WO2018061275A1

WO2018061275A1 - Ribbon tying device

Info

Publication number: WO2018061275A1
Application number: PCT/JP2017/015720
Authority: WO
Inventors: 成治美馬; 恵臣坪田; 一隆福永
Original assignee: 東レエンジニアリング株式会社
Priority date: 2016-09-27
Filing date: 2017-04-19
Publication date: 2018-04-05
Also published as: JP6663829B2; JP2018052526A

Abstract

The present invention provides a ribbon tying device by which a ribbon is tied around a box body automatically rather than by a person's hands, and a knot having a decorative aesthetic is formed. Specifically, this ribbon tying device for tying a ribbon around a box body and forming a knot is provided with: a ribbon supply part for supplying a ribbon; a first hand part and a second hand part which grip a ribbon tip section; and a third hand part which has a body section, around which the ribbon is temporarily wrapped by the first hand part, and which takes over the gripping of the ribbon tip section from the second hand part, wherein the first hand part grips the ribbon tip section and wraps the ribbon around the body section of the third hand part, the second hand part passes the ribbon tip section through a ring part, which is formed when the ribbon is wrapped around the box body and the body section of the third hand part while in a drawn out state, and the third hand part passes the ribbon tip section through the inside of the ring part after the ribbon has been wrapped around the body section, thereby forming a knot.

Description

Ribbon hanging device

The present invention relates to a ribbon knotting apparatus for tying a ribbon around a box such as a box containing a product or a packaging container.

Conventionally, a box containing products such as confectionery and toys has been laid with a ribbon and a knot with an aesthetic appearance so as to increase the feeling of exaltation of the person who received the product. The ribbon is stretched and the knot is formed by a dexterous person or an expert at the hand (for example, Patent Document 1).

Also, in the food processing field, an apparatus for knotting a string-like body such as dried rice cake has been proposed (for example, Patent Document 2).

In addition, an apparatus for forming a loop-like knot by winding a string around an object to be bound has been proposed (for example, Patent Document 3).
In addition, an articulated robot that includes two sets of hands and arms that can hold a linear body or a belt-like body and forms a knot on the linear body or the belt-like body has been proposed (for example, Patent Document 4).

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

If the demand for products is not constant throughout the year, it is difficult to secure workers to meet the demand for products during the busy season and to maintain the skill level 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 rope having a circular cross section, but if a flat ribbon is tied, the aesthetics are impaired.

On the other hand, the invention described in Patent Document 3 is suitable for bundling delivery items (magazines, newspapers, etc.) that do not require the aesthetics of the knot, but can maintain the sense of exaltation of the person who received the product. It's hard to say that it's beautiful.

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

Therefore, an object of the present invention is to provide a ribbon knotting apparatus that automatically hangs a ribbon on a box body and forms a knot with a decorative beauty, without relying on human hands.

In order to solve the above problems, an aspect of the present invention is as follows.
In a ribbon knotting device that forms a knot by hanging a ribbon over a box,
A ribbon supply section for supplying the ribbon;
A first hand portion for gripping the tip of the ribbon;
A second hand part for changing the tip of the ribbon from the first hand part;
A body part for temporarily winding the ribbon in the first hand, and a third hand part for changing the tip of the ribbon from the second hand part,
The first hand part
The ribbon which is disposed at the first initial standby position and grips the leading end of the ribbon pulled out from the ribbon supply unit in a pulled state, and the ribbon is attached to the body portion of the third hand unit on the side opposite to the first initial standby position. Hang over, let the tip of the ribbon change to the second hand part,
The second hand part
Arranged at the second initial standby position, the tip of the ribbon is changed from the first hand portion on the side opposite to the second initial standby position, and the ribbon is pulled out and spanned between the box body and the body portion of the third hand portion. Moved to the second initial standby position side while passing the leading end of the ribbon through the ring formed at the time,
The third hand part
After the ribbon is wound around the body portion on the side 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 side. A ribbon knotting device characterized in that a knot is formed by returning to step (b).

