JP6641449B2 - Transfer device - Google Patents

Description

The present invention relates to a transport device .

  2. Description of the Related Art Conventionally, there has been known a box packing device in which a predetermined number of articles are filled in a semi-molded box placed on a conveyor, and an adhesive or the like is attached to a lid flap or the like of the box to bend the flap. In such a box packing device, for example, a semi-formed box is conveyed at predetermined intervals by a chain conveyor or a conveyor such as a belt disclosed in Patent Literature 1 and corresponds to a conveyor pitch of the conveyor. Thus, processing steps such as a product supply device, a gluing device, and a flap folding device are provided. However, the processing time in each processing step does not always match. For example, if the time spent in the product supply process is longer than other processing steps, cooperate with each other processing, such as waiting for the box that has been processed in the other processing step at that position without being transported Is required.

Therefore, for example, as in Patent Document 2, a linear conveyor capable of freely moving each box toward the next processing step without maintaining a constant distance between the front and rear boxes is adopted as a transport device in the box packing device. Will be considered. Further, Patent Literature 3 discloses that after applying an adhesive to a first side wall of a box conveyed by a conveyer with a first sizing nozzle, the box is changed to a direction in which the conveyance direction is orthogonal, and the conveyed box is conveyed. A technique relating to a sealing device for applying an adhesive to the second and third side walls with a second glue nozzle is disclosed.

JP 09-249201 A JP 2013-102562 A JP 2017-36079 A

An object of the present invention is to reduce the size of a transport device .

In order to solve the above-mentioned problems, the transfer device of the present invention employs the following means. First , according to the first aspect of the present invention, a stator (36) serving as an electromagnet and a permanent magnet serving as a mover (48) fixed along the rail are fixed to an electromagnetic coil constituting the electromagnet. current supply by generating a thrust by a magnetic field stator (36) emitted by the control, the traveling body to each other in the thrust traveling rails independently at intervals, it is semi-molded box Conveying means (20) for conveying a body, and spraying means (141) for spraying an adhesive on one of the side surfaces of the box (90) when the box (90) is conveyed by the traveling body (40). Rotating means (170) for rotating the box (90) on which the adhesive has been sprayed around a vertical axis; and the traveling body (40) for transporting the box (90) rotated by the rotating means. , One of the running bodies (40) Repetitive traveling control means for temporarily retreating in the opposite direction to the traveling direction without causing collision with the subsequent traveling body (40) and then moving forward; and the box (90) moved in the opposite direction by the repetitive traveling control means. In (2), the adhesive is applied to a side different from the side on which the adhesive is sprayed by the spraying means.

According to the first aspect of the present invention, since the spraying means (141), the rotating means (170) and the repetitive running control means are provided, the running body (40) is moved forward and backward to move the box (90). Since the adhesive is applied to the plurality of side surfaces (93), the size of the transport device (20) can be reduced.

According to the present invention, by adopting the means of the above-described inventions, the transport device can be downsized .

It is the whole perspective view showing the outline of the box packing device concerning this embodiment. It is the schematic plan view which showed the box packing apparatus which concerns on this embodiment. It is the schematic of the conveyance apparatus in the box packing apparatus which concerns on this embodiment, A is a front view and B is a top view. In the transport device, A is a partially enlarged front view showing the IV-A part of FIG. 3A in an enlarged manner, and B is a sectional view taken along the line BB of FIG. 4A. It is the expansion top view which expanded and showed the V section of FIG. 3B as an outline of the fluid derivation means in the boxing apparatus which concerns on this embodiment. It is the schematic of the discharge means in the box packing apparatus which concerns on this embodiment, A is a front view and B is a left view. It is a schematic process drawing explaining a series of movements of a traveling body of a conveyance device in a box packing device concerning this embodiment. It is the perspective view which showed the outline of the modification of the conveyance apparatus in the box packing apparatus which concerns on this embodiment.

Hereinafter, a transport device in a box packing device as an embodiment of the transport device of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the box packing device 10 includes a transfer device 20, a first robot 110 (carton forming unit, box body supplying unit), a second robot 120 (product supplying unit), and a gun 141 (spraying unit). ), A third robot 130 (lid closing means, discharging means), a product supply conveyor 150, a discharge conveyor 160, and the like.

