JP2017132475A - Transport device in encasement device - Google Patents

Transport device in encasement device Download PDF

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JP2017132475A
JP2017132475A JP2016011439A JP2016011439A JP2017132475A JP 2017132475 A JP2017132475 A JP 2017132475A JP 2016011439 A JP2016011439 A JP 2016011439A JP 2016011439 A JP2016011439 A JP 2016011439A JP 2017132475 A JP2017132475 A JP 2017132475A
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traveling
box
rotating
rail
rails
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JP2016011439A
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JP6433927B2 (en
Inventor
健臣 華井
Takeomi Hanai
健臣 華井
幸雄 松尾
Yukio Matsuo
幸雄 松尾
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株式会社フジキカイ
Fuji Machinery Co Ltd
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Abstract

The present invention provides a transport device in a boxing device that can shorten the cooperation processing time of each processing step without causing an increase in size.
A pair of traveling rails 26, rotating bodies 30A, 30B, a plurality of extension rails 38, a stator, and a traveling body 40 are provided. , A processing unit 80 including a product supply unit 84, an adhesion processing unit 86, and a discharge unit 88 is disposed, and when one of the rotating bodies 30A and 30B starts rotating, However, while supporting the traveling body 40 received from the traveling rail 26 in the circulation direction rearward from one of them, the traveling body 40 traveling one preceding the traveling body 40 circulates from the other of the extension rails 38. It is comprised so that it may finish over the traveling rail 26 of the direction front.
[Selection] Figure 1

Description

  The present invention relates to a transport device in a boxing device that supplies a product into a semi-molded box.

  2. Description of the Related Art Conventionally, a boxing device is known in which after a predetermined number of articles are filled in a semi-molded box placed on a conveyor, an adhesive is attached to a lid flap of the box and the flap is bent. In such a boxing device, a semi-molded box is conveyed at a predetermined interval by a chain conveyor or a conveyor made of a belt shown in Patent Document 1, for example, and corresponds to the conveying pitch of the conveyor. Thus, processing steps such as a product supply device, a gluing device, and a flap folding device are provided. However, the processing time in each processing step does not necessarily match. For example, if the time spent in the product supply process is longer than other processing processes, the boxes that have been processed in other processing processes will not be transported and will wait at that position. Is needed.

  Therefore, as in Patent Document 2, for example, a linear conveyor that can freely move each box toward the next processing step without keeping the distance between the front and rear boxes constant is adopted as a conveying device in the boxing device. Is considered.

JP 09-249201 A JP 2013-102562 A

  However, in the linear conveyor of Patent Document 2, after the sliders that move independently on the conveyance path arrive at the conveyance end, the subsequent sliders are moved to the conveyance end until preparation for returning to the upstream of the conveyance is completed. You have to wait. Therefore, even if the packaging device is configured in consideration of variations in the processing time of each processing step, depending on the packaging specifications, the standby time due to the movement of the slider at the end of transport or the start of transport is the processing time of each processing step. It can be longer. For this reason, it has been studied to form a traveling rail on which a plurality of sliders travel in a ring shape and to circulate each traveling rail, but this leads to an increase in the size of the transport device.

  An object of this invention is to provide the conveying apparatus in the boxing apparatus which can shorten the cooperation processing time of each process process, without causing enlargement.

  In order to solve the above problems, the transport device in the boxing device of the present invention takes the following means. In the first aspect of the present invention, a pair of traveling rails (26A, 26B) disposed opposite to each other in the vertical direction and both ends of the traveling rails (26A, 26B) are disposed. The rotating bodies (30A, 30B) that rotate about the axis along the rails (26A, 26B) and the rotating bodies (30A, 30B) are spaced apart from each other. The rotating bodies (30A, 30B) A plurality of extension rails (38) connectable to each of the upper and lower traveling rails (26A, 26B) according to the position where the rotation stops), each of the upper and lower traveling rails (26A, 26B), and the extension Magnetic field generated by the stator (36) along a track formed by a stator (36) disposed along each of the rails (38), the traveling rails (26A, 26B) and the extension rail (38). Obtained by And a traveling body (40) that travels independently at intervals from each other and circulates in the same direction, and the upper traveling rail (26A) includes a semi-molded box (90). A box body receiving portion (82) that receives and places on the traveling body (40), and an article (90) that is conveyed from the box body receiving section (82) by the traveling body (40) ( A product supply unit (84) for supplying P), and an adhesion processing unit (86) for applying an adhesive to the box (90) conveyed from the product supply unit (84) by the traveling body (40). And a processing section (80) including a discharge section (88) for taking out the box (90) with the adhesive from the traveling body (40), and the rotating bodies (30A, 30B). ) Start rotating, one of the extension rails (38) The traveling body (40) received from the traveling rail (26A, 26B) rearward in the circulation direction than the traveling body (40) and traveling ahead of the traveling body (40) ( 40) is configured so as to finish from the other of the extension rails (38) to the traveling rails (26A, 26B) forward in the circulation direction.

