JP2019018862A - Carton forming and box packing device - Google Patents

Abstract

To provide a carton forming and box packing device which enables carton forming of an unassembled box and packing items in the box in a stable, firm and effective way as well as realizing space saving.SOLUTION: A carton forming and box packing device 30 consists of first conveying means for transferring items XA1, second conveying means 10A for transferring unassembled boxes, a box erection part 5 for raising sides of boxes YA1, and multiple item holding hands 62 which intermittently rotationally transfer in the horizontal surface area and also move up and down. Each item holding hand 62 is capable of executing holding movements to hold the items XA1 transferred by the first conveying means 60 as well as carton forming and item storing movements including forming cartons by pushing down unassembled boxes YA1, delivered to the box erection part 5 by the second conveying means 10A and storing the item XA1 in the box YA1. One item holding hand 62 is executing the holding movement while the other item holding hand 62 is forming a carton, and the two movements are arranged to take place in parallel during at least part of a time period.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a box making and stuffing apparatus that mechanically boxes an unfolded box and accommodates articles.

  Conventionally, an article is grasped by an article grasping means attached to an arm of a working robot, and an unfolded box (blank sheet) is pushed down by the article grasping means while being held, thereby forming an article while forming a blank sheet into a box shape. A wrap round wrapping apparatus for wrapping the wrapping is known (for example, see Patent Document 1).

  Also, a boxing device that packs the product to be packed in a container installed separately from the product, and adsorbs the product to an arm member that swivels between the upper side of the boxed product and the upper side of the container that stores the product. A so-called rotary type boxing device is also known in which a support member including a suction pad is supported so as to be movable up and down (see, for example, Patent Document 2).

Japanese Patent No. 3047530 JP-A-9-301307

  However, the working robot described in Patent Document 1 is a single-arm robot, and the arm is reciprocated or rotated to grip an article, form a blank sheet, and store an article, so that the work efficiency is poor. There is. Also, if the arm is operated at high speed, the inertial force or moment of inertia of the arm will increase, and there is a risk that the product will be dropped (due to packaging), etc. There was a limit to the speed of packaging (boxing).

  On the other hand, the boxing device described in Patent Document 2 includes an arm member that pivots between an upper side of a product to be boxed and an upper side of a container that stores the product, and a support member attached to the arm member. This is a double-armed robot that holds and accommodates (goods) and can improve work efficiency compared to a single-armed robot. However, the boxing device needs to assemble a container (cardboard box) for storing commodities by a device different from the boxing device. For this reason, there has been a problem that the size of the entire apparatus from the assembly of the container to the packaging of the product in the container is increased, and the operation is complicated.

  Further, in the boxing device described in Patent Document 2, the support member that adsorbs and turns the product is also moved up and down by the lifting mechanism, but the supporting member and the lifting mechanism are configured to be detached and engaged as necessary. ing. For this reason, both when holding the product and when storing it in the container, it is essential to disengage / engage the support member and the lifting mechanism, and complicated control such as timing adjustment and alignment and the mechanism (configuration) ) Was necessary.

  The present invention has been made in view of the above-mentioned problems, and has realized the space saving while stably and surely and efficiently carrying out the box making of the unfolded box and the housing of the article in the box. The purpose is to provide box making and boxing equipment.

  (1) The present invention provides a first conveying means for conveying an article, a second conveying means for conveying an unfolded box, and an opening for raising a side portion of the box by passing the unfolded box. And a plurality of article holding hands that rotate intermittently in a horizontal plane and can be moved up and down in the vertical direction, each of the article holding hands holding the article conveyed by the first conveying means. It is possible to execute a holding operation and a box-making and storing operation in which the unfolded box transported by the second transport means is pushed down at the hoisting portion and the article is housed in the box. The boxing / boxing is characterized in that the holding operation by one of the article holding hands and the boxing / housing operation by another of the article holding hands are executed in parallel in at least a part of the period. It is the location.

  (2) The present invention also includes an elevating mechanism for elevating and lowering the article holding hand, and a rotating mechanism for rotating and moving the article holding hand, and the elevating mechanism rotates and moves integrally with the rotating mechanism. The box making / boxing device according to (1) above.

  (3) The present invention further includes position adjusting means capable of adjusting at least a lower limit position of the article holding hand in the holding operation, wherein the box making / boxing according to the above (1) or (2) is characterized. Device.

  (4) In the present invention, the article holding hand may include a holding unit that holds the article, a support unit, a connection unit that connects the holding unit and the support unit, and the holding unit with respect to the connection unit. The box making / boxing device according to any one of the above (1 to (3), further comprising a buffer unit that allows the plate to relatively move in the vertical direction.

  (5) The present invention is also characterized in that the article holding hand includes a guide portion that abuts on the article during the holding operation and assists in raising the box during the box making and storing operation. The box making / boxing device according to any one of (1) to (4).

  According to the present invention, it is possible to provide a box making / boxing device that can stably and surely and efficiently carry out box making of an unfolded box and accommodation of an article in the box and realize space saving. it can.

It is the top view of the (A) boxing apparatus in embodiment of this invention, (B) The top view which extracts and shows an accommodating means. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the buffer box in embodiment of this invention, (A) The top view of the unfolded state, (B) The top view of the back side of (A), (C), (D) The external perspective view in the middle of an assembly, (E) It is an external appearance perspective view after an assembly. It is (A) top view and (B) side view which show the temporary folding unit in embodiment of this invention. It is (A) top view and (B) side view which show the temporary folding unit in embodiment of this invention. It is the (A) side view and (B) top view which show the temporary folding unit in embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS (A) The front view which shows the whole box making unit in embodiment of this invention, (B) The front view which extracts and shows a boxing unit. It is a sectional side view which shows the outline | summary of the accommodating means in embodiment of this invention. It is a top view which shows the outline | summary of the accommodating means in embodiment of this invention, (A) AA arrow directional view of FIG. 7, (B) BB arrow directional view of FIG. It is (A) front view, (B) top view, and (C) sectional view showing an article holding hand in an embodiment of the present invention. It is the (A) front view and the (B) side view which show the article | item holding hand in embodiment of this invention. It is the (A) side view, (B) top view, and (C)-(E) side view which show the hoisting unit in embodiment of this invention. It is a figure which shows the other example of the folding guide in embodiment of this invention. It is a front view which shows the box making and boxing unit in embodiment of this invention. It is a front view which shows the box making and boxing unit in embodiment of this invention. It is (A) top view and (B)-(G) side view which show the sealing unit in embodiment of this invention.

  Hereinafter, with reference to the drawings, a boxing device 1 according to an embodiment of the present invention will be described in detail.

<Overall configuration>
First, the structure of the boxing apparatus 1 of this embodiment is demonstrated using FIG. FIG. 1 (A) is a top view of the boxing device 1 and FIG. 1 (B) is a top view showing the storage means. In addition, in this figure and each subsequent figure, one part structure is abbreviate | omitted suitably and drawing is simplified. And in this figure and each subsequent figure, the magnitude | size, shape, thickness, etc. of a member are exaggerated suitably and expressed.

  The boxing device 1 according to the present embodiment is a device that holds the article XA1 by boxing by standing the side plate while conveying the unfolded (folded flat and before assembly) buffer box YA1. The transport means 10, the buffer box YA1 supply means 2, the box making means 3, the housing means 6, the sealing means 7, various sensors (not shown), the control unit (not shown), etc. Have In the following embodiment, the case where the article XA1 accommodated in the buffer box YA1 is an egg (boiled egg) will be described as an example.

  The transport unit 10 includes, for example, a first transport unit 10A, a second transport unit 10B, and a third transport unit 10C. In this example, the first conveying means 10A is a finger conveyor, the second conveying means 10B is a pusher device, and the third conveying means 10C is a bucket conveyor. The first conveying means 10A is a conveying means for the box making means 3, and the second conveying means 10B is a conveying means for positioning the front and rear of the buffer box YA1 discharged from the box making means 3 and feeding it to the sealing means 7. In the following description, the width direction (vertical direction in FIG. 1) of the conveyance surface perpendicular to the conveyance direction L is conveyed with reference to the conveyance direction L (left and right direction in FIG. 1) of the buffer box YA1 in the first conveyance means 10A. A width direction W is set, and a direction perpendicular to the transfer surface is set as a transfer height direction H.

  The buffer box supply means 2 is, for example, the hopper 2 of the buffer box YA1, and includes a stocker 21 that stocks the deployed buffer box YA1 in an upright state, and a buffer box YA1 holding means that takes out the buffer box YA1 from the stocker 21 ( A buffer box holding hand) 22. In this example, the buffer box holding hand 22 is a suction hand that holds the buffer box YA1 by suction means, but may be a hand that holds (holds) the buffer box YA1. The hopper 2 takes out the buffer boxes YA1 unfolded from the stocker 21 one by one, and supplies the buffer boxes YA1 while being folded flat on the transport means 10 (first transport means 10).

  The box making means 3 is a box making unit (or box making apparatus) 3 that three-dimensionalizes the deployed buffer box YA1 to form a box, and includes a first conveying means 10A, a temporary folding means 4, and a hoisting means 5 Etc.

  The temporary folding means 4 is provided on the upstream side of the hoisting means 5, and is a temporary folding unit that temporarily folds the deployed buffer box YA1 supplied onto the first conveying means 10A by the hopper 2 along a predetermined fold. Or a first folding guide 41 (first guide means) that is a guide means for temporarily folding and a second folding guide 42 (second guide) that is another guide means for temporarily folding. Two guide means (not shown in FIG. 1), a driving means for the second folding guide 42, and the like.

  The hoisting means 5 is a hoisting unit (also known as a hoisting device) 5 for hoisting a side plate (described later) of the temporarily-folded buffer box YA1 and making it into a three-dimensional box. The third folding guide 51 (not shown in FIG. 1), which is another guide means for carrying out, and the fourth folding guide 52 (not shown in FIG. 1), which is still another guide means for performing accurate lifting. ) Etc.

  The accommodating means 6 is, for example, a rotary accommodating robot 6 that retains the article XA1 and accommodates it in the buffer box YA1 that is raised, and is flat (on the conveying surface of the conveying means 10) as shown in FIG. A disc-shaped base (rotating base portion) 61 that rotates in a horizontal plane) and is attached to the base 61 so as to extend in the vertical direction (conveying height direction H), and at the same time in the vertical direction (conveying height). A plurality of (two in this example) article holding means (the article holding hand 62) that can move in the direction H). The accommodating means 6 will be described in detail later.

  The article XA1 is transferred from a predetermined position to the position of the accommodating robot 6 by the transfer means 60. The transfer means 60 is, for example, a servo loop conveyor that circulates and moves a plurality of buckets 601. In this example, one article XA1 (egg) is placed in each bucket 601. Although illustration is omitted, the article XA1 in each bucket 601 is taken out from a stocker or the like and placed on each bucket 601 by an operator at a predetermined position, for example. The article XA1 may be placed on the table.

