JP2018001736A - Box production apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently assemble a small amount of cardboard boxes in a small installation space.SOLUTION: A box production apparatus comprises: a first work station (50) being a place where a packing material in a folded state is placed; a first holding device (30) and a second holding device (40) having functions for holding objects; a first arm section (3) comprising the first holding device and a second arm section (4) comprising the second holding device; and a second work station (60) being a place where the packing material three-dimensionally developed is placed. The box production apparatus three-dimensionally assembles the packing material in operating ranges of the first arm section and the second arm section.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a box making apparatus.

  There is known a corrugated cardboard assembly device (box making device) that automatically assembles an A-type corrugated cardboard box used for product packaging or transfer from a folded state. A conventional box making apparatus produces a cardboard box of a certain size at high speed and in large quantities.

  A conventional box making apparatus using a double-arm robot is also known (see, for example, Patent Document 1). The box making apparatus disclosed in Patent Document 1 has suction portions on the left and right arm portions, sucks and lifts the folded cardboard, and expands the cardboard in the sucked state to assemble a cardboard box. Is.

  The conventional box making apparatus is a large apparatus because it produces cardboard boxes of a certain size at high speed and in large quantities. When assembling a small variety of cardboard boxes, a single box making device is not sufficient, and it is necessary to install a plurality of box making devices. In this case, since the installation space becomes large, it is difficult to introduce the box making apparatus in a place where the installation space cannot be secured (such as a small-scale office).

  Moreover, since what uses an adsorption | suction part like the box making apparatus currently disclosed by patent document 1 produces | generates suction | attraction force using suction devices, such as a vacuum pump, suction devices, such as a vacuum pump, are permanently installed. It can only be used in the place where it is installed (factory, etc.). Therefore, the box making apparatus disclosed in Patent Document 1 can be used in a place equipped with special equipment (such as a vacuum pump), and cannot be used simply by securing an installation space. In addition, it has been difficult to effectively use the installation space of the conventional box making apparatus, such as making it portable and installing it only when it is used, and putting it away in a warehouse when not in use.

  As described above, the conventionally known box making apparatuses are not suitable for use in assembling a small amount of cardboard boxes in a small space, and it is difficult to effectively use the installation space. It was.

  An object of the present invention is to provide a box making apparatus that can efficiently assemble a small amount of cardboard boxes in a small installation space.

  In order to solve the above problems, according to one embodiment of the present invention, a first work station that is a place where a folded packaging material is placed, a first gripping device having a function of gripping an object, and a first gripping device are provided. 2 gripping device, a first arm portion including the first gripping device and a second arm portion including the second gripping device, and a second work which is a place where the packaging material expanded in three dimensions is placed. And the packaging material is assembled three-dimensionally within the operating range of the first arm portion and the second arm portion.

  According to the box making apparatus of the present invention, a small amount of cardboard boxes can be efficiently assembled in a small installation space.

1 is a perspective view schematically showing an overall configuration of a cardboard assembly apparatus in an embodiment of the present invention. It is a top view which shows roughly the whole structure of the cardboard assembly apparatus in embodiment of this invention. It is a perspective view which shows the structure of the right end effector in embodiment of this invention. It is a perspective view which shows the structure of the left end effector in embodiment of this invention. It is a perspective view which shows the structure of the cardboard loading jig | tool in embodiment of this invention. It is a perspective view which shows the structure of the cardboard fixing jig in embodiment of this invention. It is a perspective view which shows the structure of the tape cutter in embodiment of this invention. It is a perspective view which shows the holding | grip process which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view which shows the expansion | deployment process which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view which shows the fixing process which is a part of cardboard assembly process in embodiment of this invention. It is a top view which shows a part of cardboard assembly process in embodiment of this invention. It is a top view which shows another part of the cardboard assembly process in embodiment of this invention. It is a top view which shows another part of the cardboard assembly process in embodiment of this invention. It is a perspective view explaining the holding | grip operation | movement of the tape cutter in embodiment of this invention. It is a perspective view explaining a part of tape sticking operation | movement which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view explaining another part of tape sticking operation | movement which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view explaining another part of tape sticking operation | movement which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view explaining another part of tape sticking operation | movement which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view explaining the tape cutting operation | movement part which is a part of corrugated-cardboard assembly process in embodiment of this invention. It is a perspective view explaining another part of tape sticking operation | movement which is a part of cardboard assembly process in embodiment of this invention. It is a perspective view which shows the structure of the moving trolley | bogie in embodiment of this invention. It is a perspective view which shows the structure of the joint axis | shaft of the left arm in this embodiment.

<Summary of the present invention>
A box making apparatus according to the present invention is a cardboard assembling apparatus for automatically assembling a corrugated cardboard as a packaging material in a folded state to produce a cardboard box as a casing, which includes a double-arm robot, and is portable. It is. The box making apparatus according to the present invention can be operated in a small installation space, and the power is an electric motor driven by a commercial power source. Therefore, the box making apparatus according to the present invention is a stand-alone type that can operate autonomously without requiring connection with special equipment or the like. The box making apparatus according to the present invention includes two robot arms and assembles cardboards three-dimensionally within the operating range of these robot arms. The box making apparatus according to the present invention can be operated in a small installation space, and the power is an electric motor driven by a commercial power source.

  The gist of the box making apparatus according to the present invention having the above features is that it is suitable for a usage mode in which a small amount of cardboard boxes are automatically assembled in an installation space as small as a human work space.

<Whole structure of box making apparatus in this embodiment>
An embodiment of a box making apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a cardboard assembling apparatus 1 which is an embodiment of a box making apparatus according to the present invention. FIG. 2 is a plan view of the cardboard assembly apparatus 1 as viewed from above. In the following description, a three-dimensional orthogonal coordinate system of XYZ axes as shown in FIGS. 1 and 2 is assumed, and the structure and operation of the cardboard assembly apparatus 1 will be described with reference to this coordinate system.

