Conveyance path changing device for long object and method thereof

Abstract

To provide a conveyance path changing device capable of changing a conveyance path at a predetermined path length in a conveyance operation of a long object.SOLUTION: A conveyance path changing device 1 for a long object comprises: a carry-in side conveyance roller 10 which comes into contact with a tape T carried in at a carry-in position and conveys the tape T; a carry-out side conveyance roller 20 which comes into contact with the tape T carried out at a carry-out position and conveys the tape T; and path changing means which changes so as to hold a conveyance path between the carry-in position and the carry-out position at a predetermined path length by moving a change-side conveyance roller 30 in conjunction with relative movement of the carry-in position and the carry-out position of the tape T.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveying path changing device and method for changing a conveying path along which a long object is conveyed in the longitudinal direction by a predetermined path length. [Background technology]

[0002] When handling long, continuous materials in the longitudinal direction, such as narrow strip materials such as tape, or filamentary materials such as rope, wire, or thread, the wound long material is unwound and transported in the longitudinal direction for handling.

[0003] When a long object is wound while being moved in a swinging manner in the width direction, the running path length of the traveling yarn varies depending on the guide position. Tension fluctuations associated with this path length variation have been observed in traverse winding and filament winding, and the changes are particularly large when turning back. Furthermore, even when fiber bundles are arranged using an automatic laying device, if the fiber bundles are supplied from a movable stand or the like provided separately from the automatic fiber bundle arrangement device, the running path length of the fiber bundle will change as the arrangement head moves.

[0004] Methods for dealing with tension fluctuations associated with these path length variations include braking and controlling the fiber supply shaft with an electromagnetic brake or absorbing path length changes with a dancer roll mechanism. For example, Patent Document 1 describes a technique in which, during the winding operation of the fiber when performing filament winding on a cylindrical body, a feed eye that directs the fiber toward the cylindrical body is movable in the axial direction of the cylindrical body, and the tension applied to the fiber is adjusted by a tension roller. Furthermore, Patent Document 2 describes a technique in which, when multiple fiber bundles are placed using a placement head attached to an articulated robot, a support member equipped with a tow guide that turns the fiber bundles is displaced in response to the rotation of the placement head, and tension is adjusted separately using a dancer roll. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-46940 [Patent Document 2] Patent Publication No. 2021-1138127 Summary of the Invention [Problem to be solved by the invention]

[0006] In Patent Document 1, when winding a yarn around the surface of a cylindrical body by hoop winding, helical winding, or the like, yarn transport is controlled using a feed eye and a tension roller to accommodate changes in the path length caused by the yarn swinging within the winding range. Conventional devices only passively operate dancer rolls to deal with tension fluctuations, which has the problem of not being able to fully absorb them when the fiber runs backward. In contrast, this device prevents tension fluctuations by predicting changes in the yarn travel path and moving the tension roller to offset them, but this requires complex control, such as the need to retrieve the amount of change in the distance between the feed eye position and the fiber winding introduction position from a storage device.

[0007] In Patent Document 2, the tape-shaped fiber bundle is guided by the rotational movement of the placement head, but this is not intended to prevent changes in the path length. A separate dancer roll is required to adjust the tension, but its operation is passive, so there is a problem in that it becomes difficult to absorb changes in the path length as the operating speed increases, whether it is controlled by inertia due to its own weight or by sensing and controlling the tension.

[0008] In particular, when conveying a fiber bundle made of reinforcing fibers (carbon fiber, glass fiber, etc.) that hardly expand or contract in the fiber length direction, changes in the path length during conveyance have a large effect on the conveyance operation of the fiber bundle.

[0009] As mentioned above, tension adjustment mechanisms such as dancer rolls are widely used, but they passively absorb tension fluctuations that have already occurred and do not prevent tension fluctuations in advance. In contrast, if changes in the path length are predicted in advance and guidance is provided to offset these, advanced control is required, as well as settings that are tailored to the environment.

[0010] Therefore, the present invention aims to provide a conveying path changing device that can change the conveying path while maintaining a specified path length by preventing changes in path length that cause tension fluctuations during the conveying operation of long objects with a simple configuration without relying on advanced control methods. [Means for solving the problem]

[0011] The transport path changing device for long objects of the present invention comprises an inlet side transport means that contacts and transports the long object being transported at the inlet position, an outlet side transport means that contacts and transports the long object being transported at the outlet position, and a path changing means that changes the transport path between the inlet position and the outlet position in conjunction with the relative movement between the inlet position and the outlet position so as to maintain a predetermined path length.

[0012] The method for changing the transport path of a long-shaped object of the present invention is a method for changing the transport path of a long-shaped object that has been transported from an input position and is then transported from an output position, and the method changes the transport path between the input position and the output position in conjunction with the relative movement between the input position and the output position so as to maintain a predetermined path length. [Effects of the Invention]

[0013] By having the above-mentioned configuration, the present invention is equipped with a path changing means that changes the conveying path between the loading position and the unloading position in conjunction with the relative movement of the loading position and the unloading position so as to maintain a predetermined path length.Therefore, when the conveying path of the long object is changed by the relative movement of the loading position and the unloading position, the path length of the long object does not change, so stable conveying operations can be performed without causing any effects such as sagging or excessive tension on the long object.

[0014] Furthermore, such a path change means can be realized with a simple configuration without relying on advanced control methods using sensors, etc., making it possible to significantly simplify the configuration of conventional complex conveying devices that use tension adjustment mechanisms and control devices. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic configuration diagram of a first embodiment of a transport path changing device according to the present invention; [Figure 2] 2 shows a perspective view of the first embodiment shown in FIG. 1. [Figure 3] 2 is an explanatory diagram schematically showing a transport path of the tape T. FIG. [Figure 4] 1 is an explanatory diagram schematically showing a transport path of a tape T' having a thickness t. [Figure 5] FIG. 10 is a schematic configuration diagram of a second embodiment of a transport path changing device according to the present invention. [Figure 6] 6 is a cross-sectional view taken along the line AA in FIG. 5. [Figure 7] 2 is an explanatory diagram schematically showing a transport path of the tape T. FIG. [Figure 8] FIG. 10 is a perspective view showing a schematic configuration of a transport path changing device according to a third embodiment of the present invention. [Figure 9] 9 is a cross-sectional view of FIG. 8 shown in FIG. [Figure 10] 10 is an explanatory diagram schematically illustrating a conveying path between a guide roller and a change-side conveying roller. FIG. [Figure 11] FIG. 10 is an explanatory diagram showing a state in which the unloading arm member is rotated. [Figure 12] FIG. 10 is an explanatory diagram schematically illustrating a conveying path between a guide roller and a change-side conveying roller; [Figure 13] FIG. 2 is an explanatory diagram showing a transmission relationship regarding a gear mechanism. [Figure 14] FIG. 11 is a perspective view showing a schematic configuration of a modified example of the third embodiment. [Figure 15] 15 is a cross-sectional view taken along the line B'-B' shown in FIG. 14. [Figure 16] FIG. 10 is a perspective view showing a schematic configuration of a fourth embodiment of a transport path changing device according to the present invention. [Figure 17] 17 is a cross-sectional view taken along the line CC in FIG. 16. [Figure 18] 10A to 10C are explanatory views showing a process in which the unloading arm member rotates relative to the loading arm member. [Figure 19] FIG. 2 is an explanatory diagram of a transport path from a carry-in position to a carry-out position. [Figure 20] FIG. 10 is a schematic configuration diagram of a conveying device in which a plurality of fourth embodiments are combined. [Figure 21] 21 is an explanatory diagram relating to the operation of the transport device shown in FIG. 20. FIG. [Figure 22] FIG. 10 is a perspective view of a conveyance path changing device in which three changing-side winding rollers are directly connected in two pairs. [Figure 23] 10A to 10C are explanatory views showing the process in which the carry-in arm member and the carry-out arm member rotate; [Figure 24] FIG. 10 is a perspective view of a conveyance path changing device in which four changing-side winding rollers are directly connected in three pairs. [Figure 25] 25 is a cross-sectional view taken along the line DD in FIG. 24. [Figure 26] 10 is a perspective view of a transport path changing device in which the loading arm member and the unloading arm member are inclined relative to each other; FIG. [Figure 27] 4 is a cross-sectional view taken along the respective rotation axes of the loading arm member and the unloading arm member. FIG. [Figure 28] 1 is a schematic configuration diagram of a winding device using a transport path changing device according to a first embodiment. [Figure 29] FIG. 10 is a schematic configuration diagram of a winding device using a transport path changing device according to a second embodiment. [Figure 30] FIG. 10 is a schematic configuration diagram of a winding device using a transport path changing device according to a fourth embodiment. [Figure 31] 10A and 10B are explanatory diagrams relating to the operation of the transport path changing device in accordance with the movement of the arm member. [Figure 32]FIG. 11 is an external perspective view, seen from the front side, of a lamination molding apparatus using a conveying path changing device described as a third embodiment. [Figure 33] FIG. 33 is an external perspective view of the laminate forming apparatus shown in FIG. 32, seen from the rear side. [Figure 34] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 35] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 36] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 37] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 38] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 39] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 40] 25 is an external perspective view of another lamination molding apparatus using the transfer path changing device shown in FIG. 24, as seen from the rear side. FIG. [Figure 41] FIG. 2 is a schematic diagram illustrating a transport path changing device. [Figure 42] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 43] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 44] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 45] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 46] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 47] FIG. 2 is a partial enlarged view of a portion where a transport path changing device is disposed. [Figure 48] FIG. 11 is an external perspective view, seen from the front side, of yet another lamination molding apparatus using the conveying path changing device described as the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below are preferred examples for carrying out the present invention, and therefore various technical limitations are imposed thereon. However, the present invention is not limited to these embodiments unless otherwise specified in the following description to the effect that the present invention is limited thereto.

