JP6663829B2 - Ribbon tying device - Google Patents

Description

  The present invention relates to a ribbon tying device that ties a ribbon by tying a ribbon over a box such as a box or a packaging container containing a product.

  2. Description of the Related Art Conventionally, a box containing a product such as a confectionery or a toy is wrapped with a ribbon and a knot having a beautiful appearance is formed so that a person who receives the product may have an enhanced feeling of excitement. Then, the transfer of the ribbon and the formation of the knot are performed by a dexterous person or a skilled person (for example, Patent Document 1).

  In the field of food processing, a device for tying a knot on a string-shaped body such as a goose has been proposed (for example, Patent Document 2).

Further, an apparatus has been proposed in which a string is wound around an object to be tied to form a loop-shaped knot (for example, Patent Document 3).
Also, there has been proposed an articulated robot that includes two sets of hands and arms capable of holding a linear body or a band and forms a knot on the linear body or the band (for example, Patent Document 4).

Japanese Utility Model Publication No. 6-42983 JP 2010-239943 A JP-A-11-314609 JP 2014-046419 A

  If the demand for products is not constant throughout the year, it is difficult to secure workers to keep up with the demand for products during the busy season and to maintain the skill of each worker, and automation of ribbon tying work is desired. .

  On the other hand, the invention described in Patent Document 2 is suitable for tying a string or a rope having a circular cross section, but tying a flat ribbon impairs aesthetics.

  On the other hand, the invention described in Patent Literature 3 is suitable for binding delivery goods (magazines, newspapers, etc.) that do not require the beauty of a knot, but is capable of maintaining the exhilaration of the recipient of the product or the like. It is hard to say the beauty.

  On the other hand, in the invention described in Patent Document 4, although it is possible to form a simple loop-shaped knot, a ribbon or the like having a flat cross-section is hung and tied to form a knot without impairing a decorative aesthetic appearance. It was difficult.

  Therefore, an object of the present invention is to provide a ribbon tying device that automatically hangs a ribbon over a box without relying on humans to form a knot having a decorative aesthetic appearance.

In order to solve the above problems, one embodiment of the present invention provides:
In a ribbon tying device that ties a ribbon to a box to form a knot,
A ribbon supply unit for supplying a ribbon,
A first hand unit for gripping the leading end of the ribbon,
A second hand unit for changing the leading end of the ribbon from the first hand unit,
A third hand unit for temporarily changing the leading end of the ribbon from the second hand unit, the third hand unit having a body unit for temporarily winding the ribbon with the first hand;
The first hand part is
It is arranged at the first initial standby position, grips the leading end of the ribbon pulled out from the ribbon supply unit in the pulled-out state, and places the ribbon on the body of the third hand unit on the side opposite to the first initial standby position. Hang over, and change the tip of the ribbon to the second hand part,
The second hand part is
The ribbon is disposed at the second initial standby position, and the leading end of the ribbon is changed from the first hand portion on the opposite side to the second initial standby position, and the ribbon is pulled out and wrapped around the box and the body portion of the third hand portion. Moving to the second initial standby position side while passing the leading end of the ribbon through the loop formed when
The third hand part is
After the ribbon is wound around the body at the third initial standby position and opposite to the third initial standby position, the leading end of the ribbon is changed from the second hand portion to the third initial standby position. A ribbon knot tying device characterized by forming a knot by returning to (1).

  Without relying on humans, the ribbon can be automatically wrapped around the box to form a knot with a decorative aesthetic.

FIG. 1 is a schematic diagram showing an entire configuration of an example of a mode that embodies the present invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t1 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t2 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t3 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t4 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t5 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t6 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t7 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t8 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t9 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t10 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t11 which is an example of the form which embodies this invention. It is the top view and side view which show the position and state in operation | movement of each part at the time t12 which is an example of the form which embodies this invention.

An embodiment for carrying out the present invention will be described below with reference to the drawings. In each figure, three axes of the rectangular coordinate system are X, Y, and Z, an XY plane is a horizontal plane, and a Z direction is a vertical direction. The direction in which the Y direction rotates about the center axis is defined as the θ direction. For convenience of description, the direction in which the box B is transported and the direction in which the ribbon T is wrapped around the box B are defined as the Y direction, and the direction perpendicular thereto is defined as the X direction. In the X direction, the direction of the arrow is expressed as the near side, and the opposite direction is expressed as the depth. In the Y direction, the direction of the arrow is expressed as the upstream, and the opposite direction is expressed as the downstream. Is expressed as below.
In the ribbon T, the front surface is indicated by cross-hatching, and the back surface is indicated by halftone dots.

  FIG. 1 is a schematic diagram showing an entire configuration of an example of an embodiment embodying the present invention. FIG. 1 shows an outline of a device configuration of a ribbon tying apparatus 1 according to the present invention as viewed from above from the near side on the downstream side.