らず A ribbon can be automatically placed on the box without relying on human hands, and a knot with a decorative aesthetic can be formed.

Schematic which showed the whole structure of 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 in the time t1 which has 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 in the time t2 with 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 in the time t3 which has 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 in the time t4 which has 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 in the time t5 with 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 in the time t6 with 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 in the time t7 which has 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 in the time t8 with 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 in the time t9 which has 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 in the time t10 which has 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 in the time t11 with 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 in the time t12 which has an example of the form which embodies this invention.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. In each figure, the three axes of the orthogonal coordinate system are X, Y, and Z, the XY plane is the horizontal plane, and the Z direction is the vertical direction. A direction rotating around the Y direction as a central axis is defined as a θ direction. For convenience of explanation, the conveyance direction of the box B and the direction in which the ribbon T is passed over the box B are defined as the Y direction, and the direction orthogonal thereto is defined as the X direction. Also, the X direction represents the direction of the arrow in front and the opposite direction as the back, the Y direction represents the direction of the arrow as upstream, the reverse direction as the downstream, and the Z direction is the direction above the arrow and the reverse direction. Is expressed as below.
In the ribbon T, the front side is indicated by cross hatching and the back side is indicated by halftone dots.

FIG. 1 is a schematic diagram showing an overall configuration of an example of a form embodying the present invention. FIG. 1 shows an outline of a device configuration in which a ribbon knotting apparatus 1 according to the present invention is viewed from the upper side on the downstream side.

The ribbon knotting apparatus 1 according to the present invention is for tying a ribbon T around a box B to form a knot K. Specifically, the ribbon knotting apparatus 1 includes a ribbon supply unit 2, a first hand unit 3, a second hand unit 4, and a third hand unit 5. Furthermore, the ribbon knotting device 1 includes a box transport unit TR, a box holding unit BH, a ribbon cut 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 is used to wind the ribbon T to be supplied. Specifically, the reel 21 is disposed above the conveyance path of the box B so that the direction in which the ribbon T is pulled out from the reel 21 substantially coincides with the direction in which the ribbon T is passed over the box B. . Further, the ribbon T is wound around the reel 21 so that the front side of the ribbon T (that is, the direction that becomes the outer side when the ribbon T is hung on the box B) faces outward. 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 rotational torque from the motor 22 to the reel 21, and is configured to apply a predetermined pull back tension (ie, back tension) to the ribbon T drawn from the reel 21. .

Furthermore, the ribbon supply unit 2 is provided with a tension roll 25 and a moving mechanism 26 (not shown).

The tension roll 25 is for extending a section in which the ribbon T is pulled out when the ribbon T is passed over the box B, and is attached to the movable portion of the moving mechanism 26. Specifically, the tension roll 25 is provided with hook-shaped guide portions having an outer diameter larger than that of the central portion of the roller at both end portions of the roller, and does not deviate when the ribbon T is pulled out. . Further, the rotation axis of the tension roll 25 is arranged in a direction substantially orthogonal to the direction in which the ribbon T is stretched over the box B (that is, the X direction).

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

Therefore, when the tension roll 25 attached to the movable part of the moving mechanism 26 moves in the direction 26v away from the box B, there is a section in which the ribbon T is drawn out while the front side of the ribbon T faces upward. Extended.

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 drawer state on the upstream side, and a tip portion Ta on the opposite side. Further, the tip portion Ta side of the ribbon T with respect to the main body portion Tc is referred to as a front portion Tb.

Further, the tip 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 stretched or the knot K is formed. Specifically, the leading end portion Ta of the ribbon T is gripped by the leading portion Ta1 gripped by the first hand portion 3, the leading portion Ta2 gripped 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 place set on the main body side by a predetermined distance from the endmost portion of the ribbon T, The outer side (that is, the endmost side) is the leading portion Ta2 gripped by the second hand portion 4, and the outer side (that is, the vicinity of the endmost portion) is gripped by the third hand portion 5. Ta3.

