JP2011084332A - Boxing device and boxing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve a simple structure of a flap expanding means and simplify and downsize the structure of a boxing device. <P>SOLUTION: The boxing device houses small-box group 2 composed of a plurality of small boxes 1 with respect to an outer box 5 in the state in which four upper flaps 6a to 6d are open. The first and second upper flaps 6a and 6b are maintained in an expanded state by using a holding plate. The small-box group maintained by a suction head 41 of a robot arm device are moved downward while tilting the small-box group to cause the small-box group to abut and push-open the third upper flap 6c. Then, the tilt direction is changed to push-open the fourth upper flap 6d by the small-box group, thereby widely opening the upper part of the outer box. Then, the posture of the small-box group is returned to be vertical, and the small-box group is moved downward along the opening part of the outer box to house the small-box group. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a boxing device and a boxing method for collecting small boxes in which products are stored in an outer box such as cardboard.

  There is a packaging form in which a plurality of small boxes containing a plurality of products are accommodated in an outer box such as cardboard in response to a request for delivery / storage. As a boxing device for manufacturing such a packaging form, for example, there is one disclosed in Patent Document 1. This type of boxing device supplies a predetermined number of small boxes from above into the outer box with the four upper flaps on the upper side of the outer box made of corrugated cardboard or the like open to the outside. The outer box is closed by closing the flaps in this order, and then closed with an adhesive / adhesive tape or other appropriate sealing means.

  The predetermined number of small boxes are, for example, collectively held in a matrix form by various holding means and inserted into the outer box as it is. In this case, in order to make it easier to put the small box into the outer box from above, a flap expanding means for holding the upper flap in an expanded state may be provided (see Patent Document 2).

JP 2008-62967 A JP-A 64-23903

  When the flap spreading means as described above is provided, a large-scale device for driving the flap spreading means is required, which is one factor that complicates the structure of the boxing device.

  In order to solve the above-described problems, a boxing device according to the present invention is (1) a boxing device that stores a group of small boxes consisting of a plurality of small boxes with respect to an outer box with four upper flaps open. A robot arm device (corresponding to the “second robot arm device 16” in the embodiment) that holds the small box group and moves the small box toward the outer box. Is a process of expanding the two upper flaps by bringing the held small box groups into contact with two adjacent upper flaps while inclining them, and moving forward toward the outer box having the small box groups opened. The process of moving and supplying the small box group was performed.

  Since the processing for bringing the upper flap into the expanded state is performed by abutting the small box group against the upper flap, even if the flap expanding device is not provided or provisionally provided, it is shown in the embodiment. Thus, a simple mechanism (such as the holding plate 24) that contacts the ends of two adjacent upper flaps is sufficient. The small box group can be easily held by suction means.

  (2) It is good to provide the flap expansion apparatus which hold | maintains two adjacent upper flaps different from the said adjacent two upper flaps in the said four upper flaps in an open state. A boxing apparatus for storing a group of small boxes consisting of a plurality of small boxes with respect to an outer box in a state where the four upper flaps are opened, wherein two adjacent upper flaps among the four upper flaps are expanded. A flap expanding device that holds the small box group, and a robot arm device that holds the small box group and moves the small box toward the outer box, the robot arm device holding the small box The box group is brought into contact with the other two upper flaps that are different from the two adjacent upper flaps while being inclined, so that the two other upper flaps that are different from each other are spread and the small box group is opened. You may make it provide the function to perform the process which moves forward toward the said outer box, and supplies the said small box group.

  (3) The process of spreading out may be performed by first spreading one of the other two different upper flaps and then spreading the remaining upper flaps. Spreading one side at a time can be expanded more reliably with simple control.

  (4) A guide (corresponding to the “guide frame 42” in the embodiment) for regulating the periphery of the small box group may be provided at the tip of the robot arm. When using a small box that is slightly bulging outward, when the robot arm device picks up the upper surface of the small box and catches it up, the small box located on the outer periphery is pushed outward and tilted diagonally. However, it is difficult to pack the box, but by providing the guide, the spread can be suppressed and the box can be smoothly supplied into the outer box.

