JP2019142539A - Boxing device - Google Patents

Abstract

To provide a boxing device which can receive a guide body into an inner space surrounded by flaps without damaging or deforming box flaps and smoothly box articles.SOLUTION: A box 10 holding a body part with a robotic hand 18 is tilted, the inside of two orthogonal flaps 11a, 13a are pressed to be in contact with a guide body 60 of a loading base 21, the flaps 11a, 13a are spread outward, the box 10 is moved forward in relation to the loading base 21 while its tilt is being changed, the robotic hand 18 is moved so as to receive the guide body 60 into the inner space surrounded by flaps of the article feeding side. The article 19 that is pressed in by a pressing means 20 in a state where the tip part of the guide body 60 is received into the inner space is guided by the loading base 21 and fed into the box.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a boxing device that pushes an article into a box boxed in a rectangular tube shape and packs the box.

  A device that inserts the tip of the article supply guide into an opening facing the side of the box that is raised in a rectangular tube shape, supplies the articles guided by the article supply guide into the box from the opening, and packs the box, This is proposed as Patent Document 1. In the apparatus disclosed in Patent Document 1, the carton box that opens to the side is moved to the position where the opening faces the front of the can extrusion guide frame by the feed claw, and then the carton box is advanced toward the can extrusion guide frame. Then, the can extrusion guide frame is inserted inside the upper, lower, left and right folded pieces extending from the body of the carton box. In this state, the can (article) pushed out from the can guide frame by the pusher is supplied into the carton box through the can extrusion guide frame. And it is comprised so that the carton box which accommodated the can may be moved toward the next process with the said feed nail, after retreating until the said can extrusion guide frame comes out from the inside of a folding piece.

Japanese Patent Publication No.53-26537

The apparatus disclosed in Patent Document 1 is such that the can extrusion guide frame is inserted into the inside of the four folded pieces by horizontally moving the carton box that has been transferred to the position where the opening is opposed to the front of the can extrusion guide frame. Therefore, if the four folded pieces are not expanded, there is a problem that the end of the can extrusion guide frame collides with the open end of the folded piece to deform or damage the folded piece. Further, the folded piece in which the end portion of the can extrusion guide frame collides with the open end is bent inward, which may cause a problem that the article cannot be supplied.
In recent years, an apparatus that performs a boxing operation using a robot that can easily cope with a change in the size of the box has been employed. However, even when a robot is used, the above-described problem has occurred.

  Accordingly, an object of the present invention is to provide a boxing device that can receive a guide body in an internal space surrounded by a flap without damaging or deforming the flap of the box and smoothly packing the articles.

The boxing device of the invention according to claim 1 of the present application is
A boxing device that packs an article (19) by pushing the folding sheet (9) into a box (10) opened in a rectangular tube shape with an open side,
Facing the article supply unit (S2), a loading base (21) for storing the articles (19) in an assembled state,
Holding the box (10) raised in the shape of a rectangular tube, and covering the tip of the loading base (21) with the opening of the box (10) facing sideways, the box (10) is the article. A robot hand (18) whose operation is controlled to take a facing posture that allows the article (19) to be pushed in the supply unit (S2);
Pushing means (20) for pushing the article (19) accommodated in the loading base (21) toward the opening of the box (10),
The loading base (21) is a guide body (60) that supports the flaps (11a, 13a) extending from the body (15) of the box (10) from the inside when the box (10) is covered on the tip. )
The box (10) held by the robot hand (18) is inclined, and the inner flap (13a) extending from the body (15) of the box (10) is adjacent to the inner flap (13a) in the orthogonal direction. While pressing the inner side of the outer flap (11a) against the guide body (60) of the loading base (21), the flaps (11a, 13a) are spread outward and the box (10) is placed on the loading base (21). The box (10) that receives the guide body (60) in the internal space (E) surrounded by a plurality of flaps (11a, 12a, 13a, 14a) and is in the facing position is supplied to the article. The article (19) is pushed by the pushing means (20) in a state where the article (19) is positioned.
According to the first aspect of the present invention, the box held by the robot hand is inclined, the inner flaps extending from the trunk and the inner side of the outer flap are pressed against the guide body, and then the box is expanded to the outside. The guide body is moved forward with respect to the loading base while being converted into a facing posture that allows pushing of the guide body, so that the guide body can be smoothly moved into the inner space surrounded by the flap without the tip of the guide body being caught by the open end of the flap. Can accept. As a result, it is possible to prevent the occurrence of a situation where the flap is damaged or deformed, or the flap is bent inward and the boxing of the article is hindered.