The first hand portion 3 is for gripping the tip portion 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 ribbon T pulled out from the ribbon supply unit 2 is pulled out and its leading end Ta (specifically, Holds the leading portion Ta1), and the ribbon T is passed over the body portion of the third hand portion 5 (referred to as the third body portion 51 for convenience of explanation) on the side opposite to the first initial standby position P10, The tip part Ta of the ribbon T is transferred to the second hand part 4.

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

The first gripper 30 performs an opening / closing operation such that a person pinches an object with a thumb and an index finger on the ribbon T, and holds the ribbon T from the front side and the back side (that is, holds). It is. Specifically, the first grip portion 30 includes a pair of grip members and a drive mechanism (not shown), and is attached to one end of the first body portion 31. This drive mechanism is driven so that the vicinity of the tip end portions of the pair of gripping members are in contact with or separated from each other, and is constituted by a pneumatic cylinder, an electric motor, or the like.

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

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

The uniaxial slider moves the first body portion 31 in a direction crossing the direction in which the ribbon T is pulled out (that is, the Y direction), and the first initial standby position P10 (also referred to as the rear) farthest from the main body portion Tc of the ribbon T. ) To the opposite side (that is, the main body portion side of the ribbon T, also referred to as the front) (that is, retreat and advance). Specifically, the uniaxial slider is constituted by an electric actuator, and the movable part moves to a predetermined position and stops based on a control signal from the control part CN.

The air cylinder moves the 1-axis slider up and down (that is, in the Z direction). Furthermore, the two air cylinders are attached to the front side and the rear side of the uniaxial slider. If both the air cylinders are expanded and contracted at the same time, the uniaxial slider moves up and down, and one of the air cylinders is expanded and contracted. Then, the uniaxial 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 introduces compressed air into one of the internal air chambers based on a control signal from the control unit CN. The air chamber is configured to be expanded and contracted by moving the movable part to the atmospheric release state.

Further, in the first hand unit 3, when the front air cylinder is in the raised position, the first grip 30 passes over the main body Tc or the drawer Td of the ribbon T, and the front air cylinder is in the lowered position. If there exists, the 1st body part 31, the 1 axis | shaft slider, each air cylinder, etc. are arrange | positioned so that the 1st holding | grip part 30 can pass the downward direction of the drawer | drawing-out part Td of the ribbon T.

The second hand part 4 is for holding the tip part Ta of the ribbon T from the first hand part 3. Further, the second hand portion 4 is disposed at the second initial standby position P20 (a position indicated by a broken line in the drawing), and the tip portion Ta of the ribbon T on the opposite side (that is, the front side) from the second initial standby position P20. Is moved from the first hand part 3 and the ribbon T is pulled over the box B and the third body part 51 of the third hand part 5 in the pulled out state, and the tip part of the ribbon T is formed on the ring part R1. It moves (that is, moves backward) toward the second initial standby position P2 while passing Ta.

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

The second gripping portion 40 holds (that is, grips) the ribbon T from the front side and the back side. Although the 2nd holding | grip part 40 is attached to the end of the 2nd body part 41, since the other structure is the same as that of the 1st holding | grip part 30, detailed description is abbreviate | omitted.

The second body part 41 moves or stops the second grip part 40 in a predetermined position and direction. Specifically, the second body part 41 is configured by a hollow cylindrical member having a predetermined length.

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

The air cylinder moves the second body part 41 up and down (that is, in the Z direction). Specifically, the air cylinder is connected to the compressed air supply unit via the switching valve, and the compressed air is introduced into one of the internal air chambers based on a control signal from the control unit CN, and the other air chamber is introduced. It is configured to move the movable part by expanding and contracting by releasing the atmosphere.

The uniaxial slider moves the air cylinder in a direction intersecting with 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 Tc of the ribbon T or its It is moved (that is, moved backward or forward) to the opposite side (that is, the main body portion side of the ribbon T, also referred to as the front). Specifically, the uniaxial slider is constituted by an electric actuator, and the movable part moves to a predetermined position and stops based on a control signal from the control part CN. The uniaxial slider is attached obliquely in the XZ direction, and is arranged so that the second body portion 41 reciprocates (retreats / advances) from the lower front side or the upper back side.