[0017] FIG. 1 is a schematic diagram of a first embodiment of a transport path changing device according to the present invention, and FIG. 2 is a perspective view of the first embodiment shown in FIG.

[0018] The transport path changing device 1 for tape T includes an inlet transport roller 10, an outlet transport roller 20, and a change-side transport roller 30. In this example, on the outlet side, the tape T is moved in a direction intersecting the longitudinal direction of the tape T by a moving means (not shown) such as an actuator. The transport means is not particularly limited and may be anything other than a transport roller as long as it can set the transport path of the tape T. For example, a guide member having a curved surface that comes into contact with the tape T may also be used.

[0019] The loading side conveying roller 10 is fixed to the mounting frame 2 and is adapted to contact and convey the tape T at a predetermined loading position, and corresponds to the loading side conveying means that contacts and conveys the tape T, which is a long object being loaded, at a predetermined loading position.

[0020] The unloading-side transport rollers 20 are fixed to a mounting table 23 that is slidably supported by a guide bar 21 that is attached linearly in the left-right direction to a support table 22 that is erected on the mounting frame 2. When the tape T moves in a direction intersecting the longitudinal direction to change the transport path, the unloading-side transport rollers 20 are moved along the left-right linear movement path by an actuator that moves the tape T. Therefore, the unloading-side transport rollers 20 correspond to unloading-side transport means that changes the transport path in the left-right direction and displaces the unloading position so as to contact the tape T being unloaded.

[0021] The change-side conveying roller 30 is fixed to a mounting base 33 which is slidably supported by a guide bar 11 which is attached linearly to a support base 12 which is erected on the mounting frame 2. The mounting base 33 is also slidably supported by a guide bar 31 which is attached linearly to a support base 32 which is erected on the mounting base 23.

[0022] Therefore, the mounting table 33 is set to move along the guide bar 11 in conjunction with the left-right movement of the mounting table 23, and the change-side conveying roller 30 moves in conjunction with the movement of the unloading side conveying roller 20, so that the conveying path of the tape T between the loading side conveying roller 10 and the unloading side conveying roller 20 is changed by being folded back by the change-side conveying roller 30.

[0023] The change-side conveying rollers 30 are attached to the mounting table 33 and positioned so that the change-side path of the tape T between them and the carry-in-side conveying rollers 10 is aligned with the axial direction of the guide bar 11, and the change-side path of the tape T between them and the carry-out-side conveying rollers 20 is aligned with the axial direction of the guide bar 31. Therefore, the change-side path moves parallel to the left-right movement of the carry-out-side conveying rollers 20.

[0024] The change-side conveying rollers 30 are set to move parallel to the unloading-side conveying rollers 20 in conjunction with each other, so when the unloading-side conveying path of the tape T is changed to move in the left-right direction, the change-side conveying rollers 30 are also linked to automatically change the path.

[0025] The intersection angle of the transfer path of the unloading-side conveyance rollers 20 with the transfer path of the unloading-side change path is set to be the same as the intersection angle of the transfer path of the unloading-side conveyance rollers 20 with the transfer path of the unloading-side change path.

[0026] 3 is an explanatory diagram schematically illustrating the transport path of the tape T. The transport path of the tape T is made up of a path TS1 from the transport position P where the tape T wraps around the transport rollers 10, a transport-side change path TR1 from contacting the transport rollers 10 to contacting the change-side transport rollers 30, a path TS3 where the tape T wraps around the change-side transport rollers 30, a transport-out path TR2 from contacting the change-side transport rollers 30 to contacting the transport-out side transport rollers 20, and a path TS2 where the tape T wraps around the transport rollers 20 to the transport-out position Q, and the length of the transport path is the sum of the lengths of each path.

[0027] If the intersections where a straight line L1 along the loading-side change path TR1 and a straight line L2 along the unloading-side change path TR2 intersect with a straight line M1 along the movement path of the unloading-side conveyance rollers 20 are designated as intersections A and B, respectively, and the intersection of lines L1 and L2 is designated as intersection C, the intersection angles at intersections A and B are set to the same angle θ, as described above. Therefore, the triangle connecting intersections A, B, and C is an isosceles triangle, and the length of side BC is equal to the length of side AC. Therefore, the length connecting loading position P, intersections C, and intersections B is equal to the length connecting loading position P and intersection A.

[0028] When the unloading-side changed path TR2 moves in parallel to become intersections B' and C', the intersection angle of point B' is maintained at angle θ as it moves, and the length of side B'C' is equal to the length of side AC'. Therefore, after the movement, the length connecting load position P, intersections C', and B' is equal to the length connecting load position P and intersection A, and the length from load position P, passing through intersection C, to intersection B is always maintained at a constant length (the same length as the distance from load position P to intersection A).

[0029] When the transport-out side change path TR2 moves in parallel, the lengths of the paths TS2 and TS3 wound around the transport rollers are kept constant, so the transport path of the tape T is kept at a predetermined path length.

[0030] The above explanation describes the basic concept for maintaining the conveying path at a predetermined path length, but in actual design, it is desirable to make corrections based on the shape and characteristics of the long object. For example, when a long object is conveyed wrapped around a conveying roller or the like, it is desirable to make corrections based on data relating to the shape of the long object, such as its thickness or width.

[0031] 4 is an explanatory diagram schematically showing the transport path of tape T' with thickness t. When correcting based on thickness t, the transport path is corrected so that the center line passing through the position of thickness t / 2 of tape T' coincides with straight lines L1 and L2, thereby making it possible to stably maintain a predetermined path length.

[0032] Furthermore, when correction is made based on the bending characteristics of tape T' when it is wound around the conveying roller, bending deformation occurs in which the side of tape T' that contacts the conveying roller shrinks and the opposite side expands, generating internal bending stress. However, if the conveying path is corrected so that the neutral plane where the bending stress is zero coincides with the straight lines L1 and L2, the specified path length can be stably maintained and the tape can be conveyed by smoothly deforming in accordance with the bending characteristics of tape T'.

[0033] Such correction processing of the conveying path in accordance with the shape and characteristics of the long object is preferably applied to the embodiments described below.

[0034] FIG. 5 is a schematic diagram of a second embodiment of a transport path changing device according to the present invention, and FIG. 6 is a cross-sectional view taken along line AA of FIG.

[0035] The conveying path change device 4 has a rack member 41 with a linear tooth row attached to one side of a mounting frame 40, and guide rails 40a and 40b attached to the center and the other side of the mounting frame 40, respectively.

[0036] Guide rails 40a and 40b are arranged so as to be parallel to the tooth row of rack member 41, and carry-in side transport rollers 43 are attached to rack member 41. Rack member 42 is attached and fixed to a slidably attached mounting base on guide rail 40a. Rack member 42 has a linear tooth row formed thereon, which is set so as to be parallel to and in the same arrangement as the tooth row of rack member 41. Rack member 42 is attached with carry-out side transport rollers 44.

[0037] A spur gear (pinion) 45a is fixed to a mounting base slidably attached to the guide rail 40b, and a changing-side conveyance roller 45 is attached to the center of the spur gear 45a. The spur gear 45a meshes with the tooth rows of rack members 41 and 42 arranged on both sides, and is configured so that as the rack member 42 moves along the guide rail 40a, the spur gear 45a rotates and moves along the guide rail 40b. Therefore, as the unloading-side conveyance roller 44 attached to the rack member 42 moves, the changing-side conveyance roller 45 moves in the same direction.

[0038] When spur gear 45a is used as a reference, rotation of spur gear 45a causes rack members 41 and 42 to move the same distance in opposite directions. Therefore, when fixed rack member 42 is used as a reference, rack member 41 moves twice the distance traveled by spur gear 45a. Therefore, the movement distance of change-side conveyance rollers 45 can be set to half the movement distance of unloading-side conveyance rollers 44.

[0039] The tape T is brought in by contacting the carry-in side transport rollers 43, turned back by contacting the change-side transport rollers 45, and brought out by contacting the carry-out side transport rollers 44.

[0040] 7 is an explanatory diagram schematically showing the transport path of the tape T. The transport path is made up of an inlet-side change path TR1 from an inlet position P where the tape contacts the inlet-side transport rollers 43 to a point A where the tape contacts the change-side transport rollers 45, an outlet-side change path TR2 from a point B where the tape contacts the change-side transport rollers 45 to an outlet position Q where the tape contacts the outlet-side transport rollers 44, and a path TR3 from a point A where the tape wraps around the change-side transport rollers 45 to a point B.

[0041] Movement path M2 is set along the movement of rack member 42, and when movement path M2 is moved by movement distance S1 from unloading position Q to unloading position Q', the movement distance of change-side conveyance rollers 45 is S1 / 2, so the distance S2 from point A to point A' on load-in side change path TR1 and the distance S2 from point B to point B' on load-out side change path TR2 are equal to S1 / 2. Therefore, the path length of load-in side change path TR1 is increased by S1 / 2 by the amount that the path length of unloading side change path TR2 is shortened by S1 / 2, and the length of path TR3 does not change, so the path length of the entire conveyance path becomes constant and is maintained at a predetermined path length.

[0042] FIG. 8 is a perspective view showing a schematic configuration of a third embodiment of a transport path changing device according to the present invention, and FIG. 9 is a cross-sectional view taken along line BB shown in FIG.

[0043] The conveying path change device 5 is equipped with an inlet conveying roller 50 and an outlet conveying roller 51, and the inlet conveying roller 50 is erected at one end of the inlet arm member 52 via an attachment shaft 50a, and the outlet conveying roller 51 is erected at one end of the outlet arm member 53 via an attachment shaft 51a.

