JPH1076088A - Fitting method and device for belt anchor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly overlap the ends of a belt without causing any dislocation of the first and the second prescribed positions by passing the belt via the through-hole of a belt anchor, with the first prescribed position of the belt held via a belt holding part, and overlapping the ends of the belt at the corresponding second prescribed position. SOLUTION: A belt front end part 92 held with a belt retaining device 36 is moved to such a position as linearly symmetrical with an axial center line Cp passing the through-hole 81 of an anchor 80, due to the rotation of an arm 14. As a result, the center line Cb of the belt front end part 92 is superposed on the center line Cb of a belt 90. Thus, the belt front end part 92 as folded is accurately overlapped on the belt 90 on a belt conveying route 30 without any dislocation right and left. Also, the front end 91 of the belt 90 held with the belt retaining device 36 is regarded as already and accurately identified positionally. No positional judgement is, therefore, required at the time of folding the belt front end part 92.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for attaching a belt engaging device to a belt engaging device, wherein the belt is inserted into the belt engaging device so that the operation of joining the belt can be performed automatically and accurately.

[0002]

2. Description of the Related Art For example, when manufacturing a seatbelt for an automobile, an operation for attaching an engagement member (anchor) for fixing an end of the belt to a vehicle body is performed. The work of attaching the anchor has conventionally been performed manually, and many attempts have been made to automate this work. In order to automate the work of attaching the anchor, the following work steps must be automated.

[0003] First, in order to insert the belt into a through hole smaller than the width of the belt, a belt end portion is overlapped and folded in three, and secondly, the folded belt end portion is inserted through an anchor. The third is a work step of inserting the belt into the hole, and the third is a work step of expanding, folding, and joining the end of the belt inserted through the anchor.

[0004]

Although it is possible to automate the first to third individual work steps, in order to perform each work step continuously, it is necessary to adjust the belt end in each work step. "Position determination", that is, accurate determination of the position of the belt end is important. However, since this "position determination" point cannot be solved, all the conventional attempts of automation have not been completed.

That is, since the conventionally proposed apparatus is premised on automating the conventional manual operation, the belt is fed in the longitudinal direction by a roller or the like toward the through hole of the anchor, whereby the belt end is moved. The part is pushed out from the through hole and inserted.

For this reason, after the belt end is extruded from the through hole of the anchor, the belt end is a free end, and is extruded in various directions depending on the insertion condition, so that the position is not determined. However, the direction and position of the belt end are not always constant, and it is very difficult to determine where the belt end is located each time. Then, there has been a problem how to be able to overlap the belt end portions so as not to cause displacement on the belt.

[0007]

In order to solve the above-mentioned problems, the present invention provides a method for inserting a belt into a through-hole of a belt engaging member while a first predetermined position of the belt is held by a belt holding portion. Further, while the first predetermined position of the belt is held by the belt holding unit, the corresponding second
In a predetermined position.

[0008] As described above, the first predetermined position of the belt is held by the belt holding portion not before, but before the insertion of the through hole of the belt engaging member, and the "position determination" of the belt can be accurately performed. Done. Then, the belt is inserted into the through hole of the belt engaging member while the belt is held by the belt holding portion. As a result, the "position determination" of the belt
The belt is inserted into the through hole while the operation is correctly performed.

Further, while the first predetermined position of the belt is held by the belt holding portion, the corresponding second
At a predetermined position. As a result, the first predetermined position and the second predetermined position can be accurately overlapped without causing “shift”.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION

1. 1 is a front view schematically showing an anchor attaching device for attaching an anchor to an end of a seat belt, FIG. 2 is a side view, and FIG. 3 is a plan view. On the base 1, two long rectangular parallelepiped pedestals 4, 5 are fixed. Assuming that the horizontal direction in FIG. 1 is the horizontal direction, the two pedestals 4 and 5 are linearly arranged in a horizontal horizontal direction, and both are parallel.

On the rails 4, 5, a rectangular flat moving table 7 is mounted via four roller-type runners 6, 6,. A long air cylinder 8 is fixed horizontally between the pedestals 4 and 5, and the tip of a piston 8a of the air cylinder 8 is
The movable base 7 is fixed to a fixed plate 7a vertically provided on the lower surface of the left end in FIG. Therefore, the piston 8 of the air cylinder 8
As a is shortened, the movable table 7 moves on the rails 4 and 5 to the right in FIG.

At the left end in FIG. 1 of the movable table 7, a rectangular column-shaped table 9 is erected. On this table 9, air cylinders 10 and 11 which expand and contract in the horizontal front-rear direction are provided in two vertical stages. Are placed on top of each other. A motor 12 is fixed on the upper air cylinder 11, and an output shaft 12a of the motor 12 is fixed.
, An encoder 13 and an arm 14 are fixed. The motor 12 is a pulse motor with a brake. The height of the axis Cp of the output shaft 12a is determined by the belt conveyance path 3 described later.
It is almost equal to zero height.

The encoder 13 comprises a slit board 13a provided with slits at predetermined angles and a transmission optical sensor 15, and a pulse signal is generated each time the slit passes through the optical sensor 15. This encoder 13 is connected to the motor 12
This is for detecting the rotation angle of.

At the rear of the right end in FIG.
An air cylinder 15 is provided upright. A connection member 16 (shown in FIG. 2) is fixed to the piston 15a of the first air cylinder 15, and the connection member 16 is bent from the upper end of the piston 15a. First air cylinder 15
Hanging down to the center of the front of, and further bent.

A second air cylinder 17 is provided upright on the bent portion of the lower end of the connecting member 16, and an air cylinder box 18 is mounted and fixed on the piston 7a of the second air cylinder 17. ing. On the air cylinder box 18, a folding device 19 having a left folding claw 20 and a right folding claw 21 is provided. The first
The air cylinder 15 and the second air cylinder 17 may be replaced by one air cylinder.

A sewing machine stand 24 is erected on the right end of the base 1, and a sewing machine arm 25 and a sewing machine 26 are fixed on the sewing machine stand 24. A flat cloth base 77 is mounted on the sewing machine arm 25 at a position parallel to and slightly lower than the belt transfer table 30.
Further, on the sewing machine arm 25, a cloth press elevating device 27 for moving the cloth press 28 up and down is provided.

The sewing machine 26 is an industrial sewing machine, and can perform various sewing methods such as linear sewing, curved sewing, zigzag sewing, spiral sewing, and embroidery sewing. The sewing needle 29 is detachable, and the upper thread is supplied from a bobbin (not shown) to
9 The lower thread is supplied from a bobbin (not shown) provided in the sewing machine arm 25.

As shown in FIG. 2, an air cylinder 22 is erected at the front of the right end of the movable base 7, and an anchor holder 23 is mounted and fixed on a piston 22a of the air cylinder 22. Have been. The air cylinder 22 and the anchor holder 23 are not shown in FIG. In FIG. 2, the table 9, the air cylinder 10,
11, motor 12, encoder 13, arm 14, sewing machine stand 24, sewing machine arm 25, sewing machine 26,
The illustration is omitted.

Above the folding device 19, a belt transport path 30 is horizontally installed. This belt transport path 30
When the left-right direction in FIG. 2 is the front-rear direction, it is horizontally and linearly installed in the front-rear direction. This belt transport path 3
Reference numeral 0 is fixed to a support frame 9a extending upward from the rear surface of the base 9 in an L-shape.

The left and right sides of the belt transport path 30 are bent upward at right angles to form guides 30a and 30b. The distance between the guides 30a and 30b is substantially equal to the width of the belt. Above the belt transport path 30, a motor 31
Is arranged. The motor 31 is mounted on the air cylinder 3
It is fixed to the second piston 32a. Air cylinder 3
Reference numeral 2 is fixed to a support frame (not shown), and is disposed in parallel with the belt transport path 30.

A rotary arm 33 is fixed to an output shaft 31a of the motor 31. At the front end of the rotary arm, a label clamper 34 is provided. A small air cylinder 35 for opening and closing the label clamper 34 is mounted on the rotating arm 33.

A belt holding device 36 fixed to the arm 14 shown in FIG. 1 is disposed in front of the belt transport path 30. The belt holding device 36 includes a fixed plate 38 fixed on a small air cylinder 37 and a rotating plate 40.
And a movable plate 39 fixed to the upper end of the movable plate. The lower end of the rotary plate 40 is rotatably connected to a piston 37a of the small air cylinder 37 by a connecting pin 42,
It rotates in the front-rear direction with the support pin 41 as a fulcrum.

