JP2011046524A - Carrying device and carrying method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To carry a box body while preventing the fall-off of a storage object with a surface for taking in an out the storage object as the lower side without sealing a flap of its surface. <P>SOLUTION: This carrying device of the box body 200 having a pair of right and left freely openable/closable flaps 201 on a bottom surface includes a holding unit 10 for holding the box body 200 and a holding unit moving means. The holding unit 10 has a lifting means 11 for holding the box body 200 at an upper surface or a side surface of the box body 200 and lifting the box body 200, a pair of abutting members 14 for regulating openings of the flaps 201 by abutting on the pair of respective flaps 201, and an abutting member opening/closing operation means 12 for moving the pair of abutting members between an opening regulating position for regulating the openings of the flaps 201 when the pair of abutting members 14 mutually approach under the box body and an opening allowable position for allowing the openings of the flaps when the pair of abutting members separate form each other under the box body. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technique for conveying a box.

  In conveying a conveyance object, a conveyance apparatus that holds and conveys the conveyance object with a mechanical hand has been proposed (Patent Documents 1 and 2). In this type of transport device, there is a transport device that directly grips and transports a transport object, and also transports a box containing the transport object. An apparatus for conveying a box conveys a box such as a cardboard box containing flaky raw materials. Then, a plurality of boxes are stacked on a pallet, the pallets are collectively transported to a predetermined position, and the stacked boxes are sequentially taken out from above and transported to a downstream process.

JP-A-7-256582 JP-A 61-263524

  When transporting an object to be transported in a box body, generally, the surface on which the object to be transported is taken in and out for reasons such as preventing the transported object from falling off, and the flap on the surface is sealed with tape or metal fittings. Stop. However, if the flap is sealed with a tape, metal fittings, etc., the box may be damaged when the tape is peeled off at the time of opening. In addition, when the box is stacked on a pallet without sealing the flap of the surface with the surface on which the object to be transported is put in and out, the flap on the upper surface of the box stacked on the upper side naturally opens. Sometimes get up. For this reason, when different boxes are stacked on top of each other, it is necessary to close the flaps before stacking, which reduces the efficiency of the stacking operation. Furthermore, it is necessary to devise measures for preventing the uppermost flap from being opened so that the flaps of the boxes stacked on the uppermost stage do not open.

  An object of the present invention is to convey the box body with the surface on which the contents are taken in and out being the lower side, without sealing the flap on the surface, and preventing the contents from falling off.

  According to the present invention, there is provided a box conveyance device having a pair of left and right flaps that can be freely opened and closed, the holding unit holding the box, and holding unit moving means for moving the holding unit. The holding unit holds the box on an upper surface or a side surface of the box and lifts and lowers the box, and a pair of contacts that abut against each of the pair of flaps and restrict the opening of the flaps. The contact member, the opening restriction position where the pair of contact members are close to each other below the box and restrict the opening of the flap, and the pair of contact members are separated from each other below the box. There is provided a conveying apparatus comprising: a contact opening / closing operation unit that moves the pair of contact members between an opening allowable position that allows opening of the flap.

  According to the present invention, there is also provided a method of transporting a box having a pair of left and right flaps that can be opened and closed on the bottom surface, the box being held, and the pair of flaps being opened from the mounting surface of the box. An ascending step for raising within a range that does not, a first disposing step for disposing each of the pair of abutting members that respectively abut against the pair of flaps at an opening restricting position for restricting the opening of the flap, and the pair of abutting In a state where the member is disposed at the opening restriction position, a transporting step of transporting the box to a transport destination, and after the box reaches the transport destination, each of the pair of abutting members is connected to the flap. And a second disposing step of disposing at a permissible open position. A method for transporting a box is provided.

  According to the present invention, it is possible to transport the box body with the surface on which the contents are taken in and out being the lower side, without sealing the flaps on the surface, and while preventing the contents from falling off.

