JP6587427B2 - Tie device and method - Google Patents

Description

  The present invention relates to a tying device and method, for example, a tying device and method for automatically performing a bow. The term “bow knot” used in the following refers to performing knotting without breaking the left and right loops (a bow knot that does not include a knot), and the term “bow knot” refers to “tight knot” and “ It is defined as a combination of “butterfly knots”.

Conventionally, in high-class liquors, in order to produce a high-class feeling, a high-quality paper such as Japanese paper or cloth is put on the upper part of a bottle and a decorative string is bowed. The bow with the decorative string has been performed manually, but the movement of a heavy bottle filled with alcohol is heavy labor, and automation is desired.
In addition, there are problems such as the operator's hand scuffing by repeatedly performing the string fastening operation. Such a problem becomes prominent when the string has elasticity.

  Therefore, in Patent Document 1, in order to make it possible to automate a bow and incorporate it into a production line, a conveying means for conveying an article, a paper piece supplying means for supplying a piece of paper temporarily folded to the conveyed article, and a supply There has been proposed a tying device characterized by comprising tying means for tying a string on an article from above the piece of paper, and tying means for bowing the string hung on the article.

JP 2002-308209 PR

  There is a need for a string tying device that automatically bows a bottle filled with liquor. In realizing such a tying device, it is desirable to simplify the operation of the machine so that a bow can be formed at high speed.

  Accordingly, an object of the present invention is to provide a string tying device and method capable of automatically forming a bow at a high speed by a simple operation.

The present invention for solving the above problems is realized by the following technical means.
[1] A columnar member (104), a first gripping tool that opens upward or downward and has a gripping claw that reciprocates vertically, and a horizontal height that does not collide with the first gripping tool. A first gripper that opens in a direction opposite to the top of the gripper and has a gripping claw that reciprocates vertically, and a first gripper that is positioned in front of the left side of the columnar member advances and retracts diagonally to the right. A gripper slide mechanism, a second gripper slide mechanism for moving the second gripper located in front of the right side of the columnar member forward and backward, and a pair of tension grippers (88, 89). ) And a pair of tension slide mechanisms that slide the pair of tension grippers, and the string S is wound around the columnar member at least once. Is pulled left and right by a pair of tension grips The first gripping tool slide mechanism moves the first gripping tool diagonally rightward with the string S applied to the tip, and the second gripping tool slide mechanism applies the string S to the tip. Then, the second gripping tool is moved obliquely to the left, and two loops intersecting with the string S are formed by crossing the first gripping tool and the second gripping tool on the back side of the columnar member, The string S near the back side of the second gripping tool is gripped by the gripping claws of the first gripping tool, and the side near the back side of the first gripping tool is gripped by the gripping claws of the second gripping tool The first gripping tool is moved backward by the first gripping tool slide mechanism so that the end of the string S does not come out of the loop of the string S formed by the second gripping tool. The second gripping tool screw is used so that the end of the string S does not come out of the loop of the string S formed by the first gripping tool. Lacing apparatus for automatically forming a butterfly solid knot by retracting movement a second gripper by id mechanism.
[2] The first and second gripping tools, each having a recess for guiding the string S at the tip, and disposed on the back side of the first and second gripping tools. The string tying device according to [1], further comprising first and second guides for holding the horizontal position of the string S in cooperation with the gripping tool.
[3] the columnar member has a bore in which the cylindrical member is inserted, the string S that is wound around the columnar member, wherein the first and second deployed tubular member between the grasper The string tying device according to [2], wherein the butterfly tying is automatically formed on the cylindrical member by passing the tie to the cylindrical member.
[4] A horizontal position defining tool that is disposed between the first and second gripping tools and has a groove that becomes narrower from the opening side toward the back side, and that defines the horizontal position of the string S; A horizontal position defining tool slide mechanism for moving the horizontal position defining tool forward and backward in a direction orthogonal to the first and second gripping tools, and a cylinder disposed between the first and second gripping tools An abutment fixture that abuts against the member and fixes the position; and an abutment fixture slide mechanism that advances and retracts the abutment fixture in a direction orthogonal to the first and second gripping tools. The string tying device according to [3], comprising:
[5] A columnar member (103), a first gripping tool having a gripping claw that opens upward or downward and moves vertically reciprocally, and a horizontal height that does not collide with the first gripping tool. A first gripper that opens in a direction opposite to the top of the gripper and has a gripping claw that reciprocates vertically, and a first gripper that is positioned in front of the left side of the columnar member advances and retracts diagonally to the right. A gripper slide mechanism, a second gripper slide mechanism for moving the second gripper located in front of the right side of the columnar member forward and backward in an oblique left direction, and a pair of tension grippers (36, 37) ) And a pair of tension slide mechanisms that slide the pair of tension grippers, and the string S is wound around the columnar member at least once. Is pulled left and right by a pair of tension grips The first gripping tool slide mechanism moves the first gripping tool diagonally rightward with the string S applied to the tip, and the second gripping tool slide mechanism applies the string S to the tip. Then, the second gripping tool is moved obliquely to the left, and two loops intersecting with the string S are formed by crossing the first gripping tool and the second gripping tool on the back side of the columnar member, The string S near the back side of the second gripping tool is gripped by the gripping claws of the first gripping tool, and the side near the back side of the first gripping tool is gripped by the gripping claws of the second gripping tool The first gripping tool is moved backward by the first gripping tool slide mechanism until the end of the string S comes out of the loop of the string S formed by the second gripping tool. The second gripper slide machine until the end of the string S comes out of the loop of the string S formed by the gripper Lacing apparatus for automatically forming a solid knot by retracting movement a second gripper by.
[6] The first and second gripping tools are configured to include a plate-shaped main body and a support member provided from the back side surface to the tip of the main body, and the support member is provided on the side surface. It is provided with a recess for guiding the string S, a groove for guiding the string S opened on the same side as the gripping claw, a hole in which the gripping claw is disposed, and a rotating device for rotating the gripping claw. 5].
[7] Before SL is disposed on the rear side of the first and second gripper, said first and second gripper in cooperation with the first and second guide which holds the horizontal position of the string S The tying device according to [6], further comprising:

