JP2019064592A - Box filling device and box filling method - Google Patents

Abstract

To provide a box filling device and a box filling method, which enables streamlined box filling work (decreased cycle time), facilitated cleaning and footprint downsizing.SOLUTION: A box filling device 1 has a pair of robot arms 5A and 5B which have hands 7 and 8 respectively. One robot arm 5A unfolds a folded box YA1 to form at least a bottom face 83, and supports the bottom face 83, while the other robot arm 5B supplies an article XA1 into the box YA1 held by the robot arm 5A.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a boxing apparatus and a boxing method for storing articles in a box by a robot hand.

  Conventionally, as a boxing device for storing articles in a box or the like by a robot hand, one box holds a raised box, and the other hand holds articles in a box held by the one hand. Devices (for example, patent document 1) for storing in a box, and devices for holding and storing an article with a robot hand in a box which has been loaded by a transfer means (for example, for example, patent document 2) Are known.

Patent No. 5351946 gazette Patent No. 6111318

  However, in any of the above-described conventional techniques, since the step of assembling the box and the step of housing the articles are separated, for example, even if each operation speed is improved, the number of times of box delivery can not be reduced. There has been a limit to the improvement of the efficiency (cycle time) of the entire boxing operation.

  Further, all of the above-described conventional techniques require a mounting table on which a box assembled by the hand of a robot is placed, or a transport means by which a box assembled separately is transported. Since the mounting table and the transport means are installed on the floor surface, the cleaning means may come into contact when cleaning the floor surface, or an area where the cleaning is insufficient may occur, and the cleaning property (cleaning efficiency or cleaning State of) there was a bad problem.

  Furthermore, the floor area for installing the transport means for the mounting table and the box is essential, and there is also a problem that the occupied area of the entire box packing apparatus can not be reduced.

  The present invention has been made in view of the above problems, and realizes the efficiency of box packing operation (shortening of cycle time) in the box packing device, and the improvement of the cleaning performance and the space saving of the box packing device. Is intended to provide a possible boxing apparatus and boxing method.

  The present invention relates to a box packing apparatus having a pair of robot arms each provided with a hand, wherein one robot arm unfolds a box in a folded state to form a bottom and supports the bottom, and the other robot The arm is a boxing apparatus characterized in that an article is supplied into the box held by the one robot arm.

  Further, the present invention is a packing method in which articles are accommodated in a box by a pair of robot arms provided with a hand for each, and one robot arm unfolds a box in a folded state to form a bottom to form the bottom , And the other robot arm supplies the articles into the box.

  According to the present invention, a boxing apparatus and a boxing method capable of improving the cleaning performance and saving the space of the boxing apparatus while realizing the efficiency of the boxing operation in the boxing apparatus (shortening of cycle time) Can be provided.

It is a top view of the box packing apparatus in the embodiment of the present invention. It is a front view of the box packing apparatus in embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the box in embodiment of this invention, (A) The top view of the folded state, (B) The general appearance perspective view in the middle of an assembly, (C) It is an appearance perspective view after sealing box. It is a figure which shows an example of the hand in embodiment of this invention, (A) Top view, (B) Side view, (C) Side view, (D)-(E) front view. It is a front view which shows operation | movement of the box packing apparatus in embodiment of this invention. It is a perspective view which shows operation | movement of the box packing apparatus in embodiment of this invention. It is a perspective view which shows operation | movement of the box packing apparatus in embodiment of this invention. It is a front view which shows operation | movement of the box packing apparatus in embodiment of this invention. It is a front view which shows operation | movement of the box packing apparatus in embodiment of this invention. It is a front view which shows operation | movement of the box packing apparatus in embodiment of this invention.

  Hereinafter, with reference to the drawings, a boxing apparatus 1 according to an embodiment of the present invention will be described in detail. In the drawings and the subsequent drawings, a part of the configuration is appropriately omitted to simplify the drawings. And in this figure and each subsequent figure, the size, shape, thickness, etc. of a member are exaggerated and expressed suitably.

