JPH0789652A - Strip member feeding device - Google Patents

Abstract

PURPOSE:To automatically feed a strip member or replace the strip member even in case of the strip member having each different sectional shape, by shifting a strip member pulling-out device to the place of an arbitrary strip member feeding means and automatically holding the extended strip member. CONSTITUTION:A strip member 4 consisting of the soft body such as slab urethane is extended by a strip member feeding means 3, and nipping-held by a strip member pulling-out device 2 installed on a robot 1, and automatically attached on a work 50 by an ultrasonic working unit 8. When a replacement signal for the strip member 4 is given, the robot 1 shifts a strip member pulling- out device 2 toward the feeding-out port of the strip member feeding means 3. In this case, the strip member 4 which is laid between the strip member pulling-out device 2 and the strip member feeding means 3 is returned by the strip member feeding means 3. Then, the robot 1 shifts the strip member pulling- out device 2 to the strip member feeding-out port of an another kind of strip member feeding device 3, and the free top end of the strip member 4 is nipping- held. Then, the strip member 4 which is nipping-held in the strip member feeding means 3 is released, and the replacement of the strip member is completed automatically.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a belt material supplying device, and is used, for example, in an automatic sticking device for a band-shaped flexible heat insulating material, cushioning material and the like.

[0002]

2. Description of the Related Art Conventionally, as an automatic sticking device for band-shaped materials,
Japanese Patent Publication No. 63-63375 discloses "FRP prepreg tape automatic sticking device", which automatically sticks a tape to be supplied to the surface of a work having a three-dimensional curved surface and has an arbitrary length. Since it can be automatically cut by, there is an advantage that human work can be eliminated from the tape attaching process and the process quality is stable.

[0003]

[Problems to be Solved] However, in this case, the free end of the FRP prepreg tape with protective paper set on the tape is pulled out, and the guide roll and the pull-out roll are installed at a plurality of positions. After passing through the tape cutting section through the device, the protective paper is peeled off from the FRP prepreg tape by an appropriate length from the free tip, and the tip of the protective paper is taken up by a pressing roll. The work of connecting to the cable, that is, the tape set-up work is a human work and extremely complicated work. Further, between the tape cutting portion of the tape mounted as described above and the take-up tape (free tip of the protective paper), the tape cutting portion is used for the FRP prepreg tape. After automatically cutting the chisel, the tape must be peeled off from the protective paper manually.

Further, since such an automatic sticking machine is expensive, if only the tape set on the tape is exchanged, one sticking machine can be used for various kinds of tapes having different widths and plate thicknesses. Since it is economically advantageous to be able to automatically attach, for example,
Considering the use for various small-quantity products, it is desirable that the tape interchangeability can be made quick and easy, but the tape exchanging work in the above-mentioned automatic sticking device consumes a lot of time and requires extremely complicated work. There were problems, and the operating rate was low and the risk of work was increasing.

The present invention has been made to solve the above-mentioned conventional problems, and an object thereof is to automatically supply a strip material or automatically replace a strip material having a different sectional shape. The purpose is to provide a belt feeding device that can do this.

[0006]

SUMMARY OF THE INVENTION A strip feeding device according to the present invention holds a strip extending from a strip base accommodating portion for accommodating a base of a strip made of a flexible material such as slab urethane, and its axis. A strip feeding means for moving back and forth in a direction, a means for detecting the strip moved forward and backward by the strip feeding means, and acting on the strip moving means of the strip feeding means, and the strip for feeding the strip. A strip material drawing device that can be moved close to and away from the delivery port of the material supply means and can be moved to an arbitrary position to hold the strip material that is extended from the strip material supply means and move the strip material forward and backward in the axial direction. A means for detecting a strip material moved forward and backward by the strip material drawing device and acting on the strip material advancing and retracting means of the device or the strip material supplying means, and holding the strip material drawing device and moving it to an arbitrary position From the driving means And wherein the Rukoto.

[0007]

In the above apparatus, the free front end portion of the strip material extended from the strip material supply means is held by the strip material drawing device which is separated from the strip material supply means, and the strip material exchange signal is given by appropriate means. Then, the driving means such as a robot moves the strip material drawing device toward the strip material feeding port of the strip material supplying means. At this time, as the strip material drawing device approaches the strip material supplying means, the strip material bridged between the strip material drawing device and the strip material supplying means is pulled back into the strip material supplying means, and finally the strip material drawing means. The strip is pulled out from the device, the free end of this strip is stopped at the strip feeding port of the strip feeding means, and stands by until it is pulled out from the strip drawing device next time. Subsequently, the driving means such as a robot moves the strip material drawing device toward the strip material delivery port of the strip material supply means having another type of strip material, and the strip material is delivered from the strip material delivery port. The free tip is held by the strip puller.
Subsequently, when the means for detecting the strip material in the strip material drawing device detects this, the strip material supply means is operated to release the strip material sandwiched in the strip material supply means and the strip material is automatically replaced. Is terminated.

