JP2013035607A - Carton magazine, carton hand, and document loading and inserting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a carton hand that can reliably pull out a carton when pulling out the carton from a carton magazine.SOLUTION: The carton hand includes: a fixed suction pad for suction-holding a surface of a carton conveyed to a carton pulling-out port of the carton magazine for loading and storing a carton; and a movable suction pad which sucks a surface of a carton, whose tip projects more than that of the fixed suction pad and can retreat to the substantially same position as the tip of the fixed suction pad.

Description

  In this invention, a carton (paper box) enclosing medicines, cosmetics, etc. is folded from an unopened state, and then opened to store products such as pharmacies, cosmetics, etc., instruction manuals, documents, etc. Carton magazine for loading and storing cartons and cartons used for processing such as inserting, closing the lid, and gluing, carton hand for taking out cartons from the carton magazine and opening the cartons, taking out stored documents The present invention relates to a document stacking and inserting device for inserting a document into an opened carton.

  Conventionally, even a low-strength, low-strength carton is set up to make a carton by intermittent feeding in order to regulate the warping of the cartoner barrel when opening the upper flap and eliminate box making mistakes in the flap closing process In order to ensure the stability of product insertion into a carton, the upper flap while regulating the warp of the upper flap side trunk side at the same time when opening the upper flap on the product insertion side There was a thing which opened it (for example, refer patent document 1).

  Also, a carton magazine that holds a plurality of unopened cartons, and the carton magazine, in order to realize a cartoner that can easily adjust the ledge and can surely open even if the carton is old or warped A suction means for sucking and drawing out one surface of an unopened carton existing in the ledge of the ledge, and a molding guide means for completely opening the unopened carton drawn out, and an unopened carton existing in the ledge There is an air blow means for blowing air from the end of the carton into the carton and a control means for controlling the drive of the suction means (for example, see Patent Document 2).

  Furthermore, it is easy to hold a clear carton (carton made of transparent resin, etc.), which has a strong repulsive force against changes in shape, in a predetermined shape such as a rectangle or square, and the clear carton can swing within the holding part. A storage unit for storing an unopened clear carton, and a take-out device that is disposed opposite to the carton take-out port of the storage unit to adsorb and pull out the front of the clear carton in order to prevent falling from the holding unit; In the rotary clear cartoner provided with a takeout mechanism having a guide part that contacts and opens the side part of the taken out clear carton, and a holding part that holds and rotates the opened clear carton in an open state The take-off mechanism is provided with a reverse folding device that presses the clear carton opened by the guide portion in the reverse direction beyond a predetermined opening position. Rutotomoni, to a position in contact with the clear carton holder, there is one provided with anti-slip member to suppress the rocking of the carton (e.g., see Patent Document 3).

  In addition, as a document magazine, a center guide is arranged at the center in the width direction of the outlet of the magazine, and a supporting means for supporting the front center of the sheet by contacting the leading sheet arranged in the magazine, Suction means that disposes a vacuum pad in front of both ends in the width direction of the exit, sucks both ends of the front surface of the sheet by contacting the leading sheet, and folds the both ends of the leading sheet in cooperation with the center guide And separating means for separating the leading sheet and the succeeding sheet by disposing the hooks at both ends in the width direction of the magazine outlet so that the hooks can be freely inserted and retracted, and inserting the hooks in the spaces after the both ends of the sheet are rolled. And a transfer means for taking out the separated leading sheet from the magazine and transferring it to the next process (for example, see Patent Document 4).

  In addition, there is a packaged product that combines two documents, a written document and a precautionary note, together and stored in a case. The first stocker stores the first document and the first stocker stores the first stocker. A first take-out mechanism for taking out one document at a time, a second stocker storing a second document, a second take-out mechanism for taking out a second document from the second stocker one by one, A conveyance mechanism that conveys the first document taken out by the first take-out mechanism and the second document taken out by the second take-out mechanism while being stacked is provided (for example, Patent Document 1). 5).

JP-A-6-171612 Japanese Patent Laid-Open No. 5-112328 Registered Utility Model No. 3093969 JP-A-11-180418 JP 2002-104725 A

  However, since all conventional car toners are dedicated devices specialized for specific products, there is a problem that they are not versatile. Therefore, for example, an unopened carton is opened and the upper flap is opened with the upper flap open, and this is sequentially arranged on the product insertion conveyor, and a plurality of products and instruction manuals. There was a problem that it was not suitable for inserting documents such as Noh books from the top of the carton.

  For example, an apparatus as described in Patent Document 1 is configured to insert a product from the side into an opened carton, and therefore inserts 10 or 20 items such as soft stick-shaped medicines. Furthermore, it is not suitable for inserting documents such as an instruction manual or a booklet. Moreover, there has been a problem that it is not easy to visually confirm whether or not a product or document has been correctly inserted.

  Further, in the apparatus as described in Patent Document 2, since the carton is in sliding contact with the ledge and the forming guide means for opening the carton, the carton surface is easily damaged, and the carton is properly opened. Therefore, it is difficult to adjust the position of the ledge and the forming guide means, and further, there is a problem that an air blowing means is necessary to open the ledge reliably. There is also a problem that a bucket is required to hold the opened carton.

  Further, in the apparatus as described in Patent Document 3, when the carton is opened, the carton is slidably contacted with the guide portion, so that the surface of the carton is easily damaged, and the opened carton is held. There was a problem that required a holding part.

  In addition, in the apparatus as described in Patent Document 4, the outlet book is installed with a slight inclination with the outlet side facing downward so that the row of books always flows to the outlet side. There is a problem that the sheet is taken out, and for this purpose, the outlet is provided with a separating means having a hook driven by a rotating shaft for separating the book and the book in order to prevent the book from flowing out. Needed mechanism and many mechanical parts.