The top view of the conveying apparatus A which concerns on one Embodiment of this invention. The side view of the conveying apparatus A. FIG. (A) And (B) is a perspective view of the box 200. (A) thru | or (C) are explanatory drawings of the usage example of the box 200. FIG. FIG. 4 is a side view of the holding unit 10. (A) is sectional drawing which follows the line II of FIG. 5, (B) is explanatory drawing of the opening-closing operation unit 12. FIG. (A) thru | or (C) are explanatory drawings of the opening / closing action | operation unit 12. FIG. The perspective view of the positioning member 109. FIG. The block diagram of the control part 30. FIG. (A) And (B) is operation | movement explanatory drawing of the holding | maintenance unit 10. FIG. (A) And (B) is operation | movement explanatory drawing of the holding | maintenance unit 10. FIG. (A) And (B) is operation | movement explanatory drawing of the holding | maintenance unit 10. FIG. (A) thru | or (C) is operation | movement explanatory drawing of the opening / closing operation | movement unit 12. FIG.

<Overall configuration>
FIG. 1 is a plan view of a transfer apparatus A according to an embodiment of the present invention, and FIG. 2 is a side view of the transfer apparatus A. In the figure, X and Y indicate horizontal directions orthogonal to each other, and Z indicates a vertical direction. The transport device A is a device that transports the box body 200 and includes a holding unit 10 that holds the box body 200 and a gantry-type moving device 20 that moves the holding unit 10. In the example of FIGS. 1 and 2, the transport device A transports the stacked boxes 200 onto the processing device 1, drops the contents of the boxes 200 onto the hopper 1 a of the processing device 1, and then The example which conveys the box 200 which became will be conveyed to the collection box 2 is shown. The processing apparatus 1 is, for example, an injection molding machine, and a flaky resin material that is a raw material for injection molding is accommodated in the box 200.

  The moving device 20 includes a pair of guide frames 21 extending in the Y direction and spaced apart in the X direction. The guide frame 21 is supported by a support 24. A movable frame 22 extending in the X direction is installed on the pair of guide frames 21. The movable frame 22 is moved in the Y direction on the guide frame 21 while being guided by the guide frames 21, 21 by a drive mechanism (not shown) (for example, a rack and pinion mechanism).

  A movable unit 23 is provided on the movable frame 22. The moving unit 23 moves on the movable frame 22 in the X direction while being guided by the movable frame 22 by a driving mechanism (not shown) (for example, a rack and pinion mechanism). The moving unit 23 includes an elevating mechanism (not shown) that elevates and lowers the suspension shaft 23a (for example, a ball screw mechanism), and the holding unit 10 is supported on the lower end portion of the suspension shaft 23a. Thus, the holding unit 10 can be moved in three dimensions by moving the movable frame 22 in the Y direction, moving the moving unit 23 in the X direction, and raising and lowering the suspension shaft 23a.

  The holding unit 10 preferably has a turning function around the Z axis. In the present embodiment, the holding unit 10 is moved by the gantry type moving device 20, but the holding unit 10 may be moved by an articulated robot type moving device.

<Box 200>
3A and 3B are perspective views of the box 200. FIG. In the case of this embodiment, the box body 200 is a plastic cardboard box, and a surface that becomes an upper surface during transportation is sealed, and engagement holes 202 are formed at four corners of the upper surface. A pair of left and right flaps 201 that are openable and closable are provided on the bottom surface during transportation. When the flap 201 is closed, the contents are held in the box 200, and when the flap 201 is opened, the contents are removed from the box 200. take off. 3A and 3B show the case where the flap 201 is in an open state.

  In the present embodiment, two flaps 201 are provided on the two opposite sides of the surface to be the bottom surface during conveyance, but a total of four flaps 201 may be provided on the four opposite sides. The box 200 may be made of paper, but plastic is more advantageous in terms of reusability.

  A locking portion 203 is provided on each of two opposing side surfaces (two side surfaces where the flap 201 is not provided) of the side surfaces of the box body 200. The locking portion 203 is a strip (horizontal strip) in which the upper surface side of the box body 200 is fixed to the box body 200 and the bottom surface side is bent outward in a flap shape. The locking portion 203 may be formed by making U-shaped cuts on the two opposing side surfaces of the box body 200 and bending the U-shaped cut portions outward.