As shown in FIG. 3, the arm 14 supporting the belt holding device 36 extends laterally in an L-shape at a position lower than the output shaft 12a of the motor 12, and has a belt holding device at its tip. 36 is fixed. Thereby, the height of the lower surface of the movable plate 39 of the belt gripping device 36 is
The height is set to be substantially equal to the height of the upper surface of the belt transport path 30.

The fixing plate 38 of the belt holding device 36 is formed with a rectangular penetrating window 43.
The shape of the window 43 may be round, elliptical, polygonal, or the like, or may be a cutout recess instead of the penetrated window 43.

In the plan view of FIG.
6, the center line of the fixing plate 38, the center line of the anchor holder 23, the left and right folding claws 20, 2 of the folding device 19.
1, the center line of the label clamper 34 is
All overlap the center line C of the belt transport path 30.

A belt table 65 extends on the rear side of the sewing machine arm 25. Behind the belt table 65, a belt clamper 66 is arranged. The belt clamper 66 is attached to a clamper air cylinder 67, and the clamper air cylinder 67 is fixed to a piston 68a of the clamper moving air cylinder 68. The piston 68a moves in the horizontal front-rear direction. The air cylinder 68 for moving the clamper is a frame (not shown).
It is fixed to.

The belt clamper 66 is provided with the belt holding device 3.
As shown in FIG. 6, a movable plate and a fixed plate are provided, and a piston (not shown) of an air cylinder 67 for a damper is connected to the movable plate. Accordingly, the belt clamper 66 is opened and closed by the piston of the clamper air cylinder 67 protruding and retracting.

The air cylinders used in this embodiment are all operated by compressed air from an air compressor (not shown), and the operation of each air cylinder is controlled by a pneumatic circuit.

The length of the piston of each air cylinder is controlled in accordance with the amount of movement of the part operated by each air cylinder. For example, the movement of the piston is prevented at a predetermined position by a stopper (not shown), so that the amount of protrusion and retraction of the piston is regulated. Alternatively, the length of the piston is equal to the amount of movement of the operating portion.

2. Control Circuit FIG. 4 shows a control circuit provided in the anchor mounting device. The sensor group 51 is a plurality of sensors for detecting the operation or position of each part of the anchor attachment device. Various sensors such as an optical sensor, a pressure sensor, a temperature sensor, a speed sensor, and a distance sensor are attached as needed. The output generated from each sensor of the sensor group 51 is converted into digital data by the sensor circuit 50 and sent to the CPU 45 via the input interface 49.

The switch group 53 is various switches for detecting the position of each part of the anchor mounting device, and various switches such as limit switches, proximity switches, and optical switches are mounted as necessary. The on / off of each switch is scanned at regular intervals by the switch scan circuit 52, and the scan data is sent to the CPU 45 via the input interface 49.

The plurality of sensors of the sensor group 51 or the limit switches of the switch group 53 detect whether or not the part moved by each air cylinder has been moved to a predetermined position. If any part has not been moved to the predetermined position, an alarm is issued and the apparatus is stopped. The output pulse of the encoder 13 is counted by the counter 54. This count data is sent to the CPU 45 via the input interface 49.

The ROM 46 stores a sequence program and a system program according to a flowchart shown in FIG. 5, and various control data for machine tool control such as basic sequence data and numerical data. . The RAM 47 is a memory with backup, and stores sequence data, operation content data, various numerical data, and the like input from the operation panel 48. Further, data input from the sensor circuit 50, the switch scan circuit 52, and the counter 54 are stored.

For example, by operating the operation panel 48, the RO
By reading and connecting the basic sequence data from the M46 and adding or correcting the work input from the operation panel 48, desired operation sequence data (sequence data) is created and stored in the RAM 47. Thereafter, the stored sequence data is read out, and the operation is automatically performed according to the sequence data.

The sequence data, operation contents, various numerical data, etc. of the anchor mounting operation stored in the RAM 47 may be stored in the ROM 46 so that only the operation stored in the ROM 46 is performed. These data may be stored in a rewritable ROM.

The pneumatic circuit 56 supplies compressed air from an air compressor (not shown) to the air cylinder group 57 and discharges the compressed air from the air cylinder group 57 in accordance with control data given from the CPU 45 via the output interface 55, thereby controlling Control the air cylinder.

The motors 12, 31 and the belt feed motor 61 are driven by motor drivers 58, 59, 60. The motor drivers 58 to 60 control the rotation of the motors 12, 31, 61 according to control data given from the CPU 45 via the output interface 55.

The sewing machine driver 64 controls the operation of the sewing machine 26 according to the control data input via the output interface 62. The cloth presser driver 64 raises and lowers the cloth presser in accordance with control data input via the output interface 62.

3. FIG. 5 is a flowchart of an anchor attachment process performed by the control circuit. FIG. 5 is an operation flowchart in which the main operation contents are arranged in the order of operation in order to make the operation of the anchor mounting device easy to understand.

The anchor mounting process is started when the power is turned on. First, an initialization process (step 1)
00), various registers and buffers in the RAM 47 are cleared, data is copied from the ROM 46 to the RAM 47, or initial values are set. Further, each air cylinder is set to the initial position.

In the initial state, as shown in FIG. 1, the piston 8a of the air cylinder 8 is protruded and the moving table 7 is
Is positioned to the left end of the. In addition, the air cylinders 15, 1
7, the pistons 15a and 17a are immersed, and the folding device 19 is positioned in a lowered state. The left and right folding claws 20, 21 are set in an open state.

The arm 14 is positioned so that the belt holding device 36 is disposed in front of the belt transport path 30. Further, the label clamper 34 is in a standby state at the raised position, and the cloth holder 28 is positioned in the lifted state.

Further, as shown in FIG. 2, the piston 22a of the air cylinder 22 is projected, and the anchor holder 23
Is arranged in the ascending position. The fixed plate 38 and the movable plate 39 of the belt holding device 36 are set in a closed state.

The label 76 is held by the label clamper 34 by a label clamper process described later.
Then, with the label 76 held between the label clampers 34, the rotating arm 33 is held at the raised position.
Further, the piston 32a of the air cylinder 32 is set in a protruding state. The label clamper process is performed once in the initialization process (step 100), and thereafter, is performed by an initial position return process described later.

Also, as shown in FIG.
The pistons 10a and 11a of the pistons 0 and 11 are set so as to protrude in the horizontal direction.
Is positioned at the front end position. The piston 68a of the air cylinder 68 for moving the clamper is set in a protruding state, whereby the belt clamper 66 is arranged at a position adjacent to the rear end of the belt table 65. Further, the belt clamper 66 is set in an open state.

When the initialization process (step 100) is completed, it is determined whether or not the anchor 80 has been set on the anchor holder 23 (step 10 in FIG. 5).
2). As shown in FIG. 6, the anchor 80 is set on the anchor holder 23 manually by a worker. The anchor 80 has a distal end portion of the anchor holder 2 such that a through hole 81 through which the belt is inserted appears on the anchor holder 23.
3 is set by being plugged into 3.

When the piston 22a of the air cylinder 22 is projected upward, the upper end position of the anchor holder 23 is
The center line C of the belt conveying path 30 is positioned so as to pass through the center of the through hole 81 of the anchor 80 set on the anchor holder 23.

An optical sensor (not shown) for transmitting and receiving a light beam passing slightly above the upper end of the anchor holder 23 is arranged on a frame (not shown). When the anchor 80 is set on the anchor holder 23, the light beam is blocked by the anchor 80 and the output of the optical sensor changes. The output change of the optical sensor is converted into anchor detection data by the sensor circuit 50 and sent to the CPU 45.

On a frame (not shown), two
There are two start switches. To ensure safety, the anchor mounting device is programmed to operate when these two start switches are operated by the left and right hands of the worker.

Therefore, when it is detected that the output of the optical sensor has changed and the anchor 80 has been set on the anchor holder 23 and both of the two start switches are turned on, the result of the determination in step 102 is obtained. Is YE
It becomes S.

Next, an operation of moving the belt holding device 36 is performed (Step 104 in FIG. 5). In step 104, the next sequence data is read by the CPU 45, and control data is issued to the pneumatic circuit 56 according to the sequence data. Thereby, the piston 10a of the air cylinder 10 is immersed. The piston 10a is parallel to the belt transport path 30.

When the piston 10a is immersed,
The belt gripping device 36 is moved straight backward by a distance equal to the immersion length La of the piston 10a. As a result, as shown in FIG. 7, the fixed plate 38 and the movable plate 39 are inserted through the through holes 81 of the anchor 80.