  (5) The guide may be detachably attached. If it does in this way, it can process in the state which removed the small box group which does not need a guide. Further, even if the small box group requires a guide, the robot arm device can be used for another process by removing the guide prior to holding the small box group. . Therefore, the apparatus can be miniaturized.

  (6) After the robot arm device performs the process of expanding the two upper flaps, the corners of the small box group are brought into contact with corners inside the outer box located on the upper flap side, The entire small box group is positioned above the outer box by rotating in the horizontal direction around the corner, and the small box group is made horizontal with respect to the outer box by rotating the small box group in the vertical direction. It is better to move forward from.

  (7) On the premise of the invention of (6) above, it is more preferable that the small box group is rotated in the vertical direction around the center of the small box group. Thus, even an outer box having a tight size with respect to the small box group can be easily put.

  (8) A boxing method according to the present invention is a boxing method for storing a group of small boxes made up of a plurality of small boxes with respect to an outer box with four upper flaps open. With the box group held, the small box group is brought into contact with the two adjacent upper flaps to spread out the two upper flaps, and then the robot arm device has the held small box group. Is moved forward toward the opened outer box.

  (9) Of the four upper flaps, another adjacent upper flap that is different from the two adjacent upper flaps is held in an expanded state using a restraining means, and in this state, the small box by the robot arm device It is preferable to perform a process of bringing the group into contact with the two upper flaps.

  According to the present invention, it is not necessary to provide the flap expanding means, or even if it is provided, it is possible to use a structure having a simple flap expanding means. You can plan. Therefore, space saving of the whole equipment can be achieved.

It is a top view which shows suitable one Embodiment of the boxing apparatus which concerns on this invention. It is an enlarged front view which shows the outer case holding | suppressing apparatus 14 and the flap expansion apparatus 23. It is a figure which shows the flap expansion apparatus. It is a figure which shows the small box setting part. It is a figure which shows the adsorption | suction head 41 which adsorb | sucks a small box group. It is a figure which shows the adsorption | suction head 41 which adsorb | sucks a small box group. It is a figure which shows the guide frame. It is a figure which shows the state which put the guide frame 42 on the small box setting part 15. FIG. It is a figure which shows the holding | maintenance part. It is a figure which shows the holding | maintenance part. It is a figure which shows the holding | maintenance part. It is a figure which shows the operation | movement which accommodates a small box group in an outer box. It is a figure which shows the operation | movement which accommodates a small box group in an outer box. It is a figure which shows the operation | movement which accommodates a small box group in an outer box. It is a figure which shows the operation | movement which accommodates a small box group in an outer box. It is a figure which shows the operation | movement which accommodates a small box group in an outer box. It is a figure which shows the operation | movement which accommodates a small box group in an outer box.

  FIG. 1 shows a boxing apparatus 10 according to the present invention in which a plurality of small boxes are accommodated in an outer box made of corrugated cardboard in a state of being arranged in a matrix in the vertical and horizontal directions. The properly folded sheets 12 stored in a stacked state in the stocker 11 are sucked and held one by one from the top by the suction portion 13a of the multi-axis first robot arm device 13, and the sheets 12 are held in a predetermined path. While transporting, a bottomed corrugated cardboard outer box 5 having an upper opening is formed by an assembly mechanism (not shown), and set on the outer box restraining device 14. The first robot arm device 13 is installed so as to be suspended from the ceiling of the machine frame of this device.

  Further, in the present embodiment, the assembly mechanism is in a state in which the sheet 12 is folded, so that the sheet 12 is expanded to form a rectangular main body and includes a mechanism for folding the bottom lower flap to the inside. . In addition, an adhesive is applied to a predetermined position of the lower flap, and the bottom of the outer box is sealed so as not to come off. Instead of using an adhesive in this way, an adhesive tape may be applied or a stapler or the like may be used. Furthermore, it is possible to prevent the above-described processing such as sealing the bottom by using the one in which the bottom plate is automatically assembled by unfolding like a one-touch box. Further, as in the present embodiment, an unfolded sheet is used instead of a folded sheet, and the outer box can be formed by appropriately folding the sheet. Since well-known mechanisms can be used for these, detailed description using the drawings is omitted.

