Rope member recovery device

Abstract

Provided is a recovery device for a rope member capable of substantially fixing the shape of a cut rope member. This device for recovering a rope member is provided with: a gripping mechanism (21) that grips a rope member (16); a cutting mechanism (30) for cutting the rope member (16); an expansion mechanism (50) provided with two expansion parts (51) which are disposed at positions where the distance between the two expansion parts (51) is farther toward one side in the predetermined direction when viewed from the vertical direction; a moving mechanism (26) for moving the rope member (16) on which the bent part is formed and the expansion mechanism (50) relative to each other in a predetermined direction to expand the angle of the bent part; a release mechanism (25) that releases the rope member (16); and a recovery mechanism (72) that supports and recovers the rope member (16) by means of the plurality of contact sections.

Description

Technical Field

[0001] This disclosure relates to a device for recovering rope components. Background Technology

[0002] When a workpiece is moved to the manufacturing plant, ropes are wound around it to secure its packaging and other components. Once the workpiece is being moved to the manufacturing plant, the ropes wound around it are cut and retrieved.

[0003] Patent Document 1 discloses a system for untying and supplying bundled workpieces, comprising two robotic arms with a holding mechanism for the rope binding the workpiece and a cutting mechanism for the rope binding the workpiece. In the untying and supply system disclosed in Patent Document 1, a vacuum nozzle is provided to suck in the cut rope binding the workpiece. Existing technical documents Patent documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-146978 Summary of the Invention The problem that the invention aims to solve

[0005] Because the rope components are soft, their shape is not fixed after being cut. Therefore, binding the cut rope components becomes a tedious task. This disclosure addresses the problem by providing a rope component recovery device that can substantially fix the shape of the cut rope component. Methods for solving problems

[0006] The rope component retrieval device disclosed herein comprises: a holding mechanism for holding a portion of a rope component wound around a workpiece; a cutting mechanism for cutting the rope component located on the opposite side of the workpiece relative to the position of the rope component held by the holding mechanism; an expanding mechanism having two expanding portions positioned such that the distance between them increases as they move towards a predetermined direction when viewed from above; a moving mechanism for moving the rope component, which has a bend formed in the holding portion of the holding mechanism due to the cutting by the cutting mechanism, relative to the expanding mechanism in the predetermined direction, thereby expanding the angle of the bend; a releasing mechanism for releasing the rope component whose bend angle has been expanded by the moving mechanism; and a retrieval mechanism for supporting and retrieving the rope component released by the releasing mechanism using a plurality of abutting portions that abut against the rope component. This design allows the shape of the cut rope components to be roughly fixed.

[0007] Alternatively, the rope component released by the release mechanism falls toward the retrieval mechanism, and the retrieval device includes a falling position adjustment mechanism disposed above the retrieval mechanism to adjust the falling position of the rope component. With this configuration, the rope component can be reliably lowered into the retrieval mechanism.

[0008] Alternatively, the retrieval mechanism can be tilted downwards as it moves away from the drop position adjustment mechanism. This configuration allows the retrieval section to evenly support the rope component that has fallen to the front of the retrieval section along its length.

[0009] Alternatively, the recycling device may include a relative position limiting mechanism that restricts the relative positions of the expansion mechanism and the recycling mechanism. With this configuration, the relative positions of the expansion mechanism and the recycling mechanism can be maintained with high precision. Invention Effects

[0010] According to this disclosure, a rope component recovery device can be provided that substantially fixes the shape of the cut rope component. Attached Figure Description