[0008]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0009]

1 and 2, a strip 32 is fixed to the upper end of a column 31 projecting on a substrate 30, and a box 32 having left and right openings is fixed to the side of the box 32. A servo motor 36 is attached so that the shaft is horizontal. The output shaft of the motor 36 penetrates the side wall of the box and extends horizontally inside the box, and the drive roller 33 is connected to the extension line of the axis of the box. A driven roller 34 inside the box, which is appropriately separated from the drive roller 33 to the left in the horizontal direction, has its axis parallel to the axis of the drive roller 33 and is rotatably supported. The driving roller 33 and the driven roller 34 are connected via an endless belt 35 made of rubber.

A pressing plate 37 having left and right ends bent obliquely upward and movable up and down is disposed above the belt 35, and an air cylinder 39 attached to the outer surface of the top wall of the box 32 is mounted on the upper surface of the pressing plate 37. The forward / backward shaft 38 is connected to the front end portion thereof, and the pressing plate 37 is moved up and down by the operation of the air cylinder 39. The pressing plate 37 and the driving roller 33 and the driven roller 34 via the endless belt 35 are connected to each other. The sponge foam strip 4 sandwiched between them can be moved back and forth in the axial direction of this strip.

Further, in FIG. 4, the light receiving portion 1 of the photoelectric sensor is provided in the right side opening of the box body 32, that is, in the vicinity of the strip material delivery port, through the strip material advancing / retracting path in a direction crossing the strip material advancing / retreating direction.
7 and the light projecting portion 18 are arranged so as to face each other, and the brackets 19, 19
These sensors are attached to the box 32 via
When the photoelectric sensor and the servo motor 36 are engaged with each other in the "replacement mode", the optical axis passes through when the belt material is not present between the light receiving portion 17 and the light emitting portion 18 of the photoelectric sensor. When the servo motor 36 is illuminated, the rotation of the servo motor 36 is stopped, and when the belt material is present between the photoelectric sensors 17 and 18 in the "replenishing mode", the optical axis is shielded and the servo motor 36 is shielded. The rotation of is stopped.

Further, in FIG. 1 and FIG.
A pair of bearings 42, 42 are provided so as to be spaced apart from the left side of the bearing 42, and a shaft 43 is bridged to a U-shaped notch formed in the upper end of the bearing 42, and the strip 4 is wound by the shaft 43. -Le 44 is pivotally supported and rotatable. Further, an L-shaped round bar 40 in a plan view is horizontally extended from the upper portion of the support column 31 toward the bearings 42, 42, and the axis of the tip portion is made parallel to the axis of the drive roller 33. The belt 41 is rotatably connected to the roller 41 and extends from the reel 44.
It is inserted and sandwiched in the gap between the endless belt 35 and the pressing plate 37 via the lower surface side of the la 41.

On the other hand, in FIG. 1 and FIG. 5 to FIG. 6, the robot 1 is fixed to the floor away from the strip material supplying means 3 within the movable range of the arm of the robot 1, and a strip material drawing device is provided at the tip of the arm of the robot 1. 2 is attached. The strip material drawing device 2 is provided with a casing 20 having left and right openings, and a servo motor 16 having a horizontal axis on the side face robot 1 side of the casing 20. The output shaft of the motor 16 penetrates the side wall of the housing and extends horizontally inside the housing, and the drive roller 21 is connected to the extension line of the shaft core. A pressing plate 23 whose left and right ends are bent obliquely upward so as to be vertically movable is disposed above the drive roller 21, and an air cylinder 25 attached to the outer surface of the top wall of the housing 20 is advanced and retracted on the upper surface thereof. The tip of the shaft 24 is connected and the pressing plate 23 is moved up and down by the operation of the air cylinder 25.
The sponge foam strip material 4 sandwiched between the driving roller 21 and the drive roller 21 can be fed together in the axial direction of the strip material.

Further, an L-shaped pressing member 5 for cutting the band member is fixed to the right side opening of the housing 20, that is, the lower edge of the band material feeding port, and is fixed to the upper surface facing the pressing plate 5 so as to be opposed thereto. And the cutter 6 is arranged so as to be movable up and down. The upper surface of the cutter 6 is connected to the tip end of the advancing / retreating shaft 7a of the air cylinder 7 attached to the outer surface of the top wall of the housing 20. The cutter 6 is moved up and down by the operation of, and the band member 4 can be cut by bringing the blade edge of the cutter 6 into contact with the pressing plate 5 via the band member 4.