[8] A butterfly tying device comprising the tying device according to any one of [1] to [4], and a tying device comprising the tying device according to any of [5] to [7], A bowknot device comprising: a bowknot device that automatically forms a knot by a knotter and automatically forms a bowknot by a bowknot device.
[9] A pair of rollers (22, 23) that are vertically reciprocated, a columnar member (101) that is disposed between the pair of rollers (22, 23) and that can be vertically reciprocated and rotated, and a pair of tension members A winding device provided with a gripping device for a rack (24, 25) and a pair of tension slide mechanisms for sliding the pair of gripping tools for a stretch (24, 25). The bowknot device according to [8], wherein the string S is wound around the columnar member (101) once.
[10] A tying method for automatically forming a butterfly knot using the tying device according to any one of [1] to [4].
[11] A tying method for automatically forming a tight knot using the tying device according to any one of [5] to [7].

  According to the present invention, a knot and / or a bow knot can be automatically formed at a high speed by a simple operation.

It is the schematic of a bowknot apparatus. It is a front view of a winding unit. It is a side view of a winding unit. It is a top view of a tying unit. It is a front view of a tying unit. It is a perspective view of a tying unit. It is a top view of a butterfly tying unit. It is a front view of a butterfly tying unit. It is a perspective view of a butterfly knot unit. It is a figure which shows the string which formed the heart similar shape. It is an image figure showing the state by which the string was wound around the delivery cylinder once, (a) a plan view, (b) a perspective view. It is an image figure showing the state with which the string was tied tightly to the delivery cylinder, (a) Top view, (b) Perspective view. It is a figure which shows operation | movement of a tying unit, (a) Initial state, (b) The state which formed the heart similar shape, (c) It is a figure which shows the state which the tying was completed. It is a figure which shows operation | movement of a butterfly knot unit, (a) Initial state, (b) The state which the small holding tool rotated, (c) It is a figure which shows the state which formed the heart-like shape.

The string tying device of the present invention is capable of automatically forming a knot and a butter tying knot by winding a string around a cylindrical member once. As used herein, “tubular member” includes not only cylinders and columns of the same diameter, but also those formed with a taper or shoulder. For example, alcoholic beverages such as sake, shochu, whiskey, beverages, and seasonings (Such as a single bottle, a glass bottle, a resin container, etc.).
Below, the embodiment example of the bowknot apparatus which performs a bowknot automatically on the upper taper part of a one bottle bottle is described.

[Bowknot device]
As shown in FIG. 1, the bow device 1 according to the embodiment includes a carry-in unit 10, a winding unit 20, a tie unit 30, a tie unit 40, and a carry-out unit 50. The string S used in the embodiment is a string having a substantially circular cross section and having elasticity.

  The string S and the bottle J are loaded into the carry-in unit 10. The inserted string S is transferred to the gripping chucks 24 and 25 of the winding unit 20. The introduced bottle J is transported to the butterfly tying unit 40 by transporting means such as a conveyor, is bowed and knotted by the butterfly tying unit 40, and is carried out by the carry-out unit 50.

In the winding unit 20, the string S is wound around the winding column 101 once. The one-turn winding portion of the string S formed on the winding column 101 is delivered to the delivery column 102. The one-turn winding part of the string S delivered to the delivery pillar 102 is delivered to the fastening pillar 103 of the fastening unit 30, and both ends of the string S are passed from the gripping chucks 24, 25 to the gripping chuck 36, Passed to 37.
In the tying unit 30, the wrapping portion of the string S delivered to the tying column 103 is fastened, and both ends of the string S are received by the gripping chucks 313 and 323 from the gripping chucks 36 and 37. Passed. The tying portion of the string S formed on the tying column 103 is transferred to the delivery column 104 of the butterfly tying unit 40, and both ends of the string S are transferred from the gripping chucks 313 and 323 to the gripping chucks 88 and 89. Delivered.

