JP2001097307A - Method and apparatus for encasement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pouch encasing apparatus which does not require man power while being simplified in mechanical structure. SOLUTION: An encasing apparatus 1 comprises a multiaxial robot 11 which works on multiaxial operations and is capable of holding at a time a plurality of pouches a transferred from a supply conveyer 3 to a bucket conveyer 32. A chuck mechanism for holding the pouches a and a tentering mechanism for narrowing distances between the pouches a held by the chuck mechanism to fixed intervals are provided at the multiaxial robot 11. The multiaxial robot 11 encases the pouches a into a corrugated board case 2 which is supplied separately.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pouch, and more particularly to a pouch boxing apparatus and a boxing method capable of easily packing a pouch.

[0002]

2. Description of the Related Art FIG. 12 shows a conventional box packing method for a product (hereinafter referred to as a pouch) filled with contents such as food, particularly a pouch with a plug. As shown in the figure, the pouches a are continuously fed on the supply conveyor 42b, and the specified number of the pouches a are stacked on the transport conveyor 42c in a plurality of rows. Next, the accumulated pouches a are separated by the middle partition 44 sent from the middle partition magazine 43, and then sent from the cardboard case magazine 40 to be discharged from the discharge conveyor 42.
The prescribed number of pouches a are filled at a time in a cardboard case 41 flowing over the package a, and a pamphlet 43 or the like is stored and packaged and shipped as a finished product 41A.

FIG. 13 shows a method of accumulating pouches a in the above-described conventional box packing process. Pouches a sent from a supply conveyor 42b are delivered to a bucket conveyor 45 and individually stored in buckets 47. The specified number of pouches a in the bucket 47 is pushed out by the pusher 48 operated by the push-out cylinder 48a while being guided by the receiving plate 49 operated by the receiving cylinder 49a, and is pushed onto the conveyor 42c (see FIG. 12). After accumulating and then width-adjusting by the width-adjusting plate 50 operated by the width-adjusting cylinder 50a, the inside of the cardboard case 41 (see FIG. 12) is filled.

[0004]

However, in the conventional method described above, when the pouch a is pushed out of the bucket 47, the pouch a is pushed out while rubbing on the dead plate. Then, the slippage becomes poor and the posture of the pouch a is easily disturbed. as a result,
Since the position of the pouch a is disturbed and is not arranged neatly, which hinders the filling of the cardboard case 41, it may be necessary to make manual adjustments. Further, since the pouch a stacking process, the width shifting process, and the filling process are respectively separated, the device configuration is complicated, and an operation error easily occurs.
There were problems such as a decrease in work efficiency. The present invention has been made in view of the above problems, and an object of the present invention is to provide a pouch box packing apparatus and a box packing method that can simplify the device configuration of the box packing apparatus and do not require any manual operation.

[0005]

In order to achieve the above object, a box packing apparatus of the present invention has a multi-axis robot capable of freely performing a multi-axis operation, a chuck mechanism for gripping or releasing a predetermined number of pouches, and A robot hand attached to the multi-axis robot, comprising a width shifting mechanism for shifting the pouches held by the chuck mechanism at regular intervals.
It is composed of a bucket conveyor that individually supplies pouches, synchronized with the pouch supply speed, takes up a predetermined number of pouches at once from the bucket conveyor, transports them to the boxing position while narrowing them, and packs them. .

According to the present invention, a chuck mechanism and a width shifting mechanism constituting the robot hand are mechanically integrated by a set of frames, and the robot hand is connected to the multi-axis robot via the frame. It can be attached to the tip of the operating part. Further, in the present invention, the chuck mechanism restrains rotation around the respective axes on a pair of horizontal axes,
Axial movement is allowed and vertically suspended, and a plurality of pairs of gripping arms provided with chucks for gripping the pouch at the tip, and each pair of gripping arms are opened and closed via a transmission mechanism,
It can be a holding cylinder for holding or releasing the pouch.