<Overall configuration>
The structure of the box packing apparatus 1 of this embodiment is demonstrated using FIGS. 1-4. FIG. 1 is a schematic front view showing the entire boxing apparatus 1, and FIG. 2 is a schematic front view showing the entire boxing apparatus 1. As shown in FIG. FIG. 3 is a view for explaining the box YA1 used in the box packing apparatus 1 of the present embodiment, and is a plan view showing the box YA1 in a folded state (state before assembly) in FIG. ) Is an external appearance perspective view showing a state in which a part is raised, and FIG. 7 (C) is an external appearance perspective view showing a state after sealing. Moreover, FIG. 4 is a figure which extracts and shows a part of box packing apparatus 1. As shown in FIG.

  In addition, as a definition of various directions in the box packing apparatus 1 for convenience of explanation, a first direction in which the box YA1 is a direction from the upstream toward the downstream (left and right direction in FIG. 2) The second direction which is the transport width direction W, and the third direction which is the height direction of the box YA1 (the transport direction T and the direction orthogonal to the transport width direction W, the vertical direction in the figure) the transport height direction Let H be.

  As shown in FIGS. 1 and 2A, the boxing apparatus 1 of the present embodiment is configured to include the robot 3 and the guide means 10.

  The robot 3 is, for example, a double-armed articulated robot, and has at least a pair of robot arms 5 (5A, 5B). The robot 3 (robot arm 5) is provided, for example, on a surface substantially perpendicular or opposite to the floor surface. Specifically, the robot 3 (robot arm 5) is provided on a wall surface, a side plate standing substantially perpendicularly to the floor surface, or a top surface.

  The pair of robot arms 5 can freely move in a three-dimensional space, respectively, and can be used for various operations by replacing the end effector provided at the tip according to the application. In this example, the robot arm 5 has hands 7 and 8 capable of holding the article XA1 as an end effector.

  The box packing apparatus 1 of this embodiment takes out the box YA1 collected in a folded state by the hand 7 of one robot arm 5 (for example, robot arm 5A) from the hopper 21 (FIG. 1), assembles and holds it. The hand 8 of the other robot arm 5 (for example, robot arm 5B) holds the article XA1 transported by the transport means (for example, belt conveyor) 20 or the like, and (the hand 7 of) one robot arm 5A holds The article XA1 is accommodated in the box YA1.

  Hereinafter, simply “holding by the robot arm 5 (5A, 5B)” means, in detail, “holding by the hands 7, 8 of the robot arm 5 (5A, 5B)”.

  The guide means 10 is, for example, a rod-like member (guide member 10) for guiding the assembly when assembling the box YA1 in a state of being folded by (the hand 7 of) the robot arm 5A.

  The box YA1 assembled by the box packing apparatus 1 of the present embodiment will be described with reference to FIG. 3.

  The box YA1 is made of, for example, paper (such as cardboard), and is assembled in a substantially rectangular parallelepiped shape or a substantially cubic shape. Here, a box YA1 which has side surfaces 81 and 82, a bottom surface 83, and an upper surface 84 which is an opposing surface of the bottom surface 83 and is assembled in a substantially rectangular parallelepiped shape will be described as an example.

  The box YA1 includes a pair of side portions 81A and 81B constituting the side 81 in the longitudinal direction, a pair of side portions 82A and 82B constituting the side 82 in the short direction, and a bottom inner flap 83A constituting the bottom 83 Bottom surface outer flaps 83C and 83D that are bent to cover the bottom inner surface flaps 83A and 83B so as to cover the bottom inner surface flaps 83A and 83B; upper surface inner flaps 84A and 84B that form the upper surface 84; and upper surface inner flaps It has the upper surface outside flap parts 84C and 84D which are bent so that it may cover from the outside of parts 84A and 84B, and constitutes upper surface 84.

  The side surfaces 81A, 82A, 81B, and 82B are continuous in this order so that the side surfaces 81A, 82A, 81B, and 82B become cylindrical, for example, an upper surface outside flap 84D and a bottom outside flap 83D are provided adjacent to the side A top inner flap 84B and a bottom inner flap 83B are provided, and a top outer flap 84C and a bottom outer flap 83C are provided adjacent to the side 81B, and a top inner flap adjacent to the side 82A. A bottom surface inner flap portion 83A is provided.