In the butterfly knot unit 40, the tip of the bottle J is inserted into the hollow delivery column 104, the knot is transferred to the upper taper portion of the bottle J, and the butterfly knot is applied to the upper taper portion of the bottle J. This completes the bow decoration.
The above operations are automatically controlled by a control device (not shown) including a processor and a storage device storing a control program.

<Method of tying and butterfly tying>
Describes a technique for performing knotting and butterfly knotting. As defined above, the term “bow knot” shall refer to a bow knot that does not include a knot.
In the embodiment, a heart-like shape shown in FIG. 10 (hereinafter referred to as “heart-like shape”) is created, and a portion A surrounded by a dotted line is grasped and pulled downward, and a portion B surrounded by a dotted line is created. The knotting operation is performed until the end portions 94 and 95 come out of the loops 91 and 92.
When performing butterfly tying, a heart-like shape is created, and the portion A surrounded by a dotted line is grasped and pulled downward, and the portion B surrounded by a dotted line is grasped and pulled upward. , 95 is prevented from coming out of the loops 91, 92, thereby performing a butterfly knot.

  Hereinafter, the winding unit 20, the knot unit 30, and the butterfly unit 40 will be described in detail. The carry-in unit 10 and the carry-out unit 50 can be easily realized by a combination of a conveying means such as a known conveyor and a conveying means such as a known pusher by a normal engineer. To do. The winding unit 20 can be replaced with a unit having a mechanism for winding a string around a cylindrical member by a method different from the embodiment.

[A] Winding unit <configuration>
In the winding unit 20, the string S is wound around the winding column 101 once and the wound string S is transferred to the delivery column 102.
As shown in FIG. 2, the winding unit 20 includes a head portion 21, support rollers 22 and 23, and gripping chucks 24 and 25.
The head portion 21 includes a winding column 101 around which the string S is wound once. The winding column 101 may be a hollow cylindrical member. As shown in FIG. 3, the head unit 21 is connected to one end of the shaft 211, and is reciprocated in the Z direction (vertical direction) by a motor 220 connected to the other end of the shaft 211. A gear 212 is attached to the shaft 211, and the shaft 211 and the head unit 21 can be turned around the Z axis as a central axis via a gear 231 joined to the rotary actuator 230.
The winding column 101 is formed with a U-shaped annular groove 101a on the side peripheral surface. When the winding column 101 moves upward together with the head portion 21 and the upper end of the winding column 101 comes into contact with the string S, the winding column 101 extends along the annular groove 101a. The string S is caught.

  The support rollers 22 and 23 act so as to prevent the strings S located at both sides of the winding column 101 from rising when scooping the string S with the winding column 101 stretched horizontally. U-shaped annular grooves 22 a and 23 a are also formed on the side week surfaces of the support rollers 22 and 23. The support rollers 22 and 23 are connected to actuators 26 and 27, respectively, and are reciprocated in the Z direction. A string S stretched in the horizontal direction (Y direction), which will be described later, is located immediately below the support rollers 22 and 23, and the lowest position of the support rollers 22 and 23 (the Z direction is the same position as FIG. 2). Then, the grooves 22a and 23a of the support roller are in contact with the string S.

  The gripping chucks 24 and 25 receive the string S from the carry-in unit 10, grip both ends of the string S, and stretch the straight line in the horizontal direction (Y direction). The gripping chucks 24 and 25 are connected to a slide mechanism (not shown) and can reciprocate in the X direction.

A slide base 221 is laid on the base 28 in the Z direction. The slider 222 disposed on the slide base 221 is positioned in the Z direction by the motor 220. The motor 220 is composed of, for example, a linear motor, and the slide base 221 is composed of, for example, a linear motor magnet and a linear motion guide. However, the combination of the slide base and the slider is not limited to this configuration. For example, the slide base includes a motor and a ball screw that rotates in conjunction with the motor, and the slider moves linearly in conjunction with the rotation of the ball screw. It is good also as a structure provided with a nut. A rotation actuator 230 is disposed on the support plate 281 connected to the base 28.
The base 28 is reciprocated in the X direction by a slide mechanism (not shown), and the groove 101a of the winding cylinder is located immediately below the stretched string S at the advanced position (the front side in FIG. 2). A slide mechanism (not shown) includes an actuator, a slider similar to the slider 222, and a slide base similar to the slide base 221. The same applies to a slide mechanism (not shown) that appears below.