  The ribbon tying device 1 according to the present invention is to tie a ribbon T over a box B to form a knot K. Specifically, the ribbon tying device 1 includes a ribbon supply unit 2, a first hand unit 3, a second hand unit 4, and a third hand unit 5. Further, the ribbon tying device 1 includes a box transport unit TR, a box holding unit BH, a ribbon cutting mechanism CT, a control unit CN (not shown), and the like.

  The ribbon supply unit 2 supplies the ribbon T by pulling it out to the box B side. Specifically, the ribbon supply unit 2 includes a reel 21, a motor 22, a clutch mechanism 23, a tension roll 25, and the like.

The reel 21 winds a ribbon T to be supplied. Specifically, the reel 21 is disposed above the transport path of the box B such that the direction in which the ribbon T is pulled out from the reel 21 substantially matches the direction in which the ribbon T is stretched over the box B. . Further, the ribbon T is wound around the reel 21 such that the front surface of the ribbon T (that is, the direction that becomes outside when the ribbon T is wrapped around the box B) faces the outside. In each figure,
The motor 22 rotates the reel 21 in a direction opposite to the direction r in which the ribbon T is pulled out.

  The clutch mechanism 23 transmits and controls the rotational torque from the motor 22 to the reel 21, and has a configuration capable of applying a predetermined pullback tension (that is, a back tension) to the ribbon T drawn from the reel 21. .

  Further, the ribbon supply unit 2 includes a tension roll 25 and a moving mechanism 26 (not shown).

  The tension roll 25 is used to extend a section where the ribbon T is pulled out when the ribbon T is wrapped around the box B, and is attached to a movable portion of the moving mechanism 26. Specifically, the tension roll 25 is provided with flange-shaped guide portions having an outer diameter larger than the central portion of the roller at both end portions of the roller, and is configured not to deviate when the ribbon T is pulled out. . The rotation axis of the tension roll 25 is arranged in a direction (ie, X direction) substantially perpendicular to the direction in which the ribbon T is stretched over the box B.

  The moving mechanism 26 moves the tension roll 25 in a direction 26v away from the box B from the initial standby position. Specifically, the moving mechanism 26 is configured by an air cylinder, an electric actuator, or the like.

  Therefore, by moving the tension roll 25 attached to the movable portion of the moving mechanism 26 in the direction 26v away from the box B, the section in which the ribbon T is pulled out while the front surface of the ribbon T faces upward is formed. Will be extended.

  In addition, the ribbon T can be distinguished into a main body portion Tc that is stretched over the box B, a drawer portion Td that is in a drawn state upstream of the main body portion Tc, and a tip portion Ta on the opposite side. Further, the leading end portion Ta side of the main body portion Tc of the ribbon T is referred to as a front portion Tb.

  Further, the leading end portion Ta of the ribbon T is also referred to as a leading portion, and is a portion that moves ahead of the main body portion Tc of the ribbon T when the ribbon T is bridged or the knot K is formed. Specifically, the leading end portion Ta of the ribbon T is held by the leading portion Ta1 held by the first hand portion 3, the leading portion Ta2 held by the second hand portion 4, and the third hand portion 5. It can be distinguished from the leading portion Ta3. More specifically, of the leading end portion Ta of the ribbon T, the leading portion Ta1 gripped by the first hand portion 3 is a position set on the main body by a predetermined distance from the end of the ribbon T, The outer side (that is, the outermost end side) is the leading portion Ta2 gripped by the second hand portion 4, and the outer side (that is, near the outermost portion) is the leading portion that is gripped by the third hand portion 5. Ta3.

  The first hand unit 3 is for gripping the leading end Ta of the ribbon T. Further, the first hand unit 3 is disposed at a first initial standby position P10 (a position indicated by a broken line in the drawing), and the leading end portion Ta (specifically, the leading end Ta of the ribbon T pulled out from the ribbon supply unit 2 is pulled out). Grips the leading portion Ta1) and wraps the ribbon T over the body (referred to as a third body 51 for convenience of description) on the side opposite to the first initial standby position P10, The leading end Ta of the ribbon T is switched to the second hand unit 4.

  Specifically, the first hand unit 3 includes a first grip unit 30, a first body unit 31, a first hand moving mechanism 32, and the like.

  The first gripper 30 performs an opening and closing operation on the ribbon T such that a person grips an object with the thumb and the index finger, and holds (ie, grips) the ribbon T by sandwiching the ribbon T from the front side and the back side. It is. More specifically, the first holding unit 30 includes a pair of holding members and a driving mechanism (not shown), and is attached to one end of the first body 31. This drive mechanism drives the vicinity of the tip portions of the pair of gripping members so as to come into contact with and separate from each other, and is constituted by a pneumatic cylinder, an electric motor, or the like.

  The first body part 31 moves or stops the first grip part 30 in a predetermined position and direction. Specifically, the first body portion 31 is formed of a hollow cylindrical member having a predetermined length.

  The first hand moving mechanism 32 is for moving the first body 31 to a predetermined position. Specifically, the first hand moving mechanism 32 includes a one-axis slider and two air cylinders.