In the invention according to claim 2, the robot hand (18) includes a top panel (11) in the body (15) of the box (10) in the facing position and a body (15) orthogonal to the top panel (11). The side panels (13) on the side are sucked and held, and the flaps (11a, 13a) extending from the edge portions located on the article supply side of the held panels (11, 13) are outward at once. The rear part opposite to the article supply side of the held box (10) is lifted obliquely so as to be expanded, and the inner side of the flaps (11a, 13a) is pressed against the guide body (60) of the loading base (21). It is characterized by comprising.
According to the second aspect of the present invention, the flap extending from the panel sucked and held by the robot hand is configured to spread outward while being pressed against the guide body, so that the trunk portion is surrounded by the flap without being deformed. The guide body can be smoothly received in the inner space.

In the invention according to claim 3, prior to the article (19) being pushed by the pushing means (20) into the box (10) sucked and held by the robot hand (18) in the article supply unit (S2), A support means (32) that advances from below to a support position for supporting the bottom panel (12) in the trunk (15) of the box (10) in the directly-facing posture, the support means (32) is configured to supply the article. The box (10) positioned in the section (S2) is configured to move in a moving region that does not interfere with the flap (12a) positioned on the article supply side.
According to the invention of claim 3, it is possible to prevent the body portion from being deformed when the article is pushed into the box while the guide body can be smoothly received in the internal space surrounded by the flap.

In the invention according to claim 4, the box (10) sucked and held by the robot hand (18) is laterally transferred to the next process after the article (19) is packed in the article supply unit (S 2). The lateral transfer path is provided with a support member (56) having a support surface that matches the maintenance height of the bottom panel (12) at the support position of the support means (32), and the bottom panel of the box (10) The robot hand (18) is moved so that (12) slides sideways with respect to the support member (56).
According to the fourth aspect of the present invention, the box packed with articles can be laterally transferred to the next process without lifting, and the box can be stably held without being desorbed, and the load on the robot hand is suppressed. can do.

In the invention according to claim 5, when the box (10) raised in a rectangular tube shape is held by the robot hand (18) and laterally transferred to the next process, the box (10) in the directly-facing posture is used. A top panel (11) in the body part (15) of the body and a side panel (13) on one side of the body part (15) which is orthogonal to the top panel (11) and is rearward in the transfer direction. The first suction unit (25) and the second suction unit (26) are provided in the robot hand (18).
According to the invention of claim 5, since the box is laterally transported while holding the top panel and the rear side panel in the transport direction, the box is pushed by the second suction portion during lateral transport, so that it is stable. It is possible to suppress the deformation of the box in addition to the general adsorption holding.

  According to the present invention, when the guide body is received in the inner space surrounded by the flap of the box, the flap can be prevented from being damaged or deformed by the guide body, and the flap is bent inwardly to pack the article. Can be prevented.

It is a schematic plan view which shows the principal part of a boxing apparatus. It is a schematic side view which shows the principal part of a boxing apparatus. It is the schematic which shows the relationship between a boxing part and a robot hand. It is the schematic which shows the relationship between an article supply part and a loading base, Comprising: It shows in the state before bending each flap of a box. (a) is a schematic top view which shows the state which inclines a box with respect to a loading base, and pushes and expands an outer flap and an inner flap, (b) is a schematic side view of (a), (c) FIG. 4 is a schematic plan view showing a state in which the guide body is received in the internal space surrounded by the flaps of the box returned from the inclined posture to the facing posture, and the bottom side flaps and the both side side flaps on the rear side are bent. ) Is a schematic side view of (c).

  Next, a preferred embodiment of the boxing apparatus according to the present invention will be described and described below with reference to the accompanying drawings.