<Operation>
One turn of the string S around the winding column 101 by the winding unit 20 is performed as follows. Hereinafter, for convenience of explanation, the X negative direction may be referred to as the front surface, and the X positive direction may be referred to as the back surface.
(A1) The string S is stretched in the horizontal direction (Y direction) by the grip chucks 24 and 25 immediately below the support rollers 22 and 23. At this time, the head portion 21 is in the uppermost position where the lower end of the winding column 101 is located above the upper ends of the support rollers 22 and 23, and the groove 101a of the winding cylinder is the groove 22a of the support roller. , 23a is the last retracted position (X direction is the same position as in FIG. 3) located on the back side. The head portion 21 is located on the back side of the winding column 101 (see FIGS. 2 and 3). The support rollers 22 and 23 are also located at the uppermost position.

(A2) The actuators 26 and 27 are driven to move the support rollers 22 and 23 to the lowermost position (the Z direction is the same position as in FIG. 2). In this lowest position, the grooves 22a and 23a of the support roller are in contact with the string S. Further, the motor 220 is driven to move the head unit 21 to the lowest position (the Z direction is the same as that in FIG. 2) where the upper end of the winding column 101 is located below the lower ends of the support rollers 22 and 23. To do. Subsequently, the head portion 21 moves to the front side until the groove 101a of the winding cylinder is located immediately below the string S.

(A3) The motor 220 is driven to move the head unit 21 to the uppermost position where the lower end of the winding column 101 is located above the upper ends of the support rollers 22 and 23. By this movement, the string S is wound around the upper half of the groove 101a of the winding cylinder. The gripping chucks 24 and 25 are moved in a direction close to the winding column 101 by the amount that the string S is pulled by the winding column 101 by a slide mechanism (not shown), so that the string S is tensioned with an appropriate tension. Continue to mount.
(A4) The rotary actuator 230 is driven, and the head unit 21 is rotated 180 ° about the shaft 211 as a rotation axis. Thereby, the head part 21 comes to be located in the front side of the winding pillar 101, and the string S crosses immediately below the head part 21.

(A5) The motor 220 is driven to move the head unit 21 until it is located at the same height as the string S on which the lower end of the winding column 101 is stretched. The gripping chucks 24 and 25 move the string S with an appropriate tension by moving the string S away from the winding column 101 by a slide mechanism (not shown) as much as the string S is loosened by the lowering of the winding column 101. Continue to stretch.
With the above operation, the one-turn winding around the winding column 101 is completed. FIG. 11A is a plan view and FIG. 11B is a perspective view showing a state where the winding column 101 is wound once.

(A6) A delivery column 102 having the same diameter as the winding column 101 is moved to the front side by a slide mechanism (not shown) and comes into contact with the winding column 101 (the winding column 101 and the delivery column 101). 102 will be in the state which comprised one cylinder.). An extrusion device (not shown) having an annular extrusion claw that is slightly larger than the winding column 101 is arranged on the front side of the winding column 101, and the extrusion claw moves forward to the back side. As a result, the string S wound around the winding column 101 is delivered to the delivery column 102. The delivery column 102 around which the string S is wound is moved to the back side by a slide mechanism (not shown), and the string S is delivered to the consolidation column 103 of the consolidation unit 30.

[B] Tightening unit <configuration>
The tying unit 30 receives the string S wound around the delivery column 102 by the tying column 103 and performs tying once. As shown in FIG. 4, the tying unit 30 includes first and second large gripping tools 31 and 32, claw driving devices 33 and 34, and a tying column 103.
The first and second large gripping tools 31 and 32 are reciprocated by a slide mechanism (not shown), and form two loops necessary for tying the cord S by crossing in an X shape at the advanced position. .
As shown in FIG. 5, the first and second large gripping tools 31 and 32 are arranged vertically and symmetrically, with the first large gripping tool 31 on the top and the second large gripping tool 32 on the bottom. It is in a positional relationship. Because of this positional relationship, the first and second large gripping tools 31 and 32 intersect in an X shape without colliding when they move forward (see FIG. 13B).

Support members 312 and 322 provided with U-shaped grooves for guiding the string S are provided on the side surfaces of the main body 311 of the first large gripper and the main body 321 of the second large gripper. The support members 312 and 322 act so that the string S maintains the horizontal position in cooperation with the first guide 38 and the second guide 39 provided with the letter-shaped grooves on the side surfaces (see FIG. 13B for details). ) And later described).
As shown in FIG. 6, the support members 312 and 322 are provided from the X negative direction side surface of the main bodies 311 and 321 to the tip portion. As shown in FIG. 4, the support member 322 has an arcuate portion protruding upward, and a groove 324 for guiding the string S is provided in the arcuate portion. The support member 312 also has an arcuate portion protruding downward, and a groove 314 (not shown) for guiding the string S is provided in the arcuate portion.