  As will be described in detail later, the box YA1 is assembled while being transported in the transport direction T by one robot arm 5 (see FIG. 2). That is, in the folded state shown in FIG. 3A, for example, the suction portions 9A and 9B come in contact with the position of the broken line circle and are taken out by one robot arm 5, and as shown in FIG. First, the side portions 81A, 81B, 82A, 82B are three-dimensionally raised. Next, the robot arm 5 is moved so that the box YA1 is appropriately brought into contact with the guide member 10 (see FIG. 2), the bottom inner flaps 83A and 83B are bent, and then the bottom outer flaps 83C and 83D are bent. Bottom surface 83 is formed.

  Then, after the article XA1 is accommodated in the box YA1, one upper surface inner flap portion (here, the upper surface inner flap portion 84A as an example) constituting the upper surface 84 is on the rear (upstream) side in the transport direction T , It is bent by one robot arm 5, and in that state, it is transferred to a downstream sealing means (not shown here).

  In the sealing means, the remaining upper surface inner flap portion 84B and the upper surface outer flap portions 84C and 84D are folded, and the upper surface outer flap portions 84C and 84D are adhered and sealed with an adhesive means (for example, a tape). A sealed box YA1 shown in (C) is obtained.

<Hand configuration>
FIG. 4 is an enlarged view of the hand 7 of the robot arm 5. The figure (A) is a top view, the figure (B) and the figure (C) are side views, and the figure (D)-the figure (E) are front views.

  The hand 7 is movable in a three-dimensional space, and its posture changes as needed. The upper surface, the side surface, and the front surface in FIG.

  As shown in the drawing, the hand 7 of one robot arm 5 (here, the robot arm 5A) includes, for example, a holding unit 9, a first pressing unit 11, and a second pressing unit 13.

  The holding means 9 takes out, for example, the box YA1 in a folded state from a hopper or the like and raises the box, and in this example, is configured to include a pair of suction portions 9A and 9B.

  As shown in FIGS. 6A to 6C, one suction unit 9A is attached to the base 71 of the hand 7, and the other suction unit 9B is, for example, a support member 9D provided on the base 71. While being rotatable relative to the base 71, the direction of the suction surface can be changed. The support member 9D is configured by, for example, a link mechanism. The suction portion 9B is rotatable around a rotation shaft 9C provided on the base 71, and the suction surface is at least substantially horizontal to the suction surface of the suction portion 9A (FIG. 6B); It is movable to a position ((C) in the figure) substantially perpendicular to the suction surface of 9A.

  The first pressing means 11 and the second pressing means 13 are configured to be movable so as to abut on part of the box YA1 at a timing later than the holding means 9. For example, the first pressing means 11 supports the bottom surface 83 (bottom outer flaps 83C and 83D) of the box YA1 from the outside when the article XA1 is stored in the box YA1, and the second pressing means 13 is a downstream sealing case When transferring the box YA1 to the means, one of the upper surface inner flaps in the rear (upstream) of the transport direction T (for example, the upper surface inner flaps 84A) is pushed in, folded and supported.

  The configurations and movement modes (modification modes of the posture) of the first holding means 11 and the second holding means 13 are the same, but the movement timings are different.

  Specifically, as shown in (D) to (E) of the drawing, the first pressing means 11 is, for example, a support member 11C rotatable around a rotation shaft 11B provided on the base 71; For example, it has a plate-like first pressing portion 11A attached thereto, is rotatable with respect to the base 71, and is configured to be able to change the direction of the first pressing portion 11A (direction of pressing surface) There is.

  Specifically, the first pressing portion 11A is rotatable with respect to the base portion 71, and at least does not interfere with taking out and raising of the box YA1 by the holding means 9 and bending of each flap portion 4D, and a holding position for supporting the bottom surface 83 (bottom outer flaps 83C and 83D) of the box YA1 from the outside (FIG. 4E, FIG. 4F), for example. And is configured to be movable. Note that the first pressing portion 11A can also be changed to the same attitude as the second pressing portion 13A shown in (D) and (E) of FIG.

  The retraction position may be any position that does not interfere with the taking out and raising of the box YA1 and the folding of the flaps and the guide means 10 etc., and the first pressing means 11 shown in FIG. Or the position of the second pressing means 13 or a position other than that shown in FIG.

  The first pressing means 11 (first pressing portion 11A) is preferably a plate-like member (or rod-like member) capable of simultaneously pressing the bottom outer flaps 83C and 83D.