  The box 10 handled by the boxing device according to the embodiment includes a body 15 formed by connecting a rectangular top panel 11, a bottom panel 12, and a pair of side panels 13 and 14, and each panel 11. , 12, 13 and 14 have flaps 11a, 11b, 12a, 12b, 13a, 13b, 14a and 14b extending at both ends (opening sides) (see FIGS. 3 and 5). In addition, the top panel 11 and the bottom panel 12 in the embodiment are designated by the vertical relationship of the box 10 until it is carried out by the transfer conveyor 24 from the raising portion S1 described later. Further, for the pair of side panels 13, 14, the side panel 13 positioned on the upstream side (rear in the transfer direction) is connected to the first side surface in relation to the transfer direction of the box 10 from the hoisting part S1 to the article supply part S2. The side panel 14 located on the downstream side (front in the transfer direction) is designated as the second side panel 14 while being designated as the panel 13. Further, the flaps 11a, 11b, 12a, 12b, 13a, 13b, 14a, and 14b extending from the edge portions of the panels 11, 12, 13, and 14 of the trunk portion 15 are positioned in the article supply unit S2. In the box 10, four flaps 11a, 12a, 13a, and 14a extending from the opening edge on the article supply side facing the loading base 21 disposed on the side of the article supply section S2 are connected to the panels 11 and 12, respectively. , 13, and 14 are designated as the top outer flap 11a, the bottom outer flap 12a, the first inner flap 13a, and the second inner flap 14a, and from the opening edge opposite to the article supply side (rear side). Four extending flaps 11b, 12b, 13b, 14b correspond to the panels 11, 12, 13, 14 respectively, the top outer flap 11b, the bottom outer flap 12b, the first inner flap 13b, the second inner flap Flap 14b and finger To.

  FIG. 1 and FIG. 2 are schematic views showing a main part of a boxing device according to an embodiment. The boxing device has a folded sheet 9 in which a box 10 is folded flat, and its opening side faces sideways. A magazine (stacking portion) 16 that is aligned and stacked in a standing state, and the folding sheets 9 are taken out one by one from the magazine 16 and transferred to a raising portion (described later) S1, and a rectangular tube shape is formed in the raising portion S1. A robot 17 that holds and transports the box 10 that is opened by the robot hand 18, a pushing means 20 that pushes the article 19 toward the opening of the box 10 held by the robot hand 18, and the pushing means 20 pushes the box 10 And a loading base 21 for guiding the article 19 into the box. Further, the boxing device is used to glue the flap folding means 22 for folding the flaps 11a, 11b, 12a, 12b, 13a, 13b, 14a, and 14b of the box 10 and the top outer flaps 11a and 11b that are folded at the end. Gluing means 23 is provided.

  As shown in FIG. 2, the folded sheets 9 are stacked in the magazine 16 with the top panel 11 facing the outlet. Further, below the magazine 16, a raising portion S1 and an article supply portion S2 are provided side by side within an operation region N (see FIG. 1) of the robot hand 18, and the raising portion is sandwiched between the article supply portion S2. On the side opposite to the part S1, a transport conveyor 24 for transporting the box 10 after sealing toward the next processing step is arranged. The box 10 in which the articles 19 are packed in the article supply unit S2 is held by the robot hand 18 and is laterally transferred to the sealing unit (next process) S3. In the embodiment, the raising unit S1, the article supply unit S2, and the sealing unit S3 are sequentially provided from the upstream side to the downstream side in relation to the conveyance direction of the box 10 by the conveyance conveyor 24.

  The robot 17 is provided with the robot hand 18 as a holding means at the tip of a robot arm 17a that can freely move in a three-dimensional space. The robot hand 18 has a first suction as shown in FIG. Part 25 and a second suction part 26. The first suction portion 25 is provided with a plurality of suction cups 25 a that are provided on the attachment member 27 and generate suction force due to negative pressure, and the robot 17 is connected to the magazine 16 by the suction cup 25 a of the first suction portion 25. The top panel 11 of the folding sheet 9 is sucked and taken out one by one, and the bottom panel 12 is placed facing the upper surface of an under guide 30 (to be described later) of the hoisting part S1. The second suction portion 26 is provided with a movable member 28 that is rotatably supported with respect to the mounting member 27, and a suction cup 26 a is provided on the movable member 28. The movable member 28 is continuously connected to the top panel 11 in the trunk portion 15 of the box 10 which is raised in a square tube shape in the raising portion S1 by an air cylinder 29 as driving means disposed on the mounting member 27. It is configured to move between a support position (see FIG. 3) capable of attracting the one side panel 13 and a standby position (see FIG. 2) separated from the side panel 13. In the embodiment, the second adsorbing unit 26 adsorbs the first side panel 13 located on the upstream side (rear side) in the transfer direction of the box 10 from the hoisting unit S1 to the article supply unit S2, and the first side panel 13 is also adsorbed. The top panel 11 is adsorbed by the adsorbing part 25, and the box 10 raised in a rectangular tube shape is held so as to maintain its shape without being deformed.

