End effector, robot, and production system

Abstract

To provide an end effector, a robot, and a production system capable of attaching a linear member to an object by moving the linear member.SOLUTION: An end effector 20 includes: a joint part 21; an introduction part 22 for introducing a linear member; a discharge part 23 for discharging the linear member; and a support part 24 for supporting these parts. The support part 24 includes a first support part 24a and a second support part 24b. The second support part 24b is connected to the first support part 24a such that an extension axis O2 of the second support part 24b intersects an extension axis O1 of the first support part 24a and the second support part 24b is located on a side opposite to the joint part 21 across the first support part 24a. A robot includes the end effector 20. A production system includes the robot and a control part for controlling the robot.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an end effector, a robot, and a production system.

Background Art

[0002] Conventional end effectors have a terminal head that supports an annular support for attaching a linear member to the annular support (see, for example, Patent Document 1). The terminal head is attached to the tip of a robot arm in order to adhere a linear member from an extruder provided in an extrusion device to the annular support. That is, according to the end effector described in Patent Document 1, the linear member can be adhered to a desired position of the annular support by moving the annular support relative to the extruder.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the end effector described in Patent Document 1 was intended to move an object for attaching the linear member relative to the linear member.

[0005] An object of the present invention is to provide an end effector, a robot, and a production system capable of attaching a linear member to an object by moving the linear member.

Means for Solving the Problems

[0006] The end effector according to the present invention includes a joint portion, an introduction portion for introducing a linear member, a discharge portion for discharging the linear member introduced from the introduction portion, and a support portion for supporting the joint portion, the introduction portion, and the discharge portion. The support portion includes a first support portion where the joint portion and the introduction portion are spaced apart from each other, and a second support portion where the discharge portion is disposed. The second support portion is connected to the first support portion such that an extension axis of the second support portion intersects an extension axis of the first support portion and the second support portion is located on a side facing the joint portion with the first support portion interposed therebetween. According to the end effector of the present invention, the linear member can be attached to an object by moving the linear member.

[0007] The end effector according to the present invention preferably has a drive rotation portion between the first support portion and the second support portion for rotating the second support portion with respect to the first support portion. In this case, it becomes possible to attach the linear member to the object at a wider angle.

[0008] The end effector according to the present invention preferably has an information acquisition portion for obtaining peripheral information of the object on the second support portion. In this case, it becomes possible to attach the linear member to the object with higher accuracy.

[0009] The end effector according to the present invention preferably has a tension control portion for controlling the tension of the linear member on the first support portion. In this case, it becomes possible to attach the linear member to the object with higher accuracy.

[0010] In the end effector according to the present invention, the joint portion preferably has a structure that is detachable from a robot arm. In this case, it can be applied to existing general-purpose robots.

[0011] The robot according to the present invention has the end effector described in any of the above. According to the robot of the present invention, by moving the linear member, it is possible to attach the linear member to the object.

[0012] The robot arm according to the present invention preferably has six or more degrees of freedom. In this case, the linear member can be attached with an operation closer to that of a human.

[0013] The production system according to the present invention includes the above robot, a linear member supply unit that supplies the linear member to the robot, an object support unit that supports the object, and a robot control unit that controls the robot so as to attach the linear member to the object. According to the production system of the present invention, by moving the linear member, it is possible to attach the linear member to the object.

[0014] The production system according to the present invention preferably includes an object drive unit for moving the object and an object drive unit control unit for controlling the object drive unit. In this case, it is possible to attach the linear member to the object with higher accuracy.

[0015] In the production system according to the present invention, the object drive unit includes an object rotation drive unit for rotating the object, and the robot control unit preferably performs position control of the robot so that the end effector is located at a predetermined position according to the rotation angle of the object. In this case, the winding of the linear member around the object can be performed with higher accuracy.

[0016] In the production system according to the present invention, it can be assumed that there is one of the object support units and a plurality of units arranged around the one object support unit, and each of the plurality of units includes one of the robots and the linear member supply unit that supplies the linear member to the one robot. In this case, a plurality of linear members can be efficiently attached to one object.

[0017] In the production system according to the present invention, the object is preferably an annular member. In this case, a linear member such as a cord can be attached to an annular member such as an unvulcanized rubber tire.

Advantages of the Invention

[0018] According to the present invention, it is possible to provide an end effector, a robot, and a production system capable of attaching a linear member to an object by moving the linear member.

Brief Description of the Drawings

[0019]

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, with reference to the drawings, an end effector, a robot, and a production system according to an embodiment of the present invention will be described.

[0021] In FIG. 1, reference numeral 1 denotes a pneumatic tire (hereinafter also referred to as "tire") that can be manufactured by using an end effector, a robot, and / or a production system according to an embodiment of the present invention. In FIG. 1, the tire 1 is shown in a state of being filled with a specified internal pressure while being mounted on an application rim (not shown) and in a no-load state.

[0022] Here, the "application rim" refers to a standard rim (Measuring Rim in the ETRTO's STANDARDS MANUAL, Design Rim in the TRA's YEAR BOOK) in the applicable size described in the industrial standards effective in the region where the tire is produced and used, such as the JATMA YEAR BOOK of JATMA (Japan Automobile Tire Association) in Japan, the STANDARDS MANUAL of ETRTO (The European Tyre and Rim Technical Organisation) in Europe, and the YEAR BOOK of TRA (The Tire and Rim Association, Inc.) in the United States, or those to be described in the future. (That is, the above "rim" includes sizes that may be included in the above industrial standards in the future in addition to the current sizes. Examples of "sizes to be described in the future" include those described as "FUTURE DEVELOPMENTS" in the 2013 edition of ETRTO. However, in the case of a size not described in the above industrial standards, it refers to a rim having a width corresponding to the bead width of the tire.)

[0023] Also, the "specified internal pressure" refers to the air pressure (maximum air pressure) corresponding to the maximum load capacity of a single wheel in the applicable size and ply rating described in the above JATMA, etc. In the case of a size not described in the above industrial standards, the "specified internal pressure" shall refer to the air pressure (maximum air pressure) corresponding to the maximum load capacity specified for each vehicle on which the tire is mounted.

[0024] The tire 1 has a tread portion 3, a pair of shoulder portions 4, a pair of sidewall portions 5, a pair of bead portions 6, and a toroidal carcass 2 extending therebetween. One of the pair of bead portions 6 is connected to one of the two sidewall portions 5 (the serial sidewall portion). The other of the pair of bead portions 6 is connected to the other of the two sidewall portions 5 (the anti-serial sidewall portion). In FIG. 1, one (or the other) of the two sidewalls is not shown.)

