JP6426354B2 - Packing machine - Google Patents

Description

  The present invention relates to a boxing apparatus.

  2. Description of the Related Art Conventionally, there is a boxing device that transports an article by a transport device, transfers the article to another place using a robot during transport, and then packs the article. For example, Patent Document 1 (Japanese Patent Application Publication No. 2011-213412) discloses a boxing apparatus including a robot having an arm and a suction unit. The robot sucks and holds the articles transported by one transport device by the suction unit, and then drives the arm to rearrange the other transport device.

  By the way, in the box packing apparatus shown by the said patent document 1, in order to attain speeding-up of a box packing process, after producing | generating the article group which consists of a predetermined number of articles, the box packing process which moves the said article group to a box is performed.

  Here, when a plurality of groups of articles are packed in one box, it is preferable that a predetermined number of groups of articles to be boxed be packed at one time in a box in order to improve the efficiency of the boxing process. In this case, after a predetermined number of article groups are accumulated in a predetermined area, the predetermined number of article groups are transferred from the predetermined area to the box. While the predetermined number of article groups are being transferred from the predetermined area to the box, new accumulation processing can not be performed in the predetermined area, and the accumulation processing is temporarily stopped. As a result, even if it is possible to operate the transport device and the robot at high speed, it is difficult to sufficiently speed up the packing process.

  An object of the present invention is to provide a boxing apparatus capable of realizing high-speed boxing processing.

  The boxing apparatus according to the present invention includes a transfer device, a robot, and a control device. The transport device transports the articles at predetermined intervals in the transport area. The robot simultaneously holds and transports a group of articles consisting of a plurality of articles. The controller controls the robot to collect the group of articles in the packing area. The control device includes a first command generation unit, a second command generation unit, a third command generation unit, and a command unit. The first command generation unit generates a first command for directly transferring the group of articles from the transfer area to the boxing area. The second command generation unit generates a second command for transferring the group of articles from the transfer area to the temporary placement area different from the boxing area. The third command generation unit generates a third command for transferring the group of articles from the temporary placement area to the boxing area. The command unit causes the robot to execute the first command, the second command, and the third command in order to accumulate the group of articles in the boxing area.

  In the boxing device according to the present invention, the articles conveyed by the conveying device in the conveyance area are directly transferred to the boxing area or temporarily transferred to the temporary placement area and then transferred. Thereby, the speeding up of the box packing process can be realized.

  Preferably, the command unit executes the second command so that the group of articles is transferred from the transport area to the temporary placement area until accumulation of the group of articles is possible in the boxing area. In this way, it is possible to generate a group of articles in a period until accumulation becomes possible.

  Furthermore, it is preferable that the boxing apparatus further include a shutter, a pusher, and a holding unit. The shutter includes an accumulation surface on which the group of articles is accumulated and an opening and closing mechanism that opens and closes the accumulation surface. The pusher exerts a force on the stacked articles on the stacking surface to make them gather at one place on the stacking surface. The holding portion holds the box below the collecting surface. The box has an opening directed to the collecting surface. In addition, after the group of articles is collected at one place on the accumulation surface by the pusher, the shutter drives the opening and closing mechanism to open and close the accumulation surface, and moves the group of articles on the accumulation surface to the box. In addition, the command unit executes the second command until the shutter opens and closes. In this way, it is possible to effectively generate a group of articles by using the time until the plurality of articles accumulated on the accumulation surface are moved to the box.

  Preferably, the command unit executes the first command at least once after executing the second command, and then executes the third command. After being transferred to the temporary placement area, the group of articles is moved to the packing area at an interval. As a result, it is possible to secure a sufficient time until accumulation of articles in the boxing area becomes possible.

  Moreover, it is preferable that a conveyance apparatus has a 1st conveyance apparatus and a 2nd conveyance apparatus. The first transport device receives the articles from the upstream device, and transports the articles in the first posture at predetermined intervals. The second transport device is disposed downstream of the first transport device, and transports the articles transported by the first transport device in a second posture. The second posture is a posture different from the first posture. Further, the robot simultaneously holds and transports an article group consisting of a plurality of articles in the second posture transported by the second transport device. The second transport apparatus transports the articles in a manner that facilitates holding of the plurality of articles by the robot. This makes it possible to produce a group of articles more effectively.

  Preferably, the position at which the robot holds the group of articles is changed in accordance with the position at which the group of articles is transported. The robot does not wait for the article group to be transported to a predetermined position to hold the article group, but moves to a position where the article group can be generated to hold the article group. Thus, the packing process can be performed effectively.

  ADVANTAGE OF THE INVENTION According to the box packing apparatus which concerns on this invention, speeding-up of a box packing process is realizable.

It is the schematic of the box packing apparatus which concerns on one Embodiment of this invention. It is a figure which shows the height position of a 1st conveyor and a 2nd conveyor. It is a schematic diagram of a robot, and is a figure showing the case where a suction head has an inclination parallel to a horizontal surface. The example of the robot in which the inclination of the adsorption head with respect to the horizontal surface was changed, and the adsorption head rotated in the horizontal surface is shown. It is a figure for demonstrating the structure connected to an adsorption | suction movable part and an adsorption | suction movable part. It is a figure for demonstrating the flow of box packing processing. It is a control block diagram. It is a flow which shows the flow of box packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is a schematic plan view showing the flow of accumulation processing and packing processing. It is the schematic of the stopper which concerns on the modification B. FIG. It is a figure which shows the motion of the stopper which concerns on the modification B. FIG. The example of the 1st conveyor which concerns on the modification C is shown. The usage example of the box packing apparatus which concerns on the modification D is shown.

(1) Schematic Configuration of Packing Device FIG. 1 is a schematic view of a packing device 100 according to an embodiment of the present invention. The box packing apparatus 100 is an apparatus installed in the line of a food factory, and packing the package (article) O produced in the line of the food factory. The package O is obtained by packaging an article with a packaging material. For example, the package O is a bag filled with an article such as potato chips.

  In the line of the food factory, a bag making and packaging machine (not shown) and a package inspection device are arranged upstream of the boxing device 100. The form-fill-seal machine produces a package O. That is, the form-fill-seal machine fills the articles into the bag while manufacturing the bag. The package inspection apparatus performs at least one of a weight inspection, a foreign material inspection, and a seal inspection on the package O. The package O judged to be non-defective in the package inspection device is sent to the box packing device 100.