  As shown in FIG. 2, the outer box holding device 14 has support plates 21 that contact and support the outer sides of the three side surfaces of the main body portion of the outer box 5. The support plate 21 can be moved in the front-rear or left-right direction by the slide rail mechanism 20, and its installation position can be changed according to the size and shape of the outer box 5.

  And the side surface side in which the support plate 21 is not provided becomes the carrying-out direction of the outer box 5 after storing the small box group consisting of a plurality of small boxes in the main body of the outer box 5. An unloading device 18 is arranged in the conveying direction as shown in FIG. Although not shown in the figure above the inlet side of each carry-out device 18, a mechanism that closes the upper opening by bending the four upstanding first to fourth upper flaps 6 a to 6 d of the outer box 5 in an appropriate order. Is placed. Sealing means (adhesive / adhesive tape or the like) for preventing the closed first to fourth upper flaps 6a to 6d from being opened is disposed at a predetermined position of the carry-out device 18. As these mechanisms, conventionally known ones can be used, and therefore detailed description using the drawings is omitted.

  Returning to the description of the outer box restraining device 14. For convenience of explanation, the four upper flaps are located on the carry-out device 18 side as the fourth upper flap 6d, and are defined as first to third upper flaps 6a to 6c in the clockwise direction from there. Thereby, the upper flap located on the opposite side to the carry-out device 18 becomes the second upper flap 6b, and the right side (the right side in FIG. 2) in the carrying direction when carrying the outer box 5 to the carry-out device 18 is the first upper wrap 6a. The left side is the third upper flap 6c.

  And as above-mentioned, although the 1st robot arm apparatus 13 supplies the main-body part of the outer case 5 to the predetermined position which contact | connects the inner surface of the support plate 21, at this time, four 1st-4th upper flaps 6a-. 6d is in a state where it naturally stands up, and the upper part of the main body is open.

  The outer box holding device 14 is provided with a flap expanding device 23 that holds two upper flaps adjacent to each other at one corner of the raised first to fourth upper flaps 6a to 6d in an expanded state. ing. Here, the two upper flaps adjacent to each other are the first and second upper flaps 6a and 6b. Accordingly, the flap expanding device 23 is connected to a support column 22 that is erected at a predetermined position outside the apex of the first and second upper flaps 6a and 6b. Here, the expanded state in the present embodiment means that the first and second upper flaps 6a and 6b do not enter the inner side of the extension surface of the side surface of the main body of the outer box 5, and more preferably open slightly outward. It is to be in a state. The opening angle can be arbitrarily set.

  As shown in FIGS. 2 and 3, the flap spreading device 23 includes a flat plate L-shaped holding plate 24 extending in the vertical direction, a spreading member 25 attached to the outer surface of the holding plate 24, and a holding plate. A cylinder 26 that moves up and down 24, and a rotation mechanism that rotates the holding plate 24 within a predetermined angle range with the upper end side as a base point.

  The cylinder 26 is fixed to the support column 22, and the restraining plate 24 and the like move up and down following the reciprocating movement of the cylinder rod 26 a of the cylinder 26. Since the cross section of the holding plate 24 is L-shaped and the two pieces are orthogonal at 90 degrees, the outer surfaces of the two orthogonal pieces contact the inner surfaces of the first upper wrap 6a and the second upper flap 6b. However, the first and second upper flaps 6a and 6b are prevented from falling further inside. That is, the portion of the holding plate 24 that is bent in an L shape is positioned at the apex adjacent to the first and second upper flaps 6a and 6b of the outer box 5. And since the expansion member 25 is provided with the inclined surface 25a which thickness increases gradually as it goes upwards from a lower end, if the control board 24 further moves down from the state shown in FIG. 2, it will be 1st, 2nd upper part. The flaps 6a and 6b are guided to the inclined surface 25a and slightly open outward. Therefore, the expanded state is maintained.

