JPH04364933A - Positioning method for belt-like member - Google Patents

Abstract

PURPOSE:To provide a method for positioning being suitable for the quality of the material of a belt-like member and with high accuracy. CONSTITUTION:In a method for positioning wherein a belt-like member 1 is positioned by introducing a transferred belt-like member 1 by means of a guide 11, a pair of or a plurality of pairs of left and right guides 11 are moved symmetrically on left and right and a torque of a motor 15 performing the movement is detected and the guides are stopped when the value of the torque reaches a specified value of torque generated when both the left and right guides are brought into contact with the belt-like member 1.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning method for positioning a strip member conveyed by a conveyor or the like at the center or on the side.

0002

BACKGROUND OF THE INVENTION As a conventional positioning device for a band-like member, an example described in Japanese Patent Application Laid-Open No. 1-176546 detects the left and right width of the band-like member in advance using a laser type discrimination sensor, and based on this detected value, the centering mechanism is adjusted. The guide member is expanded/contracted to perform center registration of the belt-like member conveyed between the left and right guide members.

[0003] In addition, as described in Japanese Patent Laid-Open No. 63-262363, where the width of the band-like member is not detected in advance, a pair of left and right guide members is supported so as to be symmetrically expandable and contractible, and both guide members are brought close to each other. There is an example in which center registration is performed by sandwiching the left and right side surfaces of a band-shaped member so that a spring is biased in the direction.

0004

[Problem to be solved] In the former example of detecting the width of the strip member in advance, the distance between the left and right guide members is set based on the sensor detection results, so the guide member actually centers the strip member. Sometimes, a gap is created between the guide member and the strip member, or conversely, the guide member presses the strip member more than necessary, making accurate positioning difficult.

[0005] Furthermore, the top member of a tire has a flat trapezoidal cross section, and when performing center registration on this, it is not possible to perform center registration by sandwiching both edges of the bottom of the trapezoid from the left and right. To sandwich the slanted sides, it is necessary to detect the width of the top base of the trapezoid. However, it is difficult to measure the width of this upper base with a sensor, and the laser type determination sensor according to the example described above can only measure the width of the lower base.

On the other hand, in the latter case where the width of the band-shaped member is not detected in advance, the guide member presses the band-shaped member with a constant force of the spring, but if the band-shaped member is a soft plastic member, the band-shaped member is deformed. There is a risk of quality defects. Therefore, there is a method of replacing the spring with a suitable one, but it takes a lot of man-hours to replace it. Furthermore, there is a risk that the center registration accuracy may deteriorate due to the spring becoming fatigued or the like.

[0007] The present invention has been made in view of the above points.
The purpose is to provide a positioning method that controls the movement of the guide to a desired position based on the guide driving force and allows accurate positioning without affecting quality.

[0008]

Means for Solving the Problems and Effects In order to achieve the above object, the present invention provides a method for positioning a belt-shaped member to be conveyed by guiding it with a guide. symmetrically, detecting the torque of the motor that performs the movement, and stopping the guides when the torque generated when both of the left and right guides come into contact with the strip member reaches a predetermined torque. This method was used to position the band member.

[0009] The torque of the motor that moves the guide to position the strip member is detected, and the movement of the guide is stopped based on the change in torque of the motor when the guide pinches the strip member. It can be set to the optimal position according to the situation, allowing for proper and highly accurate positioning.

Furthermore, by returning the guide to its original position based on changes in the torque of the motor and repeating positioning again, it is possible to individually position each of the strip members that are successively fed.

Furthermore, by adjusting the position of the guide so that the torque of the motor becomes a predetermined torque, it is possible to properly position the continuous long strip member.

The same applies to the positioning of the sides of the strip member.

[0013]

[Embodiment] An embodiment of the present invention illustrated in FIGS. 1 to 6 will be described below. This embodiment is a method for center registration of a strip-shaped member, and FIG. 1 is a sectional view of a center registration device 2 according to the method, and FIG. 2 is a schematic plan view thereof.

The band member 1 is the top member of a tire, has a flat trapezoidal cross section, and is conveyed with its lower surface supported by a roller conveyor 3.

A pair of frames 4 run back and forth above the roller conveyor 3 on the left and right sides, and a bearing 5 is suspended from the lower surface of the frame 4. Two guide shafts 6 are installed parallel to each other in the front and back between the opposing bearings 5, and a pair of left and right sliding support members 7 are slidably provided through and supported by the guide shafts 6, and a receiving member is provided in the center. 8 is fixedly supported.

