JP2004182296A - Packaging system and corrugated fiberboard box - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a packaging system for automatically storing a small box in an exterior box in a packaging pattern according to the small box of different mode and size, and a corrugated fiberboard box favorably used in the packaging system. <P>SOLUTION: The packaging system comprises an assembly forming unit to form a small box assembly by assembling small boxes of the predetermined number storing one or a plurality of objects to be packaged according to an assembly pattern which is set according to presence/absence, the position and the size of a header of the small boxes and according to the size of the small box, and indicates the assembly number and the assembly mode of the small boxes, and an exterior article forming unit to charge the small box assembly in the exterior box according to a predetermined charging pattern, and a corrugated fiberboard box with internal partitions provided therein to be used in the packaging system. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a packaging system and a cardboard box, and in particular, a packaging system that can automatically insert small boxes of various different shapes and sizes into a cardboard box according to a predetermined pattern, and is preferably used for the packaging system. It relates to a corrugated cardboard box.
[0002]
[Prior art]
A patrone or film cartridge containing a photographic roll film is usually stored in a plastic film case, and the film case is sold in the form of a carton containing a coated cardboard sack carton.
[0003]
Conventionally, the carton is generally in the form of a single item box in which the film cases are stored one by one in the box, but in recent years, a so-called multi-box in which two or more film cases are stored. The form is increasing.
[0004]
The single item box is a standard packaging form for cartridges and film cartridges, and is still easy to automate because it has a large production volume and little fluctuation in quantity (see Non-Patent Document 1, for example).
[0005]
On the other hand, the multi-small box does not have a large production quantity per form, and the quantity itself varies greatly. Furthermore, various forms exist depending on the number of film cases accommodated therein, the presence or absence of a header that is a tab-like member, and the position thereof.
[0006]
Therefore, the multi-small box is difficult to automate and is often manufactured manually or semi-automatically, so that there is a problem that the efficiency does not increase.
[0007]
[Non-Patent Document 1]
Page 1706 of the Packaging Technology Handbook (Issued by Japan Packaging Technology Association, July 1, 1995, first edition, first print)
[0008]
[Problems to be solved by the invention]
Conventionally, there has been a demand for a packaging device that can handle various types of multi-caskets. However, the following problems are encountered in realizing the packaging device:
(1) There are two types of sack cartons used for conventional multi-caskets, that is, small boxes made of coated cardboard, in which a film case is inserted from both end openings and from a side opening. Exists. It is extremely difficult to deal with these two types of sack cartons in a cartoner that is a boxing device for packing a film case in a sack carton.
[0009]
{Circle around (2)} The conventional multi-small box does not have a uniform barcode size and printing position.
[0010]
(3) Even in a multi-small box having the same number of film cases inserted therein, there are some which have different header positions and sizes.
[0011]
(4) Multiple small boxes are often packed together in a specific number and shrink-wrapped. At the time of shrink-wrapping, the multi-small box is inserted into the presence / absence of a mount, the position and size of the header, and the inside. Depending on the number of film cases to be used, it is necessary to combine them in various patterns.
[0012]
(5) When packing multi-small boxes into cardboard boxes, it is necessary to pack them in various patterns depending on the form of the multi-small box.
There is.
[0013]
Among the above problems, for problem (1) and problem (2), in the sack carton, the direction in which the film case is loaded is unified, and the size of the barcode printed on the multi-small box and It can be solved by unifying the printing position.
[0014]
Accordingly, an object of the present invention is to provide a packaging system capable of solving the problems (3) to (5) and a cardboard box used in the packaging system.
[0015]
[Means for Solving the Problems]
The invention according to claim 1 sets a small box containing one or a plurality of items to be packaged according to the presence / absence, position and size of a header in the small box, and the size of the small box. A set forming unit for forming a set of small boxes according to a set pattern indicating a set number and a set form of the set of small boxes, and the set of small boxes is set according to the set pattern. In addition, the present invention relates to a packaging system including an exterior product forming unit that is installed in an exterior box according to a predetermined insertion pattern.
[0016]
In the packaging system, the assembly forming unit aggregates a predetermined number, for example, 5 small boxes in a predetermined form according to the assembly pattern to form a small box assembly. And in the said exterior goods formation part, the said small box aggregate | assembly is inserted into an exterior box according to a predetermined | prescribed insertion pattern.
[0017]
Here, the small box has a tab-like member provided with a header, a header is not provided, a header is provided at an edge, a header is provided at a side edge, a header width is Same as the width of the small box, one whose header width is larger than the width of the small box, one that accommodates only one item to be packaged such as a film case, and two or more such items to be packaged There are various forms such as what to do.
[0018]
However, according to the packaging system, the small box can be automatically accommodated in the outer box with a packaging pattern according to the presence / absence, position and size of the header in the small box and the size of the small box itself.
[0019]
In addition to the above-mentioned film case, the packaged goods include products that are usually stored in one or more small boxes such as cartridges, film cartridges, various canned beverages, and toner containers for copying machines. Can be mentioned.
[0020]
Examples of the small box include a corrugated cardboard case and the like, as well as a sack carton that forms a carton such as a single item small box and a multi-small box described in the section of “PRIOR ART”.
[0021]
The outer box may be a box that can store a predetermined number of small boxes, and specifically includes a cardboard box. Examples of the cardboard box include those with and without a partition. Further, the inner partition may be only one or may be two or more. As said corrugated cardboard box, what is described in Claim 15 is preferable.
[0022]
The invention according to claim 2 is characterized in that the assembly forming unit is configured to convey the small box in a certain conveyance direction, and a small box that is adjacent to the conveyance unit and is conveyed in the conveyance direction. A turning means for turning in accordance with the set pattern, and a small number of boxes that are positioned downstream of the turning means along the transport direction and turned by the turning means are accumulated in a number set by the set pattern. And a collecting system for forming a small box assembly.
[0023]
In the packaging system, since the turning and the gathering are performed while the small box is being transported by the transporting means, the turning and the gathering are continuously performed. Therefore, a small box aggregate can be formed efficiently.
[0024]
In the assembly forming unit provided in the packaging system, the small boxes that are transported in a certain direction by the transport means are rotated by an angle specified in the assembly pattern. Specifically, the small box that has been transported in an upright state by the transport means, in the turning means, turn 90 degrees around the horizontal axis to be horizontal, or 180 degrees to turn it upside down, Rotate 90 ° or 180 ° around the vertical axis. Further, depending on the collective pattern, the turning means may not turn the small box at all.
[0025]
Small boxes turned by a predetermined angle by the turning means are conveyed to the collecting means by the conveying means in the form as they are, and are collected in a predetermined number, for example, five by the collecting means. Is formed.
[0026]
The invention according to claim 3 is provided with a shrink wrapping part that shrink-wraps the small box aggregate formed by the aggregate forming part to form a shrink wrap, and the aggregate forming part includes the shrink wrapping. A small box aggregate formed of the aggregate forming section according to the charging pattern, the outer package forming section including an aggregate transfer means for transferring the small box aggregate to be transferred to the shrink wrapping section; Further, the present invention relates to a packaging system that accommodates any one of the shrink wrapping bodies formed by the shrink wrapping portion in an exterior box.
[0027]
In the assembly forming unit provided in the packaging system, among the small box assemblies formed by assembling the small boxes according to a predetermined assembly pattern, one to be shrink-wrapped is transferred to the shrink packaging unit by the assembly transfer means.
[0028]
The small box assembly transferred by the assembly transfer means is shrink-wrapped by the shrink wrapping unit, and a shrink package is produced.
[0029]
The shrink package is loaded into the outer box according to a predetermined loading pattern in the outer package forming section.
[0030]
In the exterior product to be formed in the packaging system of the present invention, the small box is shrunk in units of 5 or 10 in addition to the small box inserted into the outer box without shrink wrapping. There is what was loaded in the outer box.
[0031]
According to the charging system, both the exterior products can be produced.
[0032]
According to a fourth aspect of the present invention, in the outer article forming portion, the outer box is held in a predetermined position by the outer box holding means and the outer box held by the outer box holding means, according to the charging pattern, The present invention relates to a packaging system including the small box aggregate or aggregate charging means for charging the shrink package.
[0033]
According to the packaging system, the outer box is held in a predetermined position by the outer box holding means while the small box aggregate or the shrink package is inserted. Even if a body or the like hits the outer box, the position of the outer box does not move. Therefore, the small box aggregate or the like is reliably charged into the outer box.
[0034]
Examples of the assembly charging means include articulated robots.
[0035]
The invention according to claim 5 is a collective pattern information input unit for inputting collective pattern information related to the collective pattern, and the aggregate forming unit and the exterior based on the collective pattern information input in the collective pattern information input unit The present invention relates to a packaging system including a control unit that controls a product forming unit.
[0036]
In the packaging system, the control unit controls the assembly formation unit and the exterior product formation unit based on the assembly pattern information input in the assembly pattern information input unit, thereby the assembly formation unit. The small box aggregate is formed by collecting the small boxes along the collective pattern, and the small box aggregate is inserted into the external box in the exterior product forming section.
[0037]
Therefore, an exterior product is automatically formed simply by inputting the aggregate pattern information to the aggregate pattern information input unit.
[0038]
The invention according to claim 6 relates to a packaging system in which the control unit also controls the shrink packaging unit based on the pattern information.
[0039]
6. The packaging system according to claim 5, wherein, in the packaging system according to claim 5, not only the assembly forming unit and the exterior product forming unit, but also the assembly transferring means and the shrink packaging unit in the assembly forming unit are controlled by the control unit. It is also a packaging system that controls.
[0040]
In the packaging system, the assembly transfer means and the shrink packaging unit are also automatically controlled based on the assembly pattern information input by the assembly pattern information input unit. Therefore, it is possible to flexibly cope with not only a small box to be loaded into an outer box without shrink wrapping but also a small box to be processed into a shrink package and loaded into the outer box. The set pattern information input unit may include an appropriate pattern information reading unit, and the pattern information reading unit may be configured to read and automatically input set pattern information in which a barcode is indicated by a two-dimensional code or the like. Good.
[0041]
In the invention according to claim 7, the outer box into which the small box assembly is inserted in the outer article forming portion is formed of four sheets in which a rectangular bottom portion and each side of the bottom portion are connected to the bottom portion. A rectangular parallelepiped box having an upper surface opened, a partition that bisects the inside of the box, and the four side plates at the upper edge of the side plate. A cardboard box that is folded and forms four lid portions that cover the opening, and the inner partition is fixed to an inner surface of one side plate at one end. The present invention relates to a packaging system that is a cardboard box that extends toward another side plate facing the one side plate and has the other end formed as a free end.
[0042]
In the corrugated cardboard box used in the packaging system, as described above, the front end of the partition is not fixed to the side plate and is a free end, so during the insertion of the small box assembly or shrink package, When the assembly charging means provided in the packaging system hits the partition, the partition moves with little resistance. Then, as the small box assembly or the like is loaded on both sides of the partition plate, the middle partition moves to the center of the cardboard box. Therefore, when an articulated robot is used as the assembly charging means, it is preferable because stable charging can be performed.
[0043]
According to an eighth aspect of the present invention, the assembly loading means included in the exterior product forming unit is configured to divide the small box assembly or the shrink package into the two small chambers partitioned by the partition in the cardboard. The present invention relates to a packaging system for alternately charging one by one from the side on which the inner partition is fixed.
[0044]
The exterior box forming unit using an articulated robot as the assembly charging means performs charging according to the charging procedure, so that the small box is placed on both sides of the partition in the cardboard box according to claim 8. Aggregates and shrink packages can be charged stably.
[0045]
According to the ninth aspect of the present invention, there are provided four exterior boxes in which the small box assembly is inserted in the exterior product forming portion, the bottom portion having a rectangular shape and the bottom portion on each side of the bottom portion. A rectangular parallelepiped box having an upper surface opened, and a lid that is connected to the side plate at the upper edge of the four side plates and is folded inward at the connection portion to cover the opening. A cardboard box including four flap portions forming a portion, and the assembly loading means provided in the exterior product forming portion pushes and opens the flap portion of the cardboard box outward, while the small box assembly or The present invention relates to a packaging system for charging the shrink package or holding the small box assembly or the shrink package in a direction along a diagonal line of an opening in the cardboard box.
[0046]
In the packaging system, when the assembly charging means inserts the small box assembly or the shrink package into the cardboard box, the flap portion of the cardboard box does not get in the way, The charging can be performed smoothly.
[0047]
The invention according to claim 10 includes article loading means for loading an article into an outer box according to a predetermined loading pattern, wherein the article loading means is during and after the loading of the article. In any one or both, the present invention relates to a packaging system comprising a loading inspection means for detecting whether or not an article loaded in the outer box is in a predetermined position.
[0048]
When an article such as a small box assembly or shrink package is loaded into a cardboard box, if any of the loaded small box aggregates protrudes from the opening of the outer box, the outer box is sealed. It becomes impossible.
[0049]
However, in the packaging system, since the article can detect the presence or absence of protrusion from the opening of the outer box during insertion and after insertion, the outer article in which the protrusion has occurred is sent to a subsequent process. This can prevent troubles.
[0050]
Examples of the article include articles to be loaded into the outer box according to a predetermined loading pattern, such as the small box aggregate and the shrink package.
[0051]
The invention according to claim 11 relates to a packaging system in which the charging inspection means is an optical charging inspection means for optically performing the detection.
[0052]
In the packaging system, since the charging inspection is performed without contact, the charging inspection can be performed without damaging the article.
[0053]
The invention according to claim 12 is characterized in that the article is a small box in which one or a plurality of items to be packaged is accommodated, the presence / absence, position and size of a header in the small box, and the size of the small box. Is a small box aggregate assembled according to a set pattern indicating a collective form of the small box according to, and a shrink package formed by shrink wrapping the small box aggregate, the charging pattern is the The present invention relates to a packaging system that is set according to an assembly pattern.
[0054]
The small box aggregate and the shrink package have different charging patterns if the small box aggregate pattern is different, but according to the packaging system, the small box aggregate is optimally charged according to the aggregate pattern. And the shrink package can be loaded into the outer box.
[0055]
According to a thirteenth aspect of the present invention, an assembly forming unit that aggregates the small boxes according to the aggregate pattern to form a small box aggregate, and the small box aggregate is mounted on an exterior box according to a predetermined charging pattern. An exterior product forming portion that forms an exterior product by entering, and the exterior product formation portion is held by an exterior box holding means that holds the exterior box in a predetermined position, and the exterior box holding means The outer box has an assembly charging means for charging the small box assembly or the shrink package according to the charging pattern, and the assembly charging means is charging the article. And a charging inspection means for detecting whether or not the small box assembly or the shrink package packed in the outer box is in a predetermined position either or after the charging. It relates to a packaging system.