  According to the first aspect of the present invention, the travel rails (26A, 26B) and the extension rails (38) are respectively arranged on the upper and lower sides to form the travel rails (26A, 26B) and the extension rails (38). The trajectory is vertically oriented, and the installation area of the apparatus can be reduced, and the increase in size can be suppressed. The traveling body (40) is configured to travel independently in a mutually spaced manner and circulate in the same direction with a thrust obtained by the magnetic field generated by the stator (36) on the track. Therefore, since the stop position of each traveling body (40) in the processing unit (80) can be arbitrarily set, it is possible to provide a transport device that can shorten the cooperation processing time of each processing step. Further, when each of the rotating bodies (30A, 30B) starts to rotate, one of the extension rails (38) receives the traveling body (40) from the traveling rails (26A, 26B) at the rear in the circulation direction from the other one. And the traveling body (40) traveling ahead of the traveling body (40) from the other of the extension rails (38) to the traveling rails (26A, 26B) forward in the circulation direction. It is configured as if it has been crossed. As a result, the traveling body (40) that independently moves the traveling rails (26A, 26B) has a waiting time for waiting the traveling body (40) when returning to the upstream of the conveyance after reaching the conveyance end. It can be omitted, and the processing time of each processing step can be shortened.

  Next, in the invention according to claim 2 dependent on claim 1, the rotating body (30A, 30B) has a hollow rotating shaft (31), and one end of the rotating shaft (31) is , And is rotatably connected to a main body frame (22) that is connected to the servomotor (34) and supports the servomotor (34), and the other end of the rotary shaft (31) is A wiring receiving port (35) that can supply power to the stator (36) through the inside of the rotating shaft (31) is configured, and is set in advance by rotating the servomotor (34) alternately forward and reverse. It is configured to rotate in one direction by a certain angle and then rotate in the opposite direction by the same angle as that angle.

  According to the second aspect of the present invention, the rotating body (30A, 30B) is rotated in one direction by a preset angle by forward / reverse alternating rotation switching of the servo motor (34), and then the same angle. Since it is configured to rotate in the opposite direction by an angle, it is possible to prevent twisting of the wiring toward the stator (36) disposed along each extension rail (38) in the rotating shaft (31). it can.

  Next, the invention according to claim 3 dependent on claim 1 or claim 2 is the lid closing means (130) for closing the lid of the semi-molded box (90) that has arrived at the discharge portion (88). The lid closing means (130) also serves as an excluding means for removing the box (90) determined to be defective in packaging from the outside of the system.

  According to the third aspect of the present invention, the lid closing means (130) also serves as an excluding means for excluding the box (90) determined to be defective in packaging from the system. It is possible to eliminate defective products outside the system without providing them.

  Next, in the invention according to claim 4 depending on any one of claims 1 to 3, the traveling body (40) is a mounting surface on which the semi-molded box (90) is mounted. 54), one side surface that intersects the placement surface (54) and extends along the traveling rail (26A, 26B), and a hole (60) that penetrates the placement surface (54) from the one side surface. And the hole (60) can be connected to each of the fluid outlet means disposed at a plurality of locations along the traveling rail (26A, 26B) in the processing section (80). Has been.

  According to the fourth aspect of the present invention, it is not necessary to incorporate the fluid deriving means in each of the traveling bodies (40) which are moving bodies, and the box (90) with respect to the mounting surface (54) with a simple configuration. Can be prevented from being displaced.

  Next, in the invention according to claim 5 that depends on any one of claims 1 to 4, the box (90) is conveyed to the adhesion processing part (86) by the traveling body (40). The spraying means (141) for spraying the adhesive on one of the side surfaces of the box (90), the rotating means for rotating the box (90) sprayed with the adhesive around the vertical axis, and the rotating means The traveling body (40) on which the box (90) rotated by the above is placed does not collide with one traveling body (40) subsequent to the traveling body (40) and is opposite to the traveling direction. A repetitive travel control means for temporarily moving the vehicle back and then advancing to the side surface (93) different from the side surface to which the adhesive is sprayed in the box (90) moved in the reverse direction by the repetitive travel control means. Apply glue.

  According to the fifth aspect of the present invention, since the adhesion processing part (86) has the spraying means (141) and the rotating means (170), the traveling body (40) is moved forward and backward to move the box (90 ) Can be attached to a plurality of side surfaces (93), and the size of the transport device can be reduced.

  This invention can provide the conveying apparatus in the boxing apparatus which can shorten the cooperation processing time of each process process, without enlarging by taking the means of said each invention.

It is the whole perspective view showing the outline of the boxing device concerning this embodiment. It is the schematic plan view which showed the boxing apparatus which concerns on this embodiment. It is the schematic of the conveying apparatus in the boxing apparatus which concerns on this embodiment, A is a front view, B is a top view. In the transport device, A is a partially enlarged front view showing the IV-A portion of FIG. 3A in an enlarged manner, and B is a cross-sectional view taken along line BB of FIG. 4A. It is the enlarged plan view which expanded and showed the V section of FIG. 3B as an outline of the fluid derivation | leading-out means in the boxing apparatus which concerns on this embodiment. It is the schematic of the discharge means in the boxing apparatus which concerns on this embodiment, A is a front view, B is a left view. It is a schematic process diagram explaining a series of movements of the traveling body of the conveying device in the boxing device according to the present embodiment. It is the perspective view which showed the outline of the modification of the conveying apparatus in the boxing apparatus which concerns on this embodiment.

  Below, one Embodiment of the conveying apparatus in the boxing apparatus of this invention is described using drawing.

  As shown in FIG. 1, the boxing device 10 includes a transfer device 20, a first robot 110 (carton forming means, box supply means), a second robot 120 (product supply means), and a gun 141 (spraying means). ), A third robot 130 (lid closing means, discharge means), a product supply conveyor 150, a discharge conveyor 160, and the like.