[0025] Also, a bead 7 is embedded in each of the pair of bead portions 6. In the tire 1, the carcass 2 has a toroidal carcass main body portion 2a and two carcass turn-up portions 2b connected to the carcass main body portion 2a (in FIG. 1, one (or the other) of the two carcass turn-up portions 2b is not shown.). The carcass main body portion 2a passes inside the tire central axis of the bead 7 from the outer side in the tire radial direction toward the inner side in the tire axial direction. The carcass turn-up portion 2b passes around the bead 7 from the carcass main body portion 2a to the outside of the tire central axis and extends from the inner side in the tire radial direction toward the outer side in the tire axial direction of the bead 7. That is, the carcass turn-up portion 2b is folded back to the outside in the tire radial direction around the bead 7. As a result, the bead 7 is embedded inside the folded-back portion of the carcass 2. In the tire 1, the carcass 2 is a radial carcass and is composed of one carcass layer (carcass ply), but in the tire 1, it can be changed to two or more layers as needed. The bead 7 is formed by winding at least one bead wire 8 around the tire central axis. The tire 1 also has a pair of bead fillers 9. The bead fillers 9 are respectively disposed adjacent to the outside in the tire radial direction of the bead 7 (in FIG. 1, one (or the other) of the pair of bead fillers 9 is not shown.). That is, the bead fillers 9 are also embedded inside the folded-back portion of the carcass 2.

[0026] Further, the tire 1 has a rubber inner liner 10 inside the carcass 2. Furthermore, the tire 1 has a belt 11 outside the carcass 2 in the tire radial direction and inside the tread portion 3. The belt 11 can be at least one layer. In the tire 1, the belt 11 illustratively includes two belts, an inner belt layer 11a disposed on the inner side in the tire radial direction and an outer belt layer 11b disposed on the outer side in the tire radial direction than the inner belt layer 11a. Also, the tire 1 has a reinforcing layer (not shown) outside the carcass 2 in the tire radial direction and inside the shoulder portion 4. The reinforcing layer can be at least one layer. In the tire 1, the reinforcing layer illustratively includes two reinforcing layers, an inner reinforcing layer disposed on the inner side in the tire radial direction and an outer reinforcing layer disposed on the outer side in the tire radial direction than the inner reinforcing layer. Note that the pneumatic tire that can be manufactured by using the end effector, robot, and / or production system according to the present invention is not limited to the tire 1 having the structure shown in FIG. 1. The end effector, robot, and / or production system according to the present invention can be used for manufacturing tires of various configurations as long as they include a configuration in which a linear member is wound around the configuration of the tire, as will be described later.

[0027] FIG. 2 schematically shows a production system 100 according to an embodiment of the present invention that can be used for manufacturing the tire 1.

[0028] The production system 100 according to the present embodiment includes a robot 110 according to an embodiment of the present invention, a linear member supply unit 120 that supplies a linear member L to the robot 110, a festoon 130 disposed between the robot 110 and the linear member supply unit 120, an object support unit 140 that supports an object M, and a control unit (robot control unit) 150 that controls the robot 110 to attach the linear member L to the object M. However, according to the present invention, the festoon 130 is not an essential requirement. For example, when a tension control unit 26 is provided in the end effector 20 described later as in the present embodiment, the festoon 130 can be omitted.

[0029] In the production system 100, the object M is an annular member. In this embodiment, the annular member is an unvulcanized rubber tire. Also, in this embodiment, the linear member supply unit 120 supplies the bead wire 8. That is, in this embodiment, the linear member L is the bead wire 8.

[0030] In this embodiment, the linear member supply unit 120 has a rotating drum 121 for winding and storing the bead wire 8 as the linear member L. In this embodiment, the bead wire 8 wound around the rotating drum 121 is covered with a covering material 8a for protecting the bead wire 8 from scratches and the like.

[0031] The production system 100 in FIG. 2 further has a covering material recovery unit 160. The covering material recovery unit 160 recovers the covering material 8a removed from the bead wire 8 drawn out from the linear member supply unit 120.

[0032] The festoon 130 can remove the winding kinks remaining in the linear member L, the residual stress remaining in the linear member L, or both. In this embodiment, the festoon 130 has a support column 131, a fixed roller 133 rotatably fixed to the support column 131, and a sliding roller 132 provided rotatably and slidably with respect to the support column 131. The linear member L is wound between the fixed roller 133 and the sliding roller 132. The winding kinks and the like of the linear member L can be removed by separating the fixed roller 133 and the sliding roller 132.

[0033] Robot 110 has an end effector 20, which will be described later. In this embodiment, robot 110 has a robot arm 112 including a joint 111. The end effector 20 is attached to the tip of the robot arm 112. Also, in this embodiment, the movement of robot 110 is controlled by a control unit 150. A specific example of the control unit 150 is a computer. The movement of robot 110 can be controlled, for example, based on a program installed in the computer.

[0034] Referring to FIG. 3, robot 110 is composed of a robot arm 112 having at least one joint 111 and an end effector 20. In this embodiment, the end effector 20 is attached to the tip E112 of the robot arm 112.

[0035] Robot 110 has six or more degrees of freedom. In this embodiment, robot 110 is a six-axis robot. The robot arm 112 has a first arm 112a, a second arm 112b, a third arm 112c, a fourth arm 112d, a fifth arm 112e, a sixth arm 112f, and a seventh arm 112g. The six-axis robot has six joints (111a to 111f). The first joint 111a pivotally connects, for example, the second arm 112b to the first arm 112a. The second joint 111b pivotally connects, for example, the third arm 112c to the second arm 112b in the front-rear direction. The third joint 111c pivotally connects, for example, the fourth arm 112d to the third arm 112c in the vertical direction. The fourth joint 111d pivotally connects, for example, the fifth arm 112e to the fourth arm 112d. The fifth joint 111e pivotally connects the sixth arm 112f to the fifth arm 112e in the vertical direction. The sixth joint 111f pivotally connects, for example, the seventh arm 111g to the sixth arm 112f. The tip of the seventh arm 111g constitutes the tip E112 of the robot arm 112. An end effector 20 can be attached to the tip of the seventh arm 111g. Therefore, in the coordinate system of the XYZ axes, the robot 110 has degrees of freedom in three linear directions of the X-axis direction, the Y-axis direction, and the Z-axis direction, and also has degrees of freedom around three axes around the X-axis, around the Y-axis, and around the Z-axis.

[0036] Here, the X-axis, the Y-axis, and the Z-axis are axes that are perpendicular to each other. According to this embodiment, for example, the Z-axis can be set to be parallel to the vertical direction. Also, according to this embodiment, the X-axis can be set to be parallel to the tire center axis when the tire center axis is included in the horizontal plane. Further, according to this embodiment, the Y-axis can be set to be parallel to the tire width direction center line when the tire width direction center line is viewed in the horizontal plane with the tire center axis included in the horizontal plane.

