JP5568295B2 - Boxing system and boxing method - Google Patents

Description

  The present invention relates to a boxing system and a boxing method for packing a plate-like object such as a solar panel.

  When transporting products or the like, a plurality of products may be packed in a box such as a cardboard box in order to improve the convenience of transport. As a method of packing a plurality of products in one box, there are a method of stacking and packing products in a box, and a method of packing products in an aligned state. In the method of stacking, the load of each product is applied to each product, and the product may be damaged depending on the weight of the product. On the other hand, the method of aligning products in an upright state and packing them in a box does not apply a large load to other products, and does not cause inconveniences caused by the method of stacking.

  As a mechanism for realizing the method of filling the product in the box in a state where the product is set up as described above, there is a filling mechanism as described in Patent Document 1, for example. The filling mechanism described in Patent Document 1 is provided with a plurality of products by adsorbing a plurality of containers, for example, a plurality of containers that are arranged on an alignment table, and then transporting them onto the box, and then lowering the adsorbed containers into the box. The container is configured to be filled in a box.

JP-A-11-70917

  The filling mechanism described in Patent Document 1 adsorbs a plurality of containers in an aligned state and fills them into a box. However, when filling a heavy product or a product that is difficult to handle, It is difficult to adsorb at the same time. Therefore, the filling mechanism described in Patent Document 1 cannot be used for products that are heavy or difficult to handle, and it is necessary to transport the products one by one into the box. . However, when the products to be packed are plate-shaped products, if they are conveyed one by one and put into the box, the plate-shaped product may fall over after being put in the box.

  Therefore, the present invention provides a boxing system that can pack a plurality of plate-like products in a box without being overturned when the plate-like products placed in the box are put in a box in a standing state. The purpose is that.

  The present invention relates to a boxing robot for inserting a plurality of plate-shaped objects in a predetermined direction so as to be close to each other in the box in a state in which the plate-shaped objects are stood up, and the boxing robot. A guide member that guides the plate-like objects inserted by the box into the box and supports the arranged plate-like objects, and a moving mechanism for moving the guide members in the predetermined direction, The boxing robot is configured to insert the next plate-like object into the box after being brought close to the last plate-like object in the arranged order supported by the guide member, and the moving mechanism Is configured to move the guide member by a predetermined distance in the predetermined direction when the next plate-shaped object comes close to the last plate-shaped object.

  According to the present invention, after the guide member is separated from the plate-like object being supported, that is, the plate-like object at the tail end, the plate-like object at the tail end is replaced with the next plate-like object instead of the guide member. support. After that, after the guide member is moved by a predetermined distance, the next plate-like object is inserted between the plate-like object at the end and the guide member, and these plate-like objects are supported by the guide member. In this way, the plate-like object at the tail end is always supported by the guide member and the next plate-like object, and thus does not fall down. Therefore, by repeating this operation, even if a plurality of plate-like objects are placed one by one in the box, the plate-like objects can be packed without being overturned.

  Moreover, in this invention, when a guide member leaves | separates from a plate-shaped object at the end, it is not necessary to newly provide the member, mechanism, etc. which temporarily support a plate-shaped object instead of a guide member. Therefore, the number of parts of the boxing system can be reduced, and the manufacturing cost can be reduced.

  In the above invention, when the boxing robot inserts the plate-like object into the box, the moving mechanism moves the guide member in a pressing direction which is a reverse direction of the predetermined direction, and the inserted It is preferable that the plate-shaped objects are pressed and the arranged plate-shaped objects are brought into contact with each other.

  If the said structure is followed, the inserted plate-shaped object will be pushed in a press direction, and the plate-shaped object in the tail will be contacted. Thereby, a plurality of plate-like objects can be arranged in the box with almost no gap, and a larger number of plate-like objects can be packed in the box.

  In the above invention, the guide member has a tapered portion that extends from the inside to the outside of the box as it goes upward, and a guide portion that leads to the lower end of the tapered portion and guides the plate-like object into the box. Is preferred.

  If the said structure is followed, the plate-shaped object which contact | abutted the taper part will be guided to a taper part, will be guide | induced to a guide part, and will be further guided into a box by a guide part. A box with a stable shape such as a box made of synthetic resin or metal is not always used as a box into which a plate-like object is inserted, and a box with a non-stable shape such as a cardboard box is not necessarily used. Is often used. For example, in the case of a cardboard box, the location where the plate-like object is inserted, that is, the shape of the opening may be distorted depending on the deflection and the assembly method. Thus, even if the shape of the opening is irregular, the plate-like object can be smoothly inserted into the box by using the guide member.

  In the above invention, the operation of the robot body is controlled so that the hand holding the plate-like object, the robot body to which the hand is attached, and the plate-like object held by the hand are inserted into the box. A boxing control device, wherein the boxing control device is free in the direction perpendicular to the thickness direction of the plate-like material when the plate-like material is inserted into the box. It is preferable that the robot main body is configured not to control the movement of the robot body in the orthogonal direction.

  If the said structure is followed, according to the guide by a guide member, a plate-shaped object can move to the direction orthogonal to a predetermined direction. Thereby, a plate-shaped object can be slid along a guide member and can be inserted in a box, and damage to a plate-shaped object can be prevented.

  In the above invention, the boxing robot has a hand for holding the plate-like object and a robot main body to which the hand is attached, and the hand inserts the plate-like object to be held into the box. It is preferable that the robot body is attached to the robot body so as to be relatively displaced according to an external force received from the guide member.

  If the said structure is followed, according to the guide by a guide member, a plate-shaped object can move to the direction orthogonal to a predetermined direction. Thereby, a plate-shaped object can be slid along a guide member and can be inserted in a box, and damage to a plate-shaped object can be prevented.

  The present invention relates to a boxing robot that sequentially inserts a plate-like object into a box in a standing state and arranges the plurality of plate-like objects in a predetermined direction so as to be close to each other in the box, and the boxing robot A boxing system comprising: a guide member that guides the plate-like objects inserted by the inside of the box and supports the arranged plate-like objects; and a moving mechanism for moving the guide members in the predetermined direction. A transporting step of transporting by the boxing robot, a moving step of moving the guide member by a predetermined distance in the predetermined direction by the moving mechanism, and the plate-like material transported in the transporting step. And inserting the plurality of plate-like objects into the box by repeating the transporting process, the moving process, and the inserting process. In the conveying step, the next plate-like object is conveyed to a position close to the last plate-like object in the arranged order supported by the guide member, and in the moving step, When the next plate-shaped object comes close to the last plate-shaped object, the guide mechanism is moved by a predetermined distance in the predetermined direction by the moving mechanism.