  The boxing apparatus 100 mainly includes a first conveyor (first conveying device) 10, a second conveyor (conveying device) 20, a robot 30, an accumulating unit 40, and a temporary placement plate 50, as shown in FIG. . Moreover, the box packing apparatus 100 is provided with the holding | maintenance part 60 under the stacking part 40 (refer FIG. 6). Furthermore, the boxing apparatus 100 includes a control device 70 for controlling the operations of the first conveyor 10, the second conveyor 20, the robot 30, and the stacking unit 40 (see FIG. 7). The control device 70 may be provided to each component of the first conveyor 10, the second conveyor 20, the robot 30, and the stacking unit 40. Alternatively, one control device 70 provided in the boxing apparatus 100 may be configured to control each component.

  The boxing apparatus 100 is provided in the final treatment area of the food factory. The final processing area is mainly divided into a transport area da, a boxing area aa, and a temporary placement area ta, as shown in FIG. In the transport area da, a first conveyor 10 and a second conveyor 20 are provided. Stacking unit 40 and holding unit 60 are provided in boxing area aa. A temporary placement plate 50 is provided in the temporary placement area ta. The transport area da is arranged near the boxing area aa so as to partially surround the boxing area aa. The temporary placement area ta is disposed in the vicinity of the transport area da. Specifically, the temporary placement area ta is provided in the vicinity of the second conveyor 20. The robot 30 is provided above the transport area da and the boxing area aa.

  The package O sent from the device disposed upstream is delivered to the first conveyor 10 in the box packing device 100. The first conveyor 10 conveys the package O toward the second conveyor 20. The 2nd conveyor 20 conveys package O in the mode which package group (article group) G tends to produce. The package group G consists of a predetermined number (multiple) of packages O. That is, for the plurality of packages O transported by the first conveyor 10, the second conveyor 20 transports the predetermined number of packages O by the robot 30 in a manner that facilitates adsorption of the packages O. In the present embodiment, the package group G is constituted by four packages O (see FIG. 1).

  The robot 30 accumulates a predetermined number (plural) of package groups G in the accumulation unit 40. In the present embodiment, the predetermined number of package groups G means five package groups G (see FIG. 6). Specifically, the robot 30 adsorbs and holds a predetermined number of packages O (package group G) among the plurality of packages O transported by the second conveyor 20, and transfers the packages O to the boxing area aa. In addition, the robot 30 adsorbs and holds a predetermined number of packages O (package groups G) from the plurality of packages O transported by the second conveyor 20, temporarily places the package group G on the temporary placement plate 50. Place it Thereafter, the robot 30 transfers the package group G on the temporary placement plate 50 to the accumulation unit 40.

  The holding unit 60 is provided below the stacking unit 40. The holding unit 60 holds a box B for packing a predetermined number of package groups G below the stacking unit 40. A predetermined number of package groups G accumulated in the accumulation unit 40 are packed in a box B.

(2) Detailed Configuration of Packing Device (2-1) First Conveyor The first conveyor 10 conveys a plurality of packages O toward the second conveyor 20. Specifically, the first conveyor 10 is the package O manufactured by the form-fill-seal machine, and transports the package O that has passed through the package inspection device.

  The first conveyor 10 conveys the package O at a predetermined interval in the conveyance area da. Here, the predetermined interval means the distance interval or time interval of the package O transported from the upstream device.

  The first conveyor 10 is a belt conveyor in which an endless belt is stretched around a driving roller and a driven roller. The first conveyor 10 conveys the package O in a first position. Here, the first posture is the posture of the package O when it is received from the device disposed upstream. That is, the first conveyor 10 conveys the package O downstream without changing its posture. In the present embodiment, the first posture is a posture in which the seal portions positioned above and below the package O are positioned on the upstream side and the downstream side in the transport direction, respectively. In other words, the first posture is a posture in which the vertical direction of the package O extends along the transport direction D1.

  The first conveyor 10 conveys the package O along the conveyance direction D1. The first conveyor 10 conveys the package O continuously. The first conveyor 10 has a configuration capable of transporting the package O at a speed of 100 to 130 per minute. In the present embodiment, the first conveyor 10 transports the packages O at a rate of 120 pieces per minute. Moreover, the 1st conveyor 10 conveys the package O downstream at a speed | rate of 60 m / min, when conveying the package O by about 50 cm space | interval.

(2-2) Second Conveyor The second conveyor 20 is disposed downstream of the first conveyor 10 and conveys the plurality of packages O received from the first conveyor 10. The second conveyor 20 conveys the plurality of packages O received from the first conveyor 10 in such a manner that the package group (article group) G can be easily generated. As described above, the package group G consists of a predetermined number (four) of packages O. The second conveyor 20 functions as a delivery site for the package group G to the robot 30. That is, the second conveyor 20 conveys the plurality of packages O in such a manner that the robot 30 easily adsorbs the package group G. Similar to the first conveyor 10, the second conveyor 20 is also a belt conveyor in which an endless belt is stretched around a driving roller and a driven roller.

  As shown in FIG. 1, the second conveyor 20 is disposed such that its upstream end is adjacent to the downstream end of the first conveyor 10 in the transport area da. In addition, the second conveyor 20 extends in a direction orthogonal to the direction in which the first conveyor 10 extends. That is, the conveyance direction D2 of the package O by the second conveyor 20 is orthogonal to the conveyance direction D1 of the package O by the first conveyor 10. That is, in the final processing area, the transport area da is arranged in an L-shape, and the plurality of packages O are transported in an L-shape.

  The second conveyor 20 is configured to be able to change the height position. As shown in FIG. 2, the second conveyor 20 is adjusted to a height position to receive the package O transported by the first conveyor 10 at a lower position. In other words, the second conveyor 20 is adjusted to be lower than the first conveyor 10 by the predetermined size h. The predetermined dimension h is appropriately changed according to the length dimension of the package O. Specifically, as the length dimension of the package O increases, the predetermined dimension h increases, and as the length dimension of the package O decreases, the predetermined dimension h also decreases.

  A stopper 21 is provided on the upstream end side of the second conveyor 20. The stopper 21 regulates the position of the package O dropped from the first conveyor 10. The stopper 21 has a configuration that can be adjusted in the width direction of the belt of the second conveyor 20. Specifically, the stopper 21 is disposed above the belt of the second conveyor 20 at a predetermined distance from the belt. The dimension of the stopper 21 from the stopper 21 to the near side end of the downstream end of the first conveyor 10 in the width direction of the belt of the second conveyor 20 is the length l + α of the package O (See Figure 2).

