String member collecting device

Abstract

To provide a string member recovery device capable of making the shape of a string member after cutting substantially constant.SOLUTION: The string member collection device of the present disclosure includes a gripping mechanism 21 that grips the string member 16, a cutting mechanism 30 that cuts the string member 16, an enlargement mechanism 50 including two enlargement portions 51 located at positions where the distance therebetween increases toward one side in a predetermined direction when viewed in the up-down direction, a movement mechanism 26 that moves the string member 16 and the enlargement mechanism 50 relative to each other in the predetermined direction to enlarge the angle of the bent portion, a release mechanism 25 that releases the string member 16, and a collection mechanism 72 that collects the string member 16 supported by a plurality of contact portions.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a retrieval device for a string member. [Background technology]

[0002] When a workpiece is delivered to a manufacturing plant, a string member is wound around the workpiece to secure the workpiece in its packaging, etc. Once the workpiece is delivered to the manufacturing plant, the string member wound around the workpiece is cut and collected.

[0003] Patent Document 1 discloses a system for unpacking and feeding work pieces that includes two working hands, one for holding the string of the work pieces and the other for cutting the string of the work pieces. The unpacking and feeding system disclosed in Patent Document 1 is provided with a vacuum that sucks in the cut string of the work pieces. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2022-146978 Summary of the Invention [Problem to be solved by the invention]

[0005] Since the string members are soft, the shapes of the string members after cutting are not uniform, which makes the task of bundling the string members after cutting cumbersome. The present disclosure is intended to solve such problems, and provides a string member recovery device that can make the shape of the string member substantially constant after cutting. [Means for solving the problem]

[0006] The string member recovery device of the present disclosure includes a gripping mechanism that grips a portion of the string member wound around a workpiece, a cutting mechanism that cuts the string member located on the opposite side of the workpiece relative to the position of the string member gripped by the gripping mechanism, an expansion mechanism having two expansion sections that are positioned so that the distance between the two expansion sections increases as they move toward one side in a predetermined direction when viewed from above and below, a moving mechanism that moves the string member, which has been cut by the cutting mechanism to form a bent section at the gripping section of the gripping mechanism, and the expansion mechanism relative to each other in the predetermined direction, thereby increasing the angle of the bent section, a release mechanism that releases the string member whose angle of the bent section has been increased by the moving mechanism, and a recovery mechanism that supports and recovers the string member released by the release mechanism at multiple abutment sections with which the string member abuts. With this configuration, the shape of the string member after cutting can be made substantially constant.

[0007] The string member released by the release mechanism falls toward the collection mechanism, and a fall position adjustment mechanism may be provided above the collection mechanism to adjust the fall position of the string member. With this configuration, the string member can be reliably dropped into the collection mechanism.

[0008] The collection mechanism may be inclined downward as it moves away from the drop position adjustment mechanism. With this configuration, the string member that has dropped to the front of the collection part can be supported by the collection part evenly in the length direction of the collection part.

[0009] The recovery mechanism may include a relative position restriction mechanism that restricts the relative position between the magnifying mechanism and the recovery mechanism. With this configuration, the relative position between the magnifying mechanism and the recovery mechanism can be maintained with high precision. [Effects of the Invention]