  The box making unit 3, the receiving robot 6 and the transfer means 60 constitute a box making / boxing device (unit) 30. That is, the box making / boxing device (unit) 30 of the present embodiment includes a transfer means 60 (first transport means) for transporting the article XA1 and a first transport means 10A (second transport) for transporting the unfolded buffer box YA1. (Conveying means), a raising unit 5 (raising portion) for raising a side plate (described later) of the buffer box YA1 by passing the unfolded box YA1, and intermittently rotating in a horizontal plane. A plurality of article holding hands 62 that are vertically movable.

  Each of the plurality of article holding hands 62 pushes down the holding unit holding the article XA1 conveyed by the transfer means 60 and the unfolded buffer box YA1 conveyed by the first conveying means 10A in the hoisting unit 5. In addition to box-making, it is possible to execute box-boxing operation for storing the article XA1 in the boxed buffer box YA1. Then, the holding operation by one article holding hand 62 and the box making / housing operation by another article holding hand 62 are executed in parallel in at least a part of the period.

  In other words, in the lowering operation, for example, in the lowering operation, one article holding hand 62 sucks and holds the article XA1 from the transfer means (servo loop conveyor) 60 (performs holding operation), and the other article holding hand 62 holds the buffer box YA1. The article XA1 is accommodated in the box and the box is made (box making and accommodating operation is performed).

  Specifically, the accommodating robot 6 is located directly above a part of the article XA1 to be transferred by the transfer means 60, and the other one is directly above the lifting unit 5 among the plurality of article holding hands 62. For example, it is arranged at the position of the broken line in FIG. Each article holding hand 62 descends on the transfer means 60 to hold the article XA1 in the bucket 601 and rises to take out the article XA1 (perform a holding operation). Then, for example, the base 61 is rotated 180 degrees, for example, counterclockwise in the drawing, and is temporarily stopped and lowered above the hoisting unit 5. The rotation speed of the base 61 is, for example, 32 rotations / minute. While holding the article XA1, the article holding hand 62 pushes the buffer box YA1 downward while accommodating the article XA1 in the buffer box YA1 standing by the hoisting unit 5, and releases the article XA1 at a predetermined position below. . The buffer box YA1 is raised by pushing the article holding hand 62 downward, and the article XA1 is accommodated in the box (box making and accommodating operation is performed). That is, a part of the storage robot 6 (the article holding hand 62) also functions as a part of the hoisting unit 5.

  Then, the operation timing of each article holding hand 62 is set so that the holding operation by one article holding hand 62 and the box making / housing operation by another article holding hand 62 are simultaneously executed in at least a part of the period. Is set.

  The sealing means 7 is a sealing unit (or a sealing device) for applying an adhesive to a part of the main body 101 of the buffer box YA1 in which the article XA1 is accommodated to close and bond the lid (lid surface plate) 107. 7, and includes a third conveying unit 10 </ b> C, an adhesive application unit 8, a pressing unit 9 that presses the cover plate 107, and the like. The pressing means 9 is, for example, pulled into the roller 91 while pressing the lid surface plate 107 of the buffer box YA1 upstream of the rollers 91 and a plurality of rollers 91 (91A, 91B) that contact and press a part of the lid surface plate 107. It has a holding means 92 and the like.

<Buffer box>
With reference to FIG. 2, the buffer box YA1 of the present embodiment will be described. FIG. 4A is a top view (plan view) of the inner side surface of the buffer box YA1 that is unfolded (folded flat), and FIG. 4B is the back side of FIG. (C) and (D) are external perspective views of the buffer box YA1 during assembly (boxing). E) is an external perspective view of the buffer box YA1 after assembly. In addition, illustration of the articles | goods (egg) XA1 accommodated in FIG. 2 is abbreviate | omitted.

  The buffer box YA1 is, for example, a paper box (buffer paper box), in which a crease line is formed in advance and can be creased or creased by the box making unit 3, and a main body that houses the article (egg) XA1 101 and a cover plate 107, and the main body 101 includes a bottom plate 102 (outer bottom plate 102A, inner bottom plate 102B), a holding plate 103 (front holding plate 103A, rear holding plate 103B), and side auxiliary plate 104. (104A-104F), side plate 105 (front side plate 105A, rear side plate 105B), and paste margin plate 106 (front glue margin plate 106A, rear glue margin plate 106B).

  In addition, the holding plate 103 is provided with a hole (holding hole (article holding hole)) 1031 capable of holding the article XA1 at the center. In the buffer box YA1, the article XA1 is fitted into the holding hole 1031 to hold the article XA1 at a predetermined position in the box. In this example, an article (egg) XA1 is fitted into a set of holding holes 1031 that are opposed to each other on the top and bottom of FIG. Holds XA1. That is, the buffer box YA1 shown in the figure can accommodate two (two) articles XA1 in one box. However, the number of articles XA1 to be accommodated is not limited to this, and may be one or three or more.

  In the present embodiment, as an example, the side of the buffer box YA1 on which the cover plate 107 is not provided (the lower side in the same figure (A) and (B), the lower side in the same figure (C) to (E). “Left” is defined as “front”, and the side facing “front” (upper side in FIG. 1A and right side in FIG. 1C to FIG. 5E) is “rear”. And “rear” are for convenience of description and may be interchanged.

  In the unfolded state, the side plate 105 and the holding plate 103 are folded so that the front sides and the rear sides overlap each other before assembly ((A) in the figure).

  The outer lid plate 107, the front side plate 105A, the outer bottom plate 102A, the rear side plate 105B, and the side auxiliary plate 104 of the main body 101 constitute an outer surface 101A whose appearance can be visually recognized when box making and closing. In addition, the front glue plate 106A, the front holding plate 103A, the inner bottom plate 102B, the rear holding plate 103B, and the rear glue plate 106B (and the inner cover plate 107) of the main body 101 are not visible when boxed and closed. Alternatively, the inner side surface 101B that is difficult to visually recognize is configured.

  Specifically, as shown in FIG. 6A, the inner side surface 101B has a front glue plate 106A and a front holding member along a first direction from the front side to the rear side (from the lower side to the upper side in the drawing) in the unfolded state. The plate 103A, the inner bottom surface plate 102B, the rear holding plate 103B, the rear glue margin plate 106B, and the lid surface plate 107 are connected in this order via crease lines a, b, c, d, and h. .

  Further, as shown in FIG. 5B, the outer side surface 101A is formed of a front side plate 105A and an outer bottom plate 102A along a first direction from the front side to the rear side (from the lower side to the upper side in the drawing) in the unfolded state. The rear side plate 105B and the lid surface plate 107 are connected in this order via crease lines f, g, and h.

  Further, side auxiliary plates 104A and 104D are connected to both sides of the front side plate 105A along the second direction (a direction orthogonal to the first direction) via crease lines i and l, respectively. Side auxiliary plates 104B and 104E are connected to both sides along the two directions via crease lines j and m, respectively, and side auxiliary plates 104C and 104F are crease lines on both sides along the second direction of the rear side plate 105B. It is connected via k and n. The length of the side auxiliary plate 104 (104A to 104F) in the third direction BH is shorter than the length of the side plate 105 in the third direction BH. It can be visually recognized (see FIG. 15D to FIG. 15F).

  The outer side surface 101A and the inner side surface 101B are connected to each other at both ends by a front side plate 105A and a front glue margin plate 106A via a crease line e, and the rear glue margin plate 106B and the rear side margin plate 105B via a crease line h. It is connected.

  When the folding lines a to h are folded and opened so that the front holding plate 103A and the rear holding plate 103B face each other in an upright state (FIGS. (C) to (D)), the article (egg) ) Made in a state that can accommodate XA1.

  In the following description, as shown in FIG. 5E, the depth (thickness direction) is defined as the first direction BD, the absolute direction independent of the direction in the middle of conveyance in the boxed and three-dimensional buffer box YA1. The width direction orthogonal to the one direction BD will be described as the second direction BW, and the height direction orthogonal to both the first direction BD and the second direction BW will be described as the third direction BH. In the example of the figure, one article (egg) XA1 is held by holding holes 1031 facing each other in the first direction BD so that the first direction BD is the major axis direction. Further, the buffer box YA1 in the figure can accommodate two articles XA1 in one box, and two articles XA1 are accommodated side by side along the second direction BW.

  The front holding plate 103A and the rear holding plate 103B stand from the inner bottom plate 102B, and the front side plate 105A and the rear side plate 105B stand from the outer bottom plate 102A. That is, the inner bottom plate 102B is shorter in the first direction BD than the outer bottom plate 102A, and the front holding plate 103A and the front side plate 105A, and the rear holding plate 103B and the rear side plate 105B are respectively the inner bottom plate. 102B and the outer bottom surface plate 102A are separated by half the difference in the first direction BD. Further, the front adhesive margin plate 106A and the rear adhesive margin plate 106B are arranged so as to face the outer bottom surface plate 102A that does not overlap the inner bottom surface plate 102B. Thereby, between the holding | maintenance board 103 and the side board 105, the buffer part 108 (front buffer part 108A, back buffer part 108B) of the hollow structure which can buffer the external force which concerns on the goods XA1 is created.

  By holding the article XA1 on the holding plate 103 (holding hole 1031) while raising the buffer box YA1, the article XA1 is held in the holding hole in the state after being opened (FIGS. (D) and (E)). 1031 is supported, and none of the bottom plate 102, the side plate 105, and the lid plate 107 is in contact. Thereby, the impact from the outside of the main body 101 (impact received by normal transportation, display, etc.) can be mitigated, and it is a box suitable for housing a fragile article XA1 such as a boiled egg.

<Box making unit / temporary folding unit>
The details of the box making unit 3 will be described with reference to FIGS.

  3A and 3B are views showing a state in which the buffer box YA1 developed from the hopper 2 to the box making unit 3 is supplied. FIG. 3A is a top view and FIG. 3B is an upstream side (FIG. 3A). It is the side view seen from the left).

  FIG. 4 is a view showing a state after the buffer box YA1 is supplied onto the first conveying means 10A. FIG. 4A is a top view and FIG. 4B is an upstream side (FIG. 4A). It is the side view seen from the left).

  FIG. 5 is an enlarged view of the vicinity of the buffer box YA1 in the temporary folding unit 4, and FIG. 5 (A) is an enlarged view of FIG. 4 (B) in a state of being temporarily folded. ) Is a top view of FIG. FIG. 6 is a front view of the box making unit 3 as viewed from the transfer means 60 side (lower side in FIG. 1).