  In the apparatus described in Patent Document 5, both the first stocker storing the first document and the second stocker storing the second document insert the document from above, and insert the document from below. Because of the structure to take out, it is necessary to attach an elastic member to hold the document so that it does not fall from the stocker, or to place a weight on the document so that the document stacked in the stocker can move downward, It is necessary to form a window hole with a size that allows the document to pass through on the underside of the stocker. There was a problem such as.

  The present invention has been made to solve the above-described problems. A first object of the present invention is to obtain a carton magazine and a carton hand capable of forming a versatile cartoner.

  A second object of the present invention is to obtain a carton magazine, which is a component part of a cartoner, in which each part of a loaded carton is surely positioned at a carton outlet when taking out a carton. is there.

  A third object of the present invention is to obtain a carton hand that can reliably take out a carton when taking out a carton from a carton magazine.

  A fourth object of the present invention is to obtain a carton hand capable of preventing the carton surface from being damaged when the taken out carton is opened.

  A fifth object of the present invention is to obtain a carton hand that can reliably open and hold a taken-out carton.

  A sixth object of the present invention is to provide a carton hand that can reliably take out only the first carton even when the flaps of the carton loaded on the carton magazine overlap and engage with each other. Is to get.

  A seventh object of the present invention is to obtain a document magazine that has a small occupied floor area and can easily store documents.

  An eighth object of the present invention is to provide a document insertion apparatus that can reliably suck and hold a stored document.

  A ninth object of the present invention is to provide a document insertion device that can reliably take out stored documents one by one.

  The carton hand according to the present invention includes a fixed suction pad for sucking and holding one surface of the carton conveyed to a carton take-out port of a carton magazine for loading and storing the carton, and sucking the one surface of the carton and the fixed suction. The movable suction pad is provided with a tip protruding from the pad and retractable to a position equivalent to the tip of the fixed suction pad.

  The carton hand of the present invention includes a fixed suction pad for sucking and holding one surface of the carton conveyed to the carton take-out port of the carton magazine for loading and storing the carton, and a front end of the carton hand from the fixed suction pad. And a movable suction pad that can be retracted to a position equivalent to the tip of the fixed suction pad, so that the carton can be reliably taken out from the carton magazine and held.

It is a front view which shows the carton magazine by Embodiment 1 of this invention. It is a block diagram of the cartoner using the carton magazine and carton hand of this invention. It is a side view of the carton magazine by Embodiment 1 of this invention. It is a bottom view of the carton hand by Embodiment 2 of this invention. It is a front view of the carton hand by Embodiment 2 of this invention. It is explanatory drawing which shows the state at the time of the carton adsorption | suction of the carton hand by Embodiment 2 of this invention. It is explanatory drawing which shows the state at the time of carton opening of the carton hand by Embodiment 2 of this invention. It is explanatory drawing which shows the state at the time of the carton opening of the carton hand by Embodiment 3 of this invention. It is a block diagram of the carton hand by Embodiment 4 of this invention. It is a block diagram of the carton hand by Embodiment 5 of this invention. It is explanatory drawing which shows an example of the carton concerning Embodiment 5 of this invention. It is explanatory drawing which shows the problem of the carton concerning Embodiment 5 of this invention. It is explanatory drawing which shows the state at the time of the carton adsorption | suction of the carton hand concerning Embodiment 5 of this invention. It is a side view of the document magazine of the document stacking insertion apparatus by Embodiment 6 of this invention. It is a schematic block diagram which shows the document raising / lowering unit in the document stacking / inserting apparatus by Embodiment 6 of this invention. It is a block diagram of the document insertion apparatus of the document stacking insertion apparatus by Embodiment 7 of this invention. It is explanatory drawing which shows the operation | movement at the time of taking out a document with a document hand in the document stacking / inserting apparatus by Embodiment 7 of this invention. It is explanatory drawing which shows the state just before adsorb | sucking a document in the document stacking / inserting apparatus by Embodiment 7 of this invention. It is a block diagram which shows the document insertion apparatus of the document stacking insertion apparatus by Embodiment 8 of this invention. It is an expansion explanatory view at the time of document adsorption of a document stacking insertion apparatus according to Embodiment 8 of the present invention.

Embodiment 1 FIG.
FIG. 1 is a front view showing a carton magazine according to Embodiment 1 of the present invention. Prior to this description, a cartoner equipped with a carton magazine and a carton hand will be described.
FIG. 2 is a plan view showing the configuration of the cartoner.
In the figure, the cartoner includes a carton magazine 100, a carton take-out device 200, a product insertion conveyor 300, a product supply conveyor 400, a product insertion device 500, a document magazine 600, a document insertion device 700, and a lid closing device 800. The carton magazine 100 is for loading and storing the carton 1, and the carton 1 is configured to be stacked and stored in a folded state in a vertical state. The cartons 1 are conveyed in the direction of the arrow 101 and sequentially taken out, and the loaded carton 1 is conveyed in the direction of the arrow 101 each time it is taken out. The carton take-out device 200 is provided with a carton hand 201. The carton hand 201 takes out the loaded cartons 1 one by one from the carton magazine 100 and opens the carton 1.

  The product insertion conveyor 300 is a conveyor for placing and transporting the carton 1 opened and opened by the carton take-out device 200. The carton 1 is transported in the direction of the arrow 301 for inserting products and documents. It is comprised so that. The product supply conveyor 400 is provided side by side with the product insertion conveyor 300 and is configured to transport products to be inserted into the opened carton 1 in the direction of the arrow 401.