  The one-axis slider moves the first body portion 31 in a direction intersecting the direction in which the ribbon T is pulled out (that is, the Y direction), and the first initial standby position P10 farthest from the main body portion Tc of the ribbon T (also referred to as the rear). ) Or the opposite side (that is, the main body side of the ribbon T; also referred to as forward) (that is, retreat / forward). Specifically, the one-axis slider is configured by an electric actuator, and has a configuration in which the movable unit moves to a predetermined position and stops based on a control signal from the control unit CN.

  The air cylinder moves the one-axis slider vertically (that is, in the Z direction). Further, two air cylinders are mounted on the front side and the rear side of the one-axis slider. If both air cylinders are simultaneously expanded and contracted, the one-axis slider moves up and down, and one air cylinder is expanded and contracted. Then, the one-axis slider rotates in the θ direction. Specifically, each of these air cylinders is connected to a compressed air supply unit via a switching valve, and based on a control signal from a control unit CN, introduces compressed air into one of the internal air chambers, and The air chamber of this type is configured to be expanded and contracted by being opened to the atmosphere and to move the movable part.

  Further, if the front air cylinder is at the ascending position, the first hand unit 3 allows the first gripping unit 30 to pass above the main body portion Tc or the drawer Td of the ribbon T, and the front air cylinder is moved to the lowered position. , The first body portion 31, the one-axis slider, each air cylinder, and the like are arranged so that the first grip portion 30 can pass below the drawer portion Td of the ribbon T.

  The second hand unit 4 changes the leading end Ta of the ribbon T from the first hand unit 3. Further, the second hand unit 4 is disposed at a second initial standby position P20 (a position indicated by a broken line in the drawing), and the tip end portion Ta of the ribbon T is on the opposite side (that is, forward) from the second initial standby position P20. From the first hand unit 3, and the leading end of the ribbon T is attached to a loop portion R1 formed when the ribbon T is stretched over the box body B and the third body portion 51 of the third hand unit 5 in the pulled-out state. It moves to the second initial standby position P2 side (that is, retreats) while passing through Ta.

  Specifically, the second hand unit 4 includes a second holding unit 40, a second body unit 41, a second hand moving mechanism 42, and the like.

  The second grip portion 40 holds (ie, grips) the ribbon T with the ribbon T sandwiched from the front surface side and the back surface side. Although the second grip 40 is attached to one end of the second body 41, the other configuration is the same as that of the first grip 30, so a detailed description is omitted.

  The second body 41 moves and holds the second grip 40 in a predetermined position and direction. Specifically, the second body 41 is formed of a hollow cylindrical member having a predetermined length.

  The second hand moving mechanism 42 moves the second body 41 to a predetermined position. Specifically, the second hand moving mechanism 42 includes an air cylinder and a one-axis slider.

  The air cylinder moves the second body 41 up and down (that is, in the Z direction). Specifically, the air cylinder is connected to a compressed air supply unit via a switching valve, and based on a control signal from a control unit CN, introduces compressed air into one of the internal air chambers and introduces the other air chamber. Is made to expand and contract by making it open to the atmosphere, and the movable part is moved.

  The one-axis slider moves the air cylinder in a direction intersecting the direction in which the ribbon T is pulled out (that is, the Y direction), and the second initial standby position P20 (also referred to as the rear) farthest from the main body portion Tc of the ribbon T or the same. It is moved (that is, retracted / advanced) to the opposite side (that is, the main body side of the ribbon T, also referred to as the front). Specifically, the one-axis slider is configured by an electric actuator, and has a configuration in which the movable unit moves to a predetermined position and stops based on a control signal from the control unit CN. The one-axis slider is mounted obliquely in the XZ direction, and is arranged such that the second body 41 moves back and forth (retreats and advances) in the lower front and the upper rear.

  Further, if the air cylinder is at the raised position, the second gripper 40 passes above the drawer Td of the ribbon T, and if the air cylinder is at the lowered position, the second gripper 40 The second body portion 42, a one-axis slider, an air cylinder, and the like are arranged so that the ribbon T can pass below the drawer portion Td.

  The third hand portion 5 has a body portion (in the present embodiment, the third body portion 51 corresponds to the body portion) around which the ribbon T is temporarily wound by the first hand portion 3. The second hand unit 4 is to be changed. Further, the third hand unit 5 is disposed at a third initial standby position P30 (position indicated by a broken line in the drawing), and the ribbon T is wound around the third body unit 51 on the side opposite to the third initial standby position P3. After the loop portion R2 is formed, the knot K is formed by changing the leading end portion Ta of the ribbon T from the second hand portion 4 and returning to the third initial standby position P3 side.

  Specifically, the third hand unit 5 includes a third holding unit 50, a third body unit 51, a third hand moving mechanism 52, and the like.

  The third grip 50 holds (ie, grips) the ribbon T while sandwiching the ribbon T from the front side and the back side. The third grip 50 is attached to one end of the third body 51, but the other configuration is the same as that of the first grip 30, so detailed description is omitted.