  As shown in FIGS. 2 and 3, the transport device 20 is a device that moves a plurality of traveling bodies 40 along a transport path using a linear motor as a drive source. The transport device 20 includes a main body frame 22, a pair of traveling rails 26 disposed to be opposed to and separated from the upper and lower sides of the main body frame 22, and disposed at both ends of the traveling rail 26, along the traveling rail 26. A rotating body 30 that rotates around the rotating shaft 31 and a plurality of rotating bodies 30 that are spaced apart from each other and that can be connected to the upper and lower traveling rails 26 according to the position where the rotating body 30 stops rotating. Extension rail 38. In the transport device 20, a vertical track is formed by each of the upper and lower traveling rails 26 and the extension rails 38.

  The pair of traveling rails 26 are disposed to face and separate from each other so as to extend in the horizontal direction above and below the main body frame 22. The upper traveling rail 26 </ b> A disposed on the upper surface 22 </ b> A of the main body frame 22, and the main body frame 22 and a lower traveling rail 26B disposed on the lower surface 22B of the vehicle.

  As shown in FIGS. 3 and 4, the rotating body 30 is disposed at both ends of the traveling rail 26, and rotates around the rotating shaft 31 along the traveling rail 26. Here, the rotating body 30 includes a first rotating body 30A on the start end side 26AS of the upper traveling rail 26A, and a second rotating body 30B on the end side 26AE of the upper traveling rail 26A. The first rotating body 30A and the second rotating body 30B are provided with extension rails 38 that are opposed to each other so as to extend in the horizontal direction in the vertical direction. The extension rail 38 is configured to be connectable to each of the upper traveling rail 26A and the lower traveling rail 26B according to the position where the rotating body 30 has stopped rotating. The first rotating body 30 </ b> A and the second rotating body 30 </ b> B have a hollow rotating shaft 31. One end of the rotating shaft 31 is rotatably connected to the main body frame 22 that supports the servo motor 34 while drivingly connecting the servo motor 34 and the rotating body 30 via the speed reducer 32. The other end of the rotating shaft 31 constitutes a wiring inlet 35 that can supply power to the stator 36 through the rotating shaft 31. The rotating body 30 is configured to rotate in one direction by a preset angle by forward / reverse alternating rotation of the servo motor 34 and then rotate in the reverse direction by the same angle as that angle. In other words, the rotating body 30 is configured such that the relationship between the vertical positions of the plurality of extension rails 38 is alternately inverted by forward / reverse alternating rotation of the servo motor 34. The reduction gear 32 uses a harmonic drive (registered trademark) as an example of a wave gear device. By adopting this harmonic drive (registered trademark), the backlash can be made very small.

  In the linear motor, an electromagnet as a stator 36 is disposed along each of the upper traveling rail 26A and the lower traveling rail 26B and the extension rail 38, and a permanent magnet is fixed to the traveling body 40 as a mover 48. Thrust is generated by the magnetic field generated by the stator 36 by controlling the current supply to the electromagnetic coils constituting the electromagnet, and the traveling bodies 40 are caused to travel independently at intervals and circulate in the same direction. .

  As shown in FIG. 4, the traveling body 40 includes a main body frame 42, a guide block 46 fixed to the main body frame 42, a mover 48 using a permanent magnet, and an RF (Radio Frequency) tag 52. The main body frame 42 includes a rectangular plate-shaped horizontal surface portion 43 that is horizontally positioned along the traveling rail 26, and a vertical surface portion 44 that extends in the vertical direction with respect to the horizontal surface portion 43 on one side in the width direction of the horizontal surface portion 43. Are integrally formed in a substantially L-shaped cross section. The upper surface of the horizontal plane portion 43 is configured as a placement surface 54 on which the semi-molded box 90 is placed. On the mounting surface 54, a guide plate 56 capable of mounting two box bodies 90 is erected. A guide block 46 is fixed to the lower surface of the horizontal plane portion 43 and is slidably fitted to the traveling rail 26 and the extension rail 38 described above. Thus, the traveling body 40 that moves on the lower traveling rail 26B can move without dropping even when the mounting surface 54 moves downward. A permanent magnet is fixed to the lower surface of the horizontal surface portion 43 as a movable element 48 at a position facing the stator 36 along the traveling rail 26 and the extension rail 38. The mover 48 has S poles and N poles alternately arranged in a direction along the traveling rail 26 and the extension rail 38. As a result, the current supply is controlled to the electromagnet as the stator 36, and a thrust is generated by the interaction between the magnetic flux generated in the electromagnet and the magnetic flux of the permanent magnet as the movable element 48, so that the traveling body 40 is extended to the traveling rail and the extension. It can move along the rail 38. An RF tag 52 is disposed on the vertical surface portion 44. The RF tag 52 stores unique information of each traveling body 40 (identification data of each traveling body 40, inherent movement error information), and the like. Further, as shown in FIG. 5, the traveling body 40 intersects with the placement surface 54 and extends along the traveling rails 26 </ b> A and 26 </ b> B, and from the one side surface to the placement surface 54. An air pipe 58 is formed therebetween, and an end portion 60 (a hole penetrating from one side surface to the mounting surface 54) of the air pipe 58 is disposed in a direction intersecting the traveling direction of the traveling body 40.

