JP2021127139A - Robot hand with corner folding device and boxing device using same - Google Patents

Abstract

To provide a boxing device for feeding a package folded at a corner without damaging a content or the like to a box body or the like.CONSTITUTION: A robot hand 10 is attached to the tip of a robot arm 2. The robot band comprises: a cylindrical body 11 which sucks a package 3; and a corner folding part 12 which folds the corner 3a of the package. The cylindrical body includes an upper cylindrical body 13, and a lower cylindrical body 14 movably fitted below the upper cylindrical body, and the lower surface of the lower cylindrical body becomes a suction part 15 which has a through-hole. When the suction part is driven to suck in contact with the upper surface of the package, the package is sucked by the suction part, the lower cylindrical body/package rises, and when a plate-like member 25 is closed, the corner is folded. By moving the position of a first stopper pin 31 up and down, the descending stop position of a suction surface during suction-off is set higher than that when the package is sucked and held, and a load is prevented from being applied on a content or the like.SELECTED DRAWING: Figure 3

Description

The present invention relates to a robot hand with an ear folding device and a boxing device using the robot hand.

For example, when a product made of a pillow package is stored in a box, the ears (top seals) existing at both ends of the pillow package and the film portion around the ears that are not in contact with the contents of the package are placed downward. By folding it to reduce the flat area and packing it in a box with its ears folded, it may be efficiently stored in a small box. As a device that automatically performs the ear folding process and a series of processes for supplying the box body, there is a device conventionally disclosed in Patent Document 1.

In the device disclosed in Patent Document 1, a robot hand is attached to the lower surface of the tip of the robot arm. The robot hand includes a tubular body that attracts the package and an ear folding portion that bends the ear portion of the package. The tubular body includes a cylindrical upper cylinder and a lower cylinder movably mounted below the upper cylinder, and the lower surface of the lower cylinder serves as a suction portion having a through hole. When suction drive is performed with the suction part in contact with the upper surface of the package, the package is sucked by the suction part, the lower cylinder and thus the package move upward, and the ear part is directed downward by the ear folding claw. Furthermore, the ear part is surely bent by closing the ear folding claw.

Then, by moving the robot hand to a predetermined position above the box body and lowering the robot hand as it is, the package is inserted into the box together with the ear folding claws while the ears are bent by the ear folding claws. .. At the time of this insertion, the ear folding claw also functions as a guide when inserting the package into the box. When the suction is released in this state, the package is separated from the suction portion and supplied into the box.

Japanese Patent No. 4914696

As described above, when the suction is released with the package inserted in the box, the lower cylinder tries to move downward, but since the package exists in the moving direction, the lower cylinder is the package, that is, the package. Further downward movement is suppressed by the presence of the contents. As a result, the load of the lower cylinder is applied to the package and the contents. Then, for example, if the contents are fragile items such as souvenir sweets, the contents may be damaged or the bag may burst.

The above-mentioned problems are described as independent of each other, and the present invention does not necessarily have to be able to solve all of the described problems, as long as at least one problem can be solved. In addition, we have the intention to acquire the rights to the structure for solving this problem independently by divisional application, amendment, etc.

In order to solve the above-mentioned problems, the robot hand with an ear folding device of the present invention has (1) a suction means that sucks and holds the package and an ear fold that bends both ends of the package that is sucked and held by the suction means. The suction means includes a means, and the suction means has a hollow suction box in which the position of the suction surface can be moved up and down, and a through hole is formed on the lower surface of the suction box, and the surface thereof is the suction surface. In the suction box, when the inside of the suction box is sucked while the package closes the through hole, the package is sucked and held by the suction surface, and the suction surface moves up and moves, and the suction box is described. When the suction is stopped, the suction surface is configured to move downward, and the ear folding means includes a pair of ear folding members and a drive mechanism for opening and closing the pair of ear folding members, and the pair of ear folding means. When the ear folding member is closed, the distance between the pair of ear folding members is narrowed so as to come into contact with both ends of the package and bend both ends, and the suction surface is lowered when the suction is stopped. The adjustment function includes an adjustment function for changing the stop position, and the adjustment function raises the lowering stop position when the suction is stopped and the lowering movement is higher than the lowering stop position when the packaging body is sucked and held. The package was not damaged.