  The axis in the vertical direction with respect to the installation surface of the cardboard assembly apparatus 1 is defined as the Z axis. In addition, an axis in the front direction of the main body 2 and perpendicular to the Z axis is defined as a Y axis. In addition, the horizontal axis in the main body 2 that is orthogonal to the Z axis and the Y axis is the X axis. 1 and 2, the X-axis, Y-axis, and Z-axis indicate the directions of the arrows as “+ x direction”, “+ y direction”, and “+ z direction”, respectively. -(Minus) ".

  As shown in FIG. 1, the corrugated cardboard assembly apparatus 1 includes a main body 2 that is a robot main body, a right arm 3 and a left arm 4 connected to the main body 2, and the main body 2 is moved to an installation position and fixed. A moving carriage 5 is provided.

  A right end effector 30 is attached to the distal end portion of the right arm 3. A left end effector 40 is attached to the distal end portion of the left arm 4. The right end effector 30 and the left end effector 40 can be individually selected to have optimal structures according to the application. The cardboard assembly apparatus 1 according to the present embodiment uses an end effector having a function suitable for cardboard assembly as each end effector. Details of the right end effector 30 and the left end effector 40 will be described later.

  The cardboard assembly apparatus 1 includes a cardboard stacking jig 50 for stacking and holding the folded cardboard 51 and a cardboard fixing jig 60 used in the assembly process. The cardboard assembly apparatus 1 further includes a tape cutter 70 that affixes and fixes the tape 73 to the bottom surface 101 in the assembly process of the cardboard box 100.

  The corrugated cardboard fixing jig 60 is disposed in the + y direction that is the front of the main body 2. The cardboard stacking jig 50 is disposed in front of the main body 2 and at a position away from the cardboard fixing jig 60. As shown in FIG. 1, the corrugated cardboard loading jig 50 and the corrugated cardboard fixing jig 60 are fixed on a rectangular base 200 disposed in the + y direction of the moving carriage 5. The tape cutter 70 is disposed on the right side of the cardboard stacking jig 50 as shown in FIG.

  The two arms (the right arm 3 and the left arm 4) are respectively attached to both sides of the main body 2 therebetween. That is, the arm is attached to both shoulder portions of the main body 2. Each of the right arm 3 and the left arm 4 is a multi-axis robot arm having a plurality of joint axes.

  Here, a detailed structure of the right arm 3 as the first arm part and the left arm 4 as the second arm part will be described. FIG. 22 is a perspective view showing only the main body 2 and the left arm 4 taken out. The joint axis as a detailed structure of the left arm 4 will be described with reference to FIG. In addition, since the structure of the joint axis in the right arm 3 is the same as that of the left arm 4, the description thereof is omitted.

  As shown in FIG. 22, the right arm 3 includes a shoulder joint axis 401, an elbow joint axis 402, and a wrist joint axis 403 in order from the joint axis close to the attachment portion of the main body 2. The shoulder joint shaft 401 is composed of two axes: a rotation axis at a connecting portion between the main body 2 and the left arm 4 and a rotation shaft outside the connecting portion between the main body 2. In the state shown in FIG. 22, the axis of the connecting portion of the main body 2 is a rotation axis parallel to the Z axis, and is an axis that operates the entire left arm 4 in the XY plane. In the state shown in FIG. 22, the axis of the outer portion of the connecting portion of the main body 2 is a rotation axis parallel to the X axis, and is an axis that operates the left arm 4 in the YZ plane.

  The elbow joint axis 402 is an axis in the longitudinal direction of the left arm 4, and in the state shown in FIG. 22, a rotation axis in a direction parallel to the Z axis, and an axis orthogonal to the rotation axis and parallel to the X axis. It is comprised from the two rotating shafts of the rotating shaft of the direction to do. By these rotation axes, the left arm 4 can operate between a position parallel to the Z axis from a position parallel to the Z axis from a position (tip part) on the wrist joint axis 403 side connected to the elbow joint axis 402. . Similarly, the tip portion can rotate about an axis parallel to the Z axis.

  In the state shown in FIG. 22, the wrist joint shaft 403 includes two axes, an X-direction rotation axis and a Y-axis direction rotation axis. With these rotation axes, the left end effector 40 can operate in the XZ plane. Further, the left end effector 40 can operate in the XY plane. According to each joint axis provided in the left arm 4 described above, the left end effector 40 can be freely moved and rotated in the three-dimensional space. The description of each joint axis in the above is based on the case where the left arm 4 is in a state parallel to the Z axis as shown in FIG. Naturally, when the state of the left arm 4 is not parallel to the Z-axis as in the state of FIG. 22, the respective operating directions change appropriately.

<Embodiment of Right End Effector 30>
Next, each end effector will be described in detail. First, the right end effector 30 will be described. FIG. 3 is a perspective view showing the configuration of the right end effector 30 which is the first gripping device in the cardboard assembly apparatus 1.

  The right end effector 30 is an end effector that is used by being attached to the distal end portion of the right arm 3. The right end effector 30 includes a right motor 31, a right gripping fixing claw 32 that is a fixed piece, a right gripping operating claw 33 that is an operating piece, a right tape pressing portion 34 that is a first tape pressing portion, and a right arm. And a fixing portion 37.

  The right end effector 30 includes a right motor fixing portion 37, which is a plate-like member having a rectangular outer shape, and a right motor 31, a right gripping fixing claw 32, a right gripping operating claw 33, and a right tape pressing portion 34 attached thereto. Yes.

  The longitudinal direction of the right gripping fixed claw 32 and the right gripping operating claw 33 constituting the first gripping portion is orthogonal to the operation direction of the right tape pressing portion 34.

  The right arm fixing portion 37 is formed with a right fixing hole 371 penetrating from one surface contacting the tip portion of the right arm 3 to the other surface. The distal end portion of the right arm 3 is inserted into the right fixing hole 371 from one surface side (upper side in FIG. 3), and the right arm 3 and the right end are fastened using a fastening member such as a bolt and a nut. The effector 30 is fixed.

