JP2008080623A - Box fitting method, box fitting device and outer box manufacturing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To certainly automate the fitting of an inner box and an outer box by inserting the inner box in the outer box by one side. <P>SOLUTION: In a box fitting method, the outer box 9 is held by an outer box holding mechanism 46 and the side surface 9c thereof is pressed by a side surface pressing mechanism 49 to expand the opening part 9a of the outer box 9. The inner box 8 is grasped by an inner box fitting robot to insert the first side 8c of the inner box in the opening part 9a. Subsequently, the inner box 8 is moved in the outer box 9 to be put aside so that the first side 8c is allowed to approach the first side surface 9c of the outer box 9. The shift quantity of the second side 8d of the inner box 8 and the opening part 9a of the outer box 9 is measured by a shift quantity measuring part 47 using imaging and image processing. The inner box 8 is moved on the basis of the measuring result of the shift quantity and the second side 8d thereof is inserted in the opening part 9a. Thereafter, the inner box 8 is pressed to be fitted in the outer box 9. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a box fitting method and apparatus, and an exterior box manufacturing system, and more particularly, a method and apparatus for fitting an inner box into an outer box, an outer box fitted outside the inner box, and The present invention relates to a system for manufacturing an outer box having a lid box.

  Paper packaging boxes are widely used as packaging materials for various products. For example, a conventional X-ray film packaging uses an outer box and a lid box fitted to the outer box (see, for example, Patent Document 1). The outer box is a horizontal box provided with an opening on the upper side, and a bag-packed product in which a plurality of X-ray films are stacked and stored in a packaging bag is stored so that the stacking direction is the vertical direction. The lid box is a horizontal box that is formed to be slightly larger than the outer box and opened at the lower side, and is fitted so as to be placed on the outer box.

  In the manufacturing system described in Patent Document 1, the outer box and the lid box are each manufactured by a box making machine, and the storage of the bag-packed product in the outer box and the fitting of the lid box to the outer box are automatically performed. When fitting the lid to the outer box, the side of the outer box is pressed by the fin holding member to correct the deformation of the outer box, and the lid box is fitted from above the fin holding member. The holding member is removed.

  In addition, the present X-ray film packaging uses an outer box in which a bag-packed product is stored upright from an upper opening. The outer box is composed of a vertical inner box in which bag-packed items are stored, an outer box that covers the lower part of the inner box, and a lid box that covers the upper part of the inner box. This exterior box has a form called a so-called stamp box, and the light shielding property is enhanced by stacking a plurality of boxes.

The outer box, outer box, inner box, and lid box are manufactured by outer box box machine, inner box box machine, and lid box box machine, respectively. The lid box is fitted manually. The reason why the boxes are manually engaged is that the gaps between the boxes are made small in order to improve the light shielding property. This is because there is no gap for inserting the pressing member.
JP 09-048369 A

  However, manual fitting of the outer box, inner box, and lid box is very inefficient and requires a lot of manpower, which increases the manufacturing cost and reduces the cost of the outer box. There is a limit.

  In addition, when the outer box, inner box, and lid box are manufactured by a box making machine and each box is manually fitted, the box manufactured by each box making machine is different due to the difference in work speed and work mode. Although it will be stocked and supplied to the mating operation, there is a problem that the cost of the outer box increases due to the quantity control of these boxes and the space for stocking.

  In order to solve the above problems, the present invention provides a box fitting method and apparatus capable of automating the fitting of each box, and an exterior box manufacturing system.

  In order to solve the above problems, the box fitting method of the present invention includes a step of inserting the first side of the inner box into the opening of the outer box, the first side by moving the inner box or the outer box, A step of bringing the first side of the outer box facing the first side close, a step of measuring the amount of deviation between the second side of the inner box facing the first side and the opening; It comprises a step of correcting the amount of displacement by moving the second side, a step of inserting the second side into the opening, and a step of fitting the inner box and the outer box. In the step of fitting the inner box and the outer box, the inner box or the outer box may be pressed to fit the inner box and the outer box.

  Further, the step of measuring the amount of misalignment includes a step of imaging a side surface of the inner box connected to the second side and a side surface of the outer box corresponding to the side surface to create a side image, and a side image. A binarized image is created by binarization, and the amount of deviation between the opening and the second side is calculated from the coordinate value of the binarized image.

  Furthermore, the step of expanding the width of the opening is performed before the step of inserting the first side into the opening, and the step of returning the opening to the original width after the insertion of the second side with respect to the opening is performed. Is.

