JPH0639709U - Bow knot robot - Google Patents

Abstract

(57) [Summary] [Purpose] With the two ends of the string crossed over the package, the machine performs a process almost equivalent to manual work on the upper surface of the package to perform bowing work, saving labor and work. The aim is to stabilize the workmanship and to improve work efficiency. [Structure] Five clamps 1, 2 and 2a for grasping or separating the end portion of a string B hanging from the package A and transferring the end portion of the string B between the clamps by a predetermined movement to make a bow , 3, 5 and one guide / combined clamp 4 which also serves as a guide for the string B, and a control device 7 which instructs a related operation of each clamp based on a program.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot that bows both ends of a string or the like, and relates to a bowknot robot that individually grips the vicinity of both ends of a string and automatically forms a bow by a machine by the vicinity of both ends thereof.

[0002]

[Prior art]

 For example, when strapping a package such as a confectionery box, it is quite common to apply a bow to the knot of the strap to adjust the appearance. Due to its complexity and variety, mechanization is an extremely difficult task, and as a result, it is in the state of relying on human resources until now. However, when attempting to handle this type of work manually, if the work takes a long time, the operator's fatigue will overlap and the knot of the string will loosen or collapse, making it difficult to achieve stable work. There is a problem that the products gradually become uneven.

[0003] Generally, as a technique conventionally mechanized for tying a package with a string, there is an automatic device called a binder. This device is a method in which a string is wrapped around a package, and both ends of the string are stitched together to connect them, and this winding operation is repeated to tie a plurality of threads, or the direction of tying is changed by 90 °. Although it is possible to hang it in ten letters, the processing mode at both ends of the string is only a single knot, and it is only the most rudimentary connecting means. It is far from the processing method.

Further, as an example of a conventional device for mechanizing the strapping of a package, there is JP-A-54-34996. This relates to, for example, a method of strapping a straw or hay that is formed by pressing and the like, and a strapping device having a knotting device thereof. Supply the cord, form a starting knot between the ends of the cord, place the cord in the packing room across the front of the lump away from the press plunger, press the lump towards the packing chamber, Pull the string out of the bobbin so that one string part is along one vertical side of the dust and the other string part is on the opposite vertical side of the dust, and after completing the Through the press plunger and across the back of the lumber with a needle that reciprocates across the back of the lumber, while the pressure is maintained by the press plunger while it is tied to both cords to tie the lumber. Both strap portion as a starting knot for the formed and following the remaining one knot is characterized in forming a second knot.

[0005]

[Problems to be solved by the device]

 However, the above-mentioned prior art is close to an automatic device called the above-mentioned binder, and the terminal treatment mode of the string is also very simple. However, what is different from the binder is that this prior art technology connects both strings with a starting knot in advance in order to process the string hooking work as a continuous work and to prepare for the subsequent thread. It is impossible to realize the bow-tie robot, which is the subject of the present application, by this prior application technology or by applying this prior application technology simply because the operation is carried out.

The present invention has been made in view of the current state of the art as described above, and saves labor and stabilizes the appearance of work by mechanizing the work of bow-tying both ends of a string or the like instead of manpower. The aim is to realize a bow-knot robot that can contribute to the improvement of work efficiency.

The present invention also realizes a bow knot robot capable of mechanically bowing on the upper surface of the package through the steps substantially equivalent to the manual operation by the ends of the string crossed on the package. Is one of the purposes.

[0008]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, a bowknot robot according to the present invention is a bowknot robot in which the vicinity of both ends of a string is individually gripped and a bow is automatically formed by a machine by the vicinity of both ends thereof. , A plurality of clamps that are capable of grasping or separating the string at the tip using power and are capable of moving in a predetermined direction, and a control device that commands related operations of each clamp based on a predetermined program It is characterized by forming a bow while passing the string from the clamp that holds the string to another clamp during the work.

According to a second aspect of the present invention, at least five clamps are provided, and one end of a single string which is hung on the object to be bound is crossed by the first clamp and the second clamp. Under the condition that they are gripped and tension is applied to each other in the separating direction, the first clamp is lifted to lift the cross part of the string, and the second clamp is advanced under the lower part of the string. , The end of the string is transferred from the second clamp to the third clamp, the second clamp is retracted, and the fourth clamp is moved forward, whereby the cross part of the string is pressed from above. Operation to prevent slackening, and move the 5th clamp forward to clamp an appropriate point on the string between the 1st clamp and the cross, and then retract it in this state to remove this 5th clamp. In response to the retreat, the first clamp By advancing accordingly, one side of the bow is shaped and the second clamp is moved up and forward, whereby the end of the string that had been transferred to the third clamp is received again, and then the bow is removed. Retreat over the upper surface on one side, and then the second clamp releases the grip and transfers it to the fourth clamp. The fourth clamp is retracted and the end of the gripped string is moved. The bowknot may be formed through a process including a step of forming the other side of the bowknot by winding the bowknot under the one side of the bowknot.