[0010] The present disclosure provides a string member recovery device that keeps the shape of the string member substantially constant after cutting. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view of a string member recovery device according to a first embodiment. [Figure 2] 2 is a side view of a gripping mechanism of the string member recovery device shown in FIG. 1. FIG. [Figure 3] 2 is a perspective view showing an expansion unit and a recovery unit of the string member recovery device shown in FIG. 1, separated from each other. FIG. [Figure 4] 2 is a top view showing the enlarging unit and the retrieving unit of the string member retrieving device shown in FIG. 1, separated from each other. FIG. [Figure 5] 2 is a side view showing the enlarging unit and the retrieving unit of the string member retrieving device shown in FIG. 1, separated from each other. FIG. [Figure 6] 10 is a flowchart showing a method for recovering a string member. [Figure 7] 1 is a front view showing the state of the string member when the string member is retrieved, the solid line shows the state of the string member before passing through the magnifying mechanism, and the dashed line shows the state of the string member while passing through the magnifying mechanism. [Figure 8] FIG. 10 is a front view showing the string member recovered by the recovery mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0012] Embodiment 1 Hereinafter, embodiments of the present disclosure will be described with reference to the drawings and using FIGS. 1 to 8. FIG. 1 is a perspective view of a string member retrieval device according to the first embodiment. FIG. 2 is a side view of a gripping mechanism of the string member retrieval device shown in FIG. 1. FIG. 3 is a perspective view showing an expansion unit and a retrieval unit of the string member retrieval device shown in FIG. 1, separated from each other. FIG. 4 is a top view showing the expansion unit and the retrieval unit of the string member retrieval device shown in FIG. 1, separated from each other. FIG. 5 is a side view showing the expansion unit and the retrieval unit of the string member retrieval device shown in FIG. 1, separated from each other. FIG. 6 is a flowchart showing a method of retrieving a string member. FIG. 7 is a front view showing the state of the string member when the string member is retrieved. The solid line shows the state of the string member before passing through the expansion mechanism. The dashed line shows the state of the string member while passing through the expansion mechanism. FIG. 8 is a front view showing the state of the string member retrieved by the retrieval mechanism.

[0013] Naturally, the right-handed XYZ Cartesian coordinate system shown in Figures 1 to 8 is for the sake of convenience in explaining the positional relationships of the components. In Figure 1 and other figures, for example, the positive direction of the Z axis is vertically upward, and the XY plane is a horizontal plane, which is common among the drawings. Here, the positive direction of the X axis is the forward direction, and the negative direction of the X axis is the backward direction. Furthermore, the positive direction of the Y axis is the leftward direction, and the negative direction of the Y axis is the rightward direction.

[0014] As shown in FIG. 1, the string member recovery device 1 includes a workpiece placement table 10, a robot 20, a cutting mechanism 30, an expanding unit 40, and a recovery unit 60.

[0015] 1, the workpiece mounting table 10 has a rectangular parallelepiped shape when viewed from above, and a workpiece 15 is mounted on its upper surface via a pallet 12. Alignment members 11 are attached to the upper surface of the workpiece mounting table 10 near the four corners when viewed from above, for aligning the placement position of the pallet 12.

[0016] A string member 16 is wound around the workpiece 15 placed on the pallet 12. The string member 16 is made of a resin such as polypropylene and is formed in a strip shape. However, the string member 16 is not limited to this, and may be made of metal or cloth, or may be formed in a linear shape.

[0017] As shown in Fig. 1, the robot 20 is disposed to the right rear (negative X-axis and negative Y-axis) of the workpiece placement table 10. The robot 20 is an articulated robot having six rotation axes. The robot 20 is driven under the control of a robot controller (not shown).

[0018] As shown in FIGS. 1 and 2, a gripping mechanism 21 is attached to the tip of an arm that constitutes the robot 20. The gripping mechanism 21 has a fixed part 22, a movable part 23 that can move toward or away from the fixed part 22, and a drive mechanism 24 that drives the movable part 23. A tip part 23a extending in the Z-axis direction is provided on the tip side of the movable part 23, and the string member 16 can be gripped by moving the tip part 23a toward the fixed part 22 using the drive mechanism 24. Note that the gripping mechanism 21 is not limited to this, and for example, the string member 16 may be gripped by suction using negative pressure.

[0019] While gripping the string member 16, the robot 20 can release the gripped string member 16 by moving the tip end 23a away from the fixed part 22 using the drive mechanism 24. In other words, the robot 20 is equipped with not only the gripping mechanism 21 but also a release mechanism 25.

[0020] The robot 20 moves the gripping mechanism 21 backward (in the negative X-axis direction) along the left-right central axis of the magnifying mechanism 50, which will be described later.

[0021] 1, the cutting mechanism 30 is disposed in front of the workpiece placing table 10. The cutting mechanism 30 has a detection unit 31, a cutting unit 32, and a substrate unit 33.

