JP6591942B2 - Boxing equipment - Google Patents

Description

  The present invention relates to a boxing device for storing articles in a space in a box partitioned by a partition.

  An apparatus is known in which a plurality of articles such as a tube-shaped soft container filled with ketchup or mayonnaise are inserted into a plurality of spaces in a box partitioned by a partition (see, for example, Patent Document 1). ). In Patent Document 1, in order to improve the processing capability, a pair of gripping members for gripping an article is provided in the hand portion of the robot, and one gripping member extends from the thickest part of the article to the lower part (body part). While supporting the reduced diameter part including the upper end portion of the article with the other gripping member, the article is inserted into each space defined by the partition in the box together with the one gripping member. There is disclosed a technique for smoothly accommodating in a box without interfering with the partition.

Japanese Patent No. 4830396

  In the apparatus disclosed in Patent Document 1, since one gripping member that supports an article is inserted into a space partitioned together with the article, the article is placed in a box when the gripping member that contacts the article is pulled out of the space as the processing capability is increased. Since the force to pull out from the inside increases, the article is pulled by the gripping member and part of it pops out of the box, causing problems in the insertion of the next article or in the subsequent process. Invite. For this reason, the improvement in processing capability is limited.

  That is, the present invention has been proposed in view of the above-described problems related to the prior art, and it is proposed to suitably solve these problems. Articles are stored in appropriate spaces in the spaces defined by the partitions. It is an object of the present invention to provide a boxing apparatus that can improve the processing capacity.

In order to overcome the above-mentioned problems and achieve the intended purpose, the boxing device of the invention according to claim 1 of the present application includes:
Alignment for one row that can be accommodated in the box side by side in the horizontal direction with respect to a box in which the opening is supported in an inclined posture facing obliquely upward and the interior is partitioned by a partition to form a plurality of spaces in the horizontal direction in packing device configured to the housing the object article are collectively articles into the box and inserted along the inclination of the box from the opening to the parallel department matrix vertically and horizontally with respect to the opening,
A robot hand that holds and grips one end in the longitudinal direction of the article for one line , and holds the article with the robot hand and transfers the line by line ;
A guide passage having an introduction port capable of receiving the article and a discharge port capable of discharging the received article facing the introduction port in the space is provided in the plurality of spaces arranged in the lateral direction. A loading guide provided correspondingly extending along the inclination of the box and capable of receiving each of the one line of articles transferred by the robot at a time into the corresponding inlet of the guide passage;
Provided in the chute guide, said opening of the box of the inclined orientation formed by being positioned to the inclination of the box to the side close to the side at a lower position of the edge in when inserting the article into the box An abutment portion that extends obliquely upward along the line and receives the cantilevered article transferred by the robot, and guides the article released by the robot hand to the guide passage ,
Elevating means for elevating and lowering the charging guide along the inclination of the box to an insertion position where the discharge port faces into the space and a retracted position where the discharge port faces outside the space;
Said chute guide that moves to the retracted position, and a moving means for linearly moving in a column direction,
The insertion from the robot to the chute guide located every accept articles of the one row at a position, while moving to the retracted position chute guide from the insertion position, next to the Oite chute guide to the retraction position The elevating means and the moving means are operated so as to move to the insertion position after moving in the column direction to the position corresponding to the row .
According to the first aspect of the invention, since the article transferred by the robot is inserted into the space of the box via the insertion guide, the article can be smoothly inserted into the space, and the transfer speed by the robot can be increased. Even if the speed is increased, the article does not jump out of the box, and the processing capacity can be improved. Also, by receiving the cantilevered article transferred by the robot at the receiving portion, the swing of the article when the transfer speed by the robot is increased is suppressed, and the article is smoothly guided to the introduction port. Can do.

The invention according to claim 2 is characterized by comprising holding means for holding the box from both sides and maintaining an inclined posture.
According to the second aspect of the present invention, since the inclined posture is maintained with the box interposed therebetween, the positional relationship between the insertion guide and the box or the partition is prevented from being shifted, and the insertion operation of the article is performed smoothly. be able to.

In the invention according to claim 3, in said position corresponding to the partition of the end of the outlet side of the chute guide, expansion wants receiving portion is provided toward the lower side with an opening on the lower side, the closing When the guide is moved to the insertion position, the upper end portion of the partition is inserted into the receiving portion.
According to the invention which concerns on Claim 3, the discharge port side edge part of an injection | throwing-in guide can be made to approach deeply into space, and articles | goods can be guided suitably in space.