Further, the light receiving section 13 and the light projecting section 14 of the photoelectric sensor are disposed on both sides of the pressing plate 5 so as to face each other in a direction intersecting the advancing / retreating direction of the strip 4 via the advancing / retreating path of the strip. These sensors are attached to the housing 20 via brackets 15 and 15, and the photoelectric sensor and the servomotor 16 are engaged with each other so that a band member is provided between the light receiving portion 13 and the light emitting portion 14 of the photoelectric sensor. Is present, the optical axis is shielded and the rotation of the servo motor 16 can be stopped.

Further, a stay 20a extends from the upper part of the housing 20 in the right horizontal direction, and a rotary actuator 12 is attached to the outside of the tip end thereof with its axis horizontal. The output shaft of this rotary actuator 12 is a stator 20.
A connecting tool 10 which extends horizontally through the strip a, extends horizontally and has an L-shape and one piece is horizontal is connected to the end of the strip by the operation of the rotary actuator 12. The connecting tool 10 is designed to pivot about the axis of the rotary actuator 12 as a fulcrum, and the tip end of the forward / backward moving shaft 9a extending below the air cylinder 9 mounted on the upper surface of the horizontal piece of the connecting tool 10 is used. The ultrasonic processing unit 8 is vertically moved by the operation of the air cylinder 9 which is connected to the ultrasonic processing unit 8 with the tip end of the ultrasonic horn facing downward through a U-shaped connecting tool 11 whose lower side is opened. It is supposed to do.

The operation of the above structure will be described with reference to FIGS. In FIG. 1, according to a program input in advance, the tip of the arm of the robot 1 extends toward a work 50 made of a thermoplastic resin, and a strip material drawing device 2
The free front end of the strip 4 held at is brought close to the attachment position of this work 50. When the tip of the arm of the robot 1 reaches a predetermined position, the servo motor 16 is activated to drive the drive roller 2.
When 1 is rotated and the strip 4 is fed out in cooperation with the pressing plate 23, the tip of the strip 4 shields the optical axes of the photoelectric sensors 13 and 14. Then, the servo motor 1 is sent through a controller (not shown).
The rotation of 6 is stopped, and the tip of the strip 4 is sent to the position just below the ultrasonic horn and stopped.

Subsequently, the air cylinder 9 is actuated to extend the advancing / retreating shaft 9a and lower the ultrasonic machining unit 8 so that the tip end of the ultrasonic horn is brought into contact with the work piece 50 through the band member 4. Then, a switch built in the ultrasonic processing unit 8 is turned on and a high-frequency oscillator (not shown) is activated, and the high frequency from the high-frequency oscillator is transmitted to the ultrasonic processing unit 8 via a cable (not shown), which constitutes the ultrasonic processing unit 8. The ultrasonic horn connected to the lower part of the booster is ultrasonically vibrated by being converted into ultrasonic vibration by the converter and amplified by the booster connected to the lower part of the converter. The band and work are fused together. This fusion is completed in a short time when the high-frequency oscillator automatically stops high-frequency oscillation.

When the fusion is completed, the air cylinder 9 is actuated and the advancing / retreating shaft 9a is contracted to raise the ultrasonic machining unit 8. Then, the air cylinder 25 is actuated and the advancing / retreating shaft 24 is contracted to raise the pressing plate 23. Let Then, after the work 50 is appropriately rotated, the arm of the robot 1 is moved to the band drawing device 2
Is moved to another position, and the band and work are fused with the ultrasonic horn as described above. In this way, when the fusion of the necessary portions is completed at appropriate intervals, the air cylinder 25 is operated to extend the advancing / retreating shaft 24 to lower the pressing plate 23, and subsequently, the air cylinder 7 is actuated to extend the advancing / retreating shaft 7a to extend the cutter. -6
When the blade is lowered and the cutting edge comes into contact with the pressing plate 5, the strip 4 is cut. Then, the arm of the robot moves the strip material drawing device 2 to another pasting position and the tip of the strip material is sent out just below the ultrasonic horn as described above, and the next strip preparation is completed.

Next, when the band material exchange signal is issued based on the program inputted in advance, the air cylinder 39 is operated, the advancing / retreating shaft 38 is extended and the pressing plate 37 is lowered, and then the servo motor 36. And the arm of the robot 1 moves the strip material drawing device 2 toward the right side opening of the box 32, that is, the strip material feeding port, and the strip material drawing port of the strip material drawing device 2 becomes the strip material feeding port. When reaching a preset position where they are closely opposed to each other, the air cylinder 25 is operated, the advancing / retreating shaft 24 is contracted, the pressing plate 23 is lifted, and the sandwiched state of the strip 4 is released. On the other hand, the servo motor 36 continues to rotate in the reverse direction, and the endless belt 35 and the pressing plate 37 cooperate with each other to pull back the strip material 4 and the strip material pulled back below the roller 41 hangs down. When the free front end of the material 4 moves out of the space between the light receiving portion 17 and the light emitting portion 18 of the photoelectric sensor and moves to the pressing plate 37 side, the optical axis is transmitted and the servo motor 3
The rotation of 6 is stopped and the pulling back of the strip 4 is stopped.

