JP2018052605A - Box making machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a box making machine for reducing equipment costs and automatically exchanging a tape pasting unit without providing a separate moving mechanism for moving the tape pasting unit as in the conventional apparatus.SOLUTION: A pedestal 24 is placed in the operation area F of the robot hand in the robot 18. A tape pasting unit 36 is attached to the pedestal 24 to stick and seal an adhesive tape to the bent flap of the cardboard box 10 held by the robot hand. A base 56 provided with a plurality of temporary placement portions 58 capable of mounting a plurality of tape pasting units 36 side by side in the operation region F of the robot hand 20 is disposed apart from the pedestal 24.When the tape replacement time of the tape pasting unit 36 of the pedestal 24 is detected, after completing the current enclosure processing operation of the robot hand, the robot hand is used to exchange the tape pasting unit 36 of the pedestal 24 and the tape pasting unit 36 for replacing the base 56, and then resumes the enclosure processing operation.SELECTED DRAWING: Figure 1

Description

  In the present invention, a flatly folded cardboard box is opened in a cylindrical shape, a flap connected to a side panel of the cardboard box is bent so as to close the opening, and the butted portion of the flap is covered with an adhesive tape. Box making machine that includes a box making machine that includes a box making machine that seals and seals with an adhesive tape by folding the flap so as to close the opening after supplying the goods from the opening of the cardboard box It relates to the device.

  In such a box making apparatus, the tape sticking means for folding the flap so as to close the opening and sticking the adhesive tape to the butt portion of the flap is new when the adhesive tape is consumed and the replacement time is reached. The replacement work to the tape roll is required, and the box making work is interrupted during that time. In manual tape replacement work, the interruption time of the box making operation varies depending on the level of skill of the operator, which may hinder stable and efficient production.

  As a device for addressing the above problem, Patent Document 1 is provided with a plurality of taping units for tape application, and when one taping unit is at a work position for tape application, it is new to another taping unit that has been retracted to the retracted position. When it is detected that the tape roll of the taping unit in the working position is exhausted, the tape unit is moved to the retracted position and another taping unit in the retracted position is detected. An apparatus is disclosed in which the sealing work is continued by moving the to the work position by the moving mechanism.

  In recent years, industrial robots have come to be used in box making apparatuses (see, for example, Patent Documents 2 and 3).

Japanese Patent No. 3612523 Japanese Patent No. 5841086 Japanese Patent No. 5933955

  As in Patent Documents 2 and 3, in the case where the tape is applied using a robot, when the apparatus of Patent Document 1 is adopted, a moving mechanism that moves the taping unit between the working position and the retracted position is provided. There is a problem that not only the apparatus cost for providing the apparatus increases, but also the installation space for the apparatus increases.

  The present invention has been proposed in view of the above-described problems inherent in the box making apparatus according to the prior art described above, and has been proposed to suitably solve the problem. In the box making apparatus using a robot, An object of the present invention is to provide a box making apparatus that automatically reduces the tape sticking unit without providing a separate moving mechanism for moving the tape sticking unit as in the conventional apparatus, while reducing the cost of the equipment.

In order to overcome the above-mentioned problems and achieve the intended purpose, a box making apparatus according to the invention of claim 1 is provided:
In a box making apparatus provided with a tape affixing means for folding a flap continuously provided on a side panel of a box held by a robot hand and sealing with an adhesive tape,
A tape attaching unit having a loading unit that detachably supports a tape roll of the adhesive tape, and the tape attaching means detachably attached to the base;
A base that is arranged at a position close to the inside of the boundary between the operation area of the robot hand and the outside of the operation area outside the robot hand, and is provided side by side with a plurality of temporary placement portions on which the tape sticking unit can be temporarily placed. Prepared,
In response to the tape exchange signal, the robot hand is operated after the completion of the current box sealing processing operation by the robot hand and before the next box sealing processing operation is started. It is configured to remove the attached tape sticking unit and place it on the temporary placement part of the base, and to remove the replacement tape sticking unit placed on the other temporary placement part and place it on the base. It is characterized by.
According to the first aspect of the present invention, since the robot hand that performs the sealing processing operation is configured to replace the old and new tape pasting units, it is not necessary to provide a dedicated means for performing the replacement, and the apparatus cost is reduced. Can be suppressed, and an increase in the installation space of the apparatus can be prevented.

In the invention which concerns on Claim 2, the engaging part provided in the said tape sticking unit, and the to-be-engaged part which is provided in the said base and the said temporary placement part, and the said engaging part engages and positions a tape sticking unit It is characterized by comprising.
According to the invention which concerns on Claim 2, a tape sticking unit can be mounted | worn by a engaging part and a to-be-engaged part without a position shift to a base and a temporary placement part.

In the invention which concerns on Claim 3, it was provided with the engagement means which engages and positions the said tape sticking unit and a robot hand so that engagement / disengagement was possible, and the holding means which hold | maintains the said tape sticking unit with a robot hand. Features.
According to the invention which concerns on Claim 3, since it comprised so that a tape sticking unit might be hold | maintained in an engagement state with a robot hand, it transfers, without shifting a tape sticking unit between a base and a temporary placement part. It is possible to attach the tape attaching unit to the pedestal or the temporary placement portion with high accuracy.

In the invention which concerns on Claim 4, the 1st monitoring means which monitors the presence or absence of the intrusion into the area | region which has arrange | positioned the said base in the said operation | movement area | region from the 1st monitoring line,
Second monitoring means for monitoring intrusion of intruders from the second monitoring line inside the first monitoring line to the inside of the base,
An area between the first monitoring line of the first monitoring means and the second monitoring line of the second monitoring means is set as a maintenance area of the tape sticking unit placed in the temporary placement unit,
When the first monitoring means detects an intruder, the robot hand is prohibited from moving outward from the second monitoring line of the second monitoring means, and the sealing processing operation is allowed, and the second It is characterized in that the movement of the robot hand is stopped when the monitoring means detects an intruder.
According to the invention which concerns on Claim 4, the 1st monitoring means and the 2nd monitoring means which monitor the boundary of the maintenance area | region with respect to the tape sticking unit set | placed on the temporary placement part are provided, The presence or absence of an intrusion thing, etc. are provided by this monitoring means. Since it is configured to detect and control the operation of the robot hand, it is possible to accurately monitor the operator's entry into the operation area.

The invention according to claim 5 is characterized in that a plurality of temporary placement portions are arranged on the base so that tape sticking units can be placed side by side.
According to the invention which concerns on Claim 5, since it comprised so that a several tape sticking unit could be put side by side on a base, even if it is a case where a tape sticking unit is put in which temporary placing part, this tape The pasting unit can be easily maintained.

In the invention which concerns on Claim 6, it comprised so that the attachment or detachment direction of the tape roll with respect to the said loading part might face outward, and it was comprised so that the said tape sticking unit might be put in the said temporary placement part.
According to the invention which concerns on Claim 6, since it comprised so that the loading direction of a tape roll might face the outer side and to put a tape sticking unit in a temporary placement part, the replacement | exchange operation | work of a tape roll with respect to a loading part can be performed easily.