Further, the second hand unit 4 is configured such that if the air cylinder is in the raised position, the second gripping part 40 passes above the pull-out part Td of the ribbon T, and if the air cylinder is in the lowered position, the second gripping part 40 is A second body part 42, a single-axis slider, an air cylinder, and the like are arranged so that they can pass below the lead-out part Td of the ribbon T.

The third hand part 5 has a body part (in this embodiment, the third body part 51 corresponds to this) around which the ribbon T is temporarily wound by the first hand part 3, and the tip part Ta of the ribbon T is attached to the body part. The second hand unit 4 is replaced. Further, the third hand portion 5 is disposed at a third initial standby position P30 (a position indicated by a broken line in the drawing), and the ribbon T is wound around the third body portion 51 on the side opposite to the third initial standby position P3. After the ring portion R2 is formed, the knot K is formed by moving the tip 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 gripping unit 50, a third body unit 51, a third hand moving mechanism 52, and the like.

The third gripping part 50 holds (that is, grips) the ribbon T sandwiched from the front side and the back side. Although the 3rd holding part 50 is attached to the end of the 3rd body part 51, since others have the same composition as the 1st holding part 30, detailed explanation is omitted.

The third body part 51 moves or stops the third gripping part 50 in a predetermined position and direction. Specifically, the third body portion 51 is configured by 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 uniaxial slider.

The air cylinder moves the third body part 51 up and down (that is, in the Z direction). Specifically, the air cylinder is connected to the compressed air supply unit via the switching valve, and the compressed air is introduced into one of the internal air chambers based on a control signal from the control unit CN, and the other air chamber is introduced. It is configured to move the movable part by expanding and contracting by releasing the atmosphere.

The uniaxial slider moves the air cylinder in the direction in which the ribbon T is pulled out (that is, the Y direction), and the third initial standby position P30 (also referred to as the rear) that is farthest from the pull-out portion Td of the ribbon T or the opposite side thereof (that is, The ribbon T is moved (that is, moved back (or moved forward)) to the drawer T side (also referred to as the front). Specifically, the uniaxial slider is constituted by an electric actuator, and the movable part moves to a predetermined position and stops based on a control signal from the control part CN.

Further, when the air cylinder is in the raised position, the third hand portion 5 separates the third body portion 51 from the box B and the main body portion Tc of the ribbon T above the box B so that the air cylinder is in the lowered position. For example, the third body part 51, so that the third body part 51 can be brought closer to the box B side to the extent that the main body part Tc or the lead-out part Td of the ribbon T spanned over the box body B is in contact with or not in contact with the body B. A uniaxial slider, an air cylinder and the like are arranged.

In addition, the 1st hand part 3 and the 3rd hand part 5 let the 1st holding part 30 pass to the near side, the upper part, and the back side in order from the lower part of the 3rd body part 51, and the front part Tb of ribbon T is passed. Each part is arranged so that it can be passed over the third body part 51.

In addition, the first hand unit 3 and the second hand unit 4 are arranged on the back side of the drawing portion Td of the ribbon T, with the second gripping portion 40 approaching slightly downstream of the first gripping portion 30, Each part is arranged so that the tip part Ta can be changed.