  The first and second large gripping tools 31 and 32 include first and second large gripping claws 313 and 323 that are inserted into through holes provided at the distal ends of the main bodies 311 and 321. The first and second large gripping claws 313 and 323 are reciprocated in the through holes provided at the distal ends of the main bodies 311 and 321 by an actuator (not shown) to grip the string S, and a rotating device (not shown) It is rotated by (for example, a motor). The second large gripping claw 323 includes two claws 323a and 323b (see FIG. 4), and the first large gripping claw 313 similarly includes two claws 313a and 313b. The first large gripping claw 313 is opened and closed by the claw driving device 33, and the second large gripping claw 323 is opened and closed by the claw driving device 34.

  Between the first and second large grippers 31 and 32, a base 35 having a consolidating column 103, an annular member 351, and an insertion hole 352 is disposed. The consolidation column 103 may be a hollow cylindrical member. The annular member 351 is provided with eight insertion holes 352. When the string S tied from the consolidation pillar 103 is delivered to the delivery pillar 104, the push rod protrudes upward from the insertion hole 352, and delivery is performed.

<Operation>
The tying of the string S to the tying column 103 by the tying unit 30 is performed as follows.
(B1) The string S is wound around the consolidation column 103 (see FIG. 11), and the string S is stretched in the horizontal direction (Y direction) by the gripping chucks 36 and 37.
As shown in FIG. 13 (a), the first and second large gripping tools 31 and 32 are in the last retracted position where the X-direction positions of the tips of the main bodies 311 and 321 are the same as the string S.

(B2) As shown in FIG. 13B, the first large gripper 31 is moved forward to create the left loop 91, and the second large gripper 32 is moved forward to create the right loop 92. . Here, the movement of the first large gripping tool 31 and the second large gripping tool 32 is performed in an oblique direction (319, 329) so as to cross each other by two slide mechanisms (not shown) (that is, the first large gripping tool 32). This is performed by moving the one large gripper 31 in the X / Y negative direction and the second large gripper 32 in the X negative direction / Y positive direction.
The gripping chucks 36 and 37 (not shown in FIGS. 13B and 13C) are moved closer to the consolidation column 103 by the amount that the string S is pulled by the large grippers 31 and 32 by a slide mechanism (not shown). By moving, the string S is continuously stretched with an appropriate tension. The string S includes a U-shaped groove provided on the side surface of the first guide 37, a U-shaped groove provided on the side surface of the support member 312, a U-shaped groove provided on the side surface of the second guide 38, and a support. The horizontal position is held by a U-shaped groove provided on the side surface of the member 322.
A heart-like shape is formed by the above operation.

(B3) When the heart-like shape is formed, the second large gripping claw 323 rises and grips the portion A of the string S, and the first large gripping claw 313 descends to locate the portion B of the string S. grab.
(B4) As shown in FIG. 13C, the first large gripping tool 31 and the second large gripping tool 32 are moved backward in an oblique direction (319, 329) by a slide mechanism (not shown). The retraction movement of the large grippers 31 and 32 is performed until the grooves 314 and 324 and the string S are aligned with the X negative direction side end of the consolidation column 103. With this positional relationship, the ends 94 and 95 of the string S come out of the left and right loops 91 and 92, and tension is applied to the string S gripped by the first and second large gripping claws 313 and 323.
With the above operation, the tying to the tying column 103 is completed. FIG. 12A is a plan view and FIG. 12B is a perspective view showing a state where the columns are consolidated to the consolidation column 103.
The string S tightly tied to the consolidation pillar 103 is delivered to the delivery pillar 104 of the butterfly knot unit 40 as the push rod protrudes upward from the insertion hole 352.

[C] Butterfly tying unit <Configuration>
In the butterfly knot unit 40, the string S that has been wound once and tightly knotted is delivered to the bottle J from the delivery column 104, and the butterfly knot is applied once. As shown in FIG. 7, the butterfly tying unit 40 includes first and second small gripping tools 51 and 52, first and second pressing tools 71 and 72, and first and second horizontal position prescriptions. Tools 81 and 82.

  The first and second small gripping tools 51 and 52 are reciprocated by a slide mechanism (not shown), and the two loops 91 and 92 necessary for tying the bow by crossing in an X shape at the advanced position are stringed. S is formed. When the first and second small gripping tools 51 and 52 are moved forward, they are pushed in the negative X direction by the rollers 531 and 541 connected to the first and second actuators 53 and 54 and are rotated at a certain angle. is there.

  As shown in FIG. 8, the first and second small gripping tools 51 and 52 are arranged symmetrically with the first small gripping tool 51 on the bottom and the second large gripping tool 52 on the top. It is in a positional relationship. Because of this positional relationship, the first and second large gripping tools 51 and 52 intersect in an X shape without colliding when they move forward (see FIG. 14C).