  Further, as shown in an enlarged view in FIG. 3, the upper end of the holding plate 24 is connected to the rotating plate 27 via a connecting plate 24a. The rotary plate 27 is linked to a drive source 28 such as a motor / cylinder, and is positioned downward (first position) indicated by a solid line in FIG. 3A and a position lifted upward indicated by a two-dot chain line ( Reciprocate between the second position). Thereby, for example, when the outer box 5 is set in the outer box holding device 14 by the first robot arm device 13, the first and second upper flaps 6a, 6b does not interfere with the holding plate 24. Thereafter, the first and second upper flaps 6a and 6b can be expanded by setting the holding plate 24 to the first position and moving the holding plate 24 downward. Furthermore, if the small box group is accommodated in the outer box 5, the flap expanding device 23 moves to the second position as the holding plate 24 rises and rotates, so that the holding plate 24 moves to the first and second upper portions. The outer box 5 can be carried out away from the flaps 6a, 6b. Of course, depending on the relationship between the dimensions of the outer box 5 and the raised position of the holding plate 24 (for example, the outer box 5 is low, etc.), it may not necessarily be in the second position by simply moving up and down.

  On the other hand, the small box stored in the outer box 5 is supplied to the small box setting unit 15 shown in FIG. A small box contains a plurality of products, and in this embodiment, a boxing device that stores the plurality of products in a small box is arranged upstream of the device, and is sequentially transported from the boxing device. The incoming small boxes are transported to the vicinity of the small box set unit 15 by a transport device (not shown), and the small boxes are moved one by one to a predetermined position in the small box set unit 15 by a transfer device (not shown). set.

  The small box setting unit 15 forms a small box group in which a plurality of small boxes are arranged in a matrix. In this embodiment, a small box group consisting of a total of ten small boxes of 2 rows × 5 columns is used. The small box group accommodated in the small box setting unit 15 is collectively held and taken out by the multi-axis second robot arm device 16 attached so as to be suspended from the ceiling of the machine frame of this apparatus. . The second robot arm device 16 moves along a predetermined trajectory, and supplies the small box group into the outer box 5 held in an open state by the outer box restraining device 14. The second robot arm device 16 includes a holding portion 17 that holds the small box group at the tip 16a. The holding unit 17 includes a suction head 41 that sucks and holds the small box group, and a guide frame 42 that is detachably attached to the suction head 41. The guide frame 42 suppresses a predetermined corner (vertex) portion of the small box group so that each small box does not spread outside. The specific structure and function of the holding unit 17 will be described later.

  As shown in FIG. 4, the small box setting unit 15 has a rectangular frame 32 with a bottom plate installed at the upper end of the leg portion 31, and column portions 33 are erected at the four corners of the upper surface of the rectangular frame 32. Yes. Further, a strip-like stopper plate 35 is formed upright on the outer side of one long side of the rectangular frame 32. Since the upper and side surfaces of the four sides of the rectangular frame 32 are open, small boxes are sequentially supplied from the opposite side of the stopper plate 35 one by one. The rectangular frame body 32 can be moved back and forth along the long side by a drive mechanism (not shown). The small box is set to a desired position in the small box setting unit 15 by the transfer device while the rectangular frame 32 is moved forward and backward.

  That is, the transfer device inserts one small box from a predetermined side surface of the small box setting unit 15, that is, from the opposite side of the rectangular frame 32. Next, the transfer device inserts one small box from the same position. Then, one small box to be processed this time is inserted while pushing the small box inserted in the previous process in the back. Thereby, two small boxes are aligned and set along the short side, and the setting of the small boxes for one column (two rows) is completed. Next, after the rectangular frame 32 is moved forward in the long side direction by the width of one small box, the transfer device inserts the two small boxes. This completes the setting of the next row of small boxes. By repeating this five times, a total of ten small boxes of 2 rows and 5 columns are set in the small box setting unit 15 in a state of being neatly arranged in a matrix. Although not shown, although not connected to the rectangular frame 32, a guide plate is disposed outside a desired side so that the set small box is prevented from detaching outside the rectangular frame 32. It is good to do.

  Furthermore, in this embodiment, as shown in FIG. 4, locking guide members 34 are provided on the three sides of the rectangular frame 32 to which the stopper plate 35 is not attached so as to protrude outward. The guide frame 42 detached from the suction head 41 of the holding portion 17 of the second robot arm device 16 is supported by the upper ends of the four column portions 33 of the small box setting portion 15, and at the locking guide members 34. Retained.