  Further, the step of widening the width of the opening is such that at least one of the two side surfaces of the outer box facing the first side is pressed inward, and the other side surface between the two side surfaces is curved outward. It is a thing.

  Also, during the process of fitting the inner box and the outer box, the step of applying an adhesive to the side surface of the inner box, and when the portion of the inner box to which the adhesive has been applied is inserted into the outer box A step of expanding the portion to prevent the adhesive from adhering to the edge of the outer box is provided.

  Moreover, after fitting an inner box and an outer box, the process of pressing the site | part which faces the adhesive material of an outer box is provided.

  Further, the box fitting device of the present invention includes a box holding means for holding the outer box or the inner box, and holding and moving the inner box or the outer box, and the first side of the inner box at the opening of the outer box, The second side facing the first side is inserted in order, the box fitting means for pressing the inner box or the outer box to fit the inner box and the outer box, and the first side inserted into the opening After the inner box or the outer box is moved, the first side and the first side of the outer box facing the first side are moved closer to each other, and the second side to the opening And a displacement amount measuring means for measuring a displacement amount between the opening and the second side when inserting. Then, the box fitting means moves the inner box or the outer box so that the amount of deviation is reduced before the second side is inserted into the opening.

  Further, the deviation amount measuring means includes an imaging unit that captures an image of the side surface of the inner box connected to the second side and the side surface of the outer box corresponding to the side surface to create a side image, and two side images. A binarized image is created by binarization, and the image processing unit is configured to calculate the amount of deviation between the second side and the opening from the coordinate value of the binarized image.

  Further, the shifting means includes a robot hand that holds the inner box or the outer box, a first position that is used when holding the inner box or the outer box, and a first side that brings the first side close to the first side surface. A slide mechanism that slidably holds the robot hand between the two positions, a hand holding mechanism that holds the robot hand at the first position, and a spring that biases the robot hand toward the second position. It is composed.

  For example, a multi-axis robot having a robot hand and a robot arm that moves the robot hand is used as the box fitting means.

  In addition, an opening widening means is provided that widens the opening when the first side is inserted into the opening, and returns the width of the opening after the first side is inserted. The opening widening means includes a side surface pressing mechanism that presses the first side surface inward, and a receiving portion that contacts the second side surface facing the first side and receives the pressure by the side surface pressing mechanism, The side surface between the first side surface and the second side surface is curved outward.

  Furthermore, an adhesive application means for applying an adhesive to the side surface of the inner box is provided in the middle of fitting the inner box and the outer box.

  Further, after the inner box and the outer box are fitted together, a joining means is provided that presses and joins the portion of the outer box facing the adhesive.

  Furthermore, the outer box manufacturing system of the present invention includes an outer box box making apparatus for manufacturing an outer box, an inner box box making apparatus for manufacturing an inner box, and an outer box taken out from the outer box box making apparatus. It is comprised from the box fitting apparatus which fits the inner box taken out from the box making apparatus, and uses the box fitting apparatus in any one of Claims 7-14 as a box fitting apparatus.

  In another outer box manufacturing system, an outer box box making apparatus for manufacturing an outer box, an inner box box manufacturing apparatus for manufacturing an inner box, a lid box box manufacturing apparatus for manufacturing a lid box, and an outer box A holding device that carries and holds, an outer box removing device that takes out the outer box from the outer box box making device and sets it in the conveying device, an inner box that is taken out from the inner box box making device, and has been transferred by the conveying device An outer box fitting device that fits into the outer box, and a lid box fitting device that takes out the lid box from the lid box box making device and fits the lid box into the inner box that has been transported by the transport device, The box fitting device according to any one of claims 7 to 14 is used as the inner box fitting device, and the box fitting device according to any one of claims 7 to 10 is used as the lid box fitting device.

  According to the present invention, since the inner box is inserted into the outer box one side at a time, the inner box and the outer box can be reliably fitted by an automatic machine. In addition, since the inner box is aligned in the outer box after inserting one side, it can be smoothly inserted one by one. Furthermore, when inserting the second side, the amount of deviation between the inner box and the outer box is measured, and the position of the box is corrected so that this amount of deviation is smaller. It is possible to prevent the edges from colliding with each other and being damaged. Further, since the measurement of the amount of deviation is performed in a non-contact manner by imaging, the box does not move during measurement.

  Further, since the outer box is widened when the inner box is inserted into the outer box, the inner box can be reliably inserted into the outer box even if there is a slight misalignment. Since this widening is a simple configuration that presses the side surface of the outer box, it can be applied at low cost and high operational reliability can be obtained.