  4A to 4C are explanatory diagrams of examples of use of the box 200. FIG. The example of the figure shows an example in which the flaky material 4 is accommodated in a vinyl inner bag 3 and then accommodated in a box 200. As shown in FIG. 4A, the material 4 is accommodated in the inner bag 3, and the inner bag 3 is folded into several layers so that the material 4 does not spill. If necessary, a gas (for example, nitrogen gas) that prevents the material 4 from being oxidized or deteriorated may be injected into the inner bag 3. The front end of the inner bag 3 comes out of the box body 200 and is locked to the locking portion 203. Thereafter, the flap 201 is closed and the box 200 is turned upside down as shown in FIG. Since the flap 201 is only closed, it is not sealed with tape or the like. By not sealing, there is no damage of the box body 200 at the time of peeling of a tape etc., and the reusability of the box body 200 can be improved.

  The box 200 is stored in this state. Also in the case of conveyance by the conveyance apparatus A, the box 200 is conveyed in the state of FIG. 4 (B). Then, as will be described later, the transport device A transports the box body 200 onto the processing device 1, opens the flap 201, and the material 4 falls and is put into the hopper 1a as shown in FIG. The

<Holding unit 10>
FIG. 5 is a side view of the holding unit 10, and FIG. 6A is a cross-sectional view taken along line II in FIG. 5. The holding unit 10 includes a connecting portion 101 connected to the lower end portion of the hanging shaft 23a. A connection plate 102 is fixed substantially horizontally at a lower portion of the connection portion 101, and a support frame 103 extends downward from a substantially center of the lower surface of the connection plate 102. A guide plate 104 is fixed substantially horizontally at the lower end of the support frame 103.

  A guide hole 104b is provided in the guide plate 104, and a guide shaft 105 is inserted into the guide hole 104b. The upper end of the guide shaft 105 has a flange shape so that the guide shaft 105 does not fall out of the guide hole 104b. An upper fixing plate 106 is fixed substantially horizontally at the lower end of the guide shaft 105. A plurality of guide pins 107 are erected on the upper fixed plate 106, and these guide pins 107 are inserted through the holes 104a of the guide plate 104 and the holes 102a of the connection plate 102, and the tips thereof are connected plates. 102 protrudes above.

  The sensor 15 is supported on the guide plate 104 via a bracket 15a. This sensor 15 is disposed in the vicinity of the tip of one of the plurality of guide pins 107, and whether or not the protruding height of the tip of this one guide pin 107 onto the connection plate 102 has reached a specified height. To detect. The sensor 15 is, for example, a reflection type optical sensor. The imaging device 16 is supported downward on the guide plate 104. The imaging device 16 is a CCD sensor, for example, and captures an image below the holding unit 10.

  The lower fixing plate 108 is fixed to the upper fixing plate 106 substantially horizontally via a column 108a. A fine lock cylinder 17 is provided between the guide plate 104 and the lower fixed plate 108. The fine lock cylinder 17 adjusts the interval between the guide plate 104 and the lower fixed plate 108, and is locked when the interval is constant so as not to fluctuate. A pair of guide rails 108b extending in the Y direction and spaced apart in the X direction are provided on the lower surface of the lower fixing plate 108.

  The lower fixing plate 108 is formed with a hole 108d through which the shaft 18 is inserted in the vertical direction. A flange is provided at the upper end of the shaft 18 so that the shaft 18 does not fall out of the hole 108d. A sensor 19 is disposed in the lower fixed plate 108 in the vicinity of the upper end of the shaft 18. The sensor 19 detects whether or not the protruding height of the tip of the shaft 18 onto the lower fixed plate 108 has reached a specified height. The sensor 19 is, for example, a reflection type optical sensor.