[0022] The detection unit 31 detects the presence or absence of the string member 16 using a laser. The cutting unit 32 cuts the string member 16 by vibrating a cutter with ultrasonic waves. However, the cutting unit 32 is not limited to this, and may cut the string member 16 by fusing it with heat, for example. The detection unit 31 and the cutting unit 32 are placed on the substrate unit 33.

[0023] As shown in Fig. 1, an expansion unit 40 and a recovery unit 60 are disposed behind the workpiece placement table 10 and to the left and rear of the robot 20. The expansion unit 40 and the recovery unit 60 are separable from each other, as shown in Figs. 3 to 5.

[0024] As shown in FIGS. 3 to 5, the expansion unit 40 is roughly divided into an expansion unit front part 41 and an expansion unit rear part 55. As shown in FIGS. The expansion unit front part 41 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] As shown in Figures 3 to 5, the expansion unit base part 42 has two guide parts 43 and one auxiliary part 44. The two guide parts 43 extend in the front-rear direction, are arranged parallel to each other, and are fixed at their front ends to the floor surface.

[0026] As shown in FIGS. 3 to 5, six rollers 45a, 45b, and 45c are fixed to the two guide portions 43. The six rollers 45a, 45b, and 45c are arranged in the following order from the front to the rear in the front-to-rear direction: two rollers 45a, two rollers 45b, and two rollers 45c. The two rollers 45a are fixed to both ends of the two guide portions 43 in the left-to-right direction. Like the two rollers 45a, the two rollers 45b and the two rollers 45c are also fixed to both ends of the two guide portions 43 in the left-to-right direction. The six rollers 45a, 45b, and 45c are arranged so that a line connecting the three rollers 45a, 45b, and 45c arranged on the left side of the two guide portions 43 and a line connecting the three rollers 45a, 45b, and 45c arranged on the right side of the two guide portions 43 are parallel to each other. The six rollers 45a, 45b, and 45c are fixed to the guide portion 43 so as to be rotatable about axes extending in the vertical direction.

[0027] 3 to 5, the auxiliary part 44 is disposed on the right side of the two guide parts 43. The auxiliary part 44 extends in the front-rear direction, and its rear end is fixed to the floor surface.

[0028] As shown in Figures 3 to 5, the expansion unit support part 46 is composed of two expansion front vertical support parts 47a, two expansion rear 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 expansion front vertical support portion 47a and the expansion rear vertical support portion 47b extend in the vertical direction, and their lower ends are fixed to the guide portion 43. The expansion front vertical support portion 47a is disposed relatively forward of the expansion rear vertical support portion 47b.

[0029] As shown in Figures 3 to 5, the six expanded horizontal support portions 48a, 48b, and 48c are arranged in the following order from the bottom in the vertical direction: two expanded horizontal support portions 48a, two expanded horizontal support portions 48b, and two expanded horizontal support portions 48c. The two expansion horizontal support portions 48a extend in the left-right direction, and of the two, both ends of the relatively front expansion horizontal support portion 48a are connected to the expansion front vertical support portion 47a, and both ends of the relatively rear expansion horizontal support portion 48a are connected to the expansion rear vertical support portion 47b. The two expansion horizontal support portions 48b extend in the left-right direction, and of the two, both ends of the relatively front expansion horizontal support portion 48b are connected to the expansion front vertical support portion 47a, and both ends of the relatively rear expansion horizontal support portion 48b are connected to the expansion rear vertical support portion 47b. The two enlarged horizontal support portions 48c extend in the front-to-rear direction, with their front ends connected to the two enlarged front vertical support portions 47a, respectively, and their rear ends connected to the two enlarged rear vertical support portions 47b, respectively.

[0030] 3 to 5, the front L-shaped support portion 49a and the rear L-shaped support portion 49b are formed in an L-shape when viewed from the side. The front L-shaped support portion 49a is disposed relatively forward of the rear L-shaped support portion 49b. The two front L-shaped support portions 49a are arranged so that one side extends in the front-rear direction and the other side extends in the up-down direction. One end of each of the two front L-shaped support portions 49a is connected to each of the two extended front vertical support portions 47a. The two rear L-shaped support portions 49b are arranged so 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 each of the two enlarged rear vertical support portions 47b.

