JP2017170624A - Box making apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a box making apparatus which can make a box while a common adsorption means keeps on holding a sheet from a process of taking out the bulged sheet to a process of completing the attachment of a tape to a pair of outer flaps.SOLUTION: A box making apparatus includes: a housing part 20 where a flat sheet 10A is housed; a sheet pressing body 30 provided in a position separated from the housing part 20; a robot 100 having a robot hand 106 and a transporting means which can freely move the robot hand 106 in a movable region; a first adsorption means which adsorbs a first panel P1 by a first adsorption body 111; a pressing means which forms a half-box making body configured that a second connecting part J2 is pressed against the sheet pressing body 30 by the movement of the first adsorption body 111 to make a body part 12 into a square cylindrical shape before making a flap; a second adsorption means for adsorbing a second panel by a second adsorption body 121; an inner flap fold-in device 40a; an outer flap fold-in device 40b; and a tape attachment device 50 for attaching a tape T to a tip end part of a pair of the outer flaps Fb.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a box making apparatus for making a sheet made of corrugated paper or the like.

  Conventionally, from a sheet magazine in which flat folded sheets made of corrugated cardboard and the like are stacked, the sheets are taken out one by one, the taken out sheets are opened and formed into a rectangular tube shape, and then a half tube is formed into a rectangular tube shape. Various box making apparatuses are known in which inner and outer flaps which are the bottom or top surface of a box making body are folded and a tape is attached to form a box having only the bottom or top surface opened.

  In such a box making apparatus, a first processing step for taking out the sheets one by one from the sheet magazine, a second processing step for forming the sheets into respective cylindrical shapes, and one opening of the formed half box body A third processing step of folding the pair of inner flaps extending to the opening side toward the opening side, a fourth processing step of folding the pair of outer flaps inward so as to overlap the inner flap folded to the opening side, and the inside And a fifth processing step of attaching a tape to the pair of folded outer flaps. Here, in any one of the transfer steps in which the sheet is transferred from one of the processing steps to the next processing step, a technique in which a suction unit disposed in the robot hand unit sucks the sheet is adopted. Yes.

  For example, Patent Document 1 discloses a technique in which a suction unit holds a sheet in processing steps corresponding to the first, second, and fourth processing steps and a partial transfer step. Patent Document 2 discloses a technique in which a suction unit holds a sheet in processing steps corresponding to the first, second, and third processing steps and a part of transfer steps. Patent Document 3 discloses a technique in which a suction unit holds a sheet in a processing step corresponding to the second to fourth processing steps and a partial transfer step. Patent Document 4 discloses a technique in which a suction unit holds a sheet in a processing step corresponding to the first, third, and fifth processing steps and a partial transfer step.

Japanese Patent Laid-Open No. 07-290608 JP 2005-1304 A Japanese Patent No. 5545357 JP 2014-162216 A

  However, in any of the above patent documents, the suction means provided in the hand unit does not always hold the sheet during the period from the first processing step to the fifth processing step, and is different from the hand unit. Since the processing apparatus is an aspect in which the sheet is temporarily held or the sheet is temporarily transferred, the box making apparatus can be increased in size and the number of components can be increased.

  The present invention provides a box making apparatus in which a common adsorbing means keeps holding a sheet and can form a box in a beautiful shape until the tape is stuck to a pair of outer flaps after taking out the stuck sheet. With the goal.