Next, the belt holding device 36 is opened (Step 106 in FIG. 5). In this step 106, the CP
Control data is issued from U45 to the pneumatic circuit 56,
The piston 37a of the small air cylinder 37 is immersed.
As a result, the rotating plate 40 rotates around the support pins 41, and the movable plate 39 fixed to the upper end of the rotating plate 40 rotates together with the rotating plate 40. Movable plate 39
Rotates relative to the fixed plate 38, and the fixed plate 38 and the movable plate 39 are separated from each other.

Next, the belt 90 is transported on the belt transport path 30 and positioned (step 10 in FIG. 5).
8). In step 108, control data is issued from the CPU 45 to the motor driver 60, and the belt feed motor 61 is driven. The belt feed motor 61 rotates one or a pair of belt feed rollers (not shown). The belt feed roller feeds only one uppermost (or lowermost) belt of a plurality of belts housed in a belt stocker (not shown) onto the belt transport path 30.

The belt 90 is advanced on the belt transport path 30 by the belt feed roller, guided by guides 30 a and 30 b erected on both sides of the belt transport path 30, and is positioned on the center line C of the belt transport path 30. Go straight on.
The center line Cb of the belt 80 is the center line C of the belt conveyance path 30.
Is parallel to

Then, as shown in FIG. 8, the front end 91 of the belt 90 enters between the fixed plate 38 and the movable plate 39 of the belt gripping device 36 and contacts the anchor 80 or the position immediately before the contact. When you reach
The advance of the belt 90 is stopped.

An encoder (not shown) is attached to the belt feed motor 61. The number of pulses generated from the encoder is counted by a counter (not shown), and the count data is sent to the CPU 45. . Next, when the rotation amount of the belt feed motor 61 reaches a predetermined amount based on the input count data,
A command signal for stopping the rotation of the belt feed motor 61 is sent to the motor driver 60 by the CPU 45.
Thereby, the belt feed motor 61 is stopped. The predetermined amount is set at the front end 9 of the belt 90 by the conveyance of the belt 90.
It depends on the distance until 1 reaches a position where it contacts the anchor 80 or a position immediately before the contact.

Next, the belt holding device 36 is closed (Step 110 in FIG. 5). In this step 110,
Control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 37a of the small air cylinder 37 of the belt holding device 36 is protruded. Accordingly, the rotating plate 40 rotates around the support pin 41 as a fulcrum, and the movable plate 39 rotates in a direction approaching the fixed plate 38. As a result, the front end portion 92 of the belt 90 at the first predetermined position is gripped between the fixed plate 38 and the movable plate 39. At this time, the position where the belt 90 is gripped by the fixed plate 38 and the movable plate 39 is the center of the width of the belt 90.

As the belt 90 is conveyed between the guides 30a and 30b, the center line Cb of the belt 90 is positioned on the center line C of the belt conveyance path 30. In addition, the fixed plate 38 and the movable plate 39
Since it moves on the center line C through the through hole 81 of the anchor 80, the front end 91 of the belt 90 and the belt gripping device 36 are positioned relatively. This allows
Naturally, the center of the front end of the belt 90 is gripped by the fixed plate 38 and the movable plate 39.

As described above, before the front end 91 of the belt 90 is inserted into the through-hole 81, the front end 91 of the belt 90 is gripped by the belt gripping device 36, so that the position of the front end 91 of the belt 90 can be determined. Can be done accurately. Further, the front end 91 of the belt 90 becomes a fixed end by being held by the fixed plate 38 and the movable plate 39, and the center line Cb is positioned on the center line C of the belt transport path 30 by the belt holding device 36. Held in state.

Next, the folding device 19 is raised (FIG. 5).
Step 112). In this step 112, the CPU
45, control data is issued to the pneumatic circuit 56,
The pistons 15a, 17a of the air cylinder 15 and the second air cylinder 17 are projected. Thereby, the folding device 19 is raised. When the folding device 19 is raised, the left and right folding claws 20 and 21 are open, and the interval between them is slightly wider than the width of the fixed plate 38.

As shown in FIG. 9, the folding device 19
The right and left folding claws 20 and 21 are raised until they reach a position higher than the fixing plate 38. Thereby, the belt 9
The right and left sides of the front end 92 of the zero are bent upward by the folding claws 20 and 21.

As shown in FIG. 10, two slits 74 and 75 are formed on the upper surface of the air cylinder box 18. And, in the center of the lower side of the movable plates 72, 73 fixed to the side surfaces of the left and right folding claws 20, 21,
Air cylinder box 18 through slits 74 and 75
Leg portions 72a and 73a reaching the bottom surface 18a are provided.

In the air cylinder box 18, two small air cylinders 70 and 71 are arranged in opposite directions. A piston 70a of one small air cylinder 70 is connected to a leg 72a of a movable plate 72 to which the left folding claw 20 is attached. The piston 71a of the other small air cylinder 71 has a right folding claw 2
1 is connected to the leg 73a of the movable plate 73 to which the plate 1 is attached.

In the position where the folding device 19 is raised, the upper claws 20a, 21a of the left and right folding claws 20, 21 are slightly above the fixed plate 38, and the lower claws 20b, 21b are slightly below the movable plate 39. The heights of the concave portions 20c and 21c are slightly larger than the total thickness of the fixed plate 38, the belt 90, and the movable plate 39.

Next, the left folding claw 20 is closed (step 114 in FIG. 5). In this step 114, the CP
When control data is issued from the U45 to the pneumatic circuit 56, the piston 70a of the small air cylinder 70 is
Is immersed. Thereby, the movable plate 72 is moved rightward, and the left folding claw 20 attached to the movable plate 72 is moved rightward.

As shown in FIG. 11, when the left folding claw 20 moves to the right, the left side 9 of the front end of the belt 90 is moved.
2L is pushed down by the upper claw 20a and is bent in the direction of the center line Cb of the belt 90. The left folding claw 20 moves to a position that does not exceed the center line Cb of the belt 90.

Next, the right folding claw 21 is closed (step 116 in FIG. 5). In this step 116, the CP
When control data is issued from the U45 to the pneumatic circuit 56, the piston 71a of the small air cylinder 71 is
Is immersed. Thereby, the movable plate 73 is moved leftward, and the right folding claw 21 attached to the movable plate 73 is moved leftward.

As shown in FIG. 12, when the right folding claw 21 moves to the left, the right side 9 of the front end of the belt 90 is moved.
The 2R is pushed down by the upper claw 21a and is bent in the center line Cb direction (width direction) of the belt 90. Right folding nail 2
1 moves to a position that does not exceed the center line Cb of the belt 90.

As described above, the left and right folding claws 20, 21 are provided.
Are closed with a time difference, so that the folded left and right front end portions 92L, 92R do not collide,
The belt 90 is folded in three so that the right edge 92R of the front end portion always overlaps the left edge of the front end portion.

For example, the left and right sides 92L, 9 of the belt front end
In a device configured to pinch and bend the 2R with a pinching device, the structure is complicated because the pinching device must be rotated. When the belt 90 is folded, the left and right knobs may collide.

On the other hand, the folding device 19 of this embodiment
According to this, the left and right folding claws 20 and 21 are fixed to the left and right sides 92 of the belt front end while the center of the belt front end 92 is gripped by the fixed plate 38 and the movable plate 39.
L, 92R are lifted while being lifted, and the left and right folding claws 20, 21 are closed with a time lag,
The belt 90 can be smoothly folded in three.

While the belt 90 is being folded, the center of the front end of the belt 90 is gripped by the fixed plate 38 and the movable plate 39.
The position of the front end 91 of 0 does not move from the position where the belt 90 was conveyed, and the positioned state is maintained.

Next, the label 76 is attached on the belt 90 (step 118 in FIG. 5). In this step 118, control data is issued from the CPU 45 to the motor driver 59, and the motor 31 is driven. An encoder (not shown) is attached to the output shaft 31a of the motor 31, and the number of pulses generated from the encoder is counted by a counter (not shown). This count data is sent to the CPU 45.

Next, when the rotation amount of the motor 31 reaches a predetermined amount based on the input count data, a command signal for stopping the rotation of the motor 31 is sent to the motor driver 59 by the CPU 45, and the motor 31 is stopped. Is done. The predetermined amount corresponds to the amount of rotation of the rotating arm 33 downward by 90 degrees.