  The second pressing means 13 has, for example, a support member 13C rotatable around a rotation shaft 13B provided on the base 71, and a plate-like second pressing portion 13A attached thereto, for example. In addition to being rotatable, the direction of the second pressing portion 13A (the direction of the pressing surface) can be changed.

  In detail, the second pressing portion 13A is rotatable with respect to the base portion 71, and at least as in the case of the first pressing portion 11A shown in FIG. It is configured to be movable between a retracted position where it retracts so as not to interfere with these when raising a box, and a pressing position (FIG. (E) in the figure) which pushes, for example, the upper surface inner flap portion 84A of the box YA1 and folds and supports it. It is done.

  The second pressing portion 13A is preferably a plate-like member (or a rod-like member) as shown in the figure, for example.

  The hand 8 of the other robot arm 5 (here, robot arm 5B) includes holding means 15 as shown in FIG. The holding means 15 holds, for example, the article XA1 conveyed by a separate conveying means 20 or accumulated in a stocker (not shown) or the like, and in this example, includes one or more adsorption portions 15A. It consists of

  The hand 8 accommodates the held article XA1 in a box YA1 assembled and held by the hand 7 of the robot arm 5A (FIG. 2 (B)). In this example, the hand 8 is provided with a plurality of suction portions 15A, but the number of the suction portions 15A may be one.

  Note that at least one of the holding unit 9 and the holding unit 15 is not limited to the suction unit having the suction unit, and may be a holding unit having the holding unit.

  The guide means (guide member) 10 is, for example, a plurality of rod-like or plate-like members extending in the transport direction T of the box YA1. For example, at least two are spaced apart in the transport width direction W by a predetermined distance. At least two are spaced apart in the transport direction T by a predetermined distance.

  Although details will be described later, one robot arm 5 (here, the robot arm 5A) holds the box YA1 with the side faces 81 and 82 raised, and moves the box YA1 appropriately while the bottom inner side flap portion on the guide member 10 The bottom side outer flaps 83C and 83D are brought into contact with each other and folded to form the bottom side 83. It is desirable that the guide member 10 also be attached to, for example, a wall surface.

  The respective units of the boxing device 1 are generally controlled by a control unit. The control unit comprises a CPU, a RAM, a ROM and the like, and executes various controls. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. The RAM is used as a work area of the CPU. The ROM stores a basic OS and programs executed by the CPU.

<Operation and Packing Method of Packing Equipment>
Next, with reference to FIGS. 5 to 10, the operation of the box packing apparatus 1 of the present embodiment and the box packing method will be described in time series. FIG. 5 is a front view showing the boxing apparatus 1. FIGS. 5A and 5B are front views of the entire robot 3, and FIG. 5C is a part of the hand 7 and the guide member 10. It is a front view which extracts and shows a part. 6 and 7 are perspective views for explaining the folding operation of the flap portion using the guide member 10, and FIGS. 8 to 10 are front views showing the boxing apparatus 1, both of which are necessary for explanation. Other parts may be omitted. In FIGS. 5 to 10, the hand 8 may be configured to supply (accommodate) the article XA1 directly into the box YA1 assembled by the hand 7, and the timing of its operation will be described and illustrated below. It is not limited to

  First, as shown in FIG. 5A, the boxing device 1 holds the box YA1 in a folded state (before assembly) by the hand 7 of the robot arm 5A. Specifically, the suction portions 9A, 9B of the holding means 9 of the hand 7 are moved so that their suction surfaces are substantially horizontal to each other, and for example, in an upright state, in an inclined stacked state, or in a flat stacked state The box YA1 in the folded state, which is stacked in the hopper 21 (see FIG. 1) or the like, is held by suction. At this time, for example, the adsorbing portion 9A is adsorbed to the side surface portion 82A of the box YA1 in a folded state, and the adsorbing portion 9B is adsorbed to the side surface portion 81A adjacent thereto (see FIG. 3A). .

  Then, as shown in FIG. 5 (B), the hand 7 supports the support member in the direction in which the suction surface of the suction unit 9B is substantially perpendicular (perpendicular) to the suction surface of the suction unit 9A while holding the box YA1. The side surface portions 81A, 81B, 82A, 82B are raised by rotating the shaft 75, and the side surfaces 81A, 81B, 82A, 82B are assembled into a cylindrical shape in which the top surface 84 and the bottom surface 83 are open.