[0044] The other end of the unloading arm member 53 is rotatably supported by a rotation shaft 54 ​​erected at the other end of the loading arm member 52, and the rotation of both arm members allows relative movement so that the loading conveying rollers 50 and the unloading conveying rollers 51 move closer to or farther apart. Note that the rotation shaft 54 ​​may also be fixed to an external frame or the like (not shown) so that the loading arm member 52 and the unloading arm member 53 are rotatably attached.

[0045] In this example, the tape T that is brought into contact with the inlet conveying roller 50 rotates in conjunction with the inlet arm member 52, and the tape T that is brought out into contact with the outlet conveying roller 51 rotates in conjunction with the outlet arm member 53.

[0046] Guide rollers 55a and 55b are coaxially rotatably attached to the tip of the rotating shaft 54, and the tape T that comes into contact with the inlet side conveying roller 50 and is conveyed thereto comes into contact with the guide roller 55a and is conveyed to the change side conveying roller 56, and the tape T that comes into contact with the change side conveying roller 56 and turns back comes into contact with the guide roller 55b and is conveyed to the outlet side conveying roller 51.

[0047] A transport path TR3 of the tape T from the carry-in side transport rollers 50 to the guide rollers 55a is set to be parallel to a transport path TR4 of the tape T from the guide rollers 55b to the carry-out side transport rollers 51.

[0048] The change-side conveying rollers 56 are rotatably supported by a mounting frame 56a, and the mounting frame 56a is attached to one end of a mounting arm 56b. A shaft hole formed at the other end of the mounting arm 56b is attached to the rotation shaft 54, and the change-side conveying rollers 56 are configured to be rotatable around the rotation shaft 54 ​​together with the mounting frame 56a via the mounting arm 56b.

[0049] Fig. 10 is an explanatory diagram that schematically shows the conveyance path between guide rollers 55a and 55b and changing-side conveyance roller 56. Fig. 10 shows, for guide roller 55a, a circle C1 whose radius is the distance from the rotation axis to the neutral plane of tape T, and a plane D1 that is perpendicular to the rotation axis and extends along circle C1; for guide roller 55b, a circle C2 whose radius is the distance from the rotation axis to the neutral plane of tape T, and a plane D2 that is perpendicular to the rotation axis and extends along circle C2; ​​and for changing-side conveyance roller 56, a circle C3 whose radius is the distance from the rotation axis to the neutral plane of tape T, and a plane D3 that is perpendicular to the rotation axis and extends along circle C3.

[0050] The carry-in side change path from guide roller 55a to change-side conveying roller 56 is set so that intersection line L3 of planes D1 and D3 is tangent to circles C1 and C3, and the carry-out side change path from change-side conveying roller 56 to guide roller 55b is set so that intersection line L4 of planes D2 and D3 is tangent to circles C2 and C3, and the two are set parallel to each other. Therefore, the rotation axis of change-side conveying roller 56 is set so as to be inclined with respect to rotation axis 54 corresponding to the difference in radius between guide rollers 55a and 55b.

[0051] When the unloading arm member 53 rotates relative to the loading arm member 52 and the transport path of the unloaded tape T is changed, the length of the path of the tape T that contacts the guide roller 55b changes, and the change-side transport roller 56 is rotated to change the length of the path that contacts the guide rollers 55a and 55b in accordance with the change, thereby maintaining the path length from the loading position to the unloading position constant.

[0052] 11 is an explanatory diagram showing a state in which the unloading arm member 53 is rotated. In this example, when the unloading arm member 53 is rotated 90 degrees, the change-side conveyance roller 56 is rotated 60 degrees, thereby maintaining a constant path length. Specifically, the rotation of the unloading arm member 53 reduces the length of tape T in contact with guide roller 55b, and the change-side conveyance roller 56 rotates in the same direction as the rotation of the unloading arm member 53 to correspond to this reduction, thereby increasing the length of tape T in contact with guide rollers 55a and 55b, thereby maintaining a constant path length.

[0053] Figure 12 is an explanatory diagram that schematically shows the conveying path between the guide rollers 55a and 55b and the change-side conveying roller 56, and shows the state before the unloading side arm member 53 rotates (Figure 12(a)) and the state after it has rotated by an angle θ (Figure 12(b)).

[0054] Tangents corresponding to the conveying paths TR3 and TR4 are drawn to the large and small diameter concentric circles corresponding to the guide rollers 55a and 55b, respectively, and a semicircle corresponding to the change-side conveying roller 56 is drawn on the opposite side of the tangents between the large and small diameter concentric circles.

[0055] The arc from the point of contact A of the tangent to the circle of radius R corresponding to guide roller 55a to the point of contact B of the semicircle corresponding to the change-side conveying roller 56 corresponds to the path length wound around guide roller 55a, and the arc from the point of contact D of the tangent to the circle of radius r corresponding to guide roller 55b to the point of contact C of the semicircle corresponding to the change-side conveying roller 56 corresponds to the path length wound around guide roller 55b.

[0056] As for the conveying path from guide roller 55a, turning around at the change side conveying roller 56, to guide roller 55b, the path length does not change in response to the rotation of the unloading side arm member 53, so the path length of the conveying path changes at arcs AB and CD.

[0057] When the unloading arm member 53 rotates counterclockwise by an angle θ, the point of contact A before the rotation becomes the point of contact A' after the rotation, and the path length wound around guide roller 55a decreases by an amount Rθ. Therefore, by rotating the change-side conveyance roller 56 counterclockwise by an angle α, the path length wound around guide roller 55a increases by an amount Rα and the path length wound around guide roller 55b increases by an amount rα. Therefore, when the angle α satisfies the following formula, the path length is kept constant before and after the rotation. Rα+rα=Rθ α=θ·R / (R+r)

[0058] In this example, a gear mechanism is provided as a means for rotating the changing-side conveying rollers 56 in conjunction with the rotational movement of the unloading-side arm member 53. Fig. 13 is an explanatory diagram showing the power transmission relationship related to the gear mechanism. The gear mechanism is configured such that gear 55c fixed to the rotating shaft 54 ​​is meshed with gear 57a fixed to a rotating shaft 57c rotatably provided upright on the unloading-side arm member 53, and another gear 57b fixed to the rotating shaft 57c is meshed with gear 57d rotatably attached to the rotating shaft 54. The attachment arm 56b to which the changing-side conveying rollers 56 are attached is fixed to gear 57d and is adapted to rotate around the rotating shaft 54. Therefore, when the unloading arm member 53 rotates around the rotation axis 54, the gear 57a rotates around the gear 55c, causing the gear 57b to rotate in synchronization, and as the gear 57b rotates, the gear 57d rotates around the rotation axis 54, causing the change-side conveying roller 56 to rotate in conjunction with the rotation.

[0059] Regarding the radius and number of teeth of the gear pitch circle of each gear, if gear 55c has a radius r1 and number of teeth n1, gear 57a has a radius r2 and number of teeth n2, gear 57d has a radius R1 and number of teeth N1, and gear 57b has a radius R2 and number of teeth N2, then gears 55c and 57a are set to a meshed state, and gears 57b and 57d are set to a meshed state, and therefore the following equation holds for the radius of each gear. R1+R2=r1+r2 Further, the rotation angle α of the gear 57d is calculated from the rotation angle θ of the gear 55c by the following formula. α=θ·(N2n1) / (n2N1) Therefore, the radius and number of teeth of each gear should be set so as to satisfy the following formula. (N2n1) / (n2N1)=R / (R+r)

[0060] The gear mechanism is not limited to the above-described gear combination, and other gear combinations may also be used.

[0061] FIG. 14 is a perspective view showing a schematic configuration of a modified example of the third embodiment, and FIG. 15 is a cross-sectional view taken along line B'-B' shown in FIG.

[0062] In this example, when guide rollers 55a' and 55b' have the same diameter (R = r), the gear mechanism attached to rotating shaft 54' is configured by combining multiple bevel gears. Bevel gear 55c', which is fixed to unloading arm member 53', is rotatably supported on the base of rotating shaft 54', and bevel gear 57c' is attached and fixed to the middle of rotating shaft 54' with a predetermined gap between them. Bevel gears 55c' and 57c' have the same annular tooth rows formed thereon and are arranged so that their tooth rows face each other.

[0063] A support frame portion 56c' extends from the end of a mounting frame 56b' formed integrally with a mounting frame 56a' to which the change-side conveying roller 56' is attached. The support frame portion 56c' has a shaft hole formed in the middle portion, into which the rotating shaft 54' is rotatably inserted, and both ends are bent downward to surround a bevel gear 57c'. A pair of bevel gears 57a' and 57b' are arranged opposite to each other and rotatably supported at the bent portions at both ends, and the bevel gears 57a' and 57b' are arranged between the bevel gears 55c' and 57c', respectively, and are set in mesh with each other.

[0064] Bevel gear 57c' is fixed to rotation shaft 54' and connected to load-in arm member 52', and bevel gear 55c' is fixed to load-out arm member 53'. Therefore, when load-out arm member 53' rotates a predetermined angle around rotation shaft 54', bevel gears 57a' and 57b' meshed between bevel gears 55c' and 57c' rotate in conjunction with the rotation of bevel gear 55c'.

[0065] In this case, because the bevel gear 57c' does not rotate, the bevel gears 57a' and 57b' rotate through an angle that is half the rotation angle of the unloading arm member 53', similar to the transmission operation between the pair of rack members and the pinion described in the second embodiment. Therefore, the change-side conveying roller 56' can be rotated in the same direction by half the rotation angle of the unloading arm member 53' in conjunction with the rotation of the unloading arm member 53' via the mounting frame 56c'.