  According to the boxing apparatus for articles according to the present invention, an article that is cantilever-supported by a robot can be stored in an appropriate state in each space in a box partitioned by a partition, and processing capacity can be improved. it can.

It is a schematic side view which shows the boxing apparatus which concerns on the suitable Example of this invention. It is a schematic perspective view which shows the robot hand of the robot which concerns on an Example. It is the schematic which looked at the relationship between the insertion guide concerning an Example, and a box from the opening side of the box. It is the schematic which looked at the injection | throwing-in guide which concerns on an Example from the 2nd guide member side. It is the schematic which shows operation | movement of the injection | throwing-in guide which concerns on an Example.

  Next, the boxing apparatus according to the present invention will be described below with reference to the accompanying drawings by giving a preferred embodiment. Here, as shown in FIGS. 3 and 5, the box 12 in which the target article 10 in the present invention is boxed defines an opening 12 b serving as a supply port for the article 10 in the box body 12 a whose one surface is opened in a rectangular shape. This is a cardboard box in which a cover panel 12c for closing the opening 12b is connected to one opening edge extending in the longitudinal direction. In the embodiment, a box 12 in which five articles 10 are accommodated in the box in the longitudinal direction (lateral direction) of the box 12 and four articles 10 in the lateral direction (vertical direction) of the box 12 is illustrated. In addition, a plurality of spaces S in which the article 10 is accommodated are vertically and horizontally arranged inside the box 12 by the partitions 14 and 16 combined vertically and horizontally. In the embodiment described below, the partition extending in the longitudinal direction of the box 12 is referred to as a horizontal partition 14, and the partition extending in the short direction of the box 12 is referred to as a vertical partition 16. . In the embodiment, nine spaces S are defined by the two horizontal partitions 14 and the two vertical partitions 16. In the embodiment, the direction in which the spaces S are arranged in the longitudinal direction (lateral direction) of the box 12 is referred to as a row direction, and the direction in which the spaces S are arranged in the short direction (vertical direction) of the box 12 is referred to as a column direction. There is. It should be noted that the edge forming the opening 12b of the box 12 is at a lower position among the edges forming the opening 12b of the box 12 (see FIG. 5) which is inclined at the boxing position P2 described later. In some cases, the side (in the embodiment, the side where the lid panel 12c is continuously provided and the side on the inclined lower end side of the opening 12b) is designated as the lower side, and the side facing the lower side is designated as the upper side. is there. For the plurality of spaces S arranged in the row direction, the plurality of spaces S arranged in the row direction on the lower side close to the lower side forming the opening 12b of the box 12 in the inclined posture are collectively referred to as the first space S1. The plurality of spaces S arranged in the row direction adjacent to the side away from the lower side with respect to the first space S1 are collectively referred to as the second space S2 and close to the upper side forming the opening 12b. A plurality of spaces S arranged in the row direction on the upper side may be collectively referred to as a third space S3.

  In addition, the article 10 has a transverse cross section with respect to the height direction (a cross section perpendicular to the insertion direction into the box 12), such as a substantially rectangular shape or a substantially oval shape, and the longitudinal and transverse length dimensions of the transverse section are different. The tube container is packed in a tube container filled with mayonnaise, ketchup or the like whose length in the height direction is set to be longer than the long side of the transverse section. The article 10 may be a tube container that is not packaged with a packaging material.

  As shown in FIG. 1, the boxing apparatus according to the embodiment includes an article transporting apparatus 18 that transports articles 10 made of tube containers packed in pillow packaging in a side-by-side manner, and a box transporting apparatus 20 that transports boxes 12. A robot 22 that collectively conveys the plurality of articles 10 that are conveyed by the article conveying device 18 and are positioned at the receiving position P1 and transfer them to the box 12, and the articles 10 released from the robot 22 inside the box 12. And an elevating means 26 and a moving means 28 for moving the making guide 24.