Further, the second hand part 4 and the third hand part 5 are configured such that the second body part 41 intersects below the third body part 51 or slightly above the second grip part 40 above the lead-out part Td of the ribbon T. Each part is arrange | positioned so that the 3rd holding | gripping part 50 can be approached to the downstream side and the front-end | tip part 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 lead-out unit Td of the ribbon T (that is, up / down, front / back) based on a control signal from the control unit CN. One grip 30 can be moved in the X and Z directions, rotated in the θ direction, can be stopped at a predetermined position, and can be opened and closed. Therefore, the first hand unit 3 disposed at the first initial standby position P10 is a box that is advanced from the first initial standby position P10 while holding the leading portion Ta1 of the ribbon T with the first holding unit 30. The ribbon T is passed over B, and the leading portion Ta1 of the ribbon T is moved upward from the lower side of the drawing portion Td of the ribbon T to the upper side, and further the main body portion Tc or the drawing portion of the ribbon T. It is moved upward from the front side of the third body portion 51 of the third hand portion 5 arranged above the Td, and further to the side rear side of the lead-out portion Td of the ribbon T (that is, from the first hand portion 3 to the second hand). The front portion Tb of the ribbon T around the third body portion 51 (that is, the first half of the operation of winding the front portion Tb of the ribbon T around the third body portion 51). ), Leading portion T of 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 lead-out unit Td of the ribbon T (that is, up / down, front / back) based on a control signal from the control unit CN. 2 The grip 40 can be moved in the X and Z directions, can be stopped at a predetermined position, and can be opened and closed. Therefore, the second hand portion 4 disposed at the second initial standby position P20 is advanced from the second initial standby position P20, and the second gripping portion 40 to the second body portion 41 are provided below the drawing portion Td of the ribbon T. And the second gripping portion 40 is disposed on the back side of the lead-out portion Td of the ribbon T (that is, the delivery position where the tip 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 grip 40 is moved again to the second initial standby position P20 side (that is, the latter half of the operation of winding the front portion Tb of the ribbon T around the third body 51), and the ribbon T pull-out portion Td It is moved upward (that is, the delivery position from the second hand part 4 to the third hand part 5), and the tip part Ta3 of the ribbon T is gripped by the third gripping part 50 of the third hand part 5, and the second gripping part The gripping at 40 can be released (that is, can be changed).

Since the third hand unit 5 has the above-described configuration, the third gripping unit 50 and the third gripping unit 50 above the pull-out unit Td or the main body unit Tc of the ribbon T based on a control signal from the control unit CN. The body part 51 can be moved in the Y direction and the Z direction, can be stopped at a predetermined position, and the third gripping part 50 can be opened and closed. For this reason, the third hand unit 5 disposed at the third initial standby position P30 is advanced from the third initial standby position P30 to be separated from the ribbon T and above the pull-out portion Td of the ribbon T, and the first hand. The third body part 51 is advanced to a position intersecting with the part 3, the third body part 51 is lowered, and the front part of the ribbon T around the third body part 51 by the first hand part 3 and the second hand part 4. After the wheel portion R2 wound with Tb is formed, the third body portion 51 is moved from the second hand portion 4 to the third hand portion 5 in the third initial standby position while the wheel portion R2 is wound. After the second hand portion 4 is moved back to the delivery position after the second hand portion 4 is moved to the delivery position, the third gripping portion 50 is advanced to the delivery position, and the tip portion Ta3 of the ribbon T is moved to the third gripping portion of the third hand portion 5. 50 to release the gripping by the second gripping unit 40. (I.e., change the position) and move the third gripping part 50 through the third body part 51 toward the third initial standby position P30, so that the ring part R2 formed around the third body part 51 The leading end portion Ta of the ribbon T passes through the inside, and a knot K is formed in the main body portion Tc of the ribbon T spanned over the box B. At this time, the lead portion Td of the ribbon T is gripped by the first grip portion 30 of the first hand portion 3 in advance, thereby separating the first hand portion 3 and the third hand portion 5 from each other. The knot K can be formed and arranged on the upper surface.

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

The upstream mounting table ST1 is used for mounting the box B before the ribbon T is passed over.

The downstream mounting table ST2 is used for mounting the box B when the ribbon T is passed over.

The transport support part SP bridges the box B in order to move it from the upstream stage ST1 to the downstream stage ST2. Specifically, the conveyance 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 to the downstream side. If the plate-like member of the transport support part SP is slid upstream, a predetermined space is secured between the upstream stage ST1 and the downstream stage ST2, and the plate member is slid downstream. As a result, the upstream platform ST1 and the downstream platform ST2 are bridged, and the box B can be transported smoothly.

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

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

The 1-axis slider moves the delivery member from the upstream side to the downstream side. Specifically, the uniaxial slider is configured by an electric actuator or the like.