  The product insertion device 500 is a device for taking out a product conveyed by the product supply conveyor 400 and inserting the product into the opened carton 1 conveyed by the product insertion conveyor 300. The document magazine 600 is a storage unit that is installed in the vicinity of the product insertion conveyor 300 and stacks documents such as instruction manuals and books. The document insertion device 700 is a device that takes out a document from the document magazine 600 and inserts the document into the opened carton 1 that is conveyed by the product insertion conveyor 300. The document magazine 600 and the document insertion device 700 insert and load the document. The device is configured. The lid closing device 800 is a device for closing and gluing the upper flap of the carton 1 after inserting goods and documents into the opened carton 1. It should be noted that whether or not the product or document has been correctly inserted is confirmed before the lid closing device 800 closes the upper flap of the carton 1 and pastes it.

  The carton take-out device 200, the product insertion device 500, the document insertion device 700, and the lid closing device 800 may be dedicated devices. However, when a robot is used, various cartons and products can be obtained by replacing programs and robot hands. Can correspond to documents.

Next, details of the carton magazine 100 will be described with reference to the front view of FIG. 1 and the side view of FIG.
1 and 3, the carton magazine 100 includes a carton storage unit 10, carton feed conveyors 11a, 11b, 11c, and 11d, arrival sensors 13a, 13b, 13c, and 13d, motors 14a and 14b, carton outlets 15, and conveyor drives. Control means 18 is provided. The carton storage unit 10 is configured to stack and store the folded carton 1 in a vertically placed state, and includes holding units 10 a and 10 b for holding two adjacent surfaces of the folded carton 1. As shown in FIG. 1, these holding portions 10 a and 10 b are arranged to be inclined and are configured to hold two adjacent sides of the carton 1 on the surfaces of the holding portions 10 a and 10 b. Furthermore, these holding | maintenance parts 10a and 10b are provided with the carton feed conveyors 11a, 11b, 11c, and 11d for conveying the carton 1. FIG. Here, the carton feed conveyors 11a and 11b are provided in the holding portion 10a, and are configured to convey the carton 1 in the direction of arrow 12 by the motor 14a. In addition, the carton feed conveyors 11c and 11d are provided in the holding portion 10b, and are configured to convey the carton 1 in the direction of the arrow 12 by the motor 14b.

The arrival sensors 13a, 13b, 13c, and 13d are sensors for detecting whether the carton 1 conveyed in the direction of arrow 12 by the carton feed conveyors 11a, 11b, 11c, and 11d exists at the position of the carton outlet 15. is there. These arrival sensors 13a, 13b, 13c, and 13d are arranged in the vicinity of the carton feed conveyors 11a and 11b, and the arrival sensors 13c and 13d are arranged in the vicinity of the carton feed conveyors 11c and 11d, respectively. ing.
Further, as shown in FIG. 3, the carton magazine 100 is provided with a predetermined inclination 17 so as to face downward with respect to the transport direction of the carton 1.
The conveyor drive control means 18 is means for controlling the motors 14a, 14b based on the detection states of the arrival sensors 13a, 13b, 13c, 13d.

  With the configuration as described above, when the cartons 1 are stacked vertically and stored in the carton storage unit 10, the carton feed conveyors 11a, 11b, 11c, and 11d convey these cartons 1 in the direction of arrow 12. Note that the carton 1 may be manually placed in the carton storage unit 10 or may be loaded by a robot or a transporter by detecting a lack of loading of the carton 1 with a sensor or the like. Next, when each part of the carton 1 arrives at the arrival sensors 13a, 13b, 13c, 13d, the conveyor drive control means 18 stops the motors 14a, 14b, thereby causing the carton feed conveyors 11a, 11b, 11c, 11d. Is stopped. That is, the conveyor drive control means 18 controls as follows. When the arrival sensor 13a detects the arrival of the corresponding part of the carton 1, the driving of the carton feed conveyor 11a is stopped. When the arrival sensor 13b detects the arrival of the corresponding part of the carton 1, the driving of the carton feed conveyor 11b is stopped. When the arrival sensor 13c detects the arrival of the corresponding part of the carton 1, the driving of the carton feed conveyor 11c is stopped. When the arrival sensor 13d detects the arrival of the corresponding part of the carton 1, the driving of the carton feed conveyor 11d is stopped. Therefore, the carton feed conveyors 11a, 11b, 11c, and 11d are not connected to the carton 1 until all the arrival sensors 13a, 13b, 13c, and 13d corresponding to the respective parts of the carton 1 detect the arrival of the respective parts of the carton 1. Continue to transport the part of arrival.

  The carton 1 conveyed to the carton outlet 15 is taken out in the direction of arrow 16 by a carton take-out device 200 described later.

  It should be noted that the inclination angle of the holding portions 10a and 10b can be adjusted to an arbitrary angle, and when the ratio of the vertical and horizontal lengths of the carton 1 is changed, the angle corresponding to this (the respective holding portions 10a and 10b By adjusting the angle so that the load received on the surface is as equal as possible, warping due to the weight of the carton 1 can be suppressed.

  The angles formed by the surfaces of the holding portions 10a and 10b are usually right angles. However, by making the angle acute, such as 89 degrees or 88 degrees, for example, the carton feed conveyor 11b and the carton feed conveyor 11d located on the outer side have a carton 1. Thus, the warpage due to the weight of the carton 1 can be prevented, and the carton 1 can be transported reliably.

  Further, depending on the shape of the carton 1, by providing an upward inclination angle in the carton conveyance direction in the carton storage unit 10, there is a case where the conveyance by the carton feed conveyors 11a, 11b, 11c, and 11d can be reliably performed. Can be adjusted in the upward direction as well, so that various cartons can be handled.