  The article conveyance device 18 receives a plurality of (in the embodiment, five) conveyance paths 30 that sequentially convey the articles 10 and a plurality of articles 10 that have been conveyed to the conveyance terminal end of the conveyance path 30. A pusher 32 that pushes out toward P1, a width-adjusting device 34 that adjusts the plurality of articles 10 pushed out to the receiving position P1 so as to have a holding interval by the robot 22 and an insertion interval into the box, and the width-adjusting device The front stopper 36 and the rear stopper 38 are provided at front and rear positions in the transport direction with the 34 interposed therebetween. In the conveyance path 30, the reduced diameter extraction port 10b, which is one end in the longitudinal direction of the article body (tube body) 10a, faces the conveyance downstream side, and the long side of the transverse section of the article body 10a is in the transverse direction (conveyance direction). The article 10 is conveyed in a sleeping posture that is aligned in the direction intersecting with the head. Then, the article 10 conveyed to the conveyance end portion is pushed out to the receiving position P1 by the pusher 32 pushing the article bottom. That is, the plurality of articles 10 are pushed out to the receiving position P1 while maintaining a state in which the extraction port 10b of the article main body 10a faces the front side in the pushing direction by the pusher 32. The pusher 32 rises after pushing out the article 10 and moves upstream by a predetermined distance. During that time, the pusher 32 descends on the upstream side of the next article 10 conveyed to the conveyance end portion, and removes the next article 10. It is configured to perform an extruding circular motion.

  Each of the stoppers 36 and 38 is configured to move forward and backward between a retracted position retracted from the transport path 30 and a support position facing the transport path 30 by air cylinders 36a and 38a as corresponding driving means. The stoppers 36 and 38 are configured to allow movement of the article 10 at the retracted position and to restrict the movement of the article 10 by contacting the front end or the rear end of the article 10 at the support position. When the article 10 is pushed out by the pusher 32, the rear stopper 38 is located at the retracted position (solid line position in FIG. 1) and the front stopper 36 is located at the support position (solid line position in FIG. 1). 10 is gripped, the air cylinders 36a, 38a are positioned so that the front stopper 36 is located at the retracted position (the two-dot chain line position in FIG. 1) and the rear stopper 38 is located at the support position (the two-dot chain line position in FIG. 1). The operation is controlled. The width adjusting device 34 can move a plurality of receiving bases 34a for receiving each article 10 pushed out to the receiving position P1 by the pusher 32 in the respective conveying paths 30 in the lateral direction intersecting the conveying direction. Prepare for. Then, by moving each cradle 34a from a receiving position separated from each other by driving means such as an air cylinder (not shown), the plurality of articles 10 are set to the holding interval and the insertion interval. It is comprised so that it may become closer together.

  As shown in FIG. 1, the box transport device 20 is disposed at a position obliquely downward from the receiving position P <b> 1, and transports the box 12 in the front and back direction in FIG. 1 perpendicular to the transport path 30. Further, the box conveying device 20 conveys the empty box 12 in a posture in which the longitudinal direction of the box 12 is along the box conveying direction and the opening 12b faces upward, and the opening 12b is provided at the boxing position P2 where the article 10 is inserted. A configuration in which the posture is changed so as to be inclined at a set angle (for example, 60 °) while the box 12 is conveyed to the boxing position P2 so as to be inclined obliquely upward toward the side away from the article conveying device 18. Is done. In addition, a holding means 40 is provided to hold the box 12 conveyed to the boxing position P2 in an inclined posture by sandwiching the box 12 from both sides in the longitudinal direction of the box 12, and in the boxing operation by the robot 22 and the charging guide 24, The box 12 is prevented from being displaced when the article 10 is inserted. Further, the box conveying device 20 moves the lid panel 12c outward from the connecting portion (lower side) to the box body 12a by means of panel bending means (not shown) before the box 12 is conveyed to the boxing position P2. It is configured to be bent downward from the opening 12b and to maintain the bent state at the boxing position P2. The box transfer device 20 changes its posture while carrying the box 12 containing the articles 10 in four rows and five columns after the boxing operation of the articles 10 into the box is completed, and the opening 12b is directly above. The lid panel 12c is folded to close the opening 12b.