  At this time, one of the side surface portions 81B and 82B is adsorbed by the suction means other than the hand 8 or the suction means 15 of the hand 8 so as to face one of the side surfaces, for example, the side surface 82A and the side surface 82B. And the suction surface of the suction portion 9B may be substantially vertical (right angle).

  At this time, only one of the suction units (for example, the suction unit 9B) releases suction (while the support is continued) while being in contact with the box YA1, and slightly slides on the side surface 81A of the box YA1. It may be possible. The sliding of the one suction portion 9B may cause the side portions 81A, 81B, 82A, 82B of the box YA1 to be raised accurately. In this case, one suction part (for example, the suction part 9B) sucks the side face part 81A again after raising the pressure.

  The robot arm 5A moves the box YA1 (rotates as necessary) as shown in FIG. 5C while holding the side portions 81A and 82A, and the bottom inner side of the guide member 10 (10A, 10B) The flaps 83A, 83B and the bottom outer flaps 83C, 83D are sequentially brought into contact and bent to form a bottom 83. At this time, the hand 7 moves these to the retracted position so that the first pressing means 11 and the second pressing means 13 do not interfere with the respective flaps and the guide member 10.

  In this example, the bottom surface 83 is formed by moving the suction unit 9B so that the suction unit 9B is located farther from the robot 3 than the box YA1, that is, the side surface 81A faces the robot 3.

  The guide means (guide member) 10 is, for example, a plurality of rod-like or plate-like members extending in the transport direction T of the box YA1. For example, at least two are spaced apart in the transport width direction W by a predetermined distance. At least two guide members 10A and 10B are arranged at a predetermined distance apart in the transport direction T.

  For example, during this time, the hand 8 moves in the direction of the article XA1 and holds the article XA1 by suction. The article XA1 is conveyed to the holding position of the hand 8 by another conveying means 20 (see FIG. 1), for example. Alternatively, the articles XA1 may be stacked, for example, in a stacker (not shown) or the like.

  The operation of forming the bottom surface 83 will be described subsequently to the state shown in FIG. 5C with reference to FIGS. 6 and 7. 6 and 7 are perspective views seen from the hopper 21 side shown in FIG. 6 and 7 show the state of movement of the box YA1 by the hand 7 (the state of contact with the guide member 10), and the description of the hand 7 is omitted. That is, the bottom surface 83 is formed by moving the box YA1 by the hand 7 as shown in FIGS. 6 and 7, for example.

  As shown in FIG. 6, the guide member 10 is, for example, a plurality of rod-like (or plate-like) fixed guides extending along the first direction D1, and a pair of distal ends distant from the robot 3 It comprises a side guide member 10A (10A1, 10A2) and a pair of proximal guide members 10B (10B1, 10B2) on the proximal side close to the robot 3. The pair of distal guide members 10A (10A1, 10A2) are spaced apart along the second direction D2 orthogonal to the first direction D1, and the pair of proximal guide members 10B (10B1, 10B2) are also separated from each other. They are spaced apart along the two directions D2. The distal guide members 10A (10A1 and 10A2) and the proximal guide members 10B (10B1 and 10B2) are also separated by a predetermined distance in the first direction D.

  That is, the four guide members 10A1, 10A2, 10B1 and 10B2 of a predetermined length extending along the first direction D1 are spaced apart from each other, and are opposed to each other in this example in the first direction D1 and the second direction D2. . The number and length of the guide members 10 are not limited to the illustrated example, but may be appropriately selected in accordance with the state of the flaps to be folded, and may be shifted in the transport height direction H so as to deviate from the facing position. Further, in this example, the guide member 10 shows a case where the first direction D1 and the second direction D2 are different from the transport direction T and the transport width direction W, but the first direction D1 is the transport direction T and The guide member 10 may be disposed such that the second direction D2 is the same as the conveyance width direction W in the same direction.

  First, as shown in FIG. 6A, the hand 7 is distal to the separated portion of the distal guide member 10A and the proximal guide member 10B and to the separated portion of the distal guide members 10A1 and 10A2. The box YA1 is inserted obliquely from above so as to straddle the side guide member 10A1, and the bottom inner flap portion 83B abuts on the proximal end portion of the distal side guide member 10A1 and remains as it is on the distal side in the first direction D1. Slide to move.