[0037] Also, referring to FIG. 2, the production system 100 includes an object driving unit 141 for moving the object M, and a control unit (object driving unit control unit) 150 for controlling the object driving unit 141. The object driving unit 141 is provided on the object support unit 140. In the present embodiment, the movement of the object driving unit 141 is controlled by the control unit 150. The movement of the object driving unit 141 can also be controlled based on a program installed in a computer. In the present embodiment, the movements of the robot 110 and the object driving unit 141 are associated by the control unit 150. In the present embodiment, the control of the robot 110 and the object driving unit 141 is executed by a common control unit 150. However, according to the present invention, the robot 110 and the object driving unit 141 can each be controlled by a separate control unit. In this case, the individual control units enable two-way communication with each other.

[0038] The object driving unit 141 includes an object rotation driving unit 141a for rotating the object M. The object rotation driving unit 141a can rotate the object M about the rotation axis О141. In the present embodiment, the object rotation driving unit 141a can rotate around the rotation axis О141 at predetermined angles according to a command from the control unit 150. Further, the control unit 150 performs position control of the robot 110 so that the end effector 20 is located at a predetermined position corresponding to the rotation angle of the object M. The robot 110 moves the end effector 20 to a target position corresponding to the rotation angle of the object M according to a command from the control unit 150.

[0039] FIG. 4 schematically shows the end effector 20 according to an embodiment of the present invention in a state where the second support portion 24b of the end effector 20 is in the correct position. Here, the correct position is a position where the winding roller 23a described later is located on the upper side and the winding roller 23a faces one side surface S1 of the object M, and the second support portion 24b is positioned.

[0040] The end effector 20 has a joint portion 21, an introduction portion 22 for introducing the linear member L, a discharge portion 23 for discharging the linear member L introduced from the introduction portion 22, and a support portion 24 for supporting the joint portion 21, the introduction portion 22, and the discharge portion 23. The support portion 24 has a first support portion 24a where the joint portion 21 and the introduction portion 22 are arranged at an interval, and a second support portion 24b where the discharge portion 23 is arranged. The second support portion 24b is connected to the first support portion 24a such that the extension axis О2 of the second support portion 24b intersects the extension axis О1 of the first support portion 24a and the second support portion 24b is located on the side facing the joint portion 21 across the first support portion 24a. In the present embodiment, the joint portion 21 can be attached to the tip of the seventh arm 112g, that is, the tip E112 of the robot arm 112.

[0041] The introduction portion 22 introduces the linear member L into the end effector 20. In the present embodiment, the introduction portion 22 has an inlet guide roller 22a. The inlet guide roller 22a is rotatably attached to the first support portion 24a. The inlet guide roller 22a can guide the linear member L into the end effector 20 by the linear member L being wound around it. Thereby, the linear member L is introduced into the end effector 20 by the inlet guide roller 22a.

[0042] Reference numeral 25 is a linear member drawing-in portion for drawing the linear member L introduced from the introduction portion 22 into the end effector 20. The linear member drawing-in portion 25 is arranged on the first support portion 24a.

[0043] In the present embodiment, the linear member drawing-in portion 25 includes a feed roller 25a rotatable with respect to the first support portion 24a, a pinch roller 25b rotatable with respect to the first support portion 24a and slidable with respect to the first support portion 24a, and an actuator 25c (hereinafter also referred to as "pinch roller actuator 25c") for moving the pinch roller 25b. The feed roller 25a can be rotated by a drive source such as a servo motor. The pinch roller 25b is disposed so as to be freely rotatable with respect to the first support portion 24a. The pinch roller actuator 25c can press the pinch roller 25b against the feed roller 25a by pressing the pinch roller 25b toward the feed roller 25a. Thereby, the linear member L sandwiched between the feed roller 25a and the pinch roller 25b can be drawn into the end effector 20. The pinch roller actuator 25c can also separate the pinch roller 25b from the feed roller 25a by moving the pinch roller 25b away from the feed roller 25a. Thereby, the pressing force on the linear member L between the feed roller 25a and the pinch roller 25b can be adjusted or released.

[0044] The symbol 26 is a tension control unit for controlling the tension of the linear member L. The end effector 20 according to the present embodiment has the tension control unit 26 on the first support portion 24a. Specifically, the tension control unit 26 is located on the side of the second support portion 24b rather than the introduction portion 22. In detail, the tension control unit 26 is located on the downstream side in the feeding direction of the linear member L rather than the introduction portion 22. Further, in the present embodiment, it is located on the downstream side in the feeding direction of the linear member L rather than the linear member drawing-in portion 25. The tension control unit 26 can remove, for example, the winding habit remaining in the linear member L, the residual stress remaining in the linear member, or both, by changing the winding direction of the linear member L, or by changing the distance when the linear member L is wound around two rollers like the dancer arm 26c described later, or by both of these. Specifically, the tension control unit 26 aims to suppress the tension disturbance generated by the unwinding of the linear member supply unit 120 or the operation of the festoon 130. Thereby, the influence (for example, the above residual stress) that may be caused by the tension disturbance and the positional deviation during winding are suppressed.

[0045] In the present embodiment, the tension control unit 26 includes a dancer roller 26a and a guide roller 26b around which the linear member L sent out from the linear member drawing-in portion 25 is wound, and a dancer arm 26c that rotatably supports the dancer roller 26a. The linear member L is wound around the dancer roller 26a. In the present embodiment, the tension of the linear member L can be controlled, for example, by the change in the position of the dancer roller 26a according to the opening angle of the dancer arm 26c. The linearly member L with controlled tension is sent out to the discharge portion 23 through the tension control unit 26.

[0046] The discharging unit 23 further feeds out the linear member L sent out from the tension control unit 26 toward the object M. In the present embodiment, the discharging unit 23 has a winding roller 23a. The winding roller 23a is disposed so as to be rotatable freely with respect to the second support portion 24b. A circumferential groove is formed on the outer peripheral surface of the winding roller 23a. The linear member L can be held on both sides of the roller axis by the circumferential groove of the winding roller 23a. The winding roller 23a can feed out the linear member L flowing inside the end effector 20 to the outside of the end effector 20. Thus, if the winding roller 23a is pressed against the object M, the linear member L fed out from the winding roller 23a can be attached to the object M. Therefore, if the end effector 20 is rotated around the object M with the winding roller 23a pressed against the object M, the linear member L can be wound around the object M.