[0056]
In the packaging system, the assembly forming unit aggregates a predetermined number, for example, 5 small boxes in a predetermined form according to the assembly pattern to form a small box assembly. And in the said exterior goods formation part, the said small box aggregate | assembly is inserted into an exterior box according to a predetermined | prescribed insertion pattern.
[0057]
There are various types of small boxes as described above. According to the packaging system, the small box is automatically turned into the outer box with a packaging pattern corresponding to the form and size of the small box. Can be accommodated.
[0058]
Further, either or both of the charging and after charging, the small box assembly or the shrink package packed in the outer box by the charging inspection means protrudes from the opening of the outer box. Since it can be detected whether or not the small box aggregate or the like protrudes from the opening of the outer box, it is possible to prevent the outer package from being sent to a subsequent process and causing trouble.
[0059]
The invention described in claim 14 relates to a packaging system in which the article to be packaged is a film case that accommodates a cartridge or a film cartridge, and the small box is a carton that accommodates the film case.
[0060]
The said packaging system is an example which applied the packaging system of this invention to the carton which accommodates a film case.
[0061]
The invention described in claim 15 is a rectangular parallelepiped box having a rectangular bottom and four side plates connected to the bottom at each side of the bottom, and an open top surface of the box. An inner partition that bisects the interior, and four flaps that are connected to the side plate at the upper edge of the four side plates, and are folded at the connecting portion to form a lid that covers the opening. The partition is fixed at one end to the inner surface of the one side plate, and extends toward the other side plate opposite to the one side plate. The present invention relates to a corrugated cardboard box characterized in that the end is formed as a free end.
[0062]
The cardboard box has a partition. Therefore, when the shrink package product is inserted, the position of the inserted shrink package product is stabilized. Therefore, the shrink package product moves in the left-right direction in the cardboard box, and adjacent shrink package products interfere with each other. The shrink wrapping will not be damaged.
[0063]
Further, as described in claim 8, since the front end portion of the partition is a free end, the assembly charging means provided in the packaging system includes the assembly insertion means included in the packaging system during the insertion of the small box assembly or the shrink package. When hitting the partition, the partition moves with little resistance. Then, as the small box assembly or the like is loaded on both sides of the partition plate, the middle partition moves to the center of the cardboard box. Therefore, if the cardboard box is used in a packaging system that uses an articulated robot as the assembly charging means, stable charging can be easily performed.
[0064]
DETAILED DESCRIPTION OF THE INVENTION
A carton boxing apparatus which is an example of a packaging system according to the present invention will be described below.
[0065]
1. Carton boxing equipment configuration
As shown in FIGS. 1 and 2, the carton boxing apparatus 1000 according to the first embodiment includes a cartoner 400, a carton aligning apparatus 100, a shrink wrapping apparatus 200, a cardboard casing apparatus 300, and a control computer 500. The carton aligning device 100, the shrink wrapping device 200, the cardboard casing device 300, and the control computer 500 correspond to the assembly forming unit, the shrink wrapping unit, the exterior product forming unit, and the control unit according to the present invention, respectively. .
[0066]
The control computer 500 has a function of controlling the carton aligning device 100, the shrink wrapping device 200, and the corrugated cardboard casing device 300 based on the production plan input from the host computer.
[0067]
The cartoner 400 is an apparatus for manufacturing a carton 700 by packing a predetermined number of boxes into a sack carton with a plastic case stuffed product (hereinafter also referred to as “P stuffed product”) containing a photographic film cartridge in a plastic case. It is. Here, the sack carton has a box shape with both ends opened, and a flap portion covering the opening is formed in the vicinity of the both ends opening. The cartoner 400 is provided with a P-stuffed product conveying / supplying device 410 for supplying the P-stuffed product.
[0068]
The carton aligning apparatus 100 aligns the cartons 700 in a predetermined number and form to form a carton assembly 720. When the carton 700 is a product to be shrink-wrapped, the carton assembly 720 is shrink-wrapped. When the carton 700 is of a type that is not shrink-wrapped, it has a function of directly transporting the carton assembly 720 to the cardboard casing device 300.
[0069]
The shrink wrapping apparatus 200 is provided adjacent to the carton aligning apparatus 100, and shrink wraps the carton aggregate 720 transferred from the carton aligning apparatus 100 to form the shrink wrapping body 740. It has a function to convey.
[0070]
The corrugated cardboard casing device 300 has a function of packing the carton aggregate 720 conveyed from the carton aligning device 100 or the shrink package 740 conveyed from the shrink wrapping device 200 into a cardboard box in a predetermined form. Here, the carton 700 corresponds to the small box in the present invention, the carton aggregate 720 corresponds to the small box aggregate in the present invention, and the shrink package 740 corresponds to the shrink package in the present invention.
[0071]
Hereinafter, each of the carton aligning apparatus 100, the shrink wrapping apparatus 200, and the cardboard casing apparatus 300 will be described in detail.
[0072]
1-1 Carton alignment device
As shown in FIGS. 1 to 4, the carton aligning device 100 sends a carton sent from the cartoner 400 one by one toward the first robot 112 described later, and the first conveyor 102. The second conveyor 104 disposed on the downstream side (hereinafter simply referred to as “downstream side”) along the delivery direction of the carton 700 in the carton aligning apparatus 100 and the downstream side of the second conveyor 104. The third conveyor 106, the fourth conveyor 108 disposed downstream of the third conveyor 106, and the downstream of the fourth conveyor 108, toward the product loading robot 302 described later in the cardboard casing device 300. And a fifth conveyor 110 extending in the vicinity of the first conveyor 102 and the second conveyor 104. It includes a robot 112, a second robot 114 disposed above the second conveyor 104, and a third robot 116 disposed above the third conveyor 106. The 1st conveyor 102-the 5th conveyor 110 are corresponded to the conveyance means in the aggregate | assembly formation part with which the packaging system of this invention is provided, and the 1st robot 112 and the 2nd robot 114 are the rotations with which the said aggregate formation part is provided. Corresponds to means. The 2nd conveyor 104 is corresponded to the gathering means with which the said aggregate formation part is provided. The third conveyor 106 corresponds to the aggregation means and also corresponds to the aggregate transfer means included in the aggregate formation unit. The third robot 116 also corresponds to the aggregate transfer means.
[0073]
1-1-A First conveyor
As shown in FIGS. 5 and 6, the first conveyor 102 includes a belt conveyor 102A, a frame body 102B that holds the belt conveyor 102A from both sides, and a guide device 102C that guides the frame body 102B up and down. In FIG. 5, (A) shows the first conveyor 102 viewed from above, and (B) shows the front conveyor viewed from the front.
[0074]
As shown in FIG. 3 to FIG. 5, the cartoner 400 switches the product type with the upper surface of the carton 700 as a reference, so that the lower conveyor 402 is arranged so that the height of the upper surface of the carton 700 is always constant. When the height of the carton 700 is high, it descends, and when the height of the carton 700 is low, it rises.
[0075]
Therefore, the frame 102B of the first conveyor 102 is mechanically coupled to the lower conveyor 402 so as to rise or lower in conjunction with the lower conveyor 402 that sends out the carton 700 in the cartoner 400. Then, the belt conveyor 102 </ b> A is held so that the upper surface is positioned on the same surface as the upper surface of the lower conveyor 402.
[0076]
The frame body 102B moves up and down in conjunction with the lower conveyor 402, and the belt conveyor 102A also moves up and down accordingly, so that the carton 700 can be smoothly fed from the cartoner 400 even when the lower conveyor 402 is high or low. Done.
[0077]
The belt conveyor 102A is composed of one driving roller 102E, four driven rollers 102F, and a belt 102D wound around the driving roller 102E and the driven roller 102F. The drive roller 102E is driven by a drive motor 102G. Of the four driven rollers 102F, two are located at the upstream and downstream ends of the belt conveyor 102A, and the remaining two are located near the drive roller 102E. The belt 102D is made of a material having a small friction coefficient such as a fluorine resin. The carton 700 sent out from the cartoner 400 is placed on the upper surface of the belt conveyor 102A.
[0078]
The frame body 102B is located on the opposite side of the first robot 112 across the belt conveyor 102A and the frame plate 102H located on the opposite side of the paper surface in FIG. 5, that is, on the side facing the first robot 112 as shown in FIG. It is comprised from the frame plate 102i located and the plate-shaped connection member 102J which connects the frame plate 102H and the frame plate 102i. The driving roller 102E and the driven roller 102F are pivotally supported by the frame plate 102H in a cantilever manner, and a gap through which the header 704 of the carton 700 passes is formed between the frame plate 102i and the belt conveyor 102A.
[0079]
As shown in FIGS. 5 and 6, the guide device 102C includes a pair of vertical guide rails 102K extending in the vertical direction, and a guide block 102L that engages with the vertical guide rails 102K and guides the frame body in the vertical direction. Is provided. The guide block 102L is fixed to the frame plate 102H.
[0080]
A guide plate 102M having a C-shaped cross section is fixed to the upper edge of the frame plate 102H. On the other hand, a guide plate 102N is erected on the opposite side of the guide plate 102M across the belt conveyor 102A. A gap is formed between the guide plate 102N and the frame plate 102i as shown in FIG. 6 so that the header 704 can pass when the carton 700 with the header 704 is conveyed.
[0081]
As shown in FIGS. 4 and 5, an air slide table 102T that drives the cutting stopper 102U and the cutting presser 102S is fixed to a portion of the frame plate 102H between the vertical guide rails 102K.
[0082]
The cut-out stopper 102U and the cut-out presser 102S are driven by the air slide table 102T in the direction of protruding onto the belt conveyor 102A through the guide plate 102M or the direction of drawing.
[0083]
The cutout stopper 102U is positioned downstream (hereinafter simply referred to as “downstream side”) along the conveyance direction a of the belt conveyor 102A from the cutout presser 102S.
[0084]
The cutout stopper 102U has a function of stopping the carton 700 at a position where a bar code attached to the carton 700 can be read by a bar code reader 102Q described later.
[0085]
On the other hand, the cut-out presser 102S has a function of pressing the carton positioned upstream from the carton 700 stopped by the cut-out stopper 102U so as not to move downstream in cooperation with the guide plate 102N.
[0086]
A barcode reader 102Q is provided at a position facing the air slide table 102T across the belt conveyor 102A, and a metal detector 102P and a positioning sensor 102R are provided downstream of the barcode reader 102Q.
[0087]
The bar code reader 102Q has a function of reading a bar code attached to the carton 700 and detecting mixing of different types of cartons.
[0088]
The metal detector 102P has a function of detecting whether or not a predetermined number of film cases are packed in the carton 700.
[0089]
1-1-B Second conveyor
The second conveyor 104 is transported by the first conveyor 102 and aligns the cartons 700 rotated by 90 ° or 180 ° around the Y axis as will be described later by the first robot, and a predetermined number of cartons 700 are in a predetermined form. A carton assembly 720 arranged in the same manner.
[0090]
As shown in FIG. 4, FIG. 7, and FIG. 8, the belt conveyor device comprises a belt conveyor device 104A, a pair of frame plates provided so as to sandwich the belt conveyor device 104A, and a connecting plate for connecting the frame plates. A support frame 104B that supports 104A, and a guide plate 104C and a guide plate 104C ′ that are provided on the upper edge of the support frame 104B and guide the carton 700 so as not to fall off the belt conveyor device 104A. As shown in FIG. 4, the guide plate 104C is located on the opposite side of the first robot 112 with the belt conveyor device 104A interposed therebetween, and the guide plate 104C ′ is located on the side opposite to the first robot 112. ing.
[0091]
As shown in FIGS. 4 and 7, the belt conveyor device 104 </ b> A includes two adjacent belt conveyors 104 </ b> A ′ and 104 </ b> A ″ that are parallel to each other.
[0092]
The belt conveyor 104A ′ and the belt conveyor 104A ″ include a belt 104D ′ and a belt 104D ″, a driving roller 104E ′ that drives the belt 104D ′, a driving roller 104E ″ that drives the belt 104D ″, and a belt 104D, respectively. 'Is constituted by a driven roller 104F' for holding 'and a driven roller 104F "for holding a belt 104D". Both the driving roller 104E ′ and the driving roller 104E ″ are driven by the driving motor 104G. However, as shown in FIG. 8, the driving roller 104E ′ has a larger outer diameter than the driving roller 104E ″. The belt conveyor 104A ′ on the side farther from the first robot 112 has a higher traveling speed than the belt conveyor 104A ″ on the side closer to the first robot 112. Therefore, the carton 700 rotates in a direction toward the first robot 112 as viewed from above while being conveyed on the belt conveyor device 104A. Therefore, even when the carton 700 has the header 704, the header 704 of one carton 700 and the main body 702 of the next carton 700 are automatically overlapped to form a carton aggregate 720 in which the cartons 700 are in close contact with each other. The
[0093]
The driving roller 104E ′ and the driving roller 104E ″, and the driven roller 104F ′ and the driven roller 104F ″ are all separated from the frame plate on the side facing the first robot 112 among the frame plates forming the frame body 104B. It is pivotally supported.
[0094]
An alignment portion 104H for aligning the cartons 700 is formed on the downstream side of the belt conveyor device 104A, that is, in the vicinity of the third conveyor 106, and the carton 700 is introduced into the alignment portion 104H adjacent to the upstream side of the alignment portions 104H. A portion 104i is formed.
[0095]
As shown in FIGS. 7 to 9, the alignment section 104H is provided with a moving guide plate 104J at a position facing the guide plate 104C ′ with the belt conveyor device 104A interposed therebetween. The moving guide plate 104J is moved in the direction approaching and away from the belt conveyor device 104A by the air slide table 104K. When the carton 700 is transported, the moving guide plate 104J moves to the first position close to the belt conveyor device 104A as shown by a two-dot chain line in FIG. 9 so that the carton 700 does not fall off the belt conveyor device 104A. Hold the side of the carton 700. When the cartons 700 are aligned in the alignment unit 104H, the cartons 700 are moved to the second position away from the belt conveyor device 104A shown by the solid line in FIG. 9 so as not to interfere with the alignment of the cartons 700 on the belt conveyor device 104A. To do.
[0096]
At the downstream end of the second conveyor 104, a stopper 104N having an L-shaped planar shape is provided. The stopper 104N is moved by the air slide table 104P so as to protrude and retract on the conveying surface of the belt conveyor device 104A along the width direction of the belt conveyor device 104A. The stopper 104N protrudes on the conveying surface of the belt conveyor device 104A, thereby having a function of pressing the carton 700 conveyed on the conveying surface from the downstream side so as not to move toward the third conveyor 106.