[0011] Figure 1 This is a perspective view of the rope component retrieval device according to Embodiment 1. Figure 2 yes Figure 1 Side view of the holding mechanism of the rope component retrieval device shown. Figure 3 It is shown in a mutually separate manner Figure 1 A perspective view of the expansion unit and the recovery unit of the rope component recovery device shown. Figure 4 It is shown in a mutually separate manner Figure 1 The diagram shows a top view of the expansion unit and the recovery unit of the rope component recovery device. Figure 5 It is shown in a mutually separate manner Figure 1 The expansion unit and the recovery unit of the rope component shown are side views. Figure 6 This is a flowchart illustrating a method for recovering rope components. Figure 7 This is a front view showing the state of the rope component during retrieval. Solid lines indicate the state of the rope component before passing through the expansion mechanism. Dashed lines indicate the state of the rope component during passage through the expansion mechanism. Figure 8 This is a front view showing the state of the rope components after they have been retrieved to the recycling mechanism. Detailed Implementation

[0012] Implementation Method 1 The following uses, with reference to the attached diagram. Figures 1 to 8 The embodiments of this disclosure are described. Figure 1 This is a perspective view of the rope component retrieval device according to Embodiment 1. Figure 2 yes Figure 1 Side view of the holding mechanism of the rope component retrieval device shown. Figure 3 It is shown in a mutually separate manner Figure 1 A perspective view of the expansion unit and the recovery unit of the rope component recovery device shown. Figure 4 It is shown in a mutually separate manner Figure 1 The diagram shows a top view of the expansion unit and the recovery unit of the rope component recovery device. Figure 5 It is shown in a mutually separate manner Figure 1 The expansion unit and the recovery unit of the rope component shown are side views. Figure 6 This is a flowchart illustrating a method for recovering rope components. Figure 7 This is a front view showing the state of the rope component during retrieval. Solid lines indicate the state of the rope component before passing through the expansion mechanism. Dashed lines indicate the state of the rope component during passage through the expansion mechanism. Figure 8 This is a front view showing the state of the rope components after they have been retrieved to the recycling mechanism.

[0013] Furthermore, it is beyond doubt that Figures 1 to 8 The right-handed XYZ orthogonal coordinate system shown is only for illustrating the positional relationships of the constituent elements. Figure 1 In this diagram, for example, the positive Z-axis is vertically upward, and the XY plane is horizontal; this is consistent in the attached diagram. Here, the positive X-axis direction is taken as the forward direction, and the negative X-axis direction as the backward direction. Additionally, the positive Y-axis direction is taken as the left direction, and the negative Y-axis direction as the right direction.

[0014] like Figure 1 As shown, the rope component retrieval device 1 includes a workpiece loading platform 10, a robot 20, a cutting mechanism 30, an expansion unit 40, and a retrieval unit 60.

[0015] like Figure 1 As shown, the workpiece mounting stage 10 is a rectangular cuboid shape when viewed from above, and the workpiece 15 is mounted on its upper surface via a tray 12. Near the four corners of the upper surface of the workpiece mounting stage 10 when viewed from above, alignment components 11 are installed to align the placement of the tray 12.

[0016] A rope component 16 is wound around the workpiece 15 placed on the tray 12. The rope component 16 is made of resin such as polypropylene and is formed into a strip shape. In addition, the rope component 16 is not limited to this, and may also be made of metal, cloth or the like, or may be formed into a thread shape.

[0017] like Figure 1 As shown, robot 20 is positioned to the right rear (negative X-axis and negative Y-axis direction) relative to workpiece stage 10. Robot 20 is a multi-joint robot with six rotational axes. Robot 20 is driven under the control of a robot controller (not shown).

[0018] like Figure 1 , Figure 2 As shown, a gripping mechanism 21 is mounted at the front end of the arm constituting the robot 20. The gripping mechanism 21 has a fixed part 22, a movable part 23 that can approach or separate from the fixed part 22, and a drive mechanism 24 that drives the movable part 23. A front end portion 23a extending in the Z-axis direction is provided at the front end side of the movable part 23. The drive mechanism 24 brings the front end portion 23a close to the fixed part 22, thereby gripping the rope component 16. Furthermore, the gripping mechanism 21 is not limited to this; for example, negative pressure can be used to grip the rope component 16 by suction.