[0047] Referring to FIG. 2, in the production system 100 according to the present embodiment, when the linear member L is wound around the object M, the object M is sequentially rotated by a predetermined angle around the rotation axis О141 of the object rotation driving unit 141a by the object rotation driving unit 141a of the object support portion 140. Also, in the production system 100 according to the present embodiment, the robot 110 is position-controlled to a predetermined position corresponding to the rotation angle of the object M so that the winding roller 23a of the end effector 20 is located at the target position of the object M around which the linear member L is to be wound. That is, in the production system 100 according to the present embodiment, the robot 110 is position-controlled so that the winding roller 23a of the end effector 20 is located at a predetermined position corresponding to the rotation angle of the object M while the object M is rotated.

[0048] In the present embodiment, the position where the linear member L is wound around the object M depends on the position of the winding roller 23a of the end effector 20. As shown in FIGS. 4 and 5, in the end effector 20 according to the present embodiment, the winding roller 23a is disposed at a position where the position P (also referred to as "material path position P") where the linear member L is discharged is on the rotation central axis О3 of the driving rotation unit 29 described later.

[0049] In addition, as shown in FIG. 4, in the present embodiment, the discharging unit 23 has an actuator 23b (hereinafter also referred to as the “actuator 23b for winding roller”) for moving the winding roller. The actuator 23b for winding roller can press the winding roller 23a against the object M by pressing the winding roller 23a toward the object M. The actuator 23b for winding roller can also separate the winding roller 23a from the object M by moving the winding roller 23a away from the object M. Thereby, the pressing force on the linear member L between the winding roller 23a and the object M can be adjusted or released. In the present embodiment, the actuator 23b for winding roller is constituted by an air cylinder. According to the air cylinder, changes in the uneven shape formed on the base surface of the object M (the surface of the object M against which the winding roller 23a is pressed) can be absorbed by the expansion and contraction of the air cylinder. However, as the actuator 23b for winding roller, an actuator such as a hydraulic cylinder or a motor actuator can be employed. Further, according to the present invention, the actuator 23b for winding roller can be omitted.

[0050] Reference numeral 27 denotes a cutting unit for cutting the linear member L sent out from the discharging unit 23. In the present embodiment, the cutting unit 27 is provided on the first support portion 24a. In the present embodiment, the cutting unit 27 has a cutter 27a for cutting the linear member L and an actuator 27b (hereinafter also referred to as the “actuator 27b for cutter”) for moving the cutter 27a in a telescopic manner. The actuator 27b for cutter may be any of an air cylinder, a hydraulic cylinder, a motor actuator, and the like. By using the actuator 27b for cutter, the linear member L can be easily cut by moving the cutter 27a in a telescopic manner. However, according to the present invention, the actuator 27b for cutter can be omitted.

[0051] Symbol 28 is an information acquisition unit for obtaining peripheral information of the object M. The end effector 20 according to the present embodiment has the information acquisition unit 28 on the second support portion 24b. Specifically, the end effector 20 has the information acquisition unit 28 at a position on the tip side of the second support portion 24b.

[0052] The information acquisition unit 28 collects information on the periphery of the object M to which the linear member L is to be attached. Examples of the peripheral information of the object M (hereinafter also referred to as "object peripheral information") include the area, length, width, color, position, and shape of the object M. Examples of the information acquisition unit 28 include an image sensor. In the present embodiment, the object peripheral information obtained from the information acquisition unit 28 is input to the control unit 150. The control unit 150 controls the robot 110 and the object support unit 140 so as to attach the linear member L to the object M based on the object peripheral information.

[0053] The end effector 20 according to the present embodiment can send out the linear member L toward the object M in order to attach the linear member L to the object M. By using the end effector 20, the linear member L can be attached to a desired position on the object M in accordance with the movement of the robot 110. Further, in the end effector 20, the support portion 24 has a first support portion 24a and a second support portion 24b, and the second support portion 24b is connected to the first support portion 24a such that the extension axis О2 of the second support portion 24b intersects the extension axis О1 of the first support portion 24a and the second support portion 24b is located on the side facing the joint portion 21 with the first support portion 24a interposed therebetween. Therefore, according to the end effector 20, the linear member L can be attached to the object M by moving the linear member L.

[0054] Specifically, the linear member L is moved relative to the object M by holding the linear member L with the end effector 20. In this case, compared to the case where the object M is moved relative to the linear member L by holding the object M with the end effector 20, the operation of the end effector 20 is an operation with a smaller turning radius. Therefore, if the linear member L is moved relative to the object M instead of moving the object M relative to the linear member L, the linear member L can be easily attached to the object M. Moving the linear member L instead of the object M is particularly effective when it is necessary to attach the linear member L to a fine region of the object M.

[0055] In addition, according to the end effector 20, the linear member L can be accurately attached to the object M. According to the end effector 20, the path from the introduction part 22 to the discharge part 23 of the linear member L bypasses the joint part 21 without passing through the joint part 21. As a result, various elements (25 - 28) arranged in the end effector 20 can be arranged not only in the middle of the path from the joint part 21 to the discharge part 23 (the region between the joint part 21 and the discharge part 23), but also in the middle of the path from the introduction part 22 to the discharge part 23 (the region that intersects and is away from the region between the joint part 21 and the discharge part 23). Therefore, according to the end effector 20, as described above, it is not necessary to arrange various elements (25 - 28) arranged in the end effector 20 only between the joint part 21 and the discharge part 23. Therefore, according to the end effector 20, the distance between the joint part 21 and the discharge part 23 can be kept short. In this case, to the extent that the distance between the joint part 21 and the discharge part 23 can be kept short, the moment around the joint part 21 with the discharge part 23 as the point of action can be kept small. As a result, the influence of the force received by the discharge part 23 from the outside (for example, at least one of vibration and displacement between the discharge part 23 and the object M that may occur when the discharge part 23 contacts the object M) can be suppressed. Therefore, according to the end effector 20, the linear member L can be accurately attached to the object M.

[0056] Further, the end effector 20 has a drive rotation unit 29 that rotates the second support portion 24b relative to the first support portion 24a between the first support portion 24a and the second support portion 24b.

[0057] FIG. 5 schematically shows the end effector 20 in a state where the second support portion 24b of the end effector 20 is in the inverted position. Here, the inverted position is a position where the winding roller 23a is located on the lower side and the second support portion 24b is positioned such that the winding roller 23a faces the other side surface S2 of the object M. Referring to FIG. 5, the second support portion 24b can be rotated around the rotation center axis О3 of the drive rotation unit 29. In the present embodiment, the drive rotation unit 29 is constituted by a servo motor.