  As shown in FIGS. 3 to 6, the first conveying means 10 </ b> A of the box making unit 3 is spanned between the plurality of sprockets 11 including the sprockets 11 arranged before and after the conveying direction L, and the plurality of sprockets 11. The endless chain 12, a plurality of push fingers 13 attached to the endless chain 12 at a predetermined pitch, a rail 15 serving as a transfer surface of the buffer box YA1, and the like. Thus, when the pushing finger 13 abuts against the rear portion of the buffer box YA <b> 1 in the traveling direction, the buffer box YA <b> 1 moves forward on the rail 15 with the movement of the pushing finger 13.

  As shown in FIG. 3, the buffer box holding hand 22 of the hopper 2 is configured to be swingable about the joint portion of the arm 23 or to be movable in three axial directions, for example. The buffer box YA1 is sucked and held from the stocker 21 that stocks the buffer box YA1 in an upright state, and is supplied one by one to the supply position P0 of the first transport means 10A (supply position P0 of the temporary folding unit 4). The buffer box holding hand 22 supplies the supply position P0 so that the second direction BW of the buffer box YA1 is along the transport direction L, and the buffer box YA1 is transported so that the second direction BW is along the transport direction L. (See FIG. 4A).

  The temporary folding unit 4 includes a first folding guide 41 (first guide means), a second folding guide 42 (second guide means), and driving means for these (see FIG. 3). The first folding guide 41 is a claw portion attached to the buffer box holding hand 22 of the hopper 2 and moves integrally with the buffer box holding hand 22, and at the supply position P 0 of the temporary folding unit 4, the buffer box Temporary folding (moving up and down relative to the holding hand 22 and making contact with the inner surface 101B near the boundary between the bottom surface plate 102 and the side surface plate 105 of the buffer box YA1 so that the side surface plate 105 can be easily folded. Bending guide).

  The second folding guide 42 is a plate member configured to be able to advance and retract from the lower side of the rail 15 toward the upper side of the rail 15, and is attached to the side plate 105 of the buffer box YA 1 in synchronization with the operation of the first folding guide 41. Temporary folding (folding guide) is performed to make it easier to bend the side plate 105 by contacting from the side surface 101A.

  As shown in FIG. 5A, the second folding guide 42 has a side surface 42A that stands vertically with respect to the rail 15 and an upper end portion of the side surface 42A so that the opening increases toward the upper side. It has the inclined surface 42B which inclines at a predetermined angle. The side surface 42A and the inclined surface 42B are opposed to each other on both sides of the rail 15 so as to correspond to the side plate 105 of the buffer box YA1. The distance between the opposing side surfaces 42A (distance in the conveyance width direction W) is such that the raised buffer box YA1 can be received and can be brought into contact with the side plate 105 of the buffer box YA1. It is set slightly larger than the distance between the side plates 105.

  In addition, auxiliary side surfaces 42C are provided at both end portions along the conveying direction L of the inclined surface 42B. The auxiliary side surface 42C is disposed to face the side auxiliary plates 104A, 104C, 104D, 104F of the buffer box YA1. The distance (distance in the conveyance direction L) between the auxiliary side surfaces 42C (for example, auxiliary side surfaces 42C corresponding to the side auxiliary plates 104A and 104D) disposed opposite to each other on one inclined surface 42B (for example, the left side in FIG. 5A). Is slightly larger than the distance in the second direction BW of the side plate 105 of the buffer box YA1 to the extent that it can receive the buffered box YA1 and can contact the side auxiliary plates 104A and 104D of the buffer box YA1. It is set large.

  Further, the distance (in the conveyance direction L) between the auxiliary side surfaces 42C (for example, auxiliary side surfaces 42C corresponding to the side auxiliary plates 104C and 104F) disposed opposite to each other on the other inclined surface 42B (for example, the right side in FIG. 5A). The distance) is larger than the distance in the second direction BW of the side plate 105 of the buffer box YA1 so that the raised buffer box YA1 can be received and can be brought into contact with the side auxiliary plates 104C and 104F of the buffer box YA1. It is set slightly larger.

  The open end of the auxiliary side surface 42C is disposed so as to protrude above the open end of the inclined surface 42B, and the side auxiliary plates 104A, 104C, 104D, 104F are bent before the side plate 105.

  The first folding guide 41 provided in the buffer box holding hand 22 extends in the axial direction of the buffer box holding hand 22, and the tip thereof is positioned, for example, in substantially the same plane as the suction surface of the buffer box holding hand 22. To be fixed.

  On the other hand, the second folding guide 42 is configured to be movable in the vertical direction with respect to the rail 15 by the driving means 43 (for example, the crank mechanism shown in FIG. 6A). Before the buffer box YA1 is supplied, The inclined surface 42B is retracted below the rail 15 so as not to protrude from the rail 15, and when the first folding guide 41 is lowered, the inclined surface 42B is raised so as to protrude above the rail 15 in synchronization with this (FIG. 4). reference). Thereby, the buffer box YA1 is temporarily folded so as to be sandwiched between the first folding guide 41 and the second folding guide 42.

  As shown in FIGS. 4A and 5, the first folding guide 41 is provided at a plurality of locations (four locations in this example) near the corner portion of the buffer box holding hand 22, and the position thereof is the supply location. The position is set so as to abut on the fold line g and crease line f of the buffer box YA1 placed on P0 from the inner surface 101B side through the holding hole 1031. As described above, the crease line g and the crease line f are the boundary between the side plate 105 and the bottom plate 102 and are located outside the crease line b and the crease line c that form the boundary between the holding plate 103 and the bottom plate 102.

  Further, the rail 15 of the first transport unit 10A has a length (width) in the transport width direction W that is a distance between the front side plate 105A and the rear side plate 105B of the buffer box YA1 (distance in the first direction BD), That is, it is smaller than the distance between the crease lines g and f. Furthermore, the distance between the opposing side surfaces 42 </ b> A of the second folding guide 42 is larger than the length of the rail 15 in the transport width direction W.

  Then, the buffer box holding hand 22 places the buffer box YA1 on the rail 15 so that the center of the rail 15 in the transport direction L coincides with the center of the bottom plate 102 in the second direction BW of the buffer box YA1 at the supply position P0. Place.

  That is, in the buffer box YA1 at the supply position P0, there is no support below the crease line g and the crease line f, and it is placed on the rail 15 so as to be in a hollow state. In this state, the first fold guide 41 comes into contact with the crease line g and the crease line f from the inner surface 101B of the buffer box YA1, and pushes the crease line g and the crease line f downward. put out. At the same time, the inclined surface 42B of the second folding guide 42 rises from both sides of the rail 15 in the conveyance width direction W.

  Thus, in the state where the outer side of the side plate 105 of the buffer box YA1 is in contact with and supported by the inclined surface 42B of the second folding guide 42, the vicinity of the boundary between the side plate 105 and the bottom plate 102 of the buffer box YA1 (fold line g And the crease line f and its vicinity) are sandwiched between the tip of the first fold guide 41 and the side surface 42A of the second fold guide 42, whereby the crease line g and the crease line f are temporarily folded.

  Further, when the second folding guide 42 is raised and the outside of the side plate 105 is brought into contact with and supported by the inclined surface 42B of the second folding guide 42, the side auxiliary plates 104A, 104C, 104D, and 104F of the buffer box YA1 are Then, it is pushed up from the lower side by the auxiliary side surface 42C, and the crease lines i, k, l, n are similarly temporarily folded.

  Thus, in the present embodiment, the first fold guide 41 and the second fold guide that contact the vicinity of the boundary between the bottom plate 102 and the side plate 105 and guide the temporary folding of the side plate 105 before the side plate 105 rises. Since temporary folding is performed by the temporary folding unit 4 having 42, when the article (egg) XA1 is accommodated in the downstream lifting unit 5 described in detail later, the holding plate 103 can be folded and opened.

  The buffer box holding hand 22 temporarily stops the buffer box YA1 at the supply position P0, and does not open the buffer box YA1 until the first folding guide 41 is temporarily folded. That is, during the temporary folding, the vicinity of the center of the bottom portion of the buffer box YA1 is pressed by the buffer box holding hand 22 as well. As a result, even if the buffer box YA1 is strong (the repulsive force is large), it can be temporarily folded while preventing repulsion and resulting positional shift.

  In the temporary folding of the temporary folding unit 4, the side plate 105 is not completely upright, and the upper side of the side plate 105 (in the direction of the adhesive margin plate 106) is slightly lifted with respect to the rail 15. It is conveyed to the unit 5 (see FIG. 6).

  Further, an adhesive is applied to each of the side surface auxiliary plates 104 of the buffer box YA1 by the application unit 16 (see FIG. 1A) disposed between the temporary folding unit 4 and the hoisting unit 5.

<Boxing unit / boxing unit>
The opening unit 5 will be described with reference to FIGS. 6 is a front view of the box making unit 3 as described above, FIG. 7 is a side sectional view showing an outline of the receiving robot 6, and FIG. 8 is a plan view showing a driving mechanism of the receiving robot 6. 7A is a view taken along the line AA in FIG. 7, and FIG. 5B is a view taken along the line BB in FIG. 9A and 9B are diagrams showing the article holding hand 62, where FIG. 9A is a schematic front view, FIG. 9B is a top view showing a part extracted, and FIG. 9C is an article. It is sectional drawing of the adsorption | suction part 637 of the holding hand 62. FIG. FIG. 10A is a schematic front view of the article holding hand 62, and FIG. 10B is a side view of the article holding hand 62. FIG. 11 is a (A) side view, (B) top view, and (C) to (E) side views for explaining the article holding hand 62. The article holding hand 62 is configured to be rotatable, and the “front” and “side” in FIGS. 9 to 11 are merely directions for convenience indicating that they are different surfaces.

  As shown in FIG. 6, the hoisting unit 5 is three-dimensionalized by raising the side plate 105, the holding plate 103 and the side auxiliary plate 104 of the temporarily folded buffer box YA <b> 1 substantially vertically with respect to the bottom plate 102. The unit includes a third fold guide 51 and a fourth fold guide 52 which are guide means for raising the side plate 105.

  An opening OP is provided at the downstream end of the rail 15. The opening OP is slightly larger than the size of the outer bottom surface plate 102A of the buffer box YA1, and the length along the transport direction L is also the length along the transport direction L of the buffer box YA1 in the temporarily folded state (buffer box). (The length of the second direction BW of YA1). Note that the length along the conveyance direction L of the buffer box YA1 in the temporarily folded state is longer than the length along the conveyance direction L of the bottom surface plate 102 because the side auxiliary plate 104 is not completely upright. Yes.

  Further, below the opening OP, a rectangular cylindrical portion 55 whose cross-sectional shape is horizontal to the transport surface (rail 15) is the same size as the opening OP.