The first small gripper 51 has an arm 510 connected to the base 55, and the second small gripper 52 has an arm 520 connected to the base 56. The arm 510 is pushed and rotated in the negative X direction by a roller 531 connected to a first actuator 53 connected to a base 55, and the arm 520 is connected to a second actuator 54 connected to a base 56. The roller 541 is pushed in the X negative direction to rotate. When the first and second small gripping tools 51 and 52 advance and move, the first and second actuators 53 and 54 are driven to rotate at a certain angle.
A gripping claw 512 movable in the Y direction and a gripping claw 513 fixed in the vicinity of the tip are provided on the upper surface of the arm 510, and a gripping claw 522 movable in the Y direction is provided on the lower surface of the arm 520. A fixed gripping claw 523 is provided. The gripping claw 512 is reciprocated by the actuator 514 and the gripping claw 513 is reciprocated by the actuator 524 so that the string S located in the gripping grooves 511 and 521 can be gripped or released. The tips of the gripping claws 512 and 522 are formed with an angle with respect to the X direction, and the pusher claws 71a and 72a and the tips of the gripping claws 512 and 522 are substantially parallel when pushed by the pushers 71 and 72. It is configured as follows.

The gripping claws 513 and 523 have a truncated cone shape, and a circular surface having a narrower diameter is fixed to the arms 510 and 520. The grip claws 513 and 523 not only function as grip claws but also function as support members when forming the loops 91 and 92 of the string S. That is, when the first and second small gripping tools 51 and 52 are moved forward, the concave portion formed by the peripheral surfaces on the distal ends of the gripping claws 513 and 523 and the arms 510 and 520 supports the string S (the string S (Acting as a groove for guiding).
Guides 61 and 62 are connected to the bases 55 and 56 via connecting tools 63 and 64. The guides 61 and 62 are rollers in which U-shaped grooves are formed on the side peripheral surfaces, and are reciprocated in the X direction by actuators 65 and 66. The guides 61 and 62 operate in cooperation with the grip claws 512 and 522 so that the string S maintains the horizontal position (details will be described later with reference to FIG. 14B).

  The first and second pushers 71 and 72 are located on the X negative direction side of the first and second small grippers 51 and 52, and the Y direction position is the first and second small grippers 51. , 52. Actuators 73 and 74 are connected to the first and second pushers 71 and 72 and reciprocate in the Z direction (see FIG. 8). When the first and second small gripping tools 51 and 52 intersect the X shape at the most advanced position, the A portion of the string S shown in FIG. 71 moves downward, and the portion A is pushed into the groove 511 by the pusher claw 71a, so that the B portion of the string S is located directly below the groove 521, so the first pusher 72 moves upward. The portion B is pushed into the groove 521 by the pressing claw 72a.

  The first and second horizontal position defining tools 81 and 82 are a pair of plate-like members that are arranged to face each other between the small gripping tools 51 and 52. As shown in FIG. 9, the first and second horizontal position defining tools 81, 82 are provided with notch grooves 81 a, 82 a that are narrower as the opening side (X positive direction side) becomes wider toward the back side. . The innermost portions 81b and 82b of the notch groove have a slightly wider width than the string S, and act to position the string S in the Z direction (height direction). The first and second horizontal position defining tools 81 and 82 can be reciprocated in the X direction by the actuator 87, and advance in the X negative direction to cut out the string S stretched in the Y direction. It guides to the innermost part 81b, 82b. The string S guided to the notch groove innermost portions 81b and 82b is restricted from moving in the Z direction.

Abutting fixtures 83 and 84 are disposed between the first and second horizontal position defining tools 81 and 82. The contact fixtures 83 and 84 are made of a single rubber roller connected to the actuator 86 via the fixing plate 85, and are reciprocated in the X direction. The contact fixtures 83 and 84 are disposed at a height that allows contact with the upper taper portion of the bottle J, and fix the bottle J so that it does not move when it moves forward in the X negative direction.
The gripping chucks 88 and 89 receive the gripping portion of the string S from the gripping chucks 313 and 323 of the tying unit 30, grip the string S and stretch it in the Y direction (see FIG. 14B).

<Operation>
The bow S of the string S to the bottle J by the butterfly knot unit 40 is performed as follows.
(C1) The bottle S is in a state in which the string S is wound once around the bottle J and is further tightened once (see FIG. 12), and the string S is stretched in the horizontal direction (Y direction) by the gripping chucks 88 and 89. It is in a suspended state.
As shown in FIG. 14 (a), the first and second small gripping tools 51 and 52 are parallel to the string S, and the X-direction positions of the arms 510 and 520 define the first and second horizontal positions. It is in the last retracted position that is the same as the ends of the tools 81 and 82.

(C2) As shown in FIG. 14B, by driving the actuators 53 and 54, the first and second small grippers 51 and 52 are rotated by a predetermined angle in the X negative direction, and the string S is The strap S is brought into contact with the gripping claws 513 and 523 so that the string S is M-shaped when viewed from above. At this time, the string S is supported by the first guide 61 and the gripping claws 512 on the left side and supported by the second guide 62 and the gripping claws 522 on the right side, so that the horizontal position is maintained.
The gripping chucks 88 and 89 (not shown in FIGS. 14B and 14C) are attached to the bottle J by the amount that the string S is pulled by the first and second small grippers 51 and 52 by a slide mechanism (not shown). By moving in the approaching direction, the string S is continuously stretched with an appropriate tension.