  A right tape pressing portion 34 is attached to one end portion in the longitudinal direction of the right arm fixing portion 37 via a right elastic portion 36. Details of the right tape pressing portion 34 and the right elastic portion 36 will be described later.

  A right motor 31, a right gripping fixing claw 32, and a right gripping operating claw 33 are fixed to the other surface of the right arm fixing portion 37.

  The right gripping fixing claw 32 is a plate member having an overall L shape, and is fixed in such a manner as to protrude from the other surface of the right arm fixing portion 37. A tape cutter fixing hole 35 is formed in the right gripping fixing claw 32. Details of the tape cutter fixing hole 35 will be described later.

  The right motor 31 is fixed at a position separated from the right gripping fixing claws 32 on the other surface of the right arm fixing portion 37. The right motor 31 is a so-called electric motor and operates based on control in the main body 2. The rotation axis of the right motor 31 is orthogonal to the longitudinal direction of the right arm fixing portion 37.

  An operating piece of a right cam mechanism 311 that operates in a plane orthogonal to the surface of the right arm fixing portion 37 by the operation of the right motor 31 is fixed to the rotation shaft of the right motor 31. The operating piece of the right cam mechanism 311 constituting the cam part operates like a pendulum in the longitudinal direction of the right arm fixing part 37 by the operation of the right motor 31. The operating piece of the right cam mechanism 311 is formed with a long hole along the longitudinal direction. A part of the right gripping operation claw 33 is fitted in the long hole.

  The right gripping operation claw 33 is an L-shaped plate member, and one surface forms a longitudinal surface facing the right gripping fixing claw 32, and the other surface is slidable. It is fixed to the right motor 31 via the part 331. The sliding portion 331 is a portion that slides the right gripping operation claw 33 in the longitudinal direction of the right arm fixing portion 37.

  The right gripping operation claw 33 is connected to the rotation shaft of the right motor 31 by the right cam mechanism 311. When the right motor 31 operates and the rotation shaft rotates, the operating piece of the right cam mechanism 311 also rotates. In accordance with the rotation of the operating piece, a part of the right gripping operating claw 33 fitted in the elongated hole of the operating piece moves along the elongated hole. Based on this movement, the right gripping operation claw 33 operates between a direction approaching the right gripping fixing claw 32 and a direction away from it.

  That is, in the right gripping operation claw 33, the rotational motion of the right motor 31 is converted into a linear motion by the right cam mechanism 311 and the distance from the right gripping fixed claw 32 is adjusted based on this linear motion, and the right gripping claw 33 is adjusted. The gripping force by the fixed claw 32 and the right gripping operation claw 33 is adjusted.

  As described above, the right end effector 30 is opposed to the right gripping fixing pawl 32 and the right gripping operating pawl 33 in a direction parallel to the direction in which the distal end portion of the right arm 3 is inserted into the right fixing hole 371. The distance in the longitudinal direction of the surface can be adjusted.

  The operation of the right gripping operation claw 33 is controlled by a control unit provided in the main body unit 2. Therefore, when the right gripping operation claw 33 is brought close to the right gripping fixing claw 32 based on the control of the main body 2, an object between them can be gripped.

<Embodiment of Left End Effector 40>
Next, the left end effector 40 constituting the second grip part will be described. FIG. 3 is a perspective view showing the configuration of the left end effector 40 which is the second gripping device in the cardboard assembly apparatus 1.

  The left end effector 40 is an end effector that is used by being attached to the distal end portion of the left arm 4. The left end effector 40 includes a left motor 41, a left gripping fixing claw 42 that is a fixed piece, a left gripping operating claw 43 that is an operating piece, a left tape pressing portion 44 that is a second tape pressing portion, and a left arm fixing. A portion 47 is provided.

  In the left end effector 40, a left motor 41, a left gripping fixing claw 42, a left gripping operating claw 43, and a left tape pressing portion 44 are attached to a left arm fixing portion 47 that is a plate-like member having an L-shaped outer shape. ing.

  The longitudinal direction of the left gripping fixed claw 42 and the left gripping operating claw 43 constituting the second gripping portion is parallel to the operation direction of the left tape pressing portion 44.

  The left arm fixing portion 47 is formed with a left fixing hole 471 for fixing the distal end portion of the left arm 4 on one surface contacting the distal end portion of the left arm 4. The distal end portion of the left arm 4 is inserted into the left fixing hole 471 (inserted from below in FIG. 3), and the left arm 4 and the left end effector 40 are attached using fastening members such as bolts and nuts. Fixed.

  Further, a left tape pressing portion 44 is attached via a left elastic portion 45 to an end portion in the longitudinal direction of a surface of the left arm fixing portion 47 where the left fixing hole 471 is formed. The left tape pressing portion 44 and the left elastic portion 45 will be described later.

  On the other surface of the left arm fixing portion 47 (the surface orthogonal to the surface on which the left fixing hole 471 is formed), a left motor 41, a left gripping claw 42, a left gripping operation claw 43, Is fixed.

  The left gripping fixing claw 42 is a plate-like member having an L shape as a whole, and is fixed in such a manner as to protrude from the other surface of the left arm fixing portion 47 in the longitudinal direction.

  The left motor 41 is fixed on the other surface of the left arm fixing portion 47 at a position separated from the left gripping fixing claw 42. The left motor 41 is a so-called electric motor and operates based on control in the main body 2. The rotation axis of the left motor 41 is parallel to the short direction of the left arm fixing portion 47.

  An operating piece of a left cam mechanism 411 that operates in a plane orthogonal to the other surface of the left arm fixing portion 47 by the operation of the left motor 41 is fixed to the rotation shaft of the left motor 41. An operating piece of the left cam mechanism 411 constituting the cam portion operates like a pendulum in the longitudinal direction of the left arm fixing portion 47 by the operation of the left motor 41. The operating piece of the left cam mechanism 411 is formed with a long hole along the longitudinal direction. A part of the left gripping operation claw 43 is fitted in the long hole.