  In the buffer box YA1 in the temporarily folded state that is transported on the first transport means 10A, the side auxiliary plates 104 (particularly the side auxiliary plates 104B and 104E) are locked to the rails 15 on the opening OP, and the bottom plate 102 floats. In this state, it is held by the rail 15 (FIG. 6A).

  Then, with the article holding hand 62 of the containing robot 6 holding the article (egg) XA1, it is lowered toward the buffer box YA1 locked by the opening OP, and the buffer box YA1 is moved below the cylindrical portion 55. By pushing in, the holding plate 103 is erected substantially perpendicular to the bottom plate 102 on the inner side surface 101B of the main body 101, and the side plate 105 is substantially perpendicular to the bottom plate 102 on the outer side surface 101A. In addition, all the side surface auxiliary plates 104 are erected substantially perpendicularly to the bottom surface plate 102 and the buffer box YA1 is opened.

  Simultaneously with the opening, the article XA1 is fitted into the holding hole 1031 of the holding plate 103, whereby the article XA1 is held and the article XA1 is accommodated in the buffer box YA1 (FIG. 6B).

  At this time, the buffer box YA <b> 1 is guided to be opened by the third folding guide 51 and the fourth folding guide 52 of the lifting unit 5.

  The third folding guide 51 is a claw portion provided in the article holding hand 62 of the receiving robot 6, moves in conjunction with the article holding hand 62, and holds the holding plate 103 and the inner bottom plate from the inner side surface 101 </ b> B of the buffer box YA <b> 1. The crease line b and crease line c with 102B are extruded downward.

  The fourth folding guide 52 is a plate member provided at the upper end portion of the cylindrical portion 55, and comes into contact with the outer side surface 101A excluding the bottom portion of the buffer box YA1 to stand the side plate 105 and the side auxiliary plate 104. Assist with installation. The buffer box YA1 descends the cylindrical portion 55 having a predetermined length while being pushed into the article holding hand 62, and the side plate 105 and the side auxiliary plate 104 are held upright by the cylindrical portion 55 during the descent. .

  As described above, the box making unit 3, the accommodating robot 6, and the transfer means 60 constitute the box making / boxing device (unit) 30 (see FIG. 1).

  The storage robot 6 and the article holding hand 62 will be described with reference to FIGS. 11A and 11C are side views in the same direction as FIG. 10B.

  The accommodating robot 6 has a plurality of article holding hands 62 that rotate and move intermittently in a horizontal plane and can move up and down in the vertical direction. Each of the plurality of article holding hands 62 receives the article XA1 conveyed by the transfer means 60. The holding operation and the unfolded buffer box YA1 conveyed by the first conveying means 10A are pushed down in the hoisting unit 5 to make a box, and the article XA1 is accommodated in the boxed buffer box YA1. The accommodating operation can be executed. Then, the holding operation by one article holding hand 62 and the box making / housing operation by another article holding hand 62 are executed in parallel in at least a part of the period.

  The storage robot 6 of the present embodiment includes a lifting mechanism 701 that lifts and lowers the article holding hand 62 and a rotating mechanism 703 that rotates and moves the article holding hand 62. The lifting mechanism 701 is integrated with the rotating mechanism 703. Rotate and move.

  As shown in FIG. 7, the rotation mechanism 703 of the receiving robot 6 is a mechanism that rotates and moves a disk-shaped base (rotation base) 61 within a horizontal plane (a plane that is horizontal to the conveyance surface of the conveyance means 10). Specifically, a main shaft 603 extending vertically downward with respect to the base 61 is provided at the center portion of the base 61, and the main shaft 603 is rotatably supported by a bracket 605 attached to the machine frame F. A gear 621 is attached to the upper end side of the main shaft 603 connected to the base 61, and a gear 627 is attached to the lower end side.

  The lifting mechanism 701 of the storage robot 6 is a mechanism that lifts and lowers the article holding hand 62. Specifically, the main shaft 603 has a shaft 607 that passes through a hollow interior, and the lower end of the shaft 607 is attached to a lever 609 that swings in the vertical direction, and the lever 609 is swung by a cam mechanism (not shown). By moving it, the article holding hand 62 can be moved up and down. On the other hand, the upper end of the shaft 607 protrudes from the base 61, and the engaging member 611 is attached. The engaging member 611 is spaced apart from the base 61 and positioned above it.

  In the vicinity of the engaging member 611, an attachment plate 617 having a cam follower 613 at the end is disposed, and the cam follower 613 engages with the engaging member 611. The mounting plate 617 moves up and down along a guide 673 extending in a direction perpendicular to the base 61.

  A spline shaft 619 extending in the vertical direction is disposed below the mounting plate 617. The spline shaft 619 is attached to the base 61 by a rotary ball spline 675 so as to be rotatable and vertically slidable. An article holding hand 62 is attached to the lower end, and the upper end is attached. The plate 617 is rotatably attached.

  The plurality of article holding hands 62 engage with a single (same) engaging member 611 and move up and down (up and down). The cam follower 613 of each article holding hand 62 is mounted near the center of the mounting plate 617 and engages with an engaging member 611 located at the center of the base 61.

  According to such a configuration, the article holding hand 62 can be raised and lowered simultaneously. Therefore, compared with a support member that adsorbs and swivels an article, and a device that disengages and engages the lifting mechanism of the supporting member as necessary (see Patent Document 2 above), the supporting member and the lifting mechanism This eliminates the need for complicated control such as timing adjustment and alignment of the disengagement / engagement, and a mechanism (configuration) therefor.

  As shown in FIG. 8A, a driving pulley 661 and an article holding hand pulley 663 and a tension pulley 665 are attached to the upper surface side of the base 61, and a timing belt 667 is stretched over them.

  Further, as shown in FIG. 5B, the gear 623 and the gear 625 are attached to the base 61 on the lower surface side of the base 61. The gear 623 meshes with the gear 621 and meshes with the gear 625, and the gear 625 drives the drive pulley 661. The article holding hand pulley 663 rotates the article holding hand 62. With such a configuration, when the gear 627 attached to the lower end side of the main shaft 603 rotates, the gear 621 attached to the upper end side of the main shaft 603 rotates, and the base 61 rotates 180 degrees around the main shaft 603. Further, when the base 61 rotates 180 degrees around the main shaft 603, the drive pulley 661 rotates via the gears 623 and 625, and the article holding hand pulley 663 rotates 180 degrees relative to the base 61.

  In this manner, the accommodation robot 6 rotates (rotates) the article holding hand 62 in the horizontal plane as the base 61 rotates, and raises and lowers the article holding hand 62. And the raising / lowering mechanism 701 of the accommodation robot 6 rotates integrally with the rotation mechanism 703 (see FIG. 7).

  Specifically, the article holding hand 62 is lowered on the transfer means (for example, servo loop conveyor) 60, and the article XA1 in the bucket 601 is held. Thereafter, the storage robot 6 raises the article holding hand 62 and takes out the article XA1 from the bucket 601 (holds the article XA1). Further, the storage robot 6 rotates the base 61, temporarily stops above the opening OP of the hoisting unit 5, lowers the article holding hand 62 holding the article XA 1, and the article holding hand 62 buffers the unfolded state. The box YA1 is pushed down. As a result, the raising unit 5 (the fourth folding guide 52 and the cylindrical portion 55) is allowed to pass and the side plate (side portion) 105 is erected to box the buffer box YA1, and the buffer box YA1 that has been boxed. The article XA1 is accommodated therein (box making accommodation operation is performed). At this time, the storage robot 6 can store the article XA1 taken out from the bucket 601 of the transfer means 60 in the buffer box YA1 without changing the direction of the article XA1.

  In the case of a configuration in which the rotating mechanism and the lifting mechanism of the receiving robot 6 are separated (see Patent Document 2 described above), complicated control and mechanism such as alignment and timing of both are required. However, in the present embodiment, the plurality of article holding hands 62 are configured to engage with a single (same) engaging member 611 and move up and down (up and down), so that during the boxing process, Control and mechanism (configuration) for positioning and timing adjustment of the lifting mechanism 701 are not required. Accordingly, the article holding hand XA1 can be rotated and moved immediately after performing the lifting / lowering operation, and the holding operation can be smoothly shifted to the box making / housing operation.

  The article holding hand 62 will be described with reference to FIG. 9A is a schematic front view of the article holding hand 62, FIG. 9B is a top view of the lower limit stopper 655, and FIG. 9C is a cross-sectional view of the suction portion 637. Note that the third folding guide 51 is omitted in FIG.

  The article holding hand 62 includes a suction part (holding part) 637 that sucks and holds the article XA1, a support part 651 that supports the suction part 637, a biasing mechanism (buffer mechanism) 631 of the suction part 637, There are a position adjusting means 645, a lower limit stopper (connecting portion) 655 for connecting the suction portion 637 and the side plate 671 of the support portion 651, a link mechanism 653, a third folding guide 51 (see FIGS. 9 and 10), and the like. doing.

  The buffer mechanism (buffer means) 631 allows the suction portion 637 to move in the vertical direction relative to the lower limit stopper 655. Further, the position adjusting means 645 can adjust the lower limit position of the article holding hand 62 (the suction portion 637 thereof) in the holding operation and the box making and housing operation. As shown in FIG. 9A, the support portion 651 is fixed by inserting one end (lower end portion) of the spline shaft 619 in the center. A shaft 619A that passes through the hollow center portion of the spline shaft 619 protrudes below the support portion 651, and a link mechanism 653 that drives the third folding guide 51 (not shown here) is attached to the tip (lower end portion) thereof. .

  A lower limit stopper 655 that connects the side plate 671 and the suction portion 637 is attached to the support portion 651. The lower limit stopper 655 restricts arbitrary movement downward so that the position of the suction portion 637 remains at a predetermined lower limit. For example, as shown in the figure, a plurality of (two in this example) attachment portions 637 are attached to one support portion 651, but a single (one) attachment portion is attached to one support portion 651. 637 may be attached.

  The suction portion 637 (the suction nozzle 637B) is connected to an air pipe (not shown) via a rotary joint 641 and connected to suction means (not shown). A suction pad 637A is provided at the lower end of the suction nozzle 637B, and a stopper 633 is attached to the upper end. The lower limit stopper 655 is formed, for example, by bending a plate-like body into a U-shape in a side view as shown in FIGS. A part is cut out to form a U-shape. The area of the notch is larger than the diameter of the suction nozzle 637B and smaller than the size (diameter) of the stopper 633 (FIG. 5B). Accordingly, the suction nozzle 637B is movable in the vertical direction inside the tip portion 655A (the region of the notch), but the lower limit of the suction nozzle 637B and the suction pad 637A is reached by the stopper 633 coming into contact with the tip portion 655A. The movement of the position is restricted so that it does not fall below a predetermined position.