  Furthermore, since the adhesive is applied in the middle of fitting the inner box to the outer box, it is not necessary to provide a separate step of applying the adhesive, and the fitting time can be shortened.

  As shown in FIGS. 1 and 2, a paper outer box 2 for wrapping an X-ray film is covered with a vertical box body 3 having an opening 3 a formed in the upper portion, and an upper portion of the box body 3. It is comprised with the lid box 4 in which the opening part 4a was formed. In the box body 3, a packaged product 5 in which a plurality of X-ray films are stored in a packaging bag is stored from the opening 3 a, and a lid box 4 is fitted so as to seal the box body 3. The packaged product 5 is formed by folding a packaging sheet in which a packaging bag is developed into a sheet, sandwiching a plurality of X-ray films, and joining and sealing three sides of the packaging sheet. The fin portion 5 a generated on the outer periphery of the bag-packed product 5 by this joining is folded and stored in the box body 3.

  As shown in FIG. 3, the box body 3 is composed of an inner box 8 in which the bag-packed product 5 is stored, and an outer box 9 that covers the outer side of the inner box 8 from below and covers the inner box 8. In addition, the outer box 9 and the lid box 4 are covered on the outer side of the inner box 8 to be multi-layered to enhance the light shielding property.

  The inner box 8 is formed of thick corrugated paper to protect the bag-packed product 5 from impacts and the like, and has a height dimension that can accommodate the entire bag-packed product 5. The outer box 9 has an opening 9 a into which the inner box 8 is inserted at the upper part, and the height dimension is smaller than that of the inner box 8. Therefore, the upper part of the inner box 8 protrudes from the opening 9 a of the outer box 9, and the lid box 4 is put on the protruding part of the inner box 8. One corner 8f at the upper end of the inner box 8 is cut out in an arc shape so that the stored bag 5 can be easily taken out and the inner box 8 can be easily covered with the lid box 4.

  As shown in FIGS. 4 and 5, the outer box manufacturing system 12 of the present invention includes an outer box box making device 13, an inner box manufacturing device 14, and a lid box for manufacturing an outer box 9, an inner box 8, and a lid box 4, respectively. The outer box take-out robot 17 that takes out the outer box 9 from the manufacturing device 15, the outer box box making device 13 and supplies it to the transport device 16, and the inner box 8 is taken out from the inner box fitting device 14 and fitted into the outer box 9. An inner box fitting device 18, a lid box fitting device 19 that takes out the lid box 4 from the lid box fitting device 15 and fits the inner box 8, and a control device 20 that controls the outer box manufacturing system 12. The robot controller 21 is configured to control the outer box take-out robot 17 and the like.

  The outer box box making apparatus 13, the inner box box making apparatus 14, and the lid box box making apparatus 15 fold the blank sheet formed in a developed shape with cardboard or cardboard paper along the folding line and adhere to the joining flap at the end. The outer box 9, the inner box 8, and the lid box 4 are manufactured by applying and bonding materials. Further, in the lid box making device 4, the lid box 4 is completed with the opening 4a facing upward, but the opening 4a faces downward so that it can be easily fitted into the inner box 8. Invert. These box making apparatuses 13 to 15 can cope with the manufacture of multi-size outer boxes, inner boxes, and lid boxes by exchanging molds for folding blank sheets.

  The outer box take-out robot 17 is a multi-axis robot composed of a robot hand 25 that sandwiches and holds the outer box 9 and a multi-axis arm 26 that moves the robot hand 25, and constitutes the outer box take-out device of the present invention. To do. The outer box take-out robot 17 takes out the outer box 9 manufactured by the outer box box making apparatus 13 and supplies it to the transfer device 16. When the outer box 9 is held by the transfer device 16, the holding by the robot hand 25 is released. Then, the robot hand 25 is moved to the outer box box making device 13 in order to take out the next outer box 9.

  The transport device 16 transports the outer box 9 supplied from the outer box take-out robot 17 in the transport direction X1. During the transfer, the outer box supply stage 30 to which the outer box 9 is supplied from the outer box take-out robot 17, the inner box fitting stage 31 in which the inner box 8 is fitted to the outer box 9, and the inner box 8 The height is measured to inspect the fitting state of the inner box 8 with respect to the outer box 9, the first inspection stage 32 that presses the outer box 9 and the inner box 8 to press the adhesive, and the inner box 8 is covered A lid box fitting stage 33 to which the box 4 is fitted, and a second inspection stage 34 for inspecting the height of the completed outer box 2 to identify the type and discharging from the outer box manufacturing system are provided. .