  The left gripping operation claw 43 is a plate-like member having an overall L shape, and one surface forms a longitudinal surface facing the left gripping claw 42 and the other surface is a sliding member. It is fixed to the left motor 41 via the moving part 431. The sliding portion 431 is a portion that slides the left gripping operation claw 43 in the longitudinal direction of the left arm fixing portion 47.

  The left gripping operation pawl 43 is connected to the rotation shaft of the left motor 41 by the left cam mechanism 411. When the left motor 41 is operated and the rotation shaft is rotated, the operating piece of the left cam mechanism 411 is also rotated. In accordance with the rotation of the operating piece, a part of the left gripping operating claw 43 fitted in the long hole of the operating piece moves along the long hole. Based on this movement, the left gripping operation claw 43 operates between a direction approaching the left gripping fixed claw 42 and a direction away from it.

  In other words, the left gripping operation claw 43 converts the rotational motion of the left motor 41 into a linear motion by the left cam mechanism 411, the distance from the left gripping fixed claw 42 is adjusted based on this linear motion, and the left gripping claw 43 The gripping force by the fixed claw 42 and the left gripping operation claw 43 is adjusted.

  As described above, the left end effector 40 is opposed to the left gripping fixing pawl 42 and the left gripping operating pawl 43 in a direction orthogonal to the direction in which the tip portion of the left arm 4 is inserted into the left fixing hole 471. It is comprised so that the longitudinal direction of a surface may be located.

<Embodiment of Cardboard Loading Jig 50>
Next, details of the cardboard stacking jig 50 according to the present embodiment will be described. FIG. 5 is a perspective view showing a configuration of a cardboard stacking jig 50 which is a mounting jig in the cardboard assembly apparatus 1 and is a first work station. The cardboard loading jig 50 is a movement restricting member that forms a place where the folded cardboard 51 is loaded and regulates the movement of the cardboard 51.

  The cardboard stacking jig 50 includes a plurality of regulation guides 52 for holding the outer periphery of the folded cardboard 51. The cardboard 51 is restricted from moving in the direction parallel to the XY plane by the restriction guide 52. Accordingly, the cardboard 51 placed on the cardboard loading jig 50 is in a state where it can move only in the + z direction.

  As shown in FIG. 5, in the present embodiment, six regulation guides 52 provided in the cardboard stacking jig 50 are arranged. In FIG. 5, a regulation guide 52b, a regulation guide 52c, a regulation guide 52d, counterclockwise from the regulation guide 52a on the right end of the corrugated cardboard loading jig 50 and closer to the main body 2 (see FIG. 1) in the Z axis. A restriction guide 52e and a restriction guide 52f are arranged.

  The restriction guide 52 is not disposed so as to restrict the positions of the four corners of the cardboard 51, but is disposed so as to restrict the positions of the four sides of the cardboard 51. Further, on the main body 2 side, the regulation guide 52f hits the side of the cardboard 51. By disposing the regulation guide 52 in this way, an operating area in which the left arm 4 operates the cardboard 51 can be secured between the regulation guide 52f and the regulation guide 52e. In addition, it is possible to secure an operation area in which the right arm 3 operates the cardboard 51 between the regulation guide 52f and the regulation guide 52a.

  In the cardboard loading jig 50 in the present embodiment, the regulation guide 52 that regulates the movement of the cardboard 51 in the planar direction is arranged so as to regulate the sides around the cardboard 51 and is irregularly arranged. That is, the cardboard stacking jig 50 is provided with the regulation guide 52 so as to be easily operated in the take-out direction (Z-axis direction) while regulating the movement of the cardboard 51 in the planar direction. A method for taking out the cardboard 51 from the cardboard loading jig 50 will be described later.

<Embodiment of cardboard fixing jig 60>
Next, the details of the cardboard fixing jig 60 will be described. FIG. 6 is a perspective view showing a configuration of a cardboard fixing jig 60 which is a second work station in the cardboard assembly apparatus 1. The cardboard fixing jig 60 is a jig for fixing the developed cardboard 51 in the expanded state when the cardboard 51 is expanded from the folded state in the assembly process of the cardboard 51.

  The cardboard fixing jig 60 includes a frame 61 assembled so as to come into contact with the outer periphery of the expanded cardboard 51, a plurality of fixed guides 62 for absorbing displacement when the expanded cardboard is inserted, Is provided. The frame 61 is fixed to the pedestal 200 together with the cardboard loading jig 50 (see FIG. 1).

  As shown in FIG. 6, in this embodiment, the fixed guide 62 is disposed on the upper surfaces of the four sides constituting the frame 61. That is, the fixed guides 62 are arranged at four places. 6, a fixed guide 62b, a fixed guide 62c, and a fixed guide 62d are arranged counterclockwise from the fixed guide 62a on the right end side (see FIG. 1) side of the cardboard fixing jig 60 in the Z axis.

  The fixed guide 62 is composed of a member whose vertical cross section is a right triangle. The dimension of the installation surface of the fixed guide 62 with the frame 61 is substantially the same as the upper surface of the frame 61. An inclined surface connecting the installation surface and a surface forming an upright outer wall is inclined toward the inside of the frame 61 of the cardboard fixing jig 60. Due to the tapered shape of the inclined surface of the fixed guide 62, when the corrugated cardboard 51 in the expanded state is inserted into the corrugated cardboard fixing jig 60 from the + z direction to the -z direction, the positions in the X axis direction and the Y axis direction are slightly shifted. Even so, it can be fitted to the inner periphery of the cardboard fixing jig 60. Accordingly, the expanded cardboard 51 is fitted to the inner peripheral side of the frame 61, and the expanded state of the cardboard 51 can be maintained. As a result, the right arm 3 and the left arm 4 can perform other operations while the cardboard 51 is unfolded.