In this way, for example, when suction is performed with the suction surface in contact with the upper surface of the package at a predetermined position on the upstream side, the suction surface rises. Then, when the ear folding member is closed with both ends of the package located between the pair of ear folding members, both ends are bent. For example, if the package body sucked and held in that state is moved to the vicinity of the supply position of the box or the like, the suction is stopped, the suction holding is released, and the package is transferred and supplied, the suction surface will move downward. As a result, the load of the suction box is applied to the package and contents, but the adjustment function keeps the package in a position where it is not damaged, and further downward movement is suppressed. Therefore, for example, it is possible to prevent the bag body constituting the package from being damaged or broken, or the contents from being damaged as much as possible.

The suction box corresponds to the tubular body in the embodiment. In order to move the position of the suction surface up and down, for example, as in the embodiment, the upper tubular body 13 and the lower tubular body may be connected to each other so that one ends of the 14 can be moved in the axial direction, or the bellows A member that expands and contracts, such as, may be mounted. Further, since at least the position of the suction surface needs to be moved, the lower tubular body may be moved from the middle as in the embodiment. For example, a bellows or the like is attached to the upper end side of the suction box to suck. The entire box may be moved, or conversely, only the suction surface may be moved. In the embodiment, the adjusting function is composed of a first cylinder, a first stopper pin that moves up and down by the first cylinder, a first elongated hole, and the like. In the embodiment, when the suction is stopped, the suction surface moves slightly downward and the downward movement is stopped by the action of the first stopper pin 31 or the like, but the downward movement may not be performed even if the suction is stopped.

(2) The pair of ear folding members are configured to be movable up and down relative to the suction box, and the suction is stopped and the suction box is located at the lowering stop position. It is preferable that the ear folding member is configured to move upward relative to the suction box.

In this way, for example, when the packaging body is transferred to the box body, if the ear folding member enters the box body with both ends of the packaging body bent, then only the ear folding member is majored and rises. It can be moved and retracted from the box. When the ear folding member is raised, for example, both ends of the packaging body held by the ear folding member may be urged upward to lift the packaging body. Even if the package body is about to be lifted, since the suction portion exists above the package body, further ascending movement is suppressed, and the ear folding member can be reliably lifted while leaving the package body. .. Further, the same effect can be obtained, for example, by raising the ear folding member and the intermediate wear box while gradually lowering the lowering stop position of the suction portion when the suction is stopped by the adjustment function. It is good because it can be easily done by configuring it.

(3) The pair of ear folding members are opened and closed by rotating forward and reverse with the upper side as the center of rotation, and in the standby posture in which the pair of ear folding members are open, the pair of ear folding members are opened and closed. In the first operation posture in which the pair of ear folding members are closed from the standby posture, the distance between the pair of ear folding members on the lower end side is narrowed. It is configured to be bent in contact with both ends of the package, the distance between the lower end side is further narrowed from the first operating posture, the lower end side of the pair of ear folding members is located inside the upper end side, and the lower end is tapered. It may be configured to take a second motion posture that narrows in a shape.

In this way, the lower end sides of the pair of ear folding members can be brought closer to each other to form a tapered shape that is narrower than the upper end side, and for example, it functions more effectively as a guide when storing the package inside the box. good.

(4) The boxing device according to the present invention includes the robot hand with an ear folding device and means for supporting the robot hand with an ear folding device and moving between a plurality of points, and the packaging is sucked and held. It is advisable to supply the body to the box.

According to the present invention, for example, both ends of the package can be bent and supplied into the box or the like without damaging the contents and without tearing the bag.

It is a perspective view which shows one preferable embodiment of the boxing apparatus which concerns on this invention. It is a front view which shows one preferable embodiment of the boxing apparatus which concerns on this invention. It is a side view which shows one preferable embodiment of the boxing apparatus which concerns on this invention. It is a figure explaining the action. It is a figure explaining the action. It is a figure explaining the action.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not construed as being limited to this, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

1 to 3 show a main part (robot hand part of a boxing device) of a preferred embodiment of the present invention. As shown in the figure, the boxing device 1 of the present embodiment has a structure in which a robot hand 10 capable of holding a package 3 is attached to the lower surface of the tip of a robot arm 2 that moves according to a preset trajectory. ing.

The robot hand 10 includes a tubular main body 11 for sucking and holding the package 3, and an ear folding portion 12 for bending the selvage 3a of the package 3. The tubular main body 11 includes a cylindrical upper tubular body 13 and a lower tubular body 14 mounted below the upper tubular body 13, and a lower portion of the upper tubular body 13 is a lower tubular body. The configuration inserted in 14 is adopted.