  The robot 22 is arranged for one line (one horizontal column) that is inserted into the box at the receiving position P1 by a robot hand 44 supported on the end of a robot arm 42 that can freely move in a three-dimensional space. The articles 10 are gripped and picked up together, and transferred toward the upper side of the box 12 whose opening 12b is obliquely upward at the boxing position P2. As shown in FIG. 2, the robot hand 44 is provided with clamping chucks 46 serving as gripping means capable of individually gripping the extraction ports 10 b of the articles 10 for one row in a horizontal line. Then, the robot 22 operates the robot arm 42 in a state where each extraction port 10b of the plurality of articles 10 aligned in the sleeping posture at the receiving position P1 is gripped by the corresponding holding chuck 46, and the article 10 is moved. After being pulled out from the receiving position P1 to the front side (boxing position P2 side), the robot arm 42 is rotated and the article 10 is transferred while sleeping, so that it is substantially the same angle as the box 12 in the inclined position ( It is configured to change to an inclined posture of approximately 60 °) and to transfer to above the opening of the box 12.

  As shown in FIGS. 3 and 4, the insertion guide 24 has a plurality of substantially rectangular guide passages 54 that allow passage of the article 10 by two types of guide members 50 and 52 disposed in a frame 48. Are formed side by side in the longitudinal direction (row direction) of the box 12. Specifically, the guide members 50 and 52 are a first guide member 50 located on the lower side of the opening 12a in the inclined box 12 and a second guide spaced from the first guide member 50 to the upper side of the opening 12a. A guide passage 54 is defined between the two guide members 50 and 52. As shown in FIG. 3, the first guide member 50 is formed in a U shape with the second guide member 52 opened, whereas the second guide member 52 is formed in a flat plate shape. In the embodiment, three guide passages 54 corresponding to the three spaces S arranged in the row direction defined in the box are formed by the guide members 50 and 52, respectively, and the row direction (box 12 in each guide passage 54) is formed. The width dimension along the longitudinal direction) is set to correspond to the width dimension along the row direction (longitudinal direction of the box 12) in the corresponding space S. That is, the guide 24 is formed with two guide passages 54, 54 having a width dimension allowing passage of one article 10 at both ends in the longitudinal direction of the box 12. , 54 is set to a width dimension through which the three articles 10 can pass side by side.

As shown in FIG. 5, the guide members 50 and 52 can deeply enter the end portion of the guide passage 54 on the discharge port side into each of the spaces S in the box defined by the partitions 14 and 16. As described above, the end on the discharge port side is divided. Specifically, as shown in FIG. 4, the end of the guide members 50 and 52 on the outlet side opens to the position corresponding to each vertical partition 16 and expands toward the lower side. When the insertion guide 24 is moved to an insertion position to be described later, the upper end of the vertical partition 16 corresponding to each notch 56 enters, so that the end of the guide passage 54 on the outlet side You can enter deep inside the box. Each guide passage 54 is formed so as to be gradually narrowed from the upper inlet 54 a that receives the article 10 toward the lower outlet 54 b that discharges the article 10 so as to face the inlet 54 a. . Each introduction port 54 a is formed in a size that can easily receive the article 10, and each discharge port 54 b is formed in a size that can be inserted into each space S.

  As shown in FIG. 5, the first guide member 50 is provided with a receiving portion 51 extending upward from the introduction port 54 a of the guide passage 54 formed between the first guide member 50 and the second guide member 52. Yes. In other words, the contact receiving portion 51 extends upward from one side close to the lower side forming the opening 12a of the box 12 in the inclined posture at the introduction port 54a. The abutment receiving portion 51 extends along the inclination of the guide passage 54 and abuts the free end portion (lower end portion side) of the article 10 that is gripped by the robot 22 and transferred in a cantilevered state. In response to this, it functions to stop the swing of the article 10 and guide the article 10 released from the robot 22 to the introduction port 54a.