  As shown in FIG. 6, the transport device 16 is slidable in a transport direction X1 and a return direction X2 on the pair of guide rails 37 arranged along the transport direction X1 and on these guide rails 37. A pair of slide rails 38, and a pair of adjustment rails 39 that are mounted on the slide rails 38 so that the mounting positions in the X1 and X2 directions can be adjusted. 37 is movable in the width directions W1 and W2 orthogonal to the transport direction X1. On each slide rail 38 and each adjustment rail 39, a plurality of back side side clamps 40 and front side side clamps 41 are attached to hold the front and back of the outer box 9 from the side. The outer box 9 is placed on the adjustment rail 39 and conveyed. Between the pair of guide rails 37, a plurality of box holding pieces 42 that are vertically movable are arranged.

  The pair of guide rails 37 are moved in the width direction W1 when the outer box 9 is supplied. When the outer box 9 is supplied between the guide rails 37, as shown in FIG. 7A, the pair of guide rails 37 are moved in the width direction W2, and the rear side clamp 40 and the front side clamp 41 are Sandwiches the front and back of the outer box 9 from the side. The distance between the rear side clamp 40 and the front side clamp 41 can be adjusted according to the size of the box by moving the adjustment rail 39 in the directions X1 and X2.

  As shown in FIG. 7B, the pair of slide rails 38 are slid in the transport direction X1, and the outer box 9 is transported in the same direction. Next, the plurality of box holding pieces 42 are raised from below. These box holding pieces 42 are members whose positions are adjusted in accordance with the thickness dimension of the outer box 9, and hold the outer box 9 between the back side side clamp 40 and the front side side clamp 41.

  As shown in FIG. 7C, the guide rail 37 is moved in the width direction W1, the holding of the outer box 9 by the back side side clamp 40 and the front side side clamp 41 is released, and then the slide rail 38 returns to the return direction. By moving to X2, the back side side clamp 40 and the front side side clamp 41 in the first row return to the positions shown in FIG.

  Thereafter, a new outer box 9 is supplied between the rear side clamp 40 and the front side clamp 41 in the first row, the guide rail 37 moves in the width direction W2 and the rear side clamp 40 and the front side clamp are moved. The two outer boxes 9 are held at 41, and the box holding piece 42 is lowered. Thereafter, by repeating the operations of FIGS. 7B to 7D, the plurality of outer boxes 9 are sequentially conveyed.

  As shown in FIG. 8, the inner box fitting device 18 includes an inner box fitting robot 45 disposed in the vicinity of the inner box fitting stage 31 and an outer box that holds the outer box 9 by the outer box fitting stage 31. A holding mechanism 46, a shift amount measuring unit 47 for measuring a positional shift between the inner box 8 and the outer box 9, an adhesive application mechanism 48 for applying an adhesive to the side surface of the outer box 8, and the inner box 8 as the outer box A side pressing mechanism 49 that widens the width of the opening 9a of the outer box 9 when inserted into the outer box 9, and a bonding mechanism that presses the side surfaces of the outer box 9 and the inner box 8 with the first inspection stage 32 to press the adhesive. 50.

  As shown in FIG. 5, the inner box fitting robot 45 is the same as the outer box take-out robot 17 described above, and a robot hand 53 that holds the inner box 8 manufactured by the inner box box making apparatus 14, It is a multi-axis robot composed of a robot arm 54 that moves the robot hand 53 to fit the inner box 8 to the outer box 9, and constitutes a box fitting means. The inner box fitting robot 45 is controlled by the robot controller 21.

  9 and 10 show a fitting procedure of the inner box 8 by the inner box fitting device 18. In addition, in order to avoid complication of drawing, the back side side clamp 40 and the front side side clamp 41 are not illustrated.

  As shown in FIG. 9A, the outer box 9 is placed on each adjustment rail 39 of the transfer device 16 and transferred from the outer box supply stage 30 to the inner box fitting stage 31. The outer box holding mechanism 46 constituting the receiving part of the box holding means and the opening widening means and the side surface pressing mechanism 49 of the opening widening means are arranged on the inner box fitting stage 31. The outer box holding mechanism 46 and the side surface pressing mechanism 49 are movable in the width directions W1 and W2, and the outer box 9 is conveyed to the inner box fitting stage 31 as shown in FIG. The second side surface 9b side of the outer box 9 is sandwiched and held by the outer box holding mechanism 46, and the first side surface 9c of the outer box 9 is pressed by the side surface pressing mechanism 49. Thereby, the front surface 9d and the back surface 9e of the outer box 9 are curved outward, and the width of the upper opening 9a is expanded.