[0066] The rotation of the unloading arm member 53' changes the length of the path around which the tape T is wound around the guide roller 55b', but the rotation of the change-side conveying roller 56' in conjunction with this by half the rotation angle also changes the length of the path around which the tape T is wound around the guide rollers 55a' and 55b' by half, so that the conveying path from the guide roller 55a' via the change-side conveying roller 56' to the guide roller 55b' is maintained at a predetermined path length.

[0067] As described above, the change-side transport rollers 56 rotate in conjunction with the rotation of the unloading position of the tape T in accordance with the rotation of the unloading arm member 53, and the transport path from the loading position to the unloading position of the tape T can be maintained at a predetermined path length. Furthermore, even when the loading-side arm member 52 rotates relative to the unloading-side arm member 53, the predetermined path length can be maintained, and the change-side transport rollers 56 rotate in conjunction with the relative movement of the loading position and the unloading position, so that the predetermined path length is maintained.

[0068] FIG. 16 is a perspective view showing a schematic configuration of a fourth embodiment of a transport path changing device according to the present invention, and FIG. 17 is a cross-sectional view taken along CC line shown in FIG.

[0069] The conveying path change device 6 is equipped with an inlet conveying roller 60 and an outlet conveying roller 61, and the inlet conveying roller 60 is erected at one end of the inlet arm member 62 via an attachment shaft 60a, and the outlet conveying roller 61 is erected at one end of the outlet arm member 63 via an attachment shaft 61a.

[0070] A rotating shaft 64 is erected at the other end of the loading side arm member 62, and a changing side winding roller 66 is rotatably attached to the tip end of the rotating shaft 64, and a changing side gear 68 is fixed to the base end.

[0071] A rotating shaft 65 is erected at the other end of the unloading arm member 63, and a changing side winding roller 67 is rotatably attached to the tip end of the rotating shaft 65, and a changing side gear 69 is fixed to the base end.

[0072] A connecting member 70 is attached to the rotating shafts 64 and 65 so as to be rotatable relative to each other, and the connecting member 70 is set to hold the changing-side gears 68 and 69 in mesh with each other and to maintain a predetermined distance between the changing-side winding rollers 66 and 67. The loading-side arm member 62 and the unloading-side arm member 63 can rotate about the rotating shafts 64 and 65, respectively, via the connecting member 70, allowing them to move relative to each other.

[0073] The tape T is conveyed in by contacting the inlet-side conveying roller 60, passes between the change-side winding rollers 66 and 67, and is conveyed out by contacting the outlet-side conveying roller 61. Therefore, the tape T is conveyed while being wound around the change-side winding rollers 66 and 67.

[0074] Figure 18 is an explanatory diagram showing the process of rotation of the unloading arm member 63 relative to the loading arm member 62, showing the state before rotation (Figure 18(a)) and the state after rotation (Figure 18(b)). For ease of understanding, the change-side winding rollers 66 and 67 are omitted from Figure 18.

[0075] When the unloading arm member 63 is rotated clockwise by an angle β relative to the rotation shaft 65, the change-side gears 68 and 69 are engaged with each other, so that the connecting member 70 rotates clockwise by an angle α relative to the rotation shaft 64 in conjunction with the rotation of the unloading arm member 63. If the numbers of teeth of the change-side gears 68 and 69 are N1 and N2, respectively, the following equation holds true: αN1=βN2

[0076] FIG. 19 is an explanatory diagram of the transport path from the loading position to the unloading position, showing the path before rotation (FIG. 19(a)) and the path after rotation (FIG. 19(b)).

[0077] The conveying path before rotation consists of a path PA from the loading position P where it comes into contact with the loading side conveying roller 60 to the contact point A of the changing side winding roller 66, a path AB from the contact point A to the contact point B wrapped around the changing side winding roller 66, a path BC from the contact point B passing between the changing side winding rollers 66 and 67 to the contact point C of the changing side winding roller 67, a path CD from the contact point C to the contact point D wrapped around the changing side winding roller 67, and a path DQ from the contact point D to the unloading position Q where it comes into contact with the unloading side conveying roller 61.

[0078] After the rotation, the length of the conveying path remains unchanged for path PA because the carry-in side conveying roller 60 and the change-side winding roller 66 are attached to the carry-in side arm member 62; for path B'C', the length remains unchanged from path BC because the change-side winding rollers 66 and 67 are attached to the connecting member 70; and for path DQ, the length remains unchanged because the change-side winding roller 67 and the carry-out side conveying roller 61 are attached to the carry-out side arm member 63.

[0079] For path AB', the winding length of the change-side winding roller 66 decreases as the connecting member 70 rotates clockwise through an angle α, and for path C'D, the winding length of the change-side winding roller 67 increases as the unloading arm member 63 rotates clockwise through an angle β.

[0080] In order to maintain the same path length after rotation as before rotation, the decrease in the winding length of the changing-side winding roller 66 and the increase in the winding length of the changing-side winding roller 67 can be set to be equal. If the radii of the changing-side winding rollers 66 and 67 (radii to the neutral plane of the wound tape T) are R1 and R2, respectively, the decrease in the winding length is αR1 and the increase in the winding length is βR2, and the following equation holds true. αR1=βR2 Based on the above-mentioned relational expression regarding the number of teeth, the radius of the changing-side winding roller and the number of teeth of the changing-side gear may be set so as to satisfy the following expression. N1:N2=R1:R2

[0081] As explained above, a pair of change-side winding rollers 66 and 67, which are conveying members, are connected at a predetermined interval by a connecting member, and the tape T is set to be passed and wound between the change-side winding rollers 66 and 67. The change-side gear changes the winding length of the change-side winding rollers 66 and 67 in conjunction with the relative movement of the carry-in side conveying roller 60 and the carry-out side conveying roller 61, thereby maintaining a constant path length of the conveying path.

[0082] In the fourth embodiment described above, the unloading transport rollers 61 move along an epitrochoid curve relative to the loading transport rollers 60, but this is limited to cases where transport operation along such a transport path is desirable. However, multiple fourth embodiments can be connected to increase the degree of freedom, and if sufficient degree of freedom is ensured, it is possible to accommodate various transport paths, such as linear and arc-shaped.

[0083] Fig. 20 is a schematic diagram of a transport device that combines multiple fourth embodiments, and Fig. 21 is an explanatory diagram of the operation of the transport device shown in Fig. 20. In this example, three transport path changing devices K1 to K3 are combined in series, and the output arm members and input arm members of adjacent transport path changing devices K1 and K2, and K2 and K3, are integrated by arm members F2 and F3, so that the output side of transport path changing device K1 is directly carried in to transport path changing device K2 and then directly carried out from transport path changing device K2 to the input side of transport path changing device K3.

[0084] 21, the three connecting members connecting the arm members F1 to F4 rotate, causing each arm member to rotate, thereby setting the degree of freedom of relative movement between the load-side conveying roller G1 attached to the arm member F1 and the unload-side conveying roller G2 attached to the arm member F4 to 3. The unload-side conveying roller G2 can be positioned at any position within the rotating plane relative to the load-side conveying roller G1, thereby setting the unloading direction to any direction.

[0085] Furthermore, a conveyance path changing device can be configured by directly connecting multiple pairs of changing-side winding rollers. Figure 22 is a perspective view of a conveyance path changing device in which three changing-side winding rollers are directly connected in two pairs.

[0086] The conveying path change device 7 is equipped with an inlet conveying roller 71 and an outlet conveying roller 72, and the inlet conveying roller 71 is erected at one end of an inlet arm member 73 via an attachment shaft 71a, and the outlet conveying roller 72 is erected at one end of an outlet arm member 74 via an attachment shaft 72a.

[0087] A rotating shaft 75 is erected at the other end of the loading side arm member 73, and a changing side winding roller 76 is rotatably attached to the tip end of the rotating shaft 75, and a changing side gear 77 is fixed to the base end.

[0088] A rotating shaft 78 is erected at the other end of the unloading arm member 74, and a changing side winding roller 79 is rotatably attached to the tip end of the rotating shaft 78, and a changing side gear 80 is fixed to the base end.

[0089] Between the loading side arm member 73 and the unloading side arm member 74, a change-side winding roller 82 rotatably attached to a rotating shaft 81 and a change-side gear 83 fixed to the rotating shaft 81 are arranged, and connecting members 84 are rotatably attached to the rotating shafts 75 and 81 relative to each rotating shaft, and connecting members 85 are rotatably attached to the rotating shafts 78 and 81 relative to each rotating shaft.

[0090] The connecting member 84 is set so that the change-side gears 77 and 83 are held in mesh with each other and the distance between the change-side winding rollers 76 and 82 is maintained at a predetermined distance, and the connecting member 85 is set so that the change-side gears 80 and 83 are held in mesh with each other and the distance between the change-side winding rollers 79 and 82 is maintained at a predetermined distance.

[0091] Furthermore, the load-in side arm member 73 and the unload-side arm member 74 are able to rotate and move relative to each other via connecting members 84 and 85. Since the load-in side arm member 73 and the unload-side arm member 74 are connected by three rotation shafts via two connecting members, the degree of freedom of movement of the unload-side arm member 74 relative to the load-in side arm member 73 can be set to two.

[0092] The tape T is conveyed in by contacting the inlet-side conveying roller 71, passes between the change-side winding rollers 76 and 82 and is wound around the change-side winding roller 82, passes between the change-side winding rollers 79 and 82, and is conveyed out by contacting the outlet-side conveying roller 72. Therefore, the tape T is conveyed by being wound around the change-side winding rollers 76, 82, and 79 in order.