  The second conveyor 20 conveys the package O in a second posture. Here, the second posture is a posture different from the first posture. The second posture is a posture in which the seal portion of the package O is positioned at the upper and lower sides in the width direction orthogonal to the conveyance direction D2 of the second conveyor 20. In other words, the second posture is a posture in which the vertical direction of the package O extends along the width direction of the belt of the second conveyor 20. That is, the posture of the package O in the transport direction D2 of the second conveyor 20 changes by 90 ° from the posture of the package O in the transport direction D1 of the first conveyor 10.

  The second conveyor 20 transports the package O along the transport direction D2. The second conveyor 20 performs an intermittent operation based on the detection of the package O by the sensor 77. The second conveyor 20 conveys the package O downstream at the same speed as the first conveyor 10 or at a higher speed than the first conveyor 10.

(2-3) Robot The robot 30 simultaneously holds and transfers a predetermined number of (plural) packages O (package group G) transported by the second conveyor 20. In other words, the robot 30 simultaneously holds and transfers the four packages O from the plurality of packages O on the belt of the second conveyor 20.

  The robot 30 transfers the package group G to the accumulation unit 40 provided in the packing area aa. Further, the robot 30 transfers the package group G to the temporary placement plate 50 provided in the temporary placement area ta, and then transfers the package group G transferred to the temporary placement plate 50 to the stacking unit 40. The robot 30 is driven based on a command from the control device 70 described later.

  The robot 30 is a parallel link robot. The robot 30 mainly includes a base 32, three servomotors 33a, 33b and 33c, three arms 34a, 34b and 34c, and a suction movable part 38, as shown in FIG.

(2-3-1) Base The base 32 constitutes the upper end of the robot 30. The base 32 is disposed above the transport area da and the boxing area aa as described above. Below the base 32, three servomotors 33a, 33b, 33c, which will be described later, are attached at equal intervals.

(2-3-2) Arm and Servo Motor The three arms 34a, 34b and 34c are driven by servomotors 33a, 33b and 33c, respectively. The upper ends of the arms 34a, 34b, 34c are connected to the output shafts of the servomotors 33a, 33b, 33c. The lower ends of the arms 34 a, 34 b, 34 c are connected to the suction movable portion 38. That is, the arms 34a, 34b, 34c respectively extend from the output shafts of the servomotors 33a, 33b, 33c to the suction movable portion 38. The lower ends of the arms 34a, 34b, 34c move horizontally and vertically by appropriately controlling the amount of rotation and the direction of rotation of the output shafts of the servomotors 33a, 33b, 33c.

(2-3-3) Adsorption movable portion The adsorption movable portion 38 adsorbs a predetermined number of packages O (package group G). The suction movable portion 38 moves in the horizontal direction and the vertical direction by driving the arms 34a, 34b, 34c. Specifically, the suction movable unit 38 has a configuration that can be moved to any position in a certain three-dimensional space by moving the lower ends of the arms 34a, 34b, 34c in the horizontal direction and the vertical direction. In the present embodiment, by moving the suction movable portion 38 in a fixed three-dimensional space, the area downstream of the first conveyor 10, the entire area of the second conveyor 20, the boxing area aa, and the temporary placement area ta It is assumed that the suction movable portion 38 is movable upward. That is, the picking range of the robot 30 is the area downstream of the first conveyor 10, the entire area of the second conveyor 20, the boxing area aa, and the temporary placement area ta.

  The suction movable portion 38 has a suction head 38 a and a plurality of suction portions 38 b. The suction head 38a is attached to the lower end of the arms 34a, 34b, 34c via the rotary cylinder 39. The suction head 38a changes the inclination with respect to a reference plane (horizontal plane) orthogonal to the vertical direction (see arrow A1 in FIG. 4). Specifically, the suction head 38a can change its inclination by 70 ° with respect to the horizontal plane. Further, the suction head 38a rotates in a horizontal plane (see arrow A2 in FIG. 4). The suction head 38a changes the inclination with respect to the horizontal plane and / or rotates in the horizontal plane when accumulating the package group G in the packing area aa.

  The suction head 38a includes rectangular upper and lower surfaces and side surfaces disposed between the upper and lower surfaces, and the upper surface, the lower surface, and the side surfaces form an internal space. Further, the suction head 38a has a connection port 38c and a plurality of openings (not shown). The connection port 38c and the plurality of openings communicate the inner space with the outer space. The connection port 38c is provided on the upper surface of the suction head 38a. The suction hose 36 is connected to the connection port 38c. The plurality of openings are provided on the lower surface of the suction head 38a. A suction unit 38 b is attached to each of the plurality of openings.

  Each of the plurality of suction parts 38 b is a part in contact with the package O. The plurality of suction portions 38 b are each formed of an elastic member. In the present embodiment, fifteen suction units 38b are attached to the suction head 38a. Specifically, five suction parts 38b are attached along the long side direction of the suction head 38a, and three suction parts 38b are attached along the short side direction. In the present embodiment, a total of four packages O of the first package O and the three packages O conveyed following the first package O are adsorbed by the fifteen suction parts 38 b.

  The adsorption movable portion 38 is configured to be switchable between a state where the package O is adsorbed (an adsorption state) and a state where the package O is not adsorbed (a non-adsorption state). By the adsorption movable portion 38 being in the adsorption state, adsorption of the package O by the adsorption portion 38 b becomes possible. On the other hand, the adsorption movable portion 38 is switched to the non-adsorption state, so that the adsorption of the package O by the adsorption portion 38 b becomes impossible. That is, the adsorption movable portion 38 grips or separates the package O (package group G) by switching between the adsorption state and the non-adsorption state.

  As shown in FIG. 5, the suction hose 36 extends from the vacuum pump (suction blower) 36a. A first valve 36 b is attached to the suction hose 36. By opening the first valve 36b, the inside of the suction hose 36 becomes negative pressure. Further, inside the suction hose 36, a compressed air tube 37 is provided. The compressed air tube 37 extends from the compressed air supply portion 37a. The second valve 37 b is attached to the compressed air tube 37. By opening the second valve 37b, compressed air (high-pressure air) supplied from the compressed air supply unit 37a flows through the compressed air tube 37.

  As the first valve 36 b is opened and the second valve 37 b is closed, the suction movable unit 38 is in a state (sucked state) capable of sucking the package O. That is, at this time, the suction movable unit 38 sucks the package group G by the plurality of suction units 38 b. On the other hand, when the first valve 36 b is closed and the second valve 37 b is opened, the adsorption movable portion 38 is in a state where it can not adsorb the package O (non-adsorption state). That is, at this time, the suction movable unit 38 cancels the suction of the package group G by the plurality of suction units 38 b.