  Further, in this example, the lower limit stopper 655 is provided with a position adjusting means 645 at the upper end portion, so that the relative vertical position of the lower limit stopper 655 with respect to the support portion 651 can be adjusted. The position adjusting means 645 is, for example, a position adjusting screw, and the lower limit stopper 655 is raised or lowered relative to the support portion 651 by fastening or loosening. That is, the position adjusting means 645 can adjust the position of the tip 655A of the lower limit stopper 655, that is, the lower limit positions of the suction nozzle 637B and the suction pad 637A within a predetermined range. Accordingly, the lower limit position (lower limit position from the support portion 651) of the suction portion 637 (the suction surface of the suction pad 637A) is set in accordance with the position of the holding hole 1031 of the buffer box YA1 according to the size of the article (egg) XA1. It is possible to displace the article XA1 in the holding hole 1031 of the buffer box YA1.

  The position adjusting means 645 is not limited to the position adjusting screw as long as the position of the lower limit stopper 655 can be adjusted in the vertical direction.

  Further, as shown in FIG. 5C, the suction portion 637 is urged downward, for example, by an urging mechanism (buffer mechanism) 631. Specifically, the urging mechanism 631 is fixed to the support member 647 by a nut 629 or the like. The support member 647 is fixed to the side plate 671 of the support portion 651 so that the relative position with respect to the lower limit stopper 655 does not change. An urging means (for example, a coil spring) 635 is built in the housing 631A of the urging mechanism 631, and a suction nozzle 637B is inserted so as to be movable up and down. Further, an internal stopper 639 is fixed at a predetermined position of the suction nozzle 637B (a predetermined position inside the housing 631A). The internal stopper 639 is configured to stop at the lower end portion in the housing 631A and not to be exposed to the outside. The lower end portion of the urging means 635 is connected to the internal stopper 639 to urge it downward, for example. .

  As a result, as shown in the left diagram of FIG. 5C, when the stopper 633 at the upper end of the suction nozzle 637B is in contact with the tip 655A of the lower limit stopper 655, the internal stopper 639 is moved downward by the biasing mechanism 631. The suction unit 637 (suction pad 637A) is in the lowest lowered position (lower limit position).

  On the other hand, when the article XA1 is taken out from the bucket 601 of the transfer means 60 or when the article XA1 is accommodated in the buffer box YA1, if an unexpected load is applied to the article XA1, C) As shown in the right figure, the urging means 635 contracts, and the suction portion 637 can be raised relative to the lower limit stopper 655. Thereby, the load (pressing force) can be absorbed to some extent.

  Further, the article holding hand 62 includes a guide portion (third folding guide) 51 that abuts the article XA1 during the holding operation and assists in raising the buffer box YA1 during the box making and storing operation.

  The third folding guide 51 will be described with reference to FIG. FIG. 10A is, for example, a front view of the article holding hand 62, and FIG. 10B is a side view of FIG.

  As shown in FIG. 10A, the link mechanism 653 has a drive shaft 643 inserted through one end. In FIG. 9A, the suction portion 637, the urging mechanism (buffer mechanism) 631, the position adjusting means 645, and the lower limit stopper 655 are not shown.

  Two third folding guides 51 are attached to one support portion 651, and are arranged so as to face each other with a link mechanism 653 (and two suction portions 637 not shown here) interposed therebetween. All the third folding guides 51 have the same configuration, and have two guide pieces 51A that can be opened and closed.

  More specifically, as shown in FIG. 10A, two third folding guides 51 are arranged side by side in one direction (left and right in FIG. 10A) in one support portion 651, and each third The guide piece 51A of the folding guide 51 can be opened and closed so that the tip thereof approaches and separates along a direction perpendicular to one direction (left-right direction in FIG. 10B) as shown in FIG. It has become.

  Specifically, the third folding guide 51 of the article holding hand 62 operates the link mechanism 653 of the article holding hand 62 by advancing and retracting a shaft 619A penetrating the spline shaft 619 by a cylinder 615 (see FIG. 7). Then, it opens and closes along the left and right direction in FIG.

  When the suction portion 637 sucks the article XA1 on the bucket 601 of the servo loop conveyor 60, the guide piece 51A is opened so that the tips of the guide pieces 51A are separated from each other as shown by a broken line in FIG. After adsorbing, it is closed so that the tips of each other are close as shown by the solid line in FIG. And in the state which hold | maintained the article | item XA1 and closed the guide piece 51A, the said guide piece 51A is comprised so that it may contact | abut or adjoins the side surface of the article | item XA1. That is, the third folding guide 51 also serves as a support unit that suppresses shaking during conveyance of the article XA1 held by the suction unit 637 and dropping caused by the swing.

  As shown in FIG. 10B, the tip (claw portion 51B) of the third folding guide 51 (guide piece 51A) slightly protrudes from the lower end of the article XA1 with the third folding guide 51 closed. Is set to Further, as shown in FIGS. 11A and 11B, the positions of the claw portions 51B in a state where the third fold guide 51 is closed coincide with each other on the crease line b or the crease line c. Is set.

  Thus, when the side plate 105 is opened while the article holding hand 62 pushes in the buffer box YA1, the claw portion 51B of the third fold guide 51 becomes a fold line that becomes the boundary between the holding plate 103 of the buffer box YA1 and the inner bottom plate 102B. The line b and the crease line c come into contact with the inner surface 101B, and the crease line b and the crease line c are pushed downward (FIGS. 11A and 11B).

  In addition, a fourth folding guide 52 (upper end portion of the cylindrical portion 55) provided perpendicular to the transport surface (the bottom plate 102 of the buffer box YA1) contacts the side plate 105 (and the side auxiliary plate 104) from the outside. The side plate 105 is erected substantially vertically with respect to the bottom plate 102 by being in contact with and guided by the cylindrical portion 55, and accordingly, the holding plate 103 is also erected substantially perpendicular to the bottom plate 102. Become.

  In the buffer box YA1 of this embodiment, in order to create the buffer portion 108, the side portion to be raised at the time of raising is not the single side plate 105 but the side plate 105 and the holding plate 103 sandwiching the space (gap). It has a heavy structure. The holding plate 103 is erected on the inner side (fold lines b and c) in the first direction BD of the box with respect to one bottom plate 102, and the side plate 105 is erected on the outer side (fold lines f and g). It has a structure.

  That is, the side plate 105 and the holding plate 103 must be erected in one step in the hoisting unit 5 while having different crease lines.

  For example, the holding plate 103 can be erected only by pushing in the crease lines b and c in the hoisting unit 5, and the side plate 105 can be erected in conjunction (as if pulled). However, it is difficult to reliably stand up to the side plate 105 in which the crease lines f and g do not have creases only by pressing the crease lines b and c.

  Further, the holding plate 103 is provided with a hole (holding hole) 1031, and thus the strength (waist) of the holding plate 103 is lowered.

  In particular, when there is variation in the size or shape of the article (egg) XA1 (when the shape or size of the egg does not match the holding hole 1031), an excessive pressing force is applied to the holding plate 103 having a low strength. Thus, if the side plate 105 is erected only by pushing in the crease lines b and c, there is a problem that the holding plate 103 is bent so as to protrude outward.

  In the present embodiment, prior to the hoisting (main folding) by the hoisting unit 5, the temporary folding unit 4 can not contact when the hoisting unit 5 is opened (the third folding guide 51 cannot make contact). Temporary folding is performed to crease the crease lines f and g.

  Even if the third fold guide 51 is in contact with only the crease lines b and c in the hoisting unit 5 by attaching creases to the crease lines f and g by the temporary fold unit 4, ( The fold lines f and g that cannot be contacted by the third fold guide 51 can also be easily folded by the action of the fourth fold guide 52, and bending of the holding plate 103 due to excessive pressing force applied to the holding plate 103 is avoided. can do.

  According to the present embodiment, the lower limit position of the suction portion 637 (the suction surface of the suction pad 637A) can be changed (adjusted) by the lower limit stopper 655. Therefore, even when the shape or size of the article (egg) XA1 is changed, the lower limit position of the suction portion 637 is appropriately changed so that the article XA1 is accommodated in a position that fits the holding hole 1031 of the buffer box YA1 ( Adjustment).

  Adjustment of the lower limit position of the suction portion 637 will be described with reference to FIGS.

  The position of the holding hole 1031 of the holding plate 103 of the buffer box YA1 is a certain fixed position common to all boxes. Alternatively, even if a plurality of types of buffer boxes YA1 having different positions of the holding holes 1031 corresponding to variations in the shape and size of the article (egg) YA1 are prepared, they are roughly classified into, for example, 2 to 4 types.

  In any case, the holding hole 1031 is provided so that the center thereof coincides with the center in the height (third direction BH) direction of the buffer box YA1. And the adsorption | suction part 637 assumes that the article | item XA1 is a predetermined | prescribed shape and size (For example, the shape and size shown by "M" shown in FIG.11 (C) for convenience of explanation), and the adsorption | suction surface is a lower limit position. In the case of PL (indicated by a one-dot chain line), it is set so that the article XA1 fits the holding hole 1031 (so that the center of the article XA1 matches the center of the holding hole 1031) (see FIG. 11C). ).

  In such a situation, when an article XA1 (for example, the article XA1 having the shape and size shown by “L” in FIG. 11D for convenience of explanation) different from the assumed shape and size is held, it is conventionally adsorbed. Since the lower limit position PL of the part 637 could not be adjusted, there was a problem that even if the suction part 637 was moved to the lower limit position PL, the center position of the article XA1 and the center position of the holding hole 1031 were not aligned.

  The egg that is the article XA1 has a large variation in shape and size depending on the season and day. For example, as shown in FIG. 11D, if the article XA1 is larger than expected (FIG. 11C), the adsorbing portion 637 is used. In the lower limit position PL, the center of the article XA1 is below the center of the holding hole 1031 and the positions of the holding hole 1031 and the article XA1 are not matched. For example, in FIG. 4D, the lower end portion of the holding hole 1031 is in contact with the article XA1, and when the article holding hand 62 is forcibly pushed down in this state, the article XA1 is pressed against the weak holding plate 103. Due to the contact and pressing force, there is a problem that the holding plate 103 is bent.

  However, in this embodiment, since the lower limit position of the suction portion 637 (the suction surface of the suction pad 637A) can be adjusted by the lower limit stopper 655, the holding hole 1031 can be easily obtained even when the shape or size of the article XA1 changes. It can be adjusted to a position that fits.

  For example, when the article XA1 is larger than the size assumed in the holding hole 1031, the lower limit position PL of the suction portion 637 (the suction surface of the suction pad 637A) is moved upward (third direction BH, transported) as shown in FIG. By changing in the height direction H), the center position of the article XA1 and the center position of the holding hole 1031 can be matched.