  The holding unit 10 includes a lifting unit 11 that holds the upper surface of the box body 200 and moves the box body 200 up and down. The elevating unit 11 includes an air cylinder 111 and a claw opening / closing device 112 that opens and closes the engagement claw 113. The air cylinder 111 is fixed to the lower surface of the upper fixing plate 106, passes through the opening 108 c of the lower fixing plate 108, and extends below the lower fixing plate 108.

  The claw opening / closing device 112 is fixed to the lower end portion of the rod portion 111 a of the air cylinder 111 and moves up and down by the expansion and contraction of the air cylinder 111. The claw opening / closing device 112 has a mechanism (for example, an air cylinder) that moves the engaging claw 113 close to or away from the Y direction. The engagement claws 113 are L-shaped, and four engagement claws 113 are provided at positions corresponding to the four engagement holes 202 of the box 200 and with a size that can penetrate the engagement holes 202.

  Thus, the lifting unit 11 can move the box body 200 up and down by engaging the engagement claw 113 with the engagement hole 202 of the box body 200 and expanding and contracting the air cylinder 111. In the present embodiment, the engagement hole 202 of the box body 200 is provided on the surface that is the upper surface during conveyance, but may be provided on the side surface. In this case, the engagement claws 113 are curved toward the box body 200 side, and these engagement claws 113 are engaged with engagement holes 202 provided on the side surfaces of the box body 200 to hold the side surfaces of the box body 200. It is good also as a structure. However, as in the present embodiment, the upper surface of the box body 200 is held so that the box body 200 can be easily held even when the plurality of box bodies 200 are closely adjacent to each other. There are advantages. In this embodiment, the box body 200 is held by the engagement of the engagement hole 202 and the engagement claw 113. However, the suction unit is provided in the lifting unit 11 to hold the box body 200. It is good also as composition to do. In this case, it is not necessary to provide the engagement hole 202 in the box 200.

  Next, the upper ends of four positioning members 109 extending in the Z direction are fixed to the lower surface of the lower fixing plate 108. FIG. 8 is a perspective view of the positioning member 109 viewed from the lower side. At the bottom of each positioning member 109, a contact surface 109a with which the four corner edges of the upper surface of the box body 200 abut, an L-shaped lower end surface 109c protruding downward from the contact surface 109a, An inclined surface 109b connecting the lower end surface 109c and the contact surface 109a. Each contact surface 109 a is arranged at a position corresponding to the arrangement of the four corner edges of the upper surface of the box body 200.

  When the lifting / lowering unit 11 holds and raises the box body 200, if the box body 200 is displaced, each edge of the upper surface of the box body 200 first contacts the lower end surface 109c or the inclined surface 109b. Then, the box body 200 is positioned by being guided to the area surrounded by the lower end surfaces 109c along the inclined surface 109b and contacting the contact surface 109a. In the present embodiment, four positioning members 109 are provided corresponding to the four corner edges on the upper surface of the box body 200, but the four corner edges on the upper surface of the box body 200 face each other. It is sufficient to provide at least two corresponding to the two edges (two edges on the opposing line on the upper surface).

  5 and 6, the holding unit 10 includes a pair of contact members 14, an opening / closing operation unit 12 that moves the pair of contact members 14 in the X direction, and a pair of contact members 14 together with the opening / closing operation unit 12. And a moving unit 13 for moving in the Y direction.

  The moving unit 13 is provided on a support plate 127 suspended from the elevating unit 11 and a surface (left side surface in FIG. 5) on the elevating unit 11 side of the support plate 127, and extends on the XY plane. A slide plate 131 having a horizontal plane, and side frames 132 and 132 that are provided on the surface of the support plate 127 on the lift unit 11 side (the left side surface in FIG. 5) and support the slide plate 131 from below.

  The slide plate 131 is, for example, C-shaped in plan view (looks like an inverted C-shape in FIG. 6A) in order to prevent interference with the air cylinder 111 when sliding, which will be described later, and has a central recess 131a. Have Each side frame 132 is provided on both outer sides of the lower surface of the slide plate 131. Each side frame 132 is, for example, L-shaped (looks like an inverted L-shaped in FIG. 5) in order to prevent interference with the elevating unit 11 when sliding, which will be described later.

