JP7364610B2 - How to join the cover canvas - Google Patents

Description

The present invention relates to a covering process for covering a belt loop with a cover canvas, and relates to a method for joining a cover canvas by overlapping and joining both ends of the cover canvas in the longitudinal direction within a predetermined upper and lower limit range.

As a power transmission belt for transmitting power, there is a wrapped V-belt whose surface is covered with a cover canvas to ensure longitudinal crack resistance. The wrapped V-belt is formed, for example, as described below (see, for example, Patent Documents 1 and 2).

Specifically, first, a belt loop is wrapped around a plurality of pulleys, and a skive process is performed on the belt loop running between the plurality of pulleys, in which corners of the belt loop are cut off. . Then, a covering process is performed in which a cover canvas is wrapped around the surface of the belt loop that has been subjected to the skive process, and the belt loop is covered with the cover canvas. As a result, a belt molded body whose surface is covered with the cover canvas is formed. Then, by subjecting this belt molded body to a vulcanization treatment, a wrapped V-belt having elasticity is formed.

JP2016-87885A JP 2019-188773 Publication

By the way, as described in Patent Document 2, in the covering process, after the cover canvas is fed out from the canvas feeding section and cut at a predetermined cutting position, ) and the rear end (end of winding) are overlapped and joined. The joints at both longitudinal ends of the cover canvas are referred to as "molded seams."

In order to ensure excellent belt performance, this formed seam is required to be formed in the cover canvas with an overlap within a predetermined upper and lower limit range (hereinafter also referred to as the predetermined upper and lower limit range). . For example, if the formed seam is formed with an overlap that is less than the lower limit of the predetermined upper and lower limits, there is a risk that belt properties such as longitudinal crack resistance may not be ensured. Furthermore, if the molded seam is formed with an overlap that exceeds the upper limit of the predetermined upper and lower limit ranges, the belt properties such as flexibility will be significantly different from other parts, which is unfavorable in terms of belt quality. Due to these circumstances, it is required that a molded seam be formed in the cover canvas with an overlap margin within a predetermined upper and lower limit range.

Here, even if the same ratio of variation occurs in the belt length of various power transmission belts, the longer the belt length (length in the longitudinal direction), the more the belt will be subjected to forming processes such as covering treatment. In the annular body, the tolerance range (that is, the permissible variation in belt length) with respect to the belt length reference value becomes large. In particular, since the belt length of the wrapped V-belt is relatively longer than that of other types of power transmission belts, the tolerance range for the belt length reference value is relatively large in the belt ring-shaped body subjected to the forming process.

However, in the conventional belt molding method described in Patent Documents 1 and 2, for example, in the covering process, a cover canvas of a predetermined length (wrapping length) for each belt type is wrapped around the belt loop. always covered. As a result, if there is a large variation in the belt length of the belt ring to be subjected to the covering treatment, there is a possibility that the forming seam of the cover canvas will not be formed with an overlap margin within the predetermined upper and lower limit ranges. In particular, this problem is likely to occur in a type of power transmission belt with a relatively long belt length (for example, a wrapped V-belt), that is, in a case where the belt ring body to which the covering treatment is applied has a relatively long belt length. Therefore, in the conventional belt molding methods described in Patent Documents 1 and 2, for example, the type of belt molded product to be molded is relatively short (for example, belt molding with a belt length of 60 to 75 inches). body).

The present invention is intended to solve the above-mentioned problems, and its purpose is to provide a cover that can more reliably form a molded seam with an overlap margin within a predetermined upper and lower limit range in a cover canvas, regardless of the belt type. An object of the present invention is to provide a method for joining canvas.

(1) In order to solve the above-mentioned problems, a method for joining a cover canvas according to an aspect of the present invention includes the above-described covering process in which a cover canvas is coated on a belt ring-like body running between a plurality of pulleys including a drive pulley. A cover canvas joining method for overlapping and joining longitudinal ends of a front end and a rear end of the cover canvas within a predetermined upper and lower limit range, the belt running between the plurality of pulleys. From a predetermined pressing position where the cover canvas is pressed against the ring-shaped body and the cover canvas starts contacting the belt ring-shaped body, the front end portion and the rear end portion are formed on the outer circumferential surface of the belt ring-shaped body. an estimated required amount of rotation of the drive pulley that is estimated to be required to move the tip end to a predetermined reference position in the direction opposite to the circumferential direction from a superimposed position where the two can be overlapped with a predetermined overlap margin; a deriving step of deriving a rotation amount; and a step of deriving the tip portion on the outer circumferential surface of the belt ring-shaped body from the time when the tip portion passes the predetermined pressing position to the time when the drive pulley has rotated the estimated required rotation amount. a detection step of detecting a tip position that is a position of , and detecting a first distance that is a distance along an outer circumferential surface of the belt loop from the tip position to the predetermined reference position; a calculation step of calculating a second distance, which is a distance along the outer circumferential surface of the belt loop from the tip position to the overlapping position, based on the distance of the drive pulley; a stopping step of stopping the driving pulley when the drive pulley has been rotated by an amount of rotation corresponding to the second distance from the time when the cover canvas is rotated; and cutting the cover canvas at a predetermined cutting position on the canvas supply path of the cover canvas. The method also includes a joining step of overlapping and joining the leading end portion and the rear end portion formed by cutting the cover canvas at the overlapping position set based on the predetermined cutting position.

According to this configuration, the first distance from the position of the tip of the cover canvas at the time when the drive pulley rotates the estimated required rotation amount to the predetermined reference position in the direction opposite to the circumferential direction from the overlapping position is detected. . Then, based on the first distance, a second distance from the tip position to the overlapping position is calculated, and the drive pulley rotates by an amount of rotation corresponding to the second distance and then stops. That is, even if there is variation in the belt length of the belt ring, the length of the cover canvas is adjusted in accordance with the variation before the tip of the cover canvas reaches the overlapping position. Therefore, even if covering processing is performed on a type of belt hoop with relatively large variations in belt length, for example, the molded seam of the cover canvas can be formed with an overlap margin within the specified upper and lower limits. can be formed with. Therefore, it is possible to provide a method for joining a cover canvas, which can more reliably form a molded seam with an overlap margin within a predetermined upper and lower limit range in the cover canvas, regardless of the belt type.

(2) Preferably, prior to the detection step, the rotation of the drive pulley is temporarily stopped when the drive pulley has rotated the estimated required rotation amount from the time the tip portion passes the predetermined pressing position. further comprising a temporary stopping step, and in the detecting step, a temporary stopping position of the tip on the outer circumferential surface of the belt loop body that is temporarily stopped due to the temporary stopping of the drive pulley is set as the tip position. Detected.

According to this configuration, the position of the tip of the cover canvas on the outer circumferential surface of the belt loop is detected when the rotation of the drive pulley is temporarily stopped, that is, when the movement of the cover canvas is temporarily stopped. Therefore, the position of the tip of the cover canvas can be detected more accurately.

(3) Preferably, the overlapping position is such that the distance between the predetermined cutting position and the predetermined pressing position along the canvas supply route minus the predetermined overlapping margin is the outer periphery of the belt hoop. It is provided along the surface at a position extending back from the predetermined pressing position in a direction opposite to the circumferential direction.

According to this configuration, the distance along the canvas supply route between the rear end portion cut at a predetermined cutting position on the canvas supply route and the predetermined pressing position is equal to the distance between the belt from the predetermined pressing position to the overlapping position. The distance is the distance along the outer peripheral surface of the annular body plus a predetermined overlap margin. Therefore, by simply overlapping the rear end formed by cutting at a predetermined cutting position on the canvas supply path with the front end, the distance between the rear end and the overlapping position becomes the predetermined overlap margin, and the cover canvas A molded seam is formed that falls within predetermined upper and lower limits. Therefore, both ends of the cover canvas can be accurately overlapped with a predetermined overlap margin, and a formed seam with an overlap margin within the range of the predetermined upper and lower limits can be easily formed.

(4) Preferably, in the detection step, the tip portion on the outer circumferential surface of the belt ring-shaped body is detected based on image data acquired by a vision sensor that includes the predetermined reference position in a photographing area, The first distance is detected.

According to this configuration, even if the thickness of the belt ring varies depending on the type of the belt ring, the tip of the cover canvas on the outer peripheral surface of the belt ring can be easily detected.

For example, a configuration may be considered in which a laser sensor detects the tip of the cover canvas on the outer peripheral surface of the belt loop. Specifically, the tip of the cover canvas is detected by receiving the reflected wave of the laser emitted toward the outer peripheral surface of the belt ring and calculating the distance based on the time from laser emission to reception. You can also think of doing that. However, the data acquired by the laser sensor is one-dimensional data (distance data to the target object). In this case, in order to be able to detect the tip of the cover canvas when the thickness of the belt hoop changes, a complex calculation program is required to detect the point of change in the reference distance to the object.

In contrast, image data acquired by a vision sensor is two-dimensional data. Therefore, even if the thickness of the belt loop changes, that is, the reference distance to the object changes, the tip of the cover canvas can be detected without requiring a complicated calculation program.