  That is, the lower limit position of the suction portion 637 (the suction surface of the suction pad 637A) in accordance with the position of the holding hole 1031 of the buffer box YA1 so that the article XA1 can be fitted into the holding hole 1031 of the buffer box YA1. The lower limit position from the support portion 651 can be displaced.

  Thereby, even if it raises while pushing in buffer box YA1 with the article | item holding | maintenance hand 62, bending of the holding | maintenance board 103 can be prevented.

  Although illustration is omitted, in the case of an article XA1 smaller than expected, when the article XA1 is taken out from the bucket 601 of the transfer means 60 by the accommodating robot 6, it contacts the article XA1 even if the suction portion 637 is lowered to the lower limit position. There is a problem that it cannot be performed and it becomes difficult to take out. Even in such a case, the lower limit stopper 62 of the present embodiment can adjust the lower limit position, so that the article XA1 accommodated in the bucket 601 of the transfer means 60 can be reliably held and taken out.

  FIG. 12 is a diagram illustrating another example of the first folding guide 41. FIG. 4A is another example of the temporary folding unit 4, and FIG. 4B is another example of the hoisting unit 5.

  The first folding guide 41 may be a suction unit that sucks the vicinity of the boundary between the side plate 105 and the outer bottom plate 102A from the outer surface 101A of the buffer box YA1. In this case, the buffer box YA1 has a position where the fold line g and the fold line f cannot be visually recognized from the holding hole 1031 of the deployed buffer box YA1 (the first fold guide 41 is the fold line g and the fold line g of the deployed buffer box YA1). It may be formed on the crease line f at a position where it cannot abut via the holding hole 1031), or may be a buffer box YA1 in which the holding hole 1031 is not provided.

  As shown in FIG. 5A, when the suction unit is adopted as the first folding guide 41 in the temporary folding unit 4, the first folding guide 41 rises from below the first conveying unit 10A (rail 15), For example, the outer bottom plate 102A near the crease lines f and g is sucked and held. And by descending in the adsorbed state, the crease lines f and g can be creased (temporarily folded). Further, it is more preferable that the second folding guide 42 is raised in synchronization with the suction of the first folding guide 41.

  Further, as shown in FIG. 5B, in the hoisting unit 5, in addition to the third fold guide 51 and the fourth fold guide 52, a first fold guide 41 of suction means may be adopted. In this case, the third fold guide 51 provided on the article holding hand 62 in the hoisting unit 5 pushes the fold lines b and c of the buffer box YA1 from the inner surface 101B of the buffer box YA1 in accordance with the first timing from below. The folding guide 41 is lifted to suck and hold, for example, the outer bottom plate 102A in the vicinity of the fold lines g and f, and the first folding guide 41 sucks in accordance with the pressing by the third folding guide 51 (the article holding hand 62). While moving down.

  That is, when the article XA1 is stored in the buffer box by the article holding hand 62, the first fold guide 41 may be used to guide the fold lines e and f when the box is opened (main folding of the fold lines b and c). .

  Furthermore, in the above embodiment, the example in which the provisional folding unit 4 is provided has been described. However, the provisional folding unit 4 is omitted, and the first folding guide 41 of the suction unit shown in FIG. May be provided. Even when the temporary folding unit 4 is omitted, the third folding guide 51 and the fourth folding guide 52 abut on the vicinity of the boundary between the bottom surface plate 102 and the side surface plate 105 when the side surface plate 105 stands up, thereby bending the side surface plate 105. Therefore, when the article (egg) XA1 is accommodated, the holding plate 103 can be avoided while being folded. In this case, the box is not limited to the buffer box YA1, and may be a box without the holding plate 103. In this case, the article XA1 may be supplied after box making.

  With reference to FIG. 13 and FIG. 14, an example of operation | movement of the accommodation robot 6 is shown. 13 and 14 are front views as seen from the front side (lower side in the figure) of FIG. For example, the receiving robot 6 has two article holding hands 62 (62A, 62B) arranged in the diameter direction of the base 61.

  13 and 14, two article holding hands 62 (62A, 62B) arranged in the front-rear direction in the front view of FIG. 1 are shown side by side for convenience of explanation.

  In the timing shown in FIG. 13A, one article holding hand 62A completes the accommodation of the article XA1 in the buffer box YA1 in the cylindrical portion 55 (releases the holding of the article XA1), and the next article XA1. Is moved to the holding position PX1 for holding the item (for example, the rising movement after the article XA1 is released), and the inside of the cylindrical portion 55 is raised. At this timing, the other article holding hand 62B takes out the article XA1 from the transfer means (servo loop conveyor) 60.

  Then, at the timing shown in FIG. 13B, one article holding hand 62A is positioned at the holding position PX1 on the transfer means (servo loop conveyor) 60 and starts to descend, and the other article holding hand 62B is in the unfolded state. The descent is started in a state where the article XA1 is held at the box making position PX2 on the buffer box YA1.

  At the timing shown in FIG. 10C, one article holding hand 62A sucks the article XA1 on the transfer means (servo loop conveyor) 60. At the same time as this, the other article holding hand 62B pushes down the bottom plate 102 of the buffer box YA1 in the unfolded state to pass the hoisting unit 5 to make a box and put the article XA1 into the holding hole 1031 in the buffer box YA1. It is inserted and the adsorption of the article XA1 is released.

  Next, at the timing shown in FIG. 14A, one article holding hand 62 </ b> A moves up and takes out the article XA <b> 1 from the transfer means (servo loop conveyor) 60. At the same time as this, another article holding hand 62B that has released the article XA1 in the buffer box YA1 rises.

  Thereafter, as shown in FIG. 5B, each of the article holding hands 62A is positioned at the box-making position PX2 on the buffer box YA1 in the unfolded state and lowered while holding the article XA1. To start. Further, the other article holding hand 62B is located at the holding position PX1 on the transfer means (servo loop conveyor) 60 and starts to descend. Thereafter, FIG. 13A to FIG. 14B are repeatedly executed.

  Note that the “holding operation” in the present embodiment refers to, for example, part or all of the operation performed by the article holding hand 62 to hold the article XA1, and the “box making and storing operation” refers to the article holding operation. This is a part or all of the operation that the hand 62 performs to make the buffer box YA1.

  The period of the “holding operation” in the present embodiment is, for example, immediately after the operation for holding the buffer box YA1 is started after the operation of the article holding hand 62 starts to hold the article XA1. The period of “box making and storing operation” means that the article holding hand 62 holds the next article XA1 after starting the operation for box making of the buffer box YA1. Part or all of a period until immediately before the operation is started.

  Specifically, for example, as shown in FIG. 13A, after an article holding hand 62A completes accommodation of the article XA1 in the buffer box YA1 (releases holding of the article XA1), the article After the holding hand 62A starts moving to the holding position PX1 for holding the next article XA1 (for example, ascending movement from the release position after releasing the article XA1 in the cylindrical portion 55), FIG. As shown in FIG. 13 (C) to FIG. 14 (A), the article XA is adsorbed and held at the holding position PX1 on the transfer means (servo loop conveyor) 60 shown in FIG. 14 (B). The period until the position immediately before the box making position PX2 is the “holding operation” period. Further, as shown in FIG. 13 (B), after an article holding hand 62B is positioned at the box making position PX2 on the buffer box YA1 in the unfolded state, it starts to descend as shown in FIG. 13 (C). The period until the container and the article XA1 are completely accommodated (the holding of the article XA1 is released) and is moved up to immediately before the movement to the holding position PX1 for holding the next article XA1 is “box making accommodation operation”. It is a period.

  Note that the periods of the “holding operation” and the “box making and storing operation” are examples, and the “holding operation” period is a part of the operation of the article holding hand 62A shown in FIGS. 13 (A) to 14 (B). The period of “box making accommodation operation” may be a part of the operation of the article holding hand 62B shown in FIGS. 13 (A) to 14 (B).

  In the above example, the example in which the lifting and lowering operations of the two article holding hands 62 are performed at the same time has been described. However, the holding operation by one article holding hand 62 and the box making and storing operation by another article holding hand 62 Are configured to be executed in parallel in at least a part of the period, the raising and lowering operations of the two article holding hands 62 may not operate substantially simultaneously. However, it is preferable that the timing is set so that the holding operation by one article holding hand 62 and the box making and storing operation by another article holding hand 62 can be continuously operated without waiting for the end of each other operation. is there.

  As described above, the storage robot 6 of the present embodiment is a so-called rotary supply device including a plurality of article holding hands 62 that rotate intermittently in a horizontal plane and can be vertically moved. The holding operation by one of the article holding hands 62 and the box making and storing operation by the other article holding hands 62 are executed in parallel in at least a part of the period.

  Therefore, working efficiency can be greatly improved as compared with the case where box making and housing is performed by a single-arm robot.

  Moreover, since the box making / boxing work efficiency can be improved by the work of the plurality of article holding hands 62, it is not necessary to operate the article holding hand 62 (elevating and rotating operations) faster than necessary. For this reason, it is possible to avoid an increase in inertia force or moment of inertia (inertia) of the article holding hand 62, prevent the article XA1 from being dropped during conveyance, and the like can be stably and reliably boxed.

  In addition, the box-holding (lifting) of the buffer box YA1 and the housing of the article XA1 in the buffer box YA1 are completed by a single pressing operation of the article holding hand 62. For this reason, compared with the case where a box (container) is assembled by an apparatus different from the apparatus that packs the article XA1, the size of the entire apparatus from the assembly of the container to the boxing of goods into the container is reduced. The operation can be performed simply and efficiently.

  Further, in comparison with the configuration in which the rotation mechanism and the lifting mechanism of the accommodating robot 6 are separated (see Patent Document 2 described above), complicated control and mechanism such as alignment and timing of both are not required. Accordingly, the article holding hand XA1 can be rotated and moved immediately after performing the lifting / lowering operation, and the holding operation can be smoothly shifted to the box making / housing operation.

  As described above, according to this embodiment, the box box YA1 in the unfolded state and the housing of the article XA1 in the box YA1 are stably and surely and efficiently performed, and space saving is realized. The box making / boxing device 30 can be provided.

<Sealing unit>
Next, the sealing unit 7 will be described with reference to FIG. FIG. 4A is a top view of the sealing unit 7, and FIGS. 4B to 5F are viewed from the upstream side at positions P2 to P4 on the conveyance path of FIG. It is a side view and the figure (G) is a side view which shows another example.

  As shown in FIG. 6, the buffer box YA1 passing through the cylindrical portion 55 of the hoisting unit 5 and being lowered and discharged in a three-dimensional state is transported on the second transport means 10B and sealed. It reaches the upstream end of the unit 7.