  According to the present invention, after the guide member is separated from the supported plate-like object, i.e., the plate member at the tail end, the plate member to be inserted next instead of the guide member is the plate at the tail end. Support the object. After that, after the guide member is moved by a predetermined distance, the plate-like object is inserted between the plate-like object at the end and the guide member, and these plate-like objects are supported by the guide member. In this way, the plate-like object at the tail end is always supported by the guide member and the inserted plate-like object, so that it does not fall down. Therefore, by repeating this operation, even if a plurality of plate-like objects are placed one by one in the box, the plate-like objects can be packed without being overturned.

  In the above invention, when the plate-like object is inserted in the insertion step, the control device moves the guide portion in the pressing direction which is the reverse direction of the predetermined direction by the moving mechanism and inserts the plate-like object. It is preferable to further include a contact step of pressing the plate-like objects and bringing the arranged plate-like objects into contact with each other.

  If the said structure is followed, the inserted plate-shaped object will be pushed in a press direction, and the plate-shaped object in the tail will be contacted. Thereby, a plurality of plate-like objects can be arranged in the box with almost no gap, and a larger number of plate-like objects can be packed in the box.

  According to the present invention, when a plurality of plate-shaped objects are placed one by one in a box and packed in a box, the plate-shaped objects placed in the box can be packed without falling down.

It is a perspective view showing the whole boxing system concerning the embodiment of the present invention. It is the top view which looked at the boxing system from the upper part. It is a perspective view which shows the robot for boxing with which the boxing system shown in FIG. 1 is equipped. It is the front view which looked at the guide apparatus with which the boxing system shown in FIG. 1 was equipped from the front. It is the top view which looked at the guide apparatus shown in FIG. 4 from upper direction. It is the left view which looked at the guide apparatus shown in FIG. 4 from the left. It is an enlarged view which expands and shows the guide structure of the guide apparatus shown in FIG. It is an expansion perspective view which expands and shows further the guide member of the guide structure shown in FIG. It is a flowchart which shows the procedure of a boxing process. It is an expansion perspective view which expands and shows the work position vicinity when moving a pallet to a work position. It is a perspective view which shows the state which is conveying the glass frame to the initial insertion position. It is an expansion perspective view which expands and shows the work position vicinity when moving a guide member to an initial guide position. It is a perspective view which shows a state when inserting the glass frame. It is an expansion perspective view which expands and shows the work position vicinity in the state of FIG. It is an expansion perspective view which expands and shows the work position vicinity when rotating a stopper. It is an expansion perspective view which expands and shows the work position vicinity when a 2nd glass frame is conveyed to an insertion position. It is an expansion perspective view which expands and shows the work position vicinity when a guide member is lowered | hung back. It is an expansion perspective view which expands and shows the work position vicinity when the 2nd glass frame is inserted. It is a perspective view which shows a state when a predetermined number of glass frames are inserted in a lower box. It is an expansion perspective view which expands and shows the work position vicinity in the state of FIG. It is an expansion perspective view which expands and shows the work area vicinity when covering a lower box with an upper box. It is a perspective view which shows a state when an upper box is put on a lower box and a box is assembled. It is an expansion perspective view which expands and shows the work position vicinity in the state of FIG. It is a flowchart which shows the procedure of the boxing process in 2nd Embodiment.

  Below, the boxing system 1 which is embodiment of this invention is demonstrated, referring drawings mentioned above. In addition, the concept of directions such as up and down, left and right, and front and back in the embodiment is used for convenience of explanation, and it is suggested that the arrangement and orientation of those components are limited to that direction with respect to the boxing system 1. Not what you want. The boxing system 1 described below is only one embodiment of the present invention, and the present invention is not limited to the embodiment, and can be added, deleted, and changed without departing from the spirit of the invention.

<First Embodiment>
A boxing system 1 according to an embodiment of the present invention shown in FIG. 1 and FIG. 2 is a system in which a plurality of glass frames 2 that are plate-like objects are arranged side by side and packed in a rectangular parallelepiped box 3 such as a cardboard box. . In the present invention, the glass frame 2 to be packed is a solar panel, for example, and has a rectangular glass plate 4. The surface 4a (see FIG. 11 and the like) of the glass plate 4 can be sucked by a suction pad 25 described later. A solar cell element (not shown) is provided on the back surface 4 b of the glass plate 4. Thus, the aluminum frame 5 is provided in the outer periphery of the glass plate 4 in which a solar cell element is provided. The glass frame 2 having such a configuration has a rectangular shape and can be self-supported by an aluminum frame 5. Note that the plate-like object to be boxed by the boxing system 1 is not limited to the one having the shape like the glass frame 2 and may be a plate-like product. The boxing system 1 for packing the glass frame 2 configured as described above includes a pallet conveyor 11, a boxing robot 12, and a box transfer robot 13.

[Pallet conveyor]
The pallet conveyor 11 is a so-called belt conveyor. The pallet conveyor 11 extends in the left-right direction as shown in FIG. The pallet conveyor 11 has a function of carrying the pallet 14 from the left side in FIG. 1 to the right side, which is the downstream side, with the pallet 14 placed on the left side in FIG. Thus, the system controller 15 is electrically connected to the pallet conveyor 11 capable of transporting the pallet 14. The system control device 15 has a function of controlling the driving of the pallet conveyor 11 and adjusting the position of the pallet 14 placed thereon. On both the front and rear sides of the pallet conveyor 11 thus configured, a boxing robot 12 and a box transport robot 13 are provided.

[Robot for boxing]
The boxing robot 12 includes a robot body 16 and a work hand 17. The robot body 16 is a 6-axis robot for positioning as shown in FIG. In the present embodiment, a 6-axis robot is used, but other multi-joint robots such as a horizontal 3-axis or vertical 3-axis may be used. The robot body 16 includes a base 18 that is fixed to a floor or the like. The base 18 is provided with a first arm 19, and the first arm 19 is configured to be rotatable around an S axis that is a vertical axis with respect to the base 18. The upper end of the first arm 19 is provided with a lower end of the second arm 20, and the second arm 20 is configured to be rotatable around the L axis that is a horizontal axis with respect to the first arm 19. . The base end of the third arm 21 is provided at the upper end of the second arm 20, and the third arm 21 can rotate around the U axis parallel to the L axis with respect to the second arm 20. It is configured. The third arm 21 extends along the R axis orthogonal to the U axis. A wrist portion 22 is provided at the distal end portion of the third arm 21, and the wrist portion 22 is configured to be rotatable around the R axis with respect to the third arm 21. The wrist portion 22 that rotates in this way can rotate around the B axis that is orthogonal to the R axis and the T axis that is orthogonal to the B axis with respect to the base end portion provided on the third arm 21. It is configured. A work hand 17 is attached to the tip 22a of the wrist 22 thus configured.