<Embodiment of Tape Cutter 70>
Next, the detail of the tape cutter 70 which is a tape holding part which concerns on this embodiment is demonstrated. FIG. 7 is a perspective view showing a configuration of the tape cutter 70 in the cardboard assembly apparatus 1. As shown in FIG. 7, the tape cutter 70 includes a tape cutter base 71, a cutter blade 72, and a tape 73 that is an adhesive tape.

  The tape cutter 70 is configured so that the tape cutter base 71 can be held at a predetermined position by the first guide block 74a and the second guide block 74b. The first guide block 74a and the second guide block 74b are fixed to a part of the base 200 on which the cardboard stacking jig 50 is fixed. The first guide block 74a and the second guide block 74b are arranged to face each other in the X-axis direction. Each of the first guide block 74a and the second guide block 74b has a tapered surface facing the other, and the distance from each other becomes narrower from the top to the bottom in the Z-axis direction. The first guide block 74a and the second guide block 74b are provided with such a distance that the tape cutter base 71 fits into the gap between the first guide block 74a and the second guide block 74b in the fixed state to the base 200.

  The tape cutter base 71 is composed of a main portion having a circular outer shape and a protruding portion in which a part of the outer periphery of the main portion protrudes. A tape 73 is attached to the main part. A cutter blade 72 is disposed on the protruding portion. The tape can be cut by applying the tape to the cutter blade 72.

  The protruding portion has a tapered surface 711 formed on a part of the outer peripheral portion provided with the cutter blade 72. The tapered surface 711 is a surface facing the tapered surfaces of the first guide block 74a and the second guide block 74b, and the tapered surface 711 fits into the gap between the first guide block 74a and the second guide block 74b. ing.

  The tape cutter 70 is held at a fixed position by the tapered surface 711 of the tape cutter base 71 and the shapes of the first guide block 74a and the second guide block 74b. As a result, the right end effector 30 can grip the tape cutter 70.

  On the inner peripheral side of the main part of the tape cutter base 71, a partition part 712 that is divided into two regions on the left and right sides as viewed from the main body part 2 side is formed. An end effector positioning pin 75 and an end effector abutment pin 76 are formed on one partition wall of the partition portion 712. The end effector positioning pin 75 is a pin that fits into the tape cutter fixing hole 35 provided in the right end effector 30.

  The right end effector 30 of the right arm 3 moves toward the tape cutter 70 in the + y direction, and the right gripping fixed pawl 32 and the right gripping operating pawl 33 move in the + y direction while sandwiching the partition portion 712. At this time, the end effector abutment pin 76 moves the right gripping fixing claw 32 so that the position of the right gripping fixing claw 32 becomes a position where the tape cutter fixing hole 35 and the end effector positioning pin 75 are just fitted. It is configured to regulate.

  In a state where the right gripping claw 32 is in contact with the end effector abutment pin 76, the right gripping operation claw 33 is operated to grip the partition portion 712. As a result, the end effector positioning pin 75 fits into the tape cutter fixing hole 35, and the right end effector 30 can lift the tape cutter 70. That is, with the end effector positioning pin 75 fitted in the tape cutter fixing hole 35, the right arm 3 is operated to lift the tape cutter base 71 in the + z direction. At this time, the tape cutter 70 is not detached from the right end effector 30.

<Assembly process of cardboard 51>
Next, the corrugated cardboard assembling process in the corrugated cardboard assembling apparatus 1 will be described step by step with reference to FIGS. First, a process until one cardboard 51 placed on the cardboard stacking jig 50 is developed will be described with reference to FIGS.

<Gripping operation of cardboard 51>
FIG. 8 is a diagram for explaining how the end effector grips the cardboard 51. Of the cardboards 51 placed on the cardboard stacking jig 50, the cardboard 51 at the top is referred to as an upper cardboard 81. For convenience of explanation, the flaps bound by the tape 73 in the subsequent process are distinguished as a first short flap 82a, a second short flap 82b, a first long flap 83a, and a second long flap 83b.

  First, the left arm 4 is operated, and the left end effector 40 is moved between the regulation guide 52e and the regulation guide 52f of the cardboard stacking jig 50.

  Next, the longitudinal direction of the left gripping fixed pawl 42 and the left gripping operating pawl 43 of the left end effector 40 is set in a state parallel to the X axis. In FIG. 8, the left gripping operating claw 43 is on the lower side.

  Next, the left arm 4 is operated so that the left gripping operation claw 43 is inserted into the gap between the upper cardboard 81 and the next cardboard 51 loaded, and the left end effector 40 is moved in the + x direction.

  Next, the left arm 4 is operated, and the left end effector 40 is moved in the + z direction. By the operation of the left end effector 40, as shown in FIG. 8, one side of the upper cardboard 81 is lifted. At this time, the left gripping operation claw 43 may be operated to grip one side of the upper cardboard 81, or the left gripping operation claw 43 may not be operated and may not be gripped. The amount of movement in the + z direction in the left end effector 40 may be such that one side of the upper cardboard 81 is lifted as illustrated in FIG.

  When one side of the upper cardboard 81 is raised, a gap is formed between the first short flap 82a and the first long flap 83a, although the upper cardboard 81 is slightly. This is because the degree of bending of each corner bent in the upper cardboard 81 is slightly widened.

  Subsequently, while maintaining the state where one side of the upper cardboard 81 is lifted by the left end effector 40, the right arm 3 is operated, and the right end effector 30 is placed between the regulation guide 52a and the regulation guide 52f of the cardboard loading jig 50. Move.

  Next, the longitudinal direction of the right gripping fixed claw 32 and the right gripping operating claw 33 of the right end effector 30 is set in a state parallel to the Y axis. Thereafter, the right gripping fixing claw 32 is inserted into a gap that is an opening of the first short flap 82a and the first long flap 83a of the upper cardboard 81. That is, the right end effector 30 is moved in the + y direction.