  In order to solve the above problems, the box making apparatus of the present invention takes the following means. The invention according to claim 1 is the first of the four connecting portions between the first to fourth panels (P1 to P4) that are annularly connected to become the body portion (12) of the box (10). The accommodating part (20) in which the sheet (10A) obtained by folding and flattening the second connecting part (J1, J2) is accommodated, and the sheet (10A) in the accommodating part (20) is the first of the sheet (10A). A sheet pressing body (30) provided at a position separated from the two connection portions (J2), and a robot hand (106) provided with the first suction body (111) and the second suction body (121). The robot hand (106) is accommodated in the accommodating part (20) by the robot (100) having the transfer means (Ri) capable of freely moving within the movable region and the movement by the transfer means (Ri). Connected to the first connecting part (J1) of the sheet (10A) First adsorbing means (Rk1) adsorbing the first panel (P1) with the first adsorbent (111), and adsorbing the first panel (P1) by the transferring means (Ri) Semi-manufactured before flap molding in which the second connecting portion (J2) is pressed against the sheet pressing body (30) by the movement of the first adsorbing body (111) and the body portion (12) has a rectangular tube shape. Of the pressing means (Ro) molded into the box (10B) and the barrel (12) formed into a rectangular tube by the pressing means (Ro), the first connecting portion (J1) A second suction unit (Rk2) for sucking the second panel (P2) connected to the first panel (P1) by the second suction body (121), and the robot hand (106) by the transfer unit (Ri). Movement of the first adsorption means (Rk1) and the second adsorption One of the panels (P1 to P4) arranged to face each other among the body (12) of the semi-finished box (10B) while maintaining the adsorption of the body (12) by the step (Rk2). The inner flap (Fa) extending inward is folded inward, and the first suction means (Rk1) is moved by the movement of the robot hand (106) by the transfer means (Ri). ) And the panel (P1, P3) adjacent to the panels (P2, P4) connected to the inner flaps (Fa) while maintaining the suction of the body (12) by the second suction means (Rk2). An outer flap folding means (RFb) for folding an outer flap (Fb) extending to one side so as to overlap with a pair of inner flaps (Fa) folded inward; and the first suction means (Rk1); Said second adsorption means ( k2), while maintaining the suction of the body (12), the semi-finished box (10C) in which the outer flap (Fb) is folded is transferred by the transfer means (Ri) and folded inward. Tape attaching means (Rh) for attaching the tape (T) to the tip of the pair of outer flaps (Fb) facing each other is provided.

  According to the first aspect of the invention, the sheet (10A) that has been affixed to the body is taken out and then formed into a semi-box (10B, 10C), and the pair of outer flaps of the semi-box (10C). The first adsorbent (111) in the first adsorbing means (Rk1) continues to hold the first panel (P1) until the tape (T) is completely affixed to (Fb), and the robot together with the first adsorbent (111). After the second adsorbent (121) in the second adsorbing means (Rk2) disposed on the hand (106) adsorbs to the second panel (P2) of the semi-finished box (10B), the pair of outer flaps Since the second panel (P2) is held until the tape is pasted on (Fb), the box can be manufactured in a beautiful shape. Therefore, the enlargement of a box making apparatus and the increase in a component can be suppressed.

  Next, in the invention according to claim 2 that is dependent on claim 1, the pressing means (Ro) moves the sheet while the first panel (P1) is positioned below the first adsorbent (111). It is comprised so that the said 2nd connection part (J2) may be pressed against a pressing body (30).

  According to the second aspect of the present invention, the second connecting portion (J2) of the sheet (10A) adsorbed to the first adsorbent (111) by the pressing means (Ro) is connected to the sheet pressing body ( 30) Since the second panel (P2) is separated from the first panel (P1) so as to hang downward due to its own weight when pressed against 30), the sheet (10A) is less likely to bend at a location different from the connection portion, and is stable. The sheet (10A) can be box-formed on a square tubular body (12) that is neatly developed.

  Next, in the invention according to claim 3 dependent on claim 1 or claim 2, the second adsorbent (121) is disposed on a support (122), and the support (122) When the first adsorbent (111) adsorbs the first panel (P1) in the accommodating part (20), it retracts together with the second adsorbent (121) to a position where it does not interfere with the accommodating part (20). Then, the robot hand (12) approaches the second panel so that the second adsorbent (121) can adsorb the second panel (P2) when the body (12) becomes a rectangular tube shape. 106) is slidably or rotatably supported.

  According to the third aspect of the invention, since the support body (122) is slidably or rotatably supported by the robot hand (106), for example, the first adsorbent body (111) is the first panel. Even when the distance between the position for adsorbing (P1) and the accommodating portion (20) is short, the second attracting hand (121) can be prevented from interfering with the accommodating portion (20). That is, the support body (122) and the second adsorbent body (121) are moved to a position where they do not interfere with the housing section (20) as necessary before the body section (12) is formed into a rectangular tube shape. I can leave.

  Next, in the invention according to claim 4 depending on any one of claims 1 to 3, the robot hand (106) includes a support body (112) for supporting the first adsorption body (111), The support (112) extends along the thickness direction of the first panel (P1) to which the first adsorption means (Rk1) is adsorbed, and the first adsorbent (111) is the first adsorber (111). A locking body (136) that abuts the first connecting portion (J1) when adsorbing one panel (P1) and restricts the positional deviation of the sheet (10A) with respect to the first adsorption body (111). It is arranged.

  According to the fourth aspect of the present invention, when the first adsorption means (Rk1) adsorbs the first panel (P1), the locking body 136 disposed on the support (112) is Since it contacts the connecting portion (J1), it is possible to regulate the displacement of the sheet (10A) with respect to the first adsorbent (111). Therefore, the quality of making the sheet (10A) can be kept constant.