[0010]

[Action]

 A bow tie robot having the structure of claim 1 is used to form a bow tie near both ends of a string based on related operation commands transmitted to a plurality of clamps based on a program of a controller. Then, each of the clamps moves in a predetermined direction by the supply power, and the operation of transferring the string grasped at the tip between the clamps is sequentially performed based on the above program, whereby the formation of the bow is realized.

Further, according to the structure of claim 2, at least five clamps provided in the bowknot robot are automatically operated by power, and both ends of one string which is hung on the bound object in ten characters are connected to each other. Under the condition that the first clamp and the second clamp grip each other and apply the tension in the separating direction to each other, raise the first clamp to raise the cross part of the string and make the lower part dive. After advancing the second clamp, its end is passed from the second clamp to the third clamp and the second clamp is retracted. The fourth clamp is advanced, thereby pressing the cross part of the string from above and preventing the string from loosening. After advancing the 5th clamp to clamp an appropriate place on the cord between the 1st clamp and the cross, it is retracted in this state, and the 1st clamp is released in response to the retraction of the 5th clamp. By following and advancing, one side of the bow is formed. The second clamp is raised / advanced, thereby re-accepting the end of the string that had been transferred to the third clamp, and then retracted over the upper surface of one side of the bow. The second clamp then releases the grip and passes it to the fourth clamp. By retracting the fourth clamp and winding the end of the grasping string under one side of the bow, the remaining side of the bow is formed. A bowknot can be formed through the steps including the above operations.

[0012]

【Example】

 An embodiment of the device of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of the device of the present invention, and in this embodiment, an example in which six clamps for performing a bow knot are provided is shown. In this way, it is naturally possible to subdivide the work shared by the clamps and basically divide the work that can be processed by one clamp into two and process them by two clamps. In this example, an operation that can be performed only by the clamp 2 is divided into the clamps 2 and 2a to simplify the operation required for each clamp.

Each of the clamps 1, 2, 2a, 3, 5 and the guide / combined clamp 4 has the structure of an air chuck, and the two vertically overlapping parts are mutually tightened and separated by an air cylinder. By carrying out, the string can be arbitrarily grasped or released at the tip portion. The operating procedure is shown in FIGS. As shown in the clamp 2a or the clamp 3 in FIG. 2, the tip shape is L-shaped because the string is looser near the upper surface of the package as a place to transfer the string between the clamps. Since it is a necessary condition to eliminate the string, it is more convenient to have the L-shaped arrangement facing each other when the clamp advances from both sides and delivers the string on the upper surface of the package. Is. Also, when the clamp that receives the string is to be actuated afterward, by making the tip shape L-shaped, the direction of operation is the same as the direction in which tension is applied to the string, and This is the result of consideration given to prevent loosening.

The guide / combined clamp 4 shown in FIG. 3 has a function of gripping / releasing the cord at the tip portion, and also has a shape capable of smoothly passing through a narrow passage while being gripped or released. It also has the function of forming a knot through the underside of the previously-formed bowknot while the string is wrapped around the side using the side surface. This will be clarified in the description of the operation modes below.

The control device 7 in FIG. 1 is for instructing the related operation of each clamp, that is, the operation of arbitrarily grasping or releasing the string at the tip portion, and the movement in a predetermined direction based on a predetermined program. The air compressor device as the power source for these operations is also included in the control device. The actuating power source may be an electric type or a hydraulic type in addition to the air type.

FIG. 4 shows, according to the order of operation, an operation mode for hooking a to-be-bound object A with a string B and forming a bow at the center of the upper surface by the bow knot robot shown in FIG. is there. The steps will be described below in order.

In FIG. 1A, the clamp 1 grabs one end of the string B from the temporary line position where the cutter 6 of FIG. 1 is located and slides along the rail to the left end of FIG. With the tension applied to the clamp 2, the clamp 2 grasps the other end of the string B, which is cut into a predetermined length by the cutter 6 and hung in a cross shape around the to-be-bound object A, to clamp the clamp 1. It shows a state in which tension is applied in the opposite direction facing to. From this state, the work for making a bow is started.

In the figure (b), the other end of the string B held by the clamp 2 is transferred to the adjacent clamp 2 a, and then the other end is strongly pulled diagonally to the lower right in the figure, so that the clamp 1 It shows a state in which the overlapping point of the string B on the gripping side and the string B on the other end moves to the left. It should be noted that the operation of passing the string B from the clamp 2 to the clamp 2a is not always an essential operation as described above, but by adding an extra rail for moving the clamp 2 to the clamp 2a. It is also possible to have the clamp 2 perform the same function.

In the figure (c), the clamp 1 rises in the direction away from the upper surface of the body A to be bound, thereby lifting the cross-shaped portion of the string B, and the clamp 2a advances and dives through the lower portion thereof, The clamp 3 advances diagonally from the upper left and receives the other end of the string B that has passed through. After the clamp 2a is transferred, the clamp 1 is retracted to its original position, and at the same time, the clamp 1 is lowered to its original height.