The lower end of the lower tubular body 14 includes a suction portion 15. The suction portion 15 has an elongated substantially rectangular shape, and is formed so as to extend in the horizontal direction orthogonal to the lower tubular body 14 extending in the vertical direction. A plurality of through holes (not shown) penetrating vertically are formed in the suction portion 15. The lower surface of the suction portion 15 is the suction surface. Further, in the present embodiment, a plurality of (for example, four) packages 3 can be adsorbed and held at the same time. The ears 3a at both ends of each package 3 are sucked and held in a layout such that they are located on both outer sides of the long side of the suction portion 15.

The outer diameter of the upper tubular body 13 and the inner diameter of the lower tubular body 14 are substantially equal to each other so that air does not leak from the contact surfaces of both tubular bodies 13 and 14. In order to further ensure the airtightness between the upper tubular body 13 and the lower tubular body 14, for example, an O-ring may be attached, the contact surface may be covered with silicone rubber or the like, or grease may be interposed. Various methods can be adopted. Further, the upper tubular body 13 is linked to a suction pump (not shown) via the inside of the robot arm 2.

As a result, for example, as shown in FIGS. The package 3 is adsorbed on the adsorbing portion 15. If the suction process is continued in this state, the negative pressure in the tubular body 11 rises, and the lower tubular body 14 moves upward relative to the upper tubular body 13 (approaching the robot arm 2). Moving). Therefore, assuming that the position of the upper tubular body 13 is constant, the package 3 sucked and held by the lower tubular body 14 (suction portion 15) also moves upward.

Further, a first elongated hole 21 extending in the vertical direction is formed on the side surface of the lower tubular body 14 located on one long side side of the suction portion 15, and a first elongated hole 21 extending in the vertical direction is formed and is inserted into the first elongated hole 21. One stopper pin 31 is provided. When the lower tubular body 14 moves up and down as the suction is turned on and off, the first stopper pin 31 moves relatively along the inside of the first elongated hole 21. Then, for example, when the lower tubular body 14 moves downward, the first stopper pin 31 moves relatively upward in the first elongated hole 21, and when it reaches the upper end of the first elongated hole 21, further downward movement is suppressed. Will be done. Similarly, when the lower tubular body 14 moves upward, the first stopper pin 31 moves relatively downward in the first elongated hole 21, and when it reaches the lower end of the first elongated hole 21, further upward movement is suppressed. Will be done.

Further, a second elongated hole 22 extending in the vertical direction is formed on the side surface of the lower tubular body 14 located on the other long side side of the suction portion 15, and the second elongated hole 22 is inserted into the second elongated hole 22. Two stopper pins 32 are provided. Then, when the lower tubular body 14 moves up and down as the suction is turned on and off, the second stopper pin 32 moves relatively along the inside of the second elongated hole 22. Then, for example, when the lower tubular body 14 moves downward, the second stopper pin 32 moves relatively upward in the second elongated hole 22, and when it reaches the upper end of the second elongated hole 22, further downward movement is suppressed. Will be done. Similarly, when the lower tubular body 14 moves upward, the second stopper pin 32 moves relatively downward in the second elongated hole 22, and when it reaches the lower end of the second elongated hole 22, further ascending movement is suppressed. Will be done.

As described above, both the first stopper pin 31 and the second stopper pin 32 have a function of restricting the vertical movement of the lower tubular body 14, and when the heights of the lower tubular body 14 are different, the upper end of the elongated hole is first formed. Alternatively, the one that comes into contact with the lower end preferentially restricts the vertical movement of the lower tubular body 14. Then, in the present embodiment, the second stopper pin 32 is fixedly installed, and the first stopper pin 31 is installed so as to be movable up and down. The configuration that can be moved up and down may be as follows, for example.

In the present embodiment, the first cylinder 41 is attached to the upper tubular body 13 or the robot arm 2. More specifically, the first cylinder 41 is attached so that the cylinder rod 41a projects downward and reciprocates in the vertical direction. Then, the first stopper pin 31 is connected to the tip of the cylinder rod 41a. As a result, as the cylinder rod 41a of the first cylinder 41 reciprocates, the tip of the cylinder rod 41a and thus the first stopper pin 31 relatively move up and down in the first elongated hole 21. When the cylinder rod 41a is extended and the first stopper pin 31 is located at the lowermost position, the first cylinder 41 has the same height as, for example, the second stopper pin 32, and the cylinder rod 41a rises from that position. When the one stopper pin 31 is located at the uppermost position, it is located at a position higher than, for example, the second stopper pin 32 by a predetermined distance.