  As a result, the bottom inner side flap portion 83B is folded and folded by being slid on the first guide member 10A.

  Next, a part of the bottom inner flap portion 83A is inserted between the distal guide member 10A and the proximal guide member 10B. Then, as shown in FIG. 6B, the box YA1 is slid to the proximal side in the first direction D1, and the bottom inner flap 83A is brought into contact with the distal end of the proximal guide member 10B1. While sliding to the proximal side in the first direction D1 as it is, the bottom inner flap 83A side of the box YA1 is lowered.

  As a result, the bottom inner side flap portion 83A is folded, and is folded by being slid on the second guide member 10B.

  Next, as shown in FIG. 7A, while maintaining the folded state of the bottom inner flap 83A and the bottom inner flap 83B, one end side of the second direction D2 of the box YA1 (in this example, the distal guide member 10A2 , Move the proximal side guide member 10B2 side in the transport height direction H, and abut the distal side guide member 10A2 and the proximal side guide member 10B2 with the outer surface of the bottom outer flap 83D in an inclined state, As it is, along the second direction D2, the box YA1 is lowered while sliding in the directions of the distal guide member 10A2 and the proximal guide member 10B2, and the bottom outer flap 83D is folded.

  Next, as shown in FIG. 6B, the other end of the second direction D2 of the box YA1 (in this example, the distal guide) while maintaining the folded state of the bottom inner flap 83A and the bottom inner flap 83B. The member 10A1 and the proximal guide member 10B1) are temporarily moved in the transport height direction H, and the box YA1 is moved in the direction approaching the hopper 21 in the second direction D2. At this time, the bottom outer flap 83C extending downward of the box YA1 straddles the distal guide member 10A1 and the proximal guide member 10B1. Next, the box YA1 is moved in a direction away from the hopper 21 in the second direction D2, and the other end of the box YA1 is lowered to form the bottom outer flap 83C on the distal guide member 10A2 and the proximal guide member 10B2. The outer surface of the box is abutted in an inclined state, and while sliding the box YA1 along the second direction D2, it is lowered to fold the bottom outer flap 83C. The folding of the bottom outer flap 83C and the bottom outer flap 83D may be performed using either the guide on the proximal side or the guide on the distal side. Further, the bottom outer flap 83C and the bottom outer flap 83D may be folded in contact with the guide member 10 with the bottom outer flaps 83C, 83D in a vertical state at the start of folding. Further, since the moving distance of the box YA1 can be shortened and the cycle time can be shortened, it is preferable that the bottom outer flaps 83C and 83D be in contact with the guide member 10 to be folded in an inclined state. Thus, the bottom surface 83 is formed.

  In the present embodiment, the movement of the box YA1 by the hand 7 and the flaps constituting the bottom surface 83 of the box YA1 held by the hand 7 by the guide member 10 may be folded to form the bottom surface 83. The method is not limited to this example.

  As shown in FIG. 8A following FIG. 7B, when the bottom surface 83 is formed, the hand 7 is moved so as to take out the box YA1 from the guide member 10. Then, as shown in FIG. 8B, in a state where the bottom surface 83 is in contact with a part of the bottom surface 83, the first pressing means 11 is pivoted to the pressing position, and the bottom surface 83 (bottom surface outside flap portion 83C And 83D) from the outside. That is, the first pressing means 11 supports the bottom outer flaps 83C and 83D together with the guide member 10 from the outside for a part of the period, and then, the first outer pressing portions 11C only To support.

  Thus, by overlapping the periods for supporting the bottom outer flaps 83C and 83D by the guide member 10 and the first pressing means 11, the opening of the bottom surface 83 before bonding is prevented, and the box YA1 is removed from the guide member 10 It can be released.

  Thereafter, as shown in FIG. 6C, in a state where one robot arm 5A holds the box YA1, more specifically, the holding means 9 (sucking portions 9A and 9B) holds the side faces 81 and 82 (support And, with the first pressing means 11 supporting a part of the bottom surface 83, the other robot arm 5B accommodates (supplies) the article XA1 in the box YA1.