Therefore, with the above configuration, the tip of the cover canvas can be easily detected.

(5) Preferably, the predetermined reference position is provided in the latter half of the rotation of the belt ring-shaped body running between the plurality of pulleys, starting from the predetermined pressing position.

According to this configuration, compared to the case where the predetermined reference position is provided in the first half of the rotation of the belt ring while running between the plurality of pulleys, the section in which the wrapping length of the cover canvas to be wrapped around the belt ring is adjusted. becomes shorter. Therefore, the accuracy of adjusting the length of wrapping of the cover canvas can be ensured.

(6) Preferably, in the derivation step, the estimated required rotation amount is derived based on a predetermined circumference of the belt ring and a circumference of the drive pulley.

According to this configuration, it is possible to derive a more accurate estimated required rotation amount according to the type of belt ring to be subjected to the covering process.

According to the present invention, it is possible to provide a method for joining a cover canvas, which can more reliably form a molded seam with an overlap margin within a predetermined upper and lower limit range in the cover canvas, regardless of the belt type.

1 is a diagram schematically showing a forming apparatus for a belt formed body for realizing a cover canvas joining method according to an embodiment of the present invention. FIG. FIG. 2 is a diagram for explaining the shape of a belt ring, in which (A) is an external view of the belt ring, and (B) is a sectional view taken along the IB-IB line in (A). FIG. 2 is a diagram for explaining the shape of the belt molded body, in which (A) is an external view of the belt molded body, and (B) is a sectional view taken along the line IIB-IIB of (A). FIG. 3 is a schematic diagram for explaining the configuration of covering processing. FIG. 3 is a schematic diagram for explaining the positional relationship between a vision sensor, a lighting section, and a belt ring-shaped body running between a pair of pulleys. (A) A block diagram of an operation panel, (B) a block diagram of a control panel. 3 is a flowchart showing a method for joining cover canvas. FIG. 6 is a schematic diagram for explaining adjustment of the length of wrapping of the cover canvas. FIG. 3 is a schematic diagram for explaining the amount of deviation of the position of the tip of the cover canvas from a predetermined reference position, (A) a diagram schematically showing a captured image of the tip of the cover canvas during the covering process; ) is a diagram schematically showing a model image of the tip of the cover canvas. FIG. 3 is a schematic diagram showing a state in which the front end and the rear end of the cover canvas are overlapped. FIG. 7 is a diagram illustrating evaluations in a case where a cover canvas joining method according to an embodiment of the present invention is employed and a case where a cover canvas joining method according to a comparative example is employed.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[Schematic configuration of belt molding device]
FIG. 1 is a diagram schematically showing a belt molding device 1 for realizing a cover canvas joining method according to an embodiment of the present invention. The molding device 1 is configured as a device for molding a belt molded body. The belt molded body is formed as a material constituting a power transmission belt (for example, a wrapped V-belt) that transmits power, and by subjecting the belt molded body to vulcanization treatment, a resilient power transmission belt is created. It is formed. The belt molded body is molded by subjecting the belt annular body to a covering process, etc., as will be described later.

Below, before explaining the detailed configuration of the forming apparatus 1, the belt annular body and the belt molded body will be explained in order.

[Belt hoop]
FIG. 2 is a diagram for explaining the shape of the belt ring-shaped body 100, and FIG. 2(A) is an external view of the belt ring-shaped body 100, and FIG. FIG. 3 is a cross-sectional view along line IB-IB.

As shown in FIG. 2(B), the belt loop 100 includes an unvulcanized compressed rubber layer 101, an unvulcanized elongated rubber layer 103, and a core sandwiched between these rubber layers 101 and 103. It has a line 102. The belt hoop 100 is formed into an endless loop having a predetermined circumference (for example, 60 to 105 inches). The width w of the belt ring body 100 is, for example, about 13 mm (millimeters), and the thickness t of the belt ring body 100 is, for example, about 8 mm.

For example, as shown in FIG. 2(B), the belt ring body 100 has a substantially rectangular cross-sectional shape (a cross-sectional shape perpendicular to the longitudinal direction). Note that the cross-sectional shape of the belt ring body 100 is not limited to this, and may be hexagonal, trapezoidal, or the like.

The compressed rubber layer 101 is a loop-shaped rubber layer having a predetermined circumference, and has a rectangular cross-sectional shape as shown in FIG. 2(B). The compressed rubber layer 101 is made of, for example, natural rubber (NR), styrene-butadiene rubber (SBR), chloroprene rubber (CR), or the like. The compressed rubber layer 101 is provided as a rubber layer on the inner peripheral side of the belt annular body 100.

The elongated rubber layer 103 is a loop-shaped rubber layer having a circumference approximately the same as that of the compressed rubber layer 101, and has a rectangular cross-sectional shape as shown in FIG. 2(B). There is. The elongated rubber layer 103 is stacked on the compressed rubber layer 101 with the core wire 102 sandwiched therebetween. The width of the elongated rubber layer 103 is the same as that of the compressed rubber layer 101, while the thickness of the elongated rubber layer 103 is thinner than the compressed rubber layer 101. Like the compressed rubber layer 101, the elongated rubber layer 103 is made of, for example, natural rubber (NR), styrene-butadiene rubber (SBR), chloroprene rubber (CR), or the like. The elongated rubber layer 103 is provided as a rubber layer on the outer peripheral side of the belt ring-shaped body 100.

The core wire 102 is held between the compressed rubber layer 101 and the elongated rubber layer 103. The core wire 102 is provided over the entire circumference of each rubber layer 101, 103. The core wire 102 is provided so as to extend along the circumferential direction of the rubber layers 101 and 103 (specifically, in a spiral shape with respect to the circumferential direction). Thereby, the core wire 102 functions as a reinforcing member that prevents the belt loop body 100 from breaking. The core wires 102 are arranged at equal intervals along the width direction of each rubber layer 101, 103. As the core wire 102, for example, a filamentous material such as polyester fiber, nylon fiber, or aramid fiber is used. In addition, although the cross-sectional view of FIG. 2(B) illustrates the belt loop body 100 in which the number of core wires 102 arranged is "8", the arrangement density of the core wires 102 is not limited to this. Further, although not shown, an adhesive rubber layer may be provided on the surface of the compressed rubber layer 101 on the core wire 102 side and on the surface of the elongated rubber layer 103 on the core wire 102 side.

The belt loop body 100 configured as described above is in an unvulcanized state, so its surface portion is sticky and has low elasticity, making it a relatively difficult member to handle. be.

[Belt molded body]
FIG. 3 is a diagram for explaining the shape of the belt molded body 200, FIG. 3(A) is an outline diagram of the belt molded body 200, and FIG. 3(B) is a diagram of the shape of the belt molded body 200. FIG. 3 is a cross-sectional view along line IIB-IIB.

The belt molded body 200 is molded by subjecting the belt annular body 100 to a predetermined process. Specifically, the belt molded body 200 is molded by subjecting the belt annular body 100 to a skiving process and a covering process. The skive process is a process in which the corner portion 101a (see FIG. 2(B)) of the compressed rubber layer 101 in the belt annular body 100 is removed. The covering process is a process of wrapping the cover canvas 150 around the belt ring-shaped body 100 that has been subjected to the skive process. The belt molded body 200 according to the present embodiment is composed of two layers of cover canvas 150: a lower cover 106 and an upper cover 107. Note that the present invention is not limited to this, and the belt molded body 200 may be constituted by one layer of the cover canvas 150.

As shown in FIG. 3(B), the belt molded body 200 has, for example, a substantially trapezoidal cross-sectional shape. The belt molded body 200 also has a joint part that joins the longitudinal ends of the cut cover canvas 150 together at one location in the longitudinal direction, and is a joint part that extends perpendicularly to the longitudinal direction. A molded seam is provided. Note that the present invention is not limited to this, and the molded seam may be, for example, a joint portion extending diagonally with respect to the longitudinal direction.

The cover canvas 150 is provided to ensure longitudinal cracking resistance of a power transmission belt such as a wrapped V-belt. The cover canvas 150 is required to have elasticity in the longitudinal direction of the belt in order to follow the bending motion of the power transmission belt. Therefore, as the cover canvas 150, for example, a so-called bias canvas, which is a canvas formed by rubberizing a woven fabric in which fibers are interwoven at a predetermined angle, is used. Further, the thickness of the cover canvas 150 is, for example, about 0.6 mm, and the width of the cover canvas 150 is, for example, about 50 mm.

[Detailed configuration of belt molding device]
Next, the detailed configuration of the forming apparatus 1 for forming the belt formed body 200 will be described with reference to FIG. 1 again. The molding apparatus 1 includes a canvas supply mechanism 2, a covering processing section 3, an operation panel 4, a control panel 5, and the like.