  As shown in FIGS. 1 to 3, the hoisting portion S <b> 1 is provided with an under guide 30 and a plurality of hoisting suction cups 31 with suction holes facing upward. The upper end protrudes from the upper surface of the under guide 30, and when the folded sheet 9 adsorbed by the first adsorbing portion 25 of the robot hand 18 is pressed against the upper surface of the under guide 30, the bottom panel 12 of the sheet 9 is adsorbed. Configured to be possible. Then, the top panel 11 of the folded sheet 9 with the bottom panel 12 adsorbed by the hoisting suction cup 31 is formed in an arc upward obliquely by the robot hand 18 adsorbed by the first adsorption unit 25. The sheet 9 is opened up in a rectangular tube shape by pulling it up along the drawn locus. Further, the robot hand 18 sucks the first side panel 13 by the second suction part 26 moved from the standby position to the support position, and holds the box 10 in a rectangular tube shape.

  The article supply part S2 is provided adjacent to the raising part S1, and the body part 15 of the box 10 raised in the rectangular tube shape by the raising part S1 includes the top panel 11 and the top panel 11 as described above. The first side panel 13 connected orthogonally is transferred to the article supply unit S2 while being held by the first suction unit 25 and the second suction unit 26, and the article 19 is pushed into the article supply unit S2. It is pushed into the box by means 20. As shown in FIGS. 2 and 4, the article supply unit S <b> 2 is provided with a support device 34 including a support unit 32 and an air cylinder 33 as a drive unit that moves the support unit 32 up and down. The support means 32 is at a height position corresponding to the arrangement level of the under guide 30, and when the article 19 is pushed into the box 10 held by the robot hand 18, the bottom panel 12 of the box 10 is moved from below. It moves forward and backward between a box support position (support position) that can be received and supported and a retreat position that is spaced downward therefrom. The retracted position of the support means 32 is set to a predetermined position at which a part of the flap on the article supply side of the box 10 does not interfere with contact when flaps 11a and 13a of the box 10 described later are applied to the guide body 60. Further, the support means 32 moves from the retracted position to the box support position before the article 19 is pushed into the box 10 by the push-in means 20 in the article supply unit S2. In addition, the support means 32 moves in the movement area | region which does not interfere with the flap 12a by the side of the goods supply of the box 10 located in the goods supply part S2.

  As shown in FIG. 1, the flap folding means 22 includes first bent portions disposed on the left and right sides of the article supply unit S <b> 2 that intersect the transfer direction of the box 10 from the hoisting portion S <b> 1 to the transport conveyor 24. 35 and a second bent portion 36, and third bent portions 37, 37 disposed on both the left and right sides intersecting the transfer direction of the box 10 in the transport conveyor 24. The first bent portion 35 includes first and second folding members 39 and 40 that bend the inner flaps 13 a and 14 a extending toward the article supply side of the side panels 13 and 14 inward, and the article of the bottom panel 12. A third folding member 38 that bends the outer flap 12a extending toward the supply side inward, and the folding members 38, 39, and 40, after the article 19 is pushed into the box 10 in the article supply unit S2, The flaps 12a, 13a, and 14a are bent by moving to the release position and the bending position by the air cylinder 41 as the corresponding driving means. The second bent portion 36 includes fourth and fifth folding members 43 and 44 that bend inward the inner flaps 13b and 14b extending to the side opposite to the article supply side of the side panels 13 and 14, respectively. And a sixth folding member 42 that bends the outer flap 12b extending to the opposite side of the article supply side of the bottom panel 12 inward, and each of the folding members 42, 43, 44 is a box in the article supply unit S2. Prior to the article 19 being pushed into 10 (see FIG. 5 (d)), the air cylinder 45 as the corresponding driving means moves to the release position and the folding position to fold the flaps 12b, 13b, 14b. Form.