  Next, in the invention according to claim 5 depending on any one of claims 1 to 4, the tape sticking means (Rh) includes a first sticking means (Rh1) and a second sticking means (Rh2). And detecting means (54) for detecting information relating to the presence or absence of the tape (T) in the first sticking means (Rh1) and the second sticking means (Rh2), and obtained by the detecting means (54). Further, based on the information on the absence of the tape (T) of either the first sticking means (Rh1) or the second sticking means (Rh2), the first sticking means (Rh1) and the second sticking means (Rh2) The semi-finished box, in which the outer flap is folded, is transferred to either one of the two and the tape (T) is attached to the pair of outer flaps (Fb).

  According to the fifth aspect of the present invention, the tape sticking means (Rh) includes the first sticking means (Rh1) and the second sticking means (Rh2) in the tape sticking means (Rh) obtained by the detecting means (54). Based on the information on the absence of one of the tapes (T), the semi-finished box with the outer flap (Fb) folded into either the first sticking means (Rh1) or the second sticking means (Rh2) is transferred. Since the tape (T) is attached to the pair of outer flaps (Fb), the tape (T) can be continuously applied.

  In the present invention, by taking the means of each of the above inventions, the common suction means continues to hold the sheet until the tape is attached to the pair of outer flaps from the removal of the cylinder-attached sheet, and the box is made into a beautiful shape. It is possible to provide a box making apparatus that can perform the above.

It is the perspective view which showed the state in which the robot of the box making apparatus which concerns on this embodiment adsorb | sucks a flat sheet. FIG. 6 is a perspective view showing a state where the robot is separated from the sheet suction position in a state where the flat sheet is sucked. It is the whole perspective view showing the state where the robot forms a flat sheet into a semi-finished box. It is the whole perspective view which showed the state which folds the flap of a semi-finished box. It is the whole perspective view which showed the state which affixes an adhesive tape on the flap of a semi-made box. It is the whole perspective view which showed the state which mounts the box body boxed by the robot on a discharge conveyor. It is the figure which showed the state which the said robot shape | molds a flat sheet | seat in a semi-finished box, (A) A figure is a figure of the state in which the robot hand adsorb | sucked the flat sheet, (B) The figure shows a robot hand It is the figure which showed the state which presses the ruled line of a flat sheet to a sheet pressing body, and the figure (C) is a figure which showed the state which a 2nd adsorption | suction apparatus changes the attitude | position and adsorb | sucks a 2nd panel. It is the figure which showed the robot hand of another aspect.

  Hereinafter, an embodiment of the box making apparatus of the present invention will be described with reference to the drawings.

  Prior to description of the box making apparatus in the present embodiment, a flat sheet 10A shown in FIGS. The flat sheet 10A is made of, for example, corrugated paper, and the first panel P1 and the third panel P3 having a wide width are connected to the second panel P2 and the fourth panel P4 having a narrow width through a ruled line, respectively. When the sheet is affixed to be connected, folded at two ruled lines J1 and J2, and folded flat, and when the sheet is expanded into a rectangular tube shape with each ruled line as a base point, the first panel P1 and While the 3rd panel P3 opposes, the 2nd panel P2 and the 4th panel P4 oppose, and the square cylinder-shaped trunk | drum 12 is comprised. Further, flaps F extending outward are connected to both edges of the panels P1 to P4 via ruled lines. These flaps F are folded to the side of the opening 14 formed by the body 12 having a rectangular tube shape (a direction in which the tips of each other are close to each other), thereby closing the opening 14 and forming an upper surface and a bottom surface. It will be. The flap F extends to the narrow second panel P2 and the fourth panel P4, and the outer flap Fb extends to the wide first panel P1 and the third panel P3. . Incidentally, one of the openings 14 is closed by the adhesive tape T, and before the box making body 10 (box body) is formed, that is, in a state where the flat sheet 10A is raised and formed into a rectangular tube shape, the inner flap Fa and the outer flap Fb. The state before folding is referred to as a semi-molded box 10B before flap forming, before the adhesive tape T is applied to the pair of outer flaps Fb when the inner flap Fa and the outer flap Fb are folded and the opening 14 is closed. The state is referred to as a semi-molded box 10C before tape application.