  The work hand 17 is formed in a substantially U shape in plan view. The work hand 17 includes a mounting portion 23 and a pair of support plates 24 and 24. The attachment portion 23 is formed in a long shape, and the central portion thereof is attached to the distal end portion 22 a of the wrist portion 22 of the robot body 16. A pair of support plates 24 and 24 are provided at both ends of the attachment portion 23. The pair of support plates 24, 24 extend in the same direction, and a suction pad 25 is attached to one surface of each. The suction pad 25 is connected to a compressor or the like (not shown), and is configured so that the glass frame 2 can be sucked to the suction pad 25 by driving the compressor. Two suction pads 25 configured as described above are provided on each support plate 24 in this embodiment, and are arranged so as to suck the surface 4a of the glass plate 4 at four points.

  The robot body 16 of the boxing robot 12 configured as described above includes an electric motor (not shown) such as a servo motor for each axis. These six electric motors are electrically connected to the boxing control device 26. The boxing control device 26 has a function of controlling the angular displacement amount of these six electric motors and moving the work hand 17 to an arbitrary position within the movable range 12a. The boxing control device 26 also has a function of controlling suction and release of the suction pad 25 of the work hand 17 by controlling a compressor (not shown).

  In this way, the boxing control device 26 moves the work hand 17 to an arbitrary position, and the suction pad 25 is switched between suction and release, whereby the boxing robot 12 holds and transports the glass frame 2 as a work. And can be separated. A work conveyor 27 for flowing the glass frame 2 to the boxing robot 12 is provided in the vicinity of the boxing robot 12 configured as described above.

[Work conveyor]
The work conveyor 27 is a so-called belt conveyor. As shown in FIG. 2, the workpiece conveyor 27 extends in the front-rear direction, and the downstream end thereof reaches the vicinity of the boxing robot 12. The workpiece conveyor 27 has a function of conveying the glass frame 2 placed thereon to the boxing robot 12. Thus, the work conveyor 27 capable of transporting the glass frame 2 is connected to the system controller 15. The system controller 15 has a function of adjusting the position of the glass frame 2 by controlling the driving of the work conveyor 27. In addition, since the boxing robot 12 puts and holds the work hand 17 from the lower side of the glass frame 2, the glass frame 2 is conveyed with the surface 4 a of the glass plate 4 facing down in the work conveyor 27. Yes.

[Box transport robot]
The box transport robot 13 is different from the boxing robot 12 in the hand (box hand 28) to be used, but the other configuration is the same. Therefore, only the configuration of the box hand 28 will be described, and other identical configurations will be denoted by the same reference numerals and description thereof will be omitted. The box transport robot 13 includes a robot body 16 and a box hand 28.

  The box hand 28 is attached to the tip 22a of the wrist 22, and is formed in a substantially cross shape in plan view as shown in FIG. The box hand 28 has a support 29 in which two plate-like members 29a and 29b intersect in a cross shape. The support 29 has a tip 22a of the wrist 22 attached to a portion where the two plate-like members 29a and 29b intersect. A pair of attachment plates 30 are attached to both ends of the plate-like members 29a and 29b. The pair of mounting plates 30 are formed integrally with the plate-like members 29a and 29b, and extend downward in a direction orthogonal to the plate-like members 29a and 29b, as shown in FIG. A box 3 for packing the glass frame 2 is configured to be divided into two upper and lower parts. The pair of mounting plates 30 are arranged with a space between them so that the lower box 3a and the upper box 3b of the upper part of the box 3 divided into upper and lower parts can be conveyed. Each box 3b is configured to enter. The suction pads 31 are respectively attached to the front ends of the pair of mounting plates 30 configured as described above so as to face each other. The suction pad 31 is attached to face the four side surfaces of the lower box 3a (or the upper box 3b). The suction pad 31 attached in this way is provided with an air cylinder (not shown). Supply / exhaust of air to / from the air cylinder is controlled by the box conveyance control device 34. The air cylinder is advanced and retracted by supplying and exhausting air, and the suction pad 31 opposed by the air cylinder moving forward is gripped by the lower box 3a (or the upper box 3b), and opposed suction by retreating. The pad 31 separates the lower box 3a (or the upper box 3b). Each suction pad 31 is connected to a compressor (not shown) and is configured to suck and hold each side surface of the lower box 3a (or the upper box 3b) by driving the compressor.

  The robot body 16 of the box transporting robot 13 configured as described above also includes an electric motor (not shown) such as a servo motor for each axis. These six electric motors are electrically connected to the box transport control device 34. The box conveyance control device 34 has a function of moving the box hand 28 to an arbitrary position within the movable range 13a by controlling the angular displacement amount of these six electric motors. The box transport control device 34 also has a function of switching suction and release of the suction pad 31 of the box hand 28 by controlling a compressor (not shown).

  By moving the box hand 28 to an arbitrary position by the box transfer control device 34 configured as described above and switching the suction pad 25 between suction and release, the box transfer robot 13 is moved down by the box hand 28. The box 3a and the upper box 3b can be transported or separated. A lower box conveyor 32 and an upper box conveyor 33 are provided on both sides of the box carrying robot 13 that performs such an operation.

[Conveyor for lower box and upper box]
The lower box conveyor 32 is arranged on the upstream side of the pallet conveyor 11 in the transfer direction with respect to the box transfer robot 13, that is, on the left side of the box transfer robot 13. The lower box conveyor 32 is a so-called belt conveyor. The lower box conveyor 32 extends in the front-rear direction, and its downstream end reaches the vicinity of the box transport robot 13. A lower box 3 a is placed on the lower box conveyor 32, and the lower box conveyor 32 is configured to transfer the lower box 3 a to the box transfer robot 13. Thus, the system controller 15 is electrically connected to the lower box conveyor 32 capable of transporting the lower box 3a. The system control device 15 has a function of controlling the drive of the lower box conveyor 32 and adjusting the position of the lower box 3a placed thereon.

  The upper box conveyor 33 is arranged on the downstream side of the pallet conveyor 11 in the transfer direction with respect to the box transfer robot 13, that is, on the right side of the box transfer robot 13. The upper box conveyor 33 is a so-called belt conveyor. The upper box conveyor 33 also extends in the front-rear direction, and its downstream end reaches the vicinity of the box transport robot 13. An upper box 3 b is placed on the upper box conveyor 33, and the upper box conveyor 33 is configured to transfer the upper box 3 b to the box transfer robot 13. Thus, the system controller 15 is electrically connected to the upper box conveyor 33 capable of transporting the upper box 3b. The system control device 15 has a function of controlling the drive of the upper box conveyor 33 and adjusting the position of the upper box 3b placed thereon.

  The boxing system 1 having such a configuration further includes a guide device 41 as shown in FIGS. 4 to 6 and a pair of stopper mechanisms 42 and 42 as shown in FIGS.