[0019] The robot 20 can release the rope component 16 by driving the front end 23a away from the fixed part 22 while holding the rope component 16. That is, the robot 20 not only has a holding mechanism 21, but also a release mechanism 25.

[0020] The robot 20 moves the holding mechanism 21 in a rearward direction (negative X-axis direction) along the central axis of the expansion mechanism 50 described later. That is, the robot 20 also has a moving mechanism 26.

[0021] like Figure 1 As shown, a cutting mechanism 30 is arranged in front of the workpiece stage 10. The cutting mechanism 30 includes a detection section 31, a cutting section 32, and a substrate section 33.

[0022] The detection unit 31 uses a laser to detect the presence or absence of the rope component 16. The cutting unit 32 cuts the rope component 16 by vibrating a blade using ultrasonic waves. Furthermore, the cutting unit 32 is not limited to this; for example, it can also cut by heating-based melting. The detection unit 31 and the cutting unit 32 are mounted on the substrate 33.

[0023] like Figure 1 As shown, an expansion unit 40 and a recovery unit 60 are arranged behind the workpiece placement stage 10 and to the left rear of the robot 20. Figures 3 to 5 As shown, the expansion unit 40 and the recovery unit 60 can be separated from each other.

[0024] like Figures 3 to 5 As shown, the expansion unit 40 is roughly divided into a front part 41 and a rear part 55. The front part 41 of the expansion unit has an expansion unit base part 42, an expansion unit support part 46, an expansion mechanism 50, and a drop position adjustment mechanism 53.

[0025] like Figures 3 to 5 As shown, the expansion unit base 42 has two guide sections 43 and one auxiliary section 44. The two guide sections 43 extend in the front-rear direction, are arranged parallel to each other, and are fixed to the ground at their respective front ends.

[0026] like Figures 3 to 5 As shown, six rollers 45a, 45b, and 45c are fixed to the two guide sections 43. The six rollers 45a, 45b, and 45c are arranged in the following order from the front side in the front-rear direction: two rollers 45a, two rollers 45b, and two rollers 45c. The two rollers 45a are fixed separately at both ends of the two guide sections 43 in the left-right direction. Similarly, the two rollers 45b and two rollers 45c are also fixed separately at both ends of the two guide sections 43 in the left-right direction. Furthermore, the six rollers 45a, 45b, and 45c are arranged such that the straight line connecting the three rollers 45a, 45b, and 45c on the left side of the two guide sections 43 is parallel to the straight line connecting the three rollers 45a, 45b, and 45c on the right side of the two guide sections 43. The six rollers 45a, 45b, and 45c are fixed to the guide sections 43 in a manner that allows them to rotate with the vertical direction as their axis.

[0027] like Figures 3 to 5 As shown, the auxiliary part 44 is disposed on the right side of the two guide parts 43. The auxiliary part 44 extends in the front-to-back direction and is fixed to the ground at its rear end.

[0028] like Figures 3 to 5 As shown, the expansion unit support 46 includes two front expansion vertical support parts 47a, two rear expansion vertical support parts 47b, six expansion horizontal support parts 48a, 48b, 48c, two front L-shaped support parts 49a, and two rear L-shaped support parts 49b. The front expansion vertical support portion 47a and the rear expansion vertical support portion 47b extend in the vertical direction, and their lower ends are fixed to the guide portion 43. The front expansion vertical support portion 47a is positioned on the opposite front side relative to the rear expansion vertical support portion 47b.