In the invention which concerns on Claim 7, it is provided with the said loading part which supports the said tape roll sideways in a temporary placement part so that attachment or detachment is possible, and arrange | positions the said tape sticking unit to the said boundary side as a temporary placement part. It is configured to be placed in
According to the invention of claim 7, since the tape sticking unit is configured to be placed in the temporary placement portion so that the tape roll faces the outer boundary side in a state where the tape roll is turned sideways in the loading portion, The workability at the time of exchanging the tape roll with respect to the part can be improved.

In the invention which concerns on Claim 8, the said base provided the drawing-out means which can draw out the tape sticking unit put in the said temporary placement part to the outer side of the said boundary, It is characterized by the above-mentioned.
According to the eighth aspect of the invention, the tape sticking unit placed in the temporary placement portion can be pulled out of the operation area of the robot hand to perform maintenance such as replacement of the tape roll. However, it can be carried out at any time without restricting the time to replace the tape roll, and the work efficiency is improved.

  According to the box making apparatus according to the present invention, it is possible to suppress the apparatus cost and increase the installation space.

1 is a schematic plan view of a sealed box packing machine as a box making apparatus according to Embodiment 1. FIG. 1 is a schematic plan view showing a robot hand according to Embodiment 1. FIG. It is a schematic explanatory front view which shows the relationship between the 1st engaging part of the tape sticking unit which concerns on Example 1, and the 1st to-be-engaged part of a base and a temporary placement part. It is a schematic explanatory side view which shows the relationship between the 2nd engaging part of the tape sticking unit which concerns on Example 1, and the 2nd to-be-engaged part of a base and a temporary placement part. It is the schematic which shows the relationship of the maintenance area | region which concerns on Example 1, a sealing work area | region, and an operation | movement area | region. 6 is a schematic plan view of a box making machine as a box making apparatus according to Embodiment 2. FIG. It is a schematic plan view which shows the robot hand which concerns on Example 2 in the state which opened the cardboard box. It is a schematic front view which shows the robot hand which concerns on Example 2 in the state which opened the cardboard box. It is a schematic front view which shows the state which hold | maintained the tape sticking unit with the robot hand which concerns on Example 2. FIG. It is a schematic plan view which shows the state which mounted | wore with one temporary placement part of the slide table which concerns on Example 2 with the tape sticking unit. It is a schematic side view which shows the state which mounted | wore with one temporary placement part of the slide table which concerns on Example 2 with the tape sticking unit.

  Next, an example of the box making apparatus according to the present invention will be described below with reference to the accompanying drawings. In the first embodiment, an example of a box making machine will be described in which a top box side flap of a corrugated cardboard box in which an article is supplied is bent and taped and attached to a box body part in which a bottom flap is sealed.

  FIG. 1 shows a schematic configuration of a sealed box packing machine according to a first embodiment. The boxing machine holds a cardboard box (box) 10 to which an article is supplied and whose top surface is opened by a robot hand 20. The robot 18 that moves in this manner, the pedestal 24 that is disposed in the sealing work area E1 in which the cardboard box 10 is sealed by the robot 18, and the tape attaching unit 36 that is detachably attached to the pedestal 24 In the cardboard box 10 held by the robot hand 20, a tape attaching means M1 for folding each top flap connected to the side panel serving as the box body and sealing with the adhesive tape 40a; A plurality of temporary placement portions 58 and 58 are provided in the operation area F of the robot hand 20 so as to be spaced apart from the pedestal 24 and capable of placing a plurality of tape adhering units 36 side by side. And a base 56. The tape sticking means M1 is disposed between a tape sticking unit 36 mounted on the base 24 and a box loading position S1 described later, and each flap of the top part of the cardboard box 10 held by the robot hand 20 is used. Flap folding means 17 is provided for closing the opening by folding the frame.

  The robot 18, the base 24, the base 56, and the tape attaching means M1 are arranged in a sealing work area E1 surrounded by the safety fence 12, as shown in FIG. Further, the cardboard box 10 before the articles are supplied and the top flaps are folded is conveyed to the box loading position S1 in the sealing work area E1 by the carry-in conveyor 14, and the top flaps are folded. Then, the cardboard box 10 sealed with the adhesive tape 40a attached by the tape attaching means M1 is moved by the robot 18 to the carrying-out position S2 of the box in the sealing work area E1 and delivered to the carrying-out conveyor 16. The unloading conveyor 16 is configured to be unloaded from the sealing work area E1.

  The robot 18 is provided with a robot hand 20 that can freely move in a three-dimensional space controlled with, for example, six axes of freedom, and the robot hand 20 is sent to the box loading position S1 by the carry-in conveyor 14. By holding the box body portion of the cardboard box 10 and passing the flap folding means 17, the flap folding means 17 is bent so that each flap of the top extending upward from the box body portion closes the opening. It is done. As shown in FIG. 2, the robot hand 20 includes gripping means 21 including a pair of receiving portions 22 and 22 that support the bottom surface of the cardboard box 10 from both sides, and a pair of pressing pieces 23 and 23 that press the side panel from the outside. The receiving portion 22 and the pressing piece 23 are moved closer to and away from each other in accordance with the box body size. Further, each receiving portion 22 is provided with a notch portion 22a in which a later-described second engaging pin 50 provided in the tape applying unit 36 is detachably engaged so as to open to the other receiving portion side. It is done.

  The pedestal 24 includes a pair of support frames 25, 25 that are separated from each other in the moving direction for passing the flap folding means 17 of the cardboard box 10 held by the robot hand 20. A plurality of supports 28 in which engaging holes 28a are formed so as to penetrate in the vertical direction are provided (see FIGS. 3 and 4). In the first embodiment, four supports 28 are provided on the pedestal 24 so as to be spaced apart from each other, and a first to be described later provided in the tape attaching unit 36 in the engagement holes 28 a of the four supports 28. By inserting the engaging pin 46, the positioning is held at the pasting position S <b> 3 where the tape pasting unit 36 is placed on the base 24. As shown in FIG. 1, the pedestal 24 has detection means 30 for detecting that the tape application unit 36 is mounted at the application position S3, and fixing means 32 for fixing the tape application unit 36 to the application position S3. Provided. The detection signal of the detection means 30 is configured to be input to the control means 34, and the control means 34 is configured to be able to recognize the presence or absence of the tape application unit 36 at the application position S3 based on the detection signal of the detection means 30. . Further, the fixing means 32 includes a stopper 32b that moves forward and backward by driving means such as an air cylinder 32a. By engaging the stopper 32b with a restriction portion of the tape sticking unit 36, the tape sticking unit 36 with respect to the pedestal 24 is provided. Is configured to be immovable.

  As shown in FIGS. 3 and 4, the tape sticking unit 36 is pulled out from the tape roll 40 and a loading portion 42 that supports a tape roll 40 around which an adhesive tape 40 a made of craft tape is wound around a frame 38. And a known sealing means 44 including a roller arm and a sticking roller for sticking the adhesive tape 40a to the cardboard box 10. The sealing unit 44 is provided on the lower side with respect to the frame body 38, the loading unit 42 is provided on the support stay 41 extending upward from the frame body 38, and the tape sticking unit 36 of Example 1 is The sealing means 44 and the loading portion 42 are mounted on the pedestal 24 in a vertical position in which the adhesive tape 40a is pulled out in the vertical direction with the vertical relationship. Then, the cardboard box 10 held by the robot hand 20 passes below the tape sticking unit 36 mounted on the pedestal 24 so that the cardboard box 10 is pulled out from the tape roll 40 to the butt portion of the flap that closes the opening. The adhesive tape 40a is pressed and pasted by the sealing means 44. The loading unit 42 is provided such that the tape roll 40 is attached or detached in the horizontal direction when the tape sticking unit 36 is placed vertically, and the tape roll 40 from one side (loading side) intersecting the adhesive tape winding direction. Is detachably loaded.