  On the other hand, the suction head 41 constituting the holding unit 17 of the second robot arm device 16 is as shown in FIGS. That is, the suction head 41 is provided with a plurality of suction nozzles 44 on the lower surface of the base plate 43. The suction nozzle 44 contacts the upper surface of the small box and adsorbs each. On the upper surface side of the base plate 43, two cylinders 45 are arranged in parallel with the cylinder rods facing in opposite directions, and a connecting plate 46 is attached to the tip of the cylinder rod of the cylinder 45. Further, two pins 47 are provided in the vicinity of both side edges at the tip of the mounting plate 46, respectively. The two cylinders 45 are driven to extend and contract in synchronization, and the connecting plate 46 attached to the tip of each cylinder rod also moves closer / away in synchronization. That is, as shown in FIG. 6A, in a state where the connecting plates 46 are separated from each other, the outer surface of the connecting plate 46 and thus the pins 47 protrude outward from the outer peripheral edge of the base plate 43. When the cylinder 45 is operated from this state and the cylinder rod is contracted and moved, the connecting plates 46 approach each other as shown in FIG. 6B, and the pins 47 are also positioned inside the outer peripheral edge of the base plate 43. It becomes. Further, the connecting plate 46 is linked to a guide rail 49 provided on the upper surface of the base plate 43 at the center portion of the lower surface. As a result, the connecting plate 46 reciprocates along the guide rail 49 while maintaining a stable posture.

  Further, near the top of the upper surface of the base plate 43, one end of a hose 48 connected to a suction pump (not shown) is attached. The hose 48 is linked to each suction nozzle 44 through an air passage in the base plate 43. Therefore, by operating the suction pump, a negative pressure is generated at the tip of the suction nozzle 44, and the small box can be sucked and held.

  Further, as shown in FIG. 7, the guide frame 42 constituting the holding portion 17 has a guide arm 52 suspended from the three apexes of the rectangular frame 50 so as to extend downward. The guide arm 52 is L-shaped in cross section. Further, a disk-shaped pin receiving portion 51 is provided on the inner peripheral surface on the long side of the frame body 50, and a pin insertion hole 51 a is provided at the center of the pin receiving portion 51. The pin insertion hole 51 a is provided at a position facing the pin 47 provided in the suction head 41.

  Therefore, as shown in FIG. 9A, the guide frame 42 and the suction head 41 are separated when the connecting plates 46 are close to each other and the pin 47 is separated from the pin insertion hole 51a. On the other hand, when the connecting plate 46 is separated and the pin 47 is aligned with the pin insertion hole 51a, the suction head 41 is integrated.

  As described above, the guide frame 42 can be detached from the suction head 41. When the guide frame 42 is detached, the guide frame 42 stands up at the four corners of the rectangular frame 32 of the small box setting portion 15 as shown in FIG. The column part 33 is supported. At this time, the free roller 34 a provided at the upper end of the locking guide member 34 comes into contact with and supports the outer surface of the frame 50 of the guide frame 42.

  Then, if 10 small boxes 1 are set in the small box setting unit 15, the suction head 41 with the guide frame 42 is positioned above the small box group 2 composed of the 10 small boxes 1, The plurality of suction nozzles 44 are in contact with the upper surface of the opposing small box 1 and sucked and held by suction. At this time, as shown in FIG. 10, the three vertices of the small box group 2 are supported by the guide arms 52 provided at the three vertices of the guide frame 42. In this way, the guide frame 42 is brought into contact with the three apexes of the small box group 2 to prevent the small box group 2 from spreading outside.

  That is, since the suction head 41 contacts only the upper surface of the small box 1, the lower end side of the small box group 2 is in a free state. Therefore, if there is no guide rail 42, the side surface of the small box group 2 bulges outward as shown in FIG. 11, and as such, smooth supply into the outer box cannot be performed. However, in this embodiment, since the three corners of the small box group 2 are suppressed by the guide frame 42, as shown in FIG.