[0029] like Figures 3 to 5 As shown, the six expansion horizontal support parts 48a, 48b, and 48c are arranged from the lower side in the vertical direction in the order of two expansion horizontal support parts 48a, two expansion horizontal support parts 48b, and two expansion horizontal support parts 48c. Two expanding horizontal support portions 48a extend in the left-right direction. The two ends of the relatively front expanding horizontal support portion 48a are connected to the expanding front vertical support portion 47a, and the two ends of the relatively rear expanding horizontal support portion 48a are connected to the expanding rear vertical support portion 47b. Two expanding horizontal support portions 48b extend in the left-right direction. The two ends of the expanding horizontal support portion 48b on the opposite front side are connected to the expanding front vertical support portion 47a, and the two ends of the expanding horizontal support portion 48b on the opposite rear side are connected to the expanding rear vertical support portion 47b. Two horizontal expansion support parts 48c extend in the front-rear direction, with their front ends connected to two vertical expansion support parts 47a respectively, and their rear ends connected to two vertical expansion support parts 47b respectively.

[0030] like Figures 3 to 5 As shown, the front L-shaped support portion 49a and the rear L-shaped support portion 49b are formed into a side L-shape. The front L-shaped support portion 49a is positioned on the opposite front side relative to the rear L-shaped support portion 49b. The front L-shaped support portion 49a is configured such that one side extends in the front-rear direction and the other side extends in the vertical direction. The ends of one side of each of the two front L-shaped support portions 49a are respectively connected to two expanded front vertical support portions 47a. The rear L-shaped support portion 49b is configured such that one side extends in the left-right direction and the other side extends in the up-down direction. One end of each of the two rear L-shaped support portions 49b is connected to one of the two expanded rear vertical support portions 47b.

[0031] like Figures 3 to 5 As shown, an expansion mechanism 50 is disposed above the front L-shaped support portion 49a and the rear L-shaped support portion 49b. The expansion mechanism 50 is composed of two expansion portions 51 formed in the shape of rods. In addition, the expansion portions 51 are not limited to rod shape, but may also be formed in the shape of curves or steps. In addition, the two expansion portions may also be formed as one piece.

[0032] The two expansion sections 51 are positioned such that the further they are from each other in the rearward direction (X-axis direction), the farther they are from each other in the rearward direction (negative X-axis direction). Thus, the expansion mechanism 50 has two expansion portions 51, which are positioned such that when viewed from above, the further back (towards the negative X-axis direction) the greater the distance between them. Furthermore, the rearward side (towards the negative X-axis direction) is an example of the "side of the specified direction" in this disclosure. In addition, the two expansion portions 51 are connected to the two front L-shaped support portions 49a on the front side and to the two rear L-shaped support portions 49b on the rear side.

[0033] like Figures 3 to 5As shown, a mounting section 52 is arranged between the two extended horizontal support sections 48c. Furthermore, a drop position adjustment mechanism 53 is arranged on the upper surface of the mounting section 52. The drop position adjustment mechanism 53 is composed of two drop position adjustment members 54 formed in a side-view L-shape. Two drop position adjustment components 54 are respectively installed at the left and right ends of the mounting part 52. One side of the L-shaped component is fixed to the mounting part 52, and the other side is configured with its end facing upward. In addition, the two drop position adjustment components 54 are configured such that the other side is located behind one side (the negative X-axis side). Here, with the expansion unit 40 and the recovery unit 60 combined, the drop position adjustment member 54 is located above the front of the recovery section 73, which will be described later. Figure 5 The position of the drop position adjustment component 54 is indicated by a double-dotted line.

[0034] like Figures 3 to 5 As shown, the rear part 55 of the expansion unit has two front vertical parts 56a, two rear vertical parts 56b, two lower horizontal parts 57a, and two upper horizontal parts 57b.

[0035] The front vertical portion 56a is positioned relative to the rear vertical portion 56b on the front side. The two front vertical portions 56a extend vertically and are respectively positioned on the outer sides of the two guide portions 43 in the left and right directions, with their lower ends fixed to the ground. The two rear vertical portions 56b extend vertically and are respectively positioned on the outer sides of the two guide portions 43 in the left and right directions, and are fixed to the wall surface via brackets (not shown).