In this way, when the first stopper pin 31 is in the uppermost position, the first stopper pin 31 and the second stopper pin 32 have their first lengths due to the downward movement of the lower tubular body 14 due to the suction off. It moves relatively upward in the hole 21 and the second elongated hole 22. Then, the first stopper pin 31 reaches the upper end of the first elongated hole 21 first. Therefore, the lower tubular body 14 is prevented from further descending.

On the other hand, when the first stopper pin 31 is in the lowermost position, the first stopper pin 31 and the second stopper pin 32 are moved to the first elongated hole 21 and the second stopper pin 32, respectively, due to the downward movement of the lower tubular body 14 due to the suction off. It moves relatively upward in the second elongated hole 22. Then, the first stopper pin 31 and the second stopper pin 32 reach the upper ends of the first elongated hole 21 and the second elongated hole 22, respectively, at the same time. Then, the lower tubular body 14 is prevented from further descending. That is, when the first stopper pin 31 is in the lowermost position, the lower tubular body 14 moves downward to a position corresponding to the installation height of the second stopper pin 32, and the first stopper pin 31 is in the uppermost position. Occasionally, it is possible to move downward only to a position higher than that position by a predetermined distance (for example, corresponding to the moving stroke of the cylinder rod 41a).

Further, when the lower tubular body 14 is moved upward due to suction on, it rises to the height regulated by the second stopper pin 32 regardless of the state of the first cylinder 41, that is, the position of the first stopper pin 31. The above movement is suppressed.

As described above, in the present embodiment, by raising and lowering the first stopper pin 31 by driving the first cylinder 41, the downward stop position of the lower tubular body 14 that descends when suction is turned off can be changed. Further, regardless of the position of the first stopper pin 31, the upper stop position of the lower tubular body 14 that rises when suction is turned on can be made constant.

On the other hand, the ear folding portion 12 includes a pair of plate-shaped members 25 for folding ears and an opening / closing mechanism portion 26 for opening and closing the plate-shaped members 25 for folding the ears. The pair of plate-shaped members 25 are arranged on the outside of both side surfaces of the lower tubular body 14 provided with the first elongated hole 21 and the second elongated hole 22, and have a predetermined angle so that the lower portion opens and closes in the space on the outside. It opens and closes by rotating forward and reverse within the range.

The opening / closing mechanism 26 includes a second cylinder 42 and a third cylinder 43 arranged in series in series above and below, a link mechanism 27 linked to the cylinder rod 43a of the third cylinder 43, and the like. The third cylinder 43 moves up and down as the cylinder rod 42a of the second cylinder 42 reciprocates. Then, as the tip position of the cylinder rod 43a of the third cylinder 43 connected to the link mechanism 27 rises and falls, the plate-shaped member 25 rotates forward and reverse around the upper end edge thereof.

Therefore, for example, as shown in FIGS. 1 to 3, when the cylinder rod 42a of the second cylinder 42 and the cylinder rod 43a of the third cylinder 43 are both raised and housed in the cylinder body, a pair of plates is formed. Both lower ends of the member 25 are located outside the upper end (direction away from the side surface of the lower cylindrical body 14), and the member 25 is in an open standby posture. Further, for example, when the second cylinder 42 is driven from the standby posture and the tip of the cylinder rod 42a moves downward, the tip position of the cylinder rod 43a of the third cylinder 43 also moves downward, so that the tip position of the cylinder rod 43a of the third cylinder 43 also moves. The plate-shaped member 25 rotates by a certain angle, and the lower ends thereof approach each other to close each other. Further, when the third cylinder 43 is driven from that state and the tip of the cylinder rod 43a moves downward, the plate-shaped member 25 further rotates, and the lower ends thereof approach each other. Then, for example, in the first operating posture in which the second cylinder 42 is driven, the cylinder rod 42a is extended, and the plate-shaped member 25 is closed, the pair of plate-shaped members 25 are oriented in the vertical direction and are in a state of being parallel to each other, and the first operating posture thereof. In the second operating posture in which the third cylinder 43 is driven from the cylinder rod 43a, the cylinder rod 43a is extended, and the plate-shaped member 25 is further closed, the lower ends of the pair of plate-shaped members 25 are inside the upper end edge (on the side surface of the lower tubular body 14). It is located in the approaching direction) and narrows in a tapered shape at the lower end.