  As shown in FIGS. 3 and 4, the frame body 38 has engaging portions that are detachably engaged with the engaging holes 28 a at positions corresponding to the engaging holes 28 a provided in the pedestal 24. A first engagement pin 46 is provided. The first engagement pins 46 are provided so as to protrude downward from an overhanging portion 48 projecting outward from the frame 38, and each first engagement pin 46 is inserted into the engagement hole 28 a of the base 24 from above. Then, by placing the overhanging portion 48 on the upper surface of the support 28, the tape attaching unit 36 is attached to the base 24 in a state where the movement thereof is restricted. Further, the frame body 38 is provided with second engagement pins 50 at two locations separated in the front-rear direction. The second engagement pin 50 is provided so as to protrude downward from the bracket 52 extending in the front-rear direction, and the pair of second engagement pins 50, 50 are provided on the pair of receiving portions 22, 22 of the robot hand 20. The tape sticking unit 36 can be positioned with respect to the robot hand 20 by engaging the notches 22a and 22a from the front and rear directions. In the first embodiment, the notch portions 22a and 22a and the second engagement pins 50 and 50 constitute engagement means for detachably engaging the tape attaching unit 36 and the robot hand 20 with each other. Further, the brackets 52 and 52 are supported from below by the receiving portions 22 and 22 and the tape attaching unit 36 is held by the robot hand 20 with the notches 22a and 22a and the second engaging pins 50 and 50 engaged. The receiving portions 22 and 22 are configured as holding means for holding the tape attaching unit 36 by the robot hand 20. The frame body 38 is provided with a restricting portion (not shown) at a position corresponding to the stopper 32b of the fixing means 32 provided on the pedestal 24, and the pedestal is engaged and disengaged between the restricting portion and the stopper 32b. 24, the movement of the tape attaching unit 36 is restricted and the movement is allowed.

  The remaining amount of tape that detects that the remaining time of the adhesive tape 40a wound around the tape roll 40 in the tape applying unit 36 that is mounted on the pedestal 24 at the applying position S3 and is being used has become a replacement time is reached. Detection means 54 is provided, and a detection signal (tape replacement signal) from the tape remaining amount detection means 54 is input to the control means 34.

  As shown by a two-dot chain line in FIG. 1, an operation area F is defined as an area extending a predetermined range outside the sealing work area E1 in which the robot hand 20 is controlled so as to be operable. As shown in FIG. 1, the base 56 to which at least two tape attaching units 36 can be mounted is installed in the operation region F at a position closer to the inside than the boundary. On the base 56, two temporary placement portions 58 that are spaced apart from each other in a lateral direction so that each of the two tape adhering units 36 can be temporarily placed side by side in the same vertical posture as the mounting posture with respect to the pedestal 24. Is provided. The base 56 is provided with a pair of support frames 57, 57 as in the case of the pedestal 24, and each temporary placement portion 58 provided on the upper portion of the base 56 has an engagement hole 59 a as an engaged portion. Support bodies 59 penetrating in the direction are provided at four locations. That is, each temporary placement portion 58 is configured to be positioned and held in a state where each first engagement pin 46 of the tape adhering unit 36 is inserted into the engagement hole 59a and positioned. In the first embodiment, the two temporary placement portions 58 and 58 are provided on the same plane, and the replacement tape sticking unit 36 loaded with the new tape roll 40 is attached to one temporary placement portion 58 and the other is placed. The temporary placement unit 58 is empty. Further, in each temporary placement portion 58, the first engagement pin 46 is engaged with the four engagement holes 59a and the tape sticking unit 36 is mounted, and the tape roll 40 to the loading portion 42 is mounted. The tape applicator unit 36 is placed on the temporary placement part 58 so that the outer side in the attaching / detaching direction faces the outer side outside the operation area. Detection means 60 for detecting that the tape attaching unit 36 is attached to each temporary placement portion 58 is provided. The detection signal of the detection unit 60 is configured to be input to the control unit 34, and the control unit 34 is configured to recognize the presence or absence of the tape sticking unit 36 in the temporary placement unit 58 based on the detection signal of the detection unit 60. Is done.

  In the first embodiment, the carry-out conveyor 16 is disposed so as to extend from the inside of the sealing work area E <b> 1 to the outside of the operation area below the one temporary placement portion 58 in the base 56. The box sealed at the unloading position S2 of the box on the inner side is placed.

  As shown in FIG. 1, the safety fence 12 is provided with opening / closing gates 62, 62 in the opening 12a corresponding to the position of the base 56, and by opening the opening / closing gates 62, 62, Reaching the operator without entering the operating area, the tape sticking unit 36 attached to the temporary placement portion 58 of the base 56 is used to exchange the old tape roll 40 with the new tape roll 40. Configured to be able to. In the first embodiment, the movement area F of the robot hand 20 is partitioned by the safety fence 12 from the safety area E3 outside the movement area.

  The safety fence 12 is provided with an entry sensor 66 for detecting the open state of the open / close gates 62 and 62, and a detection signal from the entry sensor 66 is input to the control means 34. In the first embodiment, the open / close gates 62 and 62 and the ingress sensor 66 constitute the first monitoring means 68 for monitoring the presence or absence of an intruder in the area where the base 56 is disposed as the first monitoring line R1. Further, on the inner side of the safety fence 12 from the installation position of the base 56, second monitoring means 70 is provided as a second monitoring line R <b> 2 for monitoring the intrusion of intruders from the base 56. The second monitoring unit 70 includes an area sensor including a light curtain having a light emitting element such as an infrared LED, and the detection signal of the second monitoring unit 70 is input to the control unit 34. Is done. That is, the base 56 is disposed in a region between the first monitoring line R1 of the first monitoring unit 68 and the second monitoring line R2 of the second monitoring unit 70, and the region is a temporary placement unit. 58 is set in the maintenance area E2 of the tape sticking unit 36 attached to 58 (see FIG. 5).

  The control means 34 to which detection signals of various detection means such as the tape remaining amount detection means 54, the detection means 30, 60, 60, the ingress sensor 66, the second monitoring means 70 and the like are input is based on the detection signals of these detection means. The robot 18 and the air cylinder 32a of the fixing means 32 are controlled to operate. That is, the control means 34 responds to the tape exchange signal input from the tape remaining quantity detecting means 54 that has detected that the remaining amount of the adhesive tape 40a of the tape sticking unit 36 in use has reached the exchange time. In the case where the sealing processing operation by 20 is being executed, after the operation is completed, the robot hand 20 is operated to replace the tape attaching unit 36 attached to the base 24 and the replacement attached to the base 56. The robot 18 is actuated and controlled so as to perform a replacement operation for replacing the tape sticking unit 36 for use, and a sealing processing operation for the next cardboard box 10 is started. In addition, when the door opening detection signal is input from the entry sensor 66, the control unit 34 controls the operation of the robot 18 so as to limit the operation range so that the robot hand 20 does not enter the maintenance area E2. 2 When an intruder detection signal is input from the monitoring means 70, the robot 18 is controlled so as to stop the movement of the robot hand 20. When the door opening detection signal is input from the entry sensor 66 to the control means 34, the robot hand 20 is only prohibited from entering the maintenance area E2, and the sealing process operation by the robot hand 20 is permitted. The robot 18 is controlled to operate.