A ball screw 9 is installed in parallel between the two guide shafts 6 and is rotatably supported by the opposing bearings 5 and the receiving member 8, and the ball screw 9 passes through the left and right sliding support members 7. And they are screwed together. The ball screw 9 is formed with symmetrical threads, and the rotation of the ball screw 9 causes the sliding support member 7 located at a symmetrical position to slide symmetrically. A support shaft 10 is provided vertically downward on each of the left and right sliding support members 7, and a guide roller 11 is rotatably supported at the lower end of the sliding support member 7 at a slight angle from the horizontal. Therefore, the left and right guide rollers 11 move symmetrically together with each sliding support member 7.

The ball screw 9 has one end protruding outward from the bearing 5, a pulley 12 is fitted to the protruding end, and a bracket 1 is attached to the frame 13 below the frame 4.
A timing belt 17 is spanned between the pulley 12 and a pulley 16 fitted onto the drive shaft of a servo motor 15 which is fixedly supported via the pulley 12 . Therefore, the ball screw 9 is rotated by the drive of the servo motor 15 via the timing belt 17, and the rotation of the ball screw 9 moves the guide roller 11 symmetrically with the sliding support member 7, thereby expanding and contracting the width between them. .

Since the guide roller 11 is close to the roller conveyor 3, center registration is performed by sandwiching the strip member 1 placed on the roller conveyor 3 and conveyed between its left and right sides.

Next, a block diagram of the control system of the servo motor 15 is shown in FIG. The motor 15 is driven and controlled by a motor controller 20, and has a current-torque converter 21 that detects the rotational torque T of the motor from the current supplied to the servo motor 15, and the signal of the detected torque T is sent to a determiner. 22, and the drive control of the motor is determined based on the torque T.

FIG. 5 shows changes in motor torque during center registration work. In FIG. 5, the horizontal axis is time t, and the vertical axis is motor torque T.

As shown schematically in FIG. 6, if the belt-shaped member 1 is conveyed to a position on the right side of the center line C (FIG. 6 (1)), then a certain torque causes the left and right guide rollers 11 to move. are moved to narrow the distance between them, the right guide roller 11 first comes into contact with the right side surface of the strip member 1 (Fig. 6 (2)), and the torque T increases to push and move the strip member 1. do. The moment when the right guide roller 11 comes into contact with the strip member 1 is at the point a in FIG. 5, and the torque T increases thereafter.

[0022] The strip member 1, which had been shifted to the right side in this way, is pushed by the right guide roller 11 and moves to the left, and when the left guide roller 11 comes into contact with the left side surface of the strip member 1,
The left and right guide rollers 11 sandwich and press the strip member 1, and the torque of the motor increases rapidly. The point in time when the left guide roller 11 comes into contact with the strip member 1 is the point b in FIG.

The determiner 22 determines whether the torque T, which has rapidly increased from time b, has reached a predetermined torque Q, and outputs the determination signal to the motor controller 20. The point in time when the predetermined torque Q is reached is point C in FIG.

The predetermined torque Q determined in advance is such that the left and right guide rollers 11 sandwich the strip member 1 and press the strip member 1 appropriately to the extent that the strip member 1 is not deformed, thereby accurately centering the strip member 1. This is the torque that can be achieved.

When a signal indicating that the predetermined torque Q has been reached is input from the determiner 22 to the motor controller 20, the motor controller 20 stops driving the servo motor 15. Thereafter, the strip member 1 is conveyed while being center-registered between the left and right guide rollers 11 that are fixed to an appropriate width.

In this embodiment, one guide roller 11 is used.
However, center registration may be performed by arranging multiple sets of guide rollers 11 in the conveyance direction.

Furthermore, in this embodiment, when the motor torque T reaches the predetermined torque Q, the servo motor 15 is stopped and the guide roller 11 is fixed. However, in the case of a long strip member 1, the width may vary slightly. The position in the width direction of conveyance is not always constant, and for such cases, the guide roller 11 may not be fixed, but the servo motor 15 may be driven and controlled so that the predetermined torque Q is always maintained. By controlling in this way, center registration can always be performed accurately without creating a gap between the guide roller 11 and the strip member 1, or conversely, without pressing the strip member 1 too strongly and causing deformation. Can be done.

Next, as shown in FIG. 7, when the strip member 1 is conveyed by the belt conveyor 25 and wound around the forming drum 26 on the downstream side, the tip of the strip member 1 is wrapped around the forming drum 26. Center registration is performed just before wrapping the strip member 1 around the forming drum 26 to wrap the strip member 1 at a fixed position in the width direction of the forming drum 26.
The guide roller 11 performs center registration on the tip of the motor, and once the torque T of the motor reaches a predetermined torque Q and the center registration has been performed accurately, the guide roller 11 is controlled to expand again and return to its original position. do. This center registration is repeated every time the strip member 1 is conveyed.

In the above embodiment, the guide roller 11 was used for center registration of the strip member 1 having a trapezoidal cross section. However, in the case of an ordinary strip member having a rectangular cross section, the method shown in FIG. As shown, instead of the guide roller 11, guide plates 31 are provided along both vertical sides of the strip member 30.
Center registration can be performed using .