[0097]
A pin 104L is provided between the belt conveyor 104A ′ and the belt conveyor 104A ″ at a portion where the movement guide plate 104J is provided in the belt conveyor device 104A. As shown in FIGS. 10 and 11, the pins 104 </ b> L of the fifth carton 700 counted from the downstream side when five so-called ICD cartons 700 are stacked on the belt conveyor device 104 </ b> A by the stopper 104 </ b> N. It is provided so as to be positioned below, and protrudes upward or retracted by an air slide table 104T provided below the belt conveyor device 104A. The pins 104 </ b> L protrude upward so that the header 704 of the fifth carton 700 does not overlap the main body 702 of the sixth carton 700. Accordingly, when the stopper 104L is retracted, only the five cartons 700 are conveyed to the downstream side, and separated from the sixth and upstream cartons 700.
[0098]
As shown in FIG. 7, an auxiliary bar 104U, which is a horizontal bar-like member, is adjacent to the upstream side of the pin 104L and protrudes at a right angle from the moving guide plate 104J toward the belt conveyor device 104A. . The auxiliary bar 104U is raised and lowered by the air slide table 104M. As shown in FIGS. 10 and 11, the auxiliary bar 104U rises together with the pin 104L and pushes up the header 704 of the fifth carton 700, thereby assisting the carton 700 to get over the pin 104L.
[0099]
The introduction unit 104i is provided with a stopper plate 104Q that can protrude and retract along the width direction of the belt conveyor device 104A on the belt conveyor device 104A. The guide plate 104C is provided with an opening through which the stopper plate 104Q passes. The stopper plate 104Q is moved along the direction by the air slide table 104R.
[0100]
Furthermore, as shown in FIG. 9, below the guide plate 104C, a header receiving guide 104S taking either a first position away from the belt conveyor device 104A or a second position close to the belt conveyor device 104A. Is provided. When transporting a 2CD product which is a carton 700 having two film cases of photographic film and having a header 704 provided on one lid, the 2CD product has the header 704 as shown in FIG. The header receiving guide 104S is inserted into the gap between the belt conveyor device 104A and the guide plate 104C and conveyed in an inverted state on the belt conveyor device 104A, so that the header receiving guide 104S does not obstruct the conveyance of the 2CD product. 9, a first position indicated by a solid line is taken. On the other hand, when transporting a 1CD product which is a carton 700 having one film case and a header 704 provided on one lid, only one of the side edges of the header 704 is a belt. The header receiving guide 104S takes the second position indicated by a two-dot chain line in FIG. 9 to prevent the 1CD product from overturning because it is conveyed while being inserted into the gap between the conveyor device 104A and the guide plate 104C. To do.
[0101]
1-1-C Third conveyor
The third conveyor 106 has a function of sorting the carton assembly 720 formed by the second conveyor into one that transfers to the shrink wrapping apparatus 200 and one that transfers directly to the cardboard casing apparatus 300.
[0102]
As shown in FIGS. 4 and 12, the third conveyor 106 sandwiches the belt conveyor 106A that conveys the carton 700 toward the cardboard casing device 300, the frame plate 106B that supports the belt conveyor 106A, and the belt conveyor 106A. And a guide plate 106C erected so as to face the frame plate 106B. 12A is a top view showing the third belt conveyor 106 as viewed from above, and FIG. 12B is a front view showing the internal structure of the belt conveyor 106A. In (B), the guide plate 106C is omitted.
[0103]
The belt conveyor 104A includes one driving roller 106E, four driven rollers 106F, and a belt 106D wound around the driving roller 106E and the driven roller 106F. The drive roller 106E is driven by a drive motor 106G. The drive roller 106E and the driven roller 106F are pivotally supported in a cantilever manner on the frame plate 106B. A drive motor 106G for driving the drive roller 106E is fixed to the surface of the plate frame 106B opposite to the side on which the drive roller 106E and the driven roller 106F are axially supported.
[0104]
A guide plate 106H having a C-shaped cross section is fixed to the upper surface of the frame plate 106B.
[0105]
At the upstream end of the third conveyor 106, a carton 700 introduced in a state of being aligned by the alignment section 104H of the second conveyor 104 in parallel with the guide plate 106H across the belt conveyor 106A is placed in the transport direction. A carton aligning plate 106i is provided to press and align in a direction perpendicular to the direction. As shown in FIG. 12, the carton aligning plate 106i is formed so as to be movable in a direction close to and away from the belt conveyor 106A by an air slide table 106J. In FIG. 12, as indicated by a solid line and a two-dot chain line, the carton aligning plate 106i takes either the first position close to the belt conveyor 106A or the second position away from the belt conveyor 106A. The carton aligning plate 106i aligns the introduced carton 700 at the first position.
[0106]
At the downstream end of the carton aligning plate 106i, there is provided an opening where two stoppers 106K and 106L protrude on the belt conveyor 106A.
[0107]
Both the stopper 106K and the stopper 106L have a function of holding the introduced carton 700 from being pushed from the upstream side so as not to move to the downstream side. The air slide table 106M and the air slide table 106N respectively hold the carton 700 in the belt conveyor 106A. Projected and pulled in a direction perpendicular to the moving movement.
[0108]
The guide plate 106C is erected on the downstream side adjacent to the carton pressing plate 106i. The guide plate 106C has an inverted L-shaped cross-sectional shape, and a gap is formed between the guide plate 106C and the belt conveyor 106A so that the header 704 of the carton 700 can pass through.
[0109]
1-1-D Fourth conveyor
The fourth conveyor 108 has a function of transporting to the fifth conveyor 110 the carton assembly 720 sorted in the third conveyor 106 so as to be directly transferred to the cardboard casing device 300.
[0110]
1-1-E Fifth conveyor
The fifth conveyor 110 has a function of confirming the number of the carton aggregates 720 conveyed by the fourth conveyor 108 and aligning the carton aggregates 720 so that the product loading robot 302 in the cardboard casing device 300 can be easily gripped. .
[0111]
13A is a top view of the fifth conveyor 110 viewed from above, and FIG. 13B is a side view of the fifth conveyor 110 viewed from the side. The arrow indicates the conveyance direction of the carton assembly 720.
[0112]
As shown in FIG. 13, the fifth conveyor 110 is provided adjacent to the belt conveyor 110A, the carton aligning section 110B provided at the downstream end of the belt conveyor 110A, and the upstream side of the carton aligning section 110B. A carton detector 110C.
[0113]
The belt conveyor 110A includes a belt 110D, a driving roller 110E that drives the belt 110D, and a driven roller 110F that holds the belt 110D. The drive roller 110E is driven by a drive motor 110G.
[0114]
A guide wall 110H and a guide wall 110i are erected on both sides of the belt conveyor 110A. The guide wall 110H and the guide wall 110i are guides for preventing the carton aggregate 720 conveyed on the belt conveyor 110A from dropping from the belt 110D. A header 704 is provided between the guide wall 110H and the belt conveyor 110A. A gap is formed so that the header 704 can pass when the provided carton 700 is conveyed. However, at the end of the belt conveyor 110A on the side where the carton aligning portion 110B is provided, a pair of carton holding plates 110J is provided so as to sandwich the belt conveyor 110A instead of the guide wall 110H and the guide wall 110i. Yes. The carton holding plate 110J has a function of pressing the carton assembly 720 conveyed by the belt conveyor 110A from both sides to align it in the width direction, and is an air slide device 110K provided to face the belt conveyor 110A. The air slide device 110K ′ is configured to be movable along a direction perpendicular to the conveying direction of the carton assembly 720. A table 110S is provided on the left side of the carton pressing plate 110J with respect to the traveling direction in FIG. 13 to temporarily place the carton assembly 720 aligned by the carton pressing plate 110J.
[0115]
The carton detection unit 110C is provided on the upper edge of the guide wall 110H along the conveyance direction of the carton 700, and on the upper edge of the guide wall 110i. A carton detecting device 110N formed from a light receiving unit 110M that receives the light beam and a stopper plate 110P provided adjacent to the downstream side of the carton detecting device 110N. The stopper plate 110P is moved along the direction perpendicular to the conveying direction of the carton assembly 720 by the air slide device 110Q, and protrudes onto the belt conveyor 110A from the slit-shaped opening formed in the guide wall 110i. The belt is pulled out of the belt conveyor 110A through the opening. A carton detection sensor 110R that photoelectrically detects whether or not a predetermined number, for example, five cartons 700 are present in the carton detection unit 110C, is provided adjacent to the light emitting unit 110L and the light receiving unit 110M on the most upstream side. Yes.
[0116]
Adjacent to the upstream side of the carton detection sensor 110R, a carton presser 110T that protrudes and is retractable on the belt conveyor 110A, and an air slide that moves the carton presser 100T in a direction perpendicular to the conveying direction of the carton 700. 110U is provided. The carton retainer 110T retains the sixth carton counted from the downstream side in cooperation with the guide wall 110H so as not to be conveyed downstream, and only a predetermined number, for example, five cartons 700 are introduced into the carton aligning portion 110B. It has a function to make it.
[0117]
When the carton assembly 720 sorted in the third conveyor 106 to be directly transferred to the cardboard casing device 300 is conveyed on the fourth conveyor 108 and the fifth conveyor 110, the stopper plate 110P in the fifth conveyor 110 is moved. As shown by a two-dot chain line in FIG.
[0118]
The carton assembly 720 conveyed on the fourth conveyor 108 and the fifth conveyor 110 hits the stopper plate 110P and stops at the carton detection device 110N. In the carton detection device 110N, whether the carton 700 conveyed is in the correct vertical direction is detected depending on whether the light beam from the light emitting unit 110L is received or blocked by the light receiving unit 110M.
[0119]
When the carton detection sensor 110R detects that the fifth carton 700 has been conveyed to the carton detection device 110N, the stopper plate 110P is pulled in as shown by the solid line in FIG. At the same time, the carton presser 110T protrudes onto the belt conveyor 110A and presses the sixth carton 700 so as not to move toward the carton aligning portion 110B. Therefore, only five cartons constituting the carton aggregate 720 are conveyed toward the carton aligning portion 110B.
[0120]
In the carton aligning section 110B, the carton assembly 720 is pressed from both sides by the carton pressing plate 110J, and the unevenness in the direction perpendicular to the transport direction is eliminated. At the same time, the carton assembly 720 is positioned. Further, as will be described later, when the carton group 720 is formed by superimposing two carton groups of five cartons 700 on the top and bottom, if the first carton group is conveyed to the carton aligning section 110B, The holding plate 110J sandwiches the carton group from both sides, moves it in a direction perpendicular to the transport direction and places it on the table 110S, and prevents the second carton group from being introduced into the carton aligning portion 110B. Do not become.
[0121]
1-1-F first robot
As shown in FIG. 14, the first robot 112 sucks and holds the side surface of the carton 700 conveyed by the first conveyor 102 and rotates it by 90 ° or 180 ° around the Y axis. A Z-axis guide part 112B for guiding the suction rotation part 112A in the Z-axis direction and an X-axis guide part 112C for guiding the suction rotation part 112A in the X-axis direction are provided. As shown in FIG. 15, the X axis is a rotation axis in the direction along the conveyance direction in which the carton 700 is conveyed, and the Y axis is a rotation axis in a horizontal plane along a direction perpendicular to the X axis. Yes, the Z axis is a rotation axis in the vertical direction, in other words, the height direction. A carton 700 shown in FIG. 15 is a carton that accommodates one film case and is provided with a header 704 in the vicinity of one of the lids that cover the opening.
[0122]
The suction rotating portion 112A includes a suction portion 112E having a suction cup 112D that sucks and holds the side surface of the carton 700 at the center, and a base 112F that holds the suction portion 112E so as to be rotatable around the Y axis at the center point. It consists of and.
[0123]
The Z-axis guide portion 112B includes a guide rail 112G that is erected vertically, and a guide block 112H that engages with the guide rail 112G and moves in the vertical direction. The guide block 112H moves by a ball screw shaft provided vertically in the guide rail 112G. The suction rotation unit 112A is fixed to the guide block 112H.
[0124]
The X-axis guide portion 112C is fixed to the guide rail 112i provided in parallel to the first conveyor 102, the traveling platform 112J that engages with the guide rail 112i and travels in the X-axis direction, and the traveling platform 112J. And an air slide table 112K for holding the guide rail 112G of the Z-axis guide 112B. The guide rail 112G is held in the vertical direction by the air slide table 112K and at the same time moves in the direction of approaching or moving away from the first conveyor 102 along the Y-axis direction.
[0125]
When the positioning sensor 102 </ b> R provided on the first conveyor 102 detects the carton 700, the Z-axis guide 112 </ b> B, the X-axis guide part 112 </ b> C, and the air slide table 112 </ b> K are activated, and the suction rotating part 112 </ b> A comes close to the carton 700. Then, the suction cup 112 </ b> D in the suction rotation unit 112 </ b> A is sucked on the side surface of the carton 700. When the suction cup 112D is adsorbed on the side surface of the carton 700, the base 112E is rotated 90 ° or 180 ° according to the instruction of the control computer 500, or is moved in the height direction by the Z-axis guide 112B without rotating. The shaft guide part 112C moves along the X axis. Thereby, the carton 700 is moved from the first conveyor 102 to the second conveyor 104.
[0126]
When the carton 700 is placed on the second conveyor 104, the suction rotation unit 112A returns to the original position.
[0127]
1-1-G Second robot
The second robot 114 has a function of rotating the carton 700 conveyed by the first conveyor 102 and the second conveyor 104 around the Z axis.
[0128]
As shown in FIGS. 4 and 16, the second robot 114 is provided above the stopper plate 104 </ b> Q in the second conveyor 104.
[0129]
The second robot 114 includes a carton holding portion 114A that sucks and holds the carton 700, a linear motion guide 114B that guides the carton holding portion 114A in the vertical direction, and a holding member 114C that vertically holds the linear motion guide 114B. .
[0130]
The carton holding unit 114A includes a suction holding unit 114D that sucks and holds the carton 700, and a suction holding unit rotation motor 114E that holds the suction holding unit 114D so as to be rotatable around a vertical rotation axis.
[0131]
Suction holding part 114D is provided with suction cup 114F and guide member 114G which guides the top part of carton 700 to suction cup 114F.
[0132]
A suction pipe 114H is connected to the suction holding part rotating motor 114E. The suction pipe 114H communicates with the suction cup 114F via the rotation shaft of the suction motor 114E.
[0133]
The linear motion guide 114B includes a guide rail 114i that is vertically held by the holding member 114C, and a guide block 114J that engages with the guide rail 114i and moves in the vertical direction. The suction holding portion rotating motor 114E is fixed to the guide block 114J via the mounting bracket 114K.