[0031] As shown in FIGS. 3 to 5, 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 rod-shaped expansion portions 51. Note that the expansion portions 51 are not limited to being rod-shaped, and may be formed in a curved or stepped shape. Furthermore, the two expansion portions may be formed integrally.

[0032] The two enlarged portions 51 are positioned so that the distance between them increases as they move rearward (negative X-axis direction) in the front-rear direction (X-axis direction). In this way, the magnifying mechanism 50 has two magnifying sections 51, and the two magnifying sections 51 are positioned so that the distance between them increases toward the rear side (negative X-axis direction) when viewed from the top-bottom direction. The rear side (negative X-axis direction) is an example of "one side in a predetermined direction" in the present disclosure. The two enlarged portions 51 are connected at the front to the two front L-shaped support portions 49a, respectively, and at the rear to the two rear L-shaped support portions 49b, respectively.

[0033] 3 to 5, a bridge section 52 is disposed between the two expanded horizontal support sections 48c. A drop position adjustment mechanism 53 is disposed on the upper surface of the bridge section 52. The drop position adjustment mechanism 53 is composed of two drop position adjustment members 54 formed in an L-shape when viewed from the side. The two drop position adjustment members 54 are attached to both left and right ends of the bridge section 52, and are arranged such that one side of the L-shape is fixed to the bridge section 52 and the other side faces upward. The two drop position adjustment members 54 are also arranged such that the other side is located behind the one side (negative side in the X-axis direction). Here, when the magnifying unit 40 and the collection unit 60 are combined, the drop position adjustment member 54 is positioned above the front of the collection section 73, which will be described later (the position of the drop position adjustment member 54 is shown by a two-dot chain line in Figure 5).

[0034] As shown in FIGS. 3 to 5, the magnifying unit rear portion 55 has two front vertical portions 56a, two rear vertical portions 56b, two lower horizontal portions 57a, and two upper horizontal portions 57b.

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

[0036] 3 to 5, the two lower horizontal portions 57a are disposed relatively lower than the two upper horizontal portions 57b. The two lower horizontal portions 57a extend horizontally, with both ends connected to the lower portions 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, with both ends 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 member 58 is attached to 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] As shown in FIGS. 3 to 5, the recovery unit 60 includes a recovery unit base 61, a recovery unit support 65, a recovery mechanism 72, and a handle 74. As shown in FIGS.

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

[0039] The two rail portions 63 are made of strip-shaped members and are attached to a pair of wall surfaces of the two long side portions 62a facing each other. When the expanding unit 40 and the collection unit 60 are combined, the two rail portions 63 are disposed on both outer sides in the left-right direction (Y-axis direction) of the six rollers 45a, 45b, 45c. The distance between the two rail portions 63 in the left-right direction (Y-axis direction) is slightly longer than the distance between both ends of the two rollers 45a in the left-right direction (Y-axis direction). Therefore, the two rail portions 63 and the six rollers 45a, 45b, 45c can regulate the relative position in the left-right direction between the magnifying mechanism 50 of the magnifying unit 40 and a collection mechanism 72 of the collection unit 60, which will be described later. In other words, the two rail portions 63 and the six rollers 45a, 45b, 45c constitute a relative position regulation mechanism 80 that regulates the relative position between the magnifying mechanism 50 and the collection mechanism 72.

[0040] 3 to 5, four wheels 64 are attached to the lower parts of the long side portion 62a and the short side portion 62b. The wheels 64 are attached to both ends of the short side portion 62b and the front ends of the two long side portions 62a. The wheels 64 are rotatable about an axis in the left-right direction.