  The position at which the suction movable portion 38 sucks the package group G is changed in accordance with the position at which the package group G is transported. In other words, the position at which the robot 30 adsorbs the package group G changes in accordance with the transport condition of the package group G. Specifically, the suction movable portion 38 is disposed at the position of the first package (the first package) O among the plurality of packages O transported by the second conveyor 20, along the long side of the suction movable portion 38. The position of the suction portion 38b at one end side in the position is adjusted. Further, the suction movable unit 38 adjusts the position of the suction unit 38 b on the other end side in the long side direction of the suction movable unit 38 to the position of the fourth package O from the leading package O.

(2-4) Stacking Unit The stacking unit 40 is provided in the boxing area aa, and stacks a predetermined number of package groups G. The accumulation unit 40 is disposed above the box B held by the holding unit 60. The stacking unit 40 moves the predetermined number of package groups G to the box B after stacking the predetermined number of package groups G. In the present embodiment, five package groups G are stacked by the stacking unit 40 (see FIGS. 1 and 6 (a) to (d)). The stacking unit 40 mainly includes a shutter 41, a first pusher 42, a second pusher 43, and a third pusher 44, as shown in FIG.

  The shutter 41 is a mechanism that can open and close the opening of the box B. The shutter 41 includes an accumulation surface on which a predetermined number of package groups G are accumulated, and an opening / closing mechanism that opens and closes the accumulation surface. The package group G transferred by the robot 30 is placed on the stacking surface. The package group G is stacked vertically in the stacking surface. Vertically stacking means that the packages O are arranged so that the flat surfaces (front and back) of the package O intersect the collecting surface as shown in FIG. 1. The shutter 41 is composed of two doors. The shutter 41 is configured to be opened and closed by two doors approaching and separating from each other. Specifically, the shutter 41 is opened by separating the two doors from each other, and the shutter 41 is closed by the proximity of the two doors. The shutter 41, when closed, is an accumulation surface on which a predetermined number of package groups G can be accumulated.

  The first pusher 42 and the second pusher 43 assemble a predetermined number of package groups G accumulated on the accumulation surface at one place on the accumulation surface. Specifically, the first pusher 42 moves from the standby position in the first direction D3 to apply a force to a predetermined number of package groups G (see FIGS. 1 and 9A). In other words, the first pusher 42 applies a force from the outside in the opening / closing direction of the shutter 41 (the side of the predetermined number of package groups G). The second pusher 43 moves from the standby position to a direction (second direction) D4 orthogonal to the moving direction (first direction D3) of the first pusher 42, for a predetermined number of package groups G. Apply force (see FIGS. 1 and 9A). Specifically, the second pusher 43 applies a force to a predetermined number of package groups G by moving from the downstream side to the upstream side in the stacking direction of the predetermined number of package groups G.

  The third pusher 44 applies a force from above to a predetermined number of package groups G stacked on the stacking surface, and moves the predetermined number of package groups G to the box B. That is, the standby position of the third pusher 44 is above the shutter 41. The third pusher 44 is configured to be rotatable in the vertical direction. The third pusher 44 pivots downward to apply a force from above to a predetermined number of package groups G (see FIGS. 1 and 6C).

  That is, a predetermined number of package groups G are collected at one place on the stacking surface by the first pusher 42 and the second pusher 43 (see FIGS. 6 (a) and 6 (b)). Thereafter, a force is applied to a predetermined number of package groups G from above by the third pusher 44 (see FIG. 6C). Thereafter, the opening and closing mechanism is driven to open the stacking surface, and a predetermined number of package groups on the stacking surface are moved to the box B (see FIG. 6D).

(2-5) Temporary placement plate The temporary placement plate 50 is a place where the package group G is temporarily placed. The temporary placement plate 50 is provided in the temporary placement area ta as described above. The temporary placement plate 50 extends along the direction in which the second conveyor 20 extends so that the package group G can be placed thereon. The temporary placement plate 50 can place at least one package group G thereon. The temporary placement plate 50 may have a configuration on which a plurality of package groups G can be placed. The package group G placed on the temporary placement plate 50 is moved to the stacking surface of the stacking unit 40 at a predetermined timing. Here, the predetermined timing is timing when the robot 30 receives a command (third command) from the control device 70 described later.

(2-6) Holding Unit The holding unit 60 is a mechanism for holding the box B. As described above, the holding unit 60 is provided in the boxing area aa. Specifically, the holding unit 60 is disposed below the stacking surface of the stacking unit 40. In addition, the holding unit 60 holds the box B with the opening of the box B facing upward. The holding unit 60 holds the box B such that the opening of the box B is located below the shutter 41. That is, the holding unit 60 holds the box B whose opening is directed to the stacking surface below the stacking surface.

(2-7) Controller As described above, the controller 70 controls the operations of the first conveyor 10, the second conveyor 20, the robot 30, and the stacking unit 40. The control device 70 is configured of a CPU, a ROM, a RAM, and the like.

  The control block of the control apparatus 70 is shown in FIG. As shown in FIG. 7, the control device 70 is electrically connected to each component included in the boxing device 100, and transmits and receives signals to and from each component. Specifically, the control device 70 controls the first conveyor 10 and the second conveyor 20 to convey the package O. Further, the control device 70 controls the robot 30 to transfer a predetermined number of package groups G to the boxing area aa (stacking surface) or the temporary placement area ta. Further, the control device 70 controls the stacking unit 40 to move a predetermined number of package groups G into the box B. Further, the control device 70 is electrically connected to the sensor 77. The sensor 77 is installed at an arbitrary place. The sensor 77 grasps the timing when the package O passes through any place. In this embodiment, as shown in FIG. 1, it is provided near the downstream end of the first conveyor 10.

  Further, the control device 70 functions as a package information specification unit 71, a first command generation unit 72, a second command generation unit 73, a third command generation unit 74, and a command unit 75.

(2-7-1) Package Information Identification Unit The package information identification unit 71 determines the number of packages O being transported by the second conveyor 20 and the package O at the top based on the information obtained by the sensor 77. Identify the location of The location of the leading package O is the position of the package O on the belt of the second conveyor 20. The information stored by the package information specification unit 71 is stored in the control device 70 and updated as needed.