  As described above, according to the carton magazine of the first embodiment, the carton storage unit that stacks and stores the folded cartons in the vertical state and the cartons supplied to the carton storage unit are sequentially removed in the vertical state. Based on the detection states of a plurality of arrival sensors and a plurality of arrival sensors that detect whether a plurality of carton feed conveyors to be transported to the exit, a plurality of locations of the transported cartons are respectively positioned at the carton outlet, Conveyor drive control means that controls the drive of each of the carton feed conveyors, so that the carton can be reliably conveyed to the carton outlet, the carton opening operation can be performed smoothly, and the operation as a cartoner Reliability can be improved.

  Further, according to the carton magazine of the first embodiment, the carton storage portion is constituted by two holding portions that respectively hold two adjacent sides of the carton, and the two holding portions are arranged in an inclined manner, and Since the tilt angle can be adjusted arbitrarily, it is possible to prevent warping due to the weight of the carton, and to further improve this effect by adjusting the tilt angle according to the ratio between the vertical and horizontal directions of the carton. Can do.

  Further, according to the carton magazine of the first embodiment, the carton feed conveyor is provided in each of the two holding portions, and the angle formed by the two holding portions is an acute angle, so that the warpage due to the weight of the carton is prevented. In addition, the carton can be more reliably conveyed by the carton feed conveyor.

  Further, according to the carton magazine of the first embodiment, since the carton storage portion is inclined so that the carton transport direction is downward or upward, the carton can be caused to fall down in the direction of the carton outlet due to its own weight. Also, it is possible to deal with a carton that can be transported more reliably by upward transport, and the carton can be transported more reliably in the direction of the carton outlet.

  Further, according to the carton magazine of the first embodiment, the downward or upward inclination angle in the carton transport direction in the carton storage part can be arbitrarily adjusted, so that the acting force that the carton falls in the carton take-out direction due to its own weight. And the angle of upward conveyance can be adjusted, and the carton can be conveyed more reliably by the carton feed conveyor.

Embodiment 2. FIG.
The second embodiment relates to the carton takeout device 200.
4 and 5 are a bottom view and a front view of a carton hand 201 constituting the carton take-out device 200, respectively.
The carton hand 201 is disposed at a position facing the carton magazine 100 (see FIG. 2), and is used for taking out the carton 1 from the carton outlet 15.
As shown in FIGS. 4 and 5, the carton hand 201 includes a carton receiving plate 20, suction pads with movable function (movable suction pads) 21 a and 21 b, fixed suction pads 22 a and 22 b, a plate 23, a cylinder 24, and a hinge 25. I have. The roller 29 shown in FIG. 5 will be described in the third embodiment.

  The carton receiving plate 20 is a base for holding the carton 1, and suction pads 21 a and 21 b with retracting function and fixed suction pads 22 a and 22 b are attached to the carton receiving plate 20. As shown in FIG. 4, the suction pads 21a and 21b with a retracting function are normally configured such that their tips protrude from the fixed suction pads 22a and 22b. In addition, as shown in FIG. 5, the suction pads 21a, 21b and the fixed suction pads 22a, 22b with the retracting function are on the outside, and the fixed suction pads 22a, 22b are on the inner side. It is arranged as follows. The plate 23 is attached to the carton receiving plate 20 via a hinge 25, and is configured to rotate in the carton adsorption direction about the shaft 26 of the hinge 25 by the action of the cylinder 24.

Next, the operation of the carton hand 201 configured as described above will be described.
Usually, since the carton 1 is often warped due to its own weight, moisture absorption, or the like, the distance between the carton hand 201 and the carton 1 is often uneven. For this reason, conventionally, it has been difficult for each pad to reliably suck the surface of the carton 1. Therefore, in the present embodiment, when the carton 1 is taken out from the carton outlet 15 of the carton magazine 100, first, the suction pads 21a and 21b with the retracting function in the protruding state come into contact with the surface of the carton 1 and suck it. Here, the suction pads 21a and 21b with the retracting function are held by the carton receiving plate 20 by springs, and when the distance between the surface of the carton 1 and the suction pads 21a and 21b with the retracting function is uneven, the springs Adjust the distance non-uniformity by expanding and contracting. After bringing the suction pads 21a, 21b with a retracting function into contact with the surface of the carton 1, the carton 1 is sucked with the suction pads 21a, 21b with a retracting function. As a result, the suction pads 21a and 21b with the retracting function are retracted to a state as shown in FIG.

As shown in FIG. 6, when the suction pads 21a and 21b with the retracting function are retracted, the carton 1 contacts the fixed suction pads 22a and 22b. Thereby, the fixed suction pads 22a and 22b suck and hold the carton 1. The fixed suction pads 22 a and 22 b are fixed to the carton receiving plate 20 and have a function of supporting the weight of the carton 1.
With the above operation, the carton hand 201 takes out the carton 1 from the carton magazine 100.

Next, the opening operation of the carton 1 will be described.
First, as shown in FIG. 6, when the plate 23 which is in parallel with the surface of the unopened carton 1 is operated in the direction of the arrow 27 as shown in FIG. It rotates in the direction of carton 1 around the center. The plate 23 pushes the end 1a of the carton 1 held by the fixed suction pads 22a and 22b in the direction of the arrow 28, and finally rotates to a position perpendicular to the carton receiving plate 20. Thereby, the carton 1 is opened as shown in FIG.

  As described above, according to the carton hand of the second embodiment, the fixed suction pad for sucking and holding one surface of the carton conveyed to the carton take-out port of the carton magazine for loading and storing the carton and the one surface of the carton are sucked. In addition, since the front end of the fixed suction pad protrudes from the fixed suction pad and the movable suction pad can be retracted to the same position as the front end of the fixed suction pad, the carton is reliably taken out and held. be able to.