  A pair of sliders 134 that are respectively engaged with a pair of guide rails 108 b provided on the lower surface of the lower fixing plate 108 are provided on the upper surface of the slide plate 131. At least one slider 134 is arranged on one side. As the pair of sliders 134 slide along the guide rails 108b, the moving unit 13 can move in the Y direction.

  The moving unit 13 includes an air cylinder 135 provided on the lower fixed plate 108. The tip of the rod portion 135 a of the air cylinder 135 is connected to the bracket 136. The bracket 136 is connected to the support plate 127. Therefore, the slide plate 131, the side frame 132, and the support plate 127 are moved in the Y direction by the expansion and contraction of the air cylinder 135.

  Next, the opening / closing operation unit 12 will be described with reference to FIGS. 5, 6B, and 7A to 7C. These drawings are explanatory views of the opening / closing operation unit 12. The opening / closing operation unit 12 includes air cylinders 121 and 122 that are connected upside down. The tip of the rod portion 121a of the air cylinder 121 is connected to the support plate 127 via the bracket 121b, and the tip of the rod portion 122a of the air cylinder 122 is connected to the cam member 124.

  The opening / closing operation unit 12 includes a fine lock cylinder 123 provided in parallel with the air cylinders 121 and 122. The fine lock cylinder 123 is fixed to the support plate 127 via a bracket 123b, and the tip of the rod portion 123a is connected to the cam member 124. The support plate 120 is fixed to the support plate 127 via a shaft 120a. The support plates 120 and 127 form support members that support the components of the opening / closing operation unit 12.

  The support plates 125 and 126 are disposed between the support plate 120 and the support plate 127, and the end portions of the contact member 14 are connected to support the contact member 14. The pair of abutting members 14 abuts on each of the pair of flaps 201 of the box body 200 and regulates the opening of the flap 201. In the present embodiment, the pair of abutting members 14 are rod-like members that are separated from each other in the X direction and extend in the Y direction, but may be, for example, a long plate-like member.

  FIG. 7A shows a state where the support plate 120 is removed. A guide rail 125b extending obliquely from the lower left to the upper right in the figure is fixed to the surface of the support plate 120 on the support plate 125 side. The surface of the support plate 125 on the support plate 120 side is engaged with the guide rail 125b. The slider 125a is fixed. That is, the support plate 125 and the contact member 14 supported by the support plate 125 are guided by the guide rail 125b and can move in the direction of the arrow d1 parallel to the longitudinal direction of the guide rail 125b. A pin-shaped cam follower 125c is mounted on the surface of the support plate 125 on the support plate 127 side.

  FIG. 7B shows a state in which the configuration related to the support plate 125 is further removed from the state of FIG. The cam member 124 has a plate shape and is formed with cam holes 124a and 124b. Each of the cam holes 124a and 124b is an elongated long hole, and is arranged in a substantially V shape in FIG. 7B so that the upper end portion is spaced apart and the lower end portion is close. The cam follower 125c is inserted into and engaged with the cam hole 124a.

  FIG. 7C shows a state in which the cam member 124 is further removed from the state of FIG. A guide rail 126b extending obliquely from the lower right to the upper left in the figure is fixed to the surface of the support plate 127 on the support plate 126 side, and the surface of the support plate 126 on the support plate 127 side is related to the guide rail 126b. The slider 126a to be joined is fixed. That is, the support plate 126 and the contact member 14 supported by the support plate 126 are guided by the guide rail 126b and can move in the direction of the arrow d2 parallel to the longitudinal direction of the guide rail 126b. A pin-like cam follower 126c is mounted on the surface of the support plate 126 on the cam member (not shown) side. The cam follower 126c is inserted into and engaged with the cam hole 124b.