[0134]
When the stopper plate 104Q protrudes onto the belt conveyor device 104A in the second conveyor 104 and the carton 700 stops, the carton holding portion 114A descends toward the carton 700, and the guide member 114G engages with the top of the carton 700. To do. When the top surface of the carton 700 is sucked by the suction cup 114F, the guide block 114J rises along the guide rail 114i, and the carton 700 is lifted. Then, the suction holding unit 114D is rotated 180 ° by the suction holding unit rotating motor 114E. As a result, the carton 700 is also rotated 180 ° around the Z axis. When the carton 700 rotates 180 ° around the Z axis, the carton holding part 114A descends, places the carton 700 on the belt conveyor device 104A, and releases the decompression of the suction cup 114F.
[0135]
1-1-H 3rd robot
The third robot 116 has a function of transferring the carton assembly 720 formed by the second conveyor 104 to the shrink wrapping apparatus 200.
[0136]
As shown in FIG. 4, the third robot 116 is provided adjacent to the shrink wrapping apparatus 200 and the third conveyor 106. As shown in FIG. 17, the carton 700 is formed by the second conveyor 104 and the third conveyor 106. A chuck portion 116A that holds the carton assembly 720 formed in an aligned manner, a guide device 116B that moves the chuck portion 116A in the Y-axis and Z-axis directions, and a column 116C that supports the guide device 116B. A chuck rotating device 116D that rotates the chuck portion 116A around the X axis is provided between the chuck portion 116A and the guide device 116B.
[0137]
As shown in FIG. 17, the guide device 116B is fixed to the column 116C, engages with the Y-axis guide rail 116K extending in the Y-axis direction, and the Y-axis guide rail 116K. A Y-axis guide block 116L that slides in the axial direction and a Z-axis guide rail 116M that extends in the vertical direction and is movable in the vertical direction with respect to the Y-axis guide block 116L. The Y-axis guide block 116L engages with the Z-axis guide rail 116M. The Z-axis guide rail 116M extends in the longitudinal direction, and a ball screw shaft (not shown) that engages with the Y-axis guide block 116L. I have.
[0138]
As shown in FIGS. 17 and 18, the chuck rotation device 116D is provided at the lower end of the Z-axis guide rail 116M.
[0139]
As shown in FIGS. 17 and 18, the chuck portion 116A includes a pair of chuck claws 116E that chuck the carton 700, a chuck width setting device 116F that sets the chuck width x of the chuck claws 116E, and a chuck width setting device 116F. And a pair of air slide devices 116G for chucking the carton 700 with the chuck claws 116E having the chuck width x set close to each other.
[0140]
Each of the chuck claws 116E is fixed to the air slide device 116G. The air slide device 116G is fixed oppositely to a belt 116H provided in the chuck width setting device 116F.
[0141]
Inside each chuck claw 116E, a carton positioning claw 116N is provided so as to face each other. The carton positioning claw 116N is provided at a right angle to the chuck claw 116E, and has a function of regulating the depth with which the chuck claw 116E grips the carton assembly 720.
[0142]
The belt 116H is wound around a pair of belt wheels 116i and driven. A rack-like protrusion is provided on the inner peripheral surface of the belt 116H. On the other hand, a gear-like protrusion that meshes with the protrusion on the inner peripheral surface of the belt 116H is provided on the outer peripheral surface of the belt wheel 116i. One of the belt wheels 116i is rotated clockwise or counterclockwise by the motor 116P.
[0143]
Inside the belt 116H, a guide rail 116J for guiding the air slide device 116G along the traveling direction of the belt 116H is provided.
[0144]
The air slide device 116G includes a guide block portion 116G ′ and a slide portion 116G ″ that engages with the guide block portion 116G ′ and slides on the guide block portion 116G ′ in parallel with the belt 116H. The portion 116G ′ is fixed to the belt 116H, and engages with the guide rail 116J to slide on the guide rail 116J. Further, the slide portion 116G is interposed between the guide block portion 116G ′ and the slide portion 116G ″. An air actuator (not shown) for moving "" with respect to the guide block portion 116G 'is provided. Further, the chuck claw 116E is fixed to the slide portion 116G ".
[0145]
When the belt wheel 116i rotates in the counterclockwise direction in FIG. 18, the air slide device 116G moves away from each other, so that the chuck claws 116E also move away from each other as shown by the solid line in FIG. The chuck width x increases. On the other hand, when the belt wheel 116i rotates in the clockwise direction in FIG. 18, the air slide device 116G moves in a direction approaching each other. Therefore, the chuck claws 116E also move in the direction approaching each other as indicated by a two-dot chain line in FIG. The chuck width x is reduced.
[0146]
When gripping the carton assembly 720 in the third robot, the chuck portion 116A is arranged such that the Y-axis guide block 116L slides on the Y-axis guide rail 116K and is positioned above the carton assembly 720 in the guide device 116B. Adjust the position. At this time, the chuck claws 116E are held in a state of facing downward along the vertical direction as shown in FIG.
[0147]
When the chuck portion 116A is positioned directly above the carton assembly 720, the Z-axis guide rail 116M is lowered, so that the chuck portion 116A is also lowered toward the carton assembly 720.
[0148]
When the carton positioning claw 116N provided in the chuck portion 116A contacts the carton assembly 720, the Z-axis guide rail 116M stops descending.
[0149]
Next, the belt wheel 116i rotates in the clockwise direction, and the chuck claws 116E come close to each other and grip the carton assembly 720. When the carton assembly 720 includes the header 704, the header 704 is positioned below and the carton positioning claw 116N is provided with the header 704 in the carton assembly 720 when held by the chuck claws 116E. It abuts against the opposite side of the side.
[0150]
When the chuck claw 116E grips the carton assembly 720, the Z-axis guide rail 116M rises, thereby raising the chuck portion 116A.
[0151]
Next, the chuck rotating unit 116D causes the chuck part 116A to move around the X axis on the left side in FIGS. 17 and 18, in other words, the direction in which the header of the gripped carton assembly 720 faces the shrink wrapping device 200. The chuck claw 116E rotates until it becomes horizontal.
[0152]
When the chuck claws 116E become horizontal, the Y-axis guide block 116L slides on the Y-axis guide rail 116K, whereby the chuck portion 116A moves above the shrink wrapping apparatus 200 along the Y-axis direction.
[0153]
If the carton assembly 720 does not have the header 704, and if the header 704 does not need to be bent even if it has the header 704, the chuck portion 116A moves down as it is to place the carton assembly 720 in the shrink wrapping apparatus 200. It is placed on an introduction conveyor 202A described later.
[0154]
When the carton 700 constituting the carton assembly 720 has the header 704 and the header 704 is bent, the chuck portion 116A moves in the Y-axis direction, and the header 704 is provided along the introduction conveyor 202A. Press against the guide plate 202B. Here, as described above, in the state where the carton aggregate 720 is gripped by the gripping claws 116E, the carton positioning claws 116N are in contact with the surface of the carton 720 opposite to the side where the header 704 is provided. Therefore, the header 704 is bent toward the main body 702 of the carton 700 by the force with which the chuck portion 116A presses the header 704 against the guide plate 202B. After bending the header 704, the chuck portion 116A places the carton assembly 720 on the introduction conveyor 202A.
[0155]
1-2 Shrink packaging equipment
As shown in FIGS. 19 and 20, the shrink wrapping apparatus 200 includes an introduction part 202, a stomach part 204, a heat seal part 206, a shrink tunnel 208, a height aligning part 210, and an end aligning and transferring apparatus 212. And a mount supply device 214.
[0156]
In the introduction unit 202, the carton assembly 720 transferred by the third robot 116 is placed, and the introduction carton assembly 720 that conveys the placed carton assembly 720 to the abdomen 204 and the third of the introduction conveyor 202A. A guide plate 202B provided along a side edge opposite to the side facing the robot 116.
[0157]
The covering unit 204 includes a shrink film supply unit 216, and covers the shrink film supplied from the shrink film supply unit 216 around the carton assembly 720 introduced by the introduction conveyor 202. In the heat seal part 216, the shrink film is heat-sealed along the periphery of the carton assembly 720 covered with the shrink film in the stomach part 204 and cut. In the shrink tunnel 208, the carton assembly 720 in which the shrink film is heat-sealed by the heat seal portion 206 is heated, and the shrink film is contracted and tensioned to form the shrink package 740.
[0158]
In the height aligning portion 210, the shrink wrapping body 740 formed by the shrink tunnel 208 is aligned in the height direction. The edge alignment transfer device 212 transfers the shrink wrapping body 740 from which the height direction deviation has been removed by the height alignment portion 210 to the cardboard casing device 300 at the same time as aligning the ends.
[0159]
When forming the shrink wrapping body 740 on which the carton 700 is placed on the mount, the mount is supplied from the mount supply device 214 to the introduction conveyor 202.
[0160]
1-2-A Introduction conveyor 202 such as an introduction conveyor, an abdominal part, a heat seal part, and a shrink part, an abdominal part 204, a heat seal part 206, a shrink tunnel 208, a mount supply device 214, and a shrink film supply part Details of the configuration with H.216 are shown in FIG.
[0161]
As shown in FIG. 20, the shrink film supply unit 216 supplies the shrink film to the covering unit 204 along a direction perpendicular to the direction in which the carton assembly 720 is conveyed.
[0162]
The shrink film supply unit 216 includes an original roll 216A around which a shrink film original folded in two along the longitudinal direction is wound, a pair of film placing rollers 216B that supports the original roll 216A from below, A tension roller 216C and a nip roller 216D that convey the shrink film S toward the abdomen 204 and a shrink conveyed by the nip roller 216D at the same time as applying tension to the shrink film S unfolded from the anti-roll 216A. A film perforation roller 216E formed in four rows along the circumferential direction is formed downstream of the film perforation roller 216E. , Shrink film S toward cover 204 Induces Te and a pass roller 216F and a pass roller 216G. A pass roller 216H is provided between the tension roller 216C and the film placing roller 216B. The pass roller 216H applies tension to the shrink film S and guides the shrink film S so that the winding angle of the shrink film S around the tension roller 216C is increased.
[0163]
Of the shrink film S supplied in a folded state between the pass roller 216G and the stomach part 204, a disk-shaped perforation blade 216i for giving a perforation to the upper shrink film and the perforation are given. A perforated blade receiving roller 216J is provided opposite to the perforated blade 216i across the shrink film conveyance path. Between the perforated blade receiving roller 216J and the film perforating roller 216E, a belt 216K that transmits the rotational force of the film perforating roller 216E to the perforated receiving roller 216J is provided.
[0164]
The perforation blade 216i is a score cutting blade that rotates following the shrink film S while being pressed against the surface of the perforation blade receiving roller 216J.
[0165]
The abdomen 204 includes a pair of triangular formers 204A that are arranged vertically and parallel to each other, and a product conveyor 204B that is arranged between the triangular formers 204A.
[0166]
The triangular former 204A is an isosceles right triangle plate member. Of the shrink film S supplied in a folded state from the shrink film supply unit 216, the upper half is wound around the upper triangular former 204A, and the lower half is wound around the lower triangular former 204A. It is hung. In the upper triangular former 204A, the shrink film S is wound from the upper surface to the lower surface through the oblique side. On the other hand, in the lower triangular former 204A, the shrink film S is wound from the lower surface to the upper surface through the hypotenuse. As a result, the shrink film S is opened in a C shape from the folded state, and the traveling direction is converted to the same direction as the conveying direction of the carton assembly 720 in the product conveyor 204B.
[0167]
The seal portion 206 includes an L seal bar 206A positioned above the transport path of the carton assembly 720, an L seal bar receiver 206B positioned below the L seal bar 206A across the transport path of the carton assembly 720, and L An L seal conveyor 206C disposed between the seal bar 206A and the L seal bar receiver 206B, and film drive chains 206D and 206E provided adjacent to the L seal bar 206A are provided.
[0168]
The L seal bar 206 </ b> A has an L-shaped planar shape and cooperates with the L seal bar receiver 206 </ b> B to cut the L film while sealing the shrink film S along the outer periphery of the carton assembly 720. A heat resistant rubber plate is affixed to the upper surface of the L seal bar receiver 206B.
[0169]
The film drive chains 206D and 206E are arranged along the conveying direction of the carton aggregate 720 and the shrink film S on the L seal conveyor 206C while sandwiching the side edge portion opposite to the folded side of the shrink film S from above and below. Transport. The film drive chain 206E is driven by appropriate drive means such as a motor, and the film drive chain 206D follows the film drive chain 206E.
[0170]
A shrink film take-up portion 206F for taking up the remaining shrink film S sealed by the L seal bar 206A is provided adjacent to the film drive chain 206E.
[0171]
1-2B Inspection Department
Details of the configuration of the height aligning section 210 are shown in FIG.
[0172]
As shown in FIG. 21, the height aligning section 210 is disposed in a space between the packaging body conveyor 210A, the lid body 210B that covers the packaging body conveyor 210A from above, and the packaging body conveyor 210A and the lid body 210B. And an optical inspection unit 210C for inspecting the shrink package 740 placed on the package conveyor 210A.
[0173]
The package conveyor 210A is a belt conveyor on which the shrink package 740 formed by the shrink tunnel 208 is placed, and the upper surface thereof is the same height as the conveyance surface of the shrink package 740 in the shrink tunnel 208 and the edge aligning and transferring device 212. It is attached to support stand 210D so that it may become. And as shown with a dashed-two dotted line in FIG. 21, it is formed so that rotation up and down is possible along the side edge on the opposite side to the side in which the product discharge chute 210E in the support stand 210D was provided.
[0174]
The lid body 210B is provided with a height aligning device 210H that presses the shrink wrapping body 740 conveyed by the wrapping body conveyor 210A from above to align the height.
[0175]
The height aligning device 210H is positioned below the lid 210B, has a rectangular planar shape, and a pressure pad 210i that directly presses the shrink wrapping body 740, and an air slide that moves the pressure pad 210i up and down by compressed air. The apparatus 210J includes a base 210K that fixes the air slide apparatus 210J above the lid 210B. The air slide device 210J is fixed to the description 210K. ₂ And fixed to the pressing pad 210i, the fixing portion 210J ₂ Movable part 210J sliding up and down ₄ With. The lid 210B has a movable part 210J. ₄ Is provided with a square opening.
[0176]
When the shrink package 740 is conveyed below the lid 210B by the package conveyor 210A, the height aligning device 210H lowers the pressing pad 210i toward the shrink package 740 and presses the upper surface of the shrink package 740. To do. Here, since the shrink package 740 is heated in the shrink tunnel 208 and immediately after being shrunk, it is flexible. Therefore, the unevenness in the height direction that existed immediately after the shrink is removed by being pressed by the pressing pad 210i. Is done.
[0177]
A product discharge chute 210E is provided on the front side in FIG. 21 of the support base 210D and below the package conveyor 210A. The product discharge chute 210E quickly discharges the shrink package 740 to the outside and shrinks into the shrink tunnel 208 when a failure occurs downstream of the height adjustment unit 210 and the shrink package 740 is not smoothly conveyed. It is provided so that the package 740 does not remain.