  With the right gripping fixed claw 32 inserted into the gap between the first short flap 82a and the first long flap 83a, the right gripping operation claw 33 of the right end effector 30 is operated to grip only the first short flap 82a. To do. In this way, when only the first short flap 82a is gripped by the right end effector 30, it is possible to shift to the unfolding operation of the upper cardboard 81.

<Unfolding operation of cardboard 51>
Next, the operation | movement which expand | deploys the upper stage cardboard 81 is demonstrated using FIG. As described in FIG. 8, the right arm 3 and the left arm 4 are operated from the state where the right end effector 30 grips the first short flap 82a of the upper cardboard 81, and the upper cardboard 81 is moved as shown in FIG. Deploy in an upright state.

  At this time, the right end effector 30 is moved in the + z direction from the state shown in FIG. 8 and the wrist joint portion of the right end effector 30 is rotated so that the longitudinal direction of the right gripping fixed claw 32 and the right gripping operating claw 33 is − Set to z direction. Thereafter, the wrist joint portion of the right end effector 30 is rotated by approximately 90 ° so that the short direction of the right gripping fixed claw 32 and the right gripping operating claw 33 is parallel to the Y axis. As described above, the right end effector 30 is rotated while the first short flap 82a of the corrugated cardboard 51 is gripped by the right gripping fixed pawl 32 and the right gripping operating pawl 33, so that the first short flap 82a is in the YZ plane. To be parallel to the surface.

  Further, when the right end effector 30 is rotated, as shown in FIG. 9, simultaneously with the rotational movement of the right end effector 30, the left end effector 40 that has lifted one side of the upper cardboard 81 is separated from the upper cardboard 81. To the position shown in FIG. The moved left end effector 40 is fixed at a position where it hits the side surface of the upper cardboard 81.

  When the right end effector 30 is rotated so that the first short flap 82a moves from a state parallel to the X axis to a state parallel to the Y axis, the entire upper cardboard 81 rotates to rotate about the Z axis. Power is added. The left end effector 40 regulates the fluctuation of the upper cardboard 81 due to this rotational force. The upper cardboard 81 cannot be developed as shown in FIG. 9 unless fluctuations occurring in the entire upper cardboard 81 are regulated.

  It is to be noted that the largest movement by the rotational force applied to the entire upper cardboard 81 is on the side that is diagonally opposite the first short flap 82a. Therefore, by moving the position of the left end effector 40 to the diagonal of the corner to which the first short flap 82a is connected, and restricting the fluctuation (rotational movement) of this diagonal, the upper cardboard 81 is as shown in FIG. It becomes a state of deployment. The upper cardboard 81 developed as shown in FIG. 9 is referred to as a developed cardboard 91 in the following description.

  When the developed cardboard 91 formed as described above is inserted into the cardboard fixing jig 60, the state shown in FIG. As shown in FIG. 10, the developed cardboard 91 is fitted on the inner peripheral side of the cardboard fixing jig 60, so that the developed state does not collapse. Therefore, even if the right end effector 30 and the left end effector 40 are not fixed, the developed cardboard 91 remains on the inner periphery of the cardboard fixing jig 60.

<Process to bind the flap>
Next, a step of binding the flaps (the first short flap 82a, the second short flap 82b, the first long flap 83a, the second long flap 83b) above the unfolded cardboard 91 to form the bottom surface 101 of the cardboard box 100, This will be described with reference to FIGS. FIG. 10 is a view for explaining a process of bending the first short flap 82a and the second short flap 82b on both sides of the developed cardboard 91 along the fold line.

  First, in a state where the right end effector 30 is pressed against the outer surface of the first short flap 82 a, the right end effector 30 is moved in the −x direction, and the first short flap 82 a is tilted inside the development cardboard 91. Thus, as shown in FIG. 10, the first short flap 82a is bent inward. Further, in a state where the left end effector 40 is pressed against the outer surface of the second short flap 82b, the left end effector 40 is moved in the + x direction, and the second short flap 82b is tilted to the inside of the developing cardboard 91. Thereby, as shown in FIG. 10, the second short flap 82b is bent inward. In addition, the direction where the 1st short flap 82a and the 2nd short flap 82b are bent is a direction which mutually opposes.

  Next, an operation of bending the first long flap 83a will be described. After the first short flap 82a and the second short flap 82b are bent as described in FIG. 11, the right end effector 30 is moved in the −x direction as shown in FIG. At this time, the right end effector 30 is moved to a position where the right end effector 30 can be fixed in a bent state of the second short flap 82b while the bent state of the first short flap 82a is maintained. That is, the right end effector 30 temporarily enters a state of fixing both the first short flap 82a and the second short flap 82b.

  Next, the left arm 4 is operated to move the left end effector 40 to the outside of the first long flap 83a. At this time, the left gripping fixed claw 42 or the left gripping operation claw 43 is moved to a position where it contacts the outside of the first long flap 83a. Next, the left arm 4 is operated to move the left gripping fixed pawl 42 or the left gripping operating pawl 43 of the left end effector 40 in the + y direction, and push the first long flap 83a inward. As a result, the first long flap 83a is bent inward.

  The bending of the first long flap 83a by the left end effector 40 is such that the inner surface of the first long flap 83a contacts the side end portions of the first short flap 82a and the second short flap 82b on the first long flap 83a side. To. For example, the left end effector 40 causes the first long flap 83a to be bent by about 10 °.

  By bending the first long flap 83a in this way, even if the right end effector 30 does not fix the first short flap 82a and the second short flap 82b, the first end flap 83a repels and moves back to the original state. The 1 long flap 83a regulates. That is, the first long flap 83a is slightly bent by the left end effector 40 so that the bent state of the first short flap 82a and the second short flap 82b can be maintained.

  Next, the operation of bending the first long flap 83a and the second long flap 83b to form the bottom surface 101 will be described. First, the right arm 3 is operated to move the right end effector 30 to the outside of the second long flap 83b. Subsequently, the right gripping fixed claw 32 or the right gripping operation claw 33 is moved in the −y direction, and the second long flap 83b is pushed inward. Accordingly, the second long flap 83b is bent inward. The bending angle at this time may be about 85 °, for example.