  The third bent portion 37 is disposed on the left and right of the conveyance path (conveyance line) of the conveyor 24 corresponding to the conveyance start end portion of the conveyance conveyor 24. As shown in FIGS. 1 and 2, the third bent portion 37 includes seventh and eighth folding members 47A and 47B that are moved up and down by an air cylinder 46 as a driving means. By descending from the standby position to the bending position by the cylinder 46, the top-side outer flaps 11a, 11b extending from the top panel 11 to both sides are bent downward, and are already bent and pasted. , 23 is configured to be folded and attached to the corresponding bottom outer flaps 12a, 12b to which the adhesive is applied.

  A loading base 21 is disposed on one side of the article supply unit S2. Articles 19 made of tube containers that have been transported side by side in a state of being laid down by a transport conveyor (not shown) are pushed through means 20 such as a pusher in a bundled state via a delivery section (article supply position) of the transport conveyor. To the loading base 21. The pushing means 20 includes a plurality of articles 19 (in the embodiment, 4 × 2 stages) accommodated in a collective state so as to be aligned on the loading base 21 by a pushing member 48 and a linear slider 49 that moves the pushing member 48. And further configured to be pushed into the box.

  As shown in FIGS. 1, 2, 4, and 5, the loading base 21 has a width dimension that can receive the articles 19 arranged in four rows supplied by the pushing means 20, and the articles 19 are arranged in two upper and lower stages. It is set to a height dimension that can be accommodated. Specifically, the loading base 21 includes a bed 50 as a guide body 60 and a pair of side guides 51 and 52 erected at both ends in the width direction of the bed 50. The guide body 60 has an upper guide 53 mounted on the upper side of the side guides 51 and 52 corresponding to an end portion of the article 19 on the side where the article 19 is fed into the box 10. At the delivery end of the guide body 60, a bed 50, side guides 51 and 52, and an upper guide 53 define a passage port 54 that allows a plurality of articles 19 to pass therethrough. It arrange | positions so that supply part S2 may be faced. For the pair of side guides 51 and 52, the side guide 51 located on the upstream side is referred to as the first side guide 51 in relation to the transfer direction of the box 10 from the hoisting part S1 to the article supply part S2. In addition, the side guide 52 located on the downstream side is referred to as a second side guide 52.

  The lower surface of the front end portion of the bed 50 is inclined upward toward the front end, and the upper guide 53 is configured to be inclined downward toward the front end. The front end portion of the guide body 60 is at the front end in the vertical direction. It is narrowed as it goes, and is configured so that the box 10 can be easily covered with the tip of the guide body 60. The guide body 60 received in the internal space E covered with the four flaps 11a, 12a, 13a, 14a on the article supply side of the box 10 is covered with the flaps 11a, 12a, 13a, 14a is supported so as to spread from the inside to the outside, and when the article 19 is pushed in by the pushing member 48, the article 19 can be prevented from being caught on the inner wall of the box 10.

  As shown in FIG. 4, the loading base 21 is attached to a linear slider 55 and supported so as to be capable of moving forward and backward with respect to the article supply unit S2, and the leading end portion of the guide body 60 is driven by the linear slider 55 as a driving means. Is configured to move forward and backward between a forward position approaching the article supply unit S2 and a retracted position spaced apart from the article supply unit S2. A clearance allowing the forward and backward movement of the third folding member 38 that bends the bottom outer flap 12a of the box 10 at the retracted position of the loading base 21 is between the loading base 21 and the support means 32 at the support position. Configured to be defined. The loading base 21 is held at an advanced position when the robot hand 18 covers the box 10 on the tip of the guide body 60 (described later), and after the article 19 is pushed into the box 10, the advanced position is changed from the advanced position to the retracted position. Moved. In the embodiment, after the box 10 in which the article 19 is pushed is moved slightly away from the loading base 21 by the robot hand 18, the loading base 21 is moved from the forward position to the backward position.