[Configuration of canvas supply mechanism]
The canvas supply mechanism 2 is configured to be able to supply the cover canvas 150 from a canvas feeding section (not shown) to the covering processing section 3 via the canvas supply path 22. The canvas supply path 22 is configured as a path that supplies the cover canvas 150 from the canvas feeding section to the covering processing section 3 (more specifically, to the pressing position PP by the pressing roll 31) along the plurality of rolls 12. ing.

In the following, the canvas supply mechanism 2 of one of the two layers of cover canvas 150 (see FIG. 2(B)) of the lower cover 106 and the upper cover 107 (more specifically, the lower cover 106) will be described. I will explain about it. However, the canvas supply mechanism 2 of the other cover canvas 150 (more specifically, the upper cover 107) has a similar configuration. Further, in FIG. 1, the canvas supply mechanism 2 of the lower cover 106 is shown, and the canvas supply mechanism 2 of the upper cover 107 is omitted. Further, in the following description, the lower cover 106 will be referred to as a cover canvas 150.

The canvas supply mechanism 2 includes a canvas gripping section 13, a cutting device 14, a material seam detection section 16, a path length adjustment section 17, and the like. Note that a canvas feeding section (not shown) that supplies the cover canvas 150 to the canvas supply route 22 is provided at the upstream end of the canvas supply route 22 .

The canvas gripping section 13 is configured to be able to grip the cover canvas 150 on the downstream side of the canvas supply path 22 (downstream side in the transport direction of the cover canvas 150). Specifically, the canvas gripping section 13 is configured to grip the cover canvas 150 at the downstream end of the canvas supply path 22 . Further, the canvas gripping section 13 is arranged near the covering processing section 3.

The canvas gripping section 13 is operated by compressed air supplied from a pressure source (not shown) and is configured to be able to switch between a gripping operation of gripping the cover canvas 150 and a releasing operation of releasing the grip of the cover canvas 150. ing. Specifically, the canvas gripping section 13 has a clamp section 13a that opens and closes as compressed air is supplied and discharged from a pressure source. A small air cylinder (not shown) to which compressed air from a pressure source is supplied and discharged is connected to the clamp part 13a, and as the air cylinder is operated by supplying and discharging compressed air, the clamp part 13a is opened and closed. An action is taken.

The canvas gripping section 13 is controlled to grip the cover canvas 150 when the covering processing section 3 starts the covering process and when the covering process ends. Specifically, the canvas gripping section 13 is controlled to release its grip on the cover canvas 150 while the covering processing section 3 is performing the covering process. The canvas gripping section 13 is controlled based on, for example, a command from a drive control section 5a (see FIG. 6(B)) stored in a control panel 5, which will be described later, and the operation is controlled by the drive control section 5a. It is configured as follows.

Further, the canvas gripping section 13 is provided with a gripping section opening/closing detector 13b that detects the opening/closing operation of the clamp section 13a of the canvas gripping section 13. When the gripping part opening/closing detector 13b detects the opening/closing operation of the clamp part 13a of the canvas gripping part 13, it sends the detection result to the drive control part 5a of the control panel 5 (see FIG. 6(B)) as a gripping part opening/closing detection signal. configured to send. Note that the grip opening/closing detector 13b is configured as, for example, an auto switch attached to an air cylinder.

Further, a roller guide 24 is provided on the upstream side of the canvas gripping section 13 in the canvas supply path 22 (upstream side in the transporting direction of the cover canvas 150) to smoothly transport the cover canvas 150 to the canvas gripping section 13. It is being

Further, the canvas supply mechanism 2 is equipped with a canvas gripping part displacement mechanism 25 for displacing the position of the canvas gripping part 13. The canvas gripping section displacement mechanism 25 operates based on a command from the drive control section 5a of the control panel 5, and is configured to displace the position of the canvas gripping section 13 with respect to the upper pulley 3a in the covering processing section 3. .

The cutting device 14 is configured to be able to cut a portion of the cover canvas 150 gripped by the canvas gripping section 13 on the covering processing section 3 side at a predetermined cutting position (also referred to as a cut position) CP. The cutting position CP is arranged, for example, at a position near the upper end of the upper pulley 3a of the pair of pulleys 3a, 3b. Specifically, as shown in FIG. 8, the cutting position CP is a predetermined distance L10 from the pressing position PP of the pressing roll 31 (described later) along the canvas supply path 22 on the side opposite to the direction in which the cover canvas 150 is transported. It is located in a location dating back to

The cutting device 14 has a scissor-like air cutter (not shown) for cutting the cover canvas 150, and operates with compressed air supplied from a pressure source to drive the air cutter and cut the cover canvas 150. It is configured to perform a cutting operation.

The cutting device 14 is also provided with a cutting detector 14a (see FIG. 1) that detects the end of the cutting operation of the cover canvas 150. The cutting detector 14a is configured to, when detecting the cutting operation of the cutting device 14, transmit the detection result to, for example, the drive control section 5a of the control panel 5 as a cutting detection signal. Note that the cutting detector 14a includes, for example, a proximity sensor or a displacement sensor that detects the operation of the air cutter of the cutting device 14.

[Material seam detection section]
The cover canvas 150 that is supplied from the canvas feeding section 11 to the covering processing section 3 along the canvas supply path 22 includes a material that is a portion of the cover canvas 150 that is overlapped and joined at a predetermined interval in the longitudinal direction. A seam 23 is formed. The material seam detection section 16 is provided as a mechanism for detecting the material seam 23 in the cover canvas 150 that is paid out and conveyed from the canvas delivery section. By providing the raw material seam detection section 16, it is possible to prevent the belt molded body 200 from including the raw material seam 23, which poses a quality problem.

The material seam detection section 16 includes a step detection section 26 and a position detector 27.

On a detection roll 12c, which is one of the plurality of receiving rolls 12 and is arranged at a predetermined position on the canvas supply path 22, the step detection unit 26 detects the thickness direction of the material seam 23 passing over the detection roll 12c. It is configured as a mechanism for detecting a step difference. Specifically, since the material seam 23 is formed as a portion of the cover canvas 150 that is overlapped and joined in the thickness direction, a step is created in the thickness direction. The level difference detection section 26 is configured to detect this level difference. Further, the above-mentioned predetermined position is a predetermined position on the canvas supply path 22 and is set as a material seam detection position MP where the material seam detection section 16 detects the material seam 23.

The position detector 27 is configured as a detector capable of tracking the current position on the canvas supply path 22 of the material seam 23 detected as a step by the step detection section 26. More specifically, the position detector 27 is provided as an encoder that detects the rotation angle of the detection roll 12c. Further, the position detector 27 is configured to transmit a detection signal S27 of the detected rotation angle of the detection roll 12c to, for example, an arithmetic control section 4a (see FIG. 6(A)) of the operation panel 4, which will be described later. ing.

[Path length adjustment section]
The path length adjustment unit 17 moves (displaces) the position of the moving roll 12d, which is one of the plurality of receiving rolls 12 and is arranged on the canvas supply path 22, to adjust the length of each type of belt formed body 200. A mechanism is provided that allows the length of the canvas supply path 22 to be adjusted.

In the path length adjustment section 17, when the covering process for a certain type of belt formed body 200 is started, the position of the moving roll 12d is changed in advance based on the control of the drive control section 5a of the control panel 5, for example. , the length of the canvas supply path 22 is adjusted. At this time, the path length adjustment unit 17 determines that the length along the canvas supply path 22 from the cutting position CP of the cover canvas 150 to the material seam detection position MP is equal to the length of the cover canvas 150 corresponding to one turn of the belt hoop 100. The canvas supply path 22 is adjusted to have a predetermined length that is slightly longer than the above length. In the path length adjustment section 17, such an operation is performed for each type of belt formed body 200 to be generated.

[Configuration of covering processing section]
FIG. 4 is a schematic diagram for explaining the configuration of the covering processing section 3. As shown in FIG. The covering processing unit 3 is configured as a device that performs a covering process of wrapping a cover canvas 150 around the belt ring-shaped body 100 that has been subjected to the skiving process. The configuration of the covering processing section 3 will be described below with reference to FIGS. 1 and 4.

The covering processing section 3 includes a running mechanism (a mechanism for running the belt loop body 100) having a plurality of pulleys. The plurality of pulleys include a drive pulley configured to be rotatably driven around its rotation axis. A belt loop 100 is wound around the plurality of pulleys, and the belt loop 100 travels between the plurality of pulleys as the drive pulley rotates. Then, the cover canvas 150 supplied from the canvas supply mechanism 2 is wrapped around and covered with the belt loop body 100 which is wound around the plurality of pulleys.

In the present embodiment, as shown in FIG. 1, the covering processing section 3 has a pair of pulleys 3a and 3b that are arranged to face each other in the vertical direction (up and down direction). One of the pulleys (for example, the upper pulley 3a) is configured as a drive pulley. Although the pair of pulleys 3a and 3b are arranged vertically opposite to each other here, the present invention is not limited to this, and for example, the pair of pulleys 3a and 3b may be arranged horizontally opposite to each other. Further, the plurality of pulleys are not limited to a pair of pulleys arranged opposite to each other, but may be pulleys with three or more axes, for example.