[0058] FIG. 6 schematically shows the end effector 20 from the discharge unit 23 side. Referring to FIG. 6, when the end effector 20 is viewed in the X-axis direction (a direction parallel to the tire center axis when the tire center axis is included in the horizontal plane), the extending axis О1 of the first support portion 24a is inclined by an angle α toward the joint portion 21 side rather than the discharge unit 23 side with respect to the extending axis О2 of the second support portion 24b. When the first support portion 24a is inclined, the bending angle (α) between the first support portion 24a and the second support portion 24b becomes gentler compared to when the extending axis О1 of the first support portion 24a and the extending axis О2 of the second support portion 24b are orthogonal. In this case, when winding the linear member L or when transporting the object M from the object support portion 140, it becomes difficult for the first support portion 24a to interfere with the object M. That is, in this case, since it becomes difficult for the first support portion 24a to contact the object M, it is advantageous when winding the linear member L or when transporting the object M.

[0059] Also, referring to FIG. 6, in the present embodiment, the rotation center axis O3 of the drive rotating portion 29 is parallel to the extension axis O2 of the second support portion 24b in a side view. In addition, in the present embodiment, the rotation center axis O3 of the drive rotating portion 29 is an axis passing through the center of the circumferential groove (the deepest part of the groove bottom of the circumferential groove) of the winding roller 23a in a side view as shown in FIG. 6. That is, the winding roller 23a is arranged parallel to the rotation center axis O3 of the drive rotating portion 29, and the material path position P of the winding roller 23a exists on the rotation center axis O3 of the drive rotating portion 29. On the other hand, FIG. 7 is a plan view schematically showing the outer shape of the end effector 20 from above. Referring to FIG. 7, the rotation center axis O3 of the drive rotating portion 29 intersects the extension axis O2 of the second support portion 24b at an angle β in a plan view.

[0060] For example, as shown in FIG. 4, in the end effector 20 according to the present embodiment, the rotation center axis О3 of the drive rotating part 29 is a tangent line of the winding roller 23a. Specifically, the winding roller 23a is arranged such that the material path position P of the winding roller 23a is located on the rotation center axis О3 of the drive rotating part 29. That is, in the end effector 20 according to the present embodiment, the material path position P of the winding roller 23a is the contact point with the rotation center axis О3 of the drive rotating part 29. Thereby, in the end effector 20, even when the second support part 24b is rotated around the rotation center axis О3 of the drive rotating part 29, the material path position P of the winding roller 23a always locates at a position of a single point on the rotation center axis О3 of the rotation drive rotating part 29. For example, in the end effector 20, the material path position P of the winding roller 23a locates at a position of a single point on the rotation center axis О3 of the rotation drive rotating part 29 in both the state of the normal position in FIG. 4 and the state of the inverted position in FIG. 5. That is, even when the second support part 24b is rotated at an arbitrary angle, the reference position (starting point) when the linear member L is wound around the object M is a fixed position of a single point on the rotation center axis О3 of the rotation drive rotating part 29. Thus, according to the end effector 20 according to the present embodiment, even when the second support part 24b is rotated at an arbitrary angle around the rotation center axis О3 of the drive rotating part 29, since the material path position P locates at the same position of the rotation center axis О3 of the drive rotating part 29, the position of the material path position P does not change regardless of whether the position of the second support part 24b is in the position of FIG. 4 or FIG. 5. Therefore, according to the present embodiment, switching the second support part 24b to an arbitrary rotation position such as switching from the position of FIG. 4 to the position of FIG. 5 and switching from the position of FIG. 5 to the position of FIG. 6 can be realized without requiring a new setup such as replacing it with a new end effector 20, that is, without intervening manually. Therefore, in this case, by rotating the second support part 24b at an arbitrary angle, the linear member L can be easily attached to the object M from various directions.

[0061] When rotating the second support portion 24b with respect to the first support portion 24a as in the end effector 20 according to the present embodiment, it becomes possible to attach the linear member L at a wider angle with respect to the object M.

[0062] For example, according to the end effector 20, by simply moving the robot 110, the linear member L can be wound around both side surfaces (S1, S2) of the object M. Specifically, as shown in FIG. 8, the movement of the robot 110 is controlled so that the winding roller 23a faces one side surface S1 of the object M and the linear member L is wound. Thereby, the linear member L can be wound around a desired position on one side surface S1 of the object M. Alternatively, as shown in FIG. 9, the movement of the robot 110 is controlled so that the winding roller 23a faces the other side surface S2 of the object M and the linear member L is wound. Thereby, the linear member L can also be wound around the other side surface S2 of the object M. In this case, if the second support portion 24b is rotated with respect to the first support portion 24a, it becomes possible to quickly switch the winding position. Thus, according to the present embodiment, after winding the linear member L around one side surface S1 of the object M, the linear member L can be wound around the other side surface S2 of the object M. Note that according to the present invention, by following the reverse procedure of the above procedure, after winding the linear member L around the other side surface S2 of the object M, the linear member L can also be wound around one side surface S1 of the object M. Further, in the production system 100 according to the present embodiment, as described above, while rotating the object M, the position of the robot 110 is controlled so that the winding roller 23a is located at a predetermined position corresponding to the rotation angle of the object M. The winding methods in FIGS. 8 and 9 can be used, for example, when winding the bead wire 8 in an unvulcanized tire.

[0063] Also, according to the robot 110, the linear member L can be attached to the inner edge of the opening AM formed in the object M. Specifically, as shown in FIG. 10, on one side surface S1 side of the object M, the movement of the robot 110 is controlled so that the winding roller 23a faces the inner edge side of the object M and the linear member L is wound around it. Thereby, on one side surface S1 side of the object M, the linear member L can be wound around the inner edge of the object M that forms the opening AM of the object M. Alternatively, as shown in FIG. 11, on the other side surface S2 side of the object M, the movement of the robot 110 is controlled so that the winding roller 23a faces the inner edge side of the object M and the linear member L is wound around it. Thereby, on one side surface S1 side of the object M, the linear member L can be wound around the inner edge of the object M that forms the opening AM of the object M. Also in this case, if the second support portion 24b is rotated with respect to the first support portion 24a, it is possible to quickly switch the winding position. Thus, according to the present embodiment, after winding the linear member L around the inner edge on one side surface S1 side of the object M, the linear member L can be wound around the inner edge on the other side surface S2 side of the object M. Note that according to the present invention, by following the procedure opposite to the above procedure, after winding the linear member L around the inner edge on the other side surface S2 side of the object M, the linear member L can also be wound around the inner edge on one side surface S1 side of the object M. Also in these cases, in the production system 100 according to the present embodiment, while rotating the object M, the position of the robot 110 is controlled so that the winding roller 23a is positioned at a predetermined position according to the rotation angle of the object M. The winding methods in FIGS. 10 and 11 can be used, for example, when winding a reinforcing member around the inner edge of an unvulcanized tire. Further, the winding methods in FIGS. 10 and 11 can also be used when winding the linear member L around the inner peripheral surface of the object M. As a specific example, it can be used when winding a puncture prevention member as the linear member L around the inner peripheral surface of an unvulcanized tire.