In the diagram (d), after the clamp 3 receives the other end of the string B, the clamp 3 retracts diagonally to the upper left to apply tension to the string B. The guide / combined clamp 4 advances diagonally from the upper left, and is set on the part of the upper surface of the cross-shaped portion of the string B that hits the key to the bow.

In the figure (e), the clamp 5 advances from the right side of the figure to clamp an arbitrary position on the string B between the clamp 1 and the cross-shaped portion.

In the figure (f), the clamp 5 rides over the guide / combined clamp 4 with the string B clamped, and retreats to the right, followed by the clamp 1 to move forward, where one side of the bow is tied. Is molded.

In (g), the clamp 2 a rises and moves away from the upper surface of the object A to be bound, and receives the other end of the string B from the clamp 3.

In the figure (h), the clamp 2a gripping the other end retracts beyond the upper surface of the guide / combined clamp 4 and the one side portion of the bow knot formed by the operation of the figure (f). At that time, the string B is in a state of winding the side surface of the guide and clamp 4. The retracted clamp 2a then descends from the raised position, slides to the right, and transfers the clamp of the string B to the guide / combined clamp 4. The guide / combined clamp 4 clamps the string B by its tip at a position beyond the upper surface of one side of the bow. The clamp 1 is released and retracted because one part of the bow is already clamped by the other end of the string B.

In FIG. (I), the guide / combined clamp 4 clamps the string B at the tip and moves backward through the knot of the string B, and the clamp 5 also retracts at the same timing as that of the bow knot. Complete.

In the figure (j), the clamp 5 is further slid to correct the direction of the knot and the like to adjust the overall shape of the bow.

In the above-mentioned embodiment, the description has been made mainly on the work of making a bow on the end of the string hooked on the cross, but a bow that can be implemented by using a bow robot is not necessarily a cross knot. It is needless to say that the present invention is not limited to this case, and can be applied to both ends of a string wound from the left and right, such as water hooking.

[0028]

[Effect of device]

 Since the bow-tie robot of the present invention is constructed as described above, it has the following excellent effects.

(1) The work of bow-tying both ends of a string or the like is replaced with manual labor to be mechanized, which saves labor and stabilizes the performance of the work, and the fatigue of the worker, which is likely to occur in the case of manual work. It is possible to prevent the non-uniformity of products and the gradual decrease of work efficiency due to.

(2) According to the configuration of claim 2, it is possible to mechanically bow the knot on the upper surface of the package to both ends of the string hung on the package in a cross shape through a process almost equivalent to manual work. Therefore, the effect peculiar to manual work that occurs only after passing through this process, for example, the bow tie work is performed under the condition where tension is constantly applied to the string during the work, and therefore the shape of the shape is maintained. It is possible to reproduce the effects of a tight bowknot, or free modification of the entire shape when the bowknot is completed, on the mechanical bowknot robot.

[Brief description of drawings]

FIG. 1 is a plan view showing the overall configuration of an apparatus according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an operation mode of a main part of the apparatus shown in FIG.

3 is a perspective view showing an operation mode of another main part of the apparatus of FIG. 1. FIG.

4 (a) to (j) are plan views showing the transition of the mode when a bow is tied using the apparatus of FIG. 1 with time.

[Explanation of symbols]

 1 ・ 2 ・ 2a ・ 3 ・ 5 Clamp 4 Guide / Clamp 6 Cutter 7 Controller

Claims (2)

[Scope of utility model registration request] 1. A bowknot robot that individually grips the vicinity of both ends of a single string and automatically forms a bow by a machine by the vicinity of both ends of the string. It has multiple clamps that are freely movable and can move in a predetermined direction, and a control device that commands related operations of each clamp based on a predetermined program. A bow knot robot characterized by forming a bow while passing a string in the middle of the process. 2. A string provided with at least 5 clamps, which has a cross-shaped cross over the object to be bound, and has a first end on both ends.
Under the condition that they are gripped by the clamp and the second clamp, respectively, and tensions in the direction of separation are applied to each other, the first clamp is raised to lift the cross part of the string, and the lower part of the string is dipped into the second clamp. After advancing the clamp, its end is passed from the second clamp to the third clamp and the second clamp is retracted. The fourth clamp is advanced, thereby pressing the cross part of the string from above and preventing the string from loosening. After advancing the fifth clamp to clamp an appropriate point on the cord between the first clamp and the cross, it is retracted in this state, and the first clamp is moved in accordance with the retraction of the fifth clamp. By following and advancing, one side of the bow is formed. The second clamp is raised and advanced, which causes the third clamp
After receiving the end portion of the string that had been transferred to the clamp, it is retracted over the upper surface on one side of the bow. The second clamp then releases the grip and passes it to the fourth clamp. The other side of the bow is shaped by retracting the fourth clamp and wrapping the end of the grasping string under one side of the bow. The bowknot robot according to claim 1, wherein the bowknot is formed through a process including the above operations.