  As shown in FIG. 3, the main body frame 22 includes a photoelectric sensor S1, a proximity sensor S2, and an RFID antenna S3. Based on detection of position and unique information by the sensors S1, S2, and S3, supply of electric energy to the electromagnet Is controlled so that the traveling body 40 can be moved to a specific position. The photoelectric sensor S1 is a sensor that detects the presence / absence of the box 90 on the mounting surface 54 of the traveling body 40 and outputs a signal to a linear motor control device (not shown), and includes a box receiving unit 82 and a product supply unit. 84 and a position that is distant from one side intersecting the running direction in the discharge unit 88. The proximity sensor S <b> 2 is a sensor that detects the arrival of the traveling body 40 and outputs a signal to the linear motor control device. In the box receiving unit 82, the product supply unit 84, the adhesion processing unit 86, and the discharge unit 88. It is arrange | positioned in the position distant from the one side which cross | intersects a running direction. The RFID antenna S3 is a sensor that detects unique information by the RF tag 52 of each traveling body 40 and outputs a signal to the linear motor control device, and is disposed in the vicinity of the starting end side 26AS of the upper traveling rail 26A.

  As shown in FIGS. 1 and 3, the boxing device 10 sequentially and independently travels at intervals with a semi-molded box 90 placed on a plurality of traveling bodies 40, along the conveyance path. The boxing operation is performed in the processing unit 80 that performs various boxing processes provided. The upper traveling rail 26A is provided with a processing unit 80 that packs the product P (article) in the box 90 and joins the lid side surface flap 95 of the top panel 94 (lid) of the box 90 with an adhesive. ing. The processing unit 80 includes a box receiving unit 82, a product supply unit 84, an adhesion processing unit 86, and a discharge unit 88 in the traveling direction of the upper traveling rail 26A. The box body receiving part 82 is an area where the semi-molded box body 90 is received and placed on the traveling body 40. The product supply unit 84 is an area in which the product P is supplied to the box 90 that has been conveyed from the box receiving unit 82 by the traveling body 40. The adhesion processing unit 86 is an area where an adhesive is applied to the box 90 conveyed from the product supply unit 84 by the traveling body 40. The discharge part 88 is an area for taking out the box 90 with an adhesive from the traveling body 40. The upper traveling rail 26 </ b> A is provided with a fluid derivation means 28 at positions of the box body receiving portion 82 and the product supply portion 84, and is configured so that fluid can be led out to the end 60 of the air pipe 58 in the traveling body 40. Has been. As shown in FIG. 5, the fluid deriving unit 28 travels to the mounting surface 54 when connected to the end 60 (a hole penetrating from the one side surface to the mounting surface 54) of the air pipe 58. By receiving positive pressure air supplied from the fluid outlet means 28 into the air pipe 58 in the body 40, a negative pressure due to the Bernoulli effect is generated, and the box body 90 is formed by the suction port 55 provided substantially at the center of the mounting surface 54. Is held by suction.

  As shown in FIG. 1, a first robot 110 having a robot hand that can move freely in a three-dimensional space (a carton forming means, A box supply means) is provided. The first robot 110 takes out one each from two sheet magazines (not shown) in which the carton sheets 91 are accumulated, and half-molds each of the carton sheets 91 to form a box 90 (top panel 94 (lid)). Is a box body 90) in which the upper portion of the box is opened. The carton sheet 91 exemplifies a method in which the carton sheet 91 is folded from the developed state to form the box body 90. The carton sheet 91 includes a rectangular bottom panel 92, a side panel 93 connected from the four side edges of the bottom panel 92, a top panel 94 connected to one side edge of the side panel 93, and a top panel 94. The lid has side surface flaps 95 connected to the remaining three sides, and a joining panel 96 for joining adjacent side panels 93 to each other. The first robot 110 constitutes a part of the carton forming means, and places the two traveling bodies 40 that are semi-molded and stopped on the box receiving portion 82 in the transport device 20. It also serves as a part of the box supply means that supplies the surface 54 at the same time with an interval in the traveling direction of the traveling body 40 on the surface 54.

  As shown in FIG. 1, a second robot 120 (product) having a robot hand (not shown) that can move freely in a three-dimensional space at a position away from the product supply unit 84 to one side intersecting the traveling direction. Supply means) is provided. The second robot 120 supplies the product provided to the transport device 20 by suction means (not shown) arranged in the robot hand corresponding to the interval between the two boxes 90 placed on the traveling body 40. Two boxes of the product P on the conveyor 150 are sucked (held) together, and the sucked product P is put into the two boxes 90 on the one running body 40 that is stopped by the product supply unit 84. The operation of collectively supplying is repeatedly executed until the number of products to be supplied in one box is reached. In addition, when the traveling body 40 arrives at the product supply unit 84 in a state where one box 90 placed on the traveling body 40 is missing (less than the prescribed number 2), The third robot 130 described later discharges the box 90 out of the boxing line (outside the system) without supplying the product and without spraying the adhesive 90 described later on the box 90. It has become.

  As shown in FIGS. 1 and 3, a gun 141 (spraying means) for spraying an adhesive is disposed in the vicinity of one side of the bonding processing portion 86. When the traveling body 40 travels through the adhesion processing unit 86, the gun 141 is sprayed with an adhesive on the side panel 93 on one side of the box body 90 facing the gun 141. The adhesive may be any one that assembles the carton sheet 91 into a box shape and joins each panel. Organic adhesives such as starch adhesives and natural rubber adhesives, and synthetic systems using various synthetic resins Any of the adhesives can be included.