As shown in FIG. 1, the charging guide 24 is parallel to the base member 58 so that the angle at which the article 10 is guided from the introduction port 54 a toward the discharge port 54 b can be translated in a posture that matches the inclination angle of the box 12. It is supported to move freely. The insertion guide 24 is configured to linearly move in the direction along the opening 12 b of the box 12 along the base member 58 by a linear servo motor 28 as a moving means disposed on the base member 58. When the linear servomotor 28 inserts the article 10 into the box 12 via the insertion guide 24, the linear servo motor 28 causes the insertion guide 24 to be inserted each time the article 10 is supplied to the insertion guide 23 by one line. when completing the insertion of the lower side of the opening 12b repeatedly to move by an amount corresponding to the distance to the position corresponding to the row of the next toward the upper side, into the box 12 of the article 10 of the last line, Drive control is performed so that the insertion guide 24 is returned to the initial standby position that does not hinder the delivery of the box 12 to the boxing position P2. Specifically, by repeating to move by the amount corresponding the chute guide 24 at a distance from the lower side of the opening 12b to a position corresponding to the next line to the upper side, the first space in the interior of the box 12 The article 10 is configured to be inserted in the order of S1, the second space S2, and the third space S3. The base member 58 is configured to move up and down in an oblique vertical direction (article insertion direction) orthogonal to the opening 12b of the box 12 by an air cylinder 26 as an elevating means. That is, the insertion guide 24 together with the base member 58 has an insertion position (solid line position) where the discharge port side end (discharge port 54b) faces the space S and a discharge port side end (discharge port 54b) as shown in FIG. ) Is moved up and down by an air cylinder 26 between a retreat position (a position indicated by a two-dot chain line) facing the outside of the space S (retracted from the space S). The linear servo motor 28 is driven in a state in which the making guide 24 is moved to the retracted position, and the making guide 24 that moves along the opening 12 b does not interfere with the partitions 14 and 16.

  Next, the operation of the boxing device according to the embodiment will be described. The articles 10 conveyed through the conveyance paths 30 to the conveyance terminal end by the article conveyance device 18 are regulated by the extraction port 10b coming into contact with the rear stopper 38 positioned at the support position, and the rear stopper 38 is set at the retracted position. After the movement, the five articles 10 are pushed out toward the receiving position P1 by the pusher 32 at a time. At this time, the front stopper 36 is located at the support position, and the five articles 10 pushed out by the pusher 32 have the extraction port 10b abutted against the front stopper 36 and the extraction port 10b aligned in the lateral direction. In this state, it is transferred to the receiving table 34a located at the receiving position at the receiving position P1. By operating the width adjusting device 34 and moving the cradle 34a closer to each other to move to the width adjusting position, the five articles 10 are adjusted so as to have the holding interval and the insertion interval.

  After the front stopper 36 has been moved to the retracted position, the robot 22 grips the extraction port 10b of each article 10 that has been brought closer at the receiving position P1 with the corresponding clamping chuck 46 of the robot hand 44. The articles 10 of minutes are taken up collectively. When gripping the extraction port 10b of the article 10 by the robot hand 44, the movement of the article 10 to the upstream side of the conveyance is regulated by the rear stopper 38 moved to the support position. 10b can be securely gripped. Further, the closing guide 24 is moved from the standby position to the insertion position by the air cylinder 26 and the linear servo motor 28 with respect to the box 12 supported in the inclined posture with the opening 12b obliquely upward at the boxing position P2. Thus, the discharge port side end portion of the insertion guide 24 is inserted into the first space S1 (the space S of the first row) of the box 12, and the discharge port 54b of each guide passage 54 faces the space (FIG. 5). Solid line position). The robot 22 rotates the robot arm 42 to transfer the article 10 gripped by the robot hand 44 to the upper side of the boxing position P2, and to the introduction port 54a of the loading guide 24, the bottom side of the article 10. Switch to a tilted posture. At this time, the free end portion of the article 10 transferred in a cantilever state is brought into contact with the abutment portion 51 of the dosing guide 24 by bringing the free end portion side of the article 10 supported in a cantilever state by the robot 22 into contact. It is suppressed that the side shakes greatly.

When the gripping by the robot hand 44 is released, each article 10 is guided by the contact receiving portion 51 and enters the introduction port 54a of each guide passage 54 from the bottom side, and the article 10 discharged from the discharge port 54b corresponds. Is inserted along the inclination of the box 12 into the space S (see FIG. 1). The robot 22 that has released the article 10 receives the robot hand 44 and moves toward the position P1 to hold the article 10 in the next row. Further, the insertion guide 24 to which the articles 10 for one row are supplied rises from the insertion position to the retracted position (the two-dot chain line position in FIG. 5) by the air cylinder 26, and the first space in which the articles 10 are accommodated. so as to position the discharge opening 54b above the lower side of the row of openings 12b in the second space S2 adjacent to S1, linearly move along the chute guide 24 by the linear servo motor 28 to the opening 12b ( The one-dot chain line position in FIG. 5). When the discharge port 54b moves above the second space S2, the discharge guide side end of the input guide 24 is inserted into the second space S2 by moving the input guide 24 from the retracted position to the insertion position by the air cylinder 26. Thus, the discharge port 54b faces the space.