[0041] As shown in FIGS. 3 to 5, a collection unit support portion 65 is provided above the long side portion 62a and the short side portion 62b. The recovery unit support portion 65 has one first front horizontal support portion 66a, one second front horizontal support portion 66b, one first front vertical support portion 67a, two second front vertical support portions 67b, two first rear vertical support portions 68a, two second rear vertical support portions 68b, one first rear horizontal support portion 69a, one second rear horizontal support portion 69b, and two central support portions 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 relatively 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 relatively lower than the second front vertical support portion 67b.

[0043] The first front horizontal support portion 66a is disposed so as 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 vicinity of the center in the left-right direction of the first front horizontal support portion 66a. 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 support portions 67b are connected to both ends of the second front horizontal support portion 66b, respectively.

[0044] The first rear vertical support portion 68a and the second rear vertical support portion 68b extend in the up-down direction, and the first rear vertical support portion 68a has a longer overall length than the second rear vertical support portion 68b. The lower ends of the two first rear vertical support portions 68a are connected to both ends of the short side portion 62b, respectively. The two second rear vertical support portions 68b are disposed on the inner side in the left-right direction of the two first rear vertical support portions 68a.

[0045] The first rear horizontal support portion 69a and the second rear horizontal support portion 69b extend in the left-right direction, and the first rear horizontal support portion 69a is disposed relatively lower than the second rear horizontal support portion 69b. Both ends of the first rear horizontal support portion 69a are connected to the respective centers of the two first rear vertical support portions 68a. Both ends of the second rear horizontal support portion 69b are connected to the respective upper ends of the two first rear vertical support portions 68a. A plate-shaped collection unit wall member 70 is attached to the space surrounded by the two first rear vertical support portions 68a, the second rear horizontal support portion 69b, and the short side portion 62b.

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

[0047] 3 to 5, a collection mechanism 72 is disposed above the central support part 71. The collection mechanism 72 is composed of two rod-shaped collection parts 73. However, the collection mechanism 72 is not limited to this, and may be a flat plate member with a flat surface facing in the vertical direction.

[0048] The two collection sections 73 extend in the front-rear direction and are arranged parallel to each other. The rear sides of the two collection sections 73 are inclined downward. That is, when the magnifying unit 40 and the collection unit 60 are combined, as shown in FIG. 5, the drop position adjustment member 54 is arranged above the front of the collection section 73, and the collection section 73 can be said to be inclined downward as it moves away from the drop position adjustment member 54. The two recovery portions 73 have their front ends connected to the upper ends of the two second front vertical support portions 67b, respectively, and their rear ends connected near the centers of the two second rear vertical support portions 68b, respectively.

[0049] 3 to 5, a handle portion 74 is disposed at the rear end of the collection unit 60. The handle portion 74 has a handle member 75 extending in the left-right direction, and both ends of the handle member 75 are connected via brackets 76 to the vicinity of the center of the first rear vertical support portion 68a.

[0050] Next, a description will be given of a method for recovering a string member by the string member recovery device 1. A controller (not shown) recovers the string member 16 by executing a program for the method for recovering a string member shown in the flowchart of FIG.

[0051] The controller starts the program when the expanding unit 40 and the collecting unit 60 are combined and the work 15 around which the string member 16 is wound is placed on the work table 10. In step 1 (hereinafter abbreviated as “S1”, the same applies to the other steps), the gripping mechanism 21 grips the string member 16 wound around the workpiece 15. Specifically, the gripping mechanism 21 grips a part of the string member 16 on the rear side of the workpiece 15, with respect to the string member 16 wound in the front-to-rear direction of the workpiece 15. When multiple string members 16 are wound around the workpiece 15, the gripping mechanism 21 grips the string member 16 on the negative Y-axis side first.

[0052] Next, in S2, the cutting mechanism 30 cuts the string member 16. Specifically, first, a drive mechanism (not shown) moves the substrate unit 33 to the end in the negative Y-axis direction, and then moves the substrate unit 33 in the negative X-axis direction to just before the workpiece 15. Next, the drive mechanism moves the substrate unit 33 in the positive Y-axis direction, and stops the movement when the detection unit 31 detects the string member 16. Next, the cutting unit 32 vibrates the cutter with ultrasonic waves to cut the string member 16. That is, the cutting mechanism 30 cuts the string member 16 located on the opposite side of the workpiece 15 from the position of the string member 16 gripped by the gripping mechanism 21.