  As shown in FIGS. 1 to 6, the box making apparatus includes a sheet magazine 20, a sheet pressing body 30, a robot 100, a flap folding device 40 (an inner flap folding device 40 a and an outer flap folding device 40 b), and a guide. 45, a tape applying device 50, and a discharge conveyor 60. Here, the box making apparatus according to the present embodiment includes a sheet magazine 20, a sheet pressing body 30, a flap folding apparatus 40, a tape sticking apparatus 50, and a discharge conveyor 60 within the movable range of the robot hand 106 in the robot 100. Are arranged in the order of processing in a row.

  In the sheet magazine 20 (accommodating portion), an accommodating portion that accommodates the flat sheets 10A stacked upward and stacked is configured by a roller conveyor. The flat sheet 10A has, on the sheet magazine 20, a first panel P1 side as an upper surface, a second panel P2 as a lower surface, and a ruled line J1 (first connecting portion) located on the upstream side of the box making apparatus. The second connection portion) is stored in a posture that is on the downstream side (discharge conveyor 60 side).

  At the end of conveyance of the flat sheet 10A in the sheet magazine 20, a sheet pressing body 30 is arranged so as to stand vertically upward so as to face the ruled line J2 of the flat sheet 10A. As shown in FIGS. 7A to 7C, the height 30H of the sheet pressing body 30 in the present embodiment is equal to the stack height dimension 10H of a bundle of flat sheets 10A and the second panel P2. It is set to be higher than the height dimension obtained by adding the width dimension P2H in the direction orthogonal to the ruled line J1.

  The robot 100 includes an arm 102 that connects a plurality of joints, a robot hand 106 provided at a joint on the distal end side of the arm 102, and a control unit (not shown) that controls the operation of the arm 102 and the robot hand 106. ). Thereby, the robot hand 106 can freely move in a movable region in a three-dimensional space including the region where the sheet magazine 20, the sheet pressing body 30, the flap folding device 40, the tape sticking device 50, and the discharge conveyor 60 are disposed. It is configured.

  The robot hand 106 includes a first suction device 110 that sucks and holds the first panel P1 of the flat sheet 10A and a second suction device 120 that sucks and holds the second panel P2. The first adsorption device 110 includes a plurality of (four in this embodiment) first adsorbents 111 and a first support 112 that supports the first adsorbents 111. In the first support 112, a flat plate member is rotatably connected to a joint portion on the distal end side of the arm 102, and a plurality of first adsorbers 111 are arranged on the plate surface of the first support 112. It is provided at intervals. The first adsorbent 111 is configured to adsorb the first panel P1 of the flat sheet 10A with a negative pressure generated by an air source (not shown). The second adsorption device 120 has a plurality of (two in this embodiment) second adsorption bodies 121 and second support bodies 122 as the same configuration as the first adsorption device 110. Further, the robot hand 106 includes posture changing means 130 that changes the posture of the second suction device 120 with respect to the first suction device 110 as shown in FIG. The posture changing means 130 is connected by a hinge structure so that the second support 122 rotates between a position parallel to the first support 112 and a position orthogonal thereto. Further, the posture changing means 130 includes various driving means such as an air cylinder 132 and mechanical transmission means such as a link mechanism 134 interposed between the first support 112 and the second support 122. The second support 122 is configured to be rotatable by the operation of the air cylinder 132 and the link mechanism 134. Further, the first support 112 extends along the thickness direction of the first panel P1 in the flat sheet 10A on which the first adsorbent 111 of the first adsorbing device 110 is adsorbed, and the ruled line of the flat sheet 10A. A locking body 136 that is in contact with J1 and restricts the positional deviation of the first suction device 110 from the flat sheet 10A is disposed. In the robot 100, the configuration in which the robot hand 106 provided with the first adsorbent 111 and the second adsorbent 121 can be freely moved within the movable region corresponds to the “transfer means Ri” of the present invention.

  The flap folding device 40 includes an inner flap folding device 40a and an outer flap folding device 40b. The inner flap folding device 40a and the outer flap folding device 40b sequentially abut against the respective plate surfaces of the inner flap Fa and the outer flap Fb, respectively, with the tip portions of a pair of rods advanced and retracted by various driving means such as an air cylinder. Thus, the pair of inner flaps Fa and the pair of outer flaps Fb are folded. As shown in FIGS. 1 to 6, when the flap folding device 40 sucks and holds the semi-boxed body 10 </ b> B before flap molding by the robot 100, the semi-boxed body before flap molding is formed by the inner flap folding device 40 a. After a pair of inner flaps Fa extending to one side edge side of 10B are folded, a pair of outer flaps Fb extending to the same side edge side as these inner flaps are placed inside by an outer flap folding device 40b. Fold each into. In addition, the command of the air supply switching timing for each driving means to advance and retract the pair of rods is made by the control unit of the robot 100.