  As shown in FIGS. 1 and 6, a third robot 130 (lid closing means) having a hand portion 132 that can move freely in a three-dimensional space at a position away from the discharge portion 88 to one side intersecting the traveling direction. , Discharge means). The third robot 130 puts together the two box bodies 90 that have arrived at the discharge unit 88 and defines a boundary region between the standing top panel 94 and the side panel 93 connected to the top panel 94. A hand portion 132 is provided that can be bent and bend the lid side surface flap 95 connected to the top panel 94 at each connection position with the top panel 94. The hand portion 132 includes a rectangular plate 134 that can close the upper opening of the box 90 by tilting the standing top panel 94 and a first claw that can rotate in a direction orthogonal to the three sides of the plate 134. 135, a second claw 136, and a third claw 137. The 2nd nail | claw 136 and the 3rd nail | claw 137 are arrange | positioned in the position which mutually opposes. The first claw 135 is disposed at a position sandwiched between the second claw 136 and the third claw 137. In addition, a back plate 138 adjacent to the side panel 93 of the box 90 is disposed at a position facing the first claw 135. The 1st nail | claw 135, the 2nd nail | claw 136, and the 3rd claw 137 are comprised by various drive means, such as an air cylinder, so that rotation is possible.

  As shown in FIGS. 1 and 3, a discharge conveyor 160 is provided on the other side intersecting the traveling direction from the discharge unit 88, and the box 90 on the traveling body 40 that has arrived at the discharge unit 88 is discharged. A bed 162 is arranged so that it can be transferred to the conveyor 160. The bed 162 is provided with a second gun 142 and a third gun 143 (spraying means) on both sides intersecting the discharging direction of the box 90. The third robot 130 seals the semi-molded box 90 in the discharge unit 88 in the following procedure. As shown in FIGS. 1 and 6, the plate 134 provided in the hand portion 132 of the third robot 130 presses the top panel 94 in the upright state, thereby connecting the side panel 93 connected to the top panel 94. The upper boundary opening of the box 90 is closed by folding the boundary area. Next, the first claw 135 provided on the hand portion 132 of the third robot 130 is rotated, one of the lid side surface flaps 95 is tilted, and the box 90 is sandwiched between the back plate 138 and an adhesive is attached. The side panel 93 is joined in surface contact. Next, the box 90 is transferred to the bed 162 while maintaining the state in which the first claw 135 is rotated and the state in which the plate 134 presses the top panel 94. Here, when the box 90 is moved to the bed 162, the second gun 142 and the third gun 143 spray adhesive on the remaining side panels 93 of the box 90, respectively. Next, the second claw 136 and the third claw 137 provided on the hand part 132 of the third robot 130 are rotated, the remaining lid side surface flap 95 is brought down, and the side panel 93 with adhesive is brought into surface contact. Then, they are joined and transferred to the discharge conveyor 160. Accordingly, the third robot 130 corresponds to a discharge unit that transfers the box 90 that has been transported to the discharge unit 88 by the traveling body 40 to the discharge conveyor 160.

  Next, the movement of the transport device 20 will be described with reference to FIG. As shown in FIG. 7, in the transport device 20, the seven traveling bodies 40 </ b> A to 40 </ b> G travel independently and sequentially at intervals.

  FIG. 7A illustrates an initial state of the transport device. The traveling body 40A is supported by the extension rail 38 on the upper side of the first rotating body 30A. The traveling body 40B is located at the position of the box receiving portion 82. The traveling body 40 </ b> C is located at a position to wait immediately before the product supply unit 84. The traveling body 40 </ b> D is located at the position of the product supply unit 84. The traveling body 40E is located at the position of the discharge portion 88. The traveling body 40F is supported by the extension rail 38 on the upper side of the second rotating body 30B. The traveling body 40G is supported by the lower traveling rail 26B, and is located at a position where the traveling body 40G stands by just before the first rotating body 30A. Here, the conveying device 20 is configured to supply the product P from the second robot 120 (product supply means) in the traveling body 40D, supply the box 90 from the first robot 110 in the traveling body 40B, and the traveling body 40G. When the movement from the lower extension rail 38 of the second rotating body 30B to the lower traveling rail 26B and the movement of the first rotating body 30A to the position immediately before is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical positions of the rails 38 is reversed.

  FIG. 7B illustrates the movements of the traveling bodies 40A to 40G after the second rotating body 30B rotates. The traveling body 40A moves over the upper traveling rail 26A from the upper extension rail 38 of the first rotating body 30A and moves to the box body receiving portion 82. The traveling body 40 </ b> B moves to a standby position immediately before the product supply unit 84. The traveling body 40 </ b> C moves to the position of the product supply unit 84. The traveling body 40 </ b> D moves to a standby position immediately before the discharge unit 88. The traveling body 40E performs a process of sealing the box 90 by the third robot 130 at the position of the discharge unit 88 and transferring it to the discharge conveyor 160. The traveling body 40F is supported by the lower extension rail 38 after the rotation of the second rotating body 30B. The traveling body 40G is supported by the first rotating body 30A after it has passed from the lower traveling rail 26B to the lower extension rail 38 of the first rotating body 30A. Here, the transfer device 20 rotates the first rotating body 30A by moving each of the traveling bodies 40A to 40D and sealing and discharging the box body 90 in the traveling body 40E to move the first rotating body 30A up and down. The positional relationship is reversed.