Next, the operation of the sealed box packing machine according to the first embodiment configured as described above will be described.
When the cardboard box 10 is loaded to the box loading position S1 by the carry-in conveyor 14, the robot 18 holds the bottom surface of the cardboard box 10 with the robot hand 20 so as to be supported by the pair of receiving portions 22 and 22. The cardboard box 10 is passed under the flap folding means 17. Thereby, each flap of the top part extended upward from the box body part is bent, respectively, and the opening is closed. Then, the cardboard box 10 held by the robot hand 20 is passed under the tape application unit 36 attached to the application position S3 of the pedestal 24, so that it sticks to the outside of the butt portion of the flap that closes the opening. Tape 40a is stuck and cardboard box 10 is sealed. The corrugated cardboard box 10 after box making is transferred from the robot 18 to the carry-out conveyor 16 at the carry-out position S2 of the box, and is carried out of the safety fence 12 by the carry-out conveyor 16.

  When a tape replacement signal is input from the tape remaining amount detecting means 54 to the control means 34, the control means 34 performs the operation (currently being executed) when the sealing processing operation by the robot hand 20 is being executed. After the completion of (operation), the robot 18 is controlled to operate so as to start replacement work of the tape attaching unit 36 by the robot hand 20. Further, the air cylinder 32a is operated to release the tape pasting unit 36 from the base 24. The robot 18 sandwiches the frame 38 from the front and rear so that the corresponding second engagement pins 50 and 50 of the tape attaching unit 36 are engaged with the notches 22a and 22a of the pair of receiving portions 22 and 22, The frame body 38 is lifted with the brackets 52 and 52 placed on the upper surfaces of the receiving portions 22 and 22. As a result, the four first engaging pins 46 are pulled upward from the corresponding engaging holes 28 a of the support 28, whereby the tape attaching unit 36 is removed from the base 24.

  The control means 34 operates the robot 18 to move the tape sticking unit 36 held by the robot hand 20 to above the empty temporary placement part 58 in the base 56 recognized by the detection signal of the detection means 60. Control. Then, by moving the robot hand 20 so as to lower the tape applicator unit 36 at a position where each first engagement pin 46 faces above the corresponding engagement hole 59a of the support body 59, each first engagement pin 46 is moved. The mating pins 46 are inserted and engaged with the engaging holes 59a of the corresponding support body 59 from above, and the overhanging portion 48 is placed on the upper surface of the support body 59, so that the tape attaching unit 36 is positioned at the temporary placement portion 58. Mounted in a state. The tape sticking unit 36 placed in the temporary placement part 58 is in a state of being directed toward the opening / closing gate 62 so that the outer side in the loading direction of the tape roll 40 into the loading part 42 faces outward.

  The robot 18 releases the holding of the tape applicator unit 36 by the robot hand 20, moves the robot hand 20 to the temporary placement unit 58 to which the replacement tape applicator unit 36 is attached, The second engagement pins 50, 50 are engaged with the notches 22a, 22a to hold the replacement tape applicator unit 36 and lift it from the temporary holder 58 to remove it. Then, the robot 18 moves the replacement tape sticking unit 36 held by the robot hand 20 to the position above the sticking position S3 of the pedestal 24 and descends, whereby the first engaging pin 46 is inserted into the engaging hole 28a. Is inserted from above, and the overhanging portion 48 is placed on the upper surface of the support 28, whereby the tape applying unit 36 is mounted in a positioning state at the applying position S3. When the detection means 30 detects that the tape application unit 36 is mounted at the application position S3, the control means 34 operates the air cylinder 32a and locks the tape application unit 36 to the base 24 by the stopper 32b. Then, the robot 18 is controlled to resume the sealing processing operation by the robot hand 20 of the next cardboard box 10.

  During the sealing processing operation by the robot hand 20, an operator located in the safety area E opens the open / close gates 62 and 62, so that the tape attached to the temporary placement portion 58 of the base 56. The old tape roll 40 of the pasting unit 36 can be replaced with a new tape roll 40.

  In the boxing box filling machine according to the first embodiment, the tape sticking unit 36 in use mounted on the base 24 in response to the tape exchange signal and the temporary placement portion 58 of the base 56 outside the sealing work area E1. Since the replacement tape application unit 36 is replaced, the tape application transferred to the pedestal 24 during the replacement operation of the tape roll 40 of the tape application unit 36 attached to the temporary placement unit 58 is performed. Sealing work can be performed using the unit 36, and even if the tape roll 40 is replaced over time in the maintenance area E2, the production efficiency is reduced depending on the work time. Can be prevented. Further, since the robot hand 20 of the robot 18 that performs the sealing work is configured to perform the replacement work of the tape attaching unit 36, it is not necessary to separately provide means for performing the replacement work, and the apparatus configuration can be simplified. In addition, the installation space for the apparatus is not increased.

  With respect to the pedestal 24 and the temporary placement portion 58, the tape attaching unit 36 is configured to position and hold the first engagement pin 46 in the engagement state inserted into the engagement holes 28a and 59a. The pasting unit 36 can be held at an appropriate position of the base 24 and the temporary placement portion 58 with a simple configuration. When the tape applicator unit 36 is held and moved by the robot hand 20, the second engaging pins 50 and 50 of the tape applicator unit 36 are engaged with the notches 22a and 22a of the robot hand 20 for positioning. Therefore, the relative position between the robot hand 20 and the tape applicator unit 36 does not shift during movement, and the tape applicator unit 36 can be mounted on the pedestal 24 or the temporary placement unit 58 with high accuracy.

  Since the tape sticking unit 36 is placed on the temporary placement portion 58 of the base 56 so as to face the outside in the loading direction of the tape roll 40 with respect to the loading portion 42, the open / close gates 62, 62 are opened. Thus, the replacement work of the tape roll 40 can be easily performed. Further, if the two tape sticking units 36 and 36 can be placed side by side on the base 56, the tape sticking unit 36 transferred from the pedestal 24 can be mounted on any temporary placement portion 58. The replacement work of the tape roll 40 can be easily performed without any difference.

  In a state where the open / close gates 62 and 62 are opened, the control means 34 allows the robot hand 20 to perform a sealing processing operation based on a door opening detection signal input from the approach sensor 66 of the first monitoring means 68. Originally, the movement of the second monitoring means 70 from the second monitoring line R2 to the outside, that is, the maintenance area E2 is prohibited. In other words, during the sealing processing operation of the robot hand 20, the tape roll 40 replacement work in the maintenance area E2 can be performed safely. Further, when the second monitoring means 70 detects an intruder inward from the maintenance area E2 in the operation area F, the control means 34 controls the robot 18 so as to stop the movement of the robot hand 20. If the operator accidentally enters the maintenance area E2 during the replacement work of the tape roll 40, the movement of the robot hand 20 is stopped to ensure safety. In this way, the first monitoring means 68 and the second monitoring means 70 for monitoring the boundary of the maintenance area E2 with respect to the tape sticking unit 36 placed in the temporary placement portion 58 are provided, and the monitoring means 68, 70 is used to determine whether there is an intruder. Is detected and the robot hand 20 is controlled for operation, so that the operator's entry into the operation area can be accurately monitored.