  The guide 45 moves the robot during the movement in order for the robot 100 to transfer the semi-finished box 10C before tape application to the tape application device 50 while preventing the opening of the outer flap Fb folded by the outer flap folding device 40b. The outer flap Fb pressed by 100 is supported and guided toward the tape applying device 50.

  As shown in FIGS. 1-6, the tape sticking apparatus 50 is a device that sequentially feeds the strip-shaped adhesive tape T wound around the outer periphery of the annular core and sticks it to the tip of the folded outer flap Fb. It is. The tape sticking device 50 includes a first sticking device 51 and a second sticking device 52. This 1st sticking apparatus 51 and the 2nd sticking apparatus 52 are spaced apart and arrange | positioned. The tape applicator 50 includes a detecting means 54 including a non-contact sensor that detects information on the presence or absence of the tape in the first applicator 51 and the second applicator 52. The detection means 54 is connected to the control unit in the robot 100 described above. When the detecting means 54 detects that one of the tapes of the first sticking device 51 and the second sticking device 52 currently used is finished, the robot 100 detects the adhesive tape T based on the information about the finish. It is possible to transfer the semi-molded box 10B before the flap molding to the spare tape applicator 50, which is the other one of the first applicator 51 and the second applicator 52, and apply the tape to the outer flap Fb. It is configured to be able to.

  The discharge conveyor 60 is a conveyor that transfers the box body 10 to the next process, and for example, a belt conveyor or the like is applied.

  Next, the movement of the box making apparatus will be described with reference to FIGS.

  As shown in FIGS. 1 and 7A, the robot 100 moves the robot hand 106 above the bundle of flat sheets 10A accommodated in the sheet magazine 20, and then the first adsorption body of the first adsorption device 110. 111 is lowered to the suction position 106A that comes into contact with the first panel P1 of the flat sheet 10A stacked on the top.

  As shown in FIGS. 2, 7 </ b> A, and 7 </ b> B, the robot 100 rotates the arms while the first adsorption body 111 of the first adsorption device 110 in the robot hand 106 adsorbs the first panel P <b> 1. Then, the flat sheet 10A is lifted up to the separation position 106B spaced upward from the suction position 106A. Here, the separation length L from the suction position 106A to the separation position 106B by the robot 100 is a length exceeding the width dimension P2H in the direction orthogonal to the ruled line J1 in the second panel P2. Since the flat sheet 10A sucked and held by the robot hand 106 positions the first panel P1 below the first suction device 110, the second panel P2 is separated so as to hang downward due to its own weight. It is difficult to bend at a place different from the ruled line, and the box is formed on the square cylindrical body 12 that is stably and neatly developed. Here, the configuration in which the first panel P1 connected to the ruled line J1 of the flat sheet 10A accommodated in the sheet magazine 20 is adsorbed by the first adsorbent 111 by the movement of the robot 100 is the “first adsorbing means” in the present invention. Rk1 ”.

  As shown in FIG. 3 and FIG. 7C, the robot 100 presses the ruled line J2 of the flat sheet 10A against the sheet pressing body 30 in a state where the first suction device 110 sucks the first panel P1. 10A is formed into a rectangular tube shape. At this time, the ruled line J1 of the flat sheet 10A is in contact with the locking body 136. Therefore, the flat sheet 10 </ b> A is restricted from being displaced in the surface direction with respect to the first suction device 110. Further, the posture of the second adsorption device 120 is such that the second support 122 is rotated by the operation of the air cylinder 132 and the link mechanism 134 in the posture changing means 130 so that the second panel P2 is orthogonal to the first panel P1. And the second panel P2 is adsorbed by the second adsorbent 121. Thereby, the flat sheet 10A becomes a semi-box body 10B before flap molding. In the state where the first suction device 110 in the robot 100 sucks the first panel P1, the first suction device 110 is moved from the sheet magazine 20 and the ruled line J2 of the flat sheet 10A is pressed against the sheet pressing body 30 to be flat. The structure which shape | molds the sheet | seat 10A in the semi-box body 10B before flap shaping | molding corresponds to the "pressing means Ro" in this invention. Moreover, the structure which adsorb | sucks with the 2nd adsorption body 121 the 2nd panel P2 connected to the 1st panel P1 via the ruled line J1 among the trunk | drum 12 formed into square tube shape by the pressing means Ro is in this invention. This corresponds to “second adsorption means Rk2”.