  The robot hand 18 raises the box 10 opened in a rectangular tube shape in the raising portion S1 and is held by the first suction portion 25 and the second suction portion 26 to hold the article supply portion. Move horizontally to S2. The robot hand 18 can receive the article 19 from the loading base 21 facing one side of the article supply unit S2, and the article supply unit S2 takes a horizontal facing posture with the opening of the box 10 directed to the side. Position the box 10 in the box. The box 10 held by the robot hand 18 receives and covers the guide body 60 of the loading base 21 in the internal space E enclosed by the flaps 11a, 12a, 13a, 14a on the article supply side, and covers the flaps 11a, 12a, 13a. , 14a is positioned in the article supply unit S2 in a state where the guide body 60 is applied to the guide body 60. Here, in the article supply unit S2, until the box 10 is positioned in the directly-facing posture, the robot hand 18 changes the holding posture of the box 10 to accept the article 19 as shown in FIGS. Among the four flaps 11a, 12a, 13a, and 14a, the inside of the top side outer flap 11a and the top side while keeping the inclined posture in which the opening side (rear part) opposite to the mouth side opening is lifted obliquely It moves forward while pressing the inner side of the first inner flap 13a adjacent to the outer flap 11a in the orthogonal direction against the guide body 60. In this manner, the box 10 is moved forward toward the guide body 60 while the posture of the box 10 inclined while expanding the flaps 11a and 13a to the outside is converted into the directly-facing posture. As shown in c), the guide body 60 of the loading base 21 is received in the internal space E of the box 10, and the flaps 11a, 12a, 13a, 14a are applied to the guide body 60 and supported from the inside.

  As shown in FIG. 1, the height of the upper surface at the support position in the support means 32 located at the support position (transverse transfer path) of the box 10 to the article supply unit S2 and the transfer start end of the transfer conveyor 24 ( A support member 56 having an upper surface (support surface) having the same height as the maintenance height of the bottom panel 12 is provided. The upper surface of the support member 56 is set at the same level as the transport surface of the transport conveyor 24 (see FIG. 2). That is, the transport surface of the transport conveyor 24 and the upper surface of the support member 56 coincide with the box support height by the support means 32, and the box 10 on which the bottom panel 12 (the lower surface of the box) is supported by the support means 32 is attached to the robot. It is configured such that it can be moved laterally without being lifted by the hand 18 and transferred to the conveyor 24.

  The gluing means 23, 23 for applying an adhesive, such as hot melt, to the surfaces of the bent bottom outer flaps 12a, 12b are provided on both the left and right sides of the support member 56. Each gluing means 23 is configured to inject adhesive toward the transfer path of the box 10 transferred by the robot 17, and corresponds to the bottom outer flaps 12 a and 12 b facing the side of the box 10 being transferred. Superposition side flaps 11a and 11b corresponding to the bottom outer flaps 12a and 12b are bonded together by injecting adhesive from the gluing means 23 at a predetermined timing to move the position facing the pasting means 23. An adhesive can be applied to a predetermined area of the surface.

  A sealing portion S3 is provided on the downstream side of the gluing means 23, 23, and the third bent portions 37, 37 are provided on the left and right sides of the conveying conveyor 24 in the sealing portion S3. Further, on the downstream side of the third bent portions 37, 37, a restriction position that protrudes to the conveyance path of the box 10 on the conveyance conveyor 24 by the air cylinder 57 as a driving means, and a retreat retracted to the side from the conveyance path A stopper 58 that moves between the positions is provided, and the box 10 whose movement front is restricted by the stopper 58 is positioned in the sealing portion S3. Then, with respect to the box 10 positioned in the sealed portion S3, the third bent portions 37, 37 are operated and the corresponding top side outer flaps 11a, 11b are bent downward, and the adhesive is applied. Affixed to the corresponding bottom outer flaps 12a and 12b, the stopper 58 is then released, and the sealed box 10 is conveyed by the conveyor 24 toward the next processing step. In the embodiment, stoppers 58 are provided on both the left and right sides of the conveyor 24, respectively.