  FIG. 7C illustrates the movements of the traveling bodies 40A to 40G after the first rotating body 30A rotates. The traveling body 40A is located at the position of the box body receiving portion 82. The traveling body 40 </ b> B is located at a position waiting just before the product supply unit 84. The traveling body 40C is located at the position of the product supply unit 84. When the traveling body 40 </ b> D moves to the discharge unit 88 from the standby position immediately before the discharge unit 88, the adhesive is applied to the side panel 93 on one side of the box 90 by the gun 141 (spraying means) of the adhesion processing unit 86. Be sprayed. The traveling body 40E is supported by the second rotating body 30B after finishing over the extension rail 38 on the upper side of the second rotating body 30B from the position of the discharge portion 88. The traveling body 40F moves from the lower extension rail 38 of the second rotating body 30B to the lower traveling rail 26B and moves to a position immediately before the first rotating body 30A. The traveling body 40G is supported by the upper extension rail 38 after the rotation of the first rotating body 30A. Here, the transfer device 20 includes the supply of the product P from the second robot 120 (product supply means) in the traveling body 40C, the supply of the box 90 from the first robot 110 in the traveling body 40A, and the traveling body 40F. When the movement from the lower extension rail 38 of the second rotating body 30B to the lower traveling rail 26B and the movement of the first rotating body 30A to the position immediately before is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical positions of the rails 38 is reversed.

  FIG. 7D illustrates the movements of the traveling bodies 40A to 40G after the second rotating body 30B rotates. The traveling body 40 </ b> A moves to a standby position immediately before the product supply unit 84. The traveling body 40 </ b> B moves to the position of the product supply unit 84. The traveling body 40 </ b> C moves to a standby position immediately before the discharge unit 88. The traveling body 40 </ b> D is subjected to a process in which the box 90 is sealed by the third robot 130 at the position of the discharge unit 88 and transferred to the discharge conveyor 160. The traveling body 40E is supported by the lower extension rail 38 after the rotation of the second rotating body 30B. The traveling body 40F is supported by the first rotating body 30A after it has passed from the lower traveling rail 26B to the lower extension rail 38 of the first rotating body 30A. The traveling body 40G moves over the upper traveling rail 26A from the upper extension rail 38 of the first rotating body 30A and moves to the box body receiving portion 82. Here, the transfer device 20 rotates the first rotating body 30A by completing the movement of the traveling bodies 40A to 40C, 40G and the boxing and discharging process of the box 90 in the traveling body 40D, thereby extending the extension rail 38. The relationship of the vertical position of is reversed.

  FIG. 7E illustrates the movements of the traveling bodies 40A to 40G after the first rotating body 30A rotates. The traveling body 40 </ b> A is located at a position waiting just before the product supply unit 84. The traveling body 40 </ b> B is located at the position of the product supply unit 84. When the traveling body 40 </ b> C moves to the discharge unit 88 from the standby position immediately before the discharge unit 88, the adhesive is applied to the side panel 93 on one side surface of the box 90 by the gun 141 (spraying means) of the bonding processing unit 86. Be sprayed. The traveling body 40D is supported by the second rotating body 30B after finishing over the extension rail 38 on the upper side of the second rotating body 30B from the position of the discharge portion 88. The traveling body 40E moves from the lower extension rail 38 of the second rotating body 30B to the lower traveling rail 26B and moves to a position immediately before the first rotating body 30A. The traveling body 40F is supported by the upper extension rail 38 after the rotation of the first rotating body 30A. The traveling body 40G is located at the position of the box body receiving portion 82. Here, the conveying device 20 includes a supply of the product P from the second robot 120 (product supply means) in the traveling body 40B, a supply of the box 90 from the first robot 110 in the traveling body 40G, and the traveling body 40D. When the movement from the lower extension rail 38 of the second rotating body 30B to the lower traveling rail 26B and the movement of the first rotating body 30A to the position immediately before is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical positions of the rails 38 is reversed.

  As described above, the transport device 20 is configured such that the seven traveling bodies 40A to 40G are independently spaced apart from each other on the vertical track formed by the upper traveling rail 26A, the lower traveling rail 26B, and the extension rail 38. It travels sequentially and the boxing work is performed continuously. Here, when each of the first rotating body 30A and the second rotating body 30B starts to rotate, one of the extension rails 38 supports the traveling body 40 received from the traveling rail 26 at the rear in the circulation direction from the other one. At the same time, the traveling body 40 traveling one preceding the traveling body 40 is configured to finish over the traveling rail 26 ahead in the circulation direction from the other of the extension rails 38.