  As shown in FIG. 4, the robot 100 transfers the semi-molded box 10 </ b> B before flap forming with the robot hand 106 to the flap folding device 40 while being sucked by the first suction device 110 and the second suction device 120. In the flap folding device 40, the inner flap folding device 40a first faces the opening 14 by sequentially abutting the tip portions of a pair of rods that are advanced and retracted by various driving means such as an air cylinder against the plate surface of the inner flap Fa. Fold it in. Next, the outer flap folding device 40b is folded by sequentially abutting the pair of rods against the plate surface of the outer flap Fb, and is folded so as to overlap the outer side of the inner flap Fa. Thereby, it becomes the half boxed body 10C before tape sticking from the half boxed body 10B before flap molding. Here, by the movement of the robot hand 106 in the robot 100, while the suction of the body 12 by the first suction device 110 and the second suction device 120 is maintained, the body portion 12 of the semi-molded box 10B before the flap forming is opposed. The configuration in which the inner flap Fa extending to one side of each of the panels P1 to P4 disposed inward is folded inward corresponds to the “inner flap folding means RFa” of the present invention. In addition, a panel adjacent to the panels P2 and P4 connected to the inner flaps Fa while maintaining the suction of the body 12 by the first suction device 110 and the second suction device 120 by the movement of the robot hand 106 in the robot 100. A configuration in which the outer flap Fb extending to one side of P1 and P3 is folded so as to overlap with the pair of inner flaps Fa folded inward corresponds to the “outer flap folding means RFb” of the present invention.

  As shown in FIG. 5, the robot 100 transfers the semi-molded box body 10 </ b> C before tape application with the robot hand 106 to the tape application device 50 while being adsorbed by the first adsorption device 110 and the second adsorption device 120. Here, the robot 100 receives information on the presence or absence of the tape of the detection means 54 in the first sticking device 51 and the second sticking device 52, and the adhesive tape T is filled in the first sticking device 51 and the second sticking device 52. Transport to the other side. The tape applicator 50 sequentially feeds the belt-like adhesive tape T wound around the outer periphery of the annular core, and attaches the adhesive tape to the tip of the outer flap Fb of the semi-box 10C that has been transported before the tape application. T is pasted and sealed, and the box-making body 10 is obtained. Here, while the robot hand 106 in the robot 100 moves, the semi-molded box before the tape is pasted and the outer flap Fb is folded while maintaining the suction of the body 12 by the first suction device 110 and the second suction device 120. The configuration in which 10C is transferred by the robot 100 and folded to the inside and the tape T is applied to the tip portions of the pair of outer flaps Fb facing each other corresponds to the “tape applying means Rh” of the present invention.

  As shown in FIG. 6, the robot 100 places the box making body 10 on the discharge conveyor 60 in order to transfer it to the next process. The box making body 10 is continuously supplied to the next process by repeating the above movement.