  Above the support member 56, restriction guides 59, 59 for maintaining the bent state of the bottom outer flaps 12a, 12b bent in the article supply unit S2 are spaced apart in the left-right direction perpendicular to the transfer path. It extends in a predetermined range along the transfer path of the box 10. The restriction guides 59 and 59 extend from the end of the support member 56 on the article supply unit side to the upstream side of the sealing portion S3, and the third bent portions 37 and 37 are provided in the third bent portions 37 and 37. 7. The bottom outer flaps 12a and 12b are bent until the top outer flaps 11a and 11b are bent by the eighth folding members 47A and 47B and bonded to the bottom outer flaps 12a and 12b. Configured to maintain state.

  Next, the operation of the boxing device according to the embodiment will be described.

  In the boxing device of the embodiment, the box 10 held by the robot hand 18 is inclined with respect to the loading base 21, and the inner surfaces of the top-side outer flap 11 a on the article supply side and the first inner flap 13 a orthogonal thereto. Are pressed against the corresponding upper guide 53 and the first side guide 51 while the flaps 11a and 13a are pushed outward at a time, the guide body 60 of the loading base 21 is flaps 11a, 12a and 13a on the article supply side. , 14a so that it can be received in the internal space E enclosed by 14a, so that the guide body 60 can be moved to the vicinity of the edges of the panels 11, 12, 13, 14 of the box 10 without being caught by the flaps 11a, 12a, 13a, 14a. Positioning can be performed satisfactorily. Further, the inner side of the outer flap 11a and the inner flap 13a extending from the panels 11 and 13 held by being sucked and held by the first suction portion 25 and the second suction portion 26 of the robot hand 18 is outside the guide body 60. Since both the flaps 11a and 13a are spread outward by pressing from the side, the body portion 15 raised in a rectangular tube shape is not distorted when the flaps 11a and 13a are pressed against the guide body 60 and expanded.

  When the article 19 is pushed into the box by the pushing means 20 in the article supply unit S2, as shown in FIG. 4, in the internal space E surrounded by the flaps 11a, 12a, 13a, 14a on the article supply side in the box 10. Since the front end portion of the guide body 60 is contained, the four rows and two tiers of articles 19 accommodated in the loading base 21 in an assembled state are guided by the guide body 60 and smoothly pushed into the box 10. Prior to pushing the article 19, the inner flaps 13 b and 14 b and the bottom outer flap 12 b on the opposite side to the article supply side in the box 10 are bent to close the opening, so that the article 19 to be pushed is removed from the box 10. It can be prevented from protruding. Further, when the article 19 is pushed into the box by the pushing means 20 in the article supply unit S2, the bottom panel 12 of the box 10 is supported from below by the support means 32 of the support device 34. Since the weight of 19 does not act as a load on the suction portions 25 and 26, the suction and holding of the box 10 by the robot hand 18 can be stably maintained, and the bottom panel 12 can be prevented from being deformed. Further, since the box support height by the support means 32 at the support position and the upper surface of the support member 56 and the transport surface of the transport conveyor 24 are set at the same level, the box 10 in which the article 19 is pushed in the article supply unit S2 is lifted. The bottom panel 12 can be slid sideways without being transferred to the sealed portion S3 of the conveyor 24. That is, since it is not necessary to lift the heavy box 10 into which the article 19 is pushed by the robot hand 18, in addition to the stable suction and holding without the suction by the first and second suction parts 25 and 26, The load on the robot hand 18 can be suppressed. In addition, since the first side panel 13 on the upstream side in the article supply unit S2 is held by the second suction unit 26 and the box 10 is laterally transferred toward the downstream side, the distortion of the box 10 during lateral transfer is reduced. In addition to preventing, the first suction side panel 13 is pushed by the second suction part 26 at the time of lateral transfer, so that the box 10 can be held more stably without removing the suction.