The drive pulley 3a is connected to a traveling mechanism drive section 3c (see FIG. 1) that includes an electric motor (for example, a servo motor), and is rotationally driven by the electric motor. The traveling mechanism drive section 3c is configured to operate based on a command from the drive control section 5a of the control panel 5, and its operation is controlled by the drive control section 5a. Further, the traveling mechanism driving section 3c is provided with a detector 3d that detects the rotation angle of the rotation shaft of the electric motor of the traveling mechanism driving section 3c. An example of the detector 3d is an encoder. By detecting the rotation angle of the rotating shaft of the electric motor of the traveling mechanism drive section 3c by the detector 3d, the rotation amount of the transmission motor of the traveling mechanism drive section 3c, that is, the rotation amount (rotation speed) of the drive pulley 3a is controlled. be done. In the schematic diagram of FIG. 1, the driving pulley 3a and the traveling mechanism driving section 3c are shown separated from each other, but in reality, the driving pulley 3a and the traveling mechanism driving section 3c are connected.

As shown in FIG. 4, the covering processing section 3 includes a pressing roll 31, a catcher section 32, and a pair of bottom side bending disks 38.

The pressing roll 31 is for pressing the cover canvas 150 against the belt loop 100 running on the pair of pulleys 3a and 3b. The pressing roll 31 applies a pressing force toward the drive pulley 3a to the cover canvas 150 at a predetermined pressing position PP (also referred to as a pressing start position), thereby causing the pressing roll 31 to move around the pair of pulleys 3a and 3b. The cover canvas 150 is pressed against the outer peripheral surface of the belt hoop 100. As a result, the cover canvas 150 starts to come into contact with the outer circumferential surface of the belt hoop 100. Then, the cover canvas 150 is coated on the side surface of the belt ring-shaped body 100 by the side-side bending roll 34 described below, and the cover canvas 150 is coated on the inner peripheral surface of the belt ring-shaped body 100 by the back roller 35.

Specifically, the catcher section 32 includes a shaping roll 33, a side-side bending roll 34, and a back roller 35. In the catcher section 32, the components constituting the catcher section 32 work together to wrap the cover canvas 150 around the belt loop 100.

The shaping rolls 33 are for shaping the portions of the cover canvas 150 on both sides in the width direction, which are pressed against the outer circumferential surface of the belt ring-like body 100 by the pressing rolls 31, toward the sides of the belt ring-like body 100. It is.

The side-side bending roll 34 is for pressing the portion of the cover canvas 150 that has been bent toward the side surface of the belt ring-shaped body 100 by the shaping roll 33 against the side surface of the belt ring-shaped body 100. Further, the side-side bending roll 34 is also used to bend the outer portion of the cover canvas 150 in the width direction toward the bottom surface (inner circumferential surface) of the belt ring-shaped body 100.

The back roller 35 is configured to be able to press the back surface (outer peripheral surface) of the cover canvas 150 toward the belt ring-shaped body 100 side. During the covering process, when the side-side bending rolls 34 press both ends of the cover canvas 150 in the width direction against the side surfaces of the belt loop 100, the center part of the cover canvas 150 in the width direction is pressed by the back rollers 35. Being held down. Thereby, the wrapping wrinkles of the cover canvas 150 can be effectively suppressed.

The pair of bottom-side bending disks 38 bend the portion of the cover canvas 150 that has been bent toward the bottom of the belt ring-like body 100 by the side-side bending rolls 34 to the bottom surface (inner peripheral surface) of the belt ring-like body 100. It is meant to be imposed.

Further, when the covering process for the belt annular body 100 is completed and the belt molded body 200 is molded, the covering processing unit 3 moves the belt molded body 200 by a traveling mechanism (specifically, a pair of pulleys 3a, 3b). configured to automatically remove it from the

[Schematic operation of covering processing section]
The general operation of the covering processing section 3 will be described with reference to FIG. 4.

First, before the covering process is performed by the covering process section 3, the pressing roll 31 is waiting at a standby position P1. When the covering process is performed, the canvas gripping section 13, which is gripping the tip end 151 (in other words, the downstream end) of the cover canvas 150, is moved near the upper end of the upper pulley (drive pulley) 3a. Move up to. As a result, the tip end 151 of the cover canvas 150 comes into close contact with the belt ring-shaped body 100.

After that, the pressing roll 31 moves from the standby position P1 to the pressing position PP. As a result, the tip 151 of the cover canvas 150 that is in close contact with the belt loop 100 is pressed against the outer peripheral surface of the belt loop 100 by the pressing roll 31 . Thereafter, the canvas gripping section 13 releases its grip on the cover canvas 150 and retreats to the rear. At this time, the catcher section 32 and the bottom side bending disk 38 move from their respective standby positions to the covering processing position.

In this state, the cover canvas 150 is sequentially fed out from the canvas supply path 22 in the circumferential direction of the belt loop 100 as the drive pulley 3a is rotated. Then, the cover canvas 150 is shaped by the shaping roll 33 so that its cross-sectional shape has a substantially U-shape, and then further travels in the circumferential direction, and passes through the side bending roll 34, the back roller 35, and the bottom surface. It is wrapped around the belt hoop 100 by means of side-folding discs 38 .

Then, after the winding length (winding process length) adjustment process described later is executed, when the tip end 151 of the cover canvas 150 reaches the overlapping position LP (described below), the rotational drive of the upper pulley 3a stops. . The overlapping position LP is a position where the leading end 151 of the cover canvas 150 and the rear end 152 formed by cutting the cover canvas 150 by the cutting device 14 as described later can be overlapped with each other with a predetermined overlap K1. be. This overlapping position LP is set based on a predetermined cutting position CP. Specifically, the overlapping position LP is a distance L20 (see FIGS. 8 and 10) obtained by subtracting a predetermined overlap K1 from a distance L10 along the canvas supply path 22 between the cutting position CP and the pressing position PP. It is preferable to provide it at a position along the outer circumferential surface of the annular body 100 from the pressing position PP in a direction opposite to the circumferential direction.

Next, after the cover canvas 150 is gripped by the canvas gripping section 13, the cover canvas 150 is cut by the cutting device 14 at a predetermined cutting position CP provided closer to the belt loop body 100 than the gripped portion. Ru.

Thereafter, the rear end 152 (in other words, the upstream end) of the cover canvas 150 formed by cutting the cover canvas 150 by the cutting device 14 cuts the cover canvas 150 that is stopped at the overlapping position LP. It is overlapped and joined to the tip portion 151. That is, the winding start portion (front end portion 151) and winding end portion (rear end portion 152) of the cover canvas 150 are overlapped and joined.

Then, the upper pulley 3a is rotated again and the remaining cover canvas 150 is wrapped around the belt loop 100, thereby completing the wrapping of the cover canvas 150 around the belt loop 100. Note that the above-described operation is performed on both the lower cover 106 and the upper cover 107. As a result, a belt molded body 200 (see FIG. 2) is molded.

The joining portion of both ends 151 and 152 in the longitudinal direction of the cover canvas 150 is referred to as a "molded seam." In order to ensure excellent belt performance, this formed seam is required to be formed with an overlap within a predetermined upper and lower limit range (hereinafter also referred to as a predetermined upper and lower limit range) in the longitudinal direction. The predetermined upper and lower limit ranges are the lower limit value obtained by subtracting a predetermined value (for example, 7 mm) from the reference value (for example, 10 mm) of the molded seam (overlap allowance at both ends in the longitudinal direction of the cover canvas 150), and This is the range (10±7 mm) between the sum of the values and the upper limit value.

[Vision sensor]
As shown in FIG. 1, the covering processing section 3 further includes a vision sensor 40 configured by a camera or the like. The vision sensor 40 photographs the tip 151 of the cover canvas 150 that is wrapped around the pair of pulleys 3a and 3b, and determines the tip position XP, which is the position of the tip 151 on the outer peripheral surface of the belt loop 100. It functions as a position detector for detecting (see FIG. 8). The vision sensor 40 also functions as a distance detector for detecting a first distance L1, which is a distance along the outer peripheral surface of the belt loop body 100 from the tip position XP to a predetermined reference position SP (described later). also works. Note that FIG. 8 is a diagram for explaining adjustment of the wrapping length of the cover canvas 150.

The vision sensor 40 is installed in the molding apparatus 1 together with a lighting section 45 (for example, an LED light source) via a mounting member (not shown). Specifically, the vision sensor 40 is set in the molding apparatus 1 so that the imaging area A10 (see FIG. 9(A)) includes the predetermined reference position SP, that is, the vision sensor 40 is set at a position where the predetermined reference position SP can be imaged. It is installed in Note that FIG. 9A is a diagram schematically showing a photographed image of the tip end 151 of the cover canvas 150 during the covering process. The photographing area A10 is a rectangular area, and is set as an image processing area by the image processing section 4b, which will be described later.