Embodiment 3 FIG.
In the third embodiment, in the carton hand in the second embodiment, a roller is provided at the tip of the rotating plate 23.
FIG. 8 is a configuration diagram illustrating the carton hand according to the third embodiment.
As shown in FIGS. 8 and 5, the roller 29 is a rotatable member that is attached to the distal end portion of the plate 23 and that contacts the end portion 1 a of the carton 1 when the plate 23 rotates. Other than this, the second embodiment is the same as the second embodiment shown in FIGS.

  As described in the second embodiment, the plate 23 opens the carton 1 by pushing the end 1a of the carton 1 in the direction of the arrow 28. At this time, the plate 23 and the end 1a are in a sliding contact state. . As a result, there is a risk of scratching by the plate 23 when the carton 1 is opened. Therefore, in the third embodiment, by attaching the roller 29 to the plate 23, when the plate 23 rotates, the plate 23 does not directly press the end 1a of the carton 1, but the roller 29 rotates in the direction of the arrow 30. It will be pushed while. Thereby, it is possible to prevent the end 1a of the carton 1 from being damaged when the plate 23 is rotated.

  As described above, according to the carton hand of the third embodiment, there is provided opening means for opening the carton by rotating so as to press one end of the carton against the carton suction surface by the fixed suction pad. And since the roller which rotates with a press operation | movement was provided in the position which presses the carton of an opening means, it can prevent a damage | wound to a carton at the time of carton opening.

Embodiment 4 FIG.
In the fourth embodiment, the carton receiving plate 20 of the carton hand 201 is provided with carton locking means for preventing a drop or the like when the carton is opened at the end opposite to the plate 23.

FIG. 9 is a configuration diagram of the carton hand according to the fourth embodiment.
As shown in the figure, the carton stopper 31 is a carton locking means, is provided at the end of the carton receiving plate 20 opposite to the plate 23, and is bent so that the tip is slightly expanded with respect to the adsorption direction of the carton 1. It has a shape. And this carton stopper 31 is comprised so that the other edge part 1b of the carton 1 may be latched at the time of adsorption | suction of the carton 1. FIG. Since the other configuration is the same as that of the third embodiment, description thereof is omitted here.

  In the carton hand 201 configured as described above, when the carton 1 is sucked and pulled by the suction pads 21a and 21b with a pull-in function and is held by the fixed suction pads 22a and 22b, the end 1b of the carton 1 is the carton stopper 31. It is held while being in contact with the curved portion. Thereby, holding | maintenance of the carton 1 can always be performed in a fixed position.

  Further, the carton 1 is pushed by the plate 23 at the time of opening and receives a force in the direction of the arrow 32. However, since the carton stopper 31 receives the force in the direction of the arrow 32, the suction pads 21a and 21b with retracting function and the fixed suction pad are used. 22 a and 22 b do not receive a force perpendicular to the direction in which the carton 1 is sucked, that is, a force in the direction of the arrow 32. Therefore, when the carton 1 is opened, the suction pads 21a and 21b with the retracting function and the fixed suction pads 22a and 22b receive the force in the direction of the arrow 32, so that the carton 1 is unsucked and the carton 1 is dropped. can do.

  As described above, according to the carton hand of the fourth embodiment, since the carton locking means that locks the other end of the carton provided on the other end of the carton at the time of carton adsorption is provided. Positioning at the time of carton adsorption can be performed reliably, and occurrence of problems at the time of opening the carton can also be prevented.

Embodiment 5 FIG.
In the fifth embodiment, a side flap pusher for pressing the carton flap in the direction opposite to the carton suction direction when the carton is sucked is provided to the carton hand.
FIG. 10 is a configuration diagram of the carton hand according to the fifth embodiment.
In the drawing, the side flap pusher 33 is attached to the carton receiving plate 20 and installed so as to abut on the side flap of the carton 1 when the carton 1 is adsorbed. Other configurations are the same as those of the third embodiment, and thus description thereof is omitted here.

FIG. 11 is an explanatory diagram showing an example of the carton 1 according to the fifth embodiment.
As described in the first embodiment, a plurality of cartons 1 are stacked and stored in the carton magazine 100. For convenience of explanation, FIG. 11 shows a state in which two cartons 1 are stacked, but it is needless to say that actually at least two cartons 1 are stacked and used.

As shown in FIG. 11, the first carton 1-1 and the second carton 1-2 include upper flaps 1a1 and 1a2, left side flaps 1b1 and 1b2, and right side flaps 1c1 and 1c2, respectively. Yes.
When a plurality of cartons 1 are loaded, if the carton 1 absorbs moisture, becomes old, or the carton 1 is a large box, it may warp as shown in FIG. In such a state, the upper flap 1a1 of the first carton 1-1 and the right side flap 1c2 of the second carton 1-2 are overlapped and engaged at the position 1d. In this state, when the suction pads 21a and 21b with the retracting function of the carton hand 201 suck and hold the first carton 1-1 and take it out from the carton outlet 15, as shown in FIG. -1 and the second carton 1-2 are caught at the position 1d, and the first carton 1-1 and the second carton 1-2 are taken out together.

However, since the second carton 1-2 is not sucked by the suction pads 21a and 21b with the retracting function or the fixed suction pads 22a and 22b, the second carton 1-2 is disengaged in the middle of taking out, and the second carton 1- 2 falls.
Therefore, in the fifth embodiment, the side flap pusher 33 abuts against the side flap when the carton 1 is attracted to prevent the plurality of cartons 1 from remaining in the engaged state. That is, in the fifth embodiment, as shown in FIG. 13, when the suction pads 21a and 21b with retracting function and the fixed suction pads 22a and 22b suck the first carton 1-1, the tip of the side flap pusher 33 Is in contact with the position 1e of the right side flap 1c1 of the first carton 1-1 (the position is also shown in FIG. 11), and this position 1e is pressed in the direction opposite to the suction direction. The right side flap 1c1 of the first carton 1-1 and the right side flap 1c2 of the second carton 1-2 move in the direction of the arrow 34, and the upper flap 1a1 of the first carton 1-1 The engagement of the second side carton 1-2 at the position 1d of the right side flap 1c2 is canceled, and only the first carton 1-1 can be smoothly taken out.

