion 4c in a state where the lower shaft portion 4b and the upper shaft portion 4c are temporarily close to each other. According to this configuration, regardless of the size of the belt 101, the belt transport device 6 can wind the belt 101 around the belt holding unit 4d without applying an excessive tensile force to the belt 101. Thereby, the versatility of the belt transport device 6 can be further improved.

  Further, the belt transport device 6 is configured so that the V-belt 102 can be removed from the belt holding unit 4d. The belt holding section 4d is configured to receive the V-belt 102 at the upper shaft section 4c and the lower shaft section 4b of the belt holding section 4d. The take-out hand 12 operates to hold a portion of the V-belt 102 extending between the upper shaft portion 4c and the lower shaft portion 4b, and then the portion holding the V-belt 102 The belt 102 is configured to be displaced by the displacement mechanism 10 so as to become the upper end 100b. According to this configuration, the take-out hand 12 first holds a portion of the V-belt 102 wound around the belt holding portion 4d that is not in contact with the belt holding portion 4d, and then moves the V-belt 102 to the belt holding portion. By performing the operation of detaching from the 4d, the V-belt 102 can be detached from the belt holding portion 4d. By such an operation, the take-out hand 12 can more reliably remove the V-belt 102 from the belt holding portion 4d while securely holding the V-belt 102.

  Further, according to the belt transport device 6, the belt 100 is carried in and out of the belt holding unit 4d by the insertion hand 11 and the take-out hand 12. Thus, the belt 100 can be automatically conveyed more efficiently by the two hands 11 and 12. As a result, the transport efficiency of the belt 100 can be increased. The insertion hand 11 and the removal hand 12 hold the belt 100 at one position in the circumferential direction C1 of the belt 100, respectively. Thereby, each of the insertion hand 11 and the take-out hand 12 can make the portion holding the belt 100 more compact. As a result, the belt transport device 6 can be made more compact. Furthermore, the insertion hand 11 and the removal hand 12 can be made compact, so that the insertion hand 11 and the removal hand 12 can be made lighter. Therefore, the insertion hand 11 and the removal hand 12 can have smaller inertia during operation. As a result, since the operation speed of each of the insertion hand 11 and the take-out hand 12 can be increased, the conveyance speed of the belt 100 in the belt conveyance device 6 can be further increased. Further, the energy required for the operation of the insertion hand 11 and the removal hand 12 can be reduced, so that energy saving of the belt transport device 6 can be realized. As described above, a compact belt transport device 6 having a configuration more suitable for transporting the endless belt 100 can be realized.

  According to the belt transport device 6, the belt 101 when the insertion hand 11 is holding the belt 101 and the V-belt 102 when the unloading hand 12 is holding the V-belt 102 are substantially parallel to each other. It is arranged so that it becomes. According to this configuration, the insertion hand 11 and the removal hand 12 can simultaneously hold the two belts 101 and 102 in a state where the two belts 101 and 102 are in contact with each other while the two belts 101 and 102 are being brought closer to each other. Thereby, the insertion hand 11 and the removal hand 12 can be arranged more compactly.

  According to the belt transport device 6, the positions P1 and P2 of the insertion hand 11 and the removal hand 12 for holding the belts 101 and 102 are shifted in a predetermined direction (a direction parallel to the facing directions D3 and D4). According to this configuration, the insertion hand 11 and the removal hand 12 can simultaneously hold the two belts 101 and 102 in a state where the two belts 101 and 102 are in contact with each other while the two belts 101 and 102 are being brought closer to each other. Thereby, the insertion hand 11 and the removal hand 12 can be arranged more compactly.

  Further, according to the belt transport device 6, the configuration of the insertion hand 11 and the configuration of the removal hand 12 are shared. Therefore, the versatility of the components constituting the insertion hand 11 and the removal hand 12 can be increased.

  Further, according to the belt transport device 6, the displacement mechanism 10 operates both the insertion hand 11 and the removal hand 12. Accordingly, it is not necessary to displace the insertion hand 11 and the removal hand 12 by different mechanisms, and the belt 100 can be automatically transported more efficiently. As a result, the transport efficiency of the belt 100 can be increased.