The conveying device 20 in the boxing device 10 as described above has the following effects.
The installation area of the present boxing device 10 can be reduced by arranging the traveling rail 26 and the extension rail 38 in parallel in the vertical direction.
・ Conventional transport devices that transport using a chain or timing belt required adjustment or replacement work for the extension of the chain or timing belt, but this adjustment or replacement work is not necessary because the chain or belt is not used. It becomes.
・ In the case of conventional conveyors where partition plates, push claws, etc. are attached to the chain, etc., when the chain etc. is extended, the installation position of the equipment around the conveyor is finely adjusted to process the conveyor. Each position of the unit 80 (the box receiving unit 82, the product supply unit 84, the adhesion processing unit 86, the discharge unit 88, etc.) had to be adjusted. However, in the transport device of the present embodiment, since the stop position of each traveling body 40 in the processing unit 80 can be arbitrarily set, each position of the processing unit 80 can be easily adjusted.
The rotating body 30 is configured to rotate in one direction by a preset angle by forward / reverse alternating rotation switching of the servo motor 34, and then rotate in the reverse direction by the same angle as that angle. It is possible to prevent twisting of the wiring toward the stator 36 disposed along the extension rails 38 in the circuit 31.
The reduction gear 32 employs a harmonic drive (registered trademark) that can make the backlash very small, and since the servo motor 34 and the rotating body 30 are drivingly connected, each traveling rail 26A, 26B and each extension The alignment with the rail 38 can be made favorable.
When the second robot 120 supplies the product P to the box 90, or when the third robot 130 bends the lid side surface flap 95 of the box 90, a suction force is generated on the mounting surface 54 of the traveling body 40. Since the box 90 is held on the mounting surface 54 of the traveling body 40, the second robot 120 and the third robot 130 can perform appropriate processing on the box 90 held at an appropriate position. it can.
When the fluid outlet 28 disposed along the traveling rail 26 and the end 60 of the air pipe 58 (hole penetrating from one side surface to the mounting surface 54) are connected in the processing unit 80, Since the air pipe 58 in the traveling body 40 up to the mounting surface 54 is configured to hold the box body 90 on the mounting surface 54 with a negative pressure, fluid is supplied to each traveling body 40 that is a moving body. It is not necessary to incorporate the derivation means 28, and the positional deviation of the box 90 with respect to the mounting surface 54 can be prevented with a simple configuration.
Further, since each traveling body 40 has a configuration in which negative pressure is generated using the Bernoulli effect when positive pressure air supplied from the fluid deriving unit 28 is received therein, the fluid deriving unit Since the air supply pressure at 28 can be reduced, the running resistance of the running body 40 that occurs when the connection between the fluid outlet means 28 and the end 60 of the air pipe 58 is switched can be reduced.
The second robot 120 that supplies the product P to the box 90 is disposed on one side of the transport device 20, and the standing top panel 94 is farthest from the second robot 120. Since the product stands up on the other side, the product P is easily supplied into the box 90.

As mentioned above, although embodiment of this invention was described, the conveying apparatus in the boxing apparatus of this invention is not limited to embodiment, It can implement with other various forms as follows.
-Although the traveling body 40 which travels by placing two box bodies 90 on the placement surface 54 is shown, the number of the box bodies 90 placed on the placement surface 54 is one, or three or more. Also good. However, when making such a change, it is necessary to change the hand portions 132 of the first to third robots 130 so as to correspond to the number of boxes 90 placed on the placement surface 54.
The gun 141 (spraying means) sprays the adhesive on the box 90 on the front of the traveling body 40 and then sprays the adhesive on the box 90 on the rear of the traveling body 40 in time. Good.
-Box body direction changing means (rotating means) for rotating the box body (90) around the vertical axis may be employed. The box direction changing means (rotating means) is constituted by, for example, a turntable that rotates around the vertical axis on the mounting surface 54 of each traveling body 40, and rotates 90 degrees around the vertical axis by supplying air, thereby performing an adhesion process. The orientation of the box 90 placed on the placement surface 54 in the portion 86 may be changeable. Alternatively, the third robot 130 may support the box 90 placed on the placement surface 54 and rotate it around the vertical axis so that the orientation of the box 90 can be changed.
As shown in FIG. 8, the box body direction changing means (rotating means) is provided with a fourth robot 170 in the vicinity of the adhesion processing section 86, and the fourth robot 170 is mounted on the adhesion processing section 86. The side panel 93 of the box 90 placed on the mounting surface 54 may be gripped by the chuck 172 at the tip, and rotated around the vertical axis so that the orientation of the box 90 can be changed.
When the box body changing means is employed, the adhesive processing unit 86 causes the traveling body 40 to travel forward, and the adhesive applied from the gun 141 (spraying means) to the box body 90 is applied. After passing the position, the operation of changing the direction of the box 90 and causing the traveling body 40 to travel backward is repeated a predetermined number of times so that the side panel 93 that is not sprayed with the adhesive faces the gun 141. Alternatively, an adhesive may be applied to each side panel 93. Here, a repetitive travel control means is required to move the traveling body 40 forward and backward. Further, in the control by the repetitive travel control means, when the traveling body 40 is traveled backward, it is necessary to temporarily retreat in the direction opposite to the traveling direction without causing a collision with the following traveling body 40. The box direction changing means may be provided on either the upstream side or the downstream side of the gun 141, or may be provided on both the upstream side and the downstream side to spray the adhesive. According to this aspect, in the adhesion processing unit 86, the traveling body 40 is moved forward and backward to attach the adhesive to the plurality of side panels 93 in the box body 90. Therefore, the transport device 20 can be reduced in size.
The third robot 130 that closes the top panel 94 (lid) of the box 90 may exclude the box 90 that is determined to be defective in packaging (outside the system) outside the boxing line (exclusion means). . Thereby, it is possible to eliminate defective products outside the system without separately providing means for eliminating defective products such as pushers.
In the present embodiment, the movable element 48 (running body) provided with the permanent magnet is moved by generating a thrust by the magnetic field generated in the stator 36 having the electromagnetic coil. A configuration may be employed in which each traveling body 40 travels linearly by obtaining a thrust by a magnetic field generated in the stator 36, such as a movable body 48 provided with an electromagnetic coil as the traveling body 40. .
The harmonic drive (registered trademark) is used for the speed reducer 32 as a configuration in which the servo motor 34 and the rotating body 30 are driven and connected via the speed reducer 32 to reduce the rotation of the rotating body 30, but other wave gear devices are used. Or you may make it decelerate using another gearwheel.
-The form of the carton sheet | seat 91 is an illustration, The form of the above-mentioned various panels is applicable to various forms, if it is the aspect boxed in a box shape.
In addition, it is not limited to bend a developing sheet such as carton paper to form a semi-molded box 90, and it is also possible to adopt a mode in which each traveling body 40 conveys a semi-molded box 90 by a setup method. is there.
Further, not only an aspect in which the product P is supplied to the box body 90 from above the box body 90 but also an aspect in which the product P is supplied from the side of the box body 90 can be adopted. In such a case, the direction of spraying the adhesive onto the box 90 may be changed as appropriate in accordance with the type of the box 90.