Further, in the present embodiment, the plate-shaped member 25 is configured to be movable up and down relative to the tubular main body 11. That is, the fourth cylinder 44 is arranged so that the cylinder rod projects downward, and the entire ear folding portion 12 moves up and down as the cylinder rod reciprocates with the drive of the fourth cylinder 44. For example, the upper end of the plate-shaped member 25 may be attached to the base member attached to the tip of the cylinder rod so as to be rotatable forward and reverse, or the main body of the second cylinder 42 may be attached.

The boxing device 1 having the above-described configuration operates as follows, for example, and sucks and holds a plurality of (for example, four) packages 3 collectively on the downstream side with respect to the packaging body 3 moving along the upstream side transport path. It is controlled to pack the boxes in a batch by transferring them to the inside of the box waiting in the transport path of.

For example, the robot arm 2 positions the robot hand 10 on the package 3 waiting on the transport path 60 on the upstream side. In this state, since the package 3 is not in contact with the suction portion 15 and is in an open state, the lower tubular body 14 is located at the lowermost position regardless of whether the suction is on or off. At this time, the first stopper pin 31 is located at the lower position, and the lower tubular body 14 is located at the lowermost position regulated by the second stopper pin 32. Further, the plate-shaped member 25 maintains an open standby posture.

In that state, the robot arm 2 operates, and the tubular main body 11 (lower tubular body 14 and the like) and the plate-shaped member 25 are integrally lowered, and as shown in FIG. 4A, the packaging body 3 The suction portion 15 comes into contact with the upper surface. In this state, the suction pump is operated to suck the package 3 onto the suction portion 15. The operation of the suction pump may be started before the package 3 is brought into contact with the suction portion 15.

When the package 3 is attracted to the suction portion 15 and closes the through hole when the suction is turned on, the lower tubular body 14 automatically rises as shown in FIG. 4 (b). At this time, since the upper tubular body 13 and the selvage folding portion 12 retain the position shown in FIG. 4A without moving upward, the selvage portion 3a of the package 3 is opened in a V shape for ear folding. It is guided by the plate-shaped member 25 and is directed downward.

Next, the second cylinder 42 is operated, the linear motion of the second cylinder 42 is converted into a rotary motion by the link mechanism 27, the plate-shaped member 25 is closed, and the first motion posture is established. As a result, as shown in FIG. 4C, the selvage portion 3a of the package 3 is folded.

The robot arm 2 moves in a preset trajectory while maintaining the folded state of the ear portion 3a. That is, first, the tubular main body 11 (lower tubular body 14 and the like) and the plate-shaped member 25 rise together (see FIG. 5A), and then the box body 61 stands by on the transport path on the downstream side. Move upwards. Then, the third cylinder 43 is driven to displace the pair of plate-shaped members 25 into the second operating posture (see FIG. 5B).

Next, the tubular main body 11 and the plate-shaped member 25 in the second operating posture are lowered by the robot arm 2, enter the box body 61 from the lower end of the plate-shaped member 25, and are packaged as they are sucked and held by the suction portion 15. The body 3 is inserted into the box body 61 (see FIG. 5C). At this time, since the plate-shaped member 25 is in the second operating posture and the lower end is narrowed, it exerts a guide function when entering the box body 61 and can smoothly enter the box body 61. can. Along with this, the package 3 is also smoothly inserted into the box 61.

In this embodiment, since the lower end of the plate-shaped member 25 is located below the bottom surface of the packaging body 3, the lower end of the plate-shaped member 25 is located on the bottom surface of the box body 61 as shown in FIG. 5 (c). When in contact with or in close proximity, the package 3 is slightly lifted from the bottom surface of the box 61.

Next, the suction is turned off, and the first cylinder 41 is driven to raise the first stopper pin 31 at an appropriate timing before the turning off. The appropriate timing may be, for example, after the plate-shaped member 25 has entered the box body 61 as shown in FIG. 5 (c), or before the plate-shaped member 25 has entered the box body 61 or the like. In this way, the lower tubular body 14 moves downward as the suction is turned off, but the first stopper pin 31 suppresses the downward movement. Specifically, as shown in FIG. 5D, when at least the package 3 is in contact with the bottom surface of the box 61 and is stored, the lower tubular body 14 does not move downward any more. It is adjusted so that the load of the lower tubular body 14 is not applied to the package 3 and thus the contents. Further, the plate-shaped member 25 may be controlled so as to return to the first operating posture at an appropriate timing when the lower end thereof enters the box body 61.