  The opening / closing operation unit 12 having such a configuration supports the support plate 125 and the contact member 14 supported by the support member 125 in the direction of the arrow d1 by the movement of the cam member 124 due to the expansion and contraction of the air cylinders 121 and 122 and the fine lock cylinder 123. The plate 126 and the contact member 14 supported by the plate 126 can move in the direction of the arrow d2. That is, the cam followers 125c and 126c are guided to the cam holes 124a and 124b by the movement of the cam member 124, and the moving force is urged to the support plates 125 and 126, and the support plates 125 and 126 are moved along the guide rails 125b and 126b. Will move.

  The configuration of the opening / closing operation unit 12 is not limited to that of the present embodiment as long as the contact member 14 can be moved, but in this embodiment, the cam member 124, the sliders 125a and 126a, and the guide rails 125b and 126b are provided. As a result, the pair of contact members 14 can be moved synchronously and on a predetermined track with a relatively simple configuration.

<Control unit 30>
FIG. 9 is a block diagram of the control device 30 that controls the transport device A. The control device 30 includes a processing unit 31 such as a CPU, a storage unit 32 such as a RAM, a ROM, and a hard disk, and an interface unit 33 that interfaces the external device with the processing unit 31. The processing unit 31 executes the program stored in the storage unit 32 and controls the various actuators 35 based on the detection results of the various sensors 34. The various sensors 34 include the sensor 15, the imaging device 16, the sensor 19, and the like. The various actuators 35 include actuators such as motors provided in the moving device 20, fine lock cylinders 17, 123, air cylinders 111, 121, 122, 135, and the like.

  For example, the processing unit 31 calculates the positions of the holding unit 10 and the box 200 based on image data captured by the imaging device 16, and based on the calculation result, the engaging claw 113 of the holding unit 10 is a box. The motor included in the moving device 20 is controlled so as to be positioned at positions corresponding to the four engagement holes 202 of the body 200. Moreover, after performing this positioning, the control program of the holding | maintenance unit 10 memorize | stored in the memory | storage part 32 is executed, and the box 200 is conveyed. The detection results of the sensor 15 and the sensor 19 are processed as trigger information for determining whether or not the control program is continuously executed and switching of other control programs in the processing unit 31. The control unit 31 issues control commands to the various actuators 35. Output.

<Operation example of transport device A>
An operation example of the transport device A controlled by the control device 30 will be described. Here, in FIG. 1, the boxes 200 stacked in the state of FIG. 4B are conveyed onto the hopper 1a of the processing apparatus 1 while maintaining the state of FIG. ), The operation of the holding unit 10 when the flap 201 is opened and the material 4 as the contained material is dropped onto the hopper 1a will be described.

  It is assumed that the box 200 is stacked in a state where the joint direction of the pair of flaps 201 is in the Y direction (that is, parallel to the longitudinal direction of the contact member 14). Thereby, the contact member 14 will be in the state extended along the joint direction of the flap 201. FIG. However, when the holding unit 10 is provided with a mechanism for turning around the Z-axis, the turning unit 10 is turned so that the joint direction of the flap 201 matches the longitudinal direction of the contact member 14. Since adjustment may be performed, the stacking direction of the boxes 200 is not limited.

  10 to 12 are explanatory views of the operation of the holding unit 10. The holding unit 10 is positioned and transported in order from the box 200 that is located at the uppermost stage and is farthest from the processing apparatus 1 in the Y direction. First, the moving unit 20 moves the holding unit 10 onto the box body 200 to be transported (FIG. 10A). At that time, first, the holding unit 10 is moved so that the imaging device 16 is positioned on the box 200, and an image below the holding unit 10 is taken. Then, the position correction amount of the holding unit 10 is calculated based on the captured image, and the holding unit 10 is moved so that the holding unit 10 is positioned at an appropriate position on the box 200. Subsequently, the engagement hole 202 of the box body 200 to be conveyed is engaged with the engagement claw 113. In the state of FIG. 10A, the air cylinder 111 is extended and the claw opening / closing device 113 is lowered, and the air cylinder 135 is extended, so that the contact member 14 is detached from the lower side of the box 200. Thus, the flap 201 is positioned at the standby position retracted in the joint direction.