[0093] 23 is an explanatory diagram showing the process of rotation of the load-side arm member 73 and the unload-side arm member 74, showing the state before rotation (FIG. 23(a)) and the state after rotation (FIG. 23(b)). In this example, when viewed from the rotation shaft 81, the load-side arm member 73 rotates counterclockwise and the unload-side arm member 74 rotates clockwise, causing the load-side arm member 73 and the unload-side arm member 74 to move relatively closer to each other.

[0094] As described in the fourth embodiment, when the tape T is transported between a pair of changing side winding rollers connected by a connecting member, by setting the ratio of the radii of the pair of changing side winding rollers (radii to the neutral plane of the tape T) to the ratio of the number of teeth of the pair of changing side gears to be the same, the winding length of the tape T on each individual changing side winding roller changes so that the path length is kept constant.

[0095] Therefore, by setting the ratio of the radii of the changing side winding rollers 76, 82, and 79 to the ratio of the number of teeth of the changing side gears 77, 83, and 80 to be the same, the path length is maintained constant in the changing side winding rollers 76 and 82 connected by the connecting member 84, and the path length is maintained constant in the changing side winding rollers 82 and 79 connected by the connecting member 85, and the path length of the conveying path from the loading position where it contacts the loading side conveying roller 70 to the unloading position where it contacts the unloading side conveying roller 72 is maintained constant.

[0096] 24 is a perspective view of a conveyance path changing device in which four changing-side winding rollers are directly connected in three pairs, and FIG. 24 is a cross-sectional view taken along line DD shown in FIG.

[0097] The conveying path change device 8 is equipped with an inlet conveying roller 86 and an outlet conveying roller 87, and the inlet conveying roller 86 is erected at one end of an inlet arm member 88 via an attachment shaft 86a, and the outlet conveying roller 87 is erected at one end of an outlet arm member 89 via an attachment shaft 87a.

[0098] A rotating shaft 90 is erected at the other end of the loading side arm member 88, and a changing side winding roller 91 is rotatably attached to the tip end of the rotating shaft 90, and a changing side gear 92 is fixed to the base end.

[0099] A rotating shaft 93 is erected at the other end of the unloading arm member 89, and a changing side winding roller 94 is rotatably attached to the tip end of the rotating shaft 93, and a changing side gear 95 is fixed to the base end.

[0100] Between the loading side arm member 88 and the unloading side arm member 89, there are arranged a change side winding roller 97 rotatably attached to a rotating shaft 96, a change side gear 98 fixed to the rotating shaft 96, a change side winding roller 100 rotatably attached to a rotating shaft 99, and a change side gear 101 fixed to the rotating shaft 99.

[0101] A connecting member 102 is attached to the rotating shafts 90 and 96 so as to be freely rotatable relative to each rotating shaft, a connecting member 103 is attached to the rotating shafts 93 and 99 so as to be freely rotatable relative to each rotating shaft, and a connecting member 104 is attached to the rotating shafts 96 and 99 so as to be freely rotatable relative to each rotating shaft.

[0102] The connecting member 102 holds the changing side gears 92 and 98 in mesh with each other and is set so that the distance between the changing side winding rollers 91 and 97 is maintained at a predetermined distance, the connecting member 103 holds the changing side gears 95 and 101 in mesh with each other and is set so that the distance between the changing side winding rollers 94 and 100 is maintained at a predetermined distance, and the connecting member 104 holds the changing side gears 98 and 101 in mesh with each other and is set so that the distance between the changing side winding rollers 97 and 100 is maintained at a predetermined distance.

[0103] Furthermore, the load-in side arm member 88 and the unload-side arm member 89 are able to rotate and move relative to each other via connecting members 102, 103, and 104. Since the load-in side arm member 88 and the unload-side arm member 89 are connected to each other by four rotation shafts and three connecting members, the degree of freedom of movement of the unload-side arm member 89 relative to the load-in side arm member 88 can be set to three.

[0104] The tape T is conveyed in by contacting the inlet-side conveying roller 86, passes between the change-side winding rollers 91 and 97 and is wound around the change-side winding roller 97, passes between the change-side winding rollers 97 and 100 and is wound around the change-side winding roller 100, passes between the change-side winding rollers 94 and 100 and is wound around the change-side winding roller 94, and comes into contact with the outlet-side conveying roller 87 to be conveyed out. Therefore, the tape T is conveyed by being wound around the change-side winding rollers 91, 97, 100, and 94 in sequence.

[0105] As in the example described in Figure 22, by setting the ratio of the radii of the changing side winding rollers 91, 97, 100, and 94 to the ratio of the number of teeth of the changing side gears 92, 98, 101, and 95 to be the same, the path length is maintained constant in the changing side winding rollers 91 and 97 connected by connecting member 102, the path length is maintained constant in the changing side winding rollers 100 and 93 connected by connecting member 103, and the path length is maintained constant in the changing side winding rollers 97 and 100 connected by connecting member 104, and the path length of the conveying path from the carry-in position where it contacts the carry-in side conveying roller 86 to the unloading position where it contacts the unloading side conveying roller 87 is maintained constant.

[0106] In the fourth embodiment shown in Figure 16, the loading arm member and the unloading arm member are set to rotate along the same plane, but the transport path change device can also be incorporated when both arm members rotate along different planes.

[0107] FIG. 26 is a perspective view of a transport path changing device in which the loading arm member and the unloading arm member are inclined relative to each other, and FIG. 27 is a cross-sectional view taken along the respective rotation axes of the loading arm member and the unloading arm member.

[0108] The conveying path change device 9 is equipped with an inlet conveying roller 110 and an outlet conveying roller 112, and the inlet conveying roller 110 is erected at one end of an inlet arm member 111 via a mounting shaft 110a, and the outlet conveying roller 112 is erected at one end of an outlet arm member 113 via a mounting shaft 112a.

[0109] At the other end of the loading side arm member 111, a rotating shaft 114a to which the change side winding roller 114 is rotatably attached is fixed in an upright position, and at the other end of the unloading side arm member 113, a rotating shaft 115a to which the change side winding roller 115 is rotatably attached is fixed in an upright position.

[0110] Rotating shafts 114a and 115a are connected by connecting member 116 formed by connecting flat portions 116a and 116b at a predetermined angle. Rotating shaft 114a is rotatably attached to flat portion 116a, and a changing-side gear 117 is fixed to the tip end protruding from flat portion 116a. Rotating shaft 115a is rotatably attached to flat portion 116b, and a changing-side gear 118 is fixed to the tip end protruding from flat portion 116b.

[0111] The change-side gears 117 and 118 are formed in the shape of bevel gears, and a connecting member 116 is used to hold the change-side gears 117 and 118 in a state of meshing with each other, and the change-side winding rollers 114 and 115 are set to be held at a predetermined distance and inclined at a predetermined angle to each other.

[0112] The loading side arm member 111 and the unloading side arm member 113 are capable of relative movement by rotating around rotation axes 114a and 115a, respectively, via a connecting member 116, and are set to rotate in an inclined state relative to each other.

[0113] The rotating shafts 114a and 115a rotate in conjunction with the relative movement of the loading side arm member 111 and the unloading side arm member 113, and the changing side gears 117 and 118 rotate relative to each other while meshing with each other, thereby changing the positional relationship between the changing side winding rollers 114 and 115.

[0114] A guide roller 119 is arranged between the rotating shafts 114a and 115a of the connecting member 116, and the rotating shaft 119a of the guide roller 119 is rotatably attached to a pair of support portions 119b that are erected on the flat portions 116a and 116b of the connecting member 116, respectively.

[0115] The tape T is conveyed in by contacting the inlet-side conveying rollers 110, and as it passes between the change-side winding rollers 114 and 115, its conveying direction is changed to the outlet-side conveying rollers by the guide rollers 119, and the tape T is conveyed out by contacting the outlet-side conveying rollers 112. Therefore, the tape T is conveyed in the outlet-side direction inclined at a predetermined angle to the inlet direction while being wound around the change-side winding rollers 114 and 115.

[0116] As in the fourth embodiment shown in FIG. 16, a pair of change-side winding rollers 114 and 115, which are conveying members, are connected at a predetermined interval by a connecting member 116, and the tape T is set to be passed between the change-side winding rollers 114 and 115 and wound thereon. The winding length of the change-side winding rollers 114 and 115 is changed in conjunction with the relative movement of the carry-in side conveying roller 110 and the carry-out side conveying roller 112 by change-side gears 117 and 118, thereby maintaining a constant path length of the conveying path.

[0117] 28 to 31 are schematic diagrams of a winding device using the above-described conveying path changing device. Fig. 28 shows a winding device using the conveying path changing device 200 described as the first embodiment, and includes, as winding means, a winding roller 210 that winds up the tape T and a drive mechanism 211 that drives and rotates the winding roller 210. A restriction bar 212 is provided in front of the winding roller 210 and parallel to the rotation axis of the winding roller 210.

[0118] The unloading-side transport roller 200a of the transport path changing device 200 is attached to a movable table 202, and the movable table 202 is moved back and forth by a moving mechanism 201 in a straight line parallel to the rotation axis of the winding roller 210. A guide bar 203 is provided upright on the movable table 202, and the tape T unloaded from the unloading-side transport roller 200a passes between the guide bars 203 and is wound up while being restricted by a restricting bar 212 so as to follow the winding roller 210.