FIG. 5 is a schematic diagram for explaining the positional relationship between the vision sensor 40, the illumination unit 45, and the belt loop body 100 running between the pair of pulleys 3a and 3b, as seen from above in the vertical direction. It is a diagram. The vision sensor 40 is arranged at a position that is shifted to one side in the width direction of the belt ring body 100 with respect to a position facing the outer peripheral surface (back surface) of the belt ring body 100. That is, the vision sensor 40 is arranged at a position where it can photograph not only the outer peripheral surface of the cover canvas 150 wrapped around the belt ring-shaped body 100 but also the side surface. The illumination unit 45 is arranged at a position shifted from the position facing the outer circumferential surface of the belt ring-like body 100 to the other side in the width direction of the belt ring-like body 100 (on the side opposite to the vision sensor 40).

Further, as shown in FIG. 1, in the vertical direction, the vision sensor 40 is arranged at approximately the same position (height) as the predetermined reference position SP, while the illumination unit 45 is arranged at the predetermined reference position SP. It is preferable to arrange it below SP. That is, the vision sensor 40 and the illumination unit 45 are arranged in such a positional relationship that a relatively dark shadow is formed at the stepped portion between the belt loop 100 and the tip 151 of the cover canvas 150 in the image taken by the vision sensor 40. It is preferable that the As a result, when the tip end 151 of the cover canvas 150 is photographed by the vision sensor 40, it is possible to give sharpness to the bright and dark parts in the photographed image, and it is possible to improve the position detectability of the tip end 151 of the cover canvas 150. can. In other words, the tip position XP of the tip 151 of the cover canvas 150 can be detected more reliably.

The vision sensor 40 includes a memory (not shown), an interface circuit (not shown), and the like.

The memory built into the vision sensor 40 stores a model image G10 (see FIG. 9(B)) of the tip 151 of the cover canvas 150, which has been photographed in advance by the vision sensor 40. The model image G10 is stored as a specifying image for specifying and detecting the tip 151 of the cover canvas 150 in the photographing area A10 of the photographed image photographed by the vision sensor 40 during the covering process.

Furthermore, the memory built into the vision sensor 40 stores programs that define various processes related to joining both ends of the cover canvas 150 in the longitudinal direction, in other words, forming a molded seam. For example, the memory built into the vision sensor 40 stores a first distance, which is the distance between the tip position XP of the tip 151 of the cover canvas 150 and a predetermined reference position SP, based on the image taken by the vision sensor 40. A program for detecting L1 is stored.

[About the operation panel and control panel]
As shown in FIG. 1, the molding apparatus 1 includes an operation panel 4 and a control panel 5.

FIG. 6(A) is a block diagram of the operation panel 4. As shown in FIG. 6(A), the operation panel 4 houses an arithmetic control section 4a. The arithmetic control unit 4a is configured using, for example, a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), etc., or a PLC (Programmable Logic Controller).

The arithmetic control section 4a has an image processing section 4b and a setting information storage section 4c. The image processing unit 4b is configured to be able to read and execute a predetermined program stored in the memory of the vision sensor 40. The setting information storage section 4c is composed of a memory and the like. The setting information storage unit 4c stores information such as derivation of the estimated required rotation amount R10, which will be described later, and calculation of the distance (second distance L2) from the tip position XP of the tip 151 of the cover canvas 150 to the overlapping position LP. Contains programs to be executed.

FIG. 6(B) is a block diagram of the control panel 5. As shown in FIG. 6(B), the control panel 5 has a drive control section 5a. The drive control section 5a controls the driving operation of the traveling mechanism drive section 3c.

[How to join the cover canvas]
A method of joining the cover canvas 150 realized by the forming apparatus 1 having the above configuration will be described below with reference to FIGS. 7 to 10. FIG. 7 is a flowchart showing a method for joining the cover canvas 150 of the belt molded body 200. FIG. 8 is a schematic diagram for explaining adjustment of the wrapping length of the cover canvas 150. FIG. 9 is a schematic diagram for explaining the amount of deviation (described later) of the tip position XP of the cover canvas 150 with respect to a predetermined reference position SP. FIG. 10 is a schematic diagram showing a state in which the front end portion 151 and the rear end portion 152 of the cover canvas 150 are overlapped.

First, the outline of the joining method of the cover canvas 150 according to this embodiment will be explained.

Here, it is conceivable to stop the drive pulley 3a when the drive pulley 3a rotates a predetermined amount of rotation for moving the tip 151 of the cover canvas 150 from the pressing position PP to the overlapping position LP. However, as described above, the belt length of the belt loop body 100 varies. In particular, since the belt length of the wrapped V-belt is relatively longer than other types of power transmission belts, the tolerance range for the reference value of the belt length is relatively large in the belt loop body 100 subjected to the forming process. The variation in belt length is relatively large.

Therefore, even if the drive pulley 3a rotates the predetermined amount of rotation and stops due to variations in belt length of the belt loop 100, the tip 151 of the cover canvas 150 on the belt loop 100 will not overlap. It may be stopped at a position shifted from position LP. For example, the tip 151 of the cover canvas 150 may have passed through the overlapping position LP, or may have only reached just before the overlapping position LP. In this way, the leading end 151 of the cover canvas 150, which should have stopped exactly at the overlapping position LP in the calculation, stops at a position deviated from the overlapping position LP due to the variation in the belt length of the belt hoop 100. Sometimes there are. When the variation in belt length of the belt loop body 100 is relatively large, the deviation of the tip end 151 of the cover canvas 150 from the overlapping position LP does not fall within the predetermined upper and lower limit ranges, and the cover canvas 150 has a predetermined deviation. There is a possibility that a molded seam with an overlap margin within the range of the upper and lower limits may not be formed.

Taking these points into consideration, in the method for joining the cover canvas 150 according to the present embodiment, as described later, the cover canvas 150 is joined not at the overlapping position LP but at a predetermined reference position SP provided on the near side thereof. A rotation amount R10 of the drive pulley 3a at which the tip portion 151 stops is derived. Then, when the drive pulley 3a rotates by the rotation amount R10, the drive pulley 3a is stopped. Thereafter, the amount of deviation of the position of the tip 151 of the cover canvas 150 (tip position XP) with respect to the reference position SP is detected, and the drive pulley 3a is controlled to rotate by a rotation amount R20 that takes the detected amount of deviation into account. Ru.

Thereby, even if the variation in the belt loop body 100 is relatively large, the tip end 151 of the cover canvas 150 can be stopped more accurately at the overlapping position LP. As a result, it is possible to form a molded seam in the cover canvas 150 with an overlap margin within a range of predetermined upper and lower limits, regardless of the type of belt.

Hereinafter, a method for joining the cover canvas 150 according to this embodiment will be described in detail.

First, in step S11 (see FIG. 7), an estimated required rotation amount R10 (described below) is derived. The estimated required rotation amount R10 is estimated to be required to move the tip 151 of the cover canvas 150 along the outer circumferential surface of the belt hoop 100 from the predetermined pressing position PP by the pressing roll 31 to the predetermined reference position SP. This is the amount of rotation of the drive pulley 3a. Note that this step S11 constitutes a "derivation step" in the present invention.

The predetermined reference position SP is provided in order to more reliably adjust the wrapping length of the cover canvas 150 in accordance with variations in the length of the belt loop body 100. For example, as shown in FIG. 1, the predetermined reference position SP is set on the outer circumferential surface of the belt loop body 100 in a direction opposite to the circumferential direction from the overlapping position LP, specifically, in a direction opposite to the circumferential direction between the pair of pulleys 3a and 3b. It is provided in the latter half of the rotation of the inner belt ring-shaped body 100 (circulation starting from the pressing position PP). More specifically, as shown in FIG. 8, the reference position SP is a reference distance L30 that is longer than the distance L10 along the canvas supply path 22 between the cutting position CP and the pressing position PP by a certain degree, from the pressing position PP to the belt. It is provided at a position along the outer peripheral surface of the annular body 100 in a direction opposite to the circumferential direction.

Here, the shorter the distance along the outer circumferential surface of the belt loop 100 from the reference position SP to the overlapping position LP, the shorter the adjustment section of the wrapping length of the cover canvas 150 becomes, and the adjustment accuracy improves (in other words, (the adjustment error will be smaller). However, if the distance from the reference position SP to the overlapping position LP is extremely short, for example, if the reference position SP is approximately the same position as the overlapping position LP, this may be due to variations in the belt length of the belt loop body 100. Therefore, there is a possibility that the tip end position XP has reached the overlapping position LP when the drive pulley 3a has rotated by the estimated required rotation amount R10. In this case, the wrapping length of the cover canvas 150 cannot be adjusted.

Therefore, the reference position SP is longer than the position (also referred to as the adjustment limit position) that is reached by the following adjustment limit distance in the direction opposite to the circumferential direction along the outer peripheral surface of the belt ring-shaped body 100 from the pressing position PP. It is preferable to provide it in a direction opposite to the circumferential direction. The adjustment limit distance (not shown) is defined as the maximum allowable difference β of the belt length of the belt ring 100 and the cover canvas with respect to the distance L20 along the outer peripheral surface of the belt ring 100 from the pressing position PP to the overlapping position LP. This is the distance (=L20+β+γ) obtained by adding the maximum allowable difference γ of the overlap margin of 150.