  As shown in FIG. 9C, the adhesive application mechanism 48, which is an adhesive application means, is in the middle of transporting the inner box 8 taken out from the inner box box making apparatus 14 to the inner box fitting stage 31. An adhesive 57 is applied to the front surface 8a and the back surface 8b of the inner box 8. For the adhesive material 57, for example, a thermoplastic plastic is used.

  As shown in FIG. 9D, the inner box fitting robot 45 first inserts the first side 8c of the bottom surface of the inner box 8 into the opening 9a of the outer box 9, and then faces the first side 8c. Insert the second side 8d. Since the opening 9a is widened by the pressing of the side surface pressing mechanism 49, the first side 8c can be easily inserted even if a slight positional deviation occurs. Thereafter, as shown in FIG. 5E, the pressing by the side pressing mechanism 49 is released, and the width of the opening 9a is returned to the original state. The inner box fitting robot 45 is provided with a shift mechanism that moves the inner box 8 within the outer box 9 so that the first side 8c of the inner box 8 is shifted to the first side surface 9c of the outer box 9. It has been.

  As shown in FIG. 11, the one-sided mechanism 60 is attached to the substantially L-shaped bracket 61 attached to the tip of the robot arm 54 and the bent inner surface of the bracket 61, and the robot hand 53 is shown in FIG. A slide guide 62 that slidably holds between a first position shown in FIG. 2 and a second position shown in FIG. 5B, and an air cylinder that is a hand holding mechanism that holds the robot hand 53 in the first position. 63 and a spring 64 that urges the robot hand 53 toward the second position.

  The side alignment mechanism 60 takes out the inner box 8 from the inner box box making apparatus 18 and moves the robot hand 53 to the first position by the air cylinder 63 until the first side 8 c of the inner box 8 is inserted into the opening 9 a of the outer box 9. Is held in the position. When the first side 8c is inserted into the opening 9a, air is extracted from the air cylinder 9a, so that the robot hand 53 is slid to the second position by the bias of the spring 64. As a result, the first side 8 c is offset to the first side surface 9 c of the outer box 9.

  As shown in FIG. 9 (F), the deviation amount measuring unit 47 is configured such that the second side 8 d facing the first side 8 c of the inner box 8 and the second side surface 9 b of the outer box 9 after the inner box 8 is offset. Measure the amount of deviation. The deviation amount measuring unit 47 images the side surface 8e connected to the second side 8d of the inner box 8 and the second side surface 9b of the outer box 9 to form a side image, and the side image. A binarized image is generated by binarization, and the image processing circuit 68 calculates the amount of deviation between the second side 8d and the second side surface 9b from the coordinate value of the binarized image.

  As shown in FIG. 12A, by capturing an image with the imaging camera 67, side images of the side surface 8 e of the inner box 8 and the second side surface 9 b of the outer box 9 are created. The side image is input to the image processing circuit 68, and a black and white binary image is created based on the brightness of the image. As shown in FIG. 5B, the image processing circuit 68 sets the upper end of the second side surface 9b of the outer box 9 as points a and b, and sets the lower end of the side surface 8e of the inner box 8 as points c and d. Then, distances A to D to the reference line L set in advance are calculated from the coordinate values of these points a to d. Next, B-A and DC are calculated, and the coordinate values of the center point X of the outer box 9 and the center point Y of the inner box 8 are calculated. Then, the amount of deviation Z between the outer box 9 and the inner box 8 is calculated by calculating XY.

  Next, as shown in FIG. 12 (C), the inner box fitting robot 45 moves the inner box 8 so that the displacement amount Z becomes smaller, and as shown in FIG. The side 8d is inserted into the opening 9a of the outer box 9.

  As shown in FIG. 10E, the joining mechanism 50 includes a pressing plate 71 that sandwiches the outer box 9 from the front side and the back side, and is provided on the first inspection stage 32. The pressing plate 71 presses the adhesive material 57 to crimp the outer box 9 and the inner box 8 together. In the case of a large-sized exterior box, a guide for receiving pressure is inserted into the inner box 8.

  As shown in FIG. 13, the lid box fitting device 19 includes a lid box fitting robot 75 disposed in the vicinity of the lid box fitting stage 33 and an outer box that holds the outer box 9 by the lid box fitting stage 33. A holding mechanism 76 and a shift amount measuring unit 77 that measures a positional shift between the inner box 8 and the lid box 4 are provided.