[Guide device]
The guide device 41 is provided on the pallet conveyor 11 and is disposed in front of the boxing robot 12. The guide device 41 includes a base 43. The base 43 is formed in a rectangular frame shape in plan view as shown in FIG. The width of the base 43 in the front-rear direction is longer than the width of the pallet conveyor 11 (width in the front-rear direction). The base 43 having such a shape is provided under the pallet conveyor 11, and a pair of ball screw mechanisms 44 are provided thereon.

  The pair of ball screw mechanisms 44 extend in the front-rear direction and are mounted on the base 43 so as to be separated in the left-right direction. A pair of ball screw mechanisms 44 spans a slide member 45, and the slide member 45 extends in the left-right direction. An electric motor 46 is connected to the pair of ball screw mechanisms 44 by a belt 47. The electric motor 46 is a so-called servo motor, and is configured so as to be capable of rotational rotation. The electric motor 46 is configured to drive the pair of ball screw mechanisms 44 to move the slide member 45 in the front-rear direction. The electric motor 46 configured as described above is a motor that drives the seventh axis of the boxing robot 12 and is electrically connected to the boxing control device 26. The position of the slide member 45 is adjusted by controlling the amount of rotation of the electric motor 46 by the boxing control device 26. The length of the slide member 45 whose position is adjusted in this way in the left-right direction is longer than that of the pallet 14. A pair of movable columns 48 are erected on the left and right sides of the slide member 45 formed in this way.

  The pair of movable struts 48 extends upward from the slide member 45. In the pallet conveyor 11, the belt part 49 that conveys the pallet 14 is divided into at least three parts of an upstream part 49 a, an intermediate part 49 b, and a downstream part 49 c in accordance with the pair of movable struts 48 extending in this way. Has been. The upstream portion 49a, the intermediate portion 49b, and the downstream portion 49c are arranged in this order from the upstream side to the downstream side of the pallet 14. An upstream guide groove 50a extending in the front-rear direction is formed between the upstream portion 49a and the intermediate portion 49b arranged in this manner, and one movable support column 48 protrudes therefrom. Also, a downstream guide groove 50b extending in the front-rear direction is formed between the intermediate portion 49b and the downstream portion 49c, and the other movable support column 48 protrudes therefrom.

  As described above, a guide structure 50 enlarged in FIG. 7 is provided at the upper ends of the pair of movable columns 48 that penetrate the pallet conveyor 11 downward. The guide structure 50 includes an elevating mechanism 51, a distance adjusting mechanism 52, and a guide member 53. The elevating mechanism 51 is fixed to the upper end portion of the movable column 48. The elevating mechanism 51 is a so-called air cylinder mechanism, and expands and contracts according to air supply / exhaust. The elevating mechanism 51 is provided with an elevating plate 51a at its upper end, and is configured to elevate the elevating plate 51a in the vertical direction according to expansion and contraction.

  An interval adjusting mechanism 52 is attached to the elevating plate 51a. The interval adjusting mechanism 52 is a so-called air cylinder mechanism, and expands and contracts according to air supply / exhaust. The distance adjusting mechanism 52 has a guide member 53 attached to the tip thereof. The guide member 53 attached in this way is disposed so as to face the guide member 53 provided on the movable column 48 on the other side. The pair of guide members 53 arranged in this way is configured to move in the left-right direction by expanding and contracting the interval adjusting mechanism 52 and to change the interval between the pair of guide members 53. The boxing control device 26 has a function of adjusting the height and interval of the pair of guide members 53 by controlling air supply / exhaust to the elevating mechanism 51 and the interval adjusting mechanism 52.

  As shown in FIG. 8, the guide member 53 has a guide portion 54 and a tapered portion 55. The guide portion 54 extends in the up-down direction and is formed in an L shape in a plan sectional view. The guide portion 54 includes a width direction restricting portion 54a and a thickness direction restricting portion 54b. The width direction restricting portion 54a extends in the up-down direction and is attached to the interval adjusting mechanism 52 in parallel with the front-rear direction. The thickness direction restricting portion 54b extends in the vertical direction and is integrally fixed to the rear end of the width direction restricting portion 54a in parallel with the left and right direction. The guide portion 54 thus formed is integrally provided with a tapered portion 55 at the upper end thereof. The taper portion 55 is inclined so as to expand outward as it advances upward from the upper end of the guide portion 54. Further, the guide member 53 is disposed so that the guide member 53 on the other side and the width direction restricting portion 54a face each other and is flush with the thickness direction restricting portion 54b.

[Stopper mechanism]
A pair of stopper mechanisms 42 and 42 are provided in front of the pair of guide members 53. The pair of stopper mechanisms 42 are spaced apart from each other on the left and right, and each have a rotating column 57 and a stopper 58 (see also FIG. 10 described later). The rotating column 57 is rotatably attached to the base 43 of the guide device 41. An electric motor (not shown) is mechanically connected to the rotating column 57. The electric motor is configured to rotate the rotating column 57 in the forward and reverse directions, and is electrically connected to the system control device 15. The system control device 15 has a function of adjusting the position of the rotating column 57 (specifically, the position of a stopper 58 described in detail later) by controlling the driving of the electric motor of the rotating column 57. In addition, the rotation column 57 may have a function of driving up and down as well as rotation driving. A stopper 58 is attached to the upper end of the rotating column 57 that rotates in this way.

  The stopper 58 is formed in an L shape in plan view, and its base end is fixed to the upper end of the rotating column 57. The tip of the stopper 58 is flat, and a cushion member (not shown) is provided there. The pair of stoppers 58 formed in this way is a support position where their tips are substantially flush with each other on a virtual plane perpendicular to the front-rear direction by rotating the rotation column 57 and forward from there. It is configured to be movable between a retracted position that is rotated and retracted.

[Positioning mechanism]
The pallet conveyor 11 is provided with four positioning mechanisms 59. The positioning mechanism 59 extends in the vertical direction, and has a positioning plate 60 at the upper end thereof. Of the four positioning mechanisms 59 configured in this way, the two positioning mechanisms 59a and 59b are spaced apart in the front-rear direction so that the positioning plates 60 attached to the upper ends thereof are opposed to each other. Further, the remaining two positioning mechanisms 59c and 59d are also arranged apart from each other so that the positioning plate 60 attached to the upper end of the two positioning mechanisms 59c and 59d faces each other.

  The positioning mechanism 59 configured as described above is configured to be moved up and down by an air cylinder mechanism, for example, and the lifting operation is controlled by the system control device 15. Further, the positioning mechanism 59 is configured to advance the positioning plate 60 toward the opposing positioning plate 60 by an air cylinder mechanism, for example, and the advancement operation is controlled by the system control device 15. That is, the system control device 15 has a function of adjusting the height and horizontal position of the positioning plate 60.