The detailed operation of step S11 will be explained. The arithmetic control unit 4a reads a predetermined program stored in the setting information storage unit 4c, and determines the predetermined standard dimensions (in detail, outer circumference length and thickness) and drive pulley 3a for the supplied belt ring body 100. An estimated required rotation amount R10 is derived based on the circumferential length of .

Specifically, first, the calculation control unit 4a acquires the outer circumference length and thickness of the supplied belt ring-shaped body 100, and calculates the inner circumference of the belt ring-shaped body 100 (specifically, the engagement surface with the drive pulley 3a). Calculate the circumference C10. Note that the outer circumferential length and thickness of the supplied belt ring body 100 are registered in advance in association with the belt type, for example, in the setting information storage section 4c.

Then, based on the calculated inner circumferential length C10 and the outer circumferential length C20 of the drive pulley 3a (specifically, the engagement surface with the belt annular body 100), the tip end 151 of the cover canvas 150 is adjusted to the outer circumference of the belt annular body 100. The amount of rotation R0 (=C10/C20) of the drive pulley 3a required to make one revolution on the surface is derived. Then, based on the rotation amount R0, the calculation control unit 4a calculates the rotation amount of the drive pulley 3a estimated to be required to move the tip 151 of the cover canvas 150 from the pressing position PP to the reference position SP, i.e. An estimated required rotation amount R10 is derived. Specifically, the rotation amount ( R0×C90/C100) is derived as the estimated required rotation amount R10.

In the next step S12, the covering process is started, and the drive pulley 3a rotates the estimated required rotation amount R10 from the time when the tip portion 151 passes the pressing position PP (that is, from the time when the covering process starts). , the rotation of the drive pulley 3a is temporarily stopped. Along with this, the traveling of the belt loop 100 is temporarily stopped, and the movement of the cover canvas 150 on the outer peripheral surface of the belt loop 100 is also temporarily stopped. In other words, the covering process is suspended. Note that this step S12 constitutes a "temporary stop step" in the present invention.

In the operation of step S12, the estimated required rotation amount R10 derived by the calculation control section 4a is transmitted to the drive control section 5a, and the drive control section 5a controls the rotation operation of the drive pulley 3a based on the estimated required rotation amount R10. This is achieved through control.

In the next steps S13 to S15, an operation is performed to adjust (in other words, correct) the deviation of the tip end position XP of the cover canvas 150 with respect to the reference position SP.

First, in step S13, the vision sensor 40 detects a first distance L1, which is a distance along the outer circumferential surface of the belt loop body 100, from the tip position XP of the tip 151 of the cover canvas 150 to a predetermined reference position SP. is detected. Note that this step S13 constitutes a "detection step" in the present invention.

Specifically, the vision sensor 40 generates image data (two-dimensional image data) including the tip 151 of the cover canvas 150. The image data generated by the vision sensor 40 is input to the image processing section 4b within the arithmetic and control section 4a, and the image processing section 4b reads a predetermined program from the memory built into the vision sensor 40. Then, based on the model image G10 (see FIG. 9(B)) of the cover canvas 150 photographed in advance, the tip portion 151( Specifically, the tip position XP) is specified and detected. More specifically, the temporary stop position of the tip 151 of the cover canvas 150 on the outer circumferential surface of the belt loop 100 in the photographing area A10 is detected as the tip position XP of the tip 151. Here, in the photographing area A10, the direction parallel to the circumferential direction of the belt ring 100 is defined as the Y direction, and the direction perpendicular to the circumferential direction is defined as the X direction.

Then, the image processing unit 4b generates Y coordinate data (for example, -5 mm) of the reference position SP with respect to the origin in the imaging area A10, and also generates Y coordinate data (for example, -15 mm) of the tip position XP with respect to the origin. generate. Note that here, a bisector that bisects the imaging area A10 in the Y direction is set as the X coordinate axis in the imaging area A10. Then, the image processing unit 4b detects a first distance L1 (for example, 10 mm) along the outer circumferential surface of the belt loop body 100 from the tip position XP to the predetermined reference position SP based on each Y coordinate data. do. More specifically, the amount of deviation α (for example, −10 mm) of the tip position XP with respect to a predetermined reference position SP is detected. In addition, here, the circumferential direction (downstream side) with respect to the origin (Y=0) in the Y direction in the imaging area A10 is defined as "positive," and the direction opposite to the circumferential direction (upstream side) is defined as "negative."

Then, in step S14, based on the detected first distance L1 (more specifically, the deviation amount α), the outer circumferential surface of the belt ring-shaped body 100 from the tip position XP of the cover canvas 150 to the overlapping position LP is determined. A second distance L2 (see FIG. 8), which is a distance along the path (distance in the circumferential direction), is calculated. More specifically, the distance between the pressing position PP and the reference position SP along the outer peripheral surface of the belt ring-shaped body 100 (distance in the circumferential direction) L30 minus the distance L20 is further subtracted by the deviation amount α. , is calculated as the second distance L2 (L2=L30-L20-α). As described above, the distance L20 is the distance L10 from the cutting position CP to the pressing position PP on the canvas supply path 22 minus the predetermined overlap K1.

For example, if the tip position XP of the tip 151 of the cover canvas 150 is further in the circumferential direction than the reference position SP (if the deviation amount α is a positive value), the distance L20 is subtracted from the distance L30. A distance obtained by further subtracting the first distance L1 is calculated as a second distance L2 (L2=L30-L20-L1). Conversely, when the tip position XP of the tip 151 of the cover canvas 150 is in the direction opposite to the circumferential direction from the reference position SP (when the deviation amount α is a negative value), the distance L20 is subtracted from the distance L30. The distance obtained by adding the first distance L1 to the distance is calculated as the second distance L2 (L2=L30−L20+L1).

Then, in step S15, the covering process is restarted, and the drive pulley 3a is turned again when the drive pulley 3a has rotated the rotation amount R20 corresponding to the second distance L2 from the time when the drive pulley 3a has rotated the estimated required rotation amount R10. Control is performed to stop it. Note that this step S15 constitutes a "stopping step" in the present invention.

Specifically, the calculation control unit 4a controls the rotation of the drive pulley 3a corresponding to the second distance L2 based on the outer circumferential length C20 of the drive pulley 3a (specifically, the engagement surface with the belt ring body 100). Derive the quantity R20. The derived rotation amount R20 is then transmitted to the drive control section 5a, and the drive control section 5a controls the rotational operation of the drive pulley 3a based on the rotation amount R20. As a result, the covering process is restarted, and the drive pulley 3a stops again when the drive pulley 3a rotates the estimated required rotation amount R10 and rotates the rotation amount R20. As a result, the tip portion 151 of the cover canvas 150 stops at substantially the same position as the overlapping position LP.

For example, in step S12, when the tip 151 of the cover canvas 150 is temporarily stopped at a position that is a first distance L1 in front of the reference position SP (upstream in the circumferential direction), the first rotation amount is smaller than the original rotation amount. The drive pulley 3a is controlled to rotate by an amount of rotation corresponding to the distance L1. As a result, the tip portion 151 of the cover canvas 150 stops at substantially the same position as the overlapping position LP.

Conversely, when the tip 151 of the cover canvas 150 temporarily stops downstream of the reference position SP by the first distance L1 in the circumferential direction in step S12, the amount of rotation corresponds to the first distance L1 rather than the original amount of rotation. The drive pulley 3a is controlled to rotate by the amount of rotation. As a result, the tip portion 151 of the cover canvas 150 stops at substantially the same position as the overlapping position LP.

In this way, the displacement of the tip end 151 of the cover canvas 150 depending on the variation in the belt loop body 100 is adjusted.

Then, in step S16, the cover canvas 150 is cut by the cutting device 14 at a predetermined cutting position CP on the canvas supply path 22, and both ends 151 and 152 of the cover canvas 150 are overlapped and joined (see FIG. 10). ).

Specifically, the rear end portion 152 of the cover canvas 150 is formed by cutting the cover canvas 150 at a predetermined cutting position CP by the cutting device 14. Then, the rear end portion 152 is overlapped and joined to the tip portion 151 of the cover canvas 150 that is stopped at the overlapping position LP. As described above, the overlapping position LP is determined by subtracting the predetermined overlapping margin K1 from the distance L20 (see FIG. 8) on the canvas supply path 22 between the cutting position CP and the pressing position PP, and It is provided along the outer circumferential surface at a position extending back from the pressing position PP in a direction opposite to the circumferential direction. Therefore, when the rear end 152 of the cover canvas 150 cut at the predetermined cutting position CP is overlapped with the front end 151, the formed seam (the front end 151 and the rear end 152) of the cover canvas 150 is ) is formed with a predetermined overlap K1. Then, the drive pulley 3a rotates again, and the process of winding the rear end 152 of the cover canvas 150 around the belt loop 100 is performed by the back roller 35, the side bending roll 34, and the like. As a result, the front end portion 151 and the rear end portion 152 are pressed against each other with a molded seam having a predetermined overlap K1 formed, and are more firmly joined.