Further, on the upstream side and downstream side of the box body transport unit TR, the transfer box body transport unit TR such as a conveyor or a transfer robot is in a state where the delivery member is raised based on the control signal from the control unit CN. By moving the delivery member to the upstream side and moving the delivery member to the downstream side while the delivery member is lowered, the box B can be supplied / conveyed from the upstream placement table ST1 to the downstream placement table ST2. it can.

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

The box body holding portion BH is temporarily fixed so that the box body B is not displaced when the ribbon T is passed over the box body B and the knot K is formed. Specifically, the box body holding part BH is configured to include a box body pressing member that is disposed above the downstream mounting table ST2 and is opposed to the box body B at a position facing the box body B.

The box holding member is composed of a member that reciprocates downward from above the box B, and is disposed at two locations near both ends of the box B across the ribbon T. These box holding members are attached to the movable portion side of a linear motion mechanism (not shown) such as an air cylinder via an attachment fitting (not shown).

The box holding unit BH moves the box holding member based on the control signal from the control unit CN (that is, moves up and down) to temporarily fix the box B on the downstream mounting table ST2. Or cancel it. The “fixed state” referred to here means a state in which the box body B is pressed to such an extent that the box body B is not displaced by the tension of the ribbon T.

The ribbon cut mechanism CT is for cutting a surplus portion of the ribbon T at a predetermined position after the knot K is formed on the main body Tc of the ribbon T stretched over the box B. Specifically, the ribbon cut mechanism CT includes a cutting machine and a moving mechanism (not shown).

The cutting machine is for cutting the ribbon T. Specifically, the cutting tool can be exemplified by a cutter such as scissors and an opening / closing mechanism for opening / closing the cutter, 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 pulled-out state (that is, 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. Furthermore, a cutting tool is attached to the movable part side of the moving mechanism via a mounting bracket or the like.

The ribbon cut mechanism CT can move the cutting tool (that is, advance / retreat) by moving the movable part of the moving mechanism based on the 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 transport unit TR, and a box based on the operator's operation and a pre-registered program. Control of each part, such as body holding part BH and ribbon cut mechanism CT, is performed. 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 the equipment constituting each unit based on the SW operation by the worker, pre-registered data, an execution program, etc. A series of operations such as conveyance, pulling and passing the ribbon T, formation of a knot K, and cutting at a predetermined position are performed.

[Operation flow]
Below, in the ribbon knotting apparatus 1 embodying the present invention, an operation flow of each part until the knot K is formed by hanging the ribbon T around the box B is shown.

FIGS. 2 to 13 are a plan view and a side view showing positions and states during operation of each part at times t1 to t12 as an example of a form embodying the present invention. In each figure, (b) shows a side view as seen from the front, and (a) is a plan view corresponding thereto. In each figure, in order to make it easy to understand the mutual relationship between 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. In each plan view (a), the ribbon supply unit 2 is omitted, and each unit is described focusing on the leading end portion Ta or the drawing portion Td side of the ribbon T.

First, as shown in FIGS. 2 (a) and 2 (b), the box B to which the ribbon T is to be stretched is placed on the upstream mounting table ST1, and the leading end Ta of the ribbon T (specifically, the leading portion) Part Ta1) is gripped by the first gripping part 30 of the first hand part 3, and the first body part 31 of the first hand part 3 is slightly forward from the first initial standby position P10 (that is, the first gripping part). The unit 30 is kept stationary (so that the unit 30 is positioned below the reel 21 of the ribbon supply unit 2). At this time, as for the ribbon T between the reel 21 and the 1st holding | grip part 30, the front surface faces the downstream and the back surface faces the upstream.

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.

In addition, the conveyance support part SP is arrange | positioned between the upstream mounting base ST1 and the downstream mounting base 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 section BH, and the upper surface side, the downstream side surface or the lower surface side of the box body B is transported. Ribbon T is stretched over and box body holding portion BH is lowered to temporarily fix box body B.