While the insertion guide 24 is moved so as to insert the discharge port side end portion into the second space S <b> 2 in which the article 10 is accommodated next, the robot 22 receives the next row of articles 10. It is picked up from the position P1 and transferred to above the introduction port 54a of the making guide 24 that has been moved. Then, as described above, the article 10 is inserted into the second space S2 by releasing the gripping by the robot 22 in a state where the article 10 is in contact with the stopper 51 of the loading guide 24 and is kept steady. In the embodiment, since the second space S2 is configured to store the articles 10 for two rows, the insertion guide 24 moved to the retracted position is moved to the position corresponding to the adjacent row on the upper side of the opening 12b . By moving to the insertion position after moving by an amount corresponding to the distance, the discharge port side end of the insertion guide 24 is inserted into the space S above the second row of articles 10 already accommodated in the second space S2. Is done. In this state, one row of articles 10 supplied from the robot 22 to the insertion guide 24 is accommodated above the second row of articles 10 accommodated in the second space S2. Next, the discharge guide 24 moved to the retracted position is moved to the insertion position after being moved by an amount corresponding to the distance to the position corresponding to the adjacent row on the upper side of the opening 12b. The side end portion is inserted into the third space S3, and the articles 10 for one row supplied from the robot 22 to the loading guide 24 in this state are accommodated in the third space S3. Thus, operation and supplies the chute guide 24 and collectively grip the article 10 by one line in the robot 22, by an amount corresponding to the distance to the position corresponding to the lifting and next row of said chute guide 24 By repeating the moving operation a predetermined number of times (four times in the embodiment), the article 10 is accommodated in the box 12 in four rows and five columns (see FIG. 3).

  According to the above-described boxing device, the articles 10 for one row transferred by the robot 22 are inserted into the spaces S via the loading guide 24 in a state where the discharge ports 54b of the loading guide 24 are inserted into the partitioned spaces S. Since it is inserted, the article 10 can be smoothly inserted into the space S without being hooked on the upper ends of the partitions 14 and 16. Further, as the speed change during the transfer of the article 10 while cantilevered by the robot 22 increases, the swing on the free end side of the article 10 increases, but the bearing extends obliquely upward from the introduction port 54a. Since the article 10 is guided to the introduction port 54a provided on the extension line after the vibration is suppressed by the portion 51, the article 10 can be smoothly passed into the guide passage 54 (without the article 10 being caught by the introduction port 54a). I can guide you. That is, while the article 10 can be stored in an appropriate state in the space S, it is possible to increase the processing speed by increasing the transfer speed by the robot 22. Further, since the discharge port side end portion of the insertion guide 24 is inserted into and removed from the space S during the process of gripping and transferring the article 10 by the robot 22, the discharge port side end portion of the input guide 24 is a space. The operation of pulling out from S can be performed with a margin. That is, even if the speeding up of the boxing process is not suppressed, the speed at which the discharge port side end of the insertion guide 24 is pulled out of the space S can be set to a speed at which the article 10 does not jump out of the box. Further, since the linear servo motor 28 is employed as a moving means for moving the insertion guide 24 linearly along the opening 12b of the box 12, the discharge guide 54 and the discharge port 54b sequentially face the appropriate position. It can be moved and the processing capacity can be increased.

  In addition, since the holding means 40 holds the box 12 in an inclined posture at the boxing position P2, the mutual relationship between the box 12 and the charging guide 24 can be kept constant. The discharge port 54b can be reliably inserted into the space. Further, since the notch 56 is formed at a position corresponding to the vertical partition 16 in the charging guide 24, the discharge port side end of the charging guide 24 can be inserted deeply into the space, and the article 10 is suitable for the space S. Can be guided to.