(2-7-2) First Command Generation Unit The first command generation unit 72 generates a command (first command) for directly transferring the package group G from the transport area da to the boxing area aa. When there is a predetermined number of packages O on the belt of the second conveyor 20, the first command generation unit 72 generates a first command. Further, the first command generation unit 72 generates the first command when it is possible to stack a predetermined number of package groups G in the boxing area aa. In other words, the first command generation unit 72 generates the first command at the timing at which the package group G can be placed on the stacking surface of the shutter 41.

  Specifically, the first command is generated when the shutter 41 is closed and the accumulation process is not completed. At this time, the first pusher 42, the second pusher 43, and the third pusher 44 are in the standby position. More specifically, the first command is when the shutter 41 is closed and the first pusher 42, the second pusher 43, and the third pusher 44 are in the standby position, and a predetermined number of package groups G Are generated when the integration process is not completed (see FIGS. 9D and 9F).

(2-7-3) Second Command Generation Unit The second command generation unit 73 generates a command (second command) for transferring the package group G from the transport area da to the temporary placement area ta. That is, the second command is a command for transferring the package group G to an area different from the boxing area aa. The second command generation unit 73 generates a second command when there is a predetermined number of packages O on the belt of the second conveyor 20. Further, the second command generation unit 73 generates the second command when it is impossible to stack the package group G in the boxing area aa. In other words, the second command generation unit 73 generates the second command at a timing at which the package group G can not be placed on the stacking surface of the shutter 41. That is, the second command is generated when preparation for placing a predetermined number of package groups G newly on the stacking surface of the stacking unit 40 is not completed.

  Specifically, the second command is performed until the next predetermined number of package groups G can be accumulated on the accumulation surface of the shutter 41 after the accumulation process for the predetermined number of package groups G is completed. Generated between. More specifically, the second command is generated when the first pusher 42, the second pusher 43, and the third pusher 44 are not in the standby position, or when the shutter 41 is not in the closed state (see FIG. 9C).

(2-7-4) Third Command Generation Unit The third command generation unit 74 generates a command (third command) for transferring the package group G from the temporary placement area ta to the boxing area aa. The third command generation unit 74 is configured to execute the third command when there is no predetermined number of packages O on the belt of the second conveyor 20 after the start of the first accumulation process and before the end of the first accumulation process. Generate a command. The third command generation unit 74 generates the third command after the situation in which the accumulation of the predetermined number of package groups G is not possible is resolved in the boxing area aa. In other words, the third command generation unit 74 generates the third command at the timing at which the package group G can be placed on the stacking surface of the shutter 41. Specifically, the third command is generated when preparation for placing a predetermined number of package groups G anew on the stacking surface of the shutter 41 is completed.

(2-7-5) Command Unit The command unit 75 causes the robot 30 to execute the first command, the second command, and the third command in order to accumulate the package group G in the boxing area aa.

  The command unit 75 issues a first command to the robot 30 during a period in which a predetermined number of package groups G can be stacked in the boxing area aa when there is a predetermined number of packages O on the belt of the second conveyor 20. Run

  In addition, the command unit 75 is a robot when a predetermined number of packages O are present on the belt of the second conveyor 20, and a period until a predetermined number of groups of packages G can be stacked in the boxing area aa. Make 30 execute the second command. That is, the command unit 75 causes the robot 30 to execute the second command until the stacking process for the predetermined number of package groups G is completed and the opening and closing of the shutter 41 is completed. In other words, the command unit 75 causes the robot 30 to move until the shutter 41 is opened and the predetermined number of package groups G are moved to the box B, and further, the shutter 41 is closed and can function as an accumulation surface. 2 Execute the command.

  Further, the command unit 75 causes the robot 30 to execute the second command at least once and then causes the robot 30 to execute the third command. Specifically, after instructing the robot 30 to transfer the first package group G to the temporary placement area ta (above the temporary placement plate 50), the command unit 75 is the first package group G The robot 30 is instructed at least once to transfer another second package group G to the boxing area aa (above the shutter 41). Thereafter, the command unit 75 transfers the first package group G from the temporary placement area ta (above the temporary placement plate 50) to the boxing area aa (above the shutter 41).

  When causing the robot 30 to adsorb the package group G, the command unit 75 instructs the robot 30 to adsorb the package group G based on the package information identified by the package information identifying unit 71. Specifically, the command unit 75 instructs the robot 30 to move the suction movable unit 38 in accordance with the position of the leading package O on the second conveyor 20. That is, when the leading package O is on the upstream side of the second conveyor 20 (near the front end), the instruction unit 75 instructs the robot 30 to move the suction movable unit 38 to the upstream side of the second conveyor 20 Do. On the other hand, when the leading package O is on the downstream side (near the rear end side) of the second conveyor 20, the command unit 75 causes the robot to move the suction movable unit 38 to the downstream side of the second conveyor 20. Command 30. The robot 30 drives the arms 34a, 34b, 34c in accordance with the position of the leading package O based on the command.

  In addition, when transferring the package group G to the boxing area aa, the command unit 75 appropriately instructs the robot 30 to adjust the inclination, the rotation, and the like of the suction head 38a.

(3) Operation of Packing Device Next, in the packing device 100 according to the present embodiment, an operation until a predetermined number of package groups G are packed in one box B will be described. As described above, in the present embodiment, five package groups G are packed into the box B by the stacking unit 40.

  First, when the package O on the belt of the first conveyor 10 is conveyed to the downstream end of the first conveyor 10, the package O falls from the downstream end of the first conveyor 10 and falls on the second conveyor 20. Move onto the belt (see FIGS. 1, 2 and 9A). Further, the package O moved onto the belt of the second conveyor 20 is conveyed toward the downstream end of the second conveyor 20. After that, for example, the boxing process is performed according to the flow shown in FIG.

  First, in step S11, a counter for counting the number n of package groups G accumulated by the accumulation unit 40 is set. Specifically, enter n = 1. Thereafter, the process proceeds to step S12.

  In step S12, it is determined whether or not there is a package group G in the transport area da. Specifically, in the present embodiment, as described above, it is determined whether or not there is a predetermined number of packages O that can generate the package group G on the belt of the second conveyor 20. If it is determined in step S12 that the package group G can be generated from the package O on the belt of the second conveyor 20, the process proceeds to step S13. In other words, when it is determined that the predetermined number of packages O are present on the belt of the second conveyor 20, the process proceeds to step S13.