  The adhesive is applied to each of the side auxiliary plates 104 of the buffer box YA1 by the application unit 16 (see FIG. 1A) disposed between the temporary folding unit 4 and the hoisting unit 5.

  As shown in FIG. 15A, the sealing unit 7 includes a third transport unit 10 </ b> C, a coating unit 8, and a pressing unit 9. The buffer box YA1 is transported by the third transport unit 10C (bucket conveyor) such that the second direction BW of the box coincides with the transport direction L in the third transport unit 10C.

  First, an appearance inspection is performed by the sensor S at a position P1 at the upstream end of the sealing unit 7. In the appearance inspection, a boxing failure or the like of the buffer box YA1 is checked, and the defective buffer box YA1 is carried out of the conveyance path. At this time, the state (the degree of inclination with respect to the bottom surface plate 102) of the adhesive margin plate 106 connecting the side surface plate 105 and the holding plate 103 is also confirmed.

  In the present embodiment, the bending of the holding plate 103 is suppressed in the box making process described above. However, if the holding plate 103 is bent, the adhesive plate constituting the top surface of the buffer portion 108 having a hollow structure. 106 may be inclined with respect to the bottom plate 102, and sealing may not be performed satisfactorily. Further, when the external appearance of the buffer box YA1 is deformed, there may be a problem such as being caught on the transport system path.

  Therefore, the state of the buffer box YA1 is detected at the position P1, and if a defect has occurred, it is discharged out of the transport path, and only the normal buffer box YA1 is transported to the coating unit 8. For example, the sensors S are arranged in three rows in the transport width direction W so that detection from multiple directions is possible.

  As shown in FIGS. 6A and 6B, the adhesive is applied by the application unit 8 at the position P2. The coating unit 8 has a nozzle 8A, and sprays and applies an adhesive (for example, hot-melt adhesive) to the paste margin plate 106 of the buffer box YA1 at the position P2.

  Thereafter, the lid face plate 107 is folded from the crease line h by the closing means 17 provided on the side of the third conveying means 10C so as to be able to advance and retreat with respect to the third conveying means 10C, and the buffer box YA1 is closed. Covered. A part of the lid plate 107 is in close contact with the adhesive margin plate 106.

  As shown in FIGS. 6A and 6C, the pressing means 9 provided downstream of the coating unit 8 conveys the buffer box YA1 (during movement) and covers the cover plate 107. Is a pressing unit (or pressing device) that presses a part of the cover plate 106 and securely adheres it to the adhesive margin plate 106. The rollers 91A and 91B press the part of the lid face plate 107 from above, the pressing means 92, and the pressing means. 92 driving means (not shown) and the like.

  As shown in FIGS. 2A and 2C, a pressing means 92 is provided at the upstream end of the pressing unit 9. The pressing unit 92 is provided separately from the rollers 91A and 91B, for example, and is configured to be able to advance and retreat with respect to the buffer box YA1 (in the conveyance direction L). Specifically, the pressing unit 92 advances toward the upstream as soon as the lid surface plate 107 is closed (at a position P3 upstream of the rollers 91A and 91B), and presses the downstream end of the lid surface plate 107. In synchronism with the conveyance of the buffer box YA1, the roller 91 moves backward. Since the hot melt adhesive cannot be re-adhered and is difficult to bond instantaneously, a certain amount of pressing force or a time lapse in a closely contacted state is required. In this embodiment, an adhesive is applied to the adhesive margin plate 106 by the application unit 8 and the lid is closed. Immediately thereafter, the adhesive is applied by the application unit according to the repulsive force of the buffer box YA1 or the result of the appearance inspection. If it does not exist, the lid may be opened, and if that happens, the next rollers 91A and 91B may be caught.

  Therefore, immediately after the adhesive sheet 106 is coated with an adhesive and the lid is closed, until the rollers 91A and 91B come into contact with a part of the lid surface plate 107, the lid surface plate 107 is pressed by the pressing means 92 to open the lid. Pulling down the rollers 91A and 91B while avoiding.

  Thereafter, as shown in FIGS. 9A, 9D, and 9E, the cover plate 107 on the adhesive margin plate 106 is pressed by the rollers 91 (91A, 91B). In this example, the rollers 91 </ b> A and 91 </ b> B are a group of rollers arranged to face each other in the first direction BD of the buffer box YA <b> 1 corresponding to the front glue margin plate 106 </ b> A and the rear glue margin plate 106 </ b> B. In the present embodiment (at least in the pressing unit 9), the buffer box YA1 is transported so that the second direction BW is along the transport width direction W, and the rollers 91A and 91B are the front glue plate 106A and the rear glue plate. It can be said that it is a group of rollers arranged to face each other in the conveyance width direction W in correspondence with the substitute plate 106B.

  Further, the rollers 91A and 91B correspond to the front paste margin plate 106A and the rear paste margin plate 106B having a rectangular (rectangular shape) surface whose length in the first direction BD is shorter than the length in the second direction BW. In addition, it is configured to be long along the transport direction L (at least longer than the length of the buffer box YA1 in the second direction BW). In this example, the buffer box YA1 that can accommodate two articles XA1 in one box is shown, but the same applies to the buffer box YA1 that can accommodate one article XA1 in one box.

  As an example, each row of rollers (roller groups) 91A and 91B is composed of a plurality of rollers 91AA and 91BB. Each of the plurality of rollers 91AA and 91BB is attached to a support body 93 extending in the transport direction L, and a rotation shaft 94 having a central axis extending in the transport width direction W is attached, and is arranged adjacent to each other in the radial direction in each row.

  The time until the applied adhesive is solidified is determined by the length of the buffer box YA1 in the transport direction and the processing capacity. Therefore, the length of the rollers (rollers) 91A and 91B in the transport direction L is determined by the adhesive. The length is set such that a sufficient time can be secured for solidification.

  With this configuration, in the present embodiment, the upper portion of the adhesive margin plate 106 is moved through the cover plate 107 with the roller (roller group) 91 </ b> A while moving the buffer box YA <b> 1 along the conveyance direction L (without stopping). , 91B, and a part of the lid plate 107 can be bonded to the glue plate 106.

  The positions of the rollers 91 </ b> A and 91 </ b> B are set so that the rollers 91 </ b> A and 91 </ b> B can be efficiently pressed (only) on the adhesive sheet 106. Specifically, as shown in enlarged view (E) in the same figure, in the transport height direction H, the position of the pressing surface of the outer peripheral surface of the rollers 91A, 91B (the height from the transport surface of the third transport means 10C). H1) is set at a position slightly lower than the height H2 of the buffer box YA1 in the third direction BH (for example, 1 mm to 5 mm, preferably 2 mm to 3 mm lower). That is, the buffer box YA1 is configured to be slightly pressed downward (in the conveyance surface direction) by the rollers 91A and 91B. Accordingly, the buffer box YA1 can be conveyed downstream while a part of the cover plate 107 is brought into contact with and pressed on the adhesive margin plate 106. In addition, since the position (height H1) of the pressing surface is related to the pressing force, the buffer box YA1 is not deformed, and the lid surface plate 107 can be sufficiently pressed onto the adhesive margin plate 106, and the buffer box YA1 can be smoothly moved. The height H1 that can be conveyed downstream is appropriately selected.

  In addition, the pressing surfaces of the rollers 91A and 91B (each of the rollers 91AA and 91BB) in the transport width direction W are narrower than the length in the first direction BD of the buffer box YA1 (the lid surface plate 107), and the first surface of the lid surface plate 107. It is set so as to press the area inside the both ends (fold lines e, h) in the direction BD. Specifically, both of the pressing surfaces of the rollers 91A and 91B (respective rollers 91AA and 91BB) on the support 93 side (outside) are both ends (fold lines e and h) in the first direction BD of the buffer box YA1. ) Slightly inside (for example, 1 mm to 5 mm, preferably 2 mm to 3 mm inside). In addition, although the position of the inner side edge part of the pressing surface of each roller 91AA, 91BB is arbitrary, it is slightly outside from the inner side edge (crease line a, d) of the glue margin board 106 (glue margin board 106 center side, for example, It is preferable to set the position within 1 mm to 5 mm (preferably 2 mm to 3 mm outside) because the pressing force applied to the adhesive margin plate 106 can be concentrated.

  The rollers 91A and 91B are configured such that their positions can be adjusted in the transport width direction W according to the size of the buffer box YA1.

  As described above, in order to bond the hot melt adhesive well, it is necessary to increase the pressing force or take time, but there is a limit to increasing the pressing force without impairing the appearance. Conventionally, in the sealing process, the buffer box YA1 coated with the adhesive is temporarily stopped, and the vicinity of the center of the lid plate 107 is pressed and bonded by a single pressing means. However, in this case, the processing capability cannot be improved, and the pressing force of the pressing means does not reach the entire area of the adhesive margin plate 106 at the end where bonding is required, which may result in insufficient bonding. In particular, when the adhesive margin plate 106 is inclined, the single pressing means cannot press down to a position lower than the height H2 of the side plate 105, and thus there is a possibility that the bonding becomes insufficient.

  Further, as described above, when the holding plate 103 of the buffer box YA1 is bent and the adhesive margin plate 106 is inclined with respect to the bottom plate 102, a single pressing is performed around the center of the lid surface plate 107. In the method of pressing by means, there is a problem that adhesion failure increases.

  In the present embodiment, the longitudinal direction (second direction BW) of the rectangular paste margin plate 106 is matched with the transport direction L, and the buffer box YA1 is pressed while being transported downstream by the rollers 91A, 91. Even with a hot-melt adhesive material that takes time required for bonding, it is possible to perform reliable bonding over a sufficient time while using the time during conveyance. In addition, it is possible to efficiently apply the pressure on the glue margin plate 106 to be bonded without dispersing the pressing force of the rollers 91A and 91B. Therefore, it is possible to minimize the risk of occurrence of poor appearance (deformation, scratches, etc.) of the buffer box YA1 due to pressing up to a place where bonding is unnecessary, and the bonding can be performed efficiently.

  Furthermore, by configuring the rollers (roller groups) 91A and 91B with a plurality of rollers 91AA and 91BB, a slight distortion (deformation) that does not cause a defect on the cover plate 107 of the buffer box YA1, Even if an inclination or the like may occur, the individual rollers 91AA and 91BB can flexibly follow the deformation and the inclination and can be sufficiently pressed.

  Each of the rollers 91AA and 91BB is preferably made of, for example, silicon rubber. As a result, scratches on the buffer box YA1 can be prevented, and even if there are deformations and inclinations as described above, they can be absorbed (changes in shape and the like can be absorbed), and the buffer box YA1 can slip too much (pressing force). Can be prevented.

  The lengths (pressing time) and pressing forces (height H1 from the conveying surface) of the rollers 91A and 91B are the type of adhesive applied to the glue plate 106, the time required for bonding, the material of the buffer box YA1, etc. It is appropriately selected depending on.