The rotation of the motor 31 causes the rotation arm 33 to rotate.
Is rotated 90 degrees downward, and the label clamper 34 is lowered onto the belt 90 as shown in FIG. As a result, the label clamper 34 becomes parallel to the belt 90. The label clamper 34 remains closed, and the folded label 76 is held between the movable clamper 34a and the fixed clamper 34b.

The movable clamper 34a and the fixed clamper 34b
At the same position in the center of the front end of the
c, 34c are formed. This notch 34c, 3
The width of 4c is slightly larger than the width of the fixing plate 38 of the belt gripping device 36, and the length is shorter than the length of the fixing plate 38.

Next, the belt 90 is inserted into the through hole 81 of the anchor 80 (Step 120 in FIG. 5). In this step 120, control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 10a of the air cylinder 10
Are projected horizontally. Thereby, the belt gripping device 36
Is moved straight forward by a distance equal to the protruding length La of the piston 10a.

As shown in FIG. 14, while the center of the belt front end 92 is held by the fixed plate 38 and the movable plate 39, the belt 90 is
1 is inserted. At this time, the width of the belt front end 92 folded in three is almost equal to the width of the through hole 81, so that the belt front end 92 can be easily inserted into the through hole 81.

The belt front end 92 is pulled forward by the belt gripping device 36 so that the belt 9
0 moves forward. The rotating arm 3 of the label clamper 34
The length of the fixed clamper 34b is set such that the fixed clamper 34b is lightly pressed against the belt 90, so that the belt 90 is not hindered from moving forward by the fixed clamper 34b and moves forward in a tensioned state. .

As described above, when the belt 90 is inserted into the through hole 81 by the belt gripping device 36, the position of the front end 91 of the belt 90 has already been accurately determined by the belt gripping device 36 as described above. The belt 90 is inserted into the through-hole 81 while the position is determined. Therefore, it is not necessary to determine the position of the front end 91 of the belt 90 after the belt 90 is inserted into the through hole 81.

Further, since the left and right folding claws 20 and 21 are kept closed, the belt conveying path 3
The upper part of 0 is positioned just before the through hole 81 of the anchor 80 by passing between the left and right folding claws 20 and 21.
It is folded in half. As a result, the belt 90 is
1 can be passed continuously. The left and right sides of the belt front end portion 92 that has passed through the through hole 81 are restored from a three-folded state to a flat state by elastic restoring force and own weight.

According to the conventional manual operation, the worker is
The front end portion of the anchor 80 is manually folded into three and inserted into the through hole 81 of the anchor 80. However, when the belt 90 is pulled after the front end thereof is inserted into the through hole 81, both sides of the belt 90 are bent by the inner circumference of the through hole 81 when the belt 90 passes through the through hole 81 of the thin plate anchor 80. , Only three through holes 81
The folded state collapses. For this reason, the through holes 8
It was necessary to correct the belt 90 of the first part into the correct three-fold state.

On the other hand, in the present embodiment, the correct three-fold state is continuously generated by the belt 90 passing between the thick left and right folding claws 20 and 21 in the traveling direction of the belt 90. Can be.

By the way, when the fixed plate 38 and the movable plate 39 grip the belt end 92 and the belt front end 92 is folded in three, the total thickness thereof is larger than the length of the through hole 81 in the vertical direction. growing. If this goes on,
Fixed plate 38, movable plate 39, and belt 90
However, it is difficult to pass through the through holes 81 at the same time. Therefore, in this embodiment, the window 43 is formed in the fixing plate 38.

As shown in FIG. 15, when the belt 90 gripped by the fixed plate 38 and the movable plate 39 and folded in three passes through the through hole 81 of the anchor 80, the belt 90 is folded and overlapped. Overlap part 9
3 bends downward and enters the window 43. Thereby, the overlapping portion 93 can easily pass through the through-hole 81.

The fixed plate 38 and the movable plate 3
After the 9 escapes from the through hole 81, only the belt 90 folded in three passes through the through hole 81, so that the overlapping portion 93 can easily pass through the through hole 81.

As described above, the belt holding device 36 is
When the belt 90 is folded in the width direction, a part of the belt 90 enters, and the outer diameter, thickness, and size of the folded portion of the belt 90 decrease, and the through hole 81
Is easy to insert.

Next, the left and right folding claws 20, 21 are simultaneously opened (step 122 in FIG. 5). This step 1
At 22, control data is issued from the CPU 45 to the pneumatic circuit 56, and the pistons 70a, 71a of the air cylinders 70, 71 in the air cylinder box 18 are protruded.
The left and right folding claws 20, 21 are opened right and left. Further, the piston 15a of the first air cylinder 15 and the piston 17a of the second air cylinder 17 are immersed, whereby the folding device 19 is lowered to the initial position.

Next, control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 22 of the air cylinder 22 is
a is immersed. Thereby, the anchor holder 23 is lowered to the initial position (Step 124 in FIG. 5). The anchor 23 is no longer supported by the anchor holder 23, and is in a state of being suspended and held by the belt 90. At this time, the front end 92 of the belt 90 is gripped by the belt gripping device 36 and the fixed clamper 34
b is lightly pressed against the belt 90, so that the anchor 8
With a weight of about 0, the belt 90 does not bend or fall.

Next, the belt gripping device 36 is rotated, and the belt front end 92 is folded back (step 12 in FIG. 5).
6). In step 126, control data is issued from the CPU 45 to the motor driver 58, and the motor 12 is driven. The number of pulses generated from the encoder 13 is counted by the counter 54, and the count data is sent to the CPU 45. Next, the output shaft 12a of the motor 12 is set to 1 based on the input count data.
When rotated by 80 degrees, a command signal for stopping the rotation of the motor 12 is sent by the CPU 45 to the motor driver 58.
And the motor 12 is stopped.

As shown in FIG. 16, when the output shaft 12a of the motor 12 rotates by 180 degrees, the arm 14 fixed to the output shaft 12a rotates backward by 180 degrees.
Accordingly, the belt gripping device 36 attached to the arm 14 is moved 180 degrees from the position shown by the imaginary line to the label clamper 34.

As described above, the arm 14 is connected to the motor 12
And extends laterally at a different height from the output shaft 12a. When the belt gripping device 36 is at the initial position, the lower surface of the movable plate 39 is at substantially the same height as the upper surface of the belt transport path 30. The height of the axis Cp of the output shaft 12a is equal to the height between the movable plate 39, the fixed plate 38, and the movable plate 39. Since the height of each part is determined in this way, when the output shaft 12a rotates 180 degrees, the fixed plate 38
And comes almost at the same height as the upper surface of the belt transport path 30.

The belt gripping device 36 has a belt front end 92.
The belt 90 is turned while holding the center portion of the anchor 80, so that the belt 90 is folded with the portion of the through hole 81 of the anchor 80 as a fold. The folded-back belt front end portion 92 is superimposed on a second predetermined position on the belt 90 on the belt conveyance path 30. The second predetermined position is a position where the belt front end 92 is sewn onto the belt 90 by the sewing machine 26. Also, the step 38 of the fixing plate 38 of the belt gripping device 36
a fits into the notch 34c of the label clamper 34.

The axis Cp of the output shaft 12a of the motor 12
Is set at the same height as the center line Cb of the belt 90. Further, the axis Cp is positioned so as to cross the through hole 81 when the anchor 80 is supported by the anchor holder 23. Further, the axis Cp and the center line Cb of the belt 90 are orthogonal to each other. Therefore, the center of the width of the belt front end 92, which is folded by the rotation of the arm 14, coincides with the center line Cb of the belt 90.

As described above, the rotation of the arm 14 causes the belt front end 92 gripped by the belt gripping device 36 to move to a position symmetrical with respect to the axis Cp passing through the through hole 81 of the anchor 80. Is done. As a result, the center line Cb of the belt front end portion 92 overlaps the center line Cb of the belt 90. Therefore, the folded belt front end 92
Are accurately superimposed on the belt 90 on the belt transport path 30 without causing a “shift” on the left and right.

Further, since the front end 91 of the belt 90 is still held by the belt holding device 36, the position of the front end 91 of the belt 90 has already been accurately determined. Therefore, when the belt front end 92 is bent, it is not necessary to determine the position of the front end 91 of the belt 90 again.

As shown in FIG. 17, the belt holding device 36
The central portion of the label 76 is pressed against the upper surface of the belt 90 by the fixing plate 38 by fitting the fixing plate 38 into the notch 34a. The folded belt front end portion 92 is put on the movable clamper 34a.