In the example shown in FIG. 8, the motor 32 is driven by the left and right ball screws 33 through gears in the gear box 33.
The sliding support member 3 is connected to the ball screw 33 and is screwed into each ball screw 33.
Move 4 symmetrically. The motor 32 is controlled in the same manner as in the previous embodiment, and guide plates 3 are provided on both left and right sides of the strip member 30.
1 makes contact and performs pinch center registration.

Next, side registration will be explained. FIG. 9 is a simplified diagram of a side positioning device, in which one guide plate 41 is fixed, the other is a movable guide plate 42, and the inner surface of the fixed guide plate 41 is a side resistor of the strip member 40. The left end of the strip member 40 is positioned at the reference position of the ration.

The moving guide plate 42 is supported by a sliding support member 43, and the sliding support member 43 is slidably engaged with a ball screw 46 which is rotated by the drive of a motor 44 being transmitted through a gear in a gear box 45. do.

The motor 44 is controlled in the same manner by a control system similar to that shown in FIG. FIG. 10 is an explanatory diagram showing the process of side registration. If we look at the change in motor torque according to the diagram, first the movable guide plate 42 is moved toward the fixed guide plate 41 with a certain torque (Fig. 10 (a) ), when it comes into contact with the right side of the strip member 40 (FIG. 10(b)), the torque increases to move the strip member 40, and further the left side of the strip member 40 comes into contact with the fixed guide plate 41. Then (FIG. 10(c)), the belt-like member 40 is sandwiched between the fixed guide plate 41 and the movable guide plate 42, and the torque increases rapidly.

Therefore, the torque changes approximately the same as shown in FIG. 5, and when the predetermined torque Q is reached, the motor 4
4 and fixing the moving guide plate 42, the left side surface of the band-shaped member 40 can be side-registered to the reference position with high precision.

Furthermore, when the torque of the motor reaches a predetermined torque Q, the moving guide plate 42 may be returned to its original position and this process may be repeated, and furthermore, the predetermined torque Q may be maintained at all times. You can also do that.

Next, an example using a torque detector is shown in FIG. This example is generally similar to the center registration device shown in FIG. 8, and the same members are designated by the same reference numerals. A torque detector 35 is interposed while the drive of the motor 32 is transmitted to the gears in the gear box 33, and detects the torque of the torque detector 35. The analog signal of torque detected by the torque detector 35 is converted into a digital signal by an AD converter 36 and input to a determiner 37 . The determiner 37 determines whether the detected torque has reached a predetermined torque and outputs the result to the motor controller 38.
The motor 32 is controlled by. The control method is the same as in the previous embodiment.

Next, an example in which motors for moving the left and right guide rollers 51 and 52 are provided separately is shown in FIGS. 12 and 13.
Shown below. The left and right motors 53, 54 are connected to a gearbox 55, respectively.
Rotate the ball screws 57 and 58 via the gear in 56,
Sliding support members 59 and 6 screwed into ball screws 57 and 58
0 supports guide rollers 51 and 52. The left motors 53 and 54 are controlled by motor controllers 61 and 62, and the torque of the motors 53 and 54 is controlled by a current-torque converter 63.
, 64 and output to the determiners 65, 66,
Determiners 65 and 66 determine whether the torque of each motor 53 and 54 has reached a predetermined torque Q, and output the results to motor controllers 61 and 62.

Here, the left motor 53 and the right motor 5
4 is operating synchronously with the left and right guide rollers 51.
, 52 move symmetrically to each other at the same speed.

Now, as shown by the solid line in FIG.
FIG. 13 shows the changes in torque of the left and right motors 53 and 54 during the center registration process when 0 is being conveyed to the right. In FIG. 13, the upper part shows the torque change of the right motor 54, and the lower part shows the torque change of the left motor 53, with the time axes aligned.

The right motor 54 is connected to the right guide roller 5.
2 comes into contact with the strip member 50, the torque increases and moves the strip member 50 to the left. At this time, the torque of the left motor 53 remains unchanged, and then the left guide roller 51 moves the strip member 50 At the point b when it comes into contact with the right motor 5
The torque of motor 4 further increases, the torque of motor 53 on the left side also increases, and at time c when both motors 53 and 54 reach a predetermined torque Q, both motors 53 and 54 are controlled to stop or the like. Both motors may be stopped when the torque of either one reaches Q. If the left and right gearboxes 55 and 56 are driven synchronously by separate motors 53 and 54 in this manner, center registration can be performed with high accuracy as well.

The predetermined torque Q can be easily changed depending on the softness of the belt member. For example, in the case of a tire top member, the predetermined torque Q is determined for each rubber composition having different softness.