  In step S13, it is determined whether the package group G can be transferred to the boxing area aa. That is, in step S13, it is determined by the stacking unit 40 whether or not the package group G can be stacked. Here, the state in which the package group G can be accumulated refers to a state in which the shutter 41 is closed after the predetermined number of package groups G accumulated in advance are transferred to the box B. For example, in the example shown in FIGS. 9B and 9C, after the predetermined number of package groups G are transferred to the box B, the shutter 41 is not yet completely closed. Therefore, the accumulation unit 40 is not yet in a state capable of newly accumulating the package group G. If it is determined in step S13 that the transfer of the package group G to the boxing area aa is not possible, the process proceeds to step S14.

  In step S14, the package group G is transferred from the transport area da to the temporary placement area ta. That is, in step S14, the package group G on the belt of the second conveyor 20 is transferred onto the temporary placement plate 50. At this time, the command unit 75 of the control device 70 causes the robot 30 to execute the second command. As a result, as shown in FIG. 9C, the robot 30 adsorbs and holds a predetermined number of packages O for producing the package group G, and transfers the packages O to the temporary placement plate 50 of the temporary placement area ta. Specifically, the robot 30 adsorbs and holds a predetermined number of packages O (package group G) on the belt of the second conveyor 20, moves the package group G onto the temporary placement plate 50, and is in an adsorption state Release Thereafter, the process returns to step S12.

  On the other hand, if it is determined in step S13 that the package group G can be transferred to the boxed area aa, the process proceeds to step S15.

  In step S15, the package group G is transferred from the transport area da to the boxing area aa. That is, in step S <b> 15, the package group G on the belt of the second conveyor 20 is transferred onto the shutter 41 (stacking surface) of the stacking unit 40. Specifically, the robot 30 adsorbs and holds a predetermined number of packages O (package group G) on the belt of the second conveyor 20, and packages group G on the closed shutter 41 (stacking surface) Move it to release the suctioned state. In other words, if it is determined that there is a predetermined number of packages O on the belt of the second conveyor 20 and the package group G can be transferred to the boxing area aa, the robot 30 is notified And execute the first command. As a result, as shown in FIG. 9D, the robot 30 adsorbs and holds a predetermined number of packages O (package group G) on the belt of the second conveyor 20, and transfers them to the stacking surface of the boxing area aa. Thereafter, the process proceeds to step S19.

  On the other hand, when it is determined in step S12 that there is no package group G in the transport area da, the process proceeds to step S16. That is, in step S12, if it is determined that there is no predetermined number of packages O on the belt of the second conveyor 20 and as a result, it is determined that the package group G can not be generated, the process proceeds to step S16.

  In step S16, it is determined whether or not there is a package group G in the temporary placement area ta. That is, in step S16, it is determined whether or not the package group G is placed on the temporary placement plate 50. If it is determined in step S16 that the package group G is not placed on the temporary placement plate 50, the process returns to step S12. On the other hand, when it is determined in step S16 that the package group G is placed on the temporary placement plate 50, the process proceeds to step S17.

  In step S17, after the second command is executed by the robot 30, it is determined whether the first command is executed. That is, in step S17, after one package group (first package group) G is transferred from the transport area da to the temporary placement area ta, another package group (second package group) G It is determined whether the transfer area da has been transferred to the boxing area aa. In step S17, when the first command is not executed, the process returns to step S12. On the other hand, if the first command is executed in step S17, the process proceeds to step S18. That is, before transferring the package group G placed in the temporary placement area ta to the boxing area aa, the package group G is transferred from the transport area da to the boxing area aa (see FIG. 9D) The process proceeds to step S18.

  In step S18, the package group G is transferred from the temporary placement area ta to the boxing area aa. That is, in step S18, the package group G on the temporary placement plate 50 is transferred onto the shutter 41 (stacking surface) of the stacking unit 40 (see FIG. 9E). Specifically, the robot 30 sucks and holds the package group G on the temporary placement plate 50, moves the package group G onto the closed shutter 41 (stacking surface), and releases the suctioned state. Thereafter, the process proceeds to step S19.

  In step S19, it is determined whether n = 5 or not. That is, it is determined whether the number of package groups G transferred from the transfer area da to the boxing area aa has reached a predetermined number (five). If n = 5 is not satisfied in step S19, that is, if n <5, the process proceeds to step S20.

  In step S20, n = n + 1 is input. Thereafter, the process returns to step S12. That is, the robot 30 packages from the second conveyor 20 or the temporary placement plate 50 on the stacking surface until the predetermined number of package groups G (in this embodiment, five package groups G) are stacked on the stacking surface. Move the object group G (see FIG. 9F).

  On the other hand, if n = 5 in step S19, the process proceeds to step S21.

  In step S21, box packing processing is instructed. That is, the first pusher 42 and the second pusher 43 are driven, and a predetermined number of package groups G are gathered at one place on the stacking surface (see FIGS. 6B and 9A). Further, the third pusher 44 is driven to apply a force from above to a predetermined number of package groups G (see FIG. 6C). Thereafter, the shutter 41 is opened, and a predetermined number of package groups G are transferred to the box B (see FIG. 6D). At this time, the first pusher 42, the second pusher 43, and the third pusher 44 return to the standby position. When the transfer of the predetermined number of package groups G to the box B is completed, the shutter 41 is closed (see FIGS. 9B and 9C).

(4) Features of the box packing apparatus (4-1)
The boxing apparatus 100 according to the above-described embodiment includes the first conveyor 10 and the second conveyor 20 (conveying device), the robot 30, and the control device 70. The first conveyor 10 and the second conveyor 20 convey the package (article) O at a predetermined interval in the conveyance area da. The robot 30 simultaneously holds and transports a package group (article group) G composed of a plurality of packages O. The controller 70 controls the robot 30 to accumulate the package group G in the packing area aa. The control device 70 includes a first command generation unit 72, a second command generation unit 73, a third command generation unit 74, and a command unit 75. The first command generation unit 72 generates a first command for directly transferring the package group G from the transport area da to the boxing area aa. The second command generation unit generates a second command for transferring the package group G from the transport area da to the temporary placement area ta different from the packing area aa. The third command generation unit 74 generates a third command for transferring the package group G from the temporary placement area ta to the boxing area aa. The command unit 75 causes the robot 30 to execute the first command, the second command, and the third command in order to accumulate the package group G in the boxing area aa.