  In addition, although Embodiment 5 demonstrated the case where it applied to Embodiment 3, you may apply to Embodiment 4 which has the carton stopper 31. FIG.

  As described above, according to the carton hand of the fifth embodiment, since the side flap pusher that contacts the side flap at the time of carton suction and presses in the direction opposite to the suction direction by the carton suction operation is provided. The problem of sucking the carton together can be solved, and the carton can be taken out smoothly.

  In addition, by configuring the cartoner using the carton magazine 100 and the carton hand 201 described above, a plurality of products and instruction manuals from above with the carton opened and the upper flap of the carton opened. Documents such as Noh books can be inserted, so depending on the type, size, and quantity of the product, it can be adapted to various carton sizes and shapes by replacing with a suitable carton hand. In addition, it is possible to obtain a versatile cartoner that can be easily visually confirmed whether or not a product or document has been correctly inserted.

Embodiment 6 FIG.
The sixth embodiment relates to the document magazine 600 in a document stacking / inserting apparatus including the document magazine 600 and the document inserting apparatus 700.
FIG. 14 is a side view of the document magazine 600 in the document stacking / inserting apparatus according to the sixth embodiment. FIG. 15 is a schematic configuration diagram of the document lifting / lowering unit 60 in the document magazine 600.
As shown in these drawings, the document magazine 600 includes a document storage unit 50 provided to be rotatable with respect to the housing 40 and a document lifting / lowering unit 60 fixed on the housing 40. The document storage unit 50 stores the document 2, and a lower end of the document storage unit 50 engages with a magazine tilt shaft 41 fixed to the housing 40, and the magazine tilt shaft 41 serves as a fulcrum, as indicated by arrows 70 a and 70 b. It is comprised so that it may rotate to the near side. In addition, a stop bracket 51 is attached to the document storage unit 50, and when the tip end of the stop bracket 51 comes into contact with a stopper 42 fixed to the housing 40 during rotation, the document storage unit 50 is rotated in the forward direction. The movement stops. Further, a handle 52 is attached to the upper part on the front side of the document storage unit 50, and the document storage unit 50 can be tilted to the front side by pulling the handle 52 forward. That is, the document storage unit 50 is fixed in an upright state as indicated by a one-dot chain line at 71a during operation, and pulled out to the front side as indicated by a solid line at 71b when the document 2 is inserted by an operator. Is done. Further, a document receiver 53 is provided inside the document storage unit 50, and the inserted document 2 is received by the document receiver 53.

  When the operator inserts the document 2 into the document storage unit 50 configured as described above, the handle 52 is pulled toward the front side and brought down to a position 71b. Then, the document 2 is inserted and stored through an opening 54 provided in the upper part of the document storage unit 50. When the document 2 is inserted so that the document storage unit 50 is almost full, the operator pushes the document storage unit 50 in the direction of the arrow 70b and returns it to the position indicated by 71a. When the document storage unit 50 is returned to the position 71a, the document storage unit 50 is fixed by a fixing device (not shown).

  The document lifting / lowering unit 60 constitutes a document transport unit for transporting the document 2 stored in the document storage unit 50 in the upward direction as indicated by an arrow 73 sequentially. That is, when the document storage unit 50 is returned to the position 71 a, the document push-up plate 61 is engaged with the lower side of the document receiver 53. One end of a wire 62 is attached to the document push-up plate 61, and the other end side of the wire 62 is wound up by a lifting / lowering motor 64 via a pulley 63 provided on the document lifting / lowering unit 60. 61 rises and transports the document 2 upward. The document push-up plate 61 is driven by the raising / lowering motor 64 so that the next document 2 to be taken out comes to a predetermined position each time the document 2 is taken out and reduced one by one by a document hand of the document insertion device 700 described later. The

  A document detection sensor 74a is provided at a position where the document hand of the document insertion device 700 is taken out. When the uppermost part of the document 2 is lower than the position of the document detection sensor 74a, the lifting motor 64 rotates and the document 2 is moved to an arrow. Transport in 73 direction. When the uppermost part of the document 2 reaches the position of the document detection sensor 74a, the rotation of the elevating motor 64 is stopped and the conveyance is stopped. When the document 2 is sequentially taken out and the uppermost part of the document 2 falls below the position of the document detection sensor 74a, the raising / lowering motor 64 is driven and the operation of conveying the document 2 in the direction of the arrow 73 is repeated.

If the operation of transporting the document 2 in the direction of the arrow 73 is repeatedly performed, the document 2 will eventually disappear. In this case, since the document detection sensor 74a is not turned on, the elevating motor 64 continues to rotate and raises the document push-up plate 61. Thereafter, since the upper end position sensor 74b is turned on, it is determined that there is no document 2, and the rotation of the elevating motor 64 is stopped, and then reverse rotation is performed.
The lower end position sensor 74c is for determining the position of the lowermost end when the document push-up plate 61 is reversely rotated. When the document push-up plate 61 is lowered and reaches the position of the lower end position sensor 74c, the elevating motor is moved. 64 is stopped and an alarm is output to prompt the worker to replenish the document 2. That is, in this state, the document receiver 53 supported by the document push-up plate 61 is also at the lowermost position.