  Simultaneously with the movement of bending the second long flap 83b by the right end effector 30, the left arm 4 is operated to move the left gripping fixed pawl 42 or the left gripping operating pawl 43 in the + y direction, and the first long flap 83a is further moved. Push inward. Accordingly, the first long flap 83a is further bent inward. The bending angle at this time may be about 85 °, for example.

  After the first long flap 83a and the second long flap 83b are bent to about 85 °, as shown in FIG. 13, the left end effector 40 is pressed against both the first long flap 83a and the second long flap 83b. Moved to the position to be moved, and further moved in the -z direction. Thereby, the left end effector 40 fixes the bent state of the first long flap 83a and the second long flap 83b. Thereby, the state which the 1st long flap 83a and the 2nd long flap 83b bent without overlapping may be maintained.

  As shown in FIG. 13, by fixing the first long flap 83a and the second long flap 83b with the left end effector 40, even if the right end effector 30 is separated from the second long flap 83b, the bottom surface 101 is The formed state is maintained. If it will be in this state, it can transfer to tape cutter holding operation.

<Grip operation of tape cutter 70>
Next, details of the tape attaching operation will be described. FIG. 14A and FIG. 14B are diagrams for explaining a method of gripping the tape cutter 70 with the right end effector 30.

  FIG. 14A is a perspective view of the tape cutter 70 as viewed from the main body 2 (see FIG. 1). FIG. 14B is a perspective view of the tape cutter 70 as viewed obliquely from the front.

  As shown in FIG. 14A, the right end effector 30 is moved to a position where the tape cutter fixing hole 35 provided in the right end effector 30 and the end effector positioning pin 75 provided in the tape cutter 70 are fitted. Next, the right motor 31 is driven, and the tape cutter base 71 is gripped by the right gripping fixed claws 32 and the right gripping operating claws 33.

  As shown in FIG. 14B, an end effector abutment pin 76 is formed on the tape cutter base 71 so that the right end effector 30 can be easily positioned when the right end effector 30 is moved into the tape cutter base 71. Yes. At a position where the right gripping fixing claw 32 abuts the end effector abutment pin 76, the tape cutter fixing hole 35 provided in the right end effector 30 and the end effector positioning pin 75 provided in the tape cutter 70 are fitted. It becomes a position like this. The right end effector 30 can grip the tape cutter 70 by the operation as described above.

<Attaching operation of tape 73>
Next, an operation for attaching the tape 73 to the bottom surface 101 will be described. In the following description, the structures of the right end effector 30 and the left end effector 40 are shown only for the parts necessary for the description, and the overall structure is omitted.

  As shown in FIG. 15, after the tape cutter 70 is gripped by the right end effector 30, the right end effector 30 is moved in the -x direction, and the tape cutter 70 is connected to the first long flap 83a and the second long flap 83b. Press 151. Thereby, even if the left end effector 40 is separated from the first long flap 83a and the second long flap 83b, the bent state of the first long flap 83a and the second long flap 83b can be maintained.

  Subsequently, the left end effector 40 is operated to grip the tip portion of the tape 73. Subsequently, the left end effector 40 is moved in the −x direction while holding the tip portion of the tape 73, and the tape 73 is pulled out to a position exceeding the longitudinal end of the cardboard box 100.

  Next, as shown in FIG. 16, the left end effector 40 is moved in the longitudinal direction (X-axis direction) of the bottom surface 101 to the outside of the bottom surface 101, and then the tip portion of the tape 73 is held. , Move in the -z direction.

  At this time, the left end effector 40 is moved so that a part of the tape 73 sticks to the left side surface 161 of the cardboard box 100. As shown in FIG. 16, when a part of the tape 73 is attached to the left side surface 161, the left end effector 40 releases the tip end portion of the tape 73.

  Subsequently, the left end effector 40 changes its orientation as shown in FIG. 17 and directs the left tape pressing portion 44 toward the left side surface 161. Thereafter, the left end effector 40 is moved up and down (+ z direction and −z direction) while pressing the left tape pressing portion 44 against the tape 73 attached to the left side surface 161.

  Since the left tape pressing portion 44 is attached to the left end effector 40 via the left elastic portion 45, when the left tape pressing portion 44 is moved while being pressed against the tape 73, the tape 73 is moved to the left side surface 161. The pressing force works. By such an operation, the tape 73 can be attached to the left side surface 161 of the cardboard box 100.

  The left elastic part 45 is, for example, a spring. However, the present invention is not limited to this, and any means may be used as long as it urges the left tape pressing portion 44 against the left side surface 161 or the like by the movement of the left end effector 40.

  Subsequently, as shown in FIG. 15, the right end effector 30 located near the center of the bottom surface 101 in the longitudinal direction is moved in the + x direction so that the tape 73 is applied to the entire length of the joint 151. When the right end effector 30 moves to the outside of the bottom surface 101 in the longitudinal direction, as shown in FIG. 18, the left end effector 40 is operated and the left tape pressing portion 44 is rotated so as to face the joint 151 of the bottom surface 101. Let

  Subsequently, the left end effector 40 is moved in the + x direction while maintaining the state in which the left tape pressing portion 44 presses the tape 73 on the joint 151. As a result, the tape 73 is affixed at the joint 151 of the bottom surface 101.

  Next, the operation of cutting the tape 73 will be described with reference to FIG. After the tape 73 is attached to the bottom surface 101 of the cardboard box 100, the right end effector 30 is operated and the tape cutter base 71 is rotated. The rotation direction of the tape cutter base 71 is the axis in the Y-axis direction as the rotation axis. As a result, the cutter blade 72 provided in the tape cutter base 71 hits the tape 73 and the tape 73 is cut. That is, the tape 73 is cut by a rotating operation in the tape cutter base 71.