(C3) As shown in FIG. 14C, the first small gripper 51 and the second small gripper 52 are crossed with each other in the Y direction (that is, the first small gripper 51 is moved). In the Y positive direction, the second small gripper 52 is moved forward (in the Y negative direction).
By the above operation, a heart-like shape is formed in which the left loop 91 and the right loop 92 are made smaller (smaller diameter) than in the case of tying.

(C4) When the heart-like shape is formed, the first pressing tool 71 descends and the portion A of the string S is pushed into the gripping groove 511 of the first small gripping tool, and the second pressing tool 72 rises. Then, the portion B of the string S is pushed into the grip groove 521 of the second small gripper. Subsequently, the gripping claw 512 of the first small gripping tool moves forward toward the gripping claw 513, grips the portion A of the string S pushed into the gripping groove 511, and the gripping claw of the second small gripping tool 522 moves forward toward the gripping claw 523 side and grips the portion B of the string S pushed into the gripping groove 521.

(C5) The string S held by the holding chucks 88 and 89 is released. Subsequently, the actuators 65 and 66 are driven to retract the first and second guides 61 and 62 in the X negative direction, and the horizontal holding of the string S is released. Subsequently, the first pusher 71 is raised and the second pusher 72 is lowered to release the string S from being pushed.
(C6) By driving a slide mechanism (not shown), the first small gripper 51 moves backward in the Y negative direction and the second small gripper 52 moves backward in the Y positive direction. At this time, the first and second actuators 53 and 54 are retracted to release the pressing by the rollers 531 and 541, and the first and second gripping tools 51 and 52 are rotated in the opposite directions. By the combined operation of the first and second gripping tools 51 and 52, tension is applied to the string S that is gripped at the points A and B while the loops 91 and 92 are held, and a bow can be formed.

(C7) Further, the first small gripping tool 51 continues to move backward in the Y negative direction and the second small gripping tool 52 in the Y positive direction, and the sizes of the left and right loops 91 and 92 are adjusted.
With the above operation, the decoration of the bow on the bottle J is completed.

  According to the bowknot device 1 of the present embodiment described above, the bowknot can be automatically formed at a high speed by a simple operation consisting of a combination of reciprocating motions in the X, Y or Z directions. In other words, the bow device 1 according to the present embodiment provides a new bow method that automatically forms a bow by a linear combination that the machine is good at, rather than imitating the movement of a human finger by a machine. Is.

  Although the present disclosure has been described in detail in the present disclosure by way of example only, many modifications may be made to the embodiment without substantially departing from the novel teachings and advantages of the present invention. is there.

DESCRIPTION OF SYMBOLS 1 Bowknot apparatus 10 Carry-in unit 20 Winding unit 21 Head part 22, 23 Support rollers 24 and 25 Gripping chuck (gripping tool for stretching)
26, 27 Actuator (for support roller)
28 Base 30 Tightening unit 31 First large gripping tool 32 Second large gripping tool 33, 34 Claw driving device 35 Base 36, 37 Gripping chuck (stretching gripping tool)
38 first guide 39 second guide 40 butterfly tying unit 50 carry-out unit 51 first small gripper 52 second small gripper 53 first actuator 54 second actuator 55 first gripper base 56 Second gripping tool base 61 First guide 62 Second guide 63, 64 Connecting tool 65, 66 Actuator (for guide)
71 First pusher 72 Second pusher 73, 74 Actuator 81 First horizontal position defining tool 82 Second horizontal position defining tool 83, 84 Abutting fixture 85 Fixing plate 86, 87 Actuator 88, 89 Grasping Chuck (grip for tension)
91 Left Loop 92 Right Loop 93 Rotation Loop 94 Right End 95 Left End 101 Winding Tube 102 Delivery Tube 103 Consolidation Tube 104 Delivery Tube S String J Bottle

Claims (11)