Next, as shown in FIGS. 4A and 4B, the second hand moving mechanism of the second hand unit 4 is moved while the tension roll 25 is moved upstream to extend the section where the ribbon T is pulled out. 42 to move the second grip 40 to the second body 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 rear side). To the side).

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

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

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

Next, as shown in FIGS. 8A and 8B, the second hand moving mechanism 42 is controlled so that the second body part 41 of the second hand part 4 is opposite to the second initial standby position P20 (that is, , Back side) (ie, advance), and the tip end portion Ta (specifically, the leading portion Ta2) of the ribbon T is gripped by the second gripping portion 40. And the holding | grip of the 1st holding part 30 which hold | gripped the leading part Ta1 of the ribbon T is cancelled | released. Thus, the tip portion Ta of the ribbon T is changed from the first hand portion 3 to the second hand portion 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 holding the leading portion Ta2 of the ribbon T with the second holding portion 40, The second gripping portion 40 is lowered to the first initial standby position P10 after the first body portion 31 is retracted so that the first gripping portion 30 passes over the third body portion 51, and the second gripping portion 40 is moved to the third body portion 51. The second body portion 41 is moved (that is, moved backward) to the second initial standby position P20 side so as to pass below.
At this time, the ring portion R <b> 2 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. Move (that is, move backward) to the delivery position of the tip portion Ta of T.

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

Next, as shown in FIGS. 12A and 12B, the leading end portion Ta (specifically, the leading portion Ta3) of the ribbon T is gripped by the third gripping portion 50 of the third hand portion 5, and the leading portion of the ribbon T The gripping of the second gripping part 40 that grips 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, the first hand moving mechanism 32 is controlled so that the first body portion 31 of the first hand portion 3 faces the side opposite to the first initial standby position P10 side (that is, the back side), and the first gripping portion. At 30, the ribbon T is moved (that is, moved forward) to a position where the lead portion Tc of the ribbon T is held.

Next, as shown in FIGS. 13A and 13B, after the drawing portion Tc of the ribbon T is gripped by the first gripping portion 30 of the first hand portion 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 by the tip portion Ta of the ribbon T passing through the inside of the ring portion R2. Further, the ring 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 so that the front side 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 outer side of the knot K becomes the front surface of the ribbon T, so that the knot K having decorativeness can be formed.

Since the ribbon knotting apparatus 1 according to the present invention has such a configuration, it is possible to form a knot with a decorative aesthetic appearance by automatically hanging the ribbon over the box without relying on human hands. it can.

[Another form]
In the above,
The ribbon supply unit 2 supplies the ribbon T while applying back tension.
The first hand portion 3 moves the tip portion Ta of the ribbon T to the second hand portion 4 and then grips the rear portion (that is, the pulled-out portion) Td of the ribbon T while holding the tip end of the ribbon T. A form in which a knot K is formed on the ribbon T by separating the third hand 5 from the third hand 5 that grips the portion Ta is shown.

In such a form, since the leading end portion Ta and the lead-out portion Td of the ribbon T can be held by the first holding portion 30, the main body of the ribbon T is encircled around the box B that is sequentially conveyed by a conveyor or the like. The operation of spanning the portion Tb, the time and effort for the first gripping portion 30 to grip the leading end Ta of the ribbon T that has become free after the knot K is formed and cut at a predetermined length away from the knot K Can be omitted. Therefore, it is preferable because a fully automatic machine capable of continuously processing a series of operations such as receiving and transporting the box B, ribbon feeding, knot forming, ribbon cutting, and box feeding and discharging can be provided.

However, the present invention is not limited to such a form, and may be a form embodying at least one of the following (1) to (6).
(1) In addition to the above-described parts of the ribbon supply unit 2, a brake mechanism and a lock mechanism for stopping the rotation of the reel 21 are provided, and the first hand unit 3 does not hold the ribbon T, and the rotation of the reel 21 is stopped. The knot K is formed by the retreat of the five-hand portion 6.
(2) The ribbon cut mechanism CT is omitted, and the operator cuts the rear portion of the ribbon T.
(3) An operator performs the operation of taking out and supplying (that is, replacing) the box B.
(4) An operator performs an operation of hanging 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 a belt conveyor.