  In the boxing device 100 according to the above embodiment, the package O is continuously transported downstream by the transport device (the first conveyor 10 and the second conveyor 20). Further, one robot 30 holds and transfers a plurality of packages O (package group G) transported by the second conveyor 20. In order to increase the processing capacity of the boxing device, it is conceivable to increase the driving speed of the transfer device or the robot. Also, in order to improve the efficiency of the boxing process, it is preferable that the package group not be packed in a box, but a predetermined number of package groups be packed at one time. In this case, a predetermined number of package groups are accumulated in advance in a predetermined area, and a predetermined number of package groups accumulated in the predetermined area are transferred from the predetermined area to the box. Here, it is not possible to transfer the package group to the predetermined area while transferring the predetermined number of package groups from the predetermined area to the box. That is, while the packing process is being performed, the new accumulation process can not be performed, and the accumulation process is temporarily stopped. However, the package continues to be transported by the transport device. Therefore, it is necessary to drive the transfer device at a low speed or to stop the transfer device. Reducing the speed of the transport device or stopping the transport device reduces the throughput of the boxer. Therefore, even if the drive speed of the transfer device and the robot is increased, the speed of the packing process can not necessarily be increased.

  However, in the boxing apparatus 100 according to the above embodiment, the predetermined number of packages O (package group G) conveyed in the conveyance area da can be directly transferred to the boxing area aa, and to the temporary placement area ta Are also transportable. Thereby, when it can not transfer to the boxing area aa, the package group G can be temporarily placed in the temporary placement area ta. Therefore, it is not necessary to reduce the speed of the transfer device (the first conveyor 10 and the second conveyor 20) or to temporarily stop the accumulation process. As a result, it is possible to realize the speeding up of the packing process.

(4-2)
In the boxing device 100 according to the above-described embodiment, the command unit 75 causes the package group G to move from the transport area da to the temporary placement area ta in a period until the accumulation of the package group (article group) G becomes possible in the boxing area aa Execute the second command to be transferred. As a result, the package group G can be generated in the temporary placement area ta during a period until accumulation becomes possible.

(4-3)
The boxing apparatus 100 according to the embodiment further includes a shutter 41, a first pusher 42 and a second pusher 43 (pusher), and a holding unit 60. The shutter 41 includes an accumulation surface on which the package group (article group) G is accumulated, and an opening / closing mechanism that opens and closes the accumulation surface. The first pusher 42 and the second pusher 43 apply a force to the package group G stacked on the stacking surface to gather them at one position on the stacking surface. The holding unit 60 holds the box B below the stacking surface. The box B has an opening directed to the accumulation surface. In addition, after the package group G is collected at one place on the accumulation surface by the first pusher 42 and the second pusher 43, the shutter 41 drives the opening and closing mechanism to open and close the accumulation surface, and the packages on the accumulation surface Move group G to box B. Further, the command unit 75 causes the second command to be executed until the shutter 41 opens and closes.

  In the boxing device 100 according to the embodiment, a predetermined number of package groups G are accumulated on the accumulation surface of the shutter 41 when the accumulation surface of the openable shutter 41 is closed. A predetermined number of package groups G on the stacking surface are stacked at one place on the stacking surface by the first pusher 42 and the second pusher 43. After that, the accumulation surface is opened. Below the accumulation surface, a box B having an opening toward the accumulation surface is held. Therefore, when the stacking surface is opened, a predetermined number of package groups G are directly transferred to the box B. In the boxing device 100 according to the above embodiment, the package group G is effectively generated in the temporary placement area ta using the time until the predetermined number of package groups G are transferred to the box B from the stacking surface can do.

(4-4)
In the boxing device 100 according to the above embodiment, the command unit 75 executes the first command at least once after executing the second command, and then executes the third command. After being transferred to the temporary placement area ta, the package group G is transferred to the boxing area aa with time.

  Specifically, in the above embodiment, after transferring one package group (first package group) G from the transport area da to the temporary placement area ta, another package group (second package group) G is transferred from the at least one transfer area da to the boxing area aa. Thereafter, the package group (first package group) G of the temporary placement area ta is transferred to the boxing area aa. In this manner, after the transfer of the first package group G to the temporary placement area ta, it takes time to transfer the first package group G to the packing area aa. By leaving time, the boxing area aa newly becomes capable of accumulating a predetermined number of package groups G. That is, by leaving time, it is possible to secure a sufficient time until it becomes possible to stack the package group G in the boxing area aa.

(4-5)
The boxing apparatus 100 according to the above-described embodiment includes a first conveyor (first conveyance apparatus) 10 and a second conveyor (second conveyance apparatus) 20 as the conveyance apparatus. The first conveyor 10 receives the package (article) O from the upstream device, and transports the package O in the first posture at a predetermined interval. The second conveyor 20 is disposed downstream of the first conveyor 10, and conveys the package O transported by the first conveyor 10 in a second posture different from the first posture. Further, the robot 30 simultaneously holds and transfers the package group G including the plurality of packages O in the second posture transported by the second conveyor 20. The second conveyor 20 transports each package O in a manner that facilitates holding of the plurality of packages O (package group G) by the robot 30. Thereby, the plurality of packages O can be effectively held by the robot 30.

(4-6)
In the above embodiment, the robot 30 changes the position at which the package group (article group) G is held in accordance with the position at which the package group G is transported. The robot 30 waits for the package group G to be transported to the predetermined position and does not hold the package group G at the predetermined position, but adsorbs to the position where the package group G can be generated. The movable portion 38 is moved to hold the package group G. That is, when the package group G can be generated by a plurality of packages O transported by the second conveyor 20, the robot 30 starts the leading one of the predetermined number of packages O constituting the package group G. The suction movable portion 38 is moved according to the transport position of the package O. Thus, the packing process can be performed effectively.

(5) Modifications (5-1) Modification A
In the above embodiment, a belt conveyor is adopted as the first conveyor 10 and the second conveyor 20, but a roller conveyor in which a large number of rollers are arranged without using a belt is adopted as the first conveyor 10 and the second conveyor 20. Good.

(5-2) Modification B
In the above embodiment, the second conveyor 20 is configured to be able to change the height position, and the height position of the second conveyor 20 is appropriately changed according to the length dimension of the package O.

  Here, instead of changing the height position of the second conveyor, a stopper 121 having a configuration different from the stopper 21 according to the above embodiment may be employed.

  The stopper 121 is also disposed above the belt of the second conveyor 20 at a predetermined distance from the belt. In addition, the stopper 121 also has a configuration that can be adjusted in the width direction of the belt of the second conveyor 20.