The box making apparatus as described above has the following effects.
-The box making apparatus uses the first suction device 110 and the second suction device 120, which are common suction means, from the removal of the stuck sheet to the completion of attaching the adhesive tape T to the pair of outer flaps Fb. You can continue to make boxes.
・ Take out the flat sheet 10A that has been affixed to the body, and then form it into a semi-boxed body 10B before flap molding and a semi-boxed body 10C before tape application. The first adsorbent 111 in the first adsorbing means Rk1 continues to hold the first panel P1 until the tape T is pasted on the flap Fb, and the second adsorbing means disposed on the robot hand 106 together with the first adsorbent 111. In order to keep holding the second panel P2 until the second adsorbent 121 in Rk2 is adsorbed to the second panel P2 of the semi-molded box 10B before the flap molding until the tape is attached to the pair of outer flaps Fb. Can be boxed in a beautiful shape. Therefore, the enlargement of a box making apparatus and the increase in a component can be suppressed.
The first panel so that the second panel P2 hangs down by its own weight when the ruled line J2 of the flat sheet 10A adsorbed by the first adsorbent 111 by the robot 100 as the pressing means Ro is pressed against the sheet pressing body 30. Since the flat sheet 10A is separated from P1, the flat sheet 10A is unlikely to be bent at portions different from the ruled lines J1 to J4, and the flat sheet 10A can be stably box-formed on the square cylindrical body 12 that is neatly developed.
The robot 100 as the pressing means Ro can smoothly form the flat sheet 10A into the semi-box body 10B before the flap molding without interfering with the other flat sheets 10A accommodated in the sheet magazine 20. Further, the second suction device 120 sucks the second panel P2 when the angle of the second panel P2 with respect to the first panel P1 becomes vertical, so that the angle of the flat sheet 10A with respect to each of the panels P1 to P4 is a right angle. Can be formed into a square tube shape, and the quality of the flat sheet 10A can be kept constant.
The box making apparatus includes the posture changing device 130 so that the second suction device 120 can be placed even when the distance between the position where the first suction device 110 sucks the first panel P1 and the sheet magazine 20 is short. Can be prevented from interfering with.
The first support body 112 is provided with a locking body 136 that regulates the displacement of the first suction device 110 from the flat sheet 10A. Therefore, when the 1st adsorption | suction apparatus 110 adsorb | sucks the 1st panel P1, the relative position shift of the 1st adsorption | suction apparatus 110 and the ruled line J1 can be controlled.
The tape sticking means Rh includes a first sticking device 51, a second sticking device 52, and a detecting means 54 that detects information relating to the presence or absence of the tape T. The tape sticking means Rh is based on the information about the absence of the tape T of either one of the first sticking device 51 and the second sticking device 52 obtained by the detecting means 54, and the first sticking device 51 and the first sticking device Rh by the transport means Ri. The sheet is transferred to either one of the two sticking devices 52 and the tape T is stuck to the outer flap Fb. Therefore, the tape sticking means Rh is a mode in which the sticking device filled with the tape T is selected in the first sticking device 51 and the second sticking device 52, and even if the tape T of either one of the sticking devices disappears, the tape The tape T can be transferred to the tape applicator 50 with T and the tape T application operation can be continued. Therefore, it is not necessary to stop the box making apparatus when filling the tape T, and a continuous tape T sticking operation can be performed.

As mentioned above, although embodiment of this invention was described, the box making apparatus of this invention is not limited to embodiment, It can implement with other various forms as follows.
-Although the box-making body 10 in this embodiment demonstrated the substantially rectangular parallelepiped, a cubic box may be sufficient.
-The layout of each apparatus in the box making apparatus of this embodiment is only an example, and each apparatus can apply various arrangement positions not only in series arrangement. For example, a layout in which each device is arranged in a ring shape may be used.
-Sheet magazine 20 (accommodating part) is not restricted to the mode which piles up and stores flat sheet 10A in the horizontal direction. For example, the aspect which leans and stores in the state which laminated | stacked the several flat sheet 10A several may be sufficient.
The sheet magazine 20 (accommodating portion) and the sheet pressing body 30 are not necessarily configured integrally, and may be disposed apart from each other.
The sheet pressing body 30 is not limited to a flat plate shape, and may be any mode as long as it is pressed against the ruled line J2. For example, a mode in which a bar-like member is erected may be used.
In the robot 100, the movement of moving the flat sheet 10A from the suction position 106A to the separation position 106B and the movement of pressing the ruled line J2 of the flat sheet 10A against the sheet pressing body 30 are separate, but the movements are performed simultaneously. It may be.
-When the 2nd adsorption | suction apparatus 120 adsorb | sucks the 2nd panel P2, the 1st panel P1 and the 2nd panel P2 should just be perpendicular | vertical. That is, in the state of the semi-molded box 10B before the flap molding before the second suction device 120 sucks the second panel P2, the second panel P2 is not necessarily perpendicular to the first panel P1. .
-Although the attitude | position change means 130 showed the aspect in which the 2nd adsorption | suction apparatus 120 rotated with respect to the 1st adsorption | suction apparatus 110, it is not restricted to this. For example, when the second suction device 120 is configured to be linearly movable in a direction orthogonal to the first suction device 110, and the second panel P2 is formed at a right angle with respect to the first panel P1 of the flat sheet 10A, The second adsorption device 120 may be configured to adsorb the second panel P2 after linearly moving along the second panel P2.
-As shown in FIG. 8, the angle of the 1st adsorption | suction apparatus 210 and the 2nd adsorption | suction apparatus 220 which were arrange | positioned at the robot hand may be a perpendicular | vertical fixed aspect. In the case of such an aspect, the second suction device 220 itself has a function of preventing the displacement of the flat sheet 10A with respect to the first suction device 210, similarly to the locking body in the embodiment.
The third panel P3 connected to the outer flap Fb is separated from the suction position 106A in a state where the first suction device 110 is sucked, and one end of the flat sheet 10A is pressed to make a semi-box before the rectangular tube-shaped flap molding. You may comprise so that the 2nd adsorption | suction apparatus 120 adsorb | sucks the 1st panel or 4th panel shape | molded in the body 10B and connected to the inner flap. In this case, the tape applicator 50 is attached so that the adhesive tape T can be affixed to the tips of the pair of outer flaps Fb while moving the semi-molded box 10B before the flap forming by the robot 100 in the vertical direction. It is preferable to arrange.