  Next, a supply operation of the small box group 2 into the outer box 5 will be described with reference to FIGS. If ten small boxes 1 are set in the small box setting section 15, the second robot arm device 16 is provided with the holding section 17 including the suction head 41 and the guide frame 42 at the tip thereof. The holding part 17 is lowered from directly above the set part 15 toward the small box group 2. At this time, by aligning the guide arm 52 with the three tops of the small box group 2 and bringing the suction nozzle 44 into contact with the upper surface of the small box group 2 and sucking, the small box group 2 expands as shown in FIG. The small box group 2 is sucked and held in the holding portion 17 while preventing the above.

  Next, the second robot arm device 16 is positioned on the outer box holding device 14 with an appropriate trajectory (see FIG. 12). The outer box 5 is set in the outer box holding device 14 in a state where the first to fourth upper flaps 6a to 6d are opened in advance. That is, the first and second upper flaps 6 a and 6 b are held in the expanded state by the flap expanding device 23. Further, in the second robot arm device 16, the apex of the holding portion 17 where the guide arm 52 is not provided is diagonal to the flap expanding device 23, that is, the apex adjacent to the fourth upper flap 6 d and the third upper flap 6 c. Set to be located at.

  Next, as shown in FIG. 13, the second robot arm device 16 moves the side surface of the small box group 2 on the third upper flap 6 c side downward while tilting downward, and moves the side surface of the small box group 2 to the first side. The third upper flap 6c is expanded (pushed) by bringing it into contact with the third upper flap 6c.

  Next, as shown in FIG. 14, the second robot arm device 16 moves downward while inclining the side surface of the small box group 2 on the fourth upper flap 6d side obliquely downward, thereby moving the side surface to the fourth upper flap. It hits 6d and spreads outward (pushes it out).

  Thereafter, the second robot arm device 16 rotates the holding portion 17 as appropriate to return the small box group 2 to a horizontal state, and aligns the small box group 2 with the opening portion of the main body portion of the outer box 5 (FIG. 15). In this state, the first and second upper flaps 6a and 6b are held in the expanded state by the flap expanding device 23, and the third and fourth upper flaps 6c and 6d are disposed on the side surfaces of the small box group 2 described above. The expanded state is achieved by the pressing process.

  Then, as shown in FIG. 16, the second robot arm device 16 moves down the small box group 2. The four upper flaps 6a to 6d are in the expanded state, and the lower bulges of the small box group 2 are suppressed by the guide arm 52, so that they are smoothly inserted into the outer box 5. Although the third and fourth upper flaps 6c and 6d are once pushed and spread by the small box group 2, the small box group 2 is separated, so that the opening angle may be slightly returned, but the small box group 2 is separated. After that, the small box group 2 immediately moves downward in the position / posture shown in FIG. 16, so that the downward movement process can be executed while the expanded state is maintained. In addition, if the third and fourth upper flaps 6c and 6d are spread apart instead of being separated from each other in this manner, the contacted and spread state is moved downward while moving the posture vertically from the holding product. Thus, the small box group 2 may be supplied into the main body of the outer box 5.

  If the lower portion of the small box group 2 is inserted into the outer box 5 to some extent, the suction is released. Then, the small box group 2 is detached from the holding portion 17 (suction nozzle 44), spontaneously falls due to its own weight, and finally the small box group 2 is completely stored in the outer box 5, as shown in FIG. Thereby, the storing process in the outer box 5 of the small box group 2 is completed. When the small box group 2 is detached from the holding portion 17, if the air is ejected from the suction nozzle 44, the suction nozzle 44 can be prevented from becoming a negative pressure, and the small box group 2 can be removed smoothly. Can be made.

  That is, in the present embodiment, when the small box group 2 composed of a plurality of small boxes 1 is stored in the outer box 5 in which the four upper flaps 6a to 6d are opened, the first and second upper flaps 6a, 6b is held in an expanded state by using a restraining plate, and the small box group held by the suction head 41 of the robot arm device is moved downward while being tilted and brought into contact with the third upper flap 6c and then spread. By changing the inclination direction and pushing the fourth upper flap 6d wide in the small box group, the upper part of the outer box is opened widely. After that, the posture of the small box group was returned to the vertical position, and it was moved downward according to the opening part of the outer box and stored.