When the package 3 is inserted and arranged in the box 61 in this way, the robot arm 2 raises the robot hand 10 and separates from the box 61, and at the same time, the transport path 60 on the upstream side is used for the next transfer. Moves to a predetermined position above. At this time, if the tubular main body 11 (lower tubular body 14) and the plate-shaped member 25 are lifted together, the package 3 whose left and right sides are held by the pair of plate-shaped members 25 may also be lifted together. Therefore, in the present embodiment, the fourth cylinder 44 is driven to raise the plate-shaped member 25 first. Then, even if the package 3 tries to be lifted, the package 3 does not rise and stays in the box 61 because the suction portion 15 exists in the upward moving direction (see FIG. 6A).

Then, after the plate-shaped member 25 is removed from the packaging body 3 (for example, after being positioned above the box body 61 (see FIG. 6B)), the robot arm 2 is operated to operate the robot hand 10 (cylindrical body 11). , The plate-shaped member 25, etc.) is raised, and the robot hand 10 is completely pulled out from the box body 61 (see FIG. 6 (c)). After that, the robot arm 2 operates, and the robot hand 10 moves to a predetermined position above the transport path 60 on the upstream side. During this movement or after reaching the upper part of the transport path 60, a predetermined process such as opening the plate-shaped member 25 is performed.

Although various aspects of the present invention have been described above with reference to embodiments and modifications, these embodiments and descriptions have not been made for the purpose of limiting the scope of the present invention, and are intended for understanding the present invention. It should be added that it was provided to contribute. The scope of the present invention is not limited to the configurations and manufacturing methods explicitly described herein, but also includes combinations of various aspects of the invention disclosed herein. Of the present invention, the configuration for which a patent is sought is specified in the appended claims, but even if the configuration is not currently specified in the claims, it is disclosed in the present specification. I would like to mention that there is a possibility of claiming a patent for this configuration in the future.

1: Boxing device 2: Robot arm 3: Packaging body 3a: Ear part 10: Robot hand 11: Cylindrical body 12: Ear folding part 13: Upper tubular body 14: Lower tubular body 15: Adsorption part 21: First Long hole 22: Second long hole 25: Plate-shaped member 26: Opening / closing mechanism 27: Link mechanism 31: First stopper pin 32: Second stopper pin 41: First cylinder 42: Second cylinder 43: Third cylinder 44 : Fourth cylinder 60: Transport path 61: Box

Claims (4)

A suction means that sucks and holds the package,
An ear folding means for bending both ends of the package body sucked and held by the suction means is provided.
The suction means has a hollow suction box in which the position of the suction surface can be moved up and down.
A through hole is formed on the lower surface of the suction box, and the surface thereof becomes the suction surface.
In the suction box, when the inside of the suction box is sucked while the package closes the through hole, the package is sucked and held by the suction surface, and the suction surface moves upward to perform the suction. In the stopped state, the suction surface is configured to move downward.
The ear folding means includes a pair of ear folding members and a drive mechanism for opening and closing the pair of ear folding members, and when the pair of ear folding members are closed, the distance between the pair of ear folding members becomes narrow. It is configured to come into contact with both ends of the package and bend both ends.
It has an adjustment function to change the lowering stop position of the suction surface when the suction is stopped.
The adjustment function raises the lowering stop position when the suction is stopped and the lowering movement is higher than the lowering stop position when the packaging is sucked and held so as not to damage the packaging. A robot hand with an ear folding device that features. The pair of ear folding members are configured to be movable up and down relative to the suction box.
Claim 1 is characterized in that the pair of ear folding members are moved upward relative to the suction box in a state where the suction is stopped and the suction box is located at the lowering stop position. Robot hand with ear folding device described in. The pair of ear folding members are opened and closed by rotating forward and reverse with the upper side as the center of rotation.
In the standby posture in which the pair of ear folding members are open, the lower ends of the pair of ear folding members form a C shape facing outward from each other, and the first operation in which the pair of ear folding members are closed from the standby posture. In the posture, the distance between the lower end side of the pair of ear folding members is narrowed so that the pair of ear folding members are bent in contact with both ends of the package.
The distance between the lower end side is further narrowed from the first operating posture, the lower end side of the pair of ear folding members is located inside the upper end side, and the second operating posture is configured to be narrowed in a tapered shape at the lower end. The robot hand with an ear folding device according to claim 1 or 2. The robot hand with an ear folding device according to any one of claims 1 to 3.
It is equipped with a means for supporting the robot hand with an ear folding device and moving between multiple points.
A boxing device characterized in that the package body sucked and held is supplied to the box body.

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