Next, the label clamper 34 is opened (step 128 in FIG. 5). In this step 128, the CP
Control data is sent from the U45 to the pneumatic circuit 56, and the piston 3 of the small air cylinder 35 of the label clamper 34 is
5a is immersed. Thereby, the movable clamper 34a
Is separated from the fixed clamper 34b, and the sandwiched label 76 is released.

Next, the label clamper 34 is retracted and further raised to the initial position (step 130 in FIG. 5).
In this step 130, the CPU 45
The control data is issued to 6, and the piston 32a of the air cylinder 32 is immersed. Next, control data is issued from the CPU 45 to the motor driver 59, and the motor 31 is rotated by a predetermined amount.

As described above, the output shaft 31 of the motor 31
a is provided with an encoder (not shown),
The number of pulses generated from the encoder is counted by a counter (not shown), and the count data is sent to the CPU 45.

Next, when the rotation amount of the motor 31 reaches a predetermined amount based on the input count data, a command signal for stopping the rotation of the motor 31 is sent to the motor driver 59 by the CPU 45, and the motor 31 is stopped. Is done. The predetermined amount corresponds to the amount of rotation of the rotating arm 33 upward by 90 degrees.

As shown in FIG. 18, the air cylinder 3
When the two pistons 32a are horizontally immersed,
The motor 31, the rotating arm 33, and the label clamper 34
Translate backward. At this time, as described above, since the label clamper 34 is opened and the central portion of the label 76 is pressed against the belt 90 by the fixing plate 38, the label 76 is moved from the state where the label 76 is positioned on the belt 90. Will not move. Further, the rotation of the motor 31 rotates the rotary arm 33 upward by 90 degrees, and holds this posture until a label clamper process described later is started.

As described above, the label 76, which is another object, is superimposed on the portion where the first predetermined position (belt end 92) of the belt 90 is joined to the second predetermined position. Then, as described later, the label 76 is joined to the belt 90 together with the label front end 92 by the sewing machine 26.

Further, as described above, the belt holding device 36
The label clamper 34 supports or holds a part of the entire label 76. That is, the belt gripping device 36 supports the center of the label 76, and the label clamper 34 holds the left and right ends of the label 76. Thereby, the belt gripping device 36 or the label clamper 3
If there is support or holding of either one of the labels 4, the label 7
The position of No. 6 does not shift.

Next, the movable platform 7 is moved rightward (FIG. 5).
Step 134). In this step 134, the CPU
Control data is issued from 45 to the pneumatic circuit 56, and the piston 8a of the air cylinder 8 is immersed. Thereby, the movable base 7 is moved rightward.

As the movable table 7 is moved, FIG.
As shown in (2), the belt transport path 30 is moved in parallel to the upper surface of the cloth table 77. On the left side of the cloth table 77, a tapered surface 77a inclined downward toward the edge is formed, and on the right side of the belt transport path 30, a tapered surface 30c inclined downward toward the edge is formed. ing. Then, the belt conveyance path 30 is smoothly guided onto the cloth table 77 by the tapered surface 77a of the cloth table.

The moving distance of the moving table 7 is determined so that the center of the width of the belt 90 is located immediately below the sewing needle 29 when the moving table 7 moves. The cloth base 77 is formed with a rectangular hole 77b through which the sewing needle 29 passes. The hole 77b is formed between the belt front end 92 and the belt 90.
Is slightly larger than the area to be sutured.

[0109] The belt front end portion 92 is
The belt 90 moves together with the belt gripping device while being gripped by the belt, and the belt 90 is pushed by the
Move with. Therefore, the belt front end 92 and the belt 9
0 is moved without shifting while being superimposed so that the center lines coincide.

Next, the cloth presser 28 is lowered (step 136 in FIG. 5). In this step 136, the CPU 4
5, control data is issued to the cloth holding driver 64,
The cloth press elevating device 27 is driven. Thereby, the cloth presser 28 is lowered.

As shown in FIG. 20, a concave portion 28a is formed on the lower surface of the cloth holder 28. The width of the concave portion 28a is slightly larger than the width of the movable plate 39. The depth of the concave portion 28 a is slightly larger than the sum of the thicknesses of the movable plate 39 and the fixed plate 38 and the belt 90.

As a result, when the cloth presser 28 descends and presses the belt front end 92 from above, the movable plate 3
9 and the fixing plate 38 are accommodated in the recess 28a.
Therefore, the belt front end 92 can be pressed against the belt 90 by the cloth holder 28 while being positioned by the movable plate 39 and the fixed plate 38.

Next, the belt holding device 36 is
Is escaped backward from the lower surface (step 138). In this step 138, control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 37a of the small air cylinder 37 of the belt holding device 36 is retracted. As a result, the rotating plate 40 rotates about the support pin 41 as a fulcrum, the movable plate 39 is separated from the fixed plate 38, and the grip of the belt front end 92 is released.

Further, control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 1 of the air cylinder 11
1a is immersed. As a result, the belt gripping device 36 moves back together with the motor 12 and the arm 14. Piston 1
The immersion length Lb of 1a (see FIG. 3)
The fixed plate 38 and the movable plate 39 are set to have a length necessary to escape from the lower surface of the cloth holder 28.

When the fixed plate 38 and the movable plate 39 are released from the lower surface of the presser foot 28, the belt front end 92 is pressed against the belt 90 by the presser foot 28, and the label 76 is also in contact with the belt front end 92 and the belt 90. , The position of the belt front end 92 is not moved, and the label 76 does not fall off.

Next, the moving table 7 is returned to the initial position (step 140). In this step 140, the CPU 45
, Control data is issued to the pneumatic circuit 56, and the piston 8a of the air cylinder 8 is protruded. As a result, the movable table 7 is moved to the left and returned to the initial position.

When the movable table 7 is moved to the initial position, the belt transport table 30 escapes from between the belt 90 and the cloth table 77 to the left. Belt 90 and belt front end 92
Is pressed from above by the cloth retainer 28, and is pressed onto the cloth table 77 while overlapping.

Since the upper surface of the belt transport path 30 is smooth, little friction occurs between the belt 90 and the belt transport path 30, whereas the frictional force between the belt 90 and the belt front end 90 is extremely large. . Therefore, when the belt transport path 30 escapes, the belt 90 is not pulled by the belt transport path 30, and the overlap between the belt 90 and the belt front end portion 92 does not collapse.

Next, the belt front end 92 is sewn to the belt 90 (step 142 in FIG. 5). This step 14
In 2, the control data is issued from the CPU 45 to the sewing machine driver 63, and the sewing machine 26 is driven. In addition, when a shuttle (not shown) in the sewing machine arm 25 rotates in conjunction with the sewing machine 26, a bobbin thread is supplied from a bobbin accommodated in the shuttle.

As shown in FIG. 21, the cloth presser 28 has
A square hole 28b slightly larger than the area where the belt front end 92 and the belt 90 are stitched is formed. The sewing needle 29 moves up and down to perform suturing, and the position of the sewing needle 29 moving up and down is moved in the hole 28b. The shape of the stitching may be any shape, for example, various shapes such as a stitching shape 94 in which similar squares are overlapped as shown in FIG. 22, or a zigzag shape, a mesh shape, a diagram shape, a square spiral shape, and the like There is a shape.

When the sewing is completed, the cloth presser 28 is raised next (step 144 in FIG. 5). This step 1
At 44, control data is issued from the CPU 45 to the cloth presser driver 64, and the cloth presser 28 is raised by the cloth presser elevating device 27.

Then, the belt 90 on the cloth base 77 is discharged (step 146 in FIG. 5). In this step 146, control data is issued from the CPU 45 to the pneumatic circuit 56, the piston of the air cylinder 67 for the clamper moves, and the belt clamper 66 is closed.

Before the belt 90 is moved onto the cloth table 77, the belt clamper 66 waits adjacent to the belt table 65 in an open state. Therefore, the belt 90
Is moved onto the cloth table 77, the belt 90 has entered the belt clamper 66. Then, the belt 90 is clamped by the belt clamper 66 by closing the belt clamper 66.

After the belt clamper 66 is closed, the CP
Control data is issued from U45 to the pneumatic circuit 56, and the piston 68a of the air cylinder 68 for moving the clamper is immersed. As a result, the belt clamper 66 is moved backward, and the belt 90 clamped by the belt clamper 66 is moved.
Is discharged backward from the cloth table 77.