  Thereafter, the holding plate 24 of the flap expanding device 23 reaches the second position, the holding of the expanded state of the first and second upper flaps 6a, 6b is canceled, and the outer box 5 is moved to the next-stage unloading device 18. The upper flaps 6a to 6d are closed when they are changed and moved on the carry-out device 18. Further, the second robot arm device 16 returns the holding unit 17 to the small box setting unit 15 side in preparation for the next transfer of the small box group 2. Prior to setting the next small box 2 to the small box setting unit 15, the second robot arm device 16 sets the guide frame 42 on the small box setting unit 15, and also moves the guide frame 42 from the suction head 41. Let go. As a result, the guide frame 42 is in a state as shown in FIG.

  Further, by detaching the guide frame 42 in this way, for example, the second robot arm device 16 can also be used as the function of the first robot arm device 13 and the first robot arm device can be omitted. . This results in a more compact device.

  This is a process for the outer box using the small box group 2 of the second robot arm device 16. For example, after performing the process of spreading the two upper flaps (the third and fourth upper flaps 6c and 6d), these The small box group 2 as a whole is brought into contact with the corners of the small box group 2 facing the inner corners of the outer box 5 located on the upper flap side of the outer box 5 and rotated laterally around the corners. You may make it perform the operation | movement which is made to move forward after making it horizontal with respect to an outer box by making it position above an outer box and then rotating a small box group to a vertical direction. In this case, the small box group 2 may be rotated in the vertical direction around the center of the small box group 2. In this way, since the rotation radius of the small box group 2 may be small, it is difficult to interfere with the inner surface of the outer box 5, and the boxing can be performed smoothly.

DESCRIPTION OF SYMBOLS 1 Small box 2 Small box group 5 Outer box 6a-6d 1st-4th upper flap 10 Packing apparatus 11 Stocker 12 Sheet 13 1st robot arm apparatus 14 Outer box restraining apparatus 15 Small box setting part 16 2nd robot arm apparatus 17 Holding unit 18 Unloading device 23 Flap expansion device 41 Suction head 42 Guide frame

Claims (9)

A boxing device for storing a group of small boxes consisting of a plurality of small boxes with respect to an outer box with four upper flaps open.
A robot arm device that holds the small box group and moves the small box toward the outer box, and
The robot arm device is configured to push the two upper flaps by bringing the held small box groups into contact with two adjacent upper flaps while inclining, and the outer box opening the small box groups. A boxing apparatus that performs a process of moving forward toward the side and supplying the small box group.   2. The flap expanding device according to claim 1, further comprising: a flap expanding device that holds two adjacent upper flaps different from the two adjacent upper flaps in the expanded state among the four upper flaps. Boxing equipment.   The boxing according to claim 1 or 2, wherein the pressing and spreading process is to spread one of the two different upper flaps first and then spread the remaining upper flaps. apparatus.   The boxing device according to any one of claims 1 to 3, wherein a guide for regulating the periphery of the small box group is provided at a tip of the robot arm.   The boxing device according to claim 4, wherein the guide is detachably attached.   The robot arm device, after performing the process of expanding the two upper flaps, abuts the corners of the small box group on the inner corners of the outer box located on the upper flap side, The entire small box group is positioned above the outer box by rotating it horizontally around the center, and the small box group is moved horizontally by rotating the small box group vertically to move forward. The boxing device according to any one of claims 1 to 5, wherein the boxing device is configured to be made.   The boxing device according to claim 6, wherein the small box group is rotated in the vertical direction around the center of the small box group. A boxing method for storing a group of small boxes consisting of a plurality of small boxes with respect to an outer box with four upper flaps open.
The robot arm device holds the small box group, abuts the small box group against the two adjacent upper flaps, and spreads the two upper flaps,
Then, the robot arm device moves the supplied small box group forward toward the opened outer box and supplies it. Of the four upper flaps, another adjacent upper flap that is different from the two adjacent upper flaps is held in an expanded state using a restraining means,
The boxing method according to claim 8, wherein in this state, the robot arm device performs a process of bringing the small box group into contact with the two upper flaps.

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