  Specifically, as shown in FIG. 10, the stopper 121 mainly includes a vertical plate 121a, a horizontally movable plate 121b, and an air cylinder 121c.

  The vertical plate 121 a regulates the position of the package O dropped from the first conveyor 10. The vertical plate 121a extends in a direction perpendicular to the transport surface of the belt. The vertical plate 121a is supported by a support portion 121d attached to the air cylinder 121c. The horizontally movable plate 121 b receives the package O dropped from the first conveyor 10 from below. Further, the horizontally movable plate 121 b moves the package O onto the belt of the second conveyor 20. The horizontally movable plate 121b is formed of a material that can be moved onto the belt of the second conveyor 20 while sliding the package O, and is made of, for example, a resin material. The horizontal movable plate 121b is a member having an L-shaped cross-sectional shape, and the long side portion extends horizontally with respect to the conveyance surface of the belt, and the short side portion is connected to the air cylinder 121c. The horizontal movable plate 121b is driven relative to the vertical plate 121a by the driving of the air cylinder 121c. Specifically, the horizontal movable plate 121b moves the short side portion away from the vertical plate 121a by driving the air cylinder 121c. Here, the direction away from the vertical plate 121 a coincides with the direction away from the downstream end of the first conveyor 10.

  When the package O falls from the first conveyor 10, the package O is received by the horizontal movable plate 121b (see FIG. 11A). Thereafter, the air cylinder 121c is driven, and the horizontally movable plate 121b moves away from the downstream end of the first conveyor 10 to deliver the package O to the second conveyor 20 (see FIG. 11 (b)). . In other words, the package O on the horizontally movable plate 121 b slides down onto the belt of the second conveyor 20 from the horizontally movable plate 121 b by driving the horizontally movable plate 121 b by the air cylinder 121 c.

  This makes it possible to preferably receive packages O of different sizes by the second conveyor 20 without adopting a configuration for changing the height position of the second conveyor 20 as shown in the above embodiment.

(5-3) Modification C
Moreover, in the box packing apparatus 100 which concerns on the said embodiment, it replaces with the 1st conveyor 10, and the 1st conveyor (shuttle conveyor) 110 which can extend / contract machine length may be employ | adopted (refer FIG. 12). This configuration also makes it possible to preferably receive packages O of different sizes by the second conveyor 20 without changing the height position of the second conveyor 20.

(5-4) Modification D
In the above embodiment, an example of transferring a predetermined number of packages O (package group G) to the boxing area aa has been described. Specifically, when the stacking unit 40 of the boxing area aa is not in a state in which the package group G can be stacked, the package group G is temporarily not temporarily placed on the shutter 41 (stacking surface) but temporarily placed area Place it on ta temporary placement plate 50.

  Here, the boxing apparatus 100 according to the above-described embodiment can also be employed when the package (large bag) LO which is larger than the package O is boxed. At this time, the boxing apparatus 100 may be configured not to have the temporary placement plate 50 (see FIG. 13). In this case, instead of the temporary placement plate 50, the second conveyor 20 is used for temporary placement of the package LO. Also, the robot 30 adsorbs and holds the package LO on the belt of the first conveyor 10, not the package LO on the belt of the second conveyor 20. The second conveyor 20 may or may not be driven. Further, the robot 30 adsorbs and holds one large package LO instead of the predetermined number of packages O, and the stacking unit 40 of the boxing area aa is not in a state where the package group G can be stacked. , The large package LO is placed on the belt of the second conveyor 20.

  That is, if it is not possible to stack packages LO in the boxing area aa, the package LO transfers the packages LO on the belt of the first conveyor 10 onto the belt of the second conveyor 20, and the boxes are packed. If it is possible to accumulate the package LO in the area aa, the package LO on the belt of the second conveyor 20 is transferred onto the accumulation surface of the shutter 41.

  Thus, the boxing apparatus 100 can be used not only for small packages (sacks) O but also for the packaging of large packages (large bags) LO.

10, 110 1st conveyor 20 2nd conveyor 21, 121 stopper 30 robot 38 adsorption moving part 40 accumulation part 41 shutter 42 1st pusher (pusher)
43 Second pusher (pusher)
44 third pusher 70 control device 71 package information identifying unit 72 first command generating unit 73 second command generating unit 74 third command generating unit 75 command unit 100 box packing device O package (small bag) (article)
LO package (large bag)
G Package Group (Article Group)
B box

JP 2011-213412 A

Claims (5)

A transport device for transporting articles at predetermined intervals in the transport area;
A robot for simultaneously holding and transporting a group of articles consisting of a plurality of articles;
A control device that controls the robot to accumulate the group of articles in a boxing area;
Equipped with
The controller is
A first command generation unit that generates a first command to transfer the group of articles directly from the transfer area to the boxing area;
A second command generation unit that generates a second command for transferring the group of articles from the transfer area to a temporary placement area different from the boxing area;
A third command generation unit that generates a third command for transferring the group of articles from the temporary placement area to the boxing area;
A command unit that causes the robot to execute the first command, the second command, and the third command in order to accumulate the group of articles in the boxing area;
I have a,
The command unit executes the second command so that the group of articles is transferred from the transport area to the temporary placement area until the accumulation of the group of articles is possible in the boxing area.
Boxing equipment. A shutter including an accumulation surface for accumulating the group of articles, and an opening / closing mechanism for opening and closing the accumulation surface;
A pusher that applies a force to the group of articles accumulated on the accumulation surface and causes them to gather at one position on the accumulation surface;
A holder for holding a box whose opening is directed to the accumulation surface below the accumulation surface;
In addition,
The shutter drives the open / close mechanism to open and close the stacking surface after the group of articles is collected at one place on the stacking surface by the pusher, and moves the group of articles on the stacking surface to the box Let
The command unit executes the second command until the shutter opens and closes.
The boxing apparatus according to claim 1 . The command unit executes the first command at least once after executing the second command, and then executes the third command.
The box packing apparatus of Claim 1 or 2 . The transport device
A first transport device that receives the articles from the upstream apparatus and transports the articles in a first posture at the predetermined intervals;
A second conveying device disposed downstream of the first conveying device and conveying the article conveyed by the first conveying device in a second posture that is a posture different from the first posture;
Have
The robot simultaneously holds and transfers the article group consisting of a plurality of the articles in the second posture transported by the second transport device.
The box packing apparatus according to any one of claims 1 to 3 . The position at which the robot holds the group of articles is changed according to the position at which the group of articles is transported,
The box packing apparatus of Claim 4 .

Images