After the piston 68a of the air cylinder 68 for moving the clamper has been immersed, the CPU 45
Control data is issued to the air cylinder 6 for the damper.
The piston 7 moves and the belt clamper 66 is opened. As a result, the belt 90 sandwiched between the belt clampers 66 falls off from the belt clamper 66 and falls and is stored in a product storage box (not shown).

Next, a label clamper process (step 148 in FIG. 5) is performed, and each part is returned to the initial position (step 150 in FIG. 5). In this step 150, the pneumatic circuit 56 and the motor driver 5
The control data is issued to 8, 59, 60, the sewing machine driver 63, and the cloth holding driver 64, and each part is returned to the same position as the initial state set in the above-described initialization processing (step 100 in FIG. 5).

By repeating the above processing,
As shown in FIG. 22, an anchor 80 is attached to a terminal portion of the belt 90. The portion of the belt 90 inserted into the through hole 81 of the anchor 80 is folded in three,
The left and right sides of the belt front end 92 folded over the belt 90 coincide with the left and right sides of the belt 90.

Further, the label 76 is folded in two,
The release end is sandwiched between the belt 90 and the belt front end 92. The belt 90 and the belt front end 92 are sewn together, and the open end of the label 76 is sewn to the belt 90 together with the belt front end 92.

As described above, in this embodiment, the belt gripping device 36 and the front end 91 of the belt 90 are relatively positioned. Further, the belt 90 is connected to the through hole 81 of the anchor 80.
Before passing through the belt front end 9 through the through hole 81.
The center of 2 is gripped by the belt gripping device 36. Therefore, before the belt 90 is inserted into the through hole 81, the position of the front end 91 of the belt 90 is accurately determined.

Then, the belt 90 is pulled forward by the belt gripping device 36 while the position of the front end of the belt 90 is accurately determined, so that the position of the front end 91 of the belt 90 is determined. It is inserted into the through hole 81.

Then, by rotating the belt gripping device 36 with the center of the belt front end 92 held, the belt front end 92 is folded back while the position of the front end 91 of the belt 90 is determined. When the belt front end 92 is folded back by the rotation of the belt gripping device 36,
The center of the belt front end 92 is superimposed on the center line C of the belt 90. Accordingly, even after the belt front end 92 is folded, the belt front end 92 can be accurately overlapped on the belt 90, and there is no need to perform positioning again.

4. Label clamper processing FIG. 23 is a flowchart of the label clamper processing (step 148). First, it is determined whether or not the label clamper 34 has returned to the initial position (step 15).
2).

For example, a limit switch for generating an off signal when the rotating arm 33 of the label clamper 34 is returned to the initial position is provided. The off signal from this limit switch is supplied to the CPU 45 via the switch scan circuit 52. Is input to Then, the data indicating that the limit switch is off is stored in the RAM 47 by the CPU 45. Therefore, step 152
Then, it is determined whether or not the label clamper 34 is at the initial position based on whether or not the data of the limit switch stored in the RAM 47 is off.

If the label clamper 34 has been returned to the initial position, the label 76 is clamped by the label clamper 34 (steps 154 to 164). On the other hand, if the label clamper 34 is not at the initial position, an alarm is issued and the operation is stopped (step 166).

As shown in FIG. 24, a label holder 78 supported by a frame (not shown) is disposed above the label clamper 34 at the initial position. A plurality of labels 76 are stacked beside the label holder 78 and accommodated in a label stocker (not shown).

Above the stacked labels 76, 2
A label lifter 79 having two suction cups 79a and 79b is arranged.
It is attached to the lower end of the second piston 82a. The air cylinder 82 is attached to a piston 83a of the air cylinder 83.

A label pushing plate 84 is arranged above the label holder 78.
Is attached to the lower end of the piston 85a of the air cylinder 85. The width of the label pushing plate 84 is substantially equal to or slightly shorter than the width of the label 76 in the short direction.

The label holder 78 has a rectangular shape slightly larger than the label 76, and has protrusions 78a, 78b, 7
8c and 78d are formed. Each projection 78a-78d
The size of the rectangle enclosed by is equal to the size of the label 76. A slit 86 is formed at the center of the label holder 78 in the longitudinal direction. The slit 86 is disposed directly above the label clamper 34 and the label pushing plate 84
Is disposed right above the slit 86. The thickness of the label pushing plate 84 is smaller than the width of the slit 86.

The state shown in FIG. 24 is the initial position of each part. When the label clamper process (step 148) is started, control data is issued from the CPU 45 to the pneumatic circuit 56, and the piston 82a of the air cylinder 82 is moved downward. Projected to As a result, the suction cups 79a and 79b are brought into contact with the stacked labels 76 with the label lifter 79 lowered. Then, by supplying negative pressure from an air compressor (not shown) to the suction cups 79a and 79b, the uppermost label 76 is sucked by the suction cups 79a and 79b (step 154 in FIG. 23).

Next, the piston 82a of the air cylinder 82
Is immersed. As a result, the label lifter 79 rises, and the label 76 sucked by the suction cups 79a and 79b is lifted (step 156 in FIG. 23). At this time, the small vibrator 87 attached to the air cylinder 82 is operated according to the command data from the CPU 45.

The vibration of the small vibrator 87 is transmitted to the label lifter 79, and the label lifter 79 rises while vibrating. By vibrating the label lifter 79 in this way, when the stacked labels 79 are attracted to each other by static electricity, only one label 76 sucked by the suction cups 79a and 79b can be lifted.

Next, the piston 83a of the air cylinder 83
Is projected. Accordingly, the label lifter 79 is moved in parallel with the air cylinder 82 onto the label holder 78. Then, the supply of the negative pressure to the suction cups 79a, 79b is stopped, and the label 76 sucked by the suction cups 79a, 79b is stopped.
Falls onto the label holder 78 (step 1 in FIG. 23).
56). The moving position of the label lifter 79 is set such that the label 76 falls between the protrusions 78a to 78d.

Next, the piston 83a of the air cylinder 83
Is immersed, and the label lifter 79 together with the air cylinder 82
Returns to the initial position (step 158 in FIG. 23). Then, the piston 85a of the air cylinder 85 is protruded, and the label pushing plate 84 is lowered (step 160 in FIG. 23). The label pushing plate 84 enters the slit 86 while descending.

At this time, the label 7 on the label holder 78 is
The label 6 is extruded below the label holder 78 while being folded in two by being drawn into the slit 86 by the label extruding plate 84. Further, the label pushing plate 84 enters the label clamper 34, and the label 76 enters the label clamper 34 together with the label pushing plate 84.

Next, the piston 3 of the small air cylinder 35
The label clamper 34 is closed by projecting 5a (step 162 in FIG. 23). And the air cylinder 8
When the fifth piston 85a is immersed, the label push-out plate 84 moves up to the initial position (step 164 in FIG. 23). As a result, the label 76 folded in two so that the fold is downward is sandwiched between the label clampers 34.

[0146] 5. Modifications Note that the present invention is not limited to the above-described embodiment, and can be variously modified without departing from the spirit of the present invention. For example, in the above-described embodiment, an example is shown in which the belt front end portion 92 is folded in three and inserted into the through hole 81 of the anchor 80, but the belt front end portion 92 is folded in two or four or more. Alternatively, it may be inserted into the through hole 81 without being folded at all.

The belt holding device 36 has a configuration in which the center of the belt front end 92 is sandwiched between the fixed plate 38 and the movable plate 39, but the shapes of the fixed plate 38 and the movable plate 39 may be other shapes.

For example, as shown in FIG. 25, a non-slip in which a large number of minute projections 38S are formed in a lattice shape may be provided at the front of the back surface 38R of the fixing plate 38. Thereby, when the belt front end portion 92 is gripped, the minute protrusion 38
S bites into the belt front end 92, and the belt front end 92 is firmly held between the fixed plate 38 and the movable plate 39.

The minute projections 38S may be spike-shaped projections, or may be formed only on the front end of the fixing plate 38. Further, the minute protrusions 38S may be formed on the movable plate 39, or the minute protrusions 38S may be formed only on the movable plate 39.

Further, instead of the structure in which the center of the belt front end portion 92 is sandwiched by the fixed plate 38 and the movable plate 39, the belt front end portion 92 is hooked or sucked so that the belt front end portion 92 can be positioned and passed therethrough. It may be configured to be inserted into the hole 81. Further, the through hole 43 may not be provided.