  Next, the holding unit 10 is lowered to a predetermined height according to the position in the Z direction of the box 200 to be transported by the moving unit 23 so that the engaging claw 113 is inserted into the engaging hole 202. . At this time, the fine lock cylinder 17 is in a free state. As a result, the positions of the engaging claws 113 and the engaging holes 202 are shifted, and when the engaging claws 113 come into contact with the upper surface of the box body 200, the holding unit 10 descends as shown in FIG. As shown, the structure below the upper fixing plate 106 rises relative to the connection portion 101, the connection plate 102 and the guide plate 104. At this time, the protrusion height of the guide pin 107 erected on the upper fixing plate 106 onto the connection plate 102 increases, and when the height reaches a specified height, the sensor 15 detects this. When the sensor 15 detects the protrusion of the guide pin 107, it is determined that the insertion of the engagement claw 113 into the engagement hole 202 has failed, and the process is interrupted.

  When the protrusion of the guide pin 107 is not detected by the sensor 15 and the holding unit 10 is lowered to a predetermined height, it is determined that the engagement claw 113 has been successfully inserted into the engagement hole 202, and the processing is continued. .

  When it is determined that the insertion is successful, first, the fine lock cylinder 17 is locked so that the distance between the guide plate 104 and the lower fixing plate 108 does not fluctuate. Subsequently, as shown in FIG. 11A, the claw opening / closing device 112 is operated to separate the claws 113 from each other in the X direction, and the engagement claws 113 are engaged with the engagement holes 202. Subsequently, the air cylinder 111 is contracted to raise the claw opening / closing device 112. As a result, the box body 200 rises as shown in FIG.

  The box 200 at this time is not less than the height of the contact member 14 from the mounting surface of the box 200 (in the case of FIGS. 11A and 11B, the upper surface of the box 200 positioned directly below). And the height of the flap 201 is raised to a range that does not open. That is, as shown in FIG. 11 (B), as the box body 200 rises, the flap 201 begins to open with the weight of the contents, but the amount of rise of the box body 200 is between the box bodies 200 positioned vertically. There is a space in which the contact member 14 can be inserted in between, so that the contents are not dropped off.

  In the case of the present embodiment, as shown in FIG. 11 (B), as the box body 200 is raised, the upper surface of the box body 200 comes into contact with the lower end of the positioning member 109 and the box body 200 is positioned simultaneously. Further, when the box body 200 rises, the upper surface of the box body 200 comes into contact with the lower end of the shaft 18 and the shaft 18 is lifted. When the protruding height of the tip of the shaft 18 onto the lower fixed plate 108 reaches a specified height, this is detected by the sensor 19 (see FIG. 6A), and it is determined that the raising of the box 200 has been completed. The

  Next, the air cylinder 135 is contracted, and the opening / closing operation unit 12 is moved in the Y direction (leftward in FIG. 12A) as shown in FIG. Then, the flap 201 moves forward to the work position located below the box 200. FIG. 13A shows the position of each contact member 14 and the position of the flap 201 at this time. As shown in the figure, each abutment member 14 is positioned near both ends in the width direction below the box body 200, and the flap 201 has started to open but has not been opened. In this state, the air cylinder 121 and the fine lock cylinder 123 are in an extended state, and the air cylinder 122 is in a contracted state.

  Next, as shown in FIG. 13B, the air cylinder 121 and the fine lock cylinder 123 are contracted. As a result, the cam member 124 is lifted, and the support plates 125 and 126 are moved toward and away from each other as shown in FIG. As a result, the pair of abutting members 14 are positioned at an opening restriction position that restricts the opening of the flap 201 that has been raised close to each other below the box body 200. The fine lock cylinder 123 is locked after contraction.

  In this state, the holding unit 10 is moved onto the hopper 1 a of the processing apparatus 1 by the moving device 20. Since the opening of the flap 201 is restricted by the abutting member 14, it is possible to prevent the contents from dropping off in the middle even if the flap 201 is not sealed with tape or the like.