(Change example)
The present invention is not limited to the configuration of the embodiment and the like, and can be modified as follows, for example. Further, not limited to the following modified examples, various embodiments may be adopted for the configurations described in the examples and the like within the scope of the gist of the present invention.
(1) In the embodiment, the upper guide is installed between the upper ends of both side guides of the loading base. However, a configuration is adopted in which the top outer flap and the first inner flap of the box are pushed and expanded by the side and upper surfaces of the side guide. obtain.
(2) The two flaps that expand when receiving the tip of the guide body in the inner space surrounded by the four flaps are not limited to the combination of the top outer flap and the first inner flap, but the top outer flap. And a combination of the second inner flap, a combination of the bottom outer flap and the first inner flap, or a combination of the bottom outer flap and the second inner flap. When the bottom outer flap and the first inner flap are pushed and expanded by the guide body, the rear part of the box opposite to the article supply side is obliquely lowered, and the box is inclined obliquely with the article supply side opening facing upward. And it is sufficient.
(3) Also, when receiving the tip of the guide body in the internal space, it is preferable to hold the two panels extended by the two flaps to be expanded with the robot hand. A configuration for holding the extending panel can be employed.
(4) The support means for supporting the bottom panel from below when supplying the articles into the box is not limited to the lifting movement of the embodiment, and may be configured to move at least between the retracted position and the box supporting position, For example, a configuration using a movement form such as rotation or horizontal movement may be employed.
(5) The top panel and the side panel on one side of the box, which is opened in a rectangular tube shape, are sucked and held by the robot hand. It is possible to adopt an appropriate configuration such as pressing and supporting so as not to change, and supporting including the bottom panel.
(6) In the embodiment, the support means and the support member are separated from each other. obtain.

9 Folding sheet, 10 boxes, 11 Top panel 11a Top side outer flap (outer flap), 12a Bottom side outer flap (outer flap)
13 First side panel (panel on one side), 13a First inner flap (inner flap)
14a Second inner flap (inner flap), 15 trunk, 18 robot hand 19 article, 20 pushing means, 21 loading base, 25 first suction section 26 second suction section, 32 support means, 56 support member, 60 Guide body, E Internal space S2, Article supply section, S3 Sealing section (next process)

Claims (5)

A boxing device that pushes articles into a box that is folded into a rectangular tube that opens on the side, and packs the articles,
A loading base that faces the article supply unit and accommodates the articles in an assembled state;
Hold the box raised in the shape of a rectangular tube, and cover the tip of the loading base so that the opening of the box is sideways, the box facing the pushing of the article in the article supply unit A robot hand that is controlled to take a posture;
A pushing means for pushing the article accommodated in the loading base toward the opening of the box;
The loading base has a guide body that supports a flap extending from the body of the box from the inside when the box is covered on the tip,
While tilting the box held by the robot hand, the inner flap extending from the box body and the inner side of the outer flap adjacent to the inner flap in the orthogonal direction are pressed against the guide body of the loading base. While expanding the flap to the outside, the box is advanced with respect to the loading base, and the box is placed in the facing position by receiving the guide body in the internal space surrounded by the plurality of flaps. A boxing apparatus characterized in that an article is pushed by the pushing means.   The robot hand adsorbs and holds the top panel in the body portion of the box in the directly-facing posture and the side panel on one side of the body portion perpendicular to the body panel, and is positioned on the article supply side in the both held panels. The rear part opposite to the article supply side of the held box is obliquely lifted so that both flaps extending from the edge part are pushed outward at a time, and the insides of the flaps are pressed against the guide body of the loading base. The boxing device according to claim 1, which is configured.   In the article supply unit, before the article is pushed by the pushing means into the box sucked and held by the robot hand, the support that advances to the support position that supports the bottom panel in the body portion of the box in the facing posture from below is supported. 3. The apparatus according to claim 1, wherein the support means is configured to move in a movement region that does not interfere with a flap located on an article supply side of a box positioned in the article supply unit. Boxing equipment.   After the packaging of the article in the article supply unit, the box sucked and held by the robot hand is laterally transported toward the next process, and the lateral transport path maintains the bottom panel at the support position of the support means. 4. A boxing apparatus according to claim 3, wherein a support member having a support surface coincident with the height is provided, and the robot hand is moved so as to slide the bottom panel of the box with respect to the support member.   When holding the box in the shape of a square tube with the robot hand and laterally transferring it to the next process, the top panel in the body of the box in the directly-facing posture, and the orthogonal transfer to the top panel Any one of claims 1 to 4, wherein the robot hand is provided with a first suction part and a second suction part for holding a side panel on one side of the body part which is rearward in the direction. The boxing device according to item.

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