[effect]
As explained above, in the method for joining the cover canvas 150 according to the present embodiment, the process is performed from the time when the tip end 151 of the cover canvas 150 passes the pressing position PP to the time when the drive pulley 3a rotates the estimated required rotation amount R10. The position (tip position) XP of the tip 151 is detected. Furthermore, a first distance L1 from the tip position XP to a predetermined reference position SP is detected. Then, based on the first distance L1, a second distance L2 from the tip position XP to the overlapping position LP is calculated, and the drive pulley 3a rotates by a rotation amount R20 corresponding to the second distance L2. and stop. Thereafter, the front end 151 and rear end 152 of the cover canvas 150 are overlapped and joined.

According to this configuration, the first position from the tip end position XP of the cover canvas 150 at the time when the drive pulley 3a rotates the estimated required rotation amount R10 to the predetermined reference position SP in the direction opposite to the circumferential direction from the overlapping position LP. A distance L1 is detected. Then, based on the first distance L1, a second distance L2 from the tip position XP to the overlapping position LP is calculated, and the drive pulley 3a rotates the rotation amount R20 corresponding to the second distance L2. Rotate and stop. That is, even if there is variation in the belt length of the belt loop body 100, the wrapping length of the cover canvas 150 is adjusted according to the variation before the tip end 151 of the cover canvas 150 reaches the overlapping position LP. is adjusted. Therefore, even if the covering process is performed on a type of belt hoop 100 with relatively large variations in belt length (for example, a belt hoop of a wrapped V-belt), the shape of the cover canvas 150 is The seam can be formed with an overlap margin within a range of predetermined upper and lower limits. Therefore, it is possible to provide a joining method for the cover canvas 150 that can more reliably form a molded seam in the cover canvas 150 with an overlap margin within a predetermined upper and lower limit range, regardless of the belt type. As a result, the yield can be ensured regardless of the belt type of the power transmission belt, and the productivity of the power transmission belt can be improved.

Furthermore, since such an operation is automatically performed under the control of the forming device 1, the wrapping length of the cover canvas 150 can be adjusted more efficiently than, for example, when an operator manually adjusts the wrapping length. adjustments can be made.

In addition, in the joining method of the cover canvas 150 according to the present embodiment, the drive pulley 3a rotates the estimated required rotation amount R10 from the time when the tip end 151 of the cover canvas 150 passes the predetermined pressing position PP. Control is executed to temporarily stop the rotation of. Then, the temporary stopping position of the tip 151 of the cover canvas 150 on the outer circumferential surface of the belt loop body 100, which is temporarily stopped due to the temporary stopping of the drive pulley 3a, is detected as the tip position XP.

According to this configuration, the position of the tip end 151 of the cover canvas 150 on the outer peripheral surface of the belt loop body 100 is in a state where the rotation of the drive pulley 3a is temporarily stopped, that is, a state where the movement of the cover canvas 150 is temporarily stopped. Detected in Therefore, the position of the tip 151 of the cover canvas 150 can be detected more accurately.

Here, the vision sensor 40 is arranged near the overlapping position LP, and the rotation of the drive pulley 3a is stopped at the moment when the vision sensor 40 detects that the tip end 151 of the cover canvas 150 has reached the overlapping position LP. , can also be considered. However, there is a limit to the image capturing speed of a moving object, and after the vision sensor 40 detects that the tip end 151 of the cover canvas 150 has reached the overlapping position LP, the drive pulley 3a actually rotates. There may be some time lag until it stops. As a result, there is a possibility that the tip end 151 of the cover canvas 150 may pass through the overlapping position LP.

On the other hand, in the joining method of the cover canvas 150 according to the present embodiment, the tip of the cover canvas 150 is set not at the overlapping position LP but at a predetermined reference position SP in the direction opposite to the circumferential direction from the overlapping position LP as the target stop position. 151 is stopped. Therefore, the tip portion 151 does not pass through the overlapping position LP due to the above-described time lag, and a molded seam with an overlap margin within the predetermined upper and lower limits can be more reliably formed in the cover canvas 150.

In addition, in the present embodiment, the overlapping position LP is a distance L20 obtained by subtracting the predetermined overlapping margin K1 from the distance L10 along the canvas supply path 22 between the cutting position CP and the pressing position PP, on the outer circumferential surface of the belt loop body 100. It is provided at a position along the top in a direction opposite to the circumferential direction from the pressing position PP. That is, the distance (=L10) along the canvas supply route 22 between the rear end portion 152 cut at the cutting position CP on the canvas supply route 22 and the pressing position PP is from the pressing position PP to the overlapping position LP. The distance is the distance along the outer circumferential surface of the belt loop body 100 (=L20) plus a predetermined overlap K1. Therefore, by simply overlapping the rear end portion 152 formed by cutting at a predetermined cutting position CP on the canvas supply path 22 on the tip portion 151, the distance between the rear end portion 152 and the overlapping position LP (=L10− L20) becomes a predetermined overlap margin K1, and a molded seam that falls within a predetermined upper and lower limit value is formed. Therefore, both end portions 151 and 152 of the cover canvas 150 can be accurately overlapped with a predetermined overlap K1, and a molded seam with an overlap margin within a predetermined upper and lower limit can be easily formed.

In addition, in the method for joining the cover canvas 150 according to the present embodiment, the predetermined reference position SP is determined when the belt loop body 100 is traveling between a plurality of pulleys (in the present embodiment, a pair of pulleys 3a and 3b). It is located in the latter half. Therefore, compared to the case where the predetermined reference position SP is provided in the first half of the rotation of the belt ring body 100 running between a plurality of pulleys, the wrapping length of the cover canvas 150 to be wrapped around the belt ring body 100 is adjusted. The section becomes shorter. Therefore, the accuracy of adjusting the length of wrapping of the cover canvas 150 can be ensured.

In addition, in the method for joining the cover canvas 150 according to the present embodiment, the estimated required rotation amount R10 is is derived. Therefore, it is possible to derive a more accurate estimated required rotation amount R10 according to the type of belt ring-shaped body 100 to which the covering process is performed.

Further, in the method for joining the cover canvas 150 according to the present embodiment, the tip end 151 of the cover canvas 150 on the outer peripheral surface of the belt loop body 100 is detected based on the image data acquired by the vision sensor 40, and the first A distance L1 has been detected.

However, the present invention is not limited thereto, and the tip end 151 of the cover canvas 150 on the outer peripheral surface of the belt loop body 100 may be detected by a laser sensor.

Specifically, a laser is emitted toward a predetermined region on the outer circumferential surface of the belt ring-shaped body 100, and a reflected wave reflected from the predetermined region is received by a laser sensor. Then, the tip 151 of the cover canvas 150 is detected by calculating the distance (one-dimensional data) based on the time from laser emission to reception. In this way, the laser sensor may detect the tip 151 of the cover canvas 150 on the outer circumferential surface of the belt loop 100.

However, the data acquired by the laser sensor is one-dimensional data (distance data to the target object). In this case, in order to be able to detect the tip 151 of the cover canvas 150 when the thickness of the belt hoop 100 changes, a complex calculation program is required to detect the point of change in the reference distance to the object. It takes.

Therefore, it is more preferable that the front end 151 of the cover canvas 150 is detected using the vision sensor 40 as in the above embodiment. Specifically, the image data acquired by the vision sensor 40 is two-dimensional data. In this case, even if the thickness of the belt loop 100 changes, that is, the reference distance to the object changes, the tip 151 of the cover canvas 150 can be detected without requiring a complicated calculation program. Therefore, even if the thickness varies depending on the type of belt, the tip 151 of the cover canvas 150 on the outer circumferential surface of the belt loop 100 can be easily detected.

[evaluation]
FIG. 11 is a diagram showing evaluations in an example of the present invention in which the cover canvas joining method according to the above-described embodiment is adopted and in a case in which a cover canvas joining method according to the comparative example is adopted. . In the embodiment of the present invention, a vision sensor 40 provided in the covering processing unit 3 of the belt molded body forming apparatus 1 for implementing the cover canvas joining method according to the above embodiment is a vision sensor 40 manufactured by Mitsubishi Electric Corporation. A vision sensor with model number VS80M-200E was used. Further, as a comparative example, a mode in which the adjustment process of the wrapping length of the cover canvas is not executed will be exemplified.

Here, evaluation was performed using the following belt ring-shaped body. Specifically, the belt length is at the upper limit of what can be formed by the belt molding device, and the standard value of the belt length is such that it exceeds the allowable range for the standard value of the cover canvas overlap. A belt hoop with a large tolerance range was used. Regarding the belt loop, the reference value of the belt length (outer circumference length) is 105 inches (2667 mm). Further, the permissible range with respect to the reference value is ±10 mm, that is, the maximum permissible difference β is 10 mm with respect to the reference value of 2667 mm. Further, the variation (actually measured value) with respect to the reference value is ±9.0 mm, which is approximately normally distributed. Note that this variation is a measurement result measured by an inspector using 200 pieces. The thickness t is 8.2 mm, and the width w is about 13 mm. Note that the allowable range for the reference value of the thickness t is ±0.2 mm.