  When the holding unit 10 reaches the hopper 1a, the air cylinders 121 and 122 and the fine lock cylinder 123 are all extended as shown in FIG. As a result, the cam member 124 is lowered, and the support plates 125 and 126 are moved away from each other and in the downward direction. As a result, the pair of abutting members 14 are positioned at an open permissible position that allows the flap 201 to be opened apart from each other below the box body 200. Comparing the position of the contact member 14 in FIGS. 13A to 13C, the pair of contact members 14 are closest to each other and are in the raised position in FIG. 13B. Thus, the pair of abutting members 14 are in the positions farthest from each other and lowered.

  When the abutting member 14 is positioned at the opening allowance position, the flap 201 is opened as shown in FIG. 13C, and the contents can be dropped. Thereafter, the empty box 200 is transported to the collection box 2, and the box 200 can be collected in the collection box 2 by releasing the engagement between the engagement claw 113 and the engagement hole 202.

Claims (7)

A box conveying device having a pair of left and right flaps that can be opened and closed on the bottom,
A holding unit for holding the box;
Holding unit moving means for moving the holding unit;
The holding unit is
Elevating means for holding the box on the upper surface or side surface of the box and raising and lowering the box;
A pair of abutting members that abut against each of the pair of flaps and restrict the opening of the flap;
An opening restriction position where the pair of contact members are close to each other below the box to restrict the opening of the flap, and the pair of contact members are spaced apart from each other below the box to open the flap A contact member opening / closing operation means for moving the pair of contact members between an open permission position that allows
A conveying apparatus comprising: The lifting means moves up and down while holding the box on the upper surface of the box,
The pair of contact members are rod-shaped members extending along the joint direction of the pair of flaps,
A working position in which the pair of abutting members are located below the box, and a standby position in which the entire pair of abutting members are retracted from the lower side of the box in the joint direction of the pair of flaps. The conveyance device according to claim 1, further comprising contact member moving means for moving the pair of contact members in the direction of the joint. The contact member opening / closing operation means includes
A support member moved by the contact member moving means;
A pair of support plates that respectively support the pair of contact members;
A cam follower mounted on the pair of support plates;
A pair of guide means for respectively guiding the movement of the pair of support plates so that the pair of contact members move between the opening restriction position and the opening permission position;
A cam member that engages with the cam follower to move the pair of abutting members close to and away from each other;
Driving means fixed to the plate and moving the cam member;
With
The pair of guide means each include a guide rail fixed to the support member, and a slider fixed to the support plate and moving on the guide rail. Transport device. The elevating means includes an engaging claw engaged with an engaging hole provided on the upper surface of the box body, and the box body is moved by the elevating means by engaging the engaging claw with the engaging hole. Hold
Positioning member that is provided corresponding to a position where the box is held and raised by the elevating means, and is in contact with at least two opposing edges on the upper surface of the box to position the box The conveying apparatus according to any one of claims 1 to 3, further comprising: A method of transporting a box having a pair of left and right openable flaps on the bottom surface,
Holding the box, and raising the box in a range in which the pair of flaps are not released from the placement surface;
A first disposing step of disposing each of the pair of abutting members that respectively abut on the pair of flaps at an opening restricting position that restricts opening of the flap;
A transporting step of transporting the box to a transport destination in a state where the pair of contact members are disposed at the opening restriction position;
A second disposing step of disposing each of the pair of contact members at an open allowable position where the flap is opened after the box has reached the transport destination;
A method of transporting a box, comprising: The first arrangement step includes
An advance step of advancing the pair of contact members from a standby position retracted from the box to a work position below the box;
An approach step of bringing the pair of contact members into a state of being close to each other below the box from a state of being separated from each other below the box,
Including
The second arrangement step includes at least a separation step of bringing the pair of contact members into a state of being separated from each other below the box from a state of being close to each other below the box. The box conveying method according to claim 5. In the rising step,
6. The method of transporting a box according to claim 5, wherein an upper surface of the raised box is positioned and the positioned state is maintained.

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