  Next, the operation of attaching the tape 73 will be described with reference to FIG. The cut tape 73 needs to be attached to the right side surface 202 of the cardboard box 100. Therefore, the right end effector 30 is operated so that the right tape pressing portion 34 faces the right side surface 202. Thereafter, the right end effector 30 is operated so that the right tape pressing portion 34 moves in the −z direction while pressing the tape 73 hanging along the right side surface 202.

  Since the right tape pressing portion 34 is attached to the right end effector 30 via the right elastic portion 36, when the right tape pressing portion 34 is moved while being pressed against the tape 73, the tape 73 is placed on the right side surface 202. The pressing force works. By such an operation, the tape 73 can be attached to the right side surface 202 of the cardboard box 100.

  The right elastic portion 36 is, for example, a spring. However, the present invention is not limited to this, and any member that urges the right tape pressing portion 34 to be pressed against the right side surface 202 or the like by the movement of the right end effector 30 may be used.

  By operating as described above, the cardboard box 100 can be automatically assembled in the cardboard assembly apparatus 1 according to the present embodiment.

<Movement cart 5>
Next, the moving cart 5 will be described in detail. FIG. 21 is a perspective view of the moving carriage 5. As shown in FIG. 20, the moving carriage 5 includes a carriage fixing adjuster 501 that constitutes a fixing section, a moving caster 502 that constitutes the moving section, and a robot fixing section 503.

  When the moving carriage 5 is fixed to the floor surface, the adjuster 501 is pressed against the floor surface so that the caster 502 is lifted from the floor surface. Thus, the moving carriage 5 can be fixed to the floor surface. Further, when the moving carriage 5 is moved, the adjuster 501 is separated from the floor surface so that the caster 502 hits the floor surface. Thereby, the moving carriage 5 can be moved.

  The main body unit 2 is fixed to the robot fixing unit 503. Therefore, if the moving carriage 5 is moved and fixed at an arbitrary position, the main body 2 can be operated at an arbitrary position. That is, the cardboard assembly apparatus 1 can be operated at an arbitrary position.

DESCRIPTION OF SYMBOLS 1 Corrugated cardboard assembly apparatus 2 Main-body part 3 Right arm 4 Left arm 5 Movement cart 30 Right end effector 31 Right motor 32 Right gripping fixing claw 33 Right gripping operation claw 34 Right tape pressing part 35 Tape cutter fixing hole 36 Right elastic part 37 Right arm fixing part 40 Left end effector 41 Left motor 42 Left gripping fixing claw 43 Left gripping operating claw 44 Left tape pressing part 45 Left elastic part 47 Left arm fixing part 50 Cardboard loading jig 51 Cardboard 52 Regulation guide 60 Cardboard Fixing jig 61 Frame 62 Fixed guide 70 Tape cutter 71 Tape cutter base 72 Cutter blade 73 Tape 74a First guide block 74b Second guide block 75 End effector positioning pin 76 End effector abutment pin 81 Upper corrugated board 82a First short flap 82b Second short flap 83a First long flap 83b Second long flap 91 Unfolded cardboard 100 Cardboard box 101 Bottom surface 151 Seam 161 Left side surface 200 Base 202 Right side surface 311 Right cam mechanism 331 Sliding part 371 For right fixing Hole 401 Shoulder joint axis 402 Elbow joint axis 403 Wrist joint axis 411 Left cam mechanism 431 Sliding part 471 Left fixing hole 501 Adjuster 502 Caster 503 Robot fixing part 711 Tapered surface 712 Partition part

JP 2014-000823 A

Claims (10)

A first work station which is a place where the folded packing material is placed;
A first gripping device and a second gripping device having a function of gripping an object;
A first arm portion comprising the first gripping device and a second arm portion comprising the second gripping device;
A second work station which is a place on which the packaging material developed in three dimensions is placed;
With
Assembling the packing material in a three-dimensional manner in the operating range of the first arm part and the second arm part,
A box making apparatus characterized by that. A box making apparatus that assembles the folded packing material as a casing,
A first arm portion that moves one side of the opening of the packing material in a folded state with rotation in two different directions;
A second arm portion that regulates fluctuations in the entire packing material on the other side based on movement of one side of the packing material by the first arm portion;
A box making apparatus comprising: Each of the first arm portion and the second arm portion includes a gripping portion and a tape pressing portion,
The longitudinal direction of the first gripping portion provided in the first arm portion and the operation direction of the first tape pressing portion are orthogonal to each other,
The longitudinal direction of the second gripping portion provided in the second arm portion and the operation direction of the second tape pressing portion are parallel.
The box making apparatus according to claim 1 or 2, characterized in that. The first tape pressing part and the second tape pressing part each include an elastic part,
The box making apparatus according to claim 3. The first grip portion and the second grip portion each include a fixed piece and an operating piece,
4. The box making apparatus according to claim 3, wherein the operating piece is operated in two directions with respect to the fixed piece by a cam portion that converts a rotational motion of a rotating shaft of a motor into a linear motion. A mounting jig for mounting the folded packing material;
The placement jig includes a plurality of restriction guides arranged to restrict movement of the packing material in a planar direction and to secure an operation area of the first arm part and the second arm part.
The box making apparatus according to any one of claims 1 to 5. An adhesive tape for fixing the packing material as a housing; a cutter blade for cutting the adhesive tape; and a tape holding base for holding the adhesive tape and a tape cutter base for holding the cutter blade.
The box making apparatus according to any one of claims 1 to 6. A part of the tape cutter base is tapered,
The pedestal for fixing the tape cutter base includes a portion into which the tapered shape is fitted,
The box making apparatus according to claim 7.   The box making apparatus according to claim 7 or 8, wherein the tape holding unit cuts the adhesive tape by a rotating operation. A moving unit for moving a working range of the first arm unit and the second arm unit;
A fixed portion that fixes a working range of the first arm portion and the second arm portion;
The box making apparatus according to claim 1, wherein the box making apparatus is provided.