  The third body part 51 moves or stops the third grip part 50 in a predetermined position and direction. Specifically, the third body 51 is formed of a hollow cylindrical member having a predetermined length.

  The third hand moving mechanism 52 moves the third body 51 to a predetermined position. Specifically, the third hand moving mechanism 52 includes an air cylinder and a one-axis slider.

  The air cylinder moves the third body 51 up and down (that is, in the Z direction). Specifically, the air cylinder is connected to a compressed air supply unit via a switching valve, and based on a control signal from a control unit CN, introduces compressed air into one of the internal air chambers and introduces the other air chamber. Is made to expand and contract by making it open to the atmosphere, and the movable part is moved.

  The one-axis slider moves the air cylinder in a direction in which the ribbon T is pulled out (that is, in the Y direction), and moves the air cylinder in the third initial standby position P30 (also referred to as a rear side) farthest from the drawing portion Td of the ribbon T or on the opposite side (that is, , The drawer side of the ribbon T. It is also moved forward (that is, retreat / forward). Specifically, the one-axis slider is configured by an electric actuator, and has a configuration in which the movable unit moves to a predetermined position and stops based on a control signal from the control unit CN.

  Further, if the air cylinder is at the raised position, the third hand portion 5 separates the third body portion 51 from the main body portion Tc of the box body B and the ribbon T above the box body B, and moves the air cylinder to the lowered position. For example, the third body portion 51 can be brought closer to the box B side so that the third body portion 51 contacts or does not contact the main body portion Tc or the drawer portion Td of the ribbon T stretched over the box body B. A one-axis slider, an air cylinder and the like are arranged.

  In addition, the first hand unit 3 and the third hand unit 5 allow the first gripping unit 30 to sequentially pass from the lower side of the third body unit 51 to the near side, the upper side, and the back side, so that the front part Tb of the ribbon T Each part is arranged so that it can be bridged over the third body part 51.

  Further, the first hand unit 3 and the second hand unit 4 move the second gripper 40 closer to the back side of the drawer Td of the ribbon T and slightly downstream of the first gripper 30 to form the ribbon T. Each part is arrange | positioned so that the front-end | tip part Ta can be changed.

  In addition, the second hand part 4 and the third hand part 5 are such that the second body part 41 intersects below the third body part 51, or the second grip part 40 is slightly above the drawer Td of the ribbon T. The components are arranged such that the third grip 50 can be brought closer to the downstream side so that the leading end Ta of the ribbon T can be changed.

  Since the first hand unit 3 has the above-described configuration, the first hand unit 3 is arranged around the drawer Td of the ribbon T (that is, upper / lower, front / rear) based on a control signal from the controller CN. One gripper 30 can be moved in the X direction or the Z direction, rotated in the θ direction, stopped at a predetermined position, or opened and closed. Therefore, the first hand unit 3 disposed at the first initial standby position P10 is a box body while holding the leading portion Ta1 of the ribbon T with the first gripper 30 at the position advanced from the first initial standby position P10. B, the leading edge Ta1 of the ribbon T is moved upward from the lower side of the pull-out portion Td of the ribbon T via the near side, and further, the main body portion Tc or the pull-out portion of the ribbon T is moved. The third hand portion 5 disposed above Td is moved upward from the front of the third body portion 51, and is further moved toward the side of the drawer portion Td of the ribbon T (that is, from the first hand portion 3 to the second hand portion). (The delivery position to the part 4), and the front part Tb of the ribbon T is wrapped around the third body part 51 (that is, it corresponds to the first half of the operation of winding the front part Tb of the ribbon T around the third body part 51). ), The leading part T of the ribbon T 2 was gripped by the second hand unit 4 releases the gripping of the first grip portion 30 (i.e., cause dimensional worlds) can.

Since the second hand unit 4 has the above-described configuration, the second hand unit 4 is arranged around the drawer Td of the ribbon T (that is, upper / lower, front / rear) based on the control signal from the controller CN. (2) The gripper 40 can be moved in the X direction and the Z direction, can be stopped at a predetermined position, and can be opened and closed. Therefore, the second hand unit 4 disposed at the second initial standby position P20 is advanced from the second initial standby position P20, and the second gripping unit 40 to the second body unit 41 below the pull-out portion Td of the ribbon T. And the second gripping portion 40 is disposed on the back side of the drawn portion Td of the ribbon T (that is, the delivery position where the leading end portion Ta of the ribbon T is changed from the first hand portion 3 to the second hand portion 4), The tip part Ta of the ribbon T is changed from the first hand part 3 to the second hand part 4,
The second gripper 40 is moved to the second initial standby position P20 again (that is, it corresponds to the latter half of the operation of winding the front portion Tb of the ribbon T around the third body portion 51), and further the pulling portion Td of the ribbon T is moved. The ribbon T is moved upward (that is, the delivery position from the second hand unit 4 to the third hand unit 5), and the leading end portion Ta3 of the ribbon T is held by the third holding unit 50 of the third hand unit 5 so that the second holding unit The grip at 40 can be released (that is, it can be changed).