Further, the operation of setting the anchor 80 on the anchor holder 23 may be automatically performed. Conversely, the label 76 is folded in two and the belt 9
The work of sandwiching between the zero and the belt front end 92 may be performed manually. In this case, the label clamper 34
Further, members related to the label clamper 34 are unnecessary.
Further, the label 76 may not be provided, a label that is not folded may be attached, or a plurality of labels may be attached.

The shape of the label clamper 34 may be a shape other than the U-shaped plate.
Alternatively, a label lifter configured to move the label 76 while sucking the label 76 and put the label 76 on the belt 90 as in the case of the label lifter 79 may be provided. Alternatively, the belt clamper 66 for discharging the sewn belt 90 may be omitted, and the belt 90 may be discharged manually.

The operation of moving the belt 90 from the belt conveyance path 30 onto the cloth table 77 after the belt front end 92 is folded and overlapped on the belt 90 may be performed manually. Alternatively, a portion where the belt front end 92 is folded back by the clamper and overlapped on the belt 90 may be pinched by the clamper, and the belt 90 may be moved onto the cloth base 77 by moving the clamper.

Further, the belt feed roller may be omitted, the belt 90 may be manually placed on the belt conveyance path 30, and the belt front end 92 may be set immediately before the through hole 81 of the anchor 80.

The left and right folding claws 20, 21
May be moved in the closing direction at the same time, and the configuration for bending the edge of the belt 90 may be a configuration other than the folding claws 20 and 21 of the above embodiment.
For example, the rollers may be moved along the same path as the folding claws 20, 21.

Further, the position at which the belt front end 92 is gripped by the belt gripping device 36 is not limited to the center of the belt front end 92, and may be, for example, the edge of the belt front end 92,
Any other position may be used as long as the state of holding a predetermined fixed position is maintained. In this case, the position where the belt front end 92 is gripped by the belt gripping device 36 is overlapped with the corresponding position of the belt 90 when the belt front end 92 is folded back.

For example, if the right edge of the belt front end 92 is gripped by the belt gripping device 36, the right edge of the belt front end 92 is superimposed on the right edge of the belt 90. Thereby, when the belt front end 92 is folded, the belt front end 92 is accurately overlapped with the belt 90 so that the left and right edges coincide.

The belt front end 92 and the belt 90 are stitched by the sewing machine 26, bonded by an adhesive, or by using a connecting member (metal fitting, synthetic resin product, etc.) such as tack, wire, screw, or the like. And may be joined by welding such as high frequency welding.

Further, the shape of the through hole 81 of the anchor 80 is not limited to the shape shown in the above embodiment, but may be any shape. Also, as shown in FIG.
A slit 88 communicating with the outer periphery of the anchor 80 may be provided, and may have a concave shape. Further, the present invention provides two or more through holes 101 and 102 as shown in FIG.
Can also be applied to the belt engaging device 100 having

For example, a slit 88 is formed above the through hole 81.
Is provided, when the anchor holder 23 on which the anchor 80 is set is at the lowered position, the belt front end 92 is gripped by the belt gripping device 36 and pulled forward. Slit 88 of anchor holder 23
When the anchor holder 23 is lifted, the belt push-in plate pushes the belt front end 92 into the slit 88 from above and passes through the through hole 81.

Alternatively, when the slit 88 is formed beside the through hole 81, the belt front end portion 92 is gripped by the belt gripper 36 when the anchor holder 23 on which the anchor 80 is set is at the lowered position. Being pulled forward. The anchor holder 23 is raised to the side of the belt front end 92, and when the height of the slit 88 matches the height of the belt front end 92, the anchor holder 23 is moved.
Is stopped. Then, by moving the anchor holder 23 sideways, the belt front end 92 is inserted into the through hole 81 from the side through the slit 88. As described above, the belts 90 and 103 may pass through the through-hole 81 in any manner.

The operation of lowering the anchor holder 23 in step 124 in FIG. 5 may be performed after the operation of turning back the belt front end 92 in step 126 in FIG. Further, in the above-described embodiment, an example is described in which each operation step of the anchor mounting operation is sequentially performed according to the sequence data, but a plurality of operation steps may be performed in parallel.

For example, the suturing operation by the sewing machine 26 (FIG. 5)
(Step 142) and the operation of clamping the label 76 between the label clampers (step 148 in FIG. 5) may be performed in parallel. Further, the operation of returning the movable table 7 to the initial position (Step 140 in FIG. 5) and the operation of returning each part on the movable table 7 to the initial position (Step 150 of FIG. 5) may be performed in parallel. good.

Further, the belt engaging member is provided with the anchor 80.
The present invention is not limited to this. In addition, for example, a belt engaging device such as a buckle or a clip attached to a terminal portion of the clothes belt such as overalls or the middle thereof, or a through hole through which the belt is inserted may be formed. Alternatively, it may be integrated with another member. The size of the through hole 81 may be larger than the width of the belts 90 and 103, or may be the same.

The type of belt is not limited. For example, the present invention is applicable to a case where a belt engaging device is attached to a belt in sportswear, or a case where a belt engaging device is attached to a belt in equipment such as a parachute or a paraglider. May be applied. Further, the definition of the belt is widely interpreted, and it may be a belt-like material such as a tape, a ribbon, a band, or a narrow string-like material, and the material may be cloth, woven fabric, nonwoven fabric, paper, synthetic resin, leather, or the like.

Further, in the above-described embodiment, the example in which the anchor 80 as the belt terminal device is attached to the end of the belt 90 has been described. However, the present invention is also applicable to the belt 103 as shown in FIGS. The present invention can also be applied to a case where the belt engaging member 104 is attached in the middle of the process. In this case, the belt 103
Is a first predetermined position, and the first holding portion P1 is a first predetermined position.
Is inserted into the through-hole 105 while the predetermined position is held, and further joined to the second predetermined position P2 before the through-hole 105 of the belt engaging member 104.

Further, according to the present invention, as shown in FIG. 30, when the belt 103 is not folded back, as shown in FIG.
The present invention can be applied to a case where the belt is joined to another belt 106 after being inserted into the belt 05. In this case, the leading end portion P3 of the belt 103 is the first predetermined position, and the belt 103 is inserted into the through hole 105 while the first predetermined position is held by the belt holding unit such as the belt gripping device 36. Is further joined to a second predetermined position P4 of another belt 106.

Further, the belts 90 and 103 are connected to the through holes 81.
When the belts 90 and 103 are passed through, the belts 90 and 103 may be passed through without being folded in the width direction. Also, fixed plate 3
The shape, size, and the like of the through hole 43 of 8 are not limited, but may be any shape, and the through hole 43 may be omitted.

Further, the through holes 81, 101, 102,
The number of belts 90, 103, and 106 inserted through 105 may be plural. Further, in the above embodiment, an air cylinder is used as a power source of each movable portion, but a power source such as a hydraulic cylinder and a motor may be used.

[0170]

As described above in detail, according to the present invention, the belt is held in the first predetermined position by the belt holding portion not before the belt is inserted but through the through hole of the belt engaging member. Is held. Thereby, "position determination" of the first predetermined position of the belt can be accurately performed. Further, the belt is inserted into the through-hole while the "position determination" is correctly performed, and is superimposed on the corresponding second predetermined position on the belt. Thereby, the first predetermined position and the second
Are accurately superimposed without causing "shift".

[Brief description of the drawings]

FIG. 1 is a front view of an anchor attachment device.

FIG. 2 is a left side view of the anchor attachment device.

FIG. 3 is a plan view of the anchor mounting device.

FIG. 4 is a control circuit diagram.

FIG. 5 is a diagram showing a flowchart of an anchor attachment process.

FIG. 6 is a perspective view when the anchor 80 is set on the anchor holder 23;

7 is a perspective view when the fixed plate 38 and the movable plate 39 of the belt gripping device 36 have entered the through hole 81 of the anchor 80. FIG.

FIG. 8 is a perspective view when the belt 90 has entered the opened belt gripping device 36.

FIG. 9 is a perspective view when the folding device 19 is raised.

FIG. 10: folding device 19, air cylinder box 1
8 is a sectional view of a belt 90, a fixed plate 38, and a movable plate 39.

FIG. 11 is a sectional view when the left folding claw 20 is moved rightward.

FIG. 12 is a cross-sectional view when the right folding claw 21 is moved to the left.

FIG. 13 is a perspective view when the label clamper is lowered.

FIG. 14 is a plan view when a belt front end portion 92 is inserted into a through hole 81.

15 is a cross-sectional view when the belt front end 92, the fixed plate 38, and the movable plate 39 that are folded in three pass through the through-hole 81. FIG.