[0178]
When any failure occurs on the downstream side, the package conveyor 210A rotates downward toward the product discharge chute 210E as shown by a two-dot chain line in FIG. 21, and the shrink package 740 on the package conveyor 210A is moved. It falls toward the product discharge chute 210E and is discharged to the outside.
[0179]
Therefore, as long as the shrink wrapping body 740 remains in the shrink tunnel 208, if the shrink wrapping body 740 is sent downstream in the shrink tunnel 208, the shrink wrapping body 740 has all the product discharge chute 210E in the shrink tunnel 208. It is discharged to the outside through.
[0180]
The optical inspection unit 210C is a laser including a light projecting element 210F disposed on the outlet side of the shrink package 740 and a light receiving element 210G disposed on the opposite side of the light projecting element 210F with the package conveyor 210A interposed therebetween. It is a transmission type displacement sensor. The light projecting element 210F emits laser light, and the light receiving element 210G receives the laser light from the light projecting element 210F. Each of the light projecting element 210F and the light receiving element 210G is disposed at the same height as the carton 700 in the shrink package 740 conveyed on the package conveyor 210A, and detects a shift in the height direction of the shrink package 740. .
[0181]
1-2-C Edge alignment transfer device
As shown in FIG. 22, the end alignment transfer device 212 includes a package conveyor 212 </ b> A, a package rotating unit 212 </ b> B located above the package conveyor 212 </ b> A, and a conveyance chute 212 </ b> C disposed downstream of the package conveyor 212 </ b> A. With.
[0182]
The package conveyor 212A is a belt conveyor having the same width and height as the package conveyor 210A in the height aligning section 210 and provided in the horizontal direction.
[0183]
The packaging body turning section 212B moves up and down the packaging body gripping section 212D that grips the shrink packaging body 740 and the packaging body gripping section 212D, and at the same time, as shown by a solid line and a two-dot chain line in FIG. An elevating / rotating actuator 212E that rotates around 90 ° is provided.
[0184]
The packaging body gripping portion 212D holds the shrink packaging body gripping member 212F, which is a pair of plate-shaped members that grip the shrink packaging body 740, and the shrink packaging body gripping member 212F so as to face each other, and at the same time, approaches or separates from each other. An actuator 212G that is moved in the direction of movement, and a shrink packaging body gripping plate 212H that is fixed to the actuator 212G and that holds the shrink packaging body 740 conveyed by the packaging body conveyor 212A at a position where it can be gripped by the shrink packaging body gripping member 212F. . The rotating shaft of the lifting / rotating actuator 212E is fixed to the actuator 212G.
[0185]
The transport chute 212C includes a transport conveyor 212i that transports the shrink wrapping body 740 toward the cardboard casing device 300, and a tilting fall chute 212J that guides the shrink wrapping body 740 transported by the packaging body conveyor 212A to the transport conveyor 212i. And a vertical guide 212K that is a vertical wall surface facing the drop chute 212J with the conveyor 212i interposed therebetween. A stopper for stopping the shrink wrapping body 740 is provided at the conveyance direction end of the conveyance conveyor 212i. The stopper has a function of positioning the shrink package 740 along the transport direction. The vertical guide 212K cooperates with the falling chute 212J in the standing state to guide the shrink wrapping body 740 so that it does not fall off the transport conveyor 212i, and what is the transport direction of the shrink wrapping body 740 in the transport conveyor 212i? It has a function of positioning in a direction perpendicular to it.
[0186]
The shrink wrapping body 740 from which the height direction misalignment has been removed in the height aligning section 210 is conveyed toward the end aligning transfer device 212 by the wrapping body conveyor 210A, and toward the wrapping body turning section 212B by the wrapping body conveyor 212A. It is conveyed and comes into contact with the shrink wrapping body gripping plate 212H and stops between the shrink wrapping body gripping members 212F.
[0187]
When the shrink package 740 is of a type that should be developed 90 ° before being conveyed to the cardboard casing device, the actuator 212G is operated, and the shrink package gripping member 212F grips both side surfaces of the shrink package 740. Thereby, the shift | offset | difference of the width direction of the said shrink package 740 is correct | amended.
[0188]
Next, the lifting / lowering actuator 212E raises the packaging body gripping portion 212D, and the shrink packaging body 740 is separated from the packaging body conveyor 210A. Then, as shown by a two-dot chain line in FIG. 22, the packaging body gripping part 212 </ b> D rotates 90 ° around the vertical rotation axis and is placed on the packaging body conveyor 212 </ b> A again.
[0189]
When the shrink wrapping body 740 is placed on the wrapping body conveyor 212A, the wrapping body gripping portion 212D rises to a position that does not hinder the shrink wrapping body 740 from being transported toward the transport chute 212C.
[0190]
At this time, the drop chute 212J is in a state of falling toward the package conveyor 212A as shown by a solid line in FIG. 22, and forms a continuous surface connecting the package conveyor 212A and the transport conveyor 212i. Therefore, the shrink wrapping body 740 transported toward the transport chute 212C drops the drop chute 212J toward the transport conveyor 212i.
[0191]
When the shrink package 740 falls on the conveyor 212i, the drop chute 212J stands upright as shown by the two-dot chain line in FIG. 22, and places the shrink package 740 on the conveyor 212i.
[0192]
The shrink wrapping body 740 placed on the conveyor 212 i is transferred toward the product loading robot 302 in the cardboard casing device 300.
[0193]
1-3 Corrugated cardboard casing device
As shown in FIGS. 1 and 23, the corrugated cardboard casing device 300 includes a box making machine 306 for making an assembly type cardboard box, and a cardboard box made by the box making machine 306 (hereinafter referred to as “empty cardboard box 600”). A product loading robot 302 for loading the carton assembly 720 or shrink package 740, and a cardboard positioning unit 304 provided adjacent to the product loading robot 302 and holding the cardboard in a predetermined position. A cardboard box 308 or a shrink package 740 loaded by the product loading robot 302 (hereinafter referred to as “actual cardboard box”). 600 ”)), and an actual corrugated cardboard transport unit 312 for transporting to the sealing machine 310 described later, Comprises a Fuhako machine 310 to Fuhako the actual cardboard box 600 is conveyed by the ball transporting part 312, and a storage conveyor 314 for discharging the actual cardboard box 600 which is Fuhako in Fuhako machine 310 to the outside. The corrugated board positioning unit 304 and the product loading robot 302 correspond to the outer box holding unit and the assembly loading unit in the outer package forming unit in the packaging system according to the present invention, respectively. Hereinafter, each component will be described in detail.
[0194]
1-3-A Product loading robot
The product loading robot 302 is a vertical articulated robot, and as shown in FIG. 24, a base 302A placed on a base 302V, an arm 302B rotating with respect to the base 302A, and an arm 302B. A hand portion 302C that is provided at the tip and grips the carton assembly 720 or the shrink package 740.
[0195]
The base 302A has an upright columnar shape, and includes a base main body 302D placed on the base 302V and a horizontal columnar arm attachment portion 302E positioned above the base main body 302D. A motor or actuator that rotates the arm 302B is accommodated in the arm attachment 302E.
[0196]
The arm portion 302B includes a first arm 302F that is rotatably attached to an arm attachment portion 302E of the base 302A, a second arm 302G that has a hand portion 302C attached to the tip, a first arm 302F, and a second arm 302G. And a joint 302H that connects the two at each end.
[0197]
The first arm 302F is rotatably attached to the arm attachment portion 302E at one end, and is rotated around a horizontal rotation axis by a motor or an actuator inside the arm attachment portion 302E.
[0198]
The joint portion 302H has three degrees of freedom, and the second arm 302G has three rotation axes orthogonal to each other of a horizontal rotation axis and two rotation axes orthogonal to the rotation axis with respect to the first arm 302F. Rotate around. The joint 302H is provided at the other end of the first arm 302F so as to be rotatable around a horizontal rotation axis, and rotates the second arm 302G in the vertical direction. The moving portion 302i includes a second rotating portion 302J that is provided so as to be rotatable around a rotation axis that is orthogonal to the rotation axis and that rotates the second arm 302G in the left-right direction. The second arm 302G is provided so as to be rotatable around the center line of the second arm 302G with respect to the second rotating portion 302J.
[0199]
At the end of the second arm 302G opposite to the side attached to the second rotating part 302J, the work holding part 302K rotates around a rotation axis orthogonal to the center line of the second arm 302G. It is provided to be movable. The work holding portion 302K is provided at a work fixing shaft 302L to which the hand portion 302C is fixed at one end, and an arm attachment portion 302M that is provided at the other end of the work fixing shaft 302L and is rotatably held by the second arm 302G. It consists of and. The workpiece fixing shaft 302L is rotatably held by the arm attachment portion 302M.
[0200]
As shown in FIGS. 24 and 25, the hand portion 302C includes a pair of finger members 302N for gripping the carton assembly 720 or the shrink package 740, and a chuck width setting device for setting the chuck width x of the finger members 302N. 302P and a pair of air slide devices 302Q for moving the finger-like members 302N, whose chuck width x is set by the chuck width setting device 302P, close to and away from each other.
[0201]
The chuck width setting device 302P includes a belt 302R having a rack-shaped protrusion on the inner peripheral surface, and a pair of belt wheels 302S provided on the outer peripheral surface with gear-shaped protrusions that mesh with the rack-shaped protrusion. Has been. One of the belt wheels 302S is rotated by a motor 302T, whereby the belt 302R is also rotated. Inside the belt 302R, a guide rail 302U for guiding the air slide device 302Q along the traveling direction of 302R is provided.
[0202]
The air slide devices 302Q are fixed to the belt 302R oppositely.
[0203]
The air slide device 302Q is fixed to the belt 302R and is engaged with the guide rail 302U. ₂ And guide block 302Q ₂ Slidable portion 302Q that slides parallel to the belt 302R ₄ With. Guide block 302Q ₂ And slide part 302Q ₄ Between them, an air actuator (not shown) is provided. Each of the finger-like members 302N has a slide portion 302Q. ₄ It is fixed to.
[0204]
Further, as shown in FIG. 26, the finger-like member 302N is slid through the holding member 302V. ₄ Installed on. The holding member 302V has a slide portion 302Q. ₄ It is a guide rail-like member fixed to. The finger-like member 302N is engaged with the holding member 302V at the base portion so as to be slidable in the vertical direction. The finger-like member 302N is urged downward by a spring 302W disposed between the holding member 302V and the root portion of the finger-like member 302N.
[0205]
An optical sensor 302N is provided at the tip of the finger-like member 302N. ₂ Is provided. Further, an overload detection sensor 302N that is an optical sensor is also provided between the root portion of the finger-like member 302N and the holding member 302V. ₄ Is provided. Optical sensor 302N ₂ Has a function of detecting whether or not a carton assembly 720 or a shrink wrapping body 740 is loaded in a corrugated cardboard box 600, which will be described later, without overload detection sensor 302N. ₄ Has a function of detecting that the finger-like member 302N is overloaded by detecting that the finger-like member 302N has moved upward.
[0206]
The operation of loading the carton assembly 720 or the shrink package 740 into the cardboard box 600 in the product loading robot 302 will be described below.
[0207]
The flow of the operation is shown in the flowchart of FIG.
[0208]
As shown in FIG. 27, the product loading robot 302 has the same procedure as that described for the chuck portion 116A in the column “1-1-H third robot” in the hand portion 302C. 720 or the shrink wrapping body 740 is gripped, and the hand portion 302C gripping the carton assembly 720 or the shrink wrapping body 740 is moved to the vicinity of the cardboard box 600. As shown in FIGS. 28A and 28B, the product loading robot 302 is such that the tip of the finger-like member 302N is at a position lower than the upper surface of the carton assembly 720 or shrink package 740 by a distance D. The hand unit 302C is lowered. This distance D is set according to the product type so that the carton assembly 720 or the shrink package 740 is securely held by the hand portion 302C and the force is not concentrated in a narrow range.
[0209]
When the carton assembly 720 or the shrink wrapping body 740 is gripped in the hand portion 302C, the product loading robot 302 moves the hand portion 302C to the vicinity of the cardboard box 600 so that the carton assembly 720 or the shrink wrapping body 740 grips correctly. It is determined whether or not it has been done.
[0210]
When it is determined that the carton assembly 720 or the shrink wrapping body 740 is correctly gripped, the product loading robot 302 moves to the operation of loading the gripped carton assembly 720 or the shrink wrapping body 740 into the cardboard box 600. .
[0211]
On the other hand, when it is determined that the carton assembly 720 or the shrink wrapping body 740 is not correctly gripped, the product loading robot 302 determines that an abnormality has occurred and stops its operation and controls the abnormality occurrence signal. The data is output to the computer 500.
[0212]
When moving to the loading operation, the product loading robot 302 determines whether the position in which the carton assembly 720 or the shrink package 740 is loaded is the last row of the cardboard box 600.
[0213]
When the insertion position is the last row of the cardboard box 600, the product loading robot 302 loads the carton assembly 720 or the shrink wrapping body 740, and then, as shown in FIG. The tip of 302N is moved horizontally along the folding position of the flap portion of the cardboard box 600, and the optical sensor 302N ₂ Determines whether no carton assembly 720 or shrink wrap 740 is detected.
[0214]
Optical sensor 302N ₂ If nothing is detected, it is determined that the entire cardboard box 600 has been charged normally, and all the charging operations are terminated.
[0215]
Meanwhile, the optical sensor 302N ₂ When the carton assembly 720 or the shrink package 740 is detected, the carton assembly 720 or the shrink package 740 that is not loaded on the carton assembly 720 or the shrink package 740 inserted into the cardboard box 600 is used. It is determined that the vehicle is riding, and all operations are stopped and an abnormality occurrence signal is output to the control computer 500.
[0216]
When the insertion position is not the final row of the cardboard box 600, the product loading robot 302 prevents the hand portion 302C, the gripped carton assembly 720, or the shrink package 740 from interfering with the flap portion of the cardboard box 600. The following first or second operation is performed for charging.
[0217]
As a first operation, the product loading robot 302 performs an operation of loading the gripped carton assembly 720 or the shrink package 740 while moving the hand portion 302C so as to push and spread the flap portion. On the other hand, as the second operation, the hand unit 302C is rotated so that the gripped carton assembly 720 or the shrink wrapping body 740 is located on the diagonal line of the opening of the empty cardboard box 600, and then the carton assembly 720 or The operation of inserting the shrink package 740 is performed.