  Since the third hand unit 5 has the above-described configuration, the third hand unit 5 and the third grip unit 50 above the pull-out unit Td or the main body unit Tc of the ribbon T based on the control signal from the control unit CN. The body 51 can be moved in the Y direction and the Z direction, can be stopped at a predetermined position, and the third grip 50 can be opened and closed. Therefore, the third hand unit 5 arranged at the third initial standby position P30 moves forward from the third initial standby position P30, and separates from the ribbon T and is located above the pull-out portion Td of the ribbon T and the first hand. The third body 51 is advanced to a position where it intersects with the part 3, the third body 51 is lowered, and the first hand part 3 and the second hand part 4 surround the third body 51 around the front part of the ribbon T. After the loop portion R2 around which the Tb is wound is formed, the third body portion 51 is moved to the third initial standby position from the transfer position from the second hand portion 4 to the third hand portion 5 with the loop portion R2 wound. After the second hand unit 4 is moved to the delivery position, the third grip 50 is advanced to the delivery position, and the leading end Ta3 of the ribbon T is moved to the third grip of the third hand unit 5. 50 to release the gripping by the second gripper 40. By moving the third gripping portion 50 to the third body portion 51 toward the third initial standby position P30, the ring portion R2 formed around the third body portion 51 is moved. The leading end portion Ta of the ribbon T passes through the inside, and a knot K is formed on the main body portion Tc of the ribbon T wrapped around the box B. At this time, the first hand part 3 and the third hand part 5 are separated from each other by holding the drawer Td of the ribbon T with the first holding part 30 of the first hand part 3 in advance. The knot K can be formed and arranged on the upper surface.

  The box transport section TR supplies and transports the box B from the upstream side to the downstream side. Specifically, the box transport section TR includes an upstream mounting table ST1, a downstream mounting table ST2, a transport support section SP, a delivery member, an air cylinder, a one-axis slider, and the like.

  The upstream mounting table ST1 is for mounting the box B before the ribbon T is laid over it.

  The downstream mounting table ST2 is for mounting the box B when the ribbon T is laid.

  The transport support unit SP bridges the box B in order to move it from the upstream stage ST1 to the downstream stage ST2. Specifically, the transport support unit SP includes a plate-like member that can be accommodated below the upstream stage ST1, and a slide mechanism that slides the plate-like member downstream. If the plate-shaped member of the transport support part SP is slid to the upstream side, a predetermined space is secured between the upstream-side mounting table ST1 and the downstream-side mounting table ST2, and the plate-shaped member is slid to the downstream side. Then, the bridge is bridged between the upstream mounting table ST1 and the downstream mounting table ST2, and the box B can be transported smoothly.

  The delivery member pushes the box B from the upstream side to the downstream side in order to move the box B from the upstream stage ST1 to the downstream stage ST2.

  The air cylinder moves the delivery member up and down to move (ie, ascend) to a position higher than the upper surface of the box B, or to move (ie, descend) to a height aligned with the side surface of the box B. Things.

  The one-axis slider moves the delivery member to the upstream side or the downstream side. Specifically, the one-axis slider is configured by an electric actuator or the like.

Further, on the upstream side and the downstream side of the box transporting section TR, the transporting section transporting section TR such as a conveyor or a transfer robot is in a state in which the delivery member is raised based on a control signal from the control section CN. By moving the delivery member to the upstream side and moving the delivery member to the downstream side with the delivery member lowered, the box B can be supplied and transported from the upstream placement stage ST1 to the downstream placement stage ST2. it can.

  A transfer means (not shown) is arranged on the upstream side of the upstream mounting table ST1 and on the downstream side of the downstream mounting table ST2. The box B can be carried out from the side mounting table ST2 to the outside.

  The box holding portion BH temporarily keeps the box B in a fixed state so as not to be displaced when the ribbon T is laid over the box B and the knot K is formed. Specifically, the box holding unit BH includes a box pressing member that is disposed above the downstream-side mounting table ST2 and that is opposed to a position that faces the container B with the box B interposed therebetween.

  The box holding members are constituted by members that reciprocate downward from above the box B, and are disposed at two locations near both ends of the box B with the ribbon T interposed therebetween. These box holding members are attached to a movable portion side of a linear motion mechanism (not shown) such as an air cylinder via a mounting bracket (not shown).

  The box holding part BH temporarily moves the box B on the downstream stage ST2 to a fixed state by moving (that is, ascending and descending) the box holding member based on a control signal from the control part CN. And can be canceled. Here, the “fixed state” means a state in which the box B is pressed to such an extent that the box B is not displaced by the tension of the ribbon T.

  The ribbon cutting mechanism CT cuts an excess portion of the ribbon T at a predetermined position after the knot K is formed on the main body portion Tc of the ribbon T wrapped around the box B. Specifically, the ribbon cutting mechanism CT includes a cutting device and a moving mechanism (not shown).