  As described above, in the sixth embodiment, when the document 2 is inserted into the document storage unit 50, the document storage unit 50 is inclined toward the front side by pulling the handle 52 of the document storage unit 50 toward the front side. Since the document 2 can be inserted from the opening 54, the document 2 can be inserted easily. In addition, during operation, the document storage unit 50 is pushed up to bring the document storage unit 50 into an upright position, so that the work is not obstructed and the occupied floor area is extremely small, so that the document magazine 600 can be obtained.

  As described above, according to the document stacking / inserting apparatus of the sixth embodiment, the document can be turned to the near side with the lower end portion as a fulcrum, and the document can be inserted and stored from the upper opening during the turning and upright. Since the document storage unit configured to take out the document stored in the upper opening in the state and the document transport means for transporting the document stored in the document storage unit in the direction of the upper opening, the occupied floor area is small. A document magazine that can be easily stored can be obtained.

Embodiment 7 FIG.
The seventh embodiment relates to a document hand in the document insertion apparatus 700.
FIG. 16 is a configuration diagram of a document hand of the document insertion apparatus 700 according to the seventh embodiment.
In FIG. 16, a robot hand 710 is a robot hand (not shown). A document hand 720 is attached, the document 2 is taken out from the document storage unit 50 of the document magazine 600 described in the sixth embodiment, and an opened carton. It controls the operation of inserting the document 2 into 1.

  The document hand 720 includes a base 80, spring lifting slide shafts 81a and 81b, a pad fixing plate 82, a document abutting plate 83, suction pads 84a and 84b, suction air tubes 85a and 85b, and a fixing portion 86. The base 80 is for supporting structures such as spring lifting slide shafts 81a and 81b to suction air pipes 85a and 85b in the document hand 720. The spring elevating slide shafts 81a and 81b are members that are provided with springs therein and extend and contract in the vertical direction (the interval between the base 80 and the pad fixing plate 82 is variable). The pad fixing plate 82 is fixed to the lower ends of the spring lifting slide shafts 81a and 81b, and fixes the suction pads 84a and 84b. The document contact plate 83 is connected to the suction pads 84 a and 84 b and is provided so as to contact the upper surface of the document 2 when the document 2 is taken out from the document storage unit 50. The document abutting plate 83 moves in the direction of the arrow 75a in accordance with the operation of the suction pads 84a and 84b when the document 2 is sucked by the suction pads 84a and 84b, and moves in the direction of the arrow 75b when the suction is released. . That is, the space between the pad fixing plate 82 and the document contact plate 83 expands and contracts according to the suction operation by the suction pads 84a and 84b.

  The suction pads 84a and 84b are connected to the suction air pipes 85a and 85b, respectively, and suck and hold the document 2 by being sucked through the suction air pipes 85a and 85b by an air pump (not shown). The suction state of the document 2 is released by supplying air through the air pipes 85a and 85b. The fixing portion 86 is for fixing the adsorption air tubes 85 a and 85 b to the base 80. Although the number of the suction pads 84a and 84b and the suction air pipes 85a and 85b is two, the number is not limited and may be three or more or one.

FIG. 17 is an explanatory diagram showing an operation when the document 2 stored in the document storage unit 50 is taken out by the document hand 720. This figure is a view of the document hand 720 and the document storage unit 50 as viewed from the front.
Normally, the uppermost end of the document 2 is at the position of the document detection sensor 74a, and the operator inserts the document 2 so as to be horizontal as much as possible. However, when the document 2 is folded, the one end side swells as shown in FIG. It will be stored in an inclined state and will not be level. Therefore, in the seventh embodiment, the document hand 720 is lowered while maintaining the horizontal state, and the suction operation is performed on the document 2 in a slightly pressed state.

  That is, in order to take out the document 2 from the document storage unit 50, the document hand 720 first descends in the direction of the arrow 75b. As a result, the document pad 83 comes into contact with the puffed one end side 2a of the document 2 (the state shown in FIG. 17). Further, the document contact plate 83 descends in the direction of the arrow 75b while maintaining the horizontal state. FIG. 18 is an explanatory diagram showing a state immediately before the document hand 720 is lowered by a predetermined distance in the direction of the arrow 75b and the document 2 is sucked. As illustrated, when the document hand 720 is lowered in the direction of the arrow 75b, the folded document 2 is pressed. The distance by which the document hand 720 descends in the direction of the arrow 75b can be set or adjusted to an arbitrary value according to the thickness of the document 2, the number of times it is folded, and the like.

  Next, the suction operation by the suction pads 84a and 84b is performed in the state shown in FIG. 18, and the document hand 720 is raised in the direction of the arrow 75a while the document 2 is sucked. In the document 2 stacked in this manner, the topmost first document 2-1 and the second document 2-2 are separated, and only the first document 2-1 is suction pads 84a and 84b. And is taken out from the document storage unit 50.

  As shown in FIG. 18, when a large number of documents 2 are stored in the document storage unit 50, when the document hand 720 descends in the direction of the arrow 75b, the document 2 is pressed with an excessive force. Therefore, the spring elevating slide shafts 81 a and 81 b expand and contract according to the repulsive force of the document 2. However, the spring strength of the spring lifting slide shafts 81a and 81b is larger than the repulsive force of the folded document 2, and the horizontal movement of the spring lifting slide shafts 81a and 81b is restricted. Therefore, the document pad 83 presses the document 2 in a substantially horizontal state.

  In the state shown in FIG. 17, the document contact plate 83 is parallel to the inclined surface according to the inclined state of the document 2 (the suction pads 84 a and 84 b are perpendicular to the inclined surface). There is also a method of changing the expansion / contraction length of the spring lifting slide shafts 81a and 81b. However, according to experiments, this method does not provide a desired effect. As shown in FIG. 18, the document backing plate 83 is lowered while maintaining the horizontal state without being caught by the inclination of the stored document 2, and the document Good results were obtained by configuring to press 2.