[0036] like Figures 3 to 5 As shown, the two lower horizontal portions 57a are positioned relatively lower than the two upper horizontal portions 57b. The two lower horizontal portions 57a extend horizontally, and their ends are connected to the lower parts of the two front vertical portions 56a and the lower ends of the two rear vertical portions 56b, respectively. The two upper horizontal portions 57b extend horizontally, and their ends are connected to the upper ends of the two front vertical portions 56a and the upper ends of the two rear vertical portions 56b, respectively. A plate-shaped expansion unit wall component 58 is installed in the space surrounded by the front vertical portion 56a, the rear vertical portion 56b, the lower horizontal portion 57a, and the upper horizontal portion 57b.

[0037] like Figures 3 to 5 As shown, the recycling unit 60 has a recycling unit base 61, a recycling unit support 65, a recycling mechanism 72, and a handle 74.

[0038] like Figures 3 to 5As shown, the base 61 of the recycling unit consists of two long sides 62a, one short side 62b, and two guide rails 63. The two long sides 62a extend in the front-to-back direction and are arranged parallel to each other. The short side 62b extends in the left-to-right direction and is arranged to connect the rear ends of the two long sides 62a.

[0039] The two guide rail sections 63 are composed of strip-shaped components and are respectively installed on a pair of opposing wall surfaces of the two long side sections 62a. With the expansion unit 40 and the recovery unit 60 combined, two guide rails 63 are positioned on the outer sides of the six rollers 45a, 45b, and 45c in the left-right direction (Y-axis direction). The distance between the two guide rails 63 in the left-right direction (Y-axis direction) is slightly longer than the distance between the two ends of the two rollers 45a in the left-right direction (Y-axis direction). Therefore, the relative position in the left-right direction between the expansion mechanism 50 of the expansion unit 40 and the recovery mechanism 72 of the recovery unit 60 (described later) can be limited by the two guide rails 63 and the six rollers 45a, 45b, 45c. That is, the two guide rails 63 and the six rollers 45a, 45b, 45c constitute a relative position limiting mechanism 80 that limits the relative position between the expansion mechanism 50 and the recovery mechanism 72.

[0040] like Figures 3 to 5 As shown, four wheels 64 are mounted on the lower part of the long side portion 62a and the short side portion 62b. The wheels 64 are mounted at both ends of the short side portion 62b and at the front ends of the two long side portions 62a. The wheels 64 are capable of rotating about a left-right axis.

[0041] like Figures 3 to 5 As shown, a recycling unit support 65 is provided above the long side 62a and the short side 62b. The recovery unit support 65 has a first front horizontal support 66a, a second front horizontal support 66b, a first front vertical support 67a, two second front vertical supports 67b, two first rear vertical supports 68a, two second rear vertical supports 68b, a first rear horizontal support 69a, a second rear horizontal support 69b, and two central supports 71.

[0042] The first front horizontal support portion 66a and the second front horizontal support portion 66b extend in the left-right direction, with the first front horizontal support portion 66a positioned lower than the second front horizontal support portion 66b. The first front vertical support portion 67a and the second front vertical support portion 67b extend in the vertical direction, with the first front vertical support portion 67a positioned lower than the second front vertical support portion 67b.

[0043] The first front horizontal support portion 66a is configured to connect the front ends of the two long side portions 62a. The lower end of the first front vertical support portion 67a is connected to the center of the first front horizontal support portion 66a in the left-right direction. The second front horizontal support portion 66b is connected to the upper end of the first front vertical support portion 67a near the center in the left-right direction. The lower ends of the two second front vertical supports portions 67b are respectively connected to both ends of the second front horizontal support portion 66b.

[0044] The first rear vertical support portion 68a and the second rear vertical support portion 68b extend in the vertical direction, and the first rear vertical support portion 68a is relatively longer in total length than the second rear vertical support portion 68b. The lower end of each of the two first rear vertical support portions 68a is connected to both ends of the short side portion 62b. The two second rear vertical support portions 68b are respectively disposed inside the two first rear vertical support portions 68a in the left and right directions.