  As shown in FIG. 9C following FIG. 8C, when the storage of the article XA1 in the box YA1 is completed, the robot arm 5A transfers the box YA1 to the downstream sealing means 17. Although the other robot arm 5B is not shown in FIG. 9A, the other robot arm 5B releases the article XA1 when the accommodation of the article XA1 in the box YA1 is completed, and the robot arm 5B is in the predetermined position. To return.

  As shown in FIG. 9A, before the robot arm 5A is transferred to the sealing means 17, the upper surface inner flap portion (here, the upper surface inner flap) which is the rear in the transport direction T by the second pressing device 11. Bend the portion 84A).

  (B) and (C) will be described in detail with reference to the front view showing the hand 7 part extracted, the hand 7 is the second pressing portion 13A of the second pressing means 13 in FIG. Rotate from the standby position shown in). As a result, as shown in FIG. 7C, the second pressing portion 13A pushes in the upper surface inner flap portion 84A at the rear in the transport direction T, and further pivots to the pressing position shown in FIG. The flap portion 84A is bent to maintain the state.

  The robot arm 5A continues to support the bottom surface 83 by the first pressing means 11 and bends and supports the upper surface inner flap 84A by the second pressing means 13 (the second pressing portion 13A) The box YA1 is transferred to the downstream sealing means 17 without placing the box YA1 on the transport means or the like.

  FIG. 10 is a front view showing a sealing process by the sealing means 17. The robot arm 5B is not shown in FIG.

  The sealing means (sealing device) 17 is, for example, a tape application device, and has at least flap folding means 171 and 173 and a tape application means 175 (see FIG. 1). The bending means 171 is, for example, a rod-like fixed guide member, and the bending means 171 at the upstream end is an unfolded downstream upper surface inner flap of the box YA1 received from the upstream side (in this example, the upper surface) Fold the inner flap portion 84B). The other folding means 173 is a fixed guide member such as a rod shape that folds the top outer flaps 84C and 84D by conveying the box YA1 in the transport direction after the top inner flaps 84B are folded.

  The tape application means 175 adheres and seals the top outer flaps 84C and 84D and the bottom outer flaps 83C and 83D with an adhesive (eg, a tape).

  Thus, the upper inner flaps 84B and the upper outer flaps 84C, 84D are folded by moving the box YA1 between the upstream and the downstream by sandwiching the box YA1 with the pair of side belt conveyors in the sealing device 17. 17 can be folded by folding means 171 and 173 provided in the inside, and at the same time, a tape can be attached and sealed (the same figure (B)).

  In this embodiment, the upper inner surface flap portion 84A is folded by the second pressing means 13 of the robot arm 5 (5A) and transferred to the sealing device 17 in a pressed state. There is no need for folding means.

  For example, in the case where the sealing device 17 is provided with folding means for the upper surface inner flap portion 84A, the upstream end of the sealing device 17 may be configured to press the flap portion rising upstream toward the downstream. For example, folding means is required to rotate so that the front end moves in the transport direction, and there is a problem that the size of the sealing device 17 is increased (lengthened). Further, when the shape of the box YA1 is changed, adjustment such as replacement of the folding means is also required so as to contact the upper surface inner side flap portion 84A appropriately, and there is a problem that the operation becomes complicated.

  In this embodiment, since the robot arm 5 (5A) different from the sealing device 17 can be transferred to the sealing device 17 while holding the upper surface inner flap portion 84A, the folding device 17 does not need to be folded. There is a simple, inexpensive sealing device 17 available.

  Thus, the robot 3 of the box packing apparatus 1 of this embodiment forms at least the bottom surface of the box YA1 in a state of being folded by one robot arm 5 (robot arm 5A) and holds the bottom surface while the other The robot arm 5 (robot arm 5B) supplies the article XA1 into the box YA1.

  By doing in this way, the process of assembling the box YA1 and the process of storing the article XA1 can be continuously and integrally performed as the process of the boxing apparatus 1 and delivery of the box YA1 can be omitted. Compared with the case where it is done, the efficiency (cycle time) as a boxing operation can be improved.

  The robot 3 is attached to a wall surface, for example, and takes out and assembles the box YA1 in a state of being folded by the robot arm 5, and the assembly and boxing of the box YA1 are completed in the air until the article XA1 is accommodated. That is, it is not necessary to place the box YA1 on the placement table or the conveyance means, and the box can be packed on the floor below the box packing apparatus 1 without installing anything.