  As described above, according to the document stacking / inserting apparatus of the seventh embodiment, the document is pressed downward and sucked by the suction pad while the document suction surface of the suction pad for sucking the document is held in the horizontal state. A document hand that takes out the document from the document storage unit is provided, so that even if the distance between the document hand and the document surface is uneven due to bending warpage of the document stored in the document magazine, it is possible to reliably suck and hold the document. It can be carried out.

Embodiment 8 FIG.
In the eighth embodiment, the document hand 720 is provided with a contact member for curving and sucking the document 2 when the document 2 is sucked. The eighth embodiment is particularly effective when the document 2 stored in the document storage unit 50 is not folded as described in the seventh embodiment and a large number of documents are stacked one by one. Is. That is, in such a case, if the first document at the top end is taken out, the stacked documents are in close contact with each other. It is something to try.

FIG. 19 is a configuration diagram showing a document insertion apparatus 700 in the document stacking / inserting apparatus according to the eighth embodiment.
In the drawing, a pin cylinder 87 is a contact member fixed to a pad / pin fixing plate 82a together with suction pads 84a and 84b and capable of expanding and contracting in the same direction as the suction direction of the suction pads 84a and 84b. A pin cylinder air pipe 88 is connected to the pin cylinder 87, and the pin cylinder 87 is extended by supplying compressed air from the pin cylinder air pipe 88. That is, when compressed air is supplied to the pin cylinder 87 via the pin cylinder air pipe 88 by an air pump or the like (not shown), the pin cylinder 87 extends in the direction of the arrow 75b, and when the compressed air is released, the pin cylinder 87 contracts in the direction of the arrow 75a. . The pin cylinder air pipe 88 is fixed to the fixing portion 86 together with the adsorption air pipes 85a and 85b. Other configurations are the same as those in the seventh embodiment.

Next, the operation of the eighth embodiment will be described.
The operation until immediately before the document 2 is sucked is the same as that in the seventh embodiment shown in FIGS. However, when the document 2 is one document at a time, the height of the stacked document 2 is hardly changed even by the pressing operation by the document hand 720, so the document pad 83 is almost at the position of the document detection sensor 74a. Adsorption occurs when it reaches.

FIG. 20 is an enlarged explanatory diagram of a suction portion when the document 2 is suctioned.
As illustrated, the suction pads 84a and 84b contract when the uppermost first document 2-1 in the document 2 is sucked, so that the document 2-1 is pulled up in the direction of the arrow 75a. On the other hand, the pin cylinder 87 is supplied with compressed air and extends in the direction of the arrow 75a. That is, the pin cylinder 87 protrudes in the direction opposite to the suction direction by the suction pads 84a and 84b and comes into contact with the document 2-1. The contact portion of the pin cylinder 87 is pulled down in the direction of the arrow 75b. As a result, the first document 2-1 is curved, the first document 2-1 and the second document 2-2 are separated, and only the first document 2-1 is It is reliably sucked by the suction force of the suction pads 84a and 84b and taken out from the document storage unit 50.

  As described above, according to the document stacking / inserting apparatus of the eighth embodiment, the contact member that protrudes in the opposite direction to the suction direction at the position different from the suction position at the time of suction of the document by the suction pad contacts the document. Since the document is bent and sucked at the time of sucking the document, it can be easily separated from other stored documents, and can be reliably taken out even when taking out one by one.

  1 carton, 1a, 1b end, 1a1, 1a2 upper flap, 1b1, 1b2 left side flap, 1c1, 1c2 right side flap, 10 carton storage part, 10a, 10b holding part, 11a, 11b, 11c, 11d carton feed conveyor , 13a, 13b, 13c, 13d Arrival sensor, 14a, 14b Motor, 15 Carton outlet, 17 Inclination, 18 Conveyor drive control means, 20 Carton receiving plate, 21a, 21b Suction pad with retracting function, 22a, 22b Fixed suction pad , 23 Plate, 24 Cylinder, 25 Hinge, 26 Axis, 29 Roller, 31 Carton Stopper, 33 Side Flap Pusher, 40 Housing, 41 Magazine Tilt Axis, 50 Document Storage, 53 Document Receiving, 54 Opening, 60 Document Lifting unit, 61 document press Ridge plate, 62 wire, 63 pulley, 64 lift motor, 80 base, 81a, 81b spring lift slide shaft, 82 pad fixing plate, 82a pad / pin fixing plate, 83 document pad, 84a, 84b suction pad, 85a 85b Adsorption air pipe, 87-pin cylinder, 88-pin cylinder air pipe, 100 carton magazine, 200 carton take-out device, 201 carton hand.

Claims (4)

  A fixed suction pad for sucking and holding one surface of the carton conveyed to a carton take-out port of a carton magazine for loading and storing a carton, and a front surface protruding from the fixed suction pad for sucking and holding one surface of the carton And a movable suction pad that is retractable to a position equivalent to the tip of the fixed suction pad.   Rotating to press one end of the carton with respect to the carton suction surface by the fixed suction pad, provided with opening means for opening the carton, and at a position for pressing the carton of the opening means, 2. The carton hand according to claim 1, further comprising a roller that rotates in accordance with the pressing operation.   3. A carton hand according to claim 2, further comprising a carton locking means provided on the other end side of the carton when the carton is adsorbed to lock the other end of the carton.   4. The side flap pusher according to claim 1, further comprising a side flap pusher that abuts on the side flap during the carton suction and presses in a direction opposite to the suction direction by the carton suction operation. The carton hand described.

Images