  Further, according to the belt transport device 6, the movable portion 24 of the displacement mechanism 10 is configured to perform an operation of bringing the insertion hand 11 and the takeout hand 12 close to the belt holding portion 4d by using a turning operation. According to this configuration, the area where the movable part 24 of the displacement mechanism 10 is displaced can be limited to a relatively narrow area around the fixed part 23. Thereby, the amount of displacement of the movable part 24 can be reduced. That is, the transport length of the belt 100 can be further reduced. Thereby, the conveyance efficiency of the belt 100 can be further increased. Further, the space required for the operation of the belt transport device 6 can be made more compact.

  Further, according to the belt transport device 6, the bracket support portion 31 as the tip of the movable portion 24 of the displacement mechanism 10 is configured to be able to displace the insertion hand 11 and the removal hand 12 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 bracket support portion 31 of the movable portion 24 displaces the insertion hand 11 and the removal hand 12 around the bracket support portion 31. Is possible. Thereby, the displacement mechanism 10 can further shorten the movement path of the insertion hand 11 and the removal hand 12. Therefore, the conveyance length of the belt 100 can be further reduced. Thereby, the conveyance efficiency of the belt 100 using the insertion hand 11 and the removal hand 12 can be further increased. Further, the space required for the operation of the belt transport device 6 can be made more compact.

  According to the belt transport device 6, the displacement mechanism 10 includes a plurality of joint mechanisms. According to this configuration, the degree of freedom of the path at the distal end of the movable part 24, that is, the path of the insertion hand 11 and the extraction hand 12, can be significantly increased. Thereby, the degree of freedom in setting the belt conveyance path in the belt conveyance device 6 can be further increased.

  Further, according to the belt transport device 6, the insertion hand 11 and the removal hand 12 can be collectively attached to the displacement mechanism 10 by attaching the bracket 13 to the displacement mechanism 10.

  According to the belt conveying device 6, the direction D1 in which the first bracket portion 33 extends from the displacement mechanism 10 is different from the direction D2 in which the second bracket portion 34 extends from the displacement mechanism 10. According to this configuration, with the insertion hand 11 and the removal hand 12, the two belts 101, 102 can be simultaneously held in a state where the two belts 101, 102 are brought closer to each other while the contact between the two belts 101, 102 is suppressed. Thereby, the two hands 11 and 12 can be arranged more compactly.

  The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiment, and can be implemented with various modifications as long as described in the claims. For example, it may be changed as follows.

  (1) In the above-described embodiment, an example has been described in which the upper shaft portion 4c and the lower shaft portion 4b of the belt holding portion 4d are arranged in the vertical direction. However, this need not be the case. For example, as shown in FIG. 15, the upper shaft portion 4c and the lower shaft portion 4b of the belt holding portion 4d may be inclined with respect to the vertical direction D5. That is, the axial direction L1 may be inclined with respect to the vertical direction D5. Also in this case, the insertion hand 11 can wind the belt 101 around the belt holding unit 4d by the same operation as the operation in the above-described embodiment.

  That is, the insertion hand 11 sequentially winds the belt 101 around the belt holding unit 4d for each axis. With such a configuration, even when the upper shaft portion 4c and the lower shaft portion 4b of the belt holding portion 4d are not aligned in the vertical direction D5, it is possible to prevent the belt 101 from hanging when the belt 101 is worn. it can. Therefore, in the operation of winding the belt 101 around the belt holding portion 4d by the insertion hand 11, the operation of winding the belt 101 around the two shaft portions 4b and 4c can be more reliably completed.

  (2) Further, in the above-described embodiment, an example in which one receiving surface 42a, 43a; 52a, 53a is provided in each of the receiving portions 42, 43; 52, 53 of the insertion hand 11 and the removal hand 12 is described. explained. However, this need not be the case. For example, as shown in FIG. 16, a plurality of pairs of opposing surfaces 42a, 43a, 42a ', 43a' may be provided in the receiving portions 42, 43 of the insertion hand 11. Similarly, a plurality of pairs of opposing surfaces 52a, 53a, 52a ', 53a' may be provided in the receiving portions 52, 53 of the take-out hand 12.