  Therefore, there is no structure that the cleaning means comes in contact with when cleaning the floor surface, sufficient cleaning is possible, and cleaning performance (cleaning efficiency and cleaning (after) state) can be improved (favored) .

  Furthermore, since the area which installs the conveyance means of a mounting base and box YA1 becomes unnecessary, the occupied area as the box packing apparatus 1 whole can be reduced.

  Further, for example, in the case of an apparatus which bends the flap portion so as to contact the guide means while conveying by a conveying means such as a belt conveyor, the outer shape (size) of the box YA1 changes each time It is necessary to adjust the position of the guide means to abut properly on the flaps. On the other hand, in the present embodiment, since the box YA1 is held by the robot 3 (robot arm 5) and transferred to the downstream process, even when the external shape of the box YA1 is changed, the flap portion serves as a guide It is only necessary to adjust the movement path (operation path) of the robot arm 5 so as to abut properly, and the complicated position adjustment work of the guide means becomes unnecessary.

  Further, in order to fold the upper surface inner flap portion 84A by the second pressing means 13 of the robot arm 5 (5A) and transfer the upper surface inner flap portion 84A to the sealing device 17, the folding mechanism of the upper surface inner flap portion 84A in the sealing device 17 Is unnecessary, and a simple and inexpensive sealing device 17 can be used.

  Note that one or both of the pair of robot arms 5 in the above embodiment may be disposed on the top surface.

  The pair of robot arms 5 has been described by way of example of the arms of one dual-arm robot 3. However, the arms of two single-arm robots may cooperate.

  In addition, the guide member 10 divides the distal guide member 10A or the proximal guide member 10B or both of them into a plurality (two or more) along the transport direction T, and arranges them apart from each other. May be In this way, even when the size of the box YA1 is changed, the distance for moving the box YA1 along the guide member can be reduced (shortened) at the time of box making, thus shortening the cycle time. it can.

  As described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Box packing apparatus 5, 5A, 5B Robot arm 7 Hand 8 Hand 9 Holding means 9A, 9B Suction part 9C Rotor shaft 9D Support member 10 Guide means 11 1st pressing means 11A 1st pressing part 11B Rotation shaft 11C Support member 13 2nd Holding means 13A Second holding portion 13B Rotary shaft 13C Support member 15 Holding means 15A Adsorption portion 17 Sealing means XA1 Item YA1 Box

Claims (10)

A boxing apparatus having a pair of robot arms each provided with a hand, wherein
One of the robot arms unfolds the box in the folded state to form a bottom and supports the bottom,
The other robot arm supplies articles into the box held by the one robot arm
A box-packing device characterized by The one robot arm has holding means for holding the box, and pressing means.
The pressing means supports the bottom surface after raising the side while holding the box by the holding means.
A boxing apparatus according to claim 1, characterized in that. The one robot arm bends the flap portion of the upper surface which is the rear in the transport direction after the articles are supplied into the box.
The boxing apparatus according to any one of claims 1 or 2, wherein The one robot arm transfers the box to the downstream sealing means while maintaining the support of the bottom surface and the bending of the flap portion.
The box packing apparatus according to claim 3, characterized in that:   The boxing apparatus according to claim 3 or 4, wherein the one robot arm has another pressing means for bending the flap portion. The pair of robot arms are provided on a surface substantially perpendicular or opposite to the floor surface,
The box packing apparatus according to any one of claims 1 to 5, characterized in that: A packing method in which articles are stored in a box by a pair of robot arms provided with a hand respectively,
The box in a folded state is developed by one robot arm to form a bottom surface to support the bottom surface, and the other robot arm supplies the articles into the box.
Boxing method. After raising the side while holding the box by the one robot arm, the bottom is bent,
The box packing method according to claim 7, characterized in that. After the articles are supplied into the box, the one robot arm bends the flap portion of the upper surface which is the rear in the transport direction,
The packing method according to claim 7 or 8 characterized by things. Passing the box to a downstream sealing process while maintaining the support of the bottom surface and the bending of the flap by the one robot arm;
The box packing method according to claim 9, characterized in that.

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