[0064] Also, according to the robot 110, the linear member L can be attached to the outer peripheral surface S3 of the object M. Specifically, as shown in FIG. 12, above the outer peripheral surface S3 of the object M, the movement of the robot 110 is controlled so that the winding roller 23a faces the outer peripheral surface S3 side of the object M and the linear member L is wound around it. As a result, the linear member L can be wound around the outer peripheral surface S3 of the object M from above the outer peripheral surface S3 of the object M. Alternatively, as shown in FIG. 13, below the outer peripheral surface S3 of the object M, the movement of the robot 110 is controlled so that the winding roller 23a faces the outer peripheral surface S3 side of the object M and the linear member L is wound around it. As a result, the linear member L can also be wound around the outer peripheral surface S3 of the object M from below the outer peripheral surface S3 of the object M. Also in this case, if the second support portion 24b is rotated with respect to the first support portion 24a, it becomes possible to quickly switch the winding position. In these cases as well, in the production system 100 according to the present embodiment, while rotating the object M, the position of the robot 110 is controlled so that the winding roller 23a is located at a predetermined position according to the rotation angle of the object M. Further, in FIGS. 12 and 13, the arrow D1 indicates the feeding direction of the end effector 20 (winding roller 23a). Furthermore, the winding methods in FIGS. 12 and 13 can be used, for example, when winding the linear member L around at least one of the tread portion side and the shoulder portion side of an unvulcanized tire. When winding on the tread side, for example, the linear member L includes a belt 11, a spiral layer, ribbons such as a Base or a Cap, and an inner rubber. Also, when winding on the shoulder side, for example, the linear member L includes a reinforcing layer 12 and the like.

[0065] As described with reference to FIGS. 8 to 13, if the second support portion 24b is rotated with respect to the first support portion 24a, the linear member L can be attached to an arbitrary position of the object M without rotating the robot arm 112 more than necessary. Therefore, according to the end effector of the present invention, the linear member L can be attached to the object M at a wider angle.

[0066] Also, for example, referring to FIG. 4, the end effector 20 has an information acquisition unit 28 on the second support portion 24b. In this case, based on the object peripheral information obtained from the information acquisition unit 28, the linear member L can be attached to the object M. Therefore, in this case, it is possible to attach the linear member L to the object M with higher accuracy. In particular, for the end effector 20 according to the present embodiment, the information acquisition unit 28 is provided at a position on the tip side of the second support portion 24b. In this case, the peripheral information of the object M can be obtained more accurately. However, according to the present invention, the information acquisition unit 28 can be arranged at any position on the second support portion 24b.

[0067] Also, the end effector has a tension control unit 26 on the first support portion 24a. In this case, before the linear member L reaches the discharge unit 23, it is possible to remove the winding habit remaining in the linear member L, the residual stress remaining in the linear member L, or both. Therefore, in this case, it is possible to attach the linear member to the object with higher accuracy.

[0068] Furthermore, in the end effector 20, the joint portion 21 has a structure that can be attached to and detached from the robot arm 112. In this case, the end effector 20 can be applied to an existing general-purpose robot.

[0069] Next, the outline of the production system 100 in FIG. 2 will be described with reference to FIG. 1.

[0070] The production system 100 in FIG. 2 is used to manufacture the tire 1 in FIG. 1. Referring to FIG. 2, first, the bead wire 8 is drawn out from the linear member supply unit 120 as the linear member L. At this time, the coating material 8a separated from the bead wire 8 is collected by the coating material recovery unit 160. The bead wire 8 drawn out from the linear member supply unit 120 passes through the festoon 130, is tension-controlled, and then sent to the robot 110. In the present embodiment, the festoon 130 can be omitted.

[0071] The robot 110 winds the bead wire 8 around the object M supported by the object support portion 140 through the end effector 20. In the present embodiment, the object M is an unvulcanized rubber tire. In the present embodiment, the movement of the robot 110 controls the movement of the bead wire 8. In the present embodiment, the bead wire 8 is wound around the side surface S1 of the object M along the inner edge of the opening AM. Thereby, the bead 7 can be formed on the side surface S1 of the object M.

[0072] As a method for forming the bead 7, there are the following methods. For example, as shown in FIG. 8, with the second support portion 24b of the end effector 20 in the correct position, while rotating the object M, the robot 110 is position-controlled to a predetermined position corresponding to the rotation angle of the object M, thereby winding the bead wire 8 around one side surface S1 of the object M. Thereby, the bead 7 is formed on one side surface S1 of the object M. Next, by rotating the second support portion 24b to the first support portion 24a, for example, as shown in FIG. 9, with the second support portion 24b of the end effector 20 in the inverted position, while rotating the object M, the robot 110 is position-controlled to a predetermined position corresponding to the rotation angle of the object M, thereby winding the bead wire 8 around the other side surface S2 of the object M. Thereby, the bead 7 is also formed on the other side surface S2 of the object M. Through these steps, the bead 7 is formed on each of the both side surfaces S1 and S2 of the object M.

[0073] For the method of winding the bead wire 8, for example, there are two winding methods. FIG. 14 shows an example of the winding method of the linear member L. The winding method in FIG. 14 is a pitch feed winding. In pitch feed winding, the winding from one end Le of the linear member L has a substantially constant diameter for each revolution. FIG. 15 shows another example of the winding method of the linear member L. The winding method in FIG. 15 is a helical winding. In helical winding, the winding from one end Le of the linear member L is helical. According to the present embodiment, since the robot 110 controls the movement of the linear member L, the starting point position when winding the linear member L can be either on the inner side in the tire diameter direction (winding center side) or on the outer side in the tire diameter direction (outside the winding center). For example, referring to FIG. 14, in the case of pitch feed winding, the starting point when winding the bead wire 8 is set on the inner side in the tire diameter direction, and as shown by the arrow D1, the bead wire 8 can be wound toward the outer side in the tire diameter direction. Alternatively, the starting point when winding the bead wire 8 is set on the outer side in the tire diameter direction, and as shown by the arrow D2, the bead wire 8 can also be wound toward the inner side in the tire diameter direction. Similarly, for example, referring to FIG. 15, in the case of helical winding as well, the starting point when winding the bead wire 8 is set on the inner side in the tire diameter direction, and as shown by the arrow D1, the bead wire 8 can be wound toward the outer side in the tire diameter direction. Alternatively, the starting point when winding the bead wire 8 is set on the outer side in the tire diameter direction, and as shown by the arrow D2, the bead wire 8 can also be wound toward the inner side in the tire diameter direction.