(Example of change)
The present invention is not limited to the configuration of the embodiment, and can be modified as follows, for example. Further, not limited to the following modification examples, various embodiments may be adopted for the configurations described in the examples within the scope of the gist of the present invention.
(1) The number and arrangement pattern of the partitions 14 and 16 in the box are not specified in the present embodiment, but can be used in various patterns. For example, in the embodiment, the case where the space S in which the plurality of articles 10 are accommodated is partially defined is described. However, the partition 14 is configured in a pattern in which the articles 10 are accommodated one by one in all the spaces S. 16 may be arranged.
(2) As the article 10 to be packed, when the robot 22 cantilever-supports the article 10 at an angle along the inclination of the box 12 or the like, the article can sustain the angle, that is, cantilevered and transported. Ketchup if the article has properties that cause elastic deformation near one end of the article due to inertial force generated when the moving speed of the article is decelerated or stopped, and the other end (free end) of the article swings. In addition to soft containers filled with or mayonnaise, for example, articles such as pouches such as pouches filled with liquid may be used.
(3) The number of articles 10 to be inserted into the box 12 for each line may be four or less or a plurality of six or more, and the robot hand 44 is clamped according to the number of articles 10 for one line. The number of chucks 46 may be set.
(4) The alignment direction of the articles 10 at the receiving position P1 does not have to be aligned in the row direction of the box 12, and the posture is set so as to align in the row direction of the box 12 while being gripped and transferred by the robot 22. Changing configurations may be employed.
(5) Regarding the guide passage 54 set to a width dimension through which a plurality of articles 10 arranged in the row direction pass, in the embodiment, a portion for guiding each article 10 in the guide passage is not provided. You may provide the guide part extended in the discharge port 54b so that it may protrude in a guide channel.
(6) The guide passage 54 is not defined by the two types of guide members 50 and 52, but may adopt a configuration defined by one type of guide member.

10 goods, 12 boxes, 12b opening, 14 horizontal partition (partition)
16 Vertical partition (partition), 22 Robot, 24 Input guide 26 Air cylinder (lifting / lowering means), 28 Linear servo motor (moving means)
40 holding means, 44 robot hand, 51 contact receiving portion, 54 guide passage 54a introduction port, 54b discharge port, 56 notch (receiving portion) , S space

Claims (3)

To open the box (12b) is a plurality of spaces in the transverse direction are partitioned (S) is formed by a partition (1 6) was the internal is supported in an inclined position facing obliquely upward (12), the transverse direction side by side the box (12) capable of accommodating one row of aligned object article (10) are collectively inserted to article into the box along the inclination of the box (12) from said opening (12b) (10 ) in the packing device configured to accommodate the parallel department matrix vertically and horizontally with respect to the opening (12b) and,
Comprising a robot hand (44) for gripping together people each end portion in the longitudinal direction of the one row of articles (10), wherein one row by gripping the article (10) with said robot hand (44) A robot (22) that transports one by one,
An inlet (54a) capable of receiving the article (10), and an outlet (54b) capable of discharging the received article (10) in the space (S) opposite the inlet (54a). A guide passage (54) having a plurality of spaces (S) arranged in the lateral direction so as to extend along the inclination of the box (12), and the robot (22) A loading guide (24) capable of receiving each of the one row of articles (10) to be transferred at a time into the corresponding inlet (54a) of the guide passage (54);
Provided in the charging guide (24), when inserting the article (10) into the box (12), the lower position among the edges forming the opening (12b) of the inclined box (12) Is located on the side close to the side and extends obliquely upward along the inclination of the box (12), and receives the cantilevered article (10) transferred by the robot (22), A receiving part (51) for guiding the article (10) released from gripping by the robot hand (44) to the guide passage (54) ;
The box (12) is inclined to the insertion guide (24) at an insertion position where the discharge port (54b) faces the space (S) and a retreat position where the discharge port (54b) faces the space (S). Elevating means (26) elevating and lowering along,
The moved the closing guide (24) in said retracted position, and a linearly moving moving means (28) in the column direction,
Wherein the robot (22) each time the accept the article (10) of said one line in said chute guide positioned in the insertion position (24), as well as moved to the retracted position chute guide (24) from the insertion position , so as to move the insertion position after moving in the column direction to a position corresponding Oite chute guide (24) next to the line in the retracted position, operates the lifting means (26) and moving means (28) A boxing device characterized by being configured as described above.   The boxing device according to claim 1, further comprising holding means (40) for holding the box (12) from both sides to maintain an inclined posture. Wherein a corresponding position in said partition end of the outlet side of the chute guide (24) (16), expansion want receptacle toward the lower side with an opening on the lower side (56) is provided, wherein The boxing device according to claim 1 or 2, wherein an upper end portion of the partition (16) is inserted into the receiving portion (56) when the insertion guide (24) is moved to the insertion position.

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