[0119] The tape T is wound up while being moved by the movement mechanism 201 in a direction along the rotation axis of the winding roller 210, and the unloading-side transport roller 200a moves in conjunction with the movement of the transport path of the tape T, and the change-side transport roller 200b moves in conjunction with the movement of the unloading-side transport roller 200a, so that the transport path between the loading-side transport roller 200c and the unloading-side transport roller 200a is maintained at a predetermined path length. Therefore, a stable winding operation can be performed without applying slack or excessive tension to the tape T.

[0120] Figure 29 shows a winding device using the transport path change device 300 described as the second embodiment, and as winding means, it is equipped with a winding roller 310 that winds up the tape T and a drive mechanism 311 that drives the winding roller 310 to rotate, and a regulating bar 312 is provided on the front side of the winding roller 310 parallel to the rotation axis of the winding roller 310.

[0121] The unloading-side transport roller 300a of the transport path changing device 300 is attached to a movable table 302, and the movable table 302 is moved back and forth by a moving mechanism 301 in a straight line parallel to the rotation axis of the take-up roller 310. A guide bar 303 is provided upright on the movable table 302, and the tape T unloaded from the unloading-side transport roller 300a passes between the guide bars 303 and is regulated by a regulating bar 312 to follow the take-up roller 310 while being wound up.

[0122] The tape T is wound up while being moved by the movement mechanism 301 in a direction along the rotation axis of the winding roller 310, but as the transport path of the tape T moves, the unloading-side transport roller 300a moves, and in conjunction with the movement of the unloading-side transport roller 300a, the changing-side transport roller 300b moves parallel to the movement path, so that the transport path between the loading-side transport roller 300c and the unloading-side transport roller 300a is maintained at a predetermined path length. Therefore, a stable winding operation can be performed without applying slack or excessive tension to the tape T.

[0123] Figure 30 shows a winding device using a transport path change device 400 that has a plurality of the fourth embodiment, and as winding means, it is equipped with a winding roller 410 that winds up the tape T and a drive mechanism 411 that drives the winding roller 410 to rotate, and a regulating bar 412 is provided on the front side of the winding roller 410 parallel to the rotation axis of the winding roller 410.

[0124] The transport path changing device 400 is configured by connecting three pairs of winding rollers 401a to 401c, each of which has two changing-side winding rollers connected by a connecting member, with arm members 402a to 402d.

[0125] Arm member 402d on the discharge side is fixed to movable table 404 along a direction perpendicular to the rotation axis of winding roller 410, and movable table 404 is moved back and forth by movement mechanism 403 in a straight line parallel to the rotation axis of winding roller 410. Guide bar 405 is provided upright on arm member 492d, and tape T discharged from winding roller pair 401c passes between guide bar 405 and is regulated by regulation bar 412 to follow the winding roller 410 while being wound up.

[0126] The loading arm member 402a is fixed to the frame 406 at a position corresponding to the middle position of the movement range of the arm member 402d.

[0127] The tape T is wound up while being moved by the movement mechanism 403 in a direction along the rotation axis of the take-up roller 410, and as the transport path of the tape T moves, the arm member 402d and the winding roller pair 401c move, and the winding roller pair 401c and the arm member 402c rotate in conjunction with the movement of the arm member 402d. As the arm member 402c rotates, the winding roller pair 401b and the arm member 402b rotate. As the arm member 402b rotates, the winding roller pair 401a rotates because the arm member 402a is fixed.

[0128] The tape T is fed along the arm member 402a so as to pass between the pair of winding rollers 401a, and is then fed sequentially between the pairs of winding rollers 401b and 401c, before being fed out from the guide bar 405. Therefore, the feeding path passing through each pair of winding rollers is maintained at a predetermined path length, so that a stable winding operation can be performed without applying slack or excessive tension to the tape T.

[0129] FIG. 31 is an explanatory diagram of the operation of the conveying path changing device 400 in association with the movement of the arm member 402d. FIG. 31(a) shows a state in which the arm member 402d has moved to the left end position of its movement range, in which the arm members 402a and 402b are aligned in a straight line, and the arm member 402c rotates so as to bend at the winding roller pair 401b. FIG. 31(b) shows a state in which the arm member 402d has moved to the middle position of its movement range, in which the arm member 402b rotates so as to bend at the winding roller pair 401a as the arm member 402d moves. FIG. 31(c) shows a state in which the arm member 402c has moved to the right end position of its movement range, in which the arm members 402d and 402c are aligned in a straight line, and the arm member 402c rotates so as to bend at the winding roller pair 401b.

[0130] In this way, each pair of winding rollers and each arm member rotates so as to fall within the movement range of arm member 402d, thereby maintaining the transport path of tape T at a predetermined path length.

[0131] FIG. 32 is an external perspective view of a lamination molding apparatus using a transport path changing device explained as the third embodiment, as seen from the front side, and FIG. 33 is an external perspective view of the lamination molding apparatus as seen from the rear side.

[0132] The lamination molding device 500 includes a lamination mechanism 510 that cuts the tape T and laminates it on the surface of a workpiece 501 for molding, and a tape transport mechanism 520 that transports the tape T.

[0133] The stacking mechanism 510 has a stacking unit 512 attached to the tip of a robot manipulator 511, and the tape T transported from the tape transport mechanism 520 to the stacking unit 512 is cut to a predetermined length in the stacking unit 512 and adhered to the surface of the workpiece 501 by a stacking roller 512a to be stacked.

[0134] The robot manipulator 511 is configured by connecting six actuating members 511a to 511f to a base unit 503 fixed to the upper surface of a mounting table 502. The actuating member 511a, whose bottom is connected to the top of the base unit 503, is connected to the base unit 503 so as to be rotatable about the central axis of the base unit 503 in the up-down direction.

[0135] An actuating member 511b, whose base end is connected to the upper part of the actuating member 511a, is pivotally supported on the actuating member 511a so as to be able to swing, and an actuating member 511c, which is connected to the tip end of the actuating member 511b, is pivotally supported on the actuating member 511b so as to be able to swing.

[0136] An actuating member 511d connected to the tip end of the actuating member 511c is connected so as to be rotatable around the central axis of the actuating member 511c, and an actuating member 511e connected to the tip end of the actuating member 511d is connected to the actuating member 511d so as to be swingable.

[0137] An operating member 511f is rotatably connected to the tip end of the operating member 511d along the central axis, and a laminated portion 512 is attached to the tip end of the operating member 511f.

[0138] A driving means such as a motor is attached to the connecting portion of each actuating member, and by controlling the driving of each driving means by a control device (not shown), the actuating member 511f at the tip end to which each actuating member is connected can be rotated, tilted at various angles, and moved in various directions. A known robot manipulator can be used for this purpose.

[0139] Then, the tip of the operating member 511f is positioned at the lamination position according to the shape to be laminated and molded, and the lamination part 512 is moved in accordance with the lamination direction and the lamination shape, thereby enabling molding.

[0140] The tape transport mechanism 520 has a transport path formed along the actuating members 511a to 511f of the robot manipulator 511, and is provided with transport path changing devices 521a to 521f corresponding to the connecting portions of the actuating members. In this example, the transport path changing devices have the configuration of the third embodiment described above, and are arranged so that the rotation axes that support the load-side arm member and the unload-side arm member of each transport path changing device coincide with the motion axes about which the connecting portions of the actuating members swing or rotate.

[0141] The output arm member and the input arm member of adjacent transport path changing devices are integrated into a single arm member, and a transport path is formed for the tape T along each arm member. The tape T is transported through each transport path changing device on the transport path, and each arm member operates in accordance with the swing or rotation of each operating member, and each transport path changing device operates in conjunction with each other, so that the tape T is maintained at a predetermined path length and the path is changed.

[0142] Therefore, even if the transport path of the tape T is changed in accordance with the operation of the robot manipulator 511, the path change is performed while maintaining a predetermined path length at the connecting parts of each operating member, and stable transport is achieved without causing slack or excessive tension in the tape T, making it possible to perform stable, good laminate molding.

[0143] 34 to 39 are partial enlarged views of the area where each transport path changing device is arranged. Fig. 34 is an enlarged plan view of the transport path changing device 521a. The tape T is carried in from a tape supply mechanism (not shown) and comes into contact with a guide roller 541a attached to an arm member 531a, before being introduced into the transport path changing device 521a. The arm member 531a is fixed to a mounting frame (not shown) to support the transport path changing device 521a.

[0144] The rotation axis 551a of the conveying path changing device 521a is set to coincide with the rotation axis of the connecting portion of the operating member 511a, and the arm member 531b on the output side of the conveying path changing device 521a is formed in an L-shape and connected to the conveying path changing device 521b.

[0145] The conveying path changing device 521a changes the path while maintaining a predetermined path length in conjunction with the relative movement of the fixed arm member 531a and the arm member 531b connected to the conveying path changing device 521b in accordance with the rotational movement of the operating member 511a.

[0146] 35 is an enlarged side view of conveyance path changing device 521b. Tape T comes into contact with guide roller 541b attached to arm member 531b and is introduced into conveyance path changing device 521b. Arm member 531b is connected to arm member 531a and is supported together with conveyance path changing device 521b.

[0147] The rotation axis 551b of the conveying path changing device 521b is set to coincide with the swing axis of the connecting portion of the operating member 511b, and the arm member 531c on the output side of the conveying path changing device 521b is formed in a straight line and connected to the conveying path changing device 521c.

[0148] The conveying path changing device 521b changes the path while maintaining a predetermined path length in conjunction with the relative movement of the arm member 531b connected to the conveying path changing device 521a and the arm member 531c connected to the conveying path changing device 521c in accordance with the swinging movement of the operating member 511b.

[0149] 36 is an enlarged side view of the conveying path changing device 521c. The tape T is introduced into the conveying path changing device 521b along the arm member 531c. The arm member 531c is connected to the arm member 531a via the arm member 531b and is supported together with the conveying path changing devices 521b and 521c.