[0045] The first rear horizontal support portion 69a and the second rear horizontal support portion 69b extend in the left-right direction, with the first rear horizontal support portion 69a positioned relatively lower than the second rear horizontal support portion 69b. Both ends of the first rear horizontal support portion 69a are connected to the vicinity of the center of each of the two first rear vertical support portions 68a. Both ends of the second rear horizontal support portion 69b are connected to the upper ends of each of the two first rear vertical support portions 68a. The plate-shaped recycling unit wall component 70 is installed in the space surrounded by two first rear vertical support portions 68a, a second rear horizontal support portion 69b, and a short side portion 62b.

[0046] The central support 71 is composed of two rod-shaped members extending in the front-rear direction. The front end of the central support 71 is connected to both ends of the second front horizontal support 66b, and the rear end is connected to the lower ends of the two second rear vertical support 68b.

[0047] like Figures 3 to 5 As shown, a retrieval mechanism 72 is disposed above the central support portion 71. The retrieval mechanism 72 is composed of two retrieval portions 73 formed in the shape of rods. Furthermore, the retrieval mechanism 72 is not limited to this and may also be a flat plate component with its plane facing the vertical direction.

[0048] Two recovery sections 73 extend in the front-to-back direction and are arranged parallel to each other. Furthermore, the rear sides of the two recovery sections 73 slope downwards. That is, in the combined state of the expansion unit 40 and the recovery unit 60, as... Figure 5 As shown, a drop position adjustment member 54 is disposed above the front of the recovery section 73, and the recovery section 73 can also be described as tilting downward as it moves away from the drop position adjustment member 54. The two recovery sections 73 are respectively connected to the upper ends of the two second front vertical support sections 67b at the front end, and respectively connected to the center of the two second rear vertical support sections 68b at the rear end.

[0049] like Figures 3 to 5 As shown, a handle portion 74 is disposed at the rear end of the recycling unit 60. The handle portion 74 has a handle component 75 extending in the left-right direction, and the two ends of the handle component 75 are connected to the vicinity of the center of the first rear vertical support portion 68a via a bracket 76.

[0050] Next, the method for retrieving the rope component using the rope component retrieval device 1 will be described. This is performed by a controller (not shown). Figure 6 The flowchart shows the procedure for the recovery method of the rope component, thereby recovering the rope component 16.

[0051] When the expansion unit 40 and the recovery unit 60 are combined, and the workpiece 15 with the rope component 16 wound around it is placed on the workpiece placement stage 10, the controller starts executing the program. In step 1 (hereinafter referred to as "S1"; the other steps are the same), the holding mechanism 21 holds the rope component 16 wound around the workpiece 15. Specifically, the holding mechanism 21 holds a portion of the rope member 16 wound along the front-rear direction of the workpiece 15, located behind the workpiece 15. Furthermore, when multiple rope members 16 are wound around the workpiece 15, the rope member 16 is held from the negative Y-axis direction side.

[0052] Next, in S2, the cutting mechanism 30 cuts the rope component 16. Specifically, first, after moving the base plate portion 33 to the end in the negative Y-axis direction using a drive mechanism (not shown), the base plate portion 33 is moved in the negative X-axis direction to the workpiece 15. Next, the base plate portion 33 is moved in the positive Y-axis direction using the drive mechanism, and the movement stops when the detection unit 31 detects the rope member 16. Then, the cutting unit 32 uses ultrasonic waves to vibrate the cutter and cut the rope member 16. That is, the cutting mechanism 30 cuts the rope member 16, which is located on the opposite side of the workpiece 15 relative to the position of the rope member 16 held by the holding mechanism 21.

[0053] Next, in S3, the robot 20 moves the gripping mechanism 21 backward (negative X-axis direction) to pull the rope component 16 from the workpiece 15. Further, the robot 20 moves the gripping mechanism 21 towards the front of the expansion mechanism 50 (positive X-axis direction) and along the left-right central axis of the expansion mechanism 50. Figure 4 Move along the single-dot dashed line.