  In Example 2, as a box making apparatus, a flatly folded cardboard box is opened in a cylindrical shape, a flap connected to a side panel of the cardboard box is bent, and the butt portion of the flap is bonded with an adhesive tape. A description will be given of a box making machine that is sealed. In addition, about the box making machine as a box making apparatus of Example 2, the same code | symbol shall be attached | subjected about the structure and components which have the same function as the boxing machine as the box making apparatus of Example 1. FIG.

  FIG. 6 shows a schematic configuration of the box making machine according to the second embodiment, and the box making machine puts the cardboard boxes 10 stacked one by one on the storage unit 100 in a state of being folded flat. The robot 18 that is taken out and opened in a cylindrical shape, holding the cardboard box 10 by the robot hand 101 and moving, a pedestal 111 arranged in the sealing work area E1 of the robot 18, and the detachment to the pedestal 111 In a corrugated cardboard box 10 having a tape attaching unit 115 that is detachably mounted and held by the robot hand 101, a tape attaching means M2 for folding and sealing each flap extending to one side from a side panel serving as a box body; In the operation area F of the robot hand 101, the plurality of tape adhering units 115 can be arranged side by side while being spaced apart from the pedestal 111. And a base 119 having a plurality of temporary portion 125. The tape adhering means M2 is disposed between the storage unit 100 and the pedestal 111 and bends the flaps of the cardboard box 10 held by the robot hand 101 so that the opening faces sideways. A flap folding means 17 for closing is provided.

  The robot 18, the pedestal 111, the base 119, and the tape attaching means M2 are arranged in a sealing work area E1 surrounded by the safety fence 12, as shown in FIG. In the second embodiment, the plurality of cardboard boxes folded flat are stacked and stored in the storage unit 100 on the carry-in conveyor 14. Further, the post-box corrugated cardboard box 10 in which the flaps are sealed has a surface on which the flap is sealed from the robot 18 on the unloading conveyor 16 where the transfer start end is located in the sealing work area E1. It is delivered and carried out of the sealing work area E1 by the carry-out conveyor 16.

  Similar to the first embodiment, the robot 18 is provided with a robot hand 101 that can freely move in a three-dimensional space. The robot hand 101 is a flat cardboard box 10 that is stored in the storage unit 100 of the carry-in conveyor 14. It adsorb | sucks and it is comprised so that it may open in the cylinder shape which a side opens. 7 and 8, the robot hand 101 is provided with a plurality of (four in the embodiment) first suction pads 103 on a main body portion 102 that is formed in a hollow flat plate shape and functions as a suction chamber. The forming member 104 provided with the second suction pad 105 is rotatably supported on the portion 102. The molding member 104 is moved between a retracted position (a two-dot chain line position in FIG. 8), an adsorption position and a molding position (solid line position in FIG. 8) with respect to the main body section 102 by an air cylinder 106 provided in the main body section 102. Configured to move. And the state which picked up one side of two side panels used as the box body part of flat cardboard box 10 with the 1st suction pad 103, and the other with the 2nd suction pad 105 of a suction position, and raised cardboard box 10 Thus, by moving the molding member 104 from the suction position to the molding position, the main body portion 102 and the molding member 104 are in a substantially orthogonal state, and the cardboard box 10 is opened in a rectangular tube shape. The robot hand 101 holds the box body so that the two side panels, which are the box body of the cardboard box 10 opened in a rectangular tube shape, are sucked and the opening faces sideways, and the flap By passing the folding means 17, each flap extending laterally from the box body is folded by the flap folding means 17 so as to close the opening.

  As shown in FIG. 9, the robot hand 101 is engaged with the second engagement hole 118a at a position corresponding to a later-described second engagement hole 118a provided in the tape attaching unit 115 of the main body 102. A second engagement pin 107 is provided for releasably engaging. The second engagement pins 107 protrude downward from the lower surface of the main body portion 102, and each second engagement pin 107 is inserted into the second engagement hole 118a of the tape attaching unit 115 from above. As a result, the tape sticking unit 115 is positioned with respect to the robot hand 101 in a state where the movement thereof is restricted. As shown in FIG. 7, the second engagement pins 107 are provided in the vicinity of two corners located on one diagonal line in the main body 102 formed in a substantially rectangular shape. The main body 102 has two holding means 110, which are located on the other diagonal line, including an air cylinder 108 and a holding member 109 that moves between the holding position and the non-holding position by the air cylinder 108. Provided in the vicinity of each corner.

  As shown in FIG. 9, the pedestal 111 is provided with a plurality of support bodies 113 each having a first engagement hole 113 a as an engaged portion penetratingly formed on the upper surface of a flat base member 112. In the second embodiment, three support bodies 113 are provided on the base member 112 so as to be separated from each other. The first engagement holes 113a of the three support bodies 113 are provided in the tape attaching unit 115, which will be described later. By inserting the first engaging pin 116 to be positioned, the positioning is held at the pasting position S3 where the tape pasting unit 115 is placed on the base 111. The pedestal 111 is provided with detection means 30 for detecting that the tape application unit 115 is mounted at the application position S3 and fixing means 114 for fixing the tape application unit 115 to the application position S3. The detection signal of the detection means 30 is configured to be input to the control means, and the control means is configured to recognize the presence or absence of the tape sticking unit 115 at the sticking position S3 by the detection signal of the detection means 30. The fixing means 114 includes a receiving portion 114a disposed on the lower surface of the base member 112, and an air cylinder 114c that moves the stopper 114b forward and backward with respect to the receiving portion 114a. By holding the first engagement pin 116 inserted into the engagement hole 113a and projecting downward from the base member 112 between the receiving portion 114a and the stopper 114b, the tape attaching unit 115 cannot be moved with respect to the base 111. It is comprised so that it can fix to. In the second embodiment, the fixing means 114 corresponds to the position of the two first engaging pins 116 provided on the frame body 38 of the tape attaching unit 115 (the position where the corresponding two support bodies 113 are disposed). Provided. Further, in the same manner as in the first embodiment, the pedestal 111 has a remaining amount of the adhesive tape 40a wound around the tape roll 40 in the tape sticking unit 115 that is mounted at the sticking position S3 and is in use, and the replacement time is reduced. A tape remaining amount detecting means 54 is provided for detecting that the tape remaining amount is detected, and a detection signal (tape replacement signal) of the tape remaining amount detecting means 54 is input to the control means.

  As shown in FIGS. 9 and 10, the tape sticking unit 115 includes a loading portion 42 for the tape roll 40 and a sealing means 44 for the adhesive tape 40 a in the frame 38, as in the first embodiment. The sealing unit 44 is provided on one side with respect to the frame body 38, and the loading unit 42 is provided on the support stay 41 extending from the frame body 38 to the other side. The sealing means 44 and the loading portion 42 are mounted on the pedestal 111 in a horizontal posture in which the adhesive tape 40a is pulled out in the horizontal direction with the positional relationship facing in the horizontal direction. Then, the side of the tape sticking unit 115 mounted on the pedestal 111 is moved so that the cardboard box 10 held by the robot hand 101 passes, so that it is pulled out from the tape roll 40 to the butt portion of the flap that closes the opening. The adhesive tape 40a is pressed and pasted by the sealing means 44. The loading unit 42 is detachably loaded from the upper side (loading side) intersecting the adhesive tape winding direction so that the tape roll 40 is mounted in the vertical direction in the horizontal orientation of the tape sticking unit 115. It is like that.