[0150] A rotation axis 551c of the conveying path changing device 521c is set to coincide with the swing axis of the connecting portion of the operating member 511c, and an arm member 531d on the output side of the conveying path changing device 521c is formed in an L shape and connected to the conveying path changing device 521d. The tape T comes into contact with a guide roller 541c attached to the arm member 531d and is conveyed to the conveying path changing device 521d.

[0151] The conveying path changing device 521c changes the path while maintaining a predetermined path length in conjunction with the relative movement of the arm member 531c connected to the conveying path changing device 521b and the arm member 531d connected to the conveying path changing device 521d in accordance with the swinging motion of the operating member 511c.

[0152] 37 is an enlarged rear view of conveying path changing device 521d. Tape T is introduced into conveying path changing device 521b along arm member 531d. Arm member 531d is connected to arm member 531b via arm member 531c and is supported together with conveying path changing devices 521c and 521d.

[0153] A rotation axis 551d of the conveying path changing device 521d is set to coincide with the rotation axis of the connecting portion of the operating member 511d, and an arm member 531e on the output side of the conveying path changing device 521d is formed in an L-shape and connected to the conveying path changing device 521e. The tape T comes into contact with guide rollers 542a and 541d attached to the arm member 531e and is conveyed to the conveying path changing device 521e.

[0154] The conveying path changing device 521d changes the path while maintaining a predetermined path length in conjunction with the relative movement of the arm member 531d connected to the conveying path changing device 521c and the arm member 531e connected to the conveying path changing device 521e in accordance with the rotational movement of the operating member 511d.

[0155] 38 is an enlarged side view of conveyance path changing device 521e. Tape T is introduced into conveyance path changing device 521e along arm member 531e. Arm member 531e is connected to arm member 531c via arm member 531d and is supported together with conveyance path changing devices 521c and 521d.

[0156] A rotation axis 551e of the conveying path changing device 521e is set to coincide with the swing axis of the connecting portion of the operating member 511e, and an arm member 531f on the discharge side of the conveying path changing device 521e is formed in an L shape and connected to the conveying path changing device 521f, with the end on the conveying path changing device 521f side fixed to the stacking unit 512. The tape T comes into contact with guide rollers 542b and 541e attached to the arm member 531f and is conveyed to the conveying path changing device 521f.

[0157] The conveying path changing device 521e changes the path while maintaining a predetermined path length in conjunction with the relative movement of the arm member 531e connected to the conveying path changing device 521d and the arm member 531f connected to the conveying path changing device 521f in accordance with the swinging motion of the operating member 511e.

[0158] 39 is an enlarged front view of the conveying path changing device 521f. The tape T is introduced into the conveying path changing device 521b along the arm member 531f. The arm member 531f is fixed to the stacking unit 512 and is supported together with the conveying path changing device 521f.

[0159] The rotation axis 551f of the conveying path change device 521f is set to coincide with the rotation axis of the connecting portion of the operating member 511f, and the tape T comes into contact with a guide roller (not shown) in the stacking section 512 and is conveyed into the stacking section 512.

[0160] The transport path changing device 521c changes the path while maintaining a predetermined path length in conjunction with the relative movement of the arm member 531f and the operating member 511f connected to the transport path changing device 521e in accordance with the rotational movement thereof.

[0161] As described above, the rotation axes of the transport path change devices 521a to 521f of the tape transport mechanism 520 are arranged to coincide with the operating axes of the operating members 511a to 511f of the robot manipulator 511, so that it is possible to operate each operating member while avoiding interference between each operating member and each arm member of the tape transport mechanism, and even when the transport path of the tape transport mechanism is changed due to a stacking operation, each transport path change device can change the path while maintaining a predetermined path length in conjunction with the stacking operation.

[0162] In addition, in the above example, the arm member 531a on the loading side and the arm member 531f on the unloading side of the tape transport mechanism are fixed and attached, but it is also possible to fix arm members other than these to parallel operating members (for example, by attaching a bridging member midway between the arm member 531e and the operating member 531d), thereby enabling more stable operation.

[0163] Figure 40 is an external perspective view, seen from the rear side, of another laminate molding apparatus using the conveying path changing device shown in Figure 24. The configuration other than the conveying path changing device is the same as that of the laminate molding apparatus shown in Figures 32 and 33, so a description thereof will be omitted.

[0164] The stacking mechanism 610, like the stacking mechanism 510, is equipped with a robot manipulator 611 and a stacking unit 612, and the tape transport mechanism 620, like the tape transport mechanism 520, is equipped with transport path change devices 621a to 621f arranged corresponding to the connecting portions of each operating member of the robot manipulator 611, and connected by arm members.

[0165] 41 is a schematic diagram of the transport path changing device 621. The transport path changing device 621 is configured by directly connecting four change-side winding rollers 651a to 651d in three pairs by three connecting members.

[0166] The changing side winding roller 651d is rotatably supported by a support member 631a erected on the arm member 631, and the changing side winding roller 651a is rotatably supported by a support member 632a erected on the arm member 632.

[0167] The arm members 631 and 632 are rotatably supported by a rotary shaft 633 between the changing-side winding rollers 651a and 651d, and the changing-side winding rollers 651a and 651d rotate in conjunction with the rotation of the arm members 631 and 632. As the changing-side winding rollers 651a and 651d rotate, the changing-side winding rollers 651b and 651c move in conjunction with them.

[0168] A guide roller 642 is rotatably attached to the arm member 631 via an attachment shaft 642a, and the guide roller 642 is positioned so that the tape T is reliably wound around the change-side winding roller 651d. The guide roller 642 can also be attached to the arm member 632 and positioned so that the tape T is reliably wound around the change-side winding roller 651a.

[0169] The tape T is transported along the arm member 632, wound around the change side winding roller 651a, passes between it and the change side winding roller 651b, wound around the change side winding roller 651b, passes between it and the change side winding roller 651c, wound around the change side winding roller 651c, passes between it and the change side winding roller 651d, wound around the change side winding roller 651d, comes into contact with the guide roller 642, and is transported out.

[0170] The change-side winding rollers 651a to 651d move in conjunction with the rotational movement of the arm members 631 and 632, and by changing the path while maintaining a predetermined path length, the tape T can be transported stably without slack or excessive tension.

[0171] 42 to 47 are partial enlarged views of the area where each conveyance path changing device is located. FIG. 42 is an enlarged plan view of the conveyance path changing device 621a. The changing-side winding roller of conveyance path changing device 621a is disposed around a rotation shaft that supports arm members 631a and 631b, and a guide roller is attached to the loading-side arm member 631a. The rotation shaft that supports arm members 631a and 631b coincides with the rotation shaft of the connecting portion of actuating member 611a, and as arm members 631a and 631b rotate relatively in accordance with the rotational movement of actuating member 611a, conveyance path changing device 621a works in conjunction with it to change the path while maintaining a predetermined path length.

[0172] 43 is an enlarged side view of conveyance path changing device 621b. The changing-side winding roller of conveyance path changing device 621b is disposed around a rotation shaft that supports arm members 631b and 631c, and a guide roller is attached to input-side arm member 631b. The rotation shaft that supports arm members 631b and 631c coincides with the swing axis of the connecting portion of actuating member 611b, and as arm members 631b and 631c rotate relatively in accordance with the swinging movement of actuating member 611b, conveyance path changing device 621b works in conjunction with it to change the path while maintaining a predetermined path length.

[0173] 44 is an enlarged side view of conveyance path changing device 621c. The changing-side winding roller of conveyance path changing device 621c is disposed around a rotation shaft that supports arm members 631c and 631d, and a guide roller is attached to arm member 631c on the unloading side. The rotation shaft that supports arm members 631c and 631d coincides with the swing axis of the connecting portion of actuating member 611c, and as arm members 631c and 631d rotate relatively in accordance with the swinging movement of actuating member 611c, conveyance path changing device 621c works in conjunction with it to change the path while maintaining a predetermined path length.

[0174] 45 is an enlarged rear view of conveyance path changing device 621d. The change-side winding roller of conveyance path changing device 621d is disposed around a rotation shaft that supports arm members 631d and 631e. The rotation shaft that supports arm members 631d and 631e coincides with the rotation shaft of the connecting portion of actuating member 611d, and as arm members 631d and 631e rotate relatively in accordance with the rotational movement of actuating member 611d, conveyance path changing device 621d works in conjunction with this to change the path while maintaining a predetermined path length.

[0175] 46 is an enlarged side view of conveyance path changing device 621e. The changing-side winding roller of conveyance path changing device 621e is disposed around a rotation shaft that supports arm members 631e and 631f, and a guide roller is attached to arm member 631f on the carry-out side. The rotation shaft that supports arm members 631e and 631f coincides with the swing axis of the connecting portion of actuating member 611e, and as arm members 631e and 631f rotate relatively in accordance with the swinging movement of actuating member 611e, conveyance path changing device 621e works in conjunction with it to change the path while maintaining a predetermined path length.

[0176] 47 is an enlarged front view of conveyance path changing device 621f. The changing-side winding roller of conveyance path changing device 621f is disposed around the end of arm member 631f, which is rotatably supported on stacking unit 612, and the rotation axis of the end of arm member 631f coincides with the rotation axis of the connecting portion of actuating member 611f. As arm member 631f and stacking unit 612 rotate relatively in accordance with the rotational movement of actuating member 611f, conveyance path changing device 621f works in conjunction with this to change the path while maintaining a predetermined path length.