[0074] Furthermore, according to the winding of the linear member L using the robot 110, winding with a structure as shown in FIG. 16 can be performed on the side surfaces (S1, S2) of the object M.

[0075] In FIG. 16, the starting point when winding the linear member L is outside the central axis of the object M (outside in the tire diameter direction). In this example, the linear member L is wound by a single-stroke process as indicated by the arrow in the figure. Specifically, the linear member L is wound as the first row in contact with the side surfaces (S1, S2) of the object M, starting from outside the center of the object M and toward the central axis side of the object M (inside in the tire diameter direction). Subsequently, following the first row, the second row is wound with the starting point of winding being turned back on the central axis side of the object M and toward the outside of the central axis of the object M. Then, following the second row, as the third row, the starting point of winding is turned back on the outside of the central axis of the object M and wound again toward the central axis side of the object M. According to such a winding method, it is possible to wind in a state where the first to third rows are continuously connected. That is, according to such a winding method, the winding of the linear member L can be performed by a single linear member or a smaller number of linear members L. For example, when winding row by row, the winding structure obtained by this winding will have more ends of the linear members L (specifically, the cuts or joints formed between the plurality of linear members L). In contrast, according to the winding method of the single-stroke process as shown in FIG. 16, the above-mentioned cuts or joints can be reduced. Therefore, the winding structure obtained by such a winding method of the single-stroke process is excellent in uniformity. Further, the winding structure obtained by such a winding method of the single-stroke process can reduce the problems that may occur due to the above-mentioned cuts or joints.

[0076] When attempting to wind the linear member L around the side surfaces (S1, S2) of the object M in a state where the central axis of the object M (for example, the tire central axis) is horizontal (for example, the state of the object M in FIG. 2), it was difficult to wind the linear member L from the central axis side of the object M manually. In contrast, if the winding of the linear member L is performed by the robot 110 as in this embodiment, it is possible to easily wind the linear member L from the central axis side of the object M.

[0077] The robot 110 according to this embodiment has an end effector for winding the linear member L. Therefore, according to the robot 110, it is possible to attach the linear member L to the object M by moving the linear member L. In particular, as described above, it is effective when winding the linear member L around the side surfaces (S1, S2) of the object M.

[0078] Also, the robot 110 according to the present invention preferably has six or more degrees of freedom. In this case, the movement of the robot 110 becomes closer to that of a human. Specifically, it becomes possible to move the position and orientation of the end effector 20 more freely. Therefore, in this case, the linear member L can be attached with an operation closer to that of a human.

[0079] Furthermore, according to the robot 110, the linear member L can be wound around the outer peripheral surface S3 of the object M as shown in FIGS. 12 and 13. When the object M is an unvulcanized tire, the outer peripheral surface S3 of the object M is a surface formed on the tread portion side. In this case, examples of the linear member L include a spiral layer that is wound around the tread portion side. FIG. 17 schematically shows an example of a method of winding the linear member L around the outer peripheral surface S3 of the object M that can be realized using the robot 110, in a plan view of the tire. The winding method in FIG. 17 is a pitch feed winding. In pitch feed winding, the winding from one end in the tire width direction is substantially orthogonal to the tire central axis for each turn. That is, in pitch feed winding, the winding from one end in the tire width direction is substantially parallel to the tire circumferential direction for each turn. Also, FIG. 18 schematically shows another example of a method of winding the linear member L around the outer peripheral surface S3 of the object M that can be realized using the robot 110, in a plan view of the tire. The winding method in FIG. 18 is a helical winding. In helical winding, the winding from one end in the tire width direction is substantially inclined with respect to the tire central axis for each turn. That is, in helical winding, the winding from one end in the tire width direction is substantially inclined with respect to the tire circumferential direction for each turn.

[0080] In addition, the production system 100 according to the present embodiment includes the above-described robot 110, a linear member supply unit 120 that supplies a linear member L to the robot 110, an object support unit 140 that supports an object M, and a control unit 150 that controls the robot 110 to attach the linear member L to the object M. Therefore, according to the production system 100, it is possible to attach the linear member L to the object M by moving the linear member L.

[0081] In addition, the production system 100 according to the present embodiment includes an object drive unit 141 for moving the object M and a control unit 150 for controlling the object drive unit 141. In this case, it is possible to attach the linear member L to the object M with higher accuracy.

[0082] In particular, in the production system 100 according to the present embodiment, the object drive unit 141 includes an object rotation drive unit 141a that rotates the object M, and the control unit 150 controls the position of the robot control unit 110 so that the end effector 20 is located at a predetermined position according to the rotation angle of the object M. In this case, the winding of the linear member L around the object M can be performed with higher accuracy. In particular, when the position of the robot 110 is controlled to a predetermined position according to the rotation angle of the object M, even a complex winding can be easily performed. Further, according to the production system 100 according to the present embodiment, by rotating the object M, rapid winding becomes possible.

[0083] FIG. 19 is a diagram schematically showing a production system 200 according to another embodiment of the present invention.

[0084] The production system 200 according to the present embodiment includes one object support unit 140 and a plurality of units U arranged around the one object support unit 140. Each of the plurality of units U includes one robot 110 and a linear member supply unit 120 that supplies a linear member L to the one robot 110.

[0085] In the present invention, the linear member L is not limited to a wire material such as a wire (e.g., bead wire 8), and its definition includes a wide range of things. For example, the linear member L includes, in addition to the wire material, belt-like members such as a belt (e.g., belt 11) and a ribbon (e.g., a ribbon-like member made of a rubber member directly drawn from an extruder). In the present invention, the linear member supply unit 120 includes, in addition to the bead wire supply unit that supplies the bead wire 8 as in the present embodiment, the following linear member supply units. Specific examples of the linear member supply unit 120 include an endless belt supply unit that supplies an endless belt, a ribbon supply unit that supplies a ribbon, a spiral cord supply unit that supplies a spiral cord, a circumferential direction insert supply unit that supplies a circumferential direction insert, and an MSB (mono spiral belt) supply unit that supplies an MSB. At least any one of these is included. However, the specific examples of the linear member supply unit 120 are not limited to these, and any unit can be used as long as it can supply the linear member L that needs to be newly wound around the object M.