  As shown in FIGS. 9 to 11, the tape sticking unit 115 can be freely engaged with and disengaged from the first engagement holes 113a at positions corresponding to the first engagement holes 113a provided in the base 111. A first engaging pin 116 is provided as an engaging portion to be engaged. The first engagement pins 116 are provided so as to protrude downward at a total of three locations including two locations of the frame body 38 and one location of the support stay 41. By inserting the frame 38 and the support stay 41 on the upper surface of the support body 113 from above into the corresponding first engagement holes 113a of the base 111, the tape sticking unit 115 is attached to the base 111. It is mounted in a state where movement is restricted. Further, a support plate 117 is disposed on the upper surface of the frame body 38, and the upper surface of the support plate 117 is positioned at a position corresponding to each second engagement pin 107 provided on the robot hand 101. A support member 118 is provided so that a second engagement hole 118a into which the two engagement pins 107 can be inserted and removed opens upward. The pair of holding members 109 and 109 are moved to the non-holding position and the holding position, respectively, with the second engagement pins 107 corresponding to the respective second engagement holes 118a being inserted and engaged. Thus, the support plate 117 is held and released by the holding members 109 and 109. In the second embodiment, the second engagement pin 107 and the second engagement hole 118a constitute engagement means for engaging the tape attaching unit 115 and the robot hand 101.

  In the box making machine according to the second embodiment, the entire inside of the safety fence 12 is defined as an operation region F in which the robot hand 101 can operate, and the operation is located closer to the inside than the boundary with the outside operation region. In the area F, as shown in FIG. 6, the base 119 on which at least two tape attaching units 115 can be mounted is installed. The slide table 121 is slidably supported on the base 119 by the drawing means 120. As shown in FIG. 10, the pull-out means 120 includes a pair of rail members 122 and 122 disposed on the slide table 121, and a support block 123 disposed on the base 119 and slidably supporting the rail members 122 and 122. , 123, and the slide table 121 has an accommodation position (the solid line position in FIG. 10) where the entirety is located in the operation area F and an exposure position (a two-dot chain line in FIG. 10) partly located outside the operation area F. It is configured to reciprocate between (position). The slide table 121 is provided with a handle 121a at a portion facing the outside of the operation area F (outside of the safety fence 12), and the operator can slide the slide table 121 with the handle 121a. Further, the base 119 is provided with a spring-biased ball plunger 124 that can be engaged with and disengaged from the recess provided in the slide table 121, and the ball plunger 124 engages with the recess at the accommodation position and the exposure position of the slide table 121. Thus, the slide table 121 can be positioned.

  Each of the two tape pasting units 115 can be temporarily placed on the slide table 121 in a horizontal orientation in the direction that intersects the sliding direction of the slide table 121 in the same horizontal orientation as the mounting posture with respect to the pedestal 111. Two temporary placement portions 125 spaced apart in the lateral direction are provided. As shown in FIG. 10, each temporary placement portion 125 has a support 127 in which a first engagement hole 127 a as an engaged portion is formed, and three first engagements provided in the tape attaching unit 115. It is provided at each of the positions corresponding to the pins 116. That is, in each temporary placement portion 125, the three first engaging pins 116 provided in the tape applying unit 115 are inserted into the corresponding first engaging holes 127a and positioned, and the tape applying unit 115 is positioned. Is configured to be placed and held. In the second embodiment, the support 127 into which the first engagement pin 116 provided on the support stay 41 of the tape sticking unit 115 is inserted is different from the other support 127 in the accommodation position of the slide table 121. It is biased to the outside in the operation region F. Each temporary placement portion 125 is engaged with the first engagement pin 116 corresponding to the three first engagement holes 127a so that the loading portion 42 faces sideways (the attachment and detachment direction of the tape roll 40 is up and down). The tape sticking unit 115 is mounted in a direction), and the tape sticking unit 115 is placed on the temporary placement part 125 with the loading part 42 facing the boundary side. That is, the temporary placement unit 125 is configured such that when the tape sticking unit 115 is placed, the tape sticking unit 115 can be mounted in a state in which the loading unit 42 approaches the boundary side in the temporary placement unit 125.

  In the second embodiment, as in the first embodiment, the two temporary placement portions 125 and 125 are provided on the same plane, and the replacement tape sticking unit 115 in which the new tape roll 40 is loaded in one temporary placement portion 125. And the other temporary placement portion 125 is empty. In addition, each temporary placement unit 125 is provided with a detection unit 60 connected to the control unit in the same manner as in the first embodiment, and the presence or absence of the tape sticking unit 115 in the temporary placement unit 125 is detected by a detection signal of the detection unit 60. Is configured to be recognized by the control means.

  As shown in FIGS. 10 and 11, the safety fence 12 has an opening size that allows movement of the slide table 121 on which the tape adhering unit 115 is mounted, corresponding to the position of the base 119. Is formed. Then, by sliding the slide table 121 from the storage position to the exposure position, the loading portion 42 of the tape attaching unit 115 attached to the temporary placement portion 125 of the slide table 121 is placed outside the safety fence 12, that is, the robot. The hand 101 is configured to be pulled out to a position where it is exposed outside the operating range. That is, by sliding the slide table 121 to the exposed position, the tape sticking unit 115 attached to the temporary placement unit 125 is used and the new tape is used in the safe area outside the operation area of the robot hand 101. It is comprised so that the exchange operation | work to the roll 40 can be achieved. In the second embodiment, the operation area F of the robot hand 101 is partitioned by the safety fence 12 from the safety area E3 outside the operation area.

  Here, in the box making machine of the second embodiment, the safety fence 12 is provided with an opening that allows an operator to enter the sealing work area E1 and a door that opens and closes the opening. An approach sensor for detecting the open state is provided. When a door opening detection signal is input from the approach sensor to the control means, the control means controls the robot 18 to stop the movement of the robot hand 101.

Next, the operation of the box making machine according to the second embodiment configured as described above will be described.
The robot 18 holds the two side panels of the uppermost cardboard box 10 stacked on the storage unit 100 of the carry-in conveyor 14 with the first suction pad 103 and the second suction pad 105, respectively. 101 is moved upward to lift the cardboard box 10. Also, as shown in FIG. 8, the flat corrugated box 10 is opened in a rectangular tube shape by moving the molding member 104 from the suction position to the molding position by the air cylinder 106 and bending the two side panels so as to be orthogonal to each other. It is boxed. Then, the robot 18 holds the cardboard box 10 in the state in which the cardboard box 10 is held by the robot hand 101 in a posture in which two orthogonal surfaces of the box body portion are adsorbed and the opening faces sideways. The side of the means 17 is passed. As a result, the flaps extending laterally from the box body are folded to close the opening. Then, the cardboard box 10 held by the robot hand 101 is passed through the side of the tape sticking unit 115 mounted in a horizontal posture at the sticking position S3 of the pedestal 111, so that the flaps that close the opening are matched. Adhesive tape 40a is stuck to the outside of the part, and the cardboard box 10 is sealed. The corrugated cardboard box 10 after box making is transferred from the robot 18 to the carry-out conveyor 16 with the sealed surface facing downward, and is carried out of the safety fence 12 by the carry-out conveyor 16.