  The facing surfaces 42a, 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' are provided in a plurality of types corresponding to the plurality of different types of belts 100, 100, respectively. 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' are arranged side by side in a predetermined arrangement direction D6. The arrangement direction D6 is the thickness of the belt 101 at the position held by the pair of receiving portions 42, 43; 52, 53 when the belt 100 is held by the pair of receiving portions 42, 43; Direction. The plurality of different surfaces 42a, 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' are different in at least one of the shape and the inclination angle θ (the angle with respect to the thickness direction of the belt 100). I have.

  In FIG. 16, a plurality of different types of opposed surfaces 42a, 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' have different inclination angles θ from each other. 52a, 53a, 52a ', 53a'; 52a, 53a, 42a ', 53a'; 52a, 53a, 42a ', 43a'; 52a, 53a, 52a '. , 53a 'are different. For example, the inclination angles θ3 ′> θ3 of the inclination angles θ3 of the opposing surfaces 42a, 43a, 52a, 53a and the inclination angles θ3 ′ of the opposing surfaces 42a ′, 43a ′, 52a ′, 53a ′. The distance K1 between the opposing surfaces 42a and 43a (between 52a and 53a) and the distance K2 between the opposing surfaces 42a 'and 43a' (between 52a 'and 53a') are set such that the distance K2> K1. I have. Therefore, the width of the belt 100 'that can be held by the pair of opposed surfaces 42a', 43a '; 52a', 53a 'is larger than the width of the belt 100 that can be held by the pair of opposed surfaces 42a, 43a;

  Note that the opposing surfaces 42a ', 43a'; 52a ', 53a' may be formed on a surface that is convex or concave with respect to the belt 100 instead of a flat surface.

  According to this configuration, the insertion hand 11 and the take-out hand 12 are provided with optimal opposing surfaces 42a, 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' for a plurality of different types of belts 100, 100 '. Can be used to hold the belts 100, 100 '. Therefore, the insertion hand 11 and the removal hand 12 can hold each of the plurality of different types of belts 100, 100 'with a stronger holding force. Thereby, the versatility of the insertion hand 11 and the removal hand 12 can be increased.

  Further, when the belts 100, 100 'corresponding to the pair of receiving portions 42, 43; 52, 53 are held, the belt 100 at the position held by the pair of receiving portions 42, 43; , 100 ′ along the thickness direction of the belts 101, 100 ′, so that the positions of the facing surfaces 42 a, 43 a, 42 a ′, 43 a ′ and 52 a, 53 a, 52 a ′, 53 a ′ are different. The surfaces 42a, 43a, 42a ', 43a'; 52a, 53a, 52a ', 53a' can face the belts 100, 100 '.

  Further, even when the difference between the shapes of the plurality of types of belts 100, 100 'is large, the opposing surfaces 42a, 43a having shapes that match the shapes of the pair of side surfaces 100a, 100a of each of the belts 100, 100'. , 42a ', 43a'; 52a, 53a, 52a ', 53a' can be formed. Thereby, the insertion hand 11 and the removal hand 12 can hold the belts 100, 100 'with a higher holding force with respect to each of the plurality of types of belts 100, 100'. As a result, the versatility of the belt transport device 6 can be further improved.

  (3) Also, in the above-described embodiment, an example in which the insertion hand 11 and the removal hand 12 are separately provided has been described. However, this need not be the case. For example, one of the insertion hand 11 and the removal hand 12 in the above embodiment may be eliminated, and the other hand may have both the function of the insertion hand and the function of the removal hand.

  (4) In the above-described embodiment, the belt conveying device 6 is used for performing a bias cut on the belt 101. However, this need not be the case. The belt transport device 6 may be applied to a device (for example, a polishing machine, a measuring machine, a binding machine, or the like) that performs an operation by winding the belt 101 around a belt holding unit.