Further, according to the present invention, the width shifting mechanism is slidably supported by a pair of horizontally mounted slide shafts, a pair of slide shafts, and each of the heads of the gripping arms of the chuck mechanism. Multiple sliding blocks to engage,
A plurality of tie rods having different lengths, each having a tip rotatably connected to the sliding block in any direction, and a rotatable connection in any direction to a base end of each of the tie rods. It can be constituted by a width-shifting lever having the same, a width-shifting cylinder that moves the gripping arm by operating the width-shifting lever, and shifts the distance between the pouches gripped by the chuck to a predetermined distance.

Further, according to the present invention, the robot hand includes a chuck mechanism and a width shifting mechanism, and the chuck mechanism restricts rotation about the axes and allows movement in the axial direction on a pair of horizontal axes. A pair of gripping arms having a chuck at the tip and a gripping cylinder for gripping or releasing the pouch by opening and closing a pair of gripping arms via a transmission mechanism. A plurality of sets of tie rods, each having a different length, which are rotatably connected to the head of the gripping arm in any direction, and rotatably connected to the base end of the tie rod in any direction, and pivot to the center A width-shifting lever having a fulcrum, and a width-shifting cylinder which moves the pair of tie rods by operating the width-shifting lever and moves the pouches held by the chuck at a constant interval. It can be.

According to the present invention, the bucket of the bucket conveyor has substantially the same height as the entire length of the pouch, and the upper portions on both side edges thereof are cut off, leaving a central portion for supporting the plug portion of the pouch. Can be. Further, in the box packing method of the present invention, prior to the gripping operation, the shoulders of the respective pouches stored in the buckets of the bucket conveyor are pushed down with a chuck so that the height from the bottom of the pouches to the gripping portions is made uniform, and at the same time, After centering the plug, each chuck is closed and each pouch gripper is gripped.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a configuration of a box packing device according to a first embodiment of the present invention will be described with reference to the drawings. First, an outline of a box packing process to which the present invention is applied will be described with reference to FIG. As shown in the figure, the pouch a filled with the contents in the previous step is continuously supplied on the supply conveyor 3, and the cardboard case 2 is provided with the middle partition 5 in the middle and is continuously supplied on the transfer conveyor 4. Is done. Then, a specified number of pouches a sent to a predetermined boxing position are taken out of the supply conveyor 3 at a time via the boxing device 1 of the present invention, and are filled in the cardboard case 2 on the conveyor 4. , And shipped as a finished product 2A.

Next, the pouch a packed by the box packing apparatus 1 will be described with reference to FIG. Pouch a
Has a flat shape having a length 1, a width w, and a thickness t, and is provided with a plug portion a1 for filling the contents into the main body a2. The plug part a1 is provided with a pouch grip part a3, and in the present embodiment, the pouch a is supported via the pouch grip part a3. The material of the pouch a is not particularly limited, but usually, a flexible material such as a plastic material is used.

FIG. 3 shows the entire configuration of the box packing apparatus 1. As shown in the figure, the box packing device 1 includes a multi-axis robot 11 that can freely perform operations in multi-axis directions (four-axis direction in the present embodiment), and a chuck mechanism (a plurality of pouches a) that grips a plurality of pouches a at a time. A robot hand 10 attached to the tip of the operating part of the multi-axis robot 11 is integrated with a width moving mechanism (described later) for moving the pouches a held by the chuck mechanism at regular intervals. , And a bucket conveyor 32 for individually dividing and supplying these. The box packing apparatus 1 grasps and picks up a plurality (10 in this example) of the pouches a transferred from the supply conveyor 3 to the bucket conveyor 32, moves the pouches aside while transporting, and sends the cardboard case separately sent. 2 can be filled.