[0218]
Each time charging is performed, as shown in FIG. 29 (A), the finger-shaped member 302N is moved upward to be removed from the cardboard box 600. During the operation, the finger-shaped member When 302N reaches the flap portion folding position of the cardboard box 600, the optical sensor 302N is temporarily stopped. ₂ Detects whether the carton assembly 720 or the shrink package 740 is detected.
[0219]
Optical sensor 302N ₂ If the carton assembly 720 or the shrink wrapping body 740 is not detected, it is determined that the carton assembly 720 or the shrink wrapping body 740 has been correctly inserted, and the process proceeds to the second charging operation.
[0220]
Meanwhile, the optical sensor 302N ₂ When the carton assembly 720 or the shrink wrapping body 740 is detected, a “take-out” occurs in which the carton assembly 720 or the shrink wrapping body 740 once loaded is caught on the finger-like member 302N and taken out of the cardboard 600. In other words, all operations are stopped and an abnormality occurrence signal is output to the control computer 500.
[0221]
Further, when performing the insertion, the optical sensor 302N ₄ Determines whether or not the upward movement of the finger-like member 302N has been detected. Here, when the carton assembly 720 or the shrink package 740 held by the tip of the finger-shaped member 302N or the finger-shaped member 302N comes into contact with the charged carton assembly 720 or the shrink package 740, the finger state 302N Moves upward against the biasing force of the spring 302W. Therefore, the optical sensor 302N ₄ If the movement is detected, it can be determined that the contact has occurred.
[0222]
Therefore, the optical sensor 302N ₄ When the movement is detected, the product loading robot 302 stops the loading operation, raises the hand portion 302C and stops it above the cardboard box 600, and notifies the operator of the occurrence of an abnormality. After that, it waits for the operator's confirmation recovery work.
[0223]
1-3-3-B Empty cardboard conveyor
As shown in FIGS. 30 and 31, the empty cardboard transport unit 308 includes a turntable 308A for turning the empty cardboard box 600 in a direction in which the product loading robot 302 can easily load the carton assembly 720 or the shrink package 740. The belt conveyor 308B that transports the empty cardboard box 600 boxed by the box making machine 306 toward the turntable 308A, and the empty cardboard box 600 that has been swung in a predetermined direction by the turntable 308A are transported to the cardboard positioning unit 304. A roller conveyor 308C.
[0224]
The turntable 308A includes a conveyor unit 308D on which the empty cardboard box 600 is placed and a base 308E that rotatably holds the conveyor unit 308D.
[0225]
The conveyor unit 308D includes six rollers 308F arranged in parallel to each other, and a frame body 308G that supports the rollers 308F so as to be rotatable around an axis.
[0226]
The frame body 308G has a box shape with an open upper surface, and the roller 308F is provided in parallel to the short side of the frame body 308G. Therefore, the empty cardboard box 600 placed on the conveyor unit 308D is conveyed along the longitudinal direction of the frame 308G by the rollers 308F as indicated by arrows in FIGS.
[0227]
A cardboard box stopper 308H is provided along one of the short sides of the frame 308G to stop the empty cardboard box 600 that has been transported on the belt conveyor 308B on the conveyor unit 308D. The other side of the short side of the frame 308G is fixed with a transition plate 308i having an outer side formed in an arc and an inner side formed in a straight line.
[0228]
The frame 308G is rotatably attached to the base 308E at the center of the bottom surface. As the frame 308G rolls on the base 308E, the turntable 308A has the transition plate 308i positioned on the belt conveyor 308B side, and the cardboard box stopper 308H is relative to the belt conveyor 308B across the roller 308F. One of the first position shown in FIG. 30 that is turned so as to be rotated and the second position shown in FIG. 31 that is turned so that the transition plate 308i is located on the roller conveyor 308C side are taken.
[0229]
The roller conveyor 308C is a roller conveyor that conveys the empty cardboard box 600 in a direction perpendicular to the conveyance direction of the empty cardboard box 600 in the belt conveyor 308B. As shown in FIGS. 30 and 31, the roller conveyor 308C And a group of rollers 308J disposed in a direction perpendicular to each other, a frame 308K and a frame 308L that rotatably support the roller 308J, and a guide rail 308M fixed to the upper edge of the frame 308L. A positioning pusher 308Q, which is a plate-like member parallel to the frame body 308K and the frame body 308L, is provided above the roller 308J in the vicinity of the frame body 308K and the frame body 308L. The positioning pusher 308Q is formed so as to be movable in the direction close to or away from the guide rail 308M on the roller conveyor 308C, and determines the position in the width direction of the cardboard box 600 on the roller conveyor 308C as shown in FIG. It has the function to do.
[0230]
A cardboard extrusion device 308N that pushes the empty cardboard box 600 onto the roller conveyor 308C is provided along the turntable 308A and the roller conveyor 308C. The cardboard extrusion device 308N protrudes toward the roller conveyor 308C and extends parallel to the frame 308K and pushes the extrusion bar 308P along the conveying direction of the roller conveyor 308C. And a push bar guide 308L to be moved.
[0231]
The operation of the empty cardboard transport unit 308 will be described below.
[0232]
The empty cardboard box 600 made by the box making machine 306 is conveyed toward the turntable 308A by the belt conveyor 308B. At this time, since the turntable 308A takes the first position as shown in FIG. 30, the cardboard box conveyed by the belt conveyor 308B hits the cardboard box stop 308H and stops on the turntable 308A.
[0233]
When the empty cardboard box 600 is placed on the turntable 308A, the turntable 308A turns counterclockwise in FIG. 30, and takes the second position as shown in FIG.
[0234]
When the turntable 308A takes the second position, the push bar 308P pushes the empty cardboard box 600 toward the roller conveyor 308C as indicated by an arrow in FIG. As a result, the empty cardboard box 600 is placed on the roller conveyor 308C. When the empty cardboard box 600 is placed on the roller conveyor 308C, the positioning pusher 308Q moves toward the guide rail 308M and presses the empty cardboard box 600 toward the guide rail 308M. In this way, the position in the width direction of the cardboard box 600 on the roller conveyor 308C is determined. When the position in the width direction is determined, the cardboard box 600 is conveyed toward the cardboard positioning unit 304 on the roller conveyor 308C.
[0235]
However, depending on the form and type of the empty cardboard box 600, after being boxed by the box making machine 306, conveyed and placed on the turntable 308A by the belt conveyor 308B, the roller conveyor 308C is not rotated by the turntable 308A. May be conveyed toward the cardboard positioning unit 304.
[0236]
1-3-C Corrugated board positioning part
As shown in FIGS. 1 and 32, a payout conveyor 312A, which will be described later, in the actual cardboard transport unit 312 is provided so as to be orthogonal to the roller conveyor 308C. A cardboard positioning unit 304 is provided so as to be sandwiched between the payout conveyor 312A and the roller conveyor 308C.
[0237]
The corrugated board positioning portion 304 is formed so as to be tiltable from a horizontal state. As shown by a solid line in FIG. 32, the corrugated board placing table 304A and the corrugated board placing table 304A that form the end portion of the roller conveyor 308C in the horizontal state are provided. An inclination actuator 304B for inclining, and a payout device 304C for paying out the actual cardboard box 600 loaded with the carton aggregate 720 or the shrink wrapping body 740 on the cardboard placement table 304A toward the payout conveyor 312A.
[0238]
The corrugated board mounting table 304A includes five rollers 304D provided in parallel to the rollers 308J in the roller conveyor 308C, and a pair of frame members 304E and 304F that rotatably support the rollers 304D. The frame member 304E is adjacent to the payout conveyor 312A, and the frame member 304F is located on the opposite side of the frame member 304E with the roller 304D interposed therebetween. The corrugated board mounting table 304A rotates around the lower edge of the frame member 304F. Therefore, as shown by a two-dot chain line in FIG. 32, the side of the frame member 304E is lifted by the tilt actuator 304B during tilting.
[0239]
In FIG. 32, the arrows indicate the conveyance direction of the empty cardboard box 600 in the roller conveyor 308C and the cardboard placement table 304A. Of the five rollers 304D, suction cups 304G and 304H for adsorbing and holding the empty cardboard box 600 are provided adjacent to the ends of the four rollers located at the second to fifth positions along the conveying direction. The suction cup 304G is fixed to the frame member 304E adjacent to the second and fourth rollers 304D along the transport direction, and the suction cup 304H is adjacent to the third and fifth rollers 304D along the transport direction. The frame member 304F is fixed.
[0240]
The payout device 304C includes an extrusion plate 304i that pushes the actual cardboard box 600 toward the payout conveyor 312A, and a guide device 304J that moves the push plate 304i along the width direction of the cardboard placement table 304A. The guide device 304J includes a guide rail 304K extending perpendicular to the conveying direction of the empty cardboard box 600 in the cardboard placement table 304A, and a guide block 304L that engages with the guide rail 304K and slides on the guide rail 304K. With. The extrusion plate 304i is fixed to the guide block 304L. The extrusion plate 304i is further provided with a pair of suction cups 304M that suck and hold the empty cardboard box 600.
[0241]
As shown by a two-dot chain line in FIG. 32, the payout device 304C is configured to incline integrally with the cardboard placement table 304A. When the blank cardboard is mounted, the push-out plate 304i is in a standby position above the frame 304F as shown by a solid line, and forms a guide rail that guides and holds the blank cardboard together with the guide rail 308M.
[0242]
The operation of the cardboard positioning unit 304 will be described below.
[0243]
Initially, the cardboard placement table 304A is in a horizontal state. Accordingly, the empty cardboard box 600 conveyed on the roller conveyor 304C comes into contact with the guide block 304L and stops on the cardboard placement table 304A.
[0244]
When the empty cardboard box 600 is placed on the cardboard placement table 304A, the cardboard placement table 304A is inclined, and the suction cups 304G, 304H, and 304i are attracted to the bottom surface and the side surface of the empty cardboard box 600, and the empty cardboard box. 600 is fixed on the cardboard placement table 304A.
[0245]
Next, the carton assembly 720 or the shrink package 740 is loaded into the empty cardboard box 600 by the product loading robot 302.
[0246]
When the insertion of the carton assembly 720 or the shrink package 740 is completed, the corrugated board mounting table 304A returns to the horizontal state again, and the suction of the suction cups 304G, 304H, and 304i is released. Then, it is paid out on the payout conveyor 312A by the payout device 304C.
[0247]
1-3-D Real corrugated board conveyance part
As shown in FIG. 33, the actual cardboard transport unit 312 includes a payout conveyor 312A orthogonal to the roller conveyor 308C and the cardboard placement table 304A, a weight inspection device 312B provided adjacent to the sealer 310, and a payout conveyor. A belt conveyor 312C for guiding the actual cardboard box 600 delivered by 312A to the weight inspection device 312B.
[0248]
The payout conveyor 312A is a roller conveyor.
[0249]
A cardboard extrusion device 312D is provided adjacent to the payout conveyor 312A and the belt conveyor 312C, and an ink jet printer 312E is provided adjacent to the cardboard extrusion device 312D.
[0250]
The cardboard extrusion device 312D engages with the guide rail 312F extending along the edge of the payout conveyor 312A and the guide rail 312F, and slides on the guide rail 312F as shown by a two-dot chain line in FIG. A guide block 312G. The guide block 312G protrudes toward the payout conveyor 312A and functions as an extrusion member that pushes the actual cardboard box 600 toward the belt conveyor 312C.
[0251]
Below the guide rail 312F, the actual cardboard box 600 formed so as to be able to protrude and retract toward the payout conveyor 312A and positioned so as to be correctly placed on the belt conveyor 312C is positioned. A positioning plate 312H is provided. In FIG. 33, the state in which the positioning plate 312H is pulled in is indicated by a solid line, and the state protruding toward the payout conveyor 312A is indicated by a two-dot chain line.
[0252]
The operation of the actual cardboard transport unit 312 will be described below.
[0253]
When the long side of the actual cardboard box 600 is perpendicular to the payout conveyor 312A, as shown in FIG. 33, while the payout conveyor 312A conveys the real cardboard box 600, the guide block 312G is more than the payout conveyor 312A. Waiting outside. When the actual cardboard box 600 comes into contact with the positioning plate 312H, the guide block 312G at the position indicated by the solid line slides on the guide rail 312F and moves toward the belt conveyor 312C. The box 600 is pushed out onto the belt conveyor 312C.
[0254]
On the other hand, when the long side of the actual cardboard box 600 is parallel to the payout conveyor 312A, the guide block 312G has a side edge opposite to the side adjacent to the belt conveyor 312C in the conveyor 312A, as shown in FIG. Move up. In this state, when the actual cardboard box 600 is conveyed on the payout conveyor 312A, the guide block 312G comes into contact with the ridge portion of the actual cardboard box 600. Therefore, as shown by the arrows in FIG. On the delivery conveyor 312A, it rotates 90 ° around the Z-axis in the direction toward the guide rail 312F, and the long side is perpendicular to the delivery conveyor 312A. When the long side of the actual cardboard box 600 rotates until it becomes a right angle with respect to the payout conveyor 312A, the actual cardboard box 600 is pushed out onto the belt conveyor 312C by the guide block 312G as in the case of FIG.
[0255]
The actual cardboard box 600 extruded onto the belt conveyor 312C is conveyed toward the weight inspection device 312B.
[0256]
In the weight inspection device 312B, it is inspected whether the contents packed in the actual cardboard box 600 are insufficient.
[0257]
In the weight inspection apparatus 312B, it may be determined that the weight of the actual corrugated cardboard box 600 is within a certain standard determined in advance.
[0258]
However, when an actual corrugated cardboard box 600 of the same type, that is, an actual corrugated cardboard box 600 with the same type and quantity of the packed carton assembly 720 or shrink package 740 flows, a certain actual corrugated cardboard box 600 flows. When the difference in weight between the box 600 and the immediately preceding actual cardboard box 600 is within a preset upper and lower limit, even if it is determined that the actual cardboard box 600 is acceptable, the packed carton assembly The actual cardboard box 600 having a shortage in the quantity of the 720 or the shrink package 740 can be eliminated. In addition, even when actual cardboard boxes of different varieties are flowed, there is no need to reset the weight standard.
[0259]
The actual cardboard box 600 that is determined to be acceptable by the weight inspection apparatus 312 </ b> B is conveyed toward the sealing machine 310.
[0260]
1-4 Control computer
As shown in FIG. 35, the control computer 500 includes a cartoner PLC (Programmable Logic Controller) 502 that controls the cartoner 400, a carton boxing device PLC504 that controls the entire carton boxing device 1000, and a P-packed product conveyance and supply device 410. P filling product feeding and feeding device PLC 506 for controlling the shrink wrapping device 200, shrink wrapping device PLC 508 for controlling the shrink wrapping device 200, a process personal computer 510 for inputting work instructions to the cartoner PLC 502, and a host computer 512 for inputting a production plan to the process personal computer 510 And.