Then, 100 belt loops and cover canvas (a two-layer cover canvas composed of a lower cover and an upper cover) were supplied to a forming apparatus to produce 100 belt molded bodies.

The evaluation method (measurement method) is as follows.

The method for measuring the outer circumference of a belt loop is for each of the 100 belt loops (belt loops from the same manufacturing lot) supplied for evaluation to be measured by an inspector using a metal tape measure (measurement unit: 1 mm). The circumference of the body was measured.

Further, the upper and lower limit ranges (reference ranges) of the overlap margin of the molded seam were set to 10 mm±7 mm, and the number of inspection points was two, one on the back side and the bottom side with respect to one molded seam in the belt molded body. In addition, a two-layer cover canvas consisting of a lower cover and an upper cover was tested. That is, the total number of inspection points was 400 (=number of molded seams 100 x 2 layers of cover canvas x 2 inspection points). As a method for inspecting the molded seam, after the covering treatment of each of the lower cover and the upper cover was completed, an inspector measured the overlapping margin of the molded seam using a metal ruler (measurement unit: 0.5 mm). In addition, after the covering treatment of the lower cover, the molded seam was inspected while being moved between the pair of pulleys.

The evaluation criteria are as follows.
A1: The overlap allowance (actual value) of the molded seam is all within the predetermined upper and lower limits for the total number of inspection points (locations outside the upper and lower limits are "0"),
A2: The average value of the overlap allowance is within the range of 10 mm (standard value) ± 3 mm,
A3: The variation width R value of the overlap allowance is 7 mm or less (half of the allowable width of 14 mm),
If all three criteria A1 to A3 are satisfied, it is evaluated that it is possible to provide a cover canvas joining method that can more reliably form a molded seam with a predetermined overlap margin in the cover canvas (judgment "○"). . Specifically, if all of the above three criteria A1 to A3 are satisfied, if the belt loop is of a type that can be molded, the belt loop will be stretched to an extent that exceeds the allowable range for the standard value of the overlapping margin of the cover canvas. Even if the length of the belt varies, it can be evaluated that a formed seam with a predetermined overlap margin can be formed more reliably, regardless of the belt type (particularly the belt length).

On the other hand, if at least one of the three criteria A1 to A3 above is not met, it cannot be said that it is possible to reliably form a molded seam with a predetermined overlap margin in the cover canvas (judgment "x").

Under such evaluation criteria, the evaluation results of the above embodiment and the aspect according to the comparative example are as follows.

First, in the cover canvas joining method according to the present embodiment, as shown in FIG. 400 locations, but 0 locations. Moreover, the average value of the overlap was 10.2 mm, which was within the standard value of 10±3 mm. Further, the variation range R value of the overlap margin was 3.0 mm (the maximum value was 11.5 mm, the minimum value was 8.5 mm), which was 7 mm or less. That is, in the cover canvas joining method according to the present embodiment, all of the above three criteria A1 to A3 were satisfied. As a result, the method for joining the cover canvas according to the present embodiment was rated as "able to more reliably form a molded seam with a predetermined overlap margin in the cover canvas" ("O" in FIG. 11).

On the other hand, in the cover canvas joining method according to the comparative example, as shown in FIG. The number was ``88'' compared to ``400''. Further, the variation range R value of the overlap margin was 18.0 mm (the maximum value was 19.5 mm, the minimum value was 1.5 mm), which was a value larger than 7 mm. Note that the average value of the overlapping allowance was 10.4 mm, which was within the standard value of 10±3 mm. In other words, in the method for joining the cover canvas according to the comparative example, two criteria A1 and A3 out of the three criteria A1 to A3 mentioned above are not satisfied, and "the molded seam of the predetermined overlap margin in the cover canvas cannot be ensured." 11).

From the above evaluation results, it can be seen that according to the cover canvas joining method according to the above embodiment, a molded seam within a predetermined upper and lower limit range (more preferably, a predetermined overlap margin) can be more reliably formed in the cover canvas. .

[Modified example]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be implemented with various modifications within the scope of the claims. For example, the following modification may be implemented.

(1) In the embodiment described above, the rotation of the drive pulley 3a is temporarily stopped when the drive pulley 3a rotates the estimated required rotation amount R10 from the time when the tip 151 of the cover canvas 150 passes the pressing position PP. (step S12 in FIG. 7), but is not limited to this. For example, the rotational speed of the drive pulley 3a is reduced from the time when the tip 151 of the cover canvas 150 passes the pressing position PP to the time when the drive pulley 3a rotates the estimated required rotation amount R10, or at the time immediately before that. It's okay.

The present invention broadly relates to a covering process for covering a belt ring-shaped body with a cover canvas, and a method for joining the cover canvas by overlapping and joining both ends of the cover canvas in the longitudinal direction within a predetermined upper and lower limit range. Applicable.

1 Molding device 2 Canvas supply mechanism 3 Covering processing section 3a Drive pulley (upper pulley)
3b Lower pulley 4 Operation panel 4a Arithmetic control section 5 Control panel 13 Canvas gripping section 14 Cutting device 22 Canvas supply path 100 Belt loop 106 Lower cover (cover canvas)
107 Upper cover (cover canvas)
150 Cover canvas 151 Top end of cover canvas 152 Rear end of cover canvas 200 Belt molded body

Claims (6)

In a covering process in which a cover canvas is coated on a belt ring-shaped body running between a plurality of pulleys including a drive pulley, the longitudinal tip of the unreeled cover canvas and the unreeled cover canvas are cut. A cover canvas joining method for overlapping and joining the rear end portion of the cover canvas in the longitudinal direction formed by the method, within a predetermined upper and lower limit range,
From a predetermined pressing position where the cover canvas is pressed against the belt loop running between the plurality of pulleys and the cover canvas starts contacting the belt loop, the outer periphery of the belt loop is pressed. It is estimated that it is necessary to move the tip part to a predetermined reference position in the direction opposite to the circumferential direction from the overlapping position where the tip part and the rear end part can be overlapped with a predetermined overlap margin on the surface. a deriving step of deriving an estimated required rotation amount that is the rotation amount of the drive pulley;
Detecting the tip position, which is the position of the tip on the outer circumferential surface of the belt annular body from the time when the tip passed the predetermined pressing position to the time when the drive pulley rotated the estimated required rotation amount. and a detection step of detecting a first distance that is a distance along the outer circumferential surface of the belt loop from the tip position to the predetermined reference position;
a calculation step of calculating a second distance, which is a distance along the outer circumferential surface of the belt loop from the tip end position to the overlapping position, based on the first distance;
a stopping step of stopping the drive pulley at a time when the drive pulley has rotated an amount of rotation corresponding to the second distance from the time when the drive pulley has rotated the estimated required rotation amount;
Cutting the cover canvas at a predetermined cutting position on the canvas supply route of the cover canvas, and setting the leading end portion and the rear end portion formed by cutting the cover canvas based on the predetermined cutting position. a joining step of overlapping and joining at the superposed position,
A method for joining a cover canvas, comprising: The method for joining a cover canvas according to claim 1,
Prior to the detection step, further comprising a temporary stopping step of temporarily stopping the rotation of the drive pulley at a time when the drive pulley has rotated the estimated required rotation amount from the time the tip portion passes the predetermined pressing position. have,
In the detection step, a temporary stop position of the tip on the outer circumferential surface of the belt loop body, which is temporarily stopped due to the temporary stop of the drive pulley, is detected as the tip position. How to join the cover canvas. In the method for joining a cover canvas according to claim 1 or 2,
The overlapping position is defined as the distance between the predetermined cutting position and the predetermined pressing position along the canvas supply route minus the predetermined overlap margin, along the outer circumferential surface of the belt loop. A method for joining cover canvas, characterized in that the joining method is performed at a position extending back from a predetermined pressing position in a direction opposite to the circumferential direction. In the method for joining a cover canvas according to any one of claims 1 to 3,
In the detection step, the tip portion on the outer circumferential surface of the belt loop is detected based on image data acquired by a vision sensor that includes the predetermined reference position in the imaging area, and the first distance is determined. A method for joining a cover canvas, characterized in that it is detected. In the method for joining a cover canvas according to any one of claims 1 to 4,
The cover is characterized in that the predetermined reference position is provided in the latter half of the rotation of the belt ring-shaped body running between the plurality of pulleys and starting from the predetermined pressing position. How to join canvas. The method for joining cover canvas according to any one of claims 1 to 5,
A method for joining a cover canvas, wherein in the derivation step, the estimated required rotation amount is derived based on a predetermined circumference of the belt ring and a circumference of the drive pulley.