The multi-axis robot 11 has a column 11a erected on a base 33, and the column has a multi-axis mechanism. The multi-axis mechanism attaches the base end of an arm 11b that is horizontally and rotatably supported to the tip of a column 11a, and the arm 11c that is horizontally and rotatably supported to the tip of the arm 11b. The base end is attached. Also, the arm 11c
A rod 1 vertically and rotatably supported at its tip
1d is provided, and at the tip of the rod 11d, a telescopic device (not limited in form) 11e is provided so as to be telescopic. These can be arbitrarily rotated or extended / contracted by a built-in known drive source (not shown).

The structure of the main part of the robot hand 10 will be described in detail with reference to FIGS. The robot hand 10 is attached via a frame 20 to the tip of a telescopic device 11e of a multi-axis robot 11 (see FIG. 3). As shown in the figure, the robot hand 10 includes a chuck mechanism 13 and a width shifting mechanism 12, both of which are mechanically integrated via a frame 20. The chuck mechanism 13 includes a ball spline shaft 18, a gripping arm 13b, a link mechanism 13c, and a chuck cylinder 19. A pair of the ball spline shafts 1 is supported by a frame 20 in a horizontal direction. The gripping arm 13b is vertically restrained by a pair of ball spline shafts 18 via a ball spline outer cylinder 39, and is allowed to slide in the axial direction. 13a, and a plurality of sets of the pair of gripping arms 13b are provided on the ball spline shaft 18 as shown in FIG. 6B. The link mechanism 13c includes a pair of ball spline shafts 1
8, the chuck cylinder 19 operates the link mechanism 13 c, via the ball spline shaft 18,
It is configured to open and close the pair of gripping arms 13b.

The width shifting mechanism 12 includes a slide shaft 17, a sliding block 21, a tie rod 16, a width shifting lever 15, and a width shifting cylinder 14. A pair of slide shafts 17 are horizontally supported by a frame 20. I have. As shown in FIG. 6B, a plurality of sliding blocks 21 are provided on the pair of sliding shafts 17, each of which is supported so as to be slidable in the axial direction.
And the head of each gripping arm 13b. The tip of the tie rod 16 is connected to the sliding block 21 via a bearing (for example, an elbow) 37 so as to be rotatable in an arbitrary direction, and each of the sliding blocks 21 has a different length.

The width shifting lever 15 has a rotation fulcrum 15a pivotally supported by the frame 20, and the base end of each tie rod 16 is connected via a bearing (for example, an el ball) 37 so as to be rotatable in an arbitrary direction. The width adjusting cylinder 14 is connected to the base end of the width adjusting lever 15. The bucket conveyor 32 (see FIG. 3) includes a plurality of buckets 32a that rotate on an endless track, and a pouch a that is continuously supplied by the supply conveyor 3 with its flat part up and down is gripped by a grip conveyor. The vehicle travels while receiving a plurality of them one by one in a bucket 32a.

Next, the operation of the box packing device of the present embodiment will be described. The pouch a is transported by the supply conveyor 3 and the grip conveyor 31 on the upstream side, and then is gripped by the chuck mechanism 13 of the robot hand 10. FIG. 7 (a)
7B and 7B show a pouch gripping state by the chuck mechanism 13. As shown in the drawing, the pouch a travels while the main body a2 portion is supported by the bucket 32a. At a predetermined position of the grip conveyor 31, the pouch a operates the chuck cylinder 19 shown in FIG. The gripping arm 13b is opened and closed. As a result, the gripping portion a3 of the plug portion a1 protruding above the bucket 32a is
a can be gripped or released. The end of the chuck 13a is chamfered 13d, so that the chuck 13a can be smoothly inserted into the grip portion a3 and can be accurately gripped.