  The four positioning mechanisms 59 configured as described above are such that the lower box 3a is accommodated inside the four positioning plates 60, and the lower box 3a is positioned at a predetermined boxing position by moving the four positioning plates 60. It is configured. The boxing position refers to, for example, the longitudinal direction of the lower box 3a formed in a rectangular shape in plan view is parallel to the conveying direction of the pallet conveyor 11 (that is, the left-right direction), and the width direction is the width of the pallet conveyor 11 It is a position parallel to the direction (that is, the front-rear direction) (position as shown in FIG. 12 described later).

[Control device]
The system control device 15 for controlling the pallet conveyor 11 and the like is also electrically connected to the boxing control device 26 and the box conveyance control device 34. The system control device 15 acquires information related to the operation and the like of the boxing control device 26 and the box transport control device 34, and controls each component based on the acquired information. Further, the boxing control device 26 and the box transportation control device 34 acquire information from the system control device 15 and control the boxing robot 12 and the box transportation robot 13 based on the acquired information. The system control device 15, the boxing control device 26, and the box transporting control device 34 having such a control function cooperate on the basis of a predetermined program to execute a boxing process described below.

[About the operation of the boxing system]
Below, the boxing process by the boxing system 1 is demonstrated, referring FIG.1, FIG.2 and FIG.9 thru | or FIG. In FIG. 1 and FIGS. 10 to 23, the configuration of the boxing system is partially omitted. Further, in the enlarged views of FIGS. 10, 12, 14 to 18, 20, 21, and 23, the boxing robot 12 and the box transporting robot 13 are omitted. The boxing process is started by operating an input means such as an execution button (not shown) provided in the system control device 15. When the boxing process starts, the process proceeds to step s1 as shown in FIG.

  Step s1, which is a pallet moving process, is a process of conveying the pallet 14 placed on the pallet conveyor 11 to the downstream side. First, the system control device 15 drives the pallet conveyor 11 and conveys the pallet 14 placed thereon to the downstream side. The lower box 3a is already placed on the pallet 14 to be transported here. Thus, when conveying the pallet 14, the pair of movable columns 41, 41 and the pair of guide members 53, 53 are lowered rearward from the belt portion 49 so as not to interfere with the conveyance of the pallet 14. When the pallet 14 reaches the position of the intermediate portion 49b of the belt portion 49, that is, when the pallet 14 is transported to the working position, the system control device 15 stops the pallet conveyor 11 (see FIG. 10). When stopped, the process proceeds to steps s2 to s4. Note that steps s2 to s4 described below proceed simultaneously and are shown in parallel in the flowchart of FIG. Below, step s2 thru | or s4 are demonstrated in order.

  Step s2 which is a lower box placing step sucks the lower box 3a by the box hand 28 of the box transport robot 13, and places the lower box 3a on the pallet 14 which is one upstream from the work position. It is. In step s 2, the box transport control device 34 moves the box transport robot 13 to suck the lower box 3 a placed before the downstream end of the lower box conveyor 32 with the box hand 28. After the suction, the box transport controller 34 moves the robot body 16 of the box transport robot 13 and places the sucked lower box 3a on the pallet 14 that is one upstream from the work position (FIG. 11). And FIG. 12). When the lower box 3 a is placed on the pallet 14, the suction is released, the lower box 3 a is removed from the box hand 28, and the box hand 28 is retracted toward the upper box conveyor 33. While retracting, the system control device 15 drives the lower box conveyor 32 and conveys the next lower box 3 a to the front of the downstream end of the lower box conveyor 32. And it waits until step s4 is complete | finished.

  Step s3, which is a lower box positioning step, is a step of positioning each side surface of the lower box 3a conveyed to the work position by each positioning mechanism 59. In step s3, the system control device 15 raises the four positioning mechanisms 59 arranged below the pallet 14 so as not to interfere with the conveyance of the pallet 14. When the four positioning mechanisms 59 are raised and each positioning plate 60 reaches a height facing each side surface of the lower box 3a, the system control device 15 advances the positioning plate 60 to guide the lower box 3a to the packing position. . The lower box 3a guided to the packing position is gripped and positioned by the four positioning plates 60 (see FIG. 12). Once positioned, the process waits until step S4 ends.

  Step s4, which is an initial movement process, is a process of moving the pair of guide members 53, 53 to the initial guide position. In step s4, the boxing control device 26 drives the electric motor 46 to move the pair of ball screw mechanisms 44 to move the pair of guide members 53, 53 forward. At this time, the distance between the pair of guide members 53 and 53 is adjusted by the distance adjusting mechanism 52 (see FIG. 7 and the like) so that the width of the width direction restricting portion 54a is substantially the same as the width of the glass frame 2. . If the pair of guide members 53 and 53 adjusted in distance as described above are moved as they are, they will hit the rear edge of the lower box 3a having a width larger than that of the glass frame 2, so that the boxing control device 26 has a lifting mechanism. 51 (see FIG. 7 and the like) is driven to adjust the height of the guide member 53 in advance so that the guide member 53 does not hit the lower box 3a.

  Then, when the pair of guide members 53 has passed over the rear edge of the lower box 3a, the boxing control device 26 drives the lifting mechanism 51 to lower the guide member 53, so that the pair of guides is placed in the lower box 3a. The member 53 is inserted. Eventually, when the pair of guide members 53 move to the initial guide position (see FIG. 12), the boxing control device 26 stops driving the electric motor 46 (see FIG. 5 and the like) and moves the pair of ball screw mechanisms 44. Stop. Here, the initial guide position is a position where the thickness of the glass frame 2 is lowered rearward from the front edge of the lower box 3a. More specifically, the distance d between the front edge of the lower box 3a and the thickness direction restricting portion 54b is a position that substantially matches the thickness of the glass frame 2.

  Step s4 is also an initial transfer process. In step S4, the glass frame 2 is held by the work hand 17 of the boxing robot 12 in parallel with the initial movement process, and the glass frame 2 is transferred to the initial insertion position. To do. At step s4, the pair of guide members 53, 53 are moved forward, and at the same time, the boxing control device 26 moves the boxing robot 12 to place the glass placed in front of the downstream end of the work conveyor 27. The frame 2 is sucked and held by the work hand 17. After the holding, the boxing control device 26 moves the wrist part 22 of the robot body 16 of the boxing robot 12 to wake up the glass frame 2 in the sleeping state, and further moves the components other than the wrist part 22 to move the glass frame 2. (See FIG. 11). In this way, the glass frame 2 is raised and moved to the initial insertion position. Here, the initial insertion position means that the glass frame 2 is inserted between the pair of guide members 53, 53 at the initial guide position and the front edge of the lower box 3a by lowering the standing glass frame 2 as it is. This is a possible position. When the glass frame 2 is in a standing state and moved to the initial insertion position, the process proceeds to step s5. When the glass frame 2 is taken from the workpiece conveyor 27, the system control device 15 drives the workpiece conveyor 27 and conveys the next glass frame 2 to a position just before the downstream end of the workpiece conveyor 27.