A columnar member (104);
A first gripping tool having a gripping claw that opens upward or downward and vertically reciprocates;
A second gripping tool that is disposed at a horizontal height that does not collide with the first gripping tool, has a gripping claw that opens in the opposite direction to the first gripping tool, and moves vertically and reciprocally;
A first gripper slide mechanism for moving the first gripper located in front of the left side of the columnar member diagonally rightward and backward, and
A second gripper slide mechanism for moving the second gripper positioned in front of the right side of the columnar member diagonally leftward and backward, and
A pair of tension grips (88, 89);
A pair of tension slide mechanisms for sliding the pair of tension grippers;
A string tying device comprising:
In the columnar member, the string S is wound at least once, and the string S is pulled left and right by a pair of tension gripping tools,
The first gripping tool slide mechanism moves the first gripping tool diagonally rightward with the string S applied to the tip, and the second gripping tool slide mechanism holds the string S applied to the tip. Move the second gripping tool diagonally to the left and form two loops intersecting with the string S by crossing the first gripping tool and the second gripping tool on the back side of the columnar member,
The string S near the back side of the second gripping tool is gripped by the gripping claws of the first gripping tool, and the side near the back side of the first gripping tool is gripped by the gripping claws of the second gripping tool Gripping the string S in
The first gripping tool is moved backward by the first gripping tool slide mechanism so that the end of the string S does not come out of the loop of the string S formed by the second gripping tool, and is formed by the first gripping tool. A stringing device that automatically forms a butterfly knot by reversing the second gripping tool by a second gripping tool slide mechanism so that the end of the string S does not come out of the loop of the string S. The first and second gripping tools have a recess for guiding the string S at the tip part,
It is provided with the 1st and 2nd guide which is arranged in the back side of the 1st and 2nd grasping tools, and holds the horizontal position of string S in cooperation with the 1st and 2nd grasping tools. The string tying device according to claim 1, characterized in that: The columnar member has a hole into which the cylindrical member is inserted,
By passing the string S wound around the columnar member to a cylindrical member disposed between the first and second gripping tools, the butterfly knot is automatically formed on the cylindrical member. The string tying device according to claim 2.
A horizontal position defining tool that is disposed between the first and second gripping tools and has a groove that becomes narrower from the opening side toward the back side, and that defines the horizontal position of the string S;
A slide mechanism for a horizontal position defining tool that advances and retracts a horizontal position defining tool in a direction perpendicular to the first and second gripping tools;
An abutting fixture that is disposed between the first and second gripping tools and abuts against a tubular member to fix the position;
The tying device according to claim 3, further comprising: a contact fixing tool slide mechanism that moves the contact fixing tool forward and backward in a direction orthogonal to the first and second gripping tools. A columnar member (103);
A first gripping tool having a gripping claw that opens upward or downward and vertically reciprocates;
A second gripping tool that is disposed at a horizontal height that does not collide with the first gripping tool, has a gripping claw that opens in the opposite direction to the first gripping tool, and moves vertically and reciprocally;
A first gripper slide mechanism for moving the first gripper located in front of the left side of the columnar member diagonally rightward and backward, and
A second gripper slide mechanism for moving the second gripper positioned in front of the right side of the columnar member diagonally leftward and backward, and
A pair of tension grips (36, 37);
A pair of tension slide mechanisms for sliding the pair of tension grippers;
A string tying device comprising:
In the columnar member, the string S is wound at least once, and the string S is pulled left and right by a pair of tension gripping tools,
The first gripping tool slide mechanism moves the first gripping tool diagonally rightward with the string S applied to the tip, and the second gripping tool slide mechanism holds the string S applied to the tip. Move the second gripping tool diagonally to the left and form two loops intersecting with the string S by crossing the first gripping tool and the second gripping tool on the back side of the columnar member,
The string S near the back side of the second gripping tool is gripped by the gripping claws of the first gripping tool, and the side near the back side of the first gripping tool is gripped by the gripping claws of the second gripping tool Gripping the string S in
The first gripper is moved backward by the first gripper slide mechanism until the end of the string S comes out of the loop of the string S formed by the second gripper, and the string formed by the first gripper A string tying device that automatically forms a tight knot by reversing the second gripping tool by a second gripping tool slide mechanism until the end of the string S comes out of the loop of S. The first and second gripping tools are configured to include a plate-shaped main body and a support member provided from the back side surface of the main body to the tip portion,
The support member has a recess for guiding the string S provided on the side surface, a groove for guiding the string S opened on the same side as the gripping claw, a hole in which the gripping claw is disposed, and a rotation for rotating the gripping claw. The tying device according to claim 5, further comprising a device. Is disposed on the back side of the front Symbol first and second graspers, comprise a first and second guide which holds the horizontal position of the string S in cooperation with the first and second gripper The string tying device according to claim 6.
A butterfly tying device comprising the string tying device according to any one of claims 1 to 4,
A bowknot device comprising: a knotting device comprising the string knotting device according to any one of claims 5 to 7,
A bowknot device that automatically forms a knot with a knotting device and automatically forms a knot with a butterfly knotting device. A pair of vertically reciprocating rollers (22, 23);
A columnar member (101) disposed between the pair of rollers (22, 23) and capable of vertical reciprocation and rotation;
A pair of tension grips (24, 25);
A pair of tension slide mechanisms for sliding the pair of tension gripping tools (24, 25);
Comprising a winding device comprising:
The bowknot device according to claim 8, wherein the string S is wound around the columnar member (101) by the winding device once.   A string tying method for automatically forming a butterfly knot using the string tying device according to claim 1.   A tying method for automatically forming a tying using the tying device according to claim 5.