FIG. 8 shows a grip height adjustment operation performed before the above-described pouch grip operation. Each pouch a stored in the bucket 32a in an upright state has flexibility, so that the height of the grip portion a3 varies depending on the state of the contents, the support state of the bucket 32a, and the like. Therefore, the telescopic device 11e (see FIG. 3) is operated prior to the gripping operation, and the pouch shoulder a is held by the chuck 13a via the gripping arm 13b.
The height of 4 is pushed down by m from m1 to m2, and the grip portion a3 of each pouch a is aligned at a constant height (by this operation, the plug portion a1 is centered at the center position of the front and rear buckets 32a). Thereafter, by closing the chuck 13a, all the pouches a can be accurately grasped by the chuck 13a.

FIGS. 6 (a) and 6 (b) show a pouch width shifting state by the width shifting mechanism 12. FIG. The width shifting mechanism 12 is gripped by the chuck 13a of the chuck mechanism 13, and the grip arm 1
A plurality of pouches a picked up via 3b are kept at an appropriate interval for packing. Width adjustment mechanism 12
By operating the width shifting cylinder 14 to rotate the width shifting lever 15 about the rotation fulcrum 15a, the sliding block 21 is
The gripping arm 13b is moved along the ball spline shaft 18 in conjunction with this operation. Thereby, the interval d1 (shown to the right of the center line XX in FIG. 6) of the narrow pouch a is changed to an interval d2 (shown to the left of the center line XX in FIG. 6) suitable for packing. Can be adjusted.

Hereinafter, a procedure for boxing a pouch a by the box packing apparatus 1 of the present invention will be described with reference to FIGS. 9 (a) to 9 (d). 9A to 9D are plan views.
Below is a side view. The pouches a which have been continuously fed by the supply conveyor 3 with the flat part up and down are transferred to the bucket conveyor 32 via the grip conveyor 31 at the boxing position, and each pouch a is in an upright posture. Each bucket 32a is individually stored and travels (see FIGS. 3 to 5). At this time, the multi-axis robot 1
As shown in FIG. 9A, the position of the chuck mechanism 13 attached to the front end of the chuck 1 is directly above the bucket conveyor 32, that is, at the pouch pick-up position M. 13a is raised,
It is open.

Next, as shown in FIG. 9 (b), the telescopic device 11e extends, and each chuck 13a descends to adjust the height of the holding portion of the pouch a, and then closes to perform a plurality of operations (in this example). After gripping the pouch a in the bucket 32a, the telescopic device 11e is shortened, and the pouch a is
Taken from within a. Next, as shown in FIG. 9C, each part of the multi-axis robot 11 is operated, and the width shifting mechanism 12 (see FIGS. 4 to 5) is operated, and each pouch a is shifted at a fixed interval d2. After the chuck mechanism 13 is transferred to the boxing position N, the telescopic device 11e extends and descends,
By opening the chuck 13a, the funnel 8 is opened.
Through the cardboard case 2.

Thereafter, as shown in FIG. 9 (d), each part of the multi-axis robot 11 is operated, the chuck mechanism 13 is pulled up and returned to the pouch pick-up position M. d) By repeating the operation shown in FIG.
The packing of the specified number (30 in this example) of pouches a is completed. In the box packing process, the pouch a is continuously supplied to the bucket 32a of the bucket conveyor 32. Therefore, in the box packing apparatus 1, the multi-axis robot 11 is used.
By operating each part of the robot hand 10 in synchronization with the bucket speed, a continuous boxing operation can be performed.

As described above, according to the box packing device of the present embodiment, the bucket 32 of the bucket conveyor 32
Since the pouch a in a is grasped by the stopper and transferred to the boxing position, the posture is not disturbed at the time of transfer, so that manual rework as in the prior art is unnecessary. In addition, by using the multi-axis robot 11 and the robot hand 10 in which the chuck mechanism and the width shifting mechanism are integrated, there is an effect that the device configuration is simplified, operation errors are reduced, and work efficiency is improved.