Step s5, which is an initial insertion step, is a step of inserting the glass frame 2 between the outer edge of the lower box 3a and the pair of guide members 53, 53. In step s5, the boxing control device 26 drives the boxing robot 12 to lower the glass frame 2 while standing. At this time, the boxing control device 26 moves the first arm 19 around the S axis so that the first arm 19 can freely rotate around the S axis (soft absorber function), that is, the S axis is free. The drive of the servo motor to be rotated is stopped. Thus, by making the S-axis free, the work hand 17 can freely move in the left-right direction. When the work hand 17 is lowered, the lower end of the glass frame 2 eventually becomes a tapered portion of the pair of guide members 53, 53. Hit 55. Further, when the glass frame 2 is lowered, the S-axis of the boxing robot 12 becomes free, so that the glass frame 2 is lowered while being guided by the taper portions 55 of the pair of guide members 53 and 53. To go. As a result, the glass frame 2 is inserted between the pair of guide portions 53, 53 and the glass frame 2 between the outer edges of the lower box 3a, and the lower end of the glass frame 2 eventually sits on the bottom of the lower box 3a. (See FIGS. 13 and 14)
A pair of guide members 53 and 53 are in contact with the intermediate portion in the height direction of the glass frame 2 seated in this way. The pair of guide portions 53 and 53 support the glass frame 2 so that the glass frame 2 does not fall backward due to an unexpected external force or the like when the work hand 17 is removed from the glass frame 2 as will be described later. . That is, the pair of guide portions 53, 53 has a function of guiding the glass frame 2 to be inserted while standing in the lower box 3a and a function of supporting the glass frame 2 inserted in the lower box 3a. doing.

  When the glass frame 2 is seated on the bottom of the lower box 3 a, the boxing control device 26 removes the glass frame 2 from the work hand 17. After the removal, the boxing control device 26 drives the robot body 16 of the boxing robot 12 to move the work hand 17 to the work conveyor 27. When the work hand 17 is moved, the process proceeds to step s6.

  Step s6, which is a stopper operating step, is a step of supporting the glass frame 2 from the opposite side of the pair of guide portions 53, 53 by operating the pair of left and right stoppers 58. In step s6, the system control device 15 moves the stopper 58 in the retracted position to the support position by driving the electric motor (not shown) to rotate the rotating column 57 (see FIG. 15). By moving to this support position, the cushion member provided also in the stopper 58 hits the frame 5 of the glass frame 2. Accordingly, the pair of stoppers 58 supports the glass frame 2 so as to be sandwiched in cooperation with the pair of guide members 53 and 53. When the stopper 58 is moved to the support position, the process proceeds to step s7.

  In step s7, which is a transport process, the glass frame 2 is held by the work hand 17 of the boxing robot 12, and the glass frame 2 is transported to the insertion position. In step s7, the boxing control device 26 moves the boxing robot 12 to hold the glass frame 2 placed in front of the downstream end of the work conveyor 27 by the work hand 17 in the same manner as in step s4. Then, the glass frame 2 is conveyed while the glass frame 2 is raised. Thus, the glass frame 2 is raised and moved to the insertion position. The insertion position is made by the work hand 17 on the upper end side portion of the glass frame 2 (hereinafter also simply referred to as “the last glass frame 2”) supported by the pair of guide members 53, 53 in the front-rear direction. Hold the glass frame 2 to be inserted next (hereinafter, also simply referred to as “next glass frame 2”) at a position where the lower end side of the glass frame 2 overlaps closely, and the next glass frame 2 is lowered as it is. In this position, the glass frames 2 are arranged so as to stand in a state of standing immediately after the last glass frame 2.

  In the present embodiment, when arranged at the insertion position, the lower end portion of the next glass frame 2 comes into contact with the upper end portion of the supported glass frame (see FIG. 16). When the next glass frame 2 is lowered as it is by being brought into contact, the next glass frame 2 is inserted in close contact with the supported glass frame. In the present invention, the term “adjacent” does not necessarily need to be in contact, and includes being in the vicinity. When the glass frame 2 is placed at the insertion position, the process proceeds to step s8.

  Step s8, which is a guide member moving step, is a step of moving the pair of guide members 53, 53 to the guide position lowered rearward by the thickness of the glass frame 2, that is, the distance d. In step s8, the boxing control device 26 drives the electric motor 46 to move the pair of ball screw mechanisms 44 to move the pair of guide members 53, 53 lowered rearward from the belt portion 49 to the rear. . Eventually, when the pair of guide members 53, 53 is lowered backward by the thickness of the glass frame 2 (predetermined distance), that is, by the distance d to reach the guide position (see FIG. 17), the boxing control device 26 is moved to the electric motor 46. And the movement of the pair of ball screw mechanisms 44 is stopped. When the glass frame 2 is taken from the workpiece conveyor 27, the system control device 15 drives the workpiece conveyor 27 and places the next glass frame 2 in front of the downstream end of the workpiece conveyor 27 as in step s4. Transport to.

  As the pair of guide members 53 and 53 move in this manner, the pair of guide members 53 and 53 are separated from the last glass frame 2 and the last glass frame 2 is not supported. However, since the upper end portion of the last glass frame 2 overlaps the lower end portion of the next glass frame 2, even if the last glass frame 2 is about to fall down due to an unexpected external force or the like, This can be prevented by the glass frame 2. When the pair of guide members 53 and 53 are moved to the guide position while preventing the overturn in this way, the process proceeds to step s9.

  Step s9, which is an insertion process, is a process of inserting the next glass frame 2 between the pair of guide members 53, 53 and the last glass frame 2. In step s9, as in step s5, the boxing control device 26 drives the boxing robot 12 to lower the glass frame 2 while standing, and guides it by the pair of guide members 53 and 53. Then, the next glass frame 2 is inserted between the pair of guide portions 53, 53 and the last glass frame 2. In this case as well, the S axis of the robot body 16 of the boxing robot 12 is free. Eventually, the lower end of the glass frame 2 is seated on the bottom of the lower box 3 a, and the next glass frame 2 is arranged behind the rearmost glass frame 2. (See FIG. 18) When the next glass frame 2 is thus inserted and arranged behind the last glass frame 2, the process proceeds to step s10.

  Step s10, which is a boxing completion determination step, is a step of determining whether or not a predetermined number of glass frames 2 have been inserted into the lower box 3a. In step s10, the system control device 15 determines whether or not a predetermined number (for example, 21 in this embodiment) of the glass frames 2 has been inserted into the lower box 3a. If it is determined that the predetermined number has not been reached, the process returns to step s7, and the next glass frame 2 is inserted. Thus, the glass frame 2 is sequentially inserted backward in the lower box 3a, and the process is repeated until a predetermined number of glass frames 2 are arranged rearward. And if it determines with the predetermined number of glass frames 2 having been inserted in the lower box 3a like FIG.19 and 20, it will transfer to step s11.