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

4 Bias cut device (processing device)
4b Lower shaft (lower)
4c Upper shaft (upper)
4d belt holder 6 belt transporter 10 displacement mechanism 11 insertion hand (holding mechanism)
12 Extraction hand (holding mechanism)
41, 51 Actuator 42, 43, 52, 53 Receiving part 42a, 43a, 52a, 53a Opposing surface 42b, 43b, 52b, 53b Inclined surface 100 Belt 100a Side surface of belt 100b Upper end of belt C1 Circumferential direction of belt D3, D4 Opposing direction D6 Arrangement direction L1 Axial direction

Claims (15)

A belt transport device for transporting an endless belt,
A holding mechanism capable of transporting the belt in a state where the belt is suspended and held,
A displacement mechanism for displacing the holding mechanism,
With
The belt transport device is configured to transfer the belt to a belt holding unit of a predetermined processing device,
The belt holding portion has a lower shaft portion and an upper shaft portion,
The displacement mechanism is configured to perform the operation of hanging the belt on the lower shaft portion of the lower portion of the belt holding portion from below , and then perform the operation of hanging the upper shaft portion of the upper portion of the belt holding portion. A belt conveying device configured to be displaced. A belt transport device for transporting an endless belt,
A holding mechanism capable of transporting the belt in a state where the belt is suspended and held,
A displacement mechanism for displacing the holding mechanism,
With
The belt transport device, the belt is configured to be removable from a belt holding unit of a predetermined processing device,
The belt holding portion is configured to receive the belt at an upper portion and a lower portion of the belt holding portion,
The holding mechanism operates to hold a portion of the belt extending between the upper portion and the lower portion, and then the portion holding the belt becomes an upper end portion of the belt. A belt conveyance device configured to be displaced by the displacement mechanism. The belt conveying device according to claim 1 or 2, wherein:
The belt conveyance device, wherein the holding mechanism is configured to hold an upper end of the belt. The belt conveyance device according to any one of claims 1 to 3, wherein
The belt transport device, wherein the holding mechanism is configured to hold one portion of the belt in a circumferential direction of the belt. The belt conveyance device according to any one of claims 1 to 4, wherein
The belt conveyance device, wherein the holding mechanism includes a pair of receiving portions that receive and hold a pair of side surfaces of the belt. The belt conveying device according to claim 5, wherein
The belt transport device, wherein the holding mechanism has an actuator for changing a distance between the pair of receiving portions. The belt conveying device according to claim 6, wherein the actuator is configured to be able to drive each of the receiving portions along a facing direction in which the pair of receiving portions face each other. . The belt conveyance device according to any one of claims 5 to 7, wherein
The receiving portion has an opposing surface disposed to oppose a corresponding side surface of the belt,
The belt conveying device, wherein the opposing surface is formed in a shape along the shape of the side surface. The belt conveyance device according to any one of claims 5 to 7, wherein
The receiving portion has an opposing surface disposed to oppose a corresponding side surface of the belt,
In a state in which the pair of receiving portions hold the belt, when a portion where the pair of receiving portions receives the belt is viewed along the circumferential direction of the belt, the facing surface is the belt. The belt conveying device is formed in a shape that comes into line contact with the side surface of (1). The belt conveyance device according to claim 8, wherein
The holding mechanism is configured to be able to hold a V-belt as the belt,
The belt conveying device, wherein the opposed surface includes an inclined surface along an inclined shape of a side surface of the V-belt. The belt conveyance device according to any one of claims 8 to 10, wherein
The facing surface is provided in a plurality of types corresponding to the plurality of belts of different types,
The belt conveyance device, wherein the different types of the opposing surfaces are arranged in a predetermined arrangement direction. The belt conveyance device according to claim 11, wherein
Wherein the arrangement direction is a thickness direction of the belt at a location where the belt is held by the pair of receiving portions when the belt is held by the pair of receiving portions. . The belt conveying device according to claim 11 or 12, wherein:
A plurality of the opposite surfaces of different types are different in at least one of a shape and an inclination angle, and are different from each other. The belt conveyance device according to any one of claims 1 to 13, wherein:
The lower portion and the upper portion of the belt holding portion are arranged in a predetermined axial direction,
The belt conveyance device, wherein the displacement mechanism is configured to displace the holding mechanism along the axial direction when the belt is hung on the belt holding unit. The belt conveyance device according to any one of claims 1 to 14,
The lower portion and the upper portion of the belt holding portion are configured to be relatively displaceable in a predetermined axial direction,
The belt transport device, wherein the displacement mechanism operates the holding mechanism so as to hang the belt on the lower part and the upper part in a state where the lower part and the upper part are temporarily close to each other.

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