[0177] As described above, in the tape transport mechanism 620, the rotation axes of the arm members to which the transport path changing devices 621a to 621f are attached are arranged to coincide with the operating axes of the operating members 611a to 611f of the robot manipulator 611, so that it is possible to operate the operating members while avoiding interference between each operating member and each arm member of the tape transport mechanism, and even when the transport path of the tape transport mechanism is changed due to a stacking operation, each transport path changing device can change the path while maintaining a predetermined path length in conjunction with the stacking operation.

[0178] FIG. 48 is an external perspective view, seen from the front side, of still another lamination molding apparatus using the transport path changing device described as the third embodiment.

[0179] The laminate molding apparatus 700 includes a lamination mechanism 710 that wraps tape T around the circumferential surface of a rotating workpiece 701 to laminate it, and a tape transport mechanism 720 that transports the tape T. The lamination mechanism 710 is configured similarly to the lamination mechanism 510 of the laminate molding apparatus 500 shown in FIG. 32, and the tape transport mechanism 720 is configured similarly to the tape transport mechanism 520 of the laminate molding apparatus 500 shown in FIG.

[0180] Then, the stacking unit 712 attached to the tip of the robot manipulator 711 moves along the rotation axis of the workpiece 701, carrying out the tape T and winding it around the circumferential surface of the workpiece 701, thereby stacking the tape T over the entire circumferential surface to a predetermined thickness and forming it.

[0181] When the stacking section 712 moves, each operating member of the robot manipulator 511 rotates or swings, and each transport path change device attached to each operating member in the tape transport mechanism 720 changes the path while maintaining a predetermined path length in conjunction with the operation of each operating member, similar to the tape transport mechanism 520 shown in Figure 32.

[0182] As described above, the conveying path is mechanically changed in conjunction with the relative movement of the long object between the loading position and the unloading position, and the path length is maintained. This makes it possible to realize a conveying device with a simple configuration without using complex devices such as tension adjustment mechanisms and control devices used in conventional conveying devices. Furthermore, since the mechanical elements used are rotating parts, pulleys, gears, and other parts that operate with high responsiveness and precision, it is fully capable of handling high-speed conveying operations.

[0183] In the above example, gears, which are transmission parts, are used as mechanical elements, but transmission parts other than gears, such as wires and belts, can also be used, and are not particularly limited.

[0184] The device can also be used to transport a wide range of long materials, including not only tape but also rope, wire, thread, etc. Furthermore, it can also be used to transport highly flexible, low bending rigidity materials such as films and webs that are resistant to bending deformation. [Explanation of symbols]

[0185] T···Tape, 1··Transport path changing device, 2···Mounting frame, 10··Inlet side transport roller, 11··Guide bar, 20··Outlet side transport roller, 21··Guide bar, 30··Change side transport roller, 31··Guide bar, 4··Transport path changing device, 40···Mounting frame, 41··Rack member, 42···Rack member, 43··Inlet side transport roller, 44··Outlet side transport roller, 45··Change side transport roller, 45a···Spur gear, 5··Transport Path changing device, 50... load-in side conveying roller, 51... unload-side conveying roller, 52... load-in side arm member, 53... unload-side arm member, 54... rotating shaft, 55a, 55b... guide roller, 55c... gear, 56... changing side conveying roller, 57a to 57d... gear, 6... conveying path changing device, 60... load-in side conveying roller, 61... unload-side conveying roller, 62... load-in side arm member, 63... unload-side arm member, 64, 65... rotating shaft, 66, 67... 7. Conveyance path changing device; 71. Loading-side conveyance roller; 72. Unloading-side conveyance roller; 73. Loading-side arm member; 74. Unloading-side arm member; 75, 78, 81. Rotating shaft; 76, 79, 82. Change-side winding roller; 77, 80, 83. Change-side gear; 84, 85. Connecting member; 8. Conveyance path changing device; 86. Loading-side conveyance roller; 87. Unloading-side conveyance roller 88... Loading-side arm member, 89... Unloading-side arm member, 90, 93, 96, 99... Rotating shaft, 91, 94, 97, 100... Changing-side winding roller, 92, 95, 98, 101... Changing-side gear, 102, 103, 104... Connecting member, 9... Conveyance path changing device, 110... Loading-side conveyance roller, 112... Unloading-side conveyance roller, 111... Loading-side arm member, 113... Unloading-side arm member, 114, 115... Changing-side winding roller, 114a,115a... Rotating shaft, 116... Connecting member, 117, 118... Changing side gear, 119... Guide roller, 200... Conveyance path changing device, 201... Moving mechanism, 202... Moving table, 203... Guide bar, 210... Winding roller, 211... Driving mechanism, 212... Restricting bar, 300... Conveyance path changing device, 301... Moving mechanism, 302... Moving table, 303... Guide bar, 310... Winding roller, 311... Driving mechanism, 312 Regulating bar, 400 Conveying path changing device, 401a to 401c Winding roller pair, 402a to 402d Arm member, 403 Moving mechanism, 404 Moving table, 405 Guide bar, 406 Frame, 410 Winding roller, 411 Drive mechanism, 412 Regulating bar, 500 Laminating molding device, 501 Workpiece, 502 Placement table, base portion, 503, 510 Laminating mechanism, 511 Robot manipulators 511a to 511f, operating members 512, stacking units 520, tape transport mechanisms 521a to 521f, transport path change devices 531a to 531f, arm members 541a to 541e, guide rollers 551a to 551f, rotating shafts 600, stacking molding devices 610, stacking mechanisms 611, robot manipulators 611a to 611f, operating members 612, stacking units 620, Tape transport mechanism, 621a to 621f... Transport path changing device, 631... Arm member, 631a to 631f... Arm member, 632... Arm member, 633... Rotation shaft, 641a to 641e... Guide roller, 642... Guide roller, 651a to 651d... Changing side winding roller, 700... Lamination molding device, 710... Lamination mechanism, 711... Robot manipulator, 712... Lamination unit, 720... Tape transport mechanism

Claims

1. A conveying path changing device for long items, comprising: an inlet-side conveying means that contacts and conveys the long items being conveyed at an inlet position; an outlet-side conveying means that contacts and conveys the long items being conveyed at an outlet position; and a path changing means that changes the conveying path between the inlet position and the outlet position in conjunction with the relative movement between the inlet position and the outlet position so as to maintain a predetermined path length.

2. The conveying path changing device of claim 1, wherein the path changing means comprises a changing side conveying means that folds back the long object conveyed from the loading side conveying means and conveys it to the unloading side conveying means, and an interlocking means that moves the changing side conveying means in conjunction with the relative movement between the loading position and the unloading position so as to maintain the conveying path between the loading position and the unloading position at a predetermined path length.

3. the unloading-side transport means is set so that the unloading position moves along a linear movement path, The path change means is set so that the intersection angle between the movement path and the discharge-side changed path along the conveying path between the change-side conveying means and the discharge-side conveying means is the same as the intersection angle between the movement path and the discharge-side changed path along the conveying path between the input-side conveying means and the change-side conveying means, and the interlocking means moves the change-side conveying means in conjunction with the discharge position so that the discharge-side changed path moves parallel.

4. the unloading-side transport means is set so that the unloading position moves along a linear movement path, The path change means is set so that an output-side change path along the conveying path between the change-side conveying means and the output-side conveying means and an input-side change path along the conveying path between the input-side conveying means and the change-side conveying means are parallel to the movement path, and the interlocking means moves the change-side conveying means so that the movement distance is half the movement distance of the output-side conveying means.

5. the unloading-side conveying means is set so that the unloading position moves by rotating; 3. The transport path changing device according to claim 2, wherein the interlocking means rotates the change-side transport means in conjunction with the rotational operation of the unloading position so as to maintain the transport path between the loading position and the unloading position at a predetermined path length.

6. The conveying path changing device of claim 1, wherein the path changing means comprises at least a pair of conveying members connected at a predetermined interval by a connecting member, a changing side conveying means which passes the long object conveyed from the loading side conveying means between the conveying members, wraps it around the conveying members, and conveys it to the unloading side conveying means, and a linkage means which changes the wrapping length of the long object around the conveying member in conjunction with the relative movement of the loading position and the unloading position so as to maintain the conveying path between the loading position and the unloading position at a predetermined path length.

7. The conveying path changing device according to claim 6, wherein the change-side conveying means connects adjacent conveying members of the connected pairs of conveying members and passes and winds the long object between the respective conveying members.

8. A conveying device for a long object, comprising the conveying path changing device according to any one of claims 1 to 7.

9. 8. A winding device for a long material, comprising: a conveying path changing device according to claim 1; and a winding means for winding up the long material conveyed out of the path changing device.

10. 8. A lamination molding apparatus comprising: a tape transport mechanism including the transport path changing device according to claim 5; and a lamination mechanism that laminates the tape material transported by the tape transport mechanism.

11. A method for changing the transport path of a long-length object, which changes the transport path of a long-length object transported from an input position and transports it from an output position, and changes the transport path between the input position and the output position in conjunction with relative movement between the input position and the output position so as to maintain a predetermined path length.

12. A method for changing the conveying path of a long-length object as described in claim 11, wherein a changing side conveying means arranged on the conveying path between the loading position and the unloading position conveys the long-length object so that it turns back from the loading position to the unloading position, and the changing side conveying means changes the conveying path in conjunction with the relative movement of the loading position and the unloading position.

13. A method for changing the conveying path of long objects as described in claim 11, in which at least a pair of conveying members connected at a predetermined interval by a connecting member are arranged on a conveying path between the loading position and the unloading position, a long object is passed between the conveying members and wrapped around the conveying members for transport, and the conveying path is changed by changing the wrapping length of the long object around the conveying members in conjunction with the relative movement of the loading position and the unloading position.

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