  As shown in FIG. 5, the lid box fitting robot 75 is similar to the inner box fitting robot 45 described above, and a robot hand 80 that holds the lid box 4 manufactured by the lid box boxing device 15; It is a multi-axis robot composed of a robot arm 81 for moving the robot hand 80 to fit the lid box 4 to the inner box 8 and constitutes a box fitting means. The lid box fitting robot 75 is controlled by the robot controller 21. Although not shown in detail, the lid box fitting robot 75 is provided with a side-shift mechanism similar to the inner box fitting robot 45.

  FIG. 14 shows a fitting procedure of the lid box 4 by the lid box fitting device 19. In addition, in order to avoid complication of drawing, the back side side clamp 40 and the front side side clamp 41 are not illustrated. Further, since the outer box holding mechanism 76 and the deviation amount measuring unit 77 are the same as the outer box holding mechanism 46 and the deviation amount measuring unit 47 of the inner box fitting device 18, detailed description thereof is omitted.

  Next, the effect | action of the said embodiment is demonstrated with reference to FIGS. The outer box take-out robot 17 shown in FIGS. 4 and 5 takes out the completed outer box 9 from the outer box box making device 13 and supplies it to the outer box supply stage 30 of the transport device 16. As shown in FIGS. 6 and 7, the transport device 16 sandwiches the adjustment outer box 9 between the rear side clamp 40 and the front side clamp 41 and transports the adjustment rail 39 on the X1 direction.

  When the outer box 9 reaches the inner box fitting stage 31 as shown in FIG. 9A, the outer box 9 is sandwiched and held by the outer box holding mechanism 46 as shown in FIG. The first side surface 9 c of the outer box 9 is pressed by the pressing mechanism 49. Thereby, the front surface 9d and the back surface 9e of the outer box 9 are curved outward, and the opening 9a is widened.

  The inner box fitting robot 45 of the inner box fitting device 18 takes out the completed inner box 8 from the inner box box making device 14 and conveys it to the inner box fitting stage 31. On the way, as shown in FIG. 9C, an adhesive 57 is applied to the front surface 8a and the back surface 8b of the inner box 8.

  As shown in FIG. 9D, the inner box fitting robot 45 inserts the first side 8c of the inner box 8 into the opening 9a of the outer box 9, and as shown in FIG. The inner box 8 is moved so that the side 8c is close to the first side surface 9c of the outer box 9. When the inner box 8 is moved, a shift mechanism 60 shown in FIG. 11 is used.

  Since the first side 8c of the inner box 8 is inserted into the widened opening 9a, it can be easily inserted even if there is a slight misalignment. Further, when moving the robot arm 54 to move the inner box 8 away, the inner box 8 must be extracted from the outer box 9 and reinserted, which takes time. However, the use of the one-side mechanism 60 eliminates the need to move the robot arm 54, so that the one-side operation can be performed in a short time. Further, since the urging force of the spring 64 is set to such an extent that the outer box 9 cannot be held by the pressing of the inner box 8, the outer box 9 does not move.

  As shown in FIGS. 9F and 12, the deviation amount measuring unit 47 measures the deviation amount between the second side 8 d of the inner box 8 and the second side surface 9 b of the outer box 9. The inner box fitting robot 45 moves the inner box 8 so that the calculated shift amount Z becomes smaller. Then, as shown in FIG. 10A, the second side 8d of the inner box 8 is inserted into the opening 9a. In this way, since the displacement between the inner box 8 and the outer box 9 is measured and the inner box 8 is inserted into the outer box 9, it can be reliably inserted in a short time. Moreover, since it can prevent that the edge of the inner box 8 and the outer box 9 collides, damage to a box can be prevented.

  As shown in FIG. 10B, the insertion of the inner box 8 is temporarily stopped immediately before the adhesive 57 reaches the outer box 9, and the opening 9 a is widened by the side surface pressing mechanism 49. And the inner box 8 is inserted to the bottom of the outer box 9, as shown to the figure (C) and (D). Thereby, it can prevent that the adhesive material 57 adheres to the opening part 9a of the outer case 9. FIG.

  The outer box 9 in which the inner box 8 has been fitted is transported to the first inspection stage 32 by the transport device 16. In the first inspection stage, the height of the inner box 8 is measured to determine whether or not the fitting is appropriate. Furthermore, the front plate 9d and the back plate 9e of the outer box 9 are pressed by the pressing plate 71 of the joining mechanism 50, and the adhesive material 57 is pressed.