  The cutting tool is for cutting the ribbon T. Specifically, the cutting instrument can be, for example, a blade such as scissors and an opening / closing mechanism for opening / closing the blade, and the opening / closing operation is performed based on a control signal from the control unit CN.

  The moving mechanism moves the cutting tool in a direction intersecting with the ribbon T in the drawn state (that is, in the X direction or the Z direction). Specifically, the moving mechanism can be exemplified by a linear motion mechanism (not shown) such as an air cylinder. Further, a cutting device is attached to the movable portion side of the moving mechanism via a mounting bracket or the like.

  The ribbon cutting mechanism CT can move (that is, advance / retreat) the cutting device by moving the movable part of the moving mechanism based on a control signal from the control unit CN.

  The control unit CN includes a ribbon supply unit 2, a first hand unit 3, a second hand unit 4, a third hand unit 5, a box body transport unit TR, a box It controls various parts such as the body holding part BH and the ribbon cutting mechanism CT. Specifically, the control unit CN includes a control device (hardware) such as a programmable logic controller, a sequencer, and a computer, and an execution program (software) thereof. More specifically, the control unit CN outputs a control signal to devices constituting each unit based on a SW operation by an operator, pre-registered data, an execution program, etc. A series of operations such as conveyance, pulling out and bridging of the ribbon T, formation of a knot K, and cutting at a predetermined position are performed.

[Operation flow]
The operation flow of each part in the ribbon tying device 1 embodying the present invention until the ribbon T is wrapped around the box B to form the knot K is shown below.

  2 to 13 are a plan view and a side view showing positions and states during operation of each unit at a certain time t1 to t12 as an example of an embodiment embodying the present invention. In each of the drawings, (b) shows a side view as viewed from the front, and (a) is a plan view corresponding thereto. In addition, in each figure, in order to make it easy to understand the interrelationship among the first hand unit 3, the second hand unit 4, and the third hand unit 5, the moving mechanism and the like are omitted and each unit is described. Further, in the (a) plan views of the respective drawings, the respective parts are described focusing on the leading end portion Ta or the drawer portion Td side of the ribbon T with the ribbon supply portion 2 omitted.

  First, as shown in FIGS. 2 (a) and 2 (b), the box B to which the ribbon T is to be laid is placed on the mounting table ST1 on the upstream side, and the leading end Ta of the ribbon T (specifically, The first body part 31 of the first hand part 3 is held slightly forward from the first initial standby position P10 while the part Ta1) is being held by the first holding part 30 of the first hand part 3 (that is, the first holding part 30). The unit 30 is kept stationary (so that the unit 30 is located below the reel 21 of the ribbon supply unit 2). At this time, the ribbon T between the reel 21 and the first grip 30 has the front surface facing the downstream side and the back surface facing the upstream side.

  On the other hand, the second hand unit 4 waits at the second initial standby position P20, and the third hand unit 5 waits at the third initial standby position P30.

  Note that a transport support unit SP is arranged between the upstream mounting table ST1 and the downstream mounting table ST2 so that the box B can pass smoothly.

  Next, as shown in FIGS. 3A and 3B, the box body B is transported to the downstream mounting table ST2 by the box body transport unit BH, and the upper surface side, the downstream side surface, or the lower surface side of the box body B is transported. , The box body holding portion BH is lowered, and the box body B is temporarily fixed.

  Next, as shown in FIGS. 4A and 4B, the tension roll 25 is moved upstream to extend the section where the ribbon T is pulled out, and the second hand moving mechanism of the second hand unit 4 is extended. 42 to move the second gripping portion 40 to the second body portion 41 forward from the second initial standby position P20 (that is, the near side), and to the side opposite to the second initial standby position P20 (that is, the back side). Side).

  Next, as shown in FIGS. 5A and 5B, the third hand moving mechanism 52 is controlled to move the third body 41 of the third hand unit 5 to the third initial standby position P30 (that is, on the downstream side). After that, the third body portion 51 is lowered so that the ribbon T is sandwiched between the lower surface of the third body portion 51 and the upper surface of the box body B.

Next, as shown in FIGS. 6A and 6B, the first hand moving mechanism 32 is controlled to move the first body 31 of the first hand unit 3 to the first initial standby position P10 side (that is, the front side). ), The first body 31 is rotated while moving upward.
At this time, a loop portion R1 is formed around the Y direction of the box B.

Next, as shown in FIGS. 7A and 7B, the first hand moving mechanism 32 is controlled to move the first body 31 of the first hand unit 3 to the rising end, and then the third body is moved. The first body portion 31 is moved (that is, moved forward) to the side opposite to the first initial standby position P10 (that is, the back side) so as to pass above the upper part 51.
At this time, the front portion Tb of the ribbon T is wrapped around the third body portion 51 with the back surface of the ribbon T facing the third body portion 51.