[0054] At this time, robot 20 adjusts the orientation and angle of gripping mechanism 21 so that the front end of gripping mechanism 21 ( Figure 2 The left side of the holding mechanism 21 faces rearward (negative X-axis direction), and the fixing part 22 is located above the front end 23a. Furthermore, the robot 20 adjusts the position so that the front end 23a is positioned between the expansion part 51 and the upper end of the drop position adjustment member 54. Figure 5 Between the two single-dot dashed lines).

[0055] In S3, the rope component 16 is in Figure 7 The state is shown by the solid line. The rope component 16 is cut by the cutting mechanism 30, and a bent portion 16a is formed in the holding part of the holding mechanism 21, specifically in the part clamped by the front end 23a and the fixing part 22.

[0056] Next, in S4, the robot 20 moves, causing the gripping mechanism 21 holding the rope component 16 to move rearward (negative X-axis direction) along the left-right central axis of the expansion mechanism 50. This movement, as... Figure 7 As shown by the dashed line, the rope component 16 extends to the left and right sides (positive Y-axis side and negative Y-axis side) through the expansion portion 51 on both sides of the bend portion 16a, thus expanding the angle of the bend portion 16a of the rope component 16. Thus, the robot 20 has a movement mechanism 26 that expands the angle of the bent portion 16a by moving the rope component 16 and the expansion mechanism 50 relative to each other in the front-back direction. Furthermore, the front-back direction (X-axis direction) is an example of the "prescribed direction" of this disclosure. Furthermore, in one embodiment, the expansion mechanism 50 is fixed while the rope component 16 is moved; however, the expansion mechanism 50 can also be moved while the rope component 16 is fixed. That is, the rope component 16 and the expansion mechanism 50 can move relative to each other in the front-back direction. Through this relative movement, the two sides of the rope component 16 separated by the bend 16a are expanded to the left and right sides by the expansion mechanism 50, thus expanding the angle of the bend 16a of the rope component 16.

[0057] Next, in S5, after the gripping mechanism 21 passes the expansion mechanism 50, the robot 20 moves the gripping mechanism 21 forward (positive X-axis direction) along the left-right central axis of the expansion mechanism 50. That is, the movement direction of the gripping mechanism 21 is reversed. After reversal, the rope component 16, separated by the bends 16a, enters the inner side of the two expansion sections 51 in the left-right direction (Y-axis direction).

[0058] Next, in S6, after the rope component 16 is hooked onto the drop position adjustment component 54, the movable part 23 of the holding mechanism 21 is disengaged from the fixed part 22, thereby releasing the held rope component 16. That is, the release mechanism 25 releases the rope component 16 after the angle of the bent part 16a has been expanded.

[0059] Next, in S7, the rope component 16 falls toward the recovery mechanism 72. (As...) Figure 5 As shown, since the drop position adjustment component 54 is located above the front of the two recovery sections 73, the rope component 16 drops to a predetermined position at the front of the two recovery sections 73. Thus, the drop position adjustment component 54 adjusts the drop position of the rope component 16.

[0060] like Figure 8 As shown, the rope component 16, which falls into the two recovery sections 73, abuts against the two recovery sections 73 and is supported by the two recovery sections 73 in a roughly U-shape when viewed from the front and rear. That is, abutment portions 77 that abut against the rope component 16 are formed in each of the two recovery sections 73. Thus, the retrieval mechanism 72 uses two abutment portions 77 that abut against the rope component 16 to support and retrieve the rope component 16 released by the release mechanism 25. Furthermore, the two abutment portions 77 are an example of the "multiple abutment portions" disclosed herein. Subsequently, the rope component 16 is retrieved by moving backward at an angle formed in the retrieval section 73.