[0053] Next, in S3, the robot 20 operates to move the gripping mechanism 21 backward (negative direction of the X-axis) and pull out the string member 16 from the workpiece 15. Furthermore, the robot 20 operates to move the gripping mechanism 21 to the front side (positive direction of the X-axis) of the magnifying mechanism 50 and onto the central axis of the magnifying mechanism 50 in the left-right direction (on the dashed line in FIG. 4).

[0054] At this time, the robot 20 adjusts the orientation and angle of the gripping mechanism 21 so that the tip end side (the left side of the gripping mechanism 21 in FIG. 2) of the gripping mechanism 21 faces backward (the negative direction of the X-axis) and the fixing part 22 is positioned above the tip end 23a. The robot 20 also adjusts so that the tip end 23a is positioned between the expanding part 51 and the upper end of the drop position adjustment member 54 (between the two dashed dotted lines in FIG. 5).

[0055] In S3, the string member 16 is in the state shown by the solid line in Fig. 7. The string member 16 is cut by the cutting mechanism 30, and a bent portion 16a is formed in the portion held by the holding mechanism 21, specifically, in the portion sandwiched between the tip portion 23a and the fixed portion 22.

[0056] Next, in S4, the robot 20 operates to move the gripping mechanism 21 gripping the string member 16 backward (in the negative X-axis direction) along the left-right central axis of the expanding mechanism 50. Due to this movement, as shown by the dashed line in Fig. 7, both sides of the bent portion 16a of the string member 16 are expanded outward in the left-right direction (toward the positive Y-axis direction and the negative Y-axis direction) by the expanding portion 51, and the angle of the bent portion 16a of the string member 16 is expanded. In this way, the robot 20 is provided with a movement mechanism 26 that moves the string member 16 and the expansion mechanism 50 relatively in the front-to-rear direction to expand the angle of the bent portion 16a. The front-to-rear direction (X-axis direction) is an example of the "predetermined direction" in the present disclosure. In the embodiment, the string member 16 is moved while the magnifying mechanism 50 is fixed, but the string member 16 may be fixed while the magnifying mechanism 50 is moved. That is, the string member 16 and the magnifying mechanism 50 only need to move relative to each other in the front-to-rear direction. This relative movement causes the magnifying mechanism 50 to spread both sides of the bent portion 16a of the string member 16 outward in the left-to-right direction, thereby increasing the angle of the bent portion 16a of the string member 16.

[0057] Next, in S5, when the gripping mechanism 21 passes the expanding mechanism 50, the robot 20 operates to move the gripping mechanism 21 forward (positive direction of the X-axis) along the left-right central axis of the expanding mechanism 50. In other words, the movement direction of the gripping mechanism 21 is reversed. After the reversal, both sides of the bent portion 16a of the string member 16 enter inside the two expanding portions 51 in the left-right direction (Y-axis direction).

[0058] Next, in S6, when the string member 16 is caught on the drop position adjustment member 54, the movable part 23 of the gripping mechanism 21 is moved away from the fixed part 22 to release the gripped string member 16. In other words, the string member 16, whose angle of the bent part 16a has been enlarged, is released by the release mechanism 25.

[0059] Next, in S7, the string member 16 falls toward the collection mechanism 72. As shown in Fig. 5, the fall position adjustment member 54 is positioned above the front parts of the two collection parts 73, so the string member 16 falls to a predetermined position in front of the two collection parts 73. In this way, the fall position adjustment member 54 adjusts the fall position of the string member 16.

[0060] 8, the string member 16 that has dropped onto the two collection parts 73 comes into contact with the two collection parts 73 and is supported by the two collection parts 73 in a generally U-shape when viewed from the front-to-rear direction. That is, the two collection parts 73 are each formed with a contact part 77 against which the string member 16 comes into contact. In this way, the recovery mechanism 72 recovers the string member 16 released by the release mechanism 25 by supporting it with the two contact portions 77 with which the string member 16 abuts. The two contact portions 77 are an example of the "plurality of contact portions" of the present disclosure. Thereafter, the string member 16 moves rearward due to the inclination formed in the collecting portion 73 and is collected.