  Next, as shown in FIGS. 8A and 8B, the second hand moving mechanism 42 is controlled to move the second body 41 of the second hand 4 to the side opposite to the second initial standby position P20 (i.e., The ribbon T is moved (that is, moved forward), and the leading end portion Ta (specifically, the leading portion Ta2) of the ribbon T is held by the second holding portion 40. Then, the gripping of the first gripping portion 30 that has gripped the leading portion Ta1 of the ribbon T is released. Thus, the leading end portion Ta of the ribbon T is switched from the first hand unit 3 to the second hand unit 4.

Next, as shown in FIGS. 9A and 9B, the first hand moving mechanism 3 and the second hand moving mechanism 42 are controlled while the leading portion Ta2 of the ribbon T is held by the second holding portion 40, and While the first body 31 is retracted so that the first grip 30 passes above the third body 51, the first grip 30 is lowered to the first initial standby position P <b> 10, and the second grip 40 is moved by the third body 51. Is moved to the second initial standby position P20 side (that is, retreat) so as to pass below.
At this time, a loop portion R2 is formed around the third body portion 51.

  Next, as shown in FIGS. 10A and 10B, the third hand moving mechanism 52 is controlled so that the third body portion 51 of the third hand portion 5 faces the third initial standby position P30, and the ribbon is moved. It is moved to the delivery position of the tip Ta of T (that is, it retreats).

  Next, as shown in FIGS. 11A and 11B, the second hand moving mechanism 42 is controlled so that the second body 41 of the second hand unit 4 is on the opposite side to the second initial standby position P20 (that is, , Toward the delivery position of the leading end portion Ta of the ribbon T (that is, forward).

  Next, as shown in FIGS. 12A and 12B, the leading end portion Ta (specifically, the leading portion Ta3) of the ribbon T is held by the third holding portion 50 of the third hand portion 5, and the leading portion of the ribbon T is held. The gripping of the second gripper 40 that has gripped Ta2 is released, and the second hand moving mechanism 42 is controlled to move the second body part 41 of the second hand part 4 to the second initial standby position P20 (that is, , Retreat). Further, by controlling the first hand moving mechanism 32, the first body part 31 of the first hand part 3 is turned to the opposite side (that is, the back side) from the first initial standby position P10 side, and the first grip part is moved. At 30, the ribbon T is moved (ie, moved forward) to a position where the drawer Tc of the ribbon T is gripped.

  Next, as shown in FIGS. 13A and 13B, after the drawer Tc of the ribbon T is gripped by the first gripper 30 of the first hand unit 3, the third hand moving mechanism 52 is controlled, The third body part 51 of the third hand part 5 is moved toward the third initial standby position P30 so that the first grip part 30 and the third grip part 50 are separated from each other. At this time, the knot K is formed when the leading end portion Ta of the ribbon T passes inside the loop portion R2. Further, the loop portion R2 is formed by winding the front portion Tb of the ribbon T around the third body portion 51 of the third hand portion 5 such that the front surface of the ribbon T faces outward. The knot K is formed by passing the leading end Ta of the ribbon T inside. Therefore, the front and back relationship of the ribbon T is maintained, and the outside of the knot K becomes the front surface of the ribbon T, and the knot K having both decorativeness can be formed.

  Since the ribbon tying device 1 according to the present invention has such a configuration, the ribbon can be automatically wrapped around the box without relying on humans, and a knot having a decorative aesthetic can be formed. it can.

[Another form]
In the above,
The ribbon supply unit 2 supplies the ribbon T while applying back tension.
The first hand unit 3 changes the leading end Ta of the ribbon T to the second hand unit 4 and then holds the leading end of the ribbon T while holding the rear part (that is, the part in the drawn state) Td of the ribbon T. The form in which the knot K is formed on the ribbon T by separating the part Ta from the third hand 5 holding the part Ta is shown.

  With such a configuration, since the leading end portion Ta and the drawn-out portion Td of the ribbon T can be held by the first holding portion 30, the main body of the ribbon T is wrapped around the box B sequentially conveyed by a conveyor or the like. The operation of bridging the portion Tb, the time and effort required to form the knot K and cut the distal end Ta of the ribbon T in a free state after cutting at a predetermined distance from the knot K by the first holding portion 30. Can be omitted. Therefore, it is preferable because it is possible to provide a fully automatic machine which can continuously perform a series of operations such as receiving and transporting the box B, tying the ribbon, forming a knot, cutting the ribbon, and transporting the box.

However, the embodiment of the present invention is not limited to such an embodiment, and may be an embodiment of at least one of the following (1) to (6).
(1) In addition to the components of the ribbon supply unit 2 described above, a brake mechanism and a lock mechanism for stopping the rotation of the reel 21 are provided, and the rotation of the reel 21 is stopped without holding the ribbon T by the first hand unit 3. 5 The knot K is formed by the retreat of the hand unit 6.
(2) The ribbon cutting mechanism CT is omitted, and the operator cuts the rear part of the ribbon T.
(3) The operator performs the operation of taking out and supplying (ie, replacing) the box B.
(4) An operator performs an operation of bridging the main body portion Tb of the ribbon T around the box B.
(5) The upstream mounting table ST1 is not a fixed type but a belt conveyor.
(6) The upstream mounting table ST2 is not a fixed type, but is configured by a belt conveyor.