  Step s11, which is a guide member retracting step, is a step of returning the pair of guide members 53, 53 and the stoppers 58, 58 to their original positions. In step s11, the boxing control device 26 drives the elevating mechanism 51 to raise the pair of guide portions 53, 53 and removes them from the lower box 3a. After the extraction, the boxing control device 26 drives the electric motor 46 and moves the pair of ball screw mechanisms 44 to lower the pair of guide portions 53 and 53 and the pair of movable support columns 41 and 41 rearward from the belt portion 49. It is done. (See FIG. 21) Further, the system control device 15 rotates the rotating column 57 to move the stopper 58 at the support position to the retracted position (see FIG. 21). When the pair of guide portions 53, 53 and the pair of movable columns 41, 41 are lowered and the stopper 58 is moved to the retracted position in this way, the process proceeds to step s12.

  In step s12, which is a packaging process, the upper box 3b is adsorbed by the box hand 28 of the box transport robot 13, and the upper box 3b is covered with the lower box 3a packed with a predetermined number of glass frames 2 arranged in the rear. This is a process of assembling the box 3 and packaging the glass frame 2. In step s 12, the box transport control device 34 moves the box transport robot 13 to cause the box hand 28 to suck the upper box 3 b placed before the downstream end of the upper box conveyor 33. After the suction, the box transport control device 34 moves the robot body 16 of the box transport robot 13 to transport the sucked upper box 3b onto the lower box 3a at the work position (see FIG. 21). Then, the box transport control device 34 moves the robot body 16 of the box transport robot 13 to lower the upper box 3b, and covers the lower box 3a so that the glass frame 2 is packaged (FIGS. 22 and 23). ). By covering the lower box 3a with the upper box 3b in this way, the box 3 is assembled, and a predetermined number of glass frames 2 are erected and are arranged in a line in the rear and packed in the box 3.

  After assembling the box 3, the box transport control device 34 releases the suction, removes the upper box 3b from the box hand 28, moves the robot body 16 of the box transport robot 13, and moves the box hand 28 to the lower box. Retreat toward the conveyor 32. While retracted, the system control device 15 drives the upper box conveyor 33 and conveys the next upper box 3 b to a position just before the downstream end of the upper box conveyor 33. When the box hand 28 is retracted to the lower box conveyor 32, the process proceeds to step s13.

  Step s13, which is a positioning mechanism retracting step, is a step of retracting the positioning mechanism. In step s13, the system control device 15 lowers the four positioning mechanisms 59 below the pallet 14 so as not to obstruct the conveyance of the pallet 14. When the four positioning mechanisms 59 are lowered, the pallet 14 is moved back to step s1, so that the box 3 at the work position is transported to a subsequent process, for example, a packing process, and a new lower box 3a is moved. It is transported to the work position.

[About the effects of the boxing system]
According to the boxing system 1 of the present embodiment, the glass frame 2 held in place of the guide member 53 supports the glass frame 2 at the end after separating the guide member 53 from the glass frame 2 at the end. Thereafter, the guide member 53 is lowered backward by the thickness of the glass frame 2, and then the glass frame 2 is inserted between the glass frame 2 and the guide member 53 at the tail end thereof, so that the two glass frames 2 are guided. Supported by member 53. As described above, the glass frame 2 at the tail end is always supported by the guide member 53 and the glass frame 2 to be held, and thus does not fall down. Therefore, by repeating the operation, even if a plurality of glass frames 2 are placed in a box while standing one by one, the glass frames 2 can be packed without being overturned.

  Moreover, in the boxing system 1, when the guide member 53 leaves | separates from the glass frame 2 at the end, it is not necessary to newly provide the member, mechanism, etc. which support the glass frame 2 temporarily instead of the guide member 53. Therefore, the number of parts of the boxing system 1 can be reduced, and the manufacturing cost can be reduced.

  According to the boxing system 1 of the present embodiment, the glass frame 2 hitting the taper portion 55 is guided to the guide portion 54 by being guided by the taper portion 55, and further guided into the lower box 3 a by the guide portion 54. Is done. The box 3 into which the glass frame 2 is inserted is not a box whose shape is stable like a box made of synthetic resin or metal, but a box whose shape is not stable like a cardboard box. Therefore, depending on the deflection and assembling method, the place where the glass frame 2 is inserted, that is, the shape of the opening may become distorted. Even if the shape of the opening is irregular, the glass frame 2 can be smoothly inserted by using the guide member 53. The box 3 is not limited to a paper box such as cardboard, but may be a synthetic resin or metal box.

  Further, in the boxing system 1 of the present embodiment, the glass frame 2 can move in a direction perpendicular to a predetermined direction according to the guidance by the guide member 53 by making the S axis of the boxing robot 12 free. I have to. Thereby, when inserting the glass frame 2, the glass frame 2 can be slid along the guide member 53, and it can insert in a box, and it can prevent that the glass frame 2 is damaged.

Second Embodiment
In the second embodiment, the boxing system 1 to be used is the same, but the boxing process is partially different. Only different points will be described, and description of the same points will be omitted. In the second embodiment, the boxing process is performed according to the flow shown in FIG. And in step s8 which is a guide member 2nd moving process, a pair of guide members 53 and 53 are lowered | hung back slightly longer than the thickness of the glass frame 2. As shown in FIG. In step s9, which is the second insertion step, the next glass frame 2 is inserted between the pair of guide members 53, 53 and the last glass frame 2. By doing so, the next glass frame 2 can be easily inserted between the pair of guide members 53, 53 and the last glass frame 2. After inserting and removing the work hand 17 from the glass frame 2 in this way, the process proceeds to step s21.

  Step s21 which is a glass frame pushing step is a step of pushing the glass frame 2 inserted by moving the pair of guide members 53, 53 forward toward the last glass frame 2. The boxing control device 26 drives the electric motor 46 to move the pair of ball screw mechanisms 44 to slightly move the pair of guide members 53 and 53 forward. By being moved, the inserted glass frame 2 is pushed toward the last glass frame 2 and is brought into close contact therewith. By sticking in this way, a predetermined number of glass frames 2 are packed in the box 3 with almost no gap. As a result, a larger number of glass frames 2 can be packed in the box 3, and when the box 3 packed with the glass frame 2 is transported, the glass frames 2 hit each other and are damaged. Can be prevented.