10: Box body (box) 12: Body 10A: Flat sheet (flattened sheet)
10B: Semi-box before flap molding 10C: Semi-box before tape application P1: 1st panel P2: 2nd panel P3: 3rd panel P4: 4th panel J1: Ruled line (1st connection part) J2: Ruled line (second connection part) Fa: Inner flap Fb: Outer flap 20: Sheet magazine (accommodating part) 30: Sheet pressing body Ri: Transfer means 100: Robot 106: Robot hand Rk1: First suction means 111 : First adsorbent Rk2: second adsorbing means 121: second adsorbent Ro: pressing means Rh: tape applying means Rh1: first attaching means Rh2: second attaching means Rfa: inner flap folding means Rfb: outer flap folding means 54: Detection means 112: First support (support) 122: Second support (support)
136: Locking body T: Adhesive tape T (tape)

Claims (5)

Of the four connection parts between the first to fourth panels connected in an annular shape that becomes the body part of the box body, an accommodation part that accommodates a flat sheet by folding the first and second connection parts;
A sheet pressing body provided at a position spaced from the second connection portion of the sheet stored in the storage portion;
A robot hand provided with a first adsorbent and a second adsorbent, and a robot having transfer means capable of freely moving the robot hand within a movable region;
A first adsorbing means for adsorbing the first panel connected to the first connecting portion of the sheet accommodated in the accommodating portion by the movement by the transfer means;
When the first adsorbing body adsorbing the first panel is adsorbed by the transfer means, the second connecting portion is pressed against the sheet pressing body, and the body portion is formed into a rectangular tube shape before flap forming. Pressing means for forming into a semi-finished box,
A second adsorbing means for adsorbing, by the second adsorbent, a second panel connected to the first panel via the first connecting portion, out of the barrel portion formed into a rectangular tube by the pressing means; ,
Due to the movement of the robot hand by the transfer means, the first suction means and the second suction means are arranged so as to face each other among the trunk portions of the semi-molded box while maintaining the suction of the barrel portions by the first suction means and the second suction means. Inner flap folding means for folding inner flaps extending to one side of each panel inward,
The movement of the robot hand by the transfer means extends to one side of the panel adjacent to the panel connected to each inner flap while maintaining the suction of the body by the first suction means and the second suction means. Outer flap folding means for folding each existing outer flap so as to overlap a pair of inner flaps folded inward;
While maintaining the suction of the body portion by the first suction means and the second suction means, the semi-finished box body in which the outer flap is folded is transferred by the transfer means and folded inward to face each other. A box making apparatus comprising a tape sticking means for sticking a tape to the tip of the pair of outer flaps.   2. The box making apparatus according to claim 1, wherein the pressing unit is configured to press the second connection portion against the sheet pressing body while the first panel is positioned below the first adsorption body. 3. .   The second adsorbent is disposed on a support, and the support is located at a position where the first adsorber does not interfere with the accommodating portion when the first adsorbent adsorbs the first panel in the accommodating portion. 2 When retracted together with the adsorbent, the second adsorbent can slide on the robot hand so that the second adsorber can adsorb the second panel when the barrel becomes a square tube, or it can slide on the robot hand. The box making apparatus according to claim 1 or 2, which is movably supported. The robot hand includes a support that supports the first adsorbent,
The first connection means when the first adsorbing body adsorbs the first panel and extends along the thickness direction of the first panel adsorbed by the first adsorbing means on the support. The box making apparatus according to any one of claims 1 to 3, wherein a locking body is provided in contact with the portion to restrict a positional deviation of the sheet with respect to the first adsorption body. The tape sticking means includes a first sticking means and a second sticking means, and a detecting means for detecting information on the presence or absence of the tape in the first sticking means and the second sticking means,
Based on the information on the absence of tape of either one of the first sticking means and the second sticking means obtained by the detecting means, the outer flap is placed on the other of the first sticking means and the second sticking means. The box making apparatus according to any one of claims 1 to 4, wherein the box making apparatus is configured to transfer the folded semi-box making body and attach a tape to the pair of outer flaps.

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