FIG. 16 is a perspective view when the belt front end portion 92 is folded back.

FIG. 17 is a sectional view taken along line AA in FIG. 16;

FIG. 18 is a side view when the label clamper has escaped.

FIG. 19 is a cross-sectional view when the belt conveyance path 30 is moved onto the cloth table 77.

FIG. 20 is a sectional view when the cloth presser 28 is lowered.

21 is a perspective view when the belt conveyance path 30 has escaped from the cloth table 77. FIG.

FIG. 22 is a perspective view of a terminal portion of the belt 90 to which the anchor 80 is attached.

FIG. 23 is a diagram showing a flowchart of a label clamper process.

FIG. 24 is a perspective view of a portion for supplying a label 76 to the label clamper 34.

FIG. 25 is a perspective view of the back surface of the fixing plate.

FIG. 26 is a plan view of an anchor 80 showing another shape of the through hole 81.

FIG. 27 is a plan view showing another example of the belt engaging device 100.

FIG. 28 is a cross-sectional view showing an example in which a belt engaging member 104 is attached in the middle of the belt 103.

FIG. 29 is a cross-sectional view showing another example in which a belt engaging member 104 is attached in the middle of the belt 103.

FIG. 30 is a cross-sectional view showing an example in which the belt 103 is joined to another belt 105.

[Explanation of symbols]

1 ... base, 7 ... movable base, 8, 10, 11, 15, 16,
22, 32, 35, 37, 67, 68, 70, 82, 8
3, 85 ... air cylinder, 12, 31, 61 ... motor,
14 ... arm, 19 ... folding device, 20 ... left folding claw, 21 ... right folding claw, 23 ... anchor holder, 26
... sewing machine, 27 ... cloth press elevating device, 28 ... cloth press,
29: sewing needle, 30: belt conveyance path, 33: rotating arm, 34: label clamper, 36: belt gripping device, 3
8: fixed plate, 39: movable plate, 43: through hole, 45: CPU, 46: ROM, 47: RAM, 48
... operation panel, 56 ... pneumatic circuit, 66 ... belt clamper,
77 ... cloth stand, 80 ... anchor, 81 ... through hole, 90 ... belt, 92 ... belt front end, 100, 104 ... belt engaging tool, 101, 102, 105 ... through hole, 103, 10
6 ... belt.

Claims (6)

[Claims] A belt holding portion for holding a first predetermined position of the belt; and a belt inserted into the through hole of the belt engaging member while the first predetermined position of the belt is held by the belt holding portion. A belt insertion mechanism for causing the belt to overlap a first predetermined position of the belt with a corresponding second predetermined position on the belt while the first predetermined position of the belt is held by the belt holding unit; A belt joining mechanism for joining a first predetermined position of the belt superimposed on the belt to a second predetermined position of the belt. 2. A belt is joined to another portion of the belt at a first predetermined position and a second predetermined position, and a supporting portion of the other member and the belt holding portion are connected to each other. A part of the whole object is supported or held, and if either one of the objects is supported or held, the other object is prevented from being displaced. When folded in the direction, a part of this belt enters and the outer diameter, thickness or size of the folded part of this belt decreases,
The width of the belt is larger than the width of the through-hole of the belt engaging device, and the belt engaging device mounting device is configured to move the belt end in the width direction. A folding mechanism that folds the belt while the first holding position of the belt is held by the belt holding unit, and returns the first predetermined position of the belt to the second predetermined position. The belt is an automobile seat belt, and the belt engaging member is an anchor, and the belt joining mechanism sewes the first predetermined position of the belt to the second predetermined position. 2. The apparatus according to claim 1, wherein the sewing machine is a sewing machine. 3. A terminal device holding portion for holding a belt terminal device at a predetermined position, comprising two plates that can be opened and closed, a through hole or a concave portion is formed in at least one of the plates, and A belt gripper having a non-slip formed on the back surface, a support arm for supporting the belt gripper, and moving the support arm to move the belt into a through-hole of the belt terminal device held by the terminal device holder. A support arm moving mechanism for inserting the two plates of the grip portion, and a plate opening mechanism for opening the two plates when the two plates of the belt grip portion are inserted into the through holes of the belt terminal. The belt is transported, and the end of the belt is positioned in front of the through-hole of the belt terminal held by the terminal holder, and the opened two sheets A belt transfer mechanism for moving the center of the width of the belt end between the two plates, and when the center of the width of the belt end enters between the two opened plates, A plate closing mechanism that closes and holds the center of the width of the belt end by the two plates, and a time difference between the left and right sides of the belt end gripped by the belt gripper by two folding claws. A folding mechanism for folding the belt end portion in a width direction three times immediately before the through-hole of the belt terminal device held by the terminal device holding portion by holding and lifting the terminal device holding portion; A label supply mechanism for placing a label on a portion not passing through the belt terminal; and a movement of the support arm in a direction opposite to the above, whereby the two plates penetrate the plate. Is inserted into and moves the belt grip of the condition gripping on the center of the width of the belt ends, two plates above causes escape from the through hole, is gripped plate of the two,
A support arm reversing mechanism for inserting the end of the belt folded by the folding mechanism into the through-hole; and the belt gripper holding the center of the width of the belt end by rotating the support arm. The belt end is folded back with the position of the belt terminal being a turning point, and the center of the width of the belt end is overlapped with the center of the width of the portion of the belt not passing through the belt terminal. And a rotating mechanism for holding one side of the label between the belt end and the belt, and the belt end folded by the rotating mechanism,
Attachment of a belt terminal device, comprising: a joining mechanism for joining to the belt together with one side of the label; and a belt ejection mechanism for ejecting a belt to which the end of the belt and the label are joined by the joining mechanism. apparatus. 4. A first step of holding a first predetermined position of the belt by a belt holding section; and a belt having the first predetermined position of the belt held by the belt holding section in the first step. A second step of inserting the belt through the through hole of the engagement tool; and, while the first predetermined position of the belt is held by the belt holding portion by the second step, the first predetermined position of the belt is set on the belt. A third step of overlapping the corresponding second predetermined position, and a fourth step of joining the first predetermined position of the belt superimposed on the belt by the third step to a second predetermined position of the belt And a method for mounting a belt engaging device. 5. An object is overlapped and joined to a joint portion between a first predetermined position and a second predetermined position of the belt, and a supporting portion of the other object and the belt holding portion are connected to each other. A part of the whole object is supported or held, and if either one of the objects is supported or held, the other object is prevented from being displaced. When folded in the direction, a part of this belt enters and the outer diameter, thickness or size of the folded part of this belt decreases,
The width of the belt is larger than the width of the through hole of the belt engaging device, and the first predetermined position of the belt is inserted into the through hole by the second step. And a step of folding the first predetermined position of the belt in the width direction before the third step. In the third step, the belt is held while the first predetermined position of the belt is held by the belt holding unit. Folded back, the first predetermined position of the belt is overlapped with the second predetermined position, the belt is an automobile seat belt, and the belt engaging device is an anchor, and in the fourth step, 5. The method according to claim 4, wherein the first predetermined position of the belt is sewn to the second predetermined position by a sewing machine. 6. A first mechanism for holding a belt engaging member at a predetermined position.
A second step of opening after opening and closing two plates that can be opened and closed through the through hole of the belt engaging member held at a predetermined position by the first step; and two sheets opened by the second step A third step of moving the center of the width of the belt end between the two plates, and closing the two plates opened in the second step to enter the space between the two plates in the third step A fourth step of gripping the center of the width of the belt end with the two plates, and a time difference between the left and right sides of the belt end where the center of the width is gripped by the two plates by the fourth step. A fifth step of folding the belt end in three in the width direction with the above, and folding the two plates holding the center of the width of the belt end in the fourth step. Escape from the through hole,
Thereby, the sixth step of inserting the end of the belt, which is gripped by the two plates and folded in three in the fifth step, into the through-hole, The two plates that have escaped from the holes are rotated while holding the ends of the belt, and the ends of the belt inserted into the through holes in the sixth step are moved to positions of the belt engaging members. Folded back as a turning point, the center of the width of the belt end overlapped with the center of the width of the portion of the belt not passing through the belt engaging member, and one side of the label between the belt end and the belt A step of joining the end of the belt folded back in the seventh step together with one side of the label to the belt; and an eighth step of joining the belt by the eighth step. Ninth step and the mounting method of the belt engaging member, characterized in that it comprises a for bets end and label discharging belt joined.