  The transport device 20 is a device that moves a plurality of traveling bodies 40 along a transport path using a linear motor as a drive source, as shown in FIGS. The transporting device 20 includes a main body frame 22, a pair of traveling rails 26 disposed above and below the main body frame 22 so as to face each other, and both ends of the traveling rail 26. A rotating body 30 that rotates around a rotating shaft 31; and a plurality of rotating bodies 30 that are disposed separately from the rotating bodies 30 and that can be connected to the upper and lower traveling rails 26 according to the position where the rotating body 30 stops rotating. Extension rail 38. In the transfer device 20, a vertical track is formed by each of the upper and lower traveling rails 26 and each of the extension rails 38.

  The pair of traveling rails 26 are disposed to be spaced apart from each other so as to extend in the horizontal direction above and below the main body frame 22. The upper traveling rail 26 </ b> A disposed on the upper surface 22 </ b> A of the main body frame 22 and And a lower traveling rail 26B disposed on the lower surface 22B of the bottom 22.

  The rotating bodies 30 are disposed at both ends of the traveling rail 26 as shown in FIGS. 3 and 4, and rotate around a rotation axis 31 along the traveling rail 26. Here, the rotating body 30 includes a first rotating body 30A at a starting end 26AS of the upper running rail 26A and a second rotating body 30B at a terminating side 26AE of the upper running rail 26A. The first rotating body 30A and the second rotating body 30B are provided with extension rails 38 that are opposed to each other and extend vertically in the horizontal direction. The extension rail 38 is configured to be connectable to each of the upper traveling rail 26A and the lower traveling rail 26B according to the position where the rotating body 30 stops rotating. The first rotating body 30A and the second rotating body 30B have a hollow rotating shaft 31. One end of the rotating shaft 31 drives and connects the servomotor 34 and the rotating body 30 via a speed reducer 32 and is rotatably supported by the main body frame 22 that supports the servomotor 34. The other end of the rotating shaft 31 forms a wiring inlet 35 that can supply power to the stator 36 via the inside of the rotating shaft 31. The rotating body 30 is configured to rotate in one direction by a preset angle by alternately switching the rotation of the servo motor 34 in the forward and reverse directions, and then rotate in the opposite direction by the same angle as that angle. In other words, the rotating body 30 is configured such that the relationship between the upper and lower positions of the plurality of extension rails 38 is alternately reversed by alternately switching the rotation of the servo motor 34 between forward and reverse. The reduction gear 32 uses Harmonic Drive (registered trademark) as an example of the wave gear device. By using this Harmonic Drive (registered trademark), backlash can be extremely reduced.

  In the linear motor, an electromagnet as a stator 36 is disposed along each of the upper traveling rail 26A and the lower traveling rail 26B and each of the extension rails 38, and a permanent magnet is fixed to the traveling body 40 as a movable element 48, By controlling the current supply to the electromagnetic coil forming the electromagnet, a thrust is generated by the magnetic field generated by the stator 36, and the traveling bodies 40 are independently run at intervals and circulated in the same direction. .

  As shown in FIG. 4, the traveling body 40 includes a main body frame 42, a guide block 46 fixed to the main body frame 42, a mover 48 using a permanent magnet, and an RF (Radio Frequency) tag 52. The main body frame 42 includes a rectangular plate-shaped horizontal surface portion 43 horizontally positioned along the traveling rail 26, and a vertical surface portion 44 extending vertically to the horizontal surface portion 43 on one side in the width direction of the horizontal surface portion 43. And are integrally formed in a substantially L-shaped cross section. The upper surface of the horizontal surface portion 43 is configured as the mounting surface 54 on which the semi-formed box body 90 is mounted. On the mounting surface 54, a guide plate 56 on which two box bodies 90 can be mounted is provided upright. A guide block 46 is fixed to the lower surface of the horizontal surface portion 43 and is slidably fitted to the running rail 26 and the extension rail 38 described above. Thus, the traveling body 40 moving on the lower traveling rail 26B can move without falling off when the mounting surface 54 moves downward. A permanent magnet is fixed to the lower surface of the horizontal surface portion 43 as a mover 48 at a position facing the stator 36 along the running rail 26 and the extension rail 38. The mover 48 has S poles and N poles arranged alternately in a direction along the traveling rail 26 and the extension rail 38. As a result, the current supply to the electromagnet as the stator 36 is controlled, and a thrust is generated due to the interaction between the magnetic flux generated in the electromagnet and the magnetic flux of the permanent magnet as the mover 48, and the traveling body