[0261]
Each of the cartoner PLC 502, the carton boxing device PLC 504, the P-stuffed product conveying and feeding device PLC 506, and the shrink wrapping device PLC 508 includes a touch panel for outputting a condition setting instruction and inputting manufacturing conditions to be described later. .
[0262]
When the production plan is input from the host computer 512 to the process personal computer 510, the process personal computer 510 displays a condition setting screen on the display.
[0263]
When the operator inputs a work instruction to the process personal computer 510 through the display or the keyboard, the process personal computer 510 inputs a condition setting instruction to the cartoner PLC 502 based on the work instruction.
[0264]
The cartner PLC 502 displays the condition setting instructions related to the car toner 400 on the touch panel provided in the car toner PLC 502. On the other hand, among the condition setting instructions, those relating to the carton boxing device 1000 are input to the carton boxing device PLC 504, and those relating to the P filling product transporting and supplying device 410 are input to the P filling product transporting and supplying device PLC 506. Of the condition setting instructions input from the cartoner PLC 502, the carton boxing device PLC 504 inputs the one related to the shrink wrapping device 200 to the shrink wrapping device PLC 508.
[0265]
The input condition setting instruction is displayed on the touch panel in any of the carton boxing device PLC504, the P-stuffed product conveying / supplying device PLC506, and the shrink wrapping device PLC508.
[0266]
The operator inputs setting conditions according to the condition setting instructions displayed on the respective touch panels of the cartoner PLC 502, the carton boxing device PLC504, the P-stuffed product conveying and feeding device PLC506, and the shrink wrapping device PLC508.
[0267]
When the setting conditions are input, the carton PLC 502, the carton boxing device PLC504, the P-stuffed product conveying and supplying device PLC5, and the shrink wrapping device PLC508, according to the input conditions, the carton size, form, temperature condition, inspection condition, etc. And the cartoner 400, the carton boxing device 1000, the P-stuffed product conveying and feeding device 410, and the shrink wrapping device 200 are controlled based on the setting.
[0268]
2. Cardboard box
2-1 Cardboard box configuration
The cardboard boxes used in the carton boxing apparatus 1000 are related to the present invention, and include a cardboard box having a partition and a cardboard box having no partition.
[0269]
An example of a cardboard box with a partition is shown in FIG. 36 and FIG. 37, and the developed state is shown in FIG.
[0270]
As shown in FIGS. 36 to 38, the cardboard box 600 includes a rectangular parallelepiped main body 602 having an open upper surface, a partition 604 provided so as to bisect the inside of the main body 602, and an upper edge of the main body 602. And four flaps 606 that are connected and folded to form a lid that covers the opening.
[0271]
The main body 602 includes a bottom surface 602C, a width direction side plate 602A that forms a side surface in the width direction, and a longitudinal direction side plate 602B that forms a side surface in the longitudinal direction.
[0272]
Of the four flap portions 606, an inner flap 606A is provided on the upper edge of the width direction side plate 602A in the corrugated cardboard body 602. The inner flap 606A is located on the upper edge of the longitudinal side edge 602B. Among the four flap portions 606, an outer flap 606B is provided that is located outside when folded.
[0273]
The middle partition 604 extends along the longitudinal direction of the main body 602 and is fixed to one of the width direction side plates 602A at the base 604A. A vertical notch is provided between the middle partition 604 and the base 604A. In addition, as shown in FIGS. 39 and 40, perforations may be provided along the vertical direction in FIGS. 39 and 40 instead of providing a cut in the root portion. The notch or perforation at the base of the middle partition 604 functions as a hinge
An end on the side opposite to the base portion, that is, an end on the side where the base portion 604 </ b> A is provided in the middle partition 604, that is, a tip end portion is not fixed to the inner wall surface of the main body 602.
[0274]
Further, the height of the inner partition 604 is set so that a gap of 5 to 10 mm is formed between the bottom of the cardboard box 600 and the lid when the flap portion 606 is folded to form a lid. Yes.
[0275]
Therefore, the front end portion of the middle partition 604 freely moves along the width direction inside the main body 602 as indicated by a double-headed arrow in FIG.
[0276]
As shown in FIG. 38, bottom flap portions 608A and 608B, which are folded to form a bottom surface 602C, are formed on the side opposite to the side where the flap portion 606 is provided in the width direction side plate 602A and the longitudinal side edge 602B, respectively. Is provided.
[0277]
A procedure for charging products such as the shrink package 740 and the carton assembly 720 into the cardboard box 600 is shown in FIG. In FIG. 41, (A) to (H) indicate the order of loading products.
[0278]
The cardboard box 600 is divided into two small chambers 600A and 600B along the direction of the long side by an intermediate partition 604.
[0279]
As shown in (B), the first product is charged in the vicinity of the root of the partition 604 in the small chamber 600A. The product is loaded along the longitudinal side plate 602B on the side forming the small chamber 600A as shown by the two-dot chain line in (B), and then the width of the side on which the middle partition 604 is fixed as shown by the solid line. It is turned toward the direction side plate 602A.
[0280]
As shown in (C), the second product is loaded on the side where the base portion 604A of the partition plate 604 in the small chamber 600B is located. The product is loaded along the longitudinal side plate 602B on the side forming the chamber 600B, as shown by the double chain line in (C), and then turned toward the base 604A of the middle partition 604 as shown by the solid line. Is done.
[0281]
As shown in (D), the third product is charged in a position adjacent to the first product in the small chamber 600A. The product is loaded along the longitudinal side plate 602B as shown by the two-dot chain line in (B) and then turned to a position adjacent to the first product as shown by the solid line.
[0282]
As shown in (E), the fourth product is inserted in a position adjacent to the first product in the small chamber 600B. The product is loaded along the longitudinal side plate 602B on the side forming the chamber 600B as shown by the double chain line in (E), and then towards the product that was initially charged as shown by the solid line. Turned around.
[0283]
In this way, the products are alternately charged into the small chambers 600A and 600B, and the middle partition 604 is fixed to the central portion of the cardboard box 600 by the charged products.
[0284]
When the last product is charged into the small chambers 600A and 600B, as shown in (F) and (G) in FIG. 41, after the final product is charged into the small chamber 600A, as shown in (H). The last product is charged into the small chamber 600B.
[0285]
The example in which the product is first charged into the small chamber 600A and then the product is charged into the small chamber 600B has been described above. Conversely, the product is first charged into the small chamber 600B and then the product into the small chamber 600A. May be charged.
[0286]
3. carton
Examples of the carton 700 that can be loaded into the cardboard box by the carton boxing device 1000 include those that contain 1 to 5 film cases 800.
[0287]
Such a carton 700 does not have a header as shown in FIGS. 42 to 45, and includes only a box-shaped main body 702, and a header 704 is provided on the main body 702 as shown in FIGS. 46 to 53. There is something that was done.
[0288]
As shown in FIGS. 46 to 49, the carton 700 having the header 704 includes a header 704 having the same width as that of the main body 702 provided at one end of the main body 702, as shown in FIGS. As shown, a header 704 wider than the main body 702 is provided at one end of the main body 702, and as shown in FIGS. 52 and 53, the header 704 extends along the side edge of the main body 702. There are things provided.
[0289]
4). Carton boxing procedure
In the carton boxing apparatus 1000 according to the first embodiment, several examples of procedures for aligning the carton 700 to form the carton assembly 720 or the shrink wrapping body 740 and packing the carton into a cardboard box are given below.
[0290]
4-1 Packing procedure example 1
The boxing procedure will be described for a carton 700 of the form of FIG. 50 that contains only one film case 800 and has a header 704 that is wider than the main body 702.
[0291]
As shown in FIG. 54A, the carton 700 is discharged from the cartoner 400 with the header 704 facing downward.
[0292]
In the carton aligning apparatus 100, when the control command is received, first, the carton 700 that has been transported on the first conveyor 102 in the state shown in FIG. 54A in FIG. 54 is displayed by the first robot 112 in FIG. As shown in FIG. 4, the header 704 is turned 90 ° so as to be positioned on the upstream side with respect to the transport direction.
[0293]
Then, the carton 700 rotated 90 ° is aligned so that the header 704 and the main body 702 overlap each other on the second conveyor 104 as shown in (C) and (D) in FIG. A carton assembly 720 consisting of the carton 700 is formed.
[0294]
The carton assembly 720 formed by the second conveyor 104 is conveyed to the third conveyor 106 and aligned, and is gripped from both sides by the chuck claws 116E of the third robot 116, as shown in FIG. As shown in (E), the header 704 is turned so as to be horizontal and is transferred onto the introduction conveyor 202 in the shrink wrapping apparatus 200. Here, since the mount is supplied in advance from the mount supply device 214 on the introduction conveyor 202 in accordance with a command from the control computer 500, the carton assembly 720 is directed toward the introduction conveyor 202 by the third robot 116. By descending, it is placed on the mount as shown in FIG.
[0295]
The carton aggregate placed on the mount is introduced into the abdominal part 204 by the introduction conveyor 202, covered with the shrink film from both sides, and then passes through the heat seal part 206 and the shrink tunnel 208, as shown in FIG. Shrink wrapping 740 is formed as shown in FIG.
[0296]
As described above, the shrink wrapping body 740 is inspected by the height aligning unit 210, end aligned by the end aligning transfer device 212, and conveyed toward the cardboard positioning unit 304 in the cardboard casing device 300 by the conveying conveyor 212 i.
[0297]
In the cardboard positioning unit 304, the shrink package 740 is loaded into the empty cardboard box 600 by the product loading robot 302 according to the procedure shown in FIG.
[0298]
4-2 Boxing procedure example 2
A procedure for aligning and cartoning the carton 700 having the form shown in FIG. 47 having three headers 704 having the same width as the main body 702 will be described.
[0299]
As shown in FIG. 55A, the carton 700 is discharged from the cartoner 400 with the header 704 facing downward, and is conveyed on the first conveyor 102 of the carton aligning apparatus 100.
[0300]
In the first robot 112, the carton aligning apparatus 100 transfers the carton 700 conveyed on the first conveyor 102 to the second conveyor 104 without turning.
[0301]
In the second conveyor 104, five cartons 700 transferred from the first conveyor 102 are aligned to form a carton assembly 720 as shown in FIG.
[0302]
The carton assembly 720 formed by the second conveyor 104 is conveyed to the third conveyor 106 and aligned, and the header 704 is moved downward by the chuck claws 116E of the third robot 116 as shown in FIG. It is gripped and lifted from both sides while facing.
[0303]
Next, as shown in (D), in the third robot 116, the chuck rotating device 116D rotates, and the chuck portion 116A is rotated until the chucking 116E becomes horizontal. Then, the chuck portion 116A is transferred directly above the introduction conveyor 202 of the shrink wrapping apparatus 200 by the guide device 116B. The chuck portion 116A moves toward the guide plate 202B above the introduction conveyor 202B. Accordingly, the header portion 704 is pressed against the guide plate 202B and is bent toward the main body 702 of the carton 700. In the shrink wrapping apparatus, the carton aggregate 720 is shrunk and transported by the net of the abdomen 204, the heat seal part 206, and the shrink tunnel 208 with the header 704 bent, and the shrink wrap shown in FIG. 740 is formed.
[0304]
The shrink package 740 is conveyed toward the cardboard casing device 300 in the order of the height aligning unit 210 and the end aligning transfer device 212, and is loaded into the empty cardboard box 600 by the product loading robot 302 according to the procedure shown in FIG. Is done.
[0305]
4-3 Packing procedure example 3
A procedure for aligning and cartoning the carton 700 having the form shown in FIG. 46 that accommodates two film cases 800 and has a header 704 having the same width as the main body 702 will be described.
[0306]
As shown in FIG. 56A, the carton 700 is discharged from the cartoner 400 with the header 704 facing downward, and is conveyed on the first conveyor 102 of the carton aligning apparatus 100.
[0307]
In the first five cartons 700, the carton aligning apparatus 100 is turned 180 ° by the first robot 112 and placed on the second conveyor 104, as shown in FIG.
[0308]
In the second conveyor 104, as shown in FIG. 5C, five cartons 700 are aligned with the header 704 facing upward to form a first carton group 722. The first carton group 722 is conveyed to the fifth conveyor 110 via the third conveyor 106 and the fourth conveyor 108, and stops at the carton aligning section 110B. The first carton group 722 stopped in the carton aligning section 110B is transferred onto the table 110S by the carton holding plate 110J. When the first carton group 722 is transferred onto the table 110S, the carton presser plate 110J on the right side with respect to the conveying direction is moved to the original position so as not to prevent the next five cartons from being loaded into the carton aligning portion 110B. Return to.
[0309]
On the other hand, the next five are placed on the second conveyor 104 without being turned by the first robot 112 as shown in FIG. 4D, and the header 704 faces upward in the second conveyor 104. 5 are arranged in the state of being. In this way, the second carton group 724 is formed. The second carton group 724 is conveyed to the fifth conveyor 110 via the third conveyor 106 and the fourth conveyor 108, and stops at the carton aligning section 110B.
[0310]
The second carton group 724 stopped in the carton aligning section 110B is lifted upward by the product loading robot 302 as shown in (E) in the figure, and then around the vertical axis as shown in (F). It is turned 180 °. Thereby, the header 704 of the second carton group 724 is positioned so as to face downward and to face the header 704 of the first carton group 722. Next, as shown in (G), the second carton group 724 is placed on the first carton group 722 by the product loading robot 302, and a carton set consisting of ten cartons 700 at the end of the fifth conveyor 110. A body 720 is formed.
[0311]
The carton assembly 720 formed in this way is pressed from both sides by the carton holding plate 110J to be shaped, lifted upward by the product loading robot 302 at both end faces, and then into the cardboard box by the cardboard positioning unit 304. It is inserted.
[0312]
4-4 Packing procedure example 4
A procedure for aligning and packing the carton 700 of the form shown in FIG. 52 in which three film cases 800 are accommodated and the header 704 is provided on the side edge of the main body 702 will be described.
[0313]
As shown in FIG. 57A, the carton 700 is discharged from the cartoner 400 with the header 704 facing the transport direction and positioned on the near side with respect to the paper surface of FIG. The conveyor 102 is conveyed.
[0314]
The five cartons 700 conveyed on the first conveyor 102 are turned 180 ° by the first robot 112 in the carton aligning apparatus 100 as shown in FIG. 5B, and the header 704 is opposite to the conveying direction. It is placed on the second conveyor 104 so as to face the direction. As shown in (C), the first four of the five cartons 700 are directly on the second conveyor 104 with the header 704 positioned on the near side with respect to the paper surface of FIG. The header 704 and the main body 702 are aligned so as to overlap each other. On the other hand, the fifth carton 700 is turned 180 ° around the vertical axis by the second robot 114 while being transported on the second conveyor 104 as shown in FIG. Although it is the direction of the transport direction, it is located on the side facing the paper surface of FIG. Then, as shown in (E) and (F), the fourth and fifth cartons 700 are in contact with the main body 702 of the fourth carton 700, and the header 704 of the fifth carton is in contact. The carton assembly 720 is formed by combining the fourth carton 700 with the header 704 so that the main body 702 of the fifth carton abuts.