  The outer box 9 fitted with the inner box 8 is conveyed to the lid fitting stage 33 by the conveying device 16 and is held by the outer box holding mechanism 76 as shown in FIG. The lid box fitting robot 75 of the lid box fitting device 19 takes out the completed lid box 4 from the lid box box making device 15 and conveys it to the lid box fitting stage 33. Then, as shown in FIG. 5B, the central portion of the opening 4 a having the widest width is inserted into the third side 8 e at the upper end of the inner box 8. As shown in FIG. 5C, the lid box 4 is offset with respect to the inner box 8 by using the offset mechanism provided in the lid box fitting robot 75.

  As shown in FIG. 4D, the amount of deviation between the opening 4a of the lid box 4 and the corner 8f facing the third side 8e of the inner box 8 is measured using a deviation amount measuring unit 77, and this deviation is measured. The lid box 4 is moved so that the amount becomes small. And as shown to the same figure (E), opening 4a is inserted in the corner | angular part 8f, and as shown to the same figure (F), the cover box 4 is pressed and the inner box 8 is inserted to the back. As described above, since the displacement is measured and inserted in the fitting between the lid box 4 and the inner box 8, it can be reliably inserted in a short time. Moreover, damage to the box can be prevented.

  The exterior box 2 completed by fitting the lid box 4 is transported to the second inspection stage 34, where height inspection and product identification are performed. The outer box 2 that has been inspected is discharged from the outer box manufacturing system 12. By repeating the operation described above until the planned number of production boxes is satisfied, a large number of exterior boxes 2 can be manufactured. Further, since the fitting is continuously performed after the outer box 9, the inner box 8, and the lid box 4 are boxed, the quantity management of these boxes, the space for stocking, and the like can be saved.

  In the above embodiment, an outer box, an inner box, and an outer box having a lid box have been described as an example. However, an outer box made up of an inner box and an outer box, and an outer box made up of a large number of boxes fitted. It can also be applied to manufacturing. Moreover, although the X-ray film outer box has been described as an example, the present invention can be applied to other product outer boxes.

It is a perspective view which shows the external appearance shape of the exterior box manufactured by this invention. It is a disassembled perspective view which shows the structure of an exterior box. It is a disassembled perspective view which shows the structure of a box main body. It is a block diagram which shows the structure of an exterior box manufacturing system. It is the schematic which shows the structure of an exterior box manufacturing system. It is an external appearance perspective view which shows the structure of a conveying apparatus. It is explanatory drawing which shows the operation | movement procedure of a conveying apparatus. It is a block diagram which shows the structure of an inner box fitting apparatus. It is explanatory drawing which shows the insertion procedure of the inner box with respect to an outer box. It is explanatory drawing which shows the fitting procedure of the inner box with respect to an outer box. It is a front view which shows the structure and operation state of a one-sided mechanism. It is explanatory drawing which shows the measurement procedure of the deviation | shift amount by a deviation | shift amount measurement part. It is a block diagram which shows the structure of a lid box fitting apparatus. It is explanatory drawing which shows the fitting procedure of the lid box with respect to an inner box. It is a flowchart which shows the manufacturing procedure of an exterior box. It is a flowchart which shows the fitting procedure of an inner box. It is a flowchart which shows the fitting procedure of a lid box.

Explanation of symbols

DESCRIPTION OF SYMBOLS 2 Outer box 3 Box main body 4 Cover box 5 Packing goods 8 Inner box 9 Outer box 12 Outer box manufacturing system 13 Outer box box making device 14 Inner box box making device 15 Cover box box making device 16 Conveying device 17 Outer box taking out robot DESCRIPTION OF SYMBOLS 18 Inner box fitting apparatus 19 Cover box fitting apparatus 20 Control apparatus 21 Robot controller 45 Inner box fitting robot 46 Outer box holding mechanism 47 Displacement amount measurement part 48 Adhesive material application mechanism 49 Side surface pressing mechanism 50 Joining mechanism 53 Robot hand 54 Robot Arm 60 Alignment mechanism 62 Slide guide 63 Air cylinder 64 Spring 67 Imaging camera 68 Image processing circuit

Claims (16)