[0086] Referring to FIG. 19, in the present embodiment, the unit U exemplarily includes five units U1 to U5. The unit U1 includes a linear member supply unit 120 that supplies the bead wire 8 as the linear member L, and a robot 110 to which the bead wire 8 from the linear member supply unit 120 is supplied via the festoon 130. The unit U2 includes a linear member supply unit 120 that supplies the spiral cord as the linear member L, and a robot 110 to which the spiral cord from the linear member supply unit 120 is supplied via the festoon 130. The units U3 and U4 each include a linear member supply unit 120 that supplies the ribbon as the linear member L, and a robot 110 to which the ribbon from the linear member supply unit 120 is supplied via the festoon 130. The unit U5 includes a linear member supply unit 120 that supplies the belt 11 as the linear member L, and a robot 110 to which the belt 11 from the linear member supply unit 120 is supplied via the festoon 130. One object support part 140 supports one object M (for example, an unvulcanized tire). As a result, various linear members L are sequentially wound around one object M (tire) by the respective robots 110 arranged in each of the plurality of units U (U1 to U5).

[0087] The production system 200 arranges a plurality of units U around one object support part 140, and each of the plurality of units U includes one robot 110 and a linear member supply unit 120 that supplies the linear member L to the one robot 110. In this case, for example, without performing extra operations such as the operation of replacing the linear member L to be supplied to the end effector 20 for each winding process, and the operation of replacing the end effector 20 corresponding to various linear members L on the robot 110, a plurality of linear members L can be wound. Therefore, in this case, it is possible to efficiently attach a plurality of linear members L to one object M. That is, according to the production system 200, efficient tire production is possible.

[0088] In the production system 200, the object conveyance path 170 is a conveyance path for conveying the object M. Also, in the production system 200, the festoon 130 can be omitted. Further, according to the present invention, as in the units U3 and U4 of FIG. 19, the plurality of linear member supply units may include supply units for supplying the same type of linear member L (ribbon in FIG. 19).

[0089] Incidentally, according to the present invention, in the production system 100 of FIG. 2, the linear member supply unit 120 may include a plurality of linear member supply units. For example, the production system 100 may include the above-described linear member supply unit 120 as a supply network of the production system 100. In this case, by appropriately replacing the necessary linear member L for the end effector 20, or by appropriately replacing the end effector 20, a plurality of linear members L can be attached to one object M. Further, according to the present invention, in this case, similar to the production system 200 of FIG. 19, the plurality of linear member supply units may include supply units for supplying the same type of linear member.

[0090] Also, in the present embodiment, the object M is an annular member. In this case, a linear member L such as a cord can be attached to an annular member such as an unvulcanized rubber tire.

[0091] What has been described above is merely an explanation of one embodiment of the present invention, and various modifications are possible according to the claims. For example, in the end effector 20, the second support portion 24b can be configured not to rotate with respect to the first support portion 24a. For example, referring to FIG. 4, the drive rotation portion 29 can be a non-rotating portion. In this case, the switching between the normal position and the reverse position of the second support portion 24b can be performed by rotating each joint 111 of the robot arm. Further, the various configurations employed in the above-described embodiments can be appropriately replaced with each other or combined with each other.

Explanation of Reference Numerals

[0092] 1: Pneumatic tire, 2: Carcass, 3: Tread portion, 4: Shoulder portion, 5: Sidewall portion, 6: Bead portion, 7: Bead, 8: Bead wire, 8a: Coating material, 9: Bead filler, 10: Inner liner, 11: Belt, 11a: Inner belt, 11b: Outer belt, 20: End effector, 21: Joint portion, 22: Introduction portion, 22a: Inlet guide roller, 23: Discharge portion, 23a: Winding roller, 23b: Actuator (actuator for winding roller), 24: Support portion, 24a: First support portion, 24b: Second support portion, 25: Linear member drawing-in portion, 25a: Feed roller, 25b: Pinch roller, 25c: Actuator (actuator for pinch roller), 26: Tension control portion, 26a: Dancer roller, 26b: Guide roller, 26c: Dancer arm, 27: Cutting portion, 27a: Cutter, 27b: Actuator (actuator for cutter), 28: Information acquisition portion, 29: Drive rotation portion, 100: Production system, 110: Robot, 111a~111f: Joints, 112: Robot arm, 112a: Tip of robot arm, 120: Linear member supply portion, 121: Rotating drum, 130: Festoon, 131: Support column, 132: Slide type roller, 133: Fixed type roller, 140: Object support portion, 141: Object drive portion, 141a: Object rotation drive portion, 141b: Object slide drive portion, 150: Control portion (robot control portion, object drive portion control portion), 170: Object conveyance path, L: Linear member, M: Object, О1: Axis of extension of first support portion, О2: Axis of extension of second support portion, О3: Rotation center axis of drive rotation portion

Claims

1. It has a joint part, an introduction part for introducing a linear member, a discharge part for discharging the linear member introduced from the introduction part, and a support part for supporting the joint part, the introduction part, and the discharge part. The support part has a first support part where the joint part and the introduction part are arranged at intervals, and a second support part where the discharge part is arranged. The second support part is connected to the first support part such that the extension axis of the second support part intersects the extension axis of the first support part and the second support part is located on the side facing the joint part with the first support part interposed therebetween. Between the first support part and the second support part, there is a drive rotation part for rotating the second support part with respect to the first support part. The rotation center axis of the drive rotation part is parallel to the extension axis of the second support part, an end effector.

2. The end effector according to claim 1, wherein the second support part has an information acquisition part for obtaining peripheral information of an object to which the linear member is to be attached.

3. The end effector according to claim 1 or 2, wherein the first support part has a tension control part for controlling the tension of the linear member.

4. The end effector according to any one of claims 1 to 3, wherein the joint part has a structure detachable from the robot arm.

5. A robot having the end effector according to any one of claims 1 to 4.

6. The robot according to claim 5, having six or more degrees of freedom.

7. A production system having the robot according to claim 5 or 6, a linear member supply part for supplying the linear member to the robot, an object support part for supporting an object to which the linear member is to be attached, and a robot control part for controlling the robot so as to attach the linear member to the object.

8. The production system according to claim 7, having an object drive part for moving the object and an object drive part control part for controlling the object drive part.

9. The object driving unit includes an object rotation driving unit that rotates the object, and the robot control unit controls the position of the robot so that the end effector is located at a predetermined position according to the rotation angle of the object. The production system according to claim 8.

10. It has one of the object support parts and a plurality of units arranged around the one object support part, and each of the plurality of units includes one of the robots and the linear member supply part that supplies a linear member to the one robot. The production system according to any one of claims 7 to 9.

11. The object is an annular member. The production system according to any one of claims 7 to 10.

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