Next, a box packing apparatus according to a second embodiment of the present invention will be described. The same parts as those in the first embodiment will be described with reference to the drawings used in the first embodiment. This embodiment is different from the above embodiment in the configuration of the robot hand. As shown in FIG. 10, the robot hand 50 includes a chuck mechanism 53 and a width moving mechanism 52, both of which are mechanically integrated via a frame 60, as in the above embodiment. Further, the robot hand 50 is attached to the tip of the operating portion of the multi-axis robot 11 (see FIG. 3) via the frame 60.
The chuck mechanism 53 includes the ball spline shaft 38, the grip arm 53b, the link mechanism 13c shown in FIG. 4, and the chuck cylinder 19 also shown in FIG. The pair of ball spline shafts 38 are horizontally supported by the frame 60, and the gripping arm 53 b is restrained from rotating around the respective shafts by the pair of ball spline shafts 38 via the ball spline outer cylinder 39. Is allowed to move vertically, and a chuck 53a is provided at the tip.
The pair of gripping arms 53b are connected to the ball spline shaft 3
8, a plurality of sets are provided. The link mechanism 13c is connected to the end of each ball spline shaft 38, and the chuck cylinder 19 operates the link mechanism to open and close the pair of gripping arms 53b via the ball spline shaft 38.

The width shifting mechanism 52 includes a tie rod 36, a width shifting lever 55, and a width shifting cylinder 54. A plurality of pairs of tie rods 36 having different lengths are provided, and the tips are rotatable in arbitrary directions via the heads of the pair of gripping arms 53b of the chuck mechanism 53 and the elbow 37, respectively. Are linked. The width shifting lever 55 has a rotation fulcrum 55 a pivotally supported by the frame 60, and the base ends of each pair of tie rods 36 are connected via a bearing (for example, an L-ball) 37 so as to be rotatable in an arbitrary direction. I have. The width shifting cylinder 54 is connected to the base end of the width shifting lever 55.

Next, the operation of the second embodiment will be described. The chuck mechanism 53 of the robot hand 50 of the present embodiment operates a chuck cylinder and operates a pair of gripping arms 53b via a link mechanism, similarly to the above embodiment.
Can be opened and closed, and the grip portion a3 (see FIG. 7) of the pouch a can be gripped or released by the chuck 53a. that time,
After the height of the grip of the pouch a is adjusted by the same operation as in the second embodiment, a gripping operation is performed. The width shifting mechanism 52 operates the width shifting cylinder 54 to operate the width shifting lever 5.
5 is rotated about a rotation fulcrum 55a, so that each pair of gripping arms 53 is connected via each pair of tie rods 36.
By appropriately moving b along the ball spline shaft 38, the distance between the pouches a picked up and picked up by the chuck 53a can be adjusted to an appropriate interval.

As described above, according to the robot hand 50 of the present embodiment, the pouch a in the bucket of the bucket conveyor can be accurately grasped and picked up by the chuck mechanism 53, and the chucking mechanism 52 can chuck the pouch a. The pouch a gripped by 53a can be appropriately width-adjusted and sent to the boxing position. The width shifting mechanism 52 of the present embodiment is configured so that the rotation axis during the gripping operation of the gripping arm 53b and the movement axis during the width shifting operation are also used.
There is an effect that the configuration of the box packing device is further simplified and erroneous operations are reduced. Other effects are the same as those of the first embodiment.

Next, a third embodiment of the present invention will be described. The third embodiment relates to another configuration of a bucket of a bucket conveyor applied to the present invention. The first
As shown in the embodiment, the pouch a runs while being supported by the bucket 32 a of the bucket conveyor 32.
The grip portion a3 of the plug portion of the pouch a is
In order to prevent the chuck 13a and the bucket 32a from interfering with each other when the b is closed and gripped by the chuck 13a (interference based on the speed difference between the two in the vertical direction on the paper surface of FIG. In this embodiment, the height of the bucket 32a is reduced in accordance with the pouch main body a2 (see FIGS. 7A and 7B).