<Third Embodiment>
The boxing system 1A of the third embodiment is similar in configuration to the boxing system 1 of the first and second embodiments. About the structure of the boxing system 1A of 3rd Embodiment, only a different point from the structure of the boxing system 1 of 1st and 2nd embodiment is demonstrated, About the same point, the same code | symbol is attached | subjected and the description is abbreviate | omitted. To do. As shown in FIG. 3, a work hand 17 </ b> A is attached to the wrist portion 22 of the boxing system 1 </ b> A so as to be relatively movable parallel to the B axis. A return mechanism 70 such as a damper or a spring member is provided on the work hand 17 </ b> A and the wrist portion 22 attached in this manner. The return mechanism 70 allows the work hand 17A to receive an external force in a direction parallel to the B axis and relatively displace with respect to the wrist portion 22. When the external force is released, the work hand 17A is returned to the original position. It is configured to return to the position.

  By attaching the work hand 17A to the wrist portion 22 in this manner, the glass frame 2 can be moved in the left or right direction while being guided by the pair of guide members 53, 53. Thus, when the glass frame 2 is inserted, the glass frame 2 can be slid along the guide member 53 and inserted into the box. Therefore, it is not necessary to make the S axis free before inserting the glass frame 2 as in the first and second embodiments.

  Further, since the return mechanism 70 is provided in the work hand 17A that moves to the left and right according to the external force, the work hand 17A is returned to the original position by the return mechanism 70 after the glass frame 2 is removed. By returning in this way, the next glass frame 2 can be taken from the work conveyor 27 and held without changing the relative position between the work hand 17 </ b> A and the glass frame 2.

<Other embodiments>
Although the guide member 53 of the boxing system 1 or 1A used in the first to third embodiments has the tapered portion 55 on the upper end side, it is not always necessary. In steps s5 and s9, the S-axis of the robot body 16 of the boxing robot 12 is free, but the present invention is not necessarily limited to the S-axis. Moreover, the movable support | pillar 48 is attached to the slide member 45 so that attachment or detachment is possible, and you may comprise it so that the space | interval attached to the slide member 45 can be changed according to the width | variety of the box 3a and the glass frame 2 (2 of FIG. 4). (See dotted line). Further, the elevating mechanism 53 is detachably attached to the movable column 48, and the height attached to the movable column 48 may be configured to be changeable according to the height of the box 3a and the glass frame 2 ( (Refer to the two-dot chain line in FIG. 7).

  In the boxing systems 1, 1 </ b> A of the first to third embodiments, the target product to be boxed is the glass frame 2, but may be, for example, a single glass, a metal plate, or a synthetic resin plate. If it is a plate-shaped object which tends to tilt, the thickness etc. will not be limited.

  Further, the configuration of the work hands 17 and 17A and the box hand 28 used in the boxing systems 1 and 1A of the first to third embodiments is not limited to the above-described configuration, and a plate-like object such as a glass frame 2 or the like. And the structure which can hold | maintain and convey the box which packs it may be sufficient. For example, instead of the configuration in which the plate-like object and the box are sucked and conveyed as in the first to third embodiments, the plate-like object and the box may be grasped or hooked and conveyed. Further, the arrangement of the entire system is not limited to the arrangement as in the boxing systems 1 and 1A of the first to third embodiments.

  Furthermore, in the boxing systems 1 and 1A of the first to third embodiments, the guide device 41 is controlled by the boxing control device 26, but may be controlled by the system control device 15.

  The present invention is not limited to the embodiments, and can be added, deleted, and changed without departing from the spirit of the invention.

  The present invention can be applied to a boxing system for boxing plates such as solar panels.

1, 1A system 2 glass frame 3 box 3a lower box 12 boxing robot 16 robot body 17, 17A work hand 41 guide device 44 ball screw mechanism 46 electric motor 53 guide member 54 guide portion 55 taper portion 70 return mechanism

Claims (7)

A boxing robot that sequentially inserts the plate-like objects into the box in a standing state, and packs the plurality of plate-like objects in a predetermined direction so as to be close to each other in the box;
A guide member for guiding the plate-like objects inserted by the boxing robot into the box and supporting the arranged plate-like objects;
A moving mechanism for moving the guide member in the predetermined direction,
The boxing robot is configured such that the next plate-like object is inserted into the box after being brought close to the last plate-like object in the arranged order supported by the guide member,
The boxing system, wherein the moving mechanism is configured to move the guide member by a predetermined distance in the predetermined direction when the next plate-shaped object approaches the last plate-shaped object. When the boxing robot inserts the plate-like object into the box, the moving mechanism moves the guide member in a pressing direction which is a reverse direction of the predetermined direction, and the inserted plate-like object is moved. 2. The boxing system according to claim 1, wherein the boxing system is configured to press the plate-like objects arranged in contact with each other. The guide member has a tapered portion that extends from the inside to the outside of the box as it goes upward, and a guide portion that is connected to a lower end of the tapered portion and guides the plate-like object into the box. The boxing system according to claim 1 or 2. The boxing robot includes a hand for holding the plate-like object, a robot body to which the hand is attached, and an operation of the robot body so as to insert the plate-like object held by the hand into the box. A boxing control device to control,
The boxing control device, when inserting the plate-like material into the box, the plate-like material in the orthogonal direction so that the plate-like material can freely move at least in the direction perpendicular to the thickness direction of the plate-like material. 4. The boxing system according to claim 1, wherein the boxing system is configured not to control the movement of the robot body. The boxing robot has a hand for holding the plate-like object, and a robot body to which the hand is attached,
The said hand is attached to the said robot main body so that it may be displaced relatively according to the external force received from the said guide member, when inserting the said plate-shaped object to hold | maintain in the said box. 4. The boxing system according to any one of 3. A boxing robot that sequentially inserts the plate-like objects into a box in a standing state, and packs the plurality of plate-like objects in a predetermined direction so as to be close to each other in the box;
A guide member for guiding the plate-like objects inserted by the boxing robot into the box and supporting the arranged plate-like objects;
A boxing method for a boxing system comprising: a moving mechanism for moving the guide member in the predetermined direction;
A conveying step of conveying by the boxing robot, a moving step of moving the guide member by a predetermined distance in the predetermined direction by the moving mechanism, and guiding the plate-like object conveyed in the conveying step by the guide member. An insertion step of inserting the plurality of plate-like objects into the box by repeating the transport step, the movement step, and the insertion step.
In the carrying step, the next plate-like object is conveyed to a position close to the last plate-like object in the arranged order supported by the guide member,
In the moving step, when the next plate-like object comes close to the last plate-like object, the guide member is moved in a predetermined direction by a predetermined distance by the moving mechanism. When the plate-like object is inserted in the insertion step, the control device moves the guide portion in the pressing direction which is the reverse direction of the predetermined direction by the moving mechanism, and the inserted plate-like object is removed. The boxing method according to claim 6, further comprising a contact step of pressing and placing the arranged plate-shaped objects in contact with each other.

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