[0042]

Effects of the Invention The present invention detects the torque of the motor that moves the guide for positioning the strip member, and when the detected torque reaches a predetermined torque Q, the motor is stopped, temporarily returned, or always set to the predetermined torque. By controlling to achieve Q, it is possible to perform highly accurate positioning that matches the material, particularly the hardness, of the band-shaped member.

[Brief explanation of drawings]

FIG. 1 is a sectional view of a center registration device according to an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of the same main part.

FIG. 4 is a control system block diagram of the same embodiment.

FIG. 5 is a diagram showing changes in torque of the same motor.

FIG. 6 is an explanatory diagram showing the process of center registration.

FIG. 7 is a side view of main parts of another embodiment.

FIG. 8 is a front view of another embodiment.

FIG. 9 is a front view of main parts of the side registration device.

FIG. 10 is an explanatory diagram showing the process of side registration.

FIG. 11 is a front view and a control system block diagram of a center registration device according to another embodiment.

FIG. 12 is a front view and a control system block diagram of yet another center registration device.

FIG. 13 is a diagram showing changes in torque of the motor of the same device.

[Explanation of symbols]

1... Band-shaped member, 2... Center registration device,
3... Roller conveyor, 4... Frame, 5... Bearing, 6... Guide shaft, 7... Sliding support member, 8... Receiving member, 9... Ball screw, 10... Support shaft, 11... Guide roller, 12... Pulley, 13... Frame, 14... Bracket, 15... Servo motor, 16... Pulley, 17... Timing belt, 2
0...Motor controller, 21...Current-torque converter, 22...
Judgment device, 25...belt conveyor, 26...forming drum. 3
0...Strip member, 31...Guide plate, 32...Motor, 33...
Gear box, 34...Sliding support member, 35...Torque detector, 36...AD converter, 37...Determiner, 38...Motor controller, 40...Strip member, 41...Fixed guide plate, 42...Moving guide plate, 43...Sliding support member, 44...Motor, 45
...Gear box, 46...Ball screw, 50...Strip member,
51, 52... Guide roller, 53, 54... Motor, 55
, 56...gear box, 57, 58...ball screw, 59
, 60...Sliding support member, 61, 62...Motor controller, 6
3, 64... Current-torque converter, 65, 66... Judgment device.

Claims (6)

[Claims] Claim 1: A method of positioning a belt-shaped member to be conveyed by guiding it with a guide, in which one or more sets of left and right guides are moved symmetrically, and the torque of a motor that performs the movement is detected. A method for positioning a band-shaped member, characterized in that the guides are stopped when the torque generated when both the left and right guides contact the band-shaped member reaches a predetermined torque. [Claim 2] A method for positioning a belt-shaped member to be conveyed by guiding it with a guide, in which one or more sets of left and right guides are moved symmetrically, and the torque of a motor that performs the movement is detected. A method for positioning a band-shaped member, characterized in that the guide is returned to its original position when the torque generated when both the left and right guides contact the band-shaped member reaches a predetermined torque. 3. A method for positioning a belt-shaped member to be conveyed by guiding it with a guide, in which one or more sets of left and right guides are moved symmetrically, and the torque of a motor that performs the movement is detected. and adjusting the position of the guides so that the torque of the motor reaches the predetermined torque from when the torque generated when both the left and right guides contact the strip member reaches a predetermined torque. Characteristic method for positioning a band-shaped member. 4. In a method for positioning a belt-shaped member to be conveyed by guiding it with a guide, one of the left and right sets or a plurality of sets of guides is a fixed guide fixed at a predetermined position. This occurs when the guide on the other side is a moving guide that moves left and right, and the torque of the motor that moves the moving guide is detected, and both the fixed guide and the moving guide come into contact with the band-shaped member. A method for positioning a band-like member, characterized in that the moving guide is stopped when the torque reaches a predetermined torque. 5. In a method of positioning a belt-shaped member to be conveyed by guiding it with a guide, one of the left and right sets or a plurality of sets of guides is a fixed guide fixed at a predetermined position. This occurs when the guide on the other side is a moving guide that moves left and right, and the torque of the motor that moves the moving guide is detected, and both the fixed guide and the moving guide come into contact with the band-shaped member. A method for positioning a band-shaped member, characterized in that the moving guide is returned to its original position when the torque reaches a predetermined torque. 6. In a method of positioning a belt-shaped member to be conveyed by guiding it with a guide, one of the left and right sets or a plurality of sets of guides is a fixed guide fixed at a predetermined position. This occurs when the guide on the other side is a moving guide that moves left and right, and the torque of the motor that moves the moving guide is detected, and both the fixed guide and the moving guide come into contact with the band-shaped member. A method for positioning a band-shaped member, comprising adjusting the position of the moving guide so that the torque of the motor reaches the predetermined torque after the torque reaches the predetermined torque.