  Moreover, although said roller 91A, 91B was the aggregate | assembly of several roller 91AA, 91BB, respectively, you may make it arrange | position two single rollers 91A, 91B long in the conveyance direction L. FIG. Even in this case, the height H1 of the pressing surfaces of the rollers 91A and 91B is slightly lower than the height H2 of the buffer box YA1 in the third direction BH, and the pressing surfaces of the rollers 91A and 91B are on the support 93 side. Both (outer) end portions are set at positions slightly inside the both end portions (fold lines h and e of the adhesive margin plate 106) in the first direction BD of the buffer box YA1.

  Moreover, you may make it press with the single roller 91 as shown to the same figure (G). Even in this case, the height H1 of the pressing surface of the roller 91 is slightly lower than the height H2 of the buffer box YA1 in the third direction BH, and the support 93 side (outside) end of the pressing surface of the roller 91 is provided. Each part is set to a position that is slightly inside the both ends of the buffer box YA1 in the first direction BD (fold lines h and e of the adhesive margin plate 106).

  In the above-described embodiment, the pressing means 92 is provided separately from the rollers 91A and 91B, and has been described as moving forward with respect to the buffer box YA1 and retreating synchronously while pressing the buffer box YA1.

  However, the present invention is not limited to this, and the pressing means 92 is configured to wait at a predetermined position after moving forward with respect to the buffer box YA1, and to move below the buffer box YA1 so as to slide to reach the rollers 91A and 91B. May be. In this case, after reaching the rollers 91 </ b> A and 91 </ b> B, the pressing unit 92 moves backward to the standby position.

  Moreover, the pressing means 92 may be a part of the rollers 91 (91A, 91B). For example, the roller 91 is configured to move along the transport direction L as a whole, or a part of the upstream side can be expanded and contracted along the transport direction L.

  Then, immediately after the adhesive is applied and the lid surface plate 107 is closed, the roller 91 advances to the position of the buffer box YA1 and pulls down below the roller 91 while pressing the upper portion of the lid surface plate 107. Also good.

  Furthermore, the rollers 91A and 91B can be tilted so that the inner side (the tip of the rotary shaft 94 on the opposite side of the support body 93) is positioned below the outer side (the support body 93 side) ( The tilt angle can be adjusted). Thus, even if the buffer box YA1 having a large degree of inclination of the adhesive margin plate 106 is transported without being defective due to the bending of the holding plate 103, the rotation shaft 94 of the rollers 91A and 91B can be The pressing surfaces of the rollers 91 </ b> A and 91 </ b> B can be brought into substantially horizontal contact with the pasting plate 106 by adjusting the tilting to match the tilt of the pasting plate 106.

  In addition, after closing by the closing means 17 without providing the holding means 92, the buffer box YA1 is moved so as to slide below the closing box 17 without returning the closing means 17 to the standby position. You may comprise so that 91B may be reached.

  Note that the box making / boxing device 30 of this embodiment is configured such that the first conveying means for conveying the article XA1, the second conveying means for conveying the unfolded box YA1, and the unfolded box YA1 are allowed to pass through. A lifting portion 5 for raising a side portion of YA1 and a plurality of article holding hands 62 that rotate intermittently in a horizontal plane and can be moved up and down in the vertical direction. The holding operation and the box making / accommodating operation of the other article holding hand 62 (box making of the box YA1 by the article holding hand 62 and the accommodating operation of the article XA1 in the box YA1) are executed in parallel in at least a part of the period. If it is the structure to be performed, it is not restricted to said example.

That is, the article XA1 may be a food other than an egg or a non-food, and the shape of the article XA1 may be a polyhedron such as a cube or a rectangular parallelepiped, a sphere, a cone, or a pyramid. Further, the article XA1 may be a container (for example, a cosmetic bag, a bottle, or a package).
The box YA1 may not be a buffer box as long as the box YA1 can be boxed (assembled) by pushing down the bottom surface portion (bottom surface plate) 102 and raising the side surface portion (side surface plate) 105. It may be a box YA1 that does not have.

  Further, in the above-described embodiment, the configuration including the coating units 8 and 16 for pasting the lid surface plate (lid body) 107 and the side auxiliary plate 104 has been described, but the configuration in which these coating units (coating devices) are not provided is also possible. Good. In this case, for example, the box YA1 is, for example, a so-called assembly carton (for example, a carton or a lock carton described in Japanese Patent Laid-Open No. 6-329149) in which the locking piece of the lid is inserted into the cut and locked in the assembled state. ).

Further, the article holding hand 62 may not have the third folding guide 51. For example, the article XA1 is hard to break and has a fixed size (when the bottom of the article XA1 and the abutting portion (the bottom shape of the box) of the unfolded box YA1 are substantially the same), the third folding guide Instead of 51, the article XA1 held by the article holding hand 62 may be pushed down on the unfolded box YA1 (bottom surface portion thereof), and the article XA1 may be packed while the box YA1 is boxed.
In addition, one article holding hand 61 may hold a plurality of articles XA1.
Further, the article holding hand 62 may be configured to hold and hold the article XA1 without adsorbing.

Further, three or more article holding hands 62 may be provided on one base 61. As an example, four article holding hands 62 are provided on one base 61, and are configured to rotate intermittently by 90 degrees. The holding operation of the article XA1 by one article holding hand 62 and other article holding The box making and storing operation of the hand 62 (box making of the box YA1 by the article holding hand 62 and the storing operation of the article XA1 in the box YA1) may be performed in parallel during at least a part of the period.
As described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, the outer shape of the article XA1 may be a sphere, a cylinder, a rectangular parallelepiped, or the like, and the article XA1 is not limited to food but may be non-food.

  In addition, the buffer box YA1 is not limited to the configuration in which the two articles (eggs) XA1 are accommodated, and the buffer box YA1 may accommodate the one article (eggs) XA1. In this case, the storage means 6 is provided with four article holding hands 62, and the supply means 2 of the buffer box YA1 is arranged in two places, so that the single storage means 6 makes the box in two places. Also good.

  Further, the buffer box YA1 may accommodate a plurality of articles XA1 along the transport width direction W.

  Further, the rollers 91 (91A, 91B) are not limited to being arranged in a straight line, but may be arranged in a staggered manner. In this case, for example, the roller 91A is spaced apart by a plurality of blocks along the transport direction L, the roller 91B is spaced apart by a plurality of blocks along the transport direction L, and each block of the roller 91A and the roller 91B is disposed. You may arrange | position in zigzag form. Moreover, the structure which arrange | positions each roller 91AA which comprises the roller 91A in zigzag form, and arrange | positions individual roller 91BB which comprises the roller 91B in zigzag form may be sufficient.

  Further, the transfer means 60 is not limited to the servo loop conveyor but may be a bucket conveyor.

  The accommodating means 6 is not limited to a rotary robot, and may be a robot that reciprocates a plurality of article holding hands 62 or a robot that can arbitrarily move the article holding hands 62 about three axes.

  The sealing unit 7 (box filling device 1) of the present invention is not limited to the case of sealing the buffer box YA1, and can also be applied to the case of sealing a box not provided with the holding plate 103 for holding the article XA1. . For example, in the case of a box having a lid and an inner flap provided along the transport direction, the lid and the inner flap are securely bonded over a sufficient time while using the time during transport. be able to. This is particularly effective when the article is small with respect to the box and has a space above the article and cannot be sealed by pressing the lid against the article.

1 Boxing device 2 Supply means (hopper)
3 Box making means (box making unit)
5 Mailing means (boxing unit)
6 Containment means (containment robot)
7 Sealing means (sealing unit)
8 Coating unit 8A Nozzle 9 Pressing means (pressing unit)
10 conveying means 10A conveying means 10B conveying means 10C conveying means 11 sprocket 12 endless chain 13 pushing finger 15 rail 21 stocker 22 buffer paper box holding hand 41 first folding guide 42 second folding guide 42A side surface 42B inclined surface 42C auxiliary side surface 51 third Folding guide 51A Guide piece 51B Claw part 52 Fourth folding guide 55 Cylindrical part 60 Transfer means 61 Base 62 Article holding hands 91, 91A, 91B, 91AA, 91BB Roller 101 Main body 101A Outer side surface 101B Inner side surface 102A Outer bottom plate 102B Inside Bottom plate 103 Holding plate 103A Front holding plate 103B Rear holding plate 104 Side auxiliary plate 105A Front side plate 105B Rear side plate 106 Glue margin plate 106A Front glue margin plate 106B Rear glue margin plate 107 Cover plate 108 Buffer section 108A , Front shock absorber 108B Rear shock absorber 603 Main shaft 605 Bracket 607 Shaft 609 Lever 611 Engaging member 613 Cam follower 615 Cylinder 617 Mounting plate 619 Spline shaft 621 Gear 623 Gear 625 Gear 627 Gear 629 Nut 631 Energizing mechanism 631A Housing 633 Stopper 635 Biasing means 637 Suction part 637A Suction pad 637B Suction nozzle 639 Internal stopper 641 Rotary joint 643 Drive shaft 645 Position adjustment means 647 Support material 651 Support part 653 Link mechanism 655 Lower limit stopper 655A Tip part 661 Drive pulley 663 Pulley for article holding hand 665 Tension pulley BD First direction BW Second direction BH Third direction XA1 Article YA1 Buffer box

Claims (5)

First conveying means for conveying an article;
A second transport means for transporting the unfolded box;
A raising portion for standing the side portion of the box by passing the unfolded box;
A plurality of article holding hands that rotate intermittently in a horizontal plane and can be moved up and down in the vertical direction,
Each of the article holding hands is
Holding operation for holding the article conveyed by the first conveying means;
The box in the unfolded state conveyed by the second conveying means is pushed down in the raising portion to make a box, and a box making and storing operation for storing the article in the box can be performed.
The holding operation by one article holding hand and the box making and storing operation by another article holding hand are executed in parallel in at least a part of the period.
Box making and boxing equipment. An elevating mechanism for elevating the article holding hand;
A rotation mechanism for rotating and moving the article holding hand,
The elevating mechanism rotates integrally with the rotating mechanism;
The box making / boxing device according to claim 1. A position adjusting means capable of adjusting at least a lower limit position of the article holding hand in the holding operation;
3. The box making / boxing device according to claim 1 or 2, The article holding hand is
A holding unit for holding the article;
A support part;
A connecting part for connecting the holding part and the support part;
Buffering means for allowing the holding part to move in the vertical direction relative to the connecting part,
The box making / boxing device according to any one of claims 1 to 3. The article holding hand is
In contact with the article during the holding operation, provided with a guide portion that assists in the box opening during the box making and storing operation,
The box making / boxing device according to any one of claims 1 to 4, wherein

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