  When a tape replacement signal is input from the tape remaining amount detecting means 54 to the control means, the control means operates when the sealing process operation by the robot hand 101 is being executed (operation currently being executed). After the completion of the operation, the robot 18 is controlled to start the replacement operation of the tape attaching unit 115 by the robot hand 101. Further, the air cylinder 114c is operated to release the fixing of the tape attaching unit 115 to the pedestal 111. The robot 18 inserts the pair of second engagement pins 107, 107 into the second engagement holes 118a of the corresponding support member 118 of the tape attaching unit 115, and the pair of holding members 109, 109. The support plate 117 is moved from the non-holding position to the holding position and held between both sides, and the tape attaching unit 115 is lifted. As a result, the three first engaging pins 116 are pulled upward from the corresponding first engaging holes 113 a of the support body 113, whereby the tape attaching unit 115 is removed from the pedestal 111.

  The control means controls the operation of the robot 18 so that the tape sticking unit 115 held by the robot hand 101 is moved to above the empty temporary placement part 125 in the slide table 121 recognized by the detection signal of the detection means 60. To do. Then, by moving the robot hand 101 to lower the tape attaching unit 115 at a position where each first engagement pin 116 faces above the first engagement hole 127a of the corresponding support 127, each first One engagement pin 116 is inserted and engaged with the first engagement hole 127a of the corresponding support 127 from above, and the frame 38 is placed on the upper surface of the support 127, so that the tape attaching unit 115 is engaged. Is mounted on the temporary placement portion 125 in a positioned state. In addition, as shown in FIGS. 10 and 11, the tape sticking unit 115 placed in the temporary placement part 125 is in a state where the loading part 42 is located near the drawer port side of the safety fence 12 (boundary side).

  After releasing the holding of the tape applying unit 115 by the holding members 109, 109, the robot 18 moves the robot hand 101 to the temporary placement unit 125 on which the replacement tape attaching unit 115 is mounted. Then, the robot 18 inserts the pair of second engagement pins 107 and 107 into the second engagement holes 118a of the corresponding support member 118 of the tape attaching unit 115, and the pair of holding members 109, 109 is moved from the non-holding position to the holding position to hold the support plate 117 from both sides and lift the tape attaching unit 115. As a result, the three first engagement pins 116 are pulled upward from the corresponding first engagement holes 127 a of the support 127, whereby the tape sticking unit 115 is removed from the temporary placement portion 125. Then, the robot 18 moves the replacement tape sticking unit 115 held by the robot hand 101 to the position above the sticking position S3 of the pedestal 111 and lowers it, so that the first engagement hole 113a is moved to the first engagement hole 113a. The combination pin 116 is inserted from above, and the tape sticking unit 115 is positioned and held at the sticking position S3. When the detecting means 30 detects that the tape applying unit 115 is mounted at the applying position S3, the control means operates the air cylinder 114c to mount the tape applying unit 115 with the stopper 114b and the receiving portion 114a. After locking and fixing to 111, the robot 18 is controlled to resume the sealing processing operation by the robot hand 101 of the next cardboard box 10.

  During the sealing processing operation by the robot hand 101, the operator holds the handle 121 a and slides the slide table 121 toward the front, so that the slide table 121 and the temporary placement unit are moved as shown in FIGS. 10 and 11. The loading unit 42 of the tape sticking unit 115 attached to 125 is pulled out from the drawing port 126 and exposed. Thereby, in the safe area E3 outside the safety fence 12, the old tape roll 40 of the tape sticking unit 115 attached to the temporary placement unit 125 can be replaced with a new tape roll 40.

  In the box making machine of the second embodiment, as in the first embodiment, it is placed on the tape sticking unit 115 in use mounted on the pedestal 111 in response to the tape exchange signal and the temporary placement portion 125 of the slide table 121. Since the replacement tape attaching unit 115 is replaced, the tape attaching unit 115 transferred to the pedestal 111 is replaced while the tape roll 40 of the tape attaching unit 115 attached to the temporary placement unit 125 is being replaced. It is possible to prevent the production efficiency from being lowered depending on the work time required for replacing the tape roll 40. Further, since the robot hand 101 of the robot 18 that performs the sealing work is configured to perform the replacement work of the tape attaching unit 115, it is not necessary to separately provide means for performing the replacement work, and the apparatus configuration can be simplified. In addition, the installation space for the apparatus is not increased.

  The tape applicator unit 115 is configured to be positioned and held by the engagement state in which the first engagement pin 116 is inserted into the first engagement holes 113a and 127a with respect to the pedestal 111 and the temporary placement portion 125. Therefore, the tape sticking unit 115 can be attached to the appropriate positions of the base 111 and the temporary placement portion 125 with a simple configuration. Further, when the tape sticking unit 115 is held and moved by the robot hand 101, the second engaging pins 107 and 107 of the robot hand 101 are inserted into the second engaging holes 118a and 118a of the tape sticking unit 115. Since they are engaged and positioned, the relative position between the robot hand 101 and the tape applicator unit 115 does not shift during movement, and the tape applicator unit 115 can be accurately mounted on the pedestal 111 or the temporary placement unit 125.

  As shown in FIGS. 10 and 11, the tape attaching unit 115 is placed on the temporary placement portion 125 of the slide table 121 so that the loading portion 42 faces the boundary with the outside of the operation area. It is not necessary to pull out the entire unit 115 from the drawer port 126 to the outside, and the amount of drawer of the slide table 121 can be suppressed. Further, the loading unit 42 of the tape sticking unit 115 attached to the temporary placement unit 125 is upward so as to support the tape roll 40 sideways and be detachable in the vertical direction. The roll 40 can be easily replaced. Further, if the two tape adhering units 115, 115 can be placed side by side on the slide table 121, the tape adhering unit 115 transferred from the pedestal 111 can be placed in any temporary placement portion 125. The replacement work of the tape roll 40 can be easily performed without any difference. Furthermore, since the replacement work of the tape roll 40 can be performed outside the operation area of the robot hand 101, the replacement time of the tape roll 40 is not limited even during the sealing processing operation by the robot hand 101, and any time. It can be implemented and work efficiency can be improved.