Then, the arm of the robot moves the strip material drawing device 2 toward the strip material feeding port of the strip material supply section which is loaded with other size strip material and has the same structure as described above, and draws the strip material. When the strip material inlet of the device 2 reaches a preset position which is close to and opposes the strip material delivery port, the servo motor 36 of the strip material supply unit is rotated to deliver the strip material. When the free front end of the material reaches between the light receiving portion 13 and the light emitting portion 14 of the photoelectric sensor through the gap between the pressing plate 23 and the driving roller 21 from the strip material inlet of the strip material drawing device 2, the optical axis is set. The light is shielded from light, the rotation of the servo motor 36 is stopped, the feeding of the strip material is stopped, and the air cylinder 25 is actuated to extend the advancing / retreating shaft 24 to lower the pressing plate 23 to lower the space between the driving roller 21 and the driving roller 21. After the strip is clamped in the The pressing plate 37 shrinks Shisajiku 38 is increased pinching state of the strip is released. Thus, the strip material is automatically exchanged for the strip material drawing device 2. Then, similarly to the above, the arm of the robot 1 extends toward the work 50 and pulls out the strip material from the reel 44, and the free end of the strip material held by the strip material drawing device 2 is attached to the work position. Then, the strip is attached to the required attachment position in the same manner as above.

In the above-mentioned embodiment, the ultrasonic horn is pressed to attach the band material to the work, but it is also applicable to a composite band material in which an adhesive or an adhesive is adhered to a flexible band material. It goes without saying that you can. In this case, instead of the ultrasonic processing unit, a pressing roll similar to that of the conventional technique may be used.

Although the rotating body and the pressing portion cooperate to feed the strip material, the present invention is not limited to this. In short, it is sufficient if the feed members are respectively brought into contact with the two opposing surfaces of the strip material and cooperate with each other to feed in the axial direction.

Further, the pressing member is moved up and down so as to be close to and separated from the rotating body to expand and contract the passage of the strip material. However, by further providing the pressing member which moves horizontally, the width of the strip material passage can be expanded and contracted. This has the effect of being able to deal with the exchange of strips of different widths.

Further, when the strip 4 is pulled back to the strip feeding means, the strip to be pulled back is hung down below the roller 41, but the present invention is not limited to this. That is, a rotating means may be newly provided to be connected to the reel 44, the reel 44 may be reversed, and the belt material may be wound around the reel 44 to pull back the belt material.

[0026]

As described above in detail, according to the band feeding device of the present invention, the band drawing device can be moved to an arbitrary band feeding means and extended from the band feeding means. It is possible to automatically grip the strip to be held, or to automatically pull out the strip gripped by the strip drawing device and return it to the strip feeding means. Further, since the second pressing portion of the strip material drawing device is automatically moved close to and away from the second rotating body so that the passage of the strip material can be expanded or contracted, one strip material drawing device can automatically produce strip materials having different cross sections. It has a practically excellent effect that it can be replaced.

[0027]

[Brief description of drawings]

FIG. 1 is a sectional view of an essential part showing an embodiment of the present invention.

2 is a sectional view taken along the line AA of FIG.

3 is a cross-sectional view taken along the line BB of FIG.

FIG. 4 is a view on arrow C of FIG.

5 is an enlarged view of the arrow D in FIG.

FIG. 6 is an enlarged view taken along arrow E in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 robot 2 strip material drawing device 3 strip material supply means 4 strip material 5 pressing plate 6 cutter 8 ultrasonic processing unit 10 coupling tool 11 "U" shaped coupling tool 12 rotary-
Actuator 13,14 Photoelectric sensor 16,36 server
Bomota 20 Housing 21,33 Drive roller 23,37 Pressing plate 32 Box body 34 Followed roller 35 Endless belt 41 Roller 44 reel 7,9,25,39 Air cylinder

Claims (1)

[Claims] 1. A strip material supply means for holding a strip material extending from a strip material base accommodating portion for accommodating a base portion of a strip material made of a flexible material such as slab urethane, and this strip material supply means. A means for detecting the strip material advanced and retracted by the strip material supply means and acting on the strip material advancing and retracting means of the strip material supply means, and a delivery port of the strip material supply means for delivering the strip material can be closely spaced. Together with a strip material drawing device that is movable to any position and holds the strip material that is extended from the strip material supply means and moves it back and forth in the axial direction, and a strip material that is moved back and forth by this belt material pulling device. A strip material feeding device comprising a means for detecting and acting on the strip material advancing / retreating means of the apparatus or for acting on the strip material feeding means, and a driving means for holding the strip material drawing device and movable to an arbitrary position.