[0061] Next, in S8, it is determined whether the string member 16 has been normally collected. For example, if the string member 16 is supported by contacting the two collection portions 73, it is determined that the string member 16 has been normally collected, and if the string member 16 has dropped to the floor, it is determined that the string member 16 has not been normally collected.

[0062] If it is determined that the string members 16 have been collected normally, the process proceeds to S9, where a count indicating the total number of collected string members 16 is incremented. On the other hand, if it is determined that the string members have not been collected normally, the process proceeds to S10, where an operator is called, the operation of the string member collecting device 1 is temporarily stopped, and the dropped string members 16 are supported by contacting them with the two collecting parts 73. Then, the process proceeds to S9.

[0063] Next, in S11, it is determined whether the total number of collected string members 16 exceeds a predetermined number. If it is determined that the predetermined number has not been exceeded, the process returns to the start and continues collecting the string members 16. On the other hand, if it is determined that the predetermined number has been exceeded, the process proceeds to S12, where an instruction is issued to the worker to discard the string members 16 in the collection section 73. The worker pulls out the collection unit 60 from the expansion unit 40 and discards the string members 16 in a predetermined location. After discarding, the count is reset and the program ends.

[0064] The string member recovery device of the present disclosure expands the angle of the bent portion of the string member using a moving mechanism that moves the string member and the expansion mechanism relative to each other, and recovers the string member by supporting it at multiple abutment portions using a recovery mechanism, so that the string member can be recovered in an approximately U-shape, i.e., an approximately constant shape, after cutting.

[0065] The string member recovery device of the present disclosure allows the string member to be dropped by hooking it onto the drop position adjustment member, so that the string member can be reliably dropped into the recovery mechanism.

[0066] In the string member recovery device of the present disclosure, the rear side of the recovery section is inclined downward, so that the string member that falls to the front of the recovery section can be supported evenly by the recovery section in the front-to-back direction (the length direction of the recovery section).

[0067] The string member retrieval device of the present disclosure includes a relative position regulation mechanism made up of two rail portions and six rollers, and therefore can accurately maintain the relative positions of the expansion mechanism and the retrieval mechanism.

[0068] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the present disclosure. [Explanation of symbols]

[0069] 15 Work 16. String member 16a...Bending part 21...Gripping mechanism 25...Release mechanism 26...Moving mechanism 30...cutting mechanism 50....Expansion mechanism 51 Enlarged section 53...Drop position adjustment mechanism 72 Recovery Mechanism 77...Abutment part

Claims

1. a gripping mechanism that grips a part of the string member wound around the workpiece; a cutting mechanism that cuts the string member located on the opposite side of the workpiece with respect to the position of the string member gripped by the gripping mechanism; an expansion mechanism including two expansion sections, the two expansion sections being positioned so that the distance between them increases as they move toward one side in a predetermined direction when viewed from above and below; a moving mechanism that moves the string member, which has formed a bent portion at the gripping portion of the gripping mechanism due to cutting by the cutting mechanism, and the expanding mechanism relatively in the predetermined direction, thereby expanding the angle of the bent portion; a release mechanism that releases the string member whose bent portion has had its angle enlarged by the movement mechanism; and a recovery mechanism that recovers the string member released by the release mechanism by supporting the string member at a plurality of contact portions with which the string member comes into contact, A string member recovery device.

2. The string member released by the release mechanism is dropped toward the recovery mechanism, a drop position adjustment mechanism disposed above the collection mechanism and configured to adjust the drop position of the string member; The string member recovery device according to claim 1 .

3. The recovery mechanism is inclined downward as it moves away from the drop position adjustment mechanism. The string member recovery device according to claim 2.

4. a relative position regulating mechanism that regulates the relative position between the expanding mechanism and the collecting mechanism; The string member recovery device according to claim 1 .

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