(Example of change)
The present invention is not limited to the configuration of each example illustrated above, and various embodiments can be adopted within the scope of the gist of the present invention. For example, the following modifications are also possible. It can be implemented.
(1) The configuration of the engagement pins 46, 116 and the engagement holes 28a, 59a, 113a, 127a for positioning the tape adhering units 36, 115 on the bases 24, 111 and the bases 56, 119 is opposite to that of each embodiment. In addition, it is possible to adopt a configuration in which engagement pins provided on the pedestals 24 and 111 and the bases 56 and 119 are inserted into engagement holes provided in the tape attaching units 36 and 115, and various other known means. In the embodiment, the fixing means 32 and 114 for fixing the tape attaching units 36 and 115 are provided on the pedestals 24 and 111. However, the fixing means 32 and 114 may be adopted as necessary.
(2) The configuration of the engaging means for engaging the tape applicator units 36 and 115 with the robot hands 20 and 101 is opposite to the embodiments, in the notches and the engaging pins provided in the tape applicator units 36 and 115, The structure which inserts the engagement pin provided in the robot hands 20 and 101, an engagement hole, and other well-known various means are employable.
(3) In the first embodiment, the robot hand 20 that holds the cardboard box 10 is configured to hold the bottom surface of the cardboard box 10 with the receiving portions 22 and 22 and to hold the side surface of the cardboard box 10. Etc. can be applied. In the case where the robot hand 20 adopts a configuration in which the side surface of the cardboard box 10 is sucked and held, an engagement means for engaging the tape adhering unit 36 may be provided at a position that does not interfere with the suction of the cardboard box 10.
(4) The bases 56 and 119 on which the replacement tape applicator units 36 and 115 are mounted may be installed at least in the operation area F of the robot hands 20 and 101, and the old and new tape applicator units 36 and 115 are provided. The replacement is not limited to the sealed form of the cardboard box 10.
(5) The tape pasting units 36 and 115 are mounted in the same posture on the pedestals 24 and 111 and the temporary placement portions 58 and 125, but different in posture between the pedestals 24 and 111 and the temporary placement portions 58 and 125. As for the posture, the adhesive tape 40a may be mounted in any posture in which the pulling direction of the adhesive tape 40a is horizontal or vertical.
(6) Although the plurality of temporary placement portions 58 and 125 in the bases 56 and 119 are provided on the same plane, the heights may be different.

(7) A configuration in which the movement of the robot hand 20 is stopped when the ingress sensor 66 detects the opening of the open / close gates 62 and 62 can be employed.
(8) In addition to the combination of the open / close gates 62 and 62 and the ingress sensor 66, the first monitoring means 68 can adopt a detection form by an area sensor, with the open / close gates 62 and 62 being open, When the area sensor detects the intrusion of the intruder from the outside of the operation area F of the robot hand 20 into the maintenance area E2, the second monitoring means 70 of the robot hand 20 moves outward from the second monitoring line R2. You can ban or stop moving.
(9) Although the cardboard box 10 is held by the robot hands 20 and 101 and moved in space, the sealed form is affixed with tape. However, the cardboard box 10 held by the robot hands 20 and 101 is used as a support member such as a roller table. Other forms, such as moving and placing the tape in a mounted state, can be employed.
(10) In the configuration of the first embodiment, the configuration of the slide table 121 and the pull-out means 120 of the second embodiment is adopted, and the tape sticking unit 36 mounted on the slide table 121 in the vertical orientation is secured to the outside of the safety fence 12. A configuration in which the region is drawn out to the region E3 can be employed.
(11) In the second embodiment, on the side of the tape sticking unit 115 mounted on the pedestal 111 in a horizontal posture, the flap butt portion that closes the opening by horizontally moving the cardboard box 10 with the opening facing sideways. However, the form of Example 1 can be adopted as the form of tape application. That is, the tape sticking unit is mounted on the pedestal in a vertically placed posture where the sealing means is located on the lower side or the upper side, and the flap folded so as to close the opening of the cardboard box 10 is opposed to the sealing means. A mode in which the tape is pasted by passing below or above the tape pasting unit can be applied.

10 cardboard boxes (boxes), 20 robot hands, 22 receiving parts (holding means)
22a Notch (engagement means), 24 base, 28a Engagement hole (engaged part)
36 Tape application unit, 40 Tape roll, 40a Adhesive tape, 42 Loading unit 46 First engagement pin (engagement unit), 50 Second engagement pin (engagement means), 56 Base 58 Temporary placement unit, 59a engaging hole (engaged portion), 68 first monitoring means, 70 second monitoring means 101 robot hand, 107 second engaging pin (engaging means), 110 holding means 111 pedestal, 113a first engagement Joint hole (engaged part), 115 Tape sticking unit 116 First engagement pin (engagement part), 118a Second engagement hole (engagement means), 119 Base 120 Pull-out means, 125 Temporary placement part , 127a First engagement hole (engaged portion)
M1 tape applying means, M2 tape applying means, F operation area, E2 maintenance area R1 first monitoring line, R2 second monitoring line

Claims (8)

In a box making apparatus provided with tape attaching means (M1, M2) for folding a flap continuously provided on a side panel of a box (10) held by a robot hand (20, 101) and sealing with an adhesive tape (40a),
The tape applicator (M1, M1), which is detachably attached to a pedestal (24, 111), with a tape applicator unit (36, 115) provided with a loading section (42) that detachably supports a tape roll (40) of the adhesive tape (40a). M2) and
A plurality of temporary placements that can be placed on the tape sticking unit (36, 115) and are located close to the inside of the boundary between the motion region (F) of the robot hand (20, 101) and the outside of the motion region. A base (56,119) provided side by side (58,125),
In response to the tape exchange signal, the robot hand (20, 101) completes the present box (10) sealing process operation and before the next box (10) starts the sealing process operation. Operate the hand (20, 101), remove the tape application unit (36, 115) attached to the pedestal (24, 111) and place it on the temporary placement part (58, 125) of the base (56, 119), and other temporary placement parts A box making apparatus characterized in that the replacement tape attaching unit (36, 115) placed on (58, 125) is removed and placed on the pedestal (24, 111).   Engagement part (46,116) provided in the tape applicator unit (36,115), and provided on the pedestal (24,111) and the temporary placement part (58,125), the engagement part (46,116) engages the tape applicator unit. The box making apparatus according to claim 1, further comprising engaged parts (28a, 59a, 113a, 127a) for positioning (36,115).   Engaging means (22a, 50, 107, 118a) for releasably engaging and positioning the tape applicator unit (36, 115) and the robot hand (20, 101), and the tape applicator unit (36, 115) by the robot hand (20, 101) The box making apparatus according to claim 1 or 2, further comprising holding means (22, 110) for holding. First monitoring means (68) for monitoring the presence or absence of an intruder from the first monitoring line (R1) into the area where the base (56) is arranged in the operation area (F);
Second monitoring means (70) for monitoring intrusion of intruders from the second monitoring line (R2) inside the first monitoring line (R1) to the inside of the base (56);
An area between the first monitoring line (R1) of the first monitoring means (68) and the second monitoring line (R2) of the second monitoring means (70) is placed in the temporary placement section (58). Set to the maintenance area (E2) of the tape applicator unit (36)
When the first monitoring means (68) detects an intruder, the robot hand (20) is prohibited from moving outward from the second monitoring line (R2) of the second monitoring means (70). When the second monitoring means (70) detects an intruding object, the movement of the robot hand (20) is stopped when the sealing processing operation is permitted. The box making apparatus according to any one of 3.   The said base (56,119) has arrange | positioned the some temporary placing part (58,125) so that a tape sticking unit (36,115) can be put side by side, The one in any one of Claims 1-4 characterized by the above-mentioned. The box making apparatus described.   The tape sticking unit (36) is placed on the temporary placement part (58) with the tape roll (40) attached to or detached from the loading part (42) facing outward. The box making apparatus as described in any one of -5.   The tape sticking unit includes the loading unit (42) that supports the tape roll (40) so as to be detachable in the temporary placement unit (58) in a horizontal orientation, and the loading unit (42) faces the boundary side. The box making apparatus according to any one of claims 1 to 5, wherein (115) is placed on the temporary placement portion (58).   The base (119) is provided with drawing means (120) capable of pulling out the tape sticking unit (115) placed on the temporary placement portion (125) to the outside of the boundary. The box making apparatus according to any one of 7.

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