On the other hand, in the third embodiment,
When the height of the pouch a is high or when the content of the pouch a is easy to flow at a high conveying speed, the height of the bucket 32b is increased so that the plug portion a1 does not fall. FIG.
(A) and (b) show the configuration of the bucket according to the present embodiment and the gripping state thereof. As shown, bucket 3
The height h of the pouch 2a is substantially equal to the length 1 of the pouch a, and the central portion 32 supporting the plug portion a1 of the pouch a.
The configuration is such that upper portions of both side edges are cut off except for c.

Since the height h of the bucket 32b is substantially the same as the length 1 of the pouch a, the plug portion a1 of the pouch a in the bucket 32b is partitioned by the bucket central portion 32c, so that the 13a is supported in the grippable range. Therefore, it leads to stabilization when gripping. Further, since upper portions of both side edges of the bucket 32b are cut off, the chuck 13a before the gripping operation (open state) is formed.
Is effective in countermeasures against mechanical interference between the bucket and the bucket 32b. Therefore, it is possible to prevent the stopper part a1 from falling down, and there is an effect that the gripping operation is performed smoothly and accurately.

Although the embodiments of the present invention have been described above, the present invention is, of course, not limited thereto, and various modifications can be made based on the technical concept of the present invention.

[0032]

As described above, according to the box packing apparatus of the present invention, the pouch in the bucket of the bucket conveyor is gripped by the plug and transferred to the box packing position. It does not occur, and no manual rework is required. In addition, by using a multi-axis robot and a robot hand that integrates a chuck mechanism and a width shifting mechanism, the device configuration is simplified, operation errors are reduced, and work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a box packing step of a box packing apparatus according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a shape of a pouch applied to the box packing device.

FIG. 3 is a perspective view showing the entire configuration of the box packing device according to the first embodiment.

FIG. 4 is an overall perspective view of a robot hand of the box packing device.

FIG. 5 is a perspective view showing a main part of a robot hand of the box packing device.

FIG. 6A is a plan view showing an entire configuration of a width shifting mechanism of the robot hand of the box packing apparatus, and FIG. 6B is a side view.

FIG. 7A is a front view showing a state of holding a pouch by a robot hand of the box packing apparatus, and FIG. 7B is a perspective view of the same.

FIG. 8 is a front view showing a grip height adjusting operation of the pouch gripped by the robot hand of the embodiment.

FIGS. 9A to 9D are schematic views showing a procedure for packing pouches by the robot hand according to the embodiment.

FIG. 10 is a perspective view illustrating a configuration of a robot hand of a box packing device according to a second embodiment of the present invention.

FIG. 11 (a) is a front view showing a shape of a bucket and a pouch gripping state used in a box packing device according to a third embodiment of the present invention, and FIG. 11 (b) is a perspective view.

FIG. 12 is a perspective view schematically showing a box packing process of a box packing apparatus according to a conventional example.

FIG. 13 is a view showing a conventional pouch accumulation method in a pouch box packing process.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 box packing device 2 cardboard case 3 supply conveyor 4 transfer conveyor 5 intermediate partition 10,50 robot hand 11 multi-axis robot 11b, 11c arm 11d rod 11e telescopic device 13, 53 chuck mechanism 13a, 53a chuck 13b, 53b gripping arm 13c link mechanism 14, 54 Width adjustment cylinder 15 Width adjustment lever 16, 36 Tie rod 17 Slide shaft 18, 38 Ball spline shaft 19 Chuck cylinder 20, 60 Frame 21 Sliding block 31 Grip conveyor 32 Bucket conveyor 32a Bucket 37 Bearing 39 Ball spline shaft outer cylinder 52 Width adjustment mechanism

Continued on front page F-term (reference) 3E003 AA02 AB05 BA03 BB02 BB04 BC03 BD04 CA02 CA04 CB03 CB06 DA01 DA02 DA05 DA07 3E054 AA13 CA08 DC03 DC11 EA02 FA03 FA07 FE03 GA01 GB02 GC02 HA04 HA07 JA02