[0061] Next, in S8, it is determined whether the rope component 16 has been properly retrieved. For example, if the rope component 16 is in contact with and supported by the two retrieval parts 73, it is determined that it has been properly retrieved; if the rope component 16 falls to the ground, it is determined that it has not been properly retrieved.

[0062] If the rope is determined to have been properly retrieved, proceed to S9 and increment the count indicating the total number of retrieved rope components 16. Conversely, if the rope is determined not to have been properly retrieved, proceed to S10 and call for personnel. After temporarily stopping the operation of the rope component retrieval device 1, allow the fallen rope component 16 to abut against and be supported by the two retrieval sections 73. Then, proceed to S9.

[0063] Next, in S11, it is determined whether the total number of recovered rope components 16 exceeds the specified number. If it is determined that the specified number has not been exceeded, the process returns to the beginning and continues the recovery operation of rope components 16. On the other hand, if it is determined that the specified number has been exceeded, the process proceeds to S12, and an instruction is given to the operator to discard the rope components 16 in the recovery unit 73. The operator pulls the recovery unit 60 out of the expansion unit 40 and discards the rope components 16 to the designated location. After disposal, the count is reset, and the procedure ends.

[0064] The rope component retrieval device disclosed herein expands the angle of the bent portion of the rope component by means of a moving mechanism that moves the rope component relative to the expanding mechanism, and supports and retrieves the rope component by means of multiple abutment portions by the retrieval mechanism, thus enabling the cut rope component to be retrieved in a generally U-shaped, i.e., generally fixed shape.

[0065] The rope component retrieval device disclosed herein allows the rope component to be hooked onto the drop position adjustment component and fall, thus reliably allowing the rope component to fall to the retrieval mechanism.

[0066] The rope component retrieval device disclosed herein has a rear side of the retrieval section that is inclined downwards, thereby enabling the retrieval section to evenly support the rope component falling to the front of the retrieval section in the front-to-back direction (the length direction of the retrieval section).

[0067] The rope component retrieval device disclosed herein has a relative position limiting mechanism consisting of two guide rails and six rollers, thus enabling it to maintain the relative position of the expansion mechanism and the retrieval mechanism with good accuracy.

[0068] Furthermore, this disclosure is not limited to the above-described embodiments, and appropriate modifications can be made without departing from the spirit of the subject. Explanation of reference numerals in the attached figures

[0069] 15 workpieces 16 rope components 16a Bending Section 21 Controlling Institutions 25 release agencies 26 moving mechanisms 30 Cutting Mechanism 50 Expansion Organizations 51 Expansion Department 53 Drop position adjustment mechanism 72 Recycling Organizations 77 Contact Department

Claims

1. A rope component recovery device, comprising: A holding mechanism, a part of a rope component that holds the rope wound around the workpiece; The cutting mechanism cuts the rope component located on the opposite side of the workpiece relative to the position of the rope component held by the holding mechanism; An expansion mechanism having two expansion sections, the two expansion sections being positioned such that when viewed from above or below, the further apart they are on one side of a predetermined direction; A moving mechanism that causes the rope component, which has a bent portion formed in the holding part of the holding mechanism by the cutting mechanism, to move relative to the expanding mechanism in the predetermined direction, thereby expanding the angle of the bent portion; The release mechanism releases the rope component whose angle of the bend has been expanded by the moving mechanism; and The retrieval mechanism uses multiple abutment portions that abut against the rope component to support and retrieve the rope component released by the release mechanism.

2. The rope component recovery device according to claim 1, wherein, The rope component, released by the release mechanism, falls toward the retrieval mechanism. The retrieval device includes a drop position adjustment mechanism disposed above the retrieval mechanism and for adjusting the drop position of the rope component.

3. The rope component recovery device according to claim 2, wherein, The recovery mechanism tilts downward as it moves away from the drop position adjustment mechanism.

4. The rope component recovery device according to claim 1, wherein, The recycling device includes a relative position limiting mechanism that restricts the relative position of the expansion mechanism and the recycling mechanism.

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