Inserting the first side of the inner box into the opening of the outer box;
Moving the inner box or the outer box to bring the first side close to the first side surface of the outer box facing the first side;
Measuring the amount of deviation between the second side of the inner box facing the first side and the opening;
Moving the second side to correct a shift amount;
Inserting the second side into the opening;
A box fitting method comprising a step of fitting the inner box and the outer box. The step of measuring the amount of deviation includes a step of imaging a side surface of the inner box connected to the second side and a side surface of the outer box corresponding to the side surface to create a side image;
The method includes: binarizing the side surface image to create a binarized image, and calculating a deviation amount between the opening and the second side from the coordinate value of the binarized image. Item 1. A box fitting method according to Item 1. Performed before the step of inserting the first side into the opening, and widening the width of the opening;
The box fitting method according to claim 1, further comprising a step of returning the opening to an original width, which is performed after the second side is inserted into the opening.   The step of expanding the width of the opening includes pressing at least one of the two side surfaces of the outer box facing the first side inward, and bringing the other side surface between the two side surfaces outward. The box fitting method according to claim 3, further comprising a step of bending. In the middle of fitting the inner box and the outer box, applying an adhesive to the side surface of the inner box,
Expanding the opening to prevent the adhesive from adhering to the edge of the outer box when a portion of the inner box to which the adhesive has been applied is inserted into the outer box. The box fitting method according to claim 1, wherein the box is fitted.   6. The box fitting method according to claim 5, further comprising a step of pressing a portion facing the adhesive of the outer box after fitting the inner box and the outer box. A box holding means for holding the outer box or the inner box;
The inner box or the outer box is held and moved, and a first side of the inner box and a second side facing the first side are sequentially inserted into the opening of the outer box, A box fitting means for pressing the outer box to fit the inner box and the outer box;
After the first side is inserted into the opening, the inner box or the outer box is moved so that the first side and the first side surface of the outer box facing the first side are A close-up means for bringing them close together,
A displacement amount measuring means for measuring a displacement amount between the opening and the second side when inserting the second side into the opening;
The box fitting device is characterized in that the box fitting means moves the inner box or the outer box so as to reduce the amount of deviation before inserting the second side into the opening. The deviation amount measuring unit is configured to capture an image of the side surface of the inner box connected to the second side and the side surface of the outer box corresponding to the side surface to create a side image;
An image processing unit that binarizes the side surface image to create a binarized image and calculates a deviation amount between the second side and the opening from the coordinate value of the binarized image. The box fitting device according to claim 7. The biasing means includes a robot hand that holds the inner box or the outer box,
A slide that slidably holds the robot hand between a first position used when holding the inner box or the outer box and a second position where the first side is close to the first side surface. Mechanism,
A hand holding mechanism for holding the robot hand in a first position;
The box fitting device according to claim 7, further comprising a spring that biases the robot hand toward the second position.   The box fitting apparatus according to claim 9, wherein a multi-axis robot having the robot hand and a robot arm that moves the robot hand is used as the box fitting means.   An opening widening means that widens the opening when the first side is inserted into the opening and returns the width of the opening to the original after the first side is inserted. The box fitting apparatus in any one of claim | item 7 -10.   The opening widening means includes a side surface pressing mechanism that presses the first side surface inward, and a receiving portion that contacts the second side surface facing the first side and receives the pressure by the side surface pressing mechanism. The box fitting device according to claim 11, wherein a side surface between the first side surface and the second side surface is curved outward.   The box fitting device according to any one of claims 7 to 12, further comprising adhesive application means for applying an adhesive to a side surface of the inner box in the middle of fitting the inner box and the outer box.   14. The box fitting device according to claim 13, further comprising joining means for joining the inner box and the outer box by pressing a portion facing the adhesive of the outer box after the inner box and the outer box are fitted. In an outer box manufacturing system having an inner box in which an interior product is stored and an outer box fitted to the outside of the inner box,
An outer box making apparatus for manufacturing the outer box;
An inner box box making apparatus for manufacturing the inner box;
A box fitting device for fitting the inner box taken out from the inner box box making device to the outer box taken out from the outer box box making device;
The box fitting device according to any one of claims 7 to 14 is used as the box fitting device. A system for manufacturing an outer box having an inner box in which an inner product is stored, an outer box fitted to cover the lower part of the inner box, and a lid box fitted to cover the upper part of the inner box In
An outer box making apparatus for manufacturing the outer box;
An inner box box making apparatus for manufacturing the inner box;
A lid box box making apparatus for producing the lid box;
A transport device that holds and transports the outer box;
An outer box take-out device that takes out the outer box from the outer box box making device and sets it in the transport device;
An outer box fitting device that takes out the inner box from the inner box box making apparatus and fits the inner box to the outer box that has been conveyed by the conveying device;
A lid box fitting device for taking out the lid box from the lid box box and fitting the lid box to the inner box that has been transported by the transport device;
The box fitting device according to any one of claims 7 to 14 is used as the inner box fitting device, and the box fitting device according to any one of claims 7 to 10 is used as the lid box fitting device. An exterior box manufacturing system.

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