DESCRIPTION OF SYMBOLS 10: Boxing apparatus 20: Conveyance apparatus 22: Main body frame 26: Traveling rail 26A: Upper traveling rail 26B: Lower traveling rail 28: Fluid extraction means 30: Rotating body 30A: First rotating body 30B: Second rotating body 31 : Rotating shaft 34: Servo motor 35: Wiring inlet 36: Stator 38: Extension rail 40: Traveling body 54: Mounting surface 60: End of air piping (hole penetrating from one side surface to mounting surface) 80: Processing unit 82: Box body receiving unit 84: Product supply unit 86: Adhesion processing unit 88: Discharge unit 90: Box body 130: Third robot (lid closing means, discharge means)
141: Gun (spraying means) 170: Fourth robot (rotating means)

Claims (5)

  1. A pair of traveling rails arranged opposite to each other in the vertical direction;
    A rotating body that is disposed at both ends of the traveling rail and rotates about an axis along the traveling rail;
    A plurality of extension rails that are arranged separately from each other, and that can be connected to each of the upper and lower traveling rails according to the position at which the rotation bodies stop rotating;
    A stator disposed along each of the upper and lower running rails and each of the extension rails;
    A traveling body that travels independently in a spaced manner with a thrust obtained by a magnetic field generated by the stator on a track formed by the traveling rail and the extension rail, and circulates in the same direction, respectively.
    In the upper running rail,
    A box receiving portion for receiving the semi-formed box and placing it on the traveling body;
    A product supply unit that supplies articles to the box that has been conveyed from the box receiving unit by the traveling body;
    An adhesion processing unit that attaches an adhesive to the box that has been conveyed from the product supply unit by the traveling body;
    A processing unit including a discharge unit that removes the box with the adhesive from the traveling body,
    When each of the rotating bodies starts rotating, one of the extension rails supports the traveling body received from the traveling rail behind the one in the circulation direction, and one preceding the traveling body. Then, the transporting device in the boxing device is configured such that the traveling body traveling is finished from the other of the extension rails to the traveling rail forward in the circulation direction.
  2. The rotating body has a hollow rotating shaft,
    One end of the rotating shaft is drivingly connected to the servomotor and is rotatably supported with respect to the main body frame that supports the servomotor, and the other end of the rotating shaft passes through the inside of the rotating shaft. A wiring entrance that can supply power to the stator is configured, and the servomotor rotates in one direction by a predetermined angle by switching between forward and reverse rotation, and then reverses by the same angle as that angle. The conveying apparatus in the boxing apparatus of Claim 1 comprised so that it might rotate in the direction.
  3. Lid closing means for closing the lid of the semi-molded box that has arrived at the discharge part is configured,
    The transport device in the boxing device according to claim 1, wherein the lid closing unit also serves as an exclusion unit that excludes a box that is determined to be defective in packaging from the outside of the system.
  4. The traveling body includes a mounting surface on which the semi-molded box is mounted, a side surface that intersects the mounting surface and extends along the traveling rail, and the mounting surface described above from the one side surface. And a hole penetrating through
    The said hole is connectable with each of the fluid derivation | leading-out means arrange | positioned in multiple places along the said travel rail in the said process part. The packaging apparatus in any one of Claims 1-3 Conveying device.
  5. The adhering part is rotated around a vertical axis by spraying means for spraying adhesive onto one of the side surfaces of the box while transporting the box by the traveling body. Rotating means for causing
    The traveling body on which the box body rotated by the rotating means is placed is moved forward without temporarily colliding with the traveling body subsequent to the traveling body in the direction opposite to the traveling direction. Repetitive running control means for causing
    The conveyance in the boxing device according to any one of claims 1 to 4, wherein the repetitive running control means attaches an adhesive to a side surface different from a side surface to which the adhesive is sprayed in the box body moved in the reverse direction. apparatus.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63161223U (en) * 1987-04-08 1988-10-21
EP2865602A1 (en) * 2013-10-23 2015-04-29 Cavanna S.p.A. A system and method for packaging products
US20150158611A1 (en) * 2013-12-06 2015-06-11 R. A Jones & Co. Variable pitch packaging apparatus and methods

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63161223U (en) * 1987-04-08 1988-10-21
EP2865602A1 (en) * 2013-10-23 2015-04-29 Cavanna S.p.A. A system and method for packaging products
US20150158611A1 (en) * 2013-12-06 2015-06-11 R. A Jones & Co. Variable pitch packaging apparatus and methods

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