[Variation of ribbon supply unit]
In the above description, a configuration is shown in which the tension roll 25 is provided independently of the reel 21 and the ribbon T is pulled out by moving the tension roll 25 upstream in the Y direction. With such a configuration, the movable object of the ribbon supply unit 2 is only the tension roll 25, and the reel 21, the motor 22, and the like can be arranged at fixed positions. This is preferable because the moving mechanism becomes compact and contributes to space saving.

  However, if there is room in the space, the tension roll 25 may be omitted, and the ribbon supply unit 2 such as the reel 21 and the motor 22 may be entirely moved to the upstream side in the Y direction. can do.

[Modification of each hand part]
In the above description, a configuration in which each of the first hand unit 3, the second hand unit 4, and the fifth hand unit 6 (hereinafter referred to as each hand unit) is moved by each moving mechanism while each gripping unit is opened and closed in the vertical direction. Was exemplified.
However, each hand unit is not limited to such a form. For example, as shown in the following (1) and (2), each hand unit may be configured to include a twist mechanism for winding each grip unit or each body unit. . The twist mechanism rotates each gripping part attached to the tip with the direction in which each body part moves forward and backward as a rotation axis, and at a predetermined timing based on a control signal from the control unit CN. Rotation / stationary control is performed.
(1) The third hand unit 5 is provided with a twist mechanism, and after changing the leading end Ta of the ribbon T from the second hand unit 4, the third gripping unit is rotated. By doing so, the twist of the leading end Ta of the ribbon T can be eliminated in advance, and the leading end Ta of the ribbon T can pass through the inside of the loop portion R2 with the front surface facing upward.
(2) The third hand unit 5 is provided with a twist mechanism, and is twisted (for example, rotated in one direction while moving the third body 51 backward) when the leading end portion Ta of the ribbon T passes inside the loop R2. , Reciprocating rotation). By doing so, when forming the knot K, the ring portion R2 is easily detached from the third body portion 51.

DESCRIPTION OF SYMBOLS 1 Ribbon tying apparatus 2 Ribbon supply part 3 1st hand part 4 2nd hand part 5 3rd hand part 21 Reel 22 Motor 23 Clutch mechanism 25 Tension roll 30 1st grip part (Grip part of the 1st hand part)
31 1st body part (the body part of the 1st hand part)
32 1st hand moving mechanism 40 2nd grip part (grip part of 2nd hand part)
41 2nd body part (the body part of the 2nd hand part)
42 2nd hand moving mechanism 50 3rd grip part (grip part of 3rd hand part)
51 Third Body (Body of Third Hand)
52 3rd hand moving mechanism P10 1st initial standby position P20 2nd initial standby position P30 3rd initial standby position B Box T Ribbon Ta Tip Tb Front Tc Body Td Pull-out part (drawer part, rear part)
Ta1 Leader (gripped with first hand)
Ta2 Leader (gripped with second hand)
Ta3 leader (gripped with third hand)
R1 rim R2 rim TR Box transport unit BH Box holding unit CN control unit CT Ribbon cut mechanism ST1 Upstream stage ST2 Downstream stage SP Transport support unit

Claims (2)

In a ribbon tying device that ties a ribbon to a box to form a knot,
A ribbon supply unit for supplying the ribbon,
A first hand unit for gripping a leading end of the ribbon,
A second hand unit for changing the leading end of the ribbon from the first hand unit;
A third hand unit that has a body unit around which the ribbon is temporarily wound by the first hand unit, and that changes a leading end of the ribbon from the second hand unit;
The first hand part is
The body portion of the third hand unit is disposed at a first initial standby position, grips the leading end of the ribbon pulled out from the ribbon supply unit in a pulled-out state, and is opposite to the first initial standby position. The ribbon is hanged over, and the leading end of the ribbon is changed to the second hand part,
The second hand part is
The ribbon is disposed at a second initial standby position, and the leading end of the ribbon is changed from the first hand unit on the side opposite to the second initial standby position, and the box body and the third hand unit are moved in the pulled-out state. Moving to the second initial standby position side while passing the leading end of the ribbon through the loop formed when it is hung over the body,
The third hand part is
After the ribbon is wound around the body at the third initial standby position and opposite to the third initial standby position, the leading end of the ribbon is changed from the second hand unit to the third initial standby position. A ribbon knot tying device, wherein a knot is formed by returning to the initial standby position side.
The ribbon supply unit is to supply the ribbon while applying a back tension,
The first hand unit is separated from the third hand unit holding the leading end of the ribbon while holding the rear end of the ribbon after holding the leading end of the ribbon by the second hand unit. The knot is formed on the ribbon by causing the ribbon to tie.

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