Claims (7)

[Claims] A robot capable of performing at least one of left, right, front and rear and up and down operations, a chuck mechanism for holding or releasing a predetermined number of pouches, and a pouch held by the chuck mechanism at regular intervals. It consists of a robot hand attached to the robot and a bucket conveyor that supplies pouches individually, comprising a width adjustment mechanism that adjusts the width.Synchronizing with the pouch supply speed, a predetermined number of pouches are placed on the bucket conveyor at once. A box packing device characterized in that it is picked up from a box, transferred to a box packing position while being adjusted in width, and packed in a box. 2. A chuck mechanism and a width adjusting mechanism constituting the robot hand are mechanically integrated by a set of frames, and the robot hand is actuated by the multi-axis robot via the frame. The box packing device according to claim 1, wherein the box packing device is attached to the box. 3. The chuck mechanism comprises a plurality of sets of a pair of gripping arms and a gripping cylinder, wherein the gripping arms are restrained from rotating about their respective axes by a pair of horizontal shaft members, and the axial movement is restricted. The pouch is provided so as to be allowed, and a chuck for gripping the pouch is provided at the tip, and the gripping cylinder opens and closes each pair of gripping arms via a transmission mechanism to grip or open the pouch. Item 3. The box packing device according to Item 1 or 2. 4. A width adjusting mechanism, which is supported slidably by a pair of slide shafts installed in a lateral direction and a pair of slide shafts, and is respectively engaged with a head of each gripping arm of the chuck mechanism. A plurality of sliding blocks to be joined, a plurality of tie rods having different lengths each of which has a tip rotatably connected to the sliding block in an arbitrary direction, A width adjusting lever movably connected and having a rotation fulcrum at a central portion, and a width for operating the width adjusting lever to move the gripping arm and to adjust the distance between the pouches gripped by the chuck to a predetermined distance. 3. A combination cylinder comprising:
A packing device according to item 1. 5. The robot hand includes a chuck mechanism and a width adjustment mechanism, and the chuck mechanism includes:
A pair of horizontal shaft members are vertically suspended with rotation around the shaft restricted and axial movement allowed, and a pair of gripping arms having a chuck at the tip and a pair of gripping arms opened and closed via a transmission mechanism. , A grip cylinder for gripping or releasing the pouch, and a width adjustment mechanism having a plurality of pairs of different lengths each having a tip rotatably connected to the head of the pair of gripping arms in an arbitrary direction. A tie rod, a width adjustment lever rotatably connected to a base end of the tie rod in an arbitrary direction, and having a rotation fulcrum at a central portion; and actuating the width adjustment lever to move a pair of tie rods, thereby chucking the chuck. 3. The box packing device according to claim 2, comprising a width adjusting cylinder for adjusting the width of each of the pouches gripped at a predetermined interval. 6. The bucket of the bucket conveyor has substantially the same height as the entire length of the pouch, and has a side edge portion cut away except for a portion supporting the plug portion of the pouch. The box packing device according to claim 1. 7. A robot capable of performing at least one of left, right, front and rear, and up and down operations, a chuck mechanism for holding or releasing a predetermined number of pouches, and a width of the pouches held by the chuck mechanism at regular intervals. Consisting of a robot hand attached to the robot and a bucket conveyor that individually supplies pouches, comprising a width adjustment mechanism for matching, synchronized with the pouch supply speed, and a predetermined number of pouches are simultaneously removed from the bucket conveyor. Featured,
Prior to the above gripping operation, the shoulders of each pouch stored in the bucket of the bucket conveyor are pushed down with a chuck, and from the bottom of the pouch to the gripping part, using a box packing device that transfers the box to the box packing position while adjusting the width. A box packing method characterized in that the heights of the pouches are made uniform, the stoppers are simultaneously centered, and then the respective chucks are closed to grip the respective pouch gripping portions.