[0315]
The carton assembly 720 formed by the second conveyor 104 is adjusted in side by the third conveyor 106 and then transferred to the shrink wrapping apparatus 200 by the third robot 116 and shrink-wrapped as shown in (G). The
[0316]
According to the carton boxing apparatus 1000 according to the first embodiment, it is possible to automatically cope with a carton 700 in which the number of film cases accommodated therein, the position and size of the header 704, and the like are different. Further, when the main body 702 and the header 704 of the carton 700 are different in size, the number and combination of the cartons 700 are often different. In such a case, a predetermined number of cartons 700 are combined in a predetermined combination. Thus, the carton assembly 720 can be automatically formed.
[0317]
Further, the carton assembly 720 is not only packaged in a cardboard box as it is, but also may be packaged after being shrink-wrapped. After the carton 700 is combined to form the carton assembly 720, the carton assembly 720 is shrunk. It can be automatically separated from what should be packaged and what is not a layer. Therefore, even when the carton 700 to be shrink-wrapped and the carton 700 not to be shrink-packed coexist, the burden on the operator is small.
[0318]
In addition, even when the carton assembly 720 or the shrink wrapping body 740 is packed in a cardboard box, it is necessary to pack the carton 700 in various different patterns depending on the form and size of the carton 700. It can correspond to.
[0319]
【The invention's effect】
According to the present invention, there is provided a packaging system capable of automatically accommodating the small box in the outer box with a packaging pattern corresponding to the small box having different form and size, and a corrugated cardboard box that can be suitably used in the packaging system. Is done.
[Brief description of the drawings]
FIG. 1 is a plan view showing a planar arrangement of each device in a carton boxing device according to Embodiment 1. FIG.
FIG. 1 is a side view showing an arrangement of a carton boxing device according to Embodiment 1 as viewed from the side of each device.
FIG. 3 is a partial side view showing a carton aligning device included in the carton boxing device shown in FIGS. 1 and 2;
FIG. 4 is a plan view showing a planar configuration of the entire carton aligning device provided in the carton boxing device shown in FIGS. 1 and 2 and a part of the shrink wrapping device.
5 is a partial plan view and a partial side view showing a configuration of a first conveyor provided in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
6 is a cross-sectional view of the first conveyor shown in FIG. 5 cut along a plane perpendicular to the conveying direction.
7 is a plan view showing a planar configuration of the entire second conveyor provided in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
8 is a side view showing a configuration viewed from the side of a second conveyor provided in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
FIG. 9 is a cross-sectional view of the second conveyor shown in FIG. 8 as viewed from the downstream side with respect to the transport direction.
FIG. 10 is a top view showing details of the configuration of the second conveyor.
FIG. 11 is a schematic view showing the positional relationship between the pins and auxiliary bars provided in the second conveyor and the main body and header of the fifth carton counted from the downstream side.
12 is a side view showing the configuration of the entire third conveyor provided in the carton boxing device shown in FIGS. 1 and 2. FIG.
13 is a side view showing the configuration of the entire fifth conveyor provided in the carton boxing device shown in FIGS. 1 and 2. FIG.
14 is a perspective view showing a first robot included in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
FIG. 15 is a schematic diagram showing the relationship between a carton and the X, Y, and Z axes.
16 is a perspective view showing a configuration of a second robot included in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
17 is a perspective view showing a configuration of a third robot included in the carton aligning apparatus shown in FIGS. 3 and 4. FIG.
18 is a perspective view showing details of a configuration of a chuck portion included in the third robot shown in FIG. 17. FIG.
19 is a plan view showing a configuration of a shrink wrapping apparatus included in the carton boxing apparatus shown in FIGS. 1 and 2. FIG.
20 is a perspective view showing details of configurations of an introduction conveyor, a stomach part, a heat seal unit, a shrink unit, a mount supply device, and a shrink film supply unit included in the shrink wrapping apparatus shown in FIG. 19;
FIG. 21 is a perspective view showing details of the configuration of the inspection unit provided in the shrink wrapping apparatus shown in FIG. 19;
22 is a perspective view showing details of the configuration of the end-aligning transfer device provided in the shrink wrapping apparatus shown in FIG. 19. FIG.
23 is a side view showing a configuration of a corrugated cardboard casing device included in the carton boxing device shown in FIGS. 1 and 2. FIG.
24 is a perspective view showing details of the configuration of the product loading robot included in the corrugated cardboard casing device shown in FIG. 23. FIG.
25 is a perspective view showing details of the configuration of the hand unit included in the product loading robot shown in FIG. 24. FIG.
FIG. 26 is a side view showing details of the configuration of the finger-like member in the hand portion shown in FIG. 25 and the vicinity thereof.
FIG. 27 is a flowchart showing a flow of an operation in which the product loading robot shown in FIG. 24 loads a carton assembly or a shrink package into a cardboard box.
FIG. 28 is a schematic view showing the movement of the finger-shaped member when gripping the carton assembly or the shrink wrapping body.
FIG. 29 is a schematic view showing the movement of the finger-shaped member when the carton assembly or the shrink package is loaded into the cardboard box.
30 is a perspective view showing details of a configuration of an empty corrugated board transport section provided in the corrugated board casing device shown in FIG. 23. FIG.
FIG. 31 is a perspective view showing details of a configuration of an empty cardboard transport unit provided in the cardboard casing device shown in FIG. 23;
32 is a perspective view showing details of the configuration of a corrugated board positioning portion provided in the corrugated cardboard casing device shown in FIG. 23. FIG.
33 is a perspective view showing details of a configuration of an actual corrugated board transport unit provided in the corrugated board casing device shown in FIG. 23. FIG.
34 is a perspective view showing details of a configuration of an actual corrugated board transport unit provided in the corrugated board casing device shown in FIG. 23. FIG.
FIG. 35 is a block diagram illustrating a configuration of a control computer included in the carton boxing device according to the first embodiment.
FIG. 36 is a perspective view showing an example of a cardboard box with a partition used in the carton boxing device according to the first embodiment.
FIG. 37 is a top view of the cardboard box with a partition shown in FIG. 36, as viewed from the entrance side into which the carton assembly or shrink package is inserted.
FIG. 38 is a development view of the cardboard box with a partition shown in FIG. 36.
FIG. 39 is a perspective view showing another example of the corrugated cardboard box with a partition used in the carton boxing device according to the first embodiment.
40 is a development view of the cardboard box with a partition shown in FIG. 39. FIG.
FIG. 41 is a process diagram showing a procedure for charging a shrink package or a carton assembly into the cardboard box with a partition shown in FIGS. 36 to 40;
FIG. 42 is a perspective view showing an example of a carton that does not have a header among the cartons that are inserted into the cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 43 is a perspective view showing an example of a carton that does not have a header among the cartons that are inserted into the cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 44 is a perspective view showing an example of a carton that does not have a header among cartons that are inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 45 is a perspective view showing an example of a carton that does not have a header among cartons that are inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 46 is a perspective view showing an example of a carton that does not have a header among cartons that are inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 47 is a perspective view showing an example of a carton having a header on the end face among the cartons inserted into the cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 48 is a perspective view showing an example of a carton having a header on an end surface among cartons inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 49 is a perspective view showing an example of a carton having a header on an end surface among cartons inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 50 is a perspective view showing an example of a carton having a header on an end surface among cartons inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 51 is a perspective view showing an example of a carton having a header on an end surface among cartons inserted into a cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 52 is a perspective view showing an example of a carton having a header on the side edge of the main body among the cartons inserted into the cardboard box with a partition by the carton boxing device according to the first embodiment.
FIG. 53 is a perspective view showing an example of a carton having a header on the side edge of the main body among the cartons inserted into the cardboard box with a partition by the carton boxing device according to the first embodiment.
54 shows a carton packaging apparatus according to Embodiment 1 in which a shrink wrap is formed for a carton of the form of FIG. 50 that accommodates only one film case and has a header wider than the main body. It is a flowchart which shows the procedure which packs in a cardboard box.
FIG. 55 is a diagram illustrating a carton of the form of FIG. 47 that accommodates three film cases and has a header having the same width as the main body, and forms a shrink package in the carton boxing device according to the first embodiment. It is a flowchart which shows the procedure of boxing in a box.
FIG. 56 is a carton set of 10 cartons in the carton boxing apparatus according to Embodiment 1 for a carton of the form of FIG. 47 that accommodates two film cases and has a header having the same width as the main body. 2 is a flowchart showing a procedure for forming a body and packing the carton assembly in a cardboard box.
FIG. 57 is a diagram illustrating a carton having three film cases and having a header on the side edge of the main body, and forming a shrink package in the carton boxing apparatus according to the first embodiment to form a corrugated cardboard. It is a flowchart which shows the procedure of boxing in a box.
[Explanation of symbols]
100 Carton alignment device
102 1st conveyor
104 Second conveyor
106 3rd conveyor
110 5th conveyor
112 The first robot
114 Second robot
116 6th robot
200 Shrink wrapping equipment
300 Corrugated cardboard casing device
302 Product loading robot
304 Cardboard positioning
600 cardboard box
602 Cardboard box body
604 partition
700 carton
702 body
704 header

Claims (15)

Collective pattern showing a small box in which one or a plurality of items to be packaged is stored, the presence / absence, position and size of a header in the small box, and the collective form of the small box according to the size of the small box An assembly forming unit that aggregates according to the above to form a small box assembly;
A packaging system comprising: an exterior product forming unit configured to insert the small box assembly into an exterior box according to a predetermined insertion pattern set according to the assembly pattern to form an exterior product . The assembly forming part is
Conveying means for conveying the small box in a certain conveying direction;
A turning means for turning a small box that is adjacent to the carrying means and is carried in the carrying direction according to the set pattern;
A collecting means that is located downstream of the turning means along the conveying direction and that collects a small number of small boxes that are turned by the turning means to form a small box aggregate by accumulating the number of small boxes set in the collecting pattern; The packaging system according to claim 1 provided. A shrink wrapping part for forming a shrink wrapping body by shrink wrapping the small box aggregate formed in the assembly forming part;
The assembly forming part comprises an assembly transfer means for transferring a small box assembly to be shrink-wrapped to the shrink packaging unit,
The exterior product forming unit accommodates in the exterior box either the small box assembly formed by the assembly forming unit or the shrink package formed by the shrink packaging unit according to the charging pattern. Item 3. A packaging system according to item 1 or 2. The exterior product forming part is
An outer box holding means for holding the outer box in a predetermined position, and an outer body held by the outer box holding means in accordance with the charging pattern, the small box aggregate or the shrink package body is loaded. The packaging system according to any one of claims 1 to 3, further comprising charging means. A set pattern information input unit for inputting set pattern information related to the set pattern;
The packaging according to any one of claims 1 to 4, further comprising a control unit that controls the assembly formation unit and the exterior product formation unit based on the assembly pattern information input in the assembly pattern information input unit. system. The packaging system according to claim 5, wherein the control unit also controls the shrink packaging unit based on the aggregate pattern information. The exterior box in which the small box assembly is inserted in the exterior product forming part is composed of a rectangular bottom part and four side plates connected to the bottom part on each side of the bottom part, and an upper surface is opened. A rectangular parallelepiped box, a partition that bisects the inside of the box, and the upper side edge of the four side plates are connected to the side plate and folded inwardly at the connecting portion. A cardboard box comprising four flap portions forming a lid portion for covering
The inner partition is fixed to an inner surface of one side plate at one end, and extends toward another side plate opposite to the one side plate, and the other end is formed as a free end. It is a box, The packaging system of any one of Claims 1-6. The assembly charging means provided in the exterior product forming unit includes the small box assembly or the shrink wrapping body alternately one by one in the two small chambers partitioned by the partition in the cardboard. The packaging system according to claim 7, wherein charging is sequentially performed from a fixed side. The exterior box in which the small box assembly is inserted in the exterior product forming part is composed of a rectangular bottom part and four side plates connected to the bottom part on each side of the bottom part, and an upper surface is opened. A rectangular parallelepiped box and four flaps that are connected to the side plate at the upper edge of the four side plates and are folded inward at the connection portion to form a lid that covers the opening. A cardboard box comprising
The assembly charging means provided in the exterior product forming unit is configured to insert the small box assembly or the shrink package while pushing the flap portion of the cardboard box outward, or to open the opening in the cardboard box. The packaging system according to any one of claims 4 to 7, wherein the packaging system is inserted while being held in a direction along the diagonal line. Comprising article loading means for loading articles into the outer box according to a predetermined loading pattern;
The article loading means includes a loading inspection means for detecting whether or not the article loaded in the outer box is in a predetermined position during or after the loading of the article. A packaging system characterized by The packaging system according to claim 10, wherein the loading inspection unit is an optical loading inspection unit that optically performs the detection. The article is a small box in which one or a plurality of items to be packaged is accommodated, the presence / absence, position, and size of a header in the small box, and a collective form of the small box according to the size of the small box Is a small box aggregate assembled according to a set pattern showing, and a shrink package formed by shrink wrapping the small box aggregate,
The packaging system according to claim 10 or 11, wherein the charging pattern is set according to the collective pattern. An assembly forming section that aggregates the small boxes according to the assembly pattern to form a small box assembly;
The small box assembly is provided with an exterior product forming section that forms an exterior product by charging the exterior box according to a predetermined insertion pattern,
The exterior product forming part is
An outer box holding means for holding the outer box at a predetermined position, and a set for charging the outer box held by the outer box holding means with the small box aggregate or the shrink package according to the charging pattern. Body charging means,
The assembly charging means includes the small box assembly or the shrink package inserted in the outer box either during or after the small package assembly or the shrink package is inserted. A packaging system comprising a loading inspection means for detecting whether a body is in a predetermined position. The packaging system according to any one of claims 1 to 13, wherein the package is a film case that accommodates a cartridge or a film cartridge, and the small box is a carton that accommodates the film case. A rectangular bottom part and four side plates connected to the bottom part on each side of the bottom part, a rectangular parallelepiped box having an open top surface, and a partition that bisects the inside of the box, A corrugated cardboard box provided with four flaps that are connected to the side plate at the upper edge of the four side plates and that are folded inward at the connecting portion to form a lid that covers the opening. And
The partition is fixed to an inner surface of one side plate at one end, extends toward another side plate opposite to the one side plate, and has the other end formed as a free end. Characteristic cardboard box.

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