[Modified example 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 ribbon supply unit 2 can be moved only by the tension roll 25, and the reel 21, the motor 22 and the like can be arranged at fixed positions. By doing so, the moving mechanism is compact and contributes to space saving, which is preferable.

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

[Modified example of each hand part]
In the above description, each of the first hand unit 3, the second hand unit 4, and the fifth hand unit 6 (referred to as each hand unit) is configured to move by each moving mechanism while each gripping unit is opened and closed in the vertical direction. Was illustrated.
However, each hand part is not limited to such a form, For example, as shown to the following (1) (2), the structure provided with the twist mechanism which winds each holding part or each trunk | drum part may be sufficient. . The twist mechanism rotates each gripping part attached to the tip about the direction in which each body part moves forward / backward as a rotation axis, and at a predetermined timing based on a control signal from the control part CN. Rotation / stationary control is performed.
(1) The third hand portion 5 is provided with a twist mechanism, and after the tip portion Ta of the ribbon T is changed from the second hand portion 4, the third gripping portion is rotated. By doing so, the twist of the leading end portion Ta of the ribbon T can be eliminated in advance, and the leading end portion Ta of the ribbon T can be passed inside the ring portion R2 with the front surface facing upward.
(2) The third hand portion 5 is provided with a twist mechanism, and the third body portion 51 is moved backward while the third body portion 51 is retracted when the tip portion Ta of the ribbon T is passed inside the ring portion R2. , Reciprocating rotation). By doing so, when the knot K is formed, 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 holding part (holding part of 1st hand part)
31 1st body part (body part of the 1st hand part)
32 1st hand movement mechanism 40 2nd holding part (grip part of 2nd hand part)
41 2nd body part (body part of the 2nd hand part)
42 2nd hand moving mechanism 50 3rd holding part (grip part of 3rd hand part)
51 3rd body part (body part of 3rd hand part)
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 part Tb Front part Tc Main-body part Td The part of the drawing-out state (drawing part, rear part)
Ta1 leading part (gripped with the first hand)
Ta2 leading part (gripped with the second hand)
Ta3 leading part (gripped with third hand)
R1 wheel part R2 wheel part TR box body transfer part BH box body holding part CN control part CT ribbon cut mechanism ST1 upstream side mounting stage ST2 downstream side mounting stage SP transport support part

Claims

In a ribbon knotting device that forms a knot by hanging a ribbon over a box,
A ribbon supply section for supplying the ribbon;
A first hand portion for gripping the tip of the ribbon;
A second hand part for changing the tip of the ribbon from the first hand part;
A body portion for temporarily winding the ribbon in the first hand portion, and a third hand portion for changing the tip end portion of the ribbon from the second hand portion,
The first hand part
The body portion of the third hand unit which is disposed at the first initial standby position, grips the leading end of the ribbon drawn out from the ribbon supply unit in a pulled state, and is opposite to the first initial standby position. The ribbon is handed over, the tip of the ribbon is moved to the second hand part,
The second hand part
The ribbon is disposed at the second initial standby position, the tip of the ribbon is changed from the first hand portion on the side opposite to the second initial standby position, and the box and the third hand portion are in the pulled-out state. Moving to the second initial standby position side while passing the tip of the ribbon through the ring formed when the body is stretched over the body,
The third hand part
After the ribbon is wound around the body portion on the opposite side to the third initial standby position, the tip end portion of the ribbon is changed from the second hand portion to the third initial standby position. A ribbon knotting device, wherein a knot is formed by returning to the initial standby position side.
The ribbon supply unit supplies the ribbon while applying a back tension,
The first hand portion is separated from the third hand portion that grips the leading end portion of the ribbon while holding the rear portion of the ribbon after the leading end portion of the ribbon is moved to the second hand portion. The ribbon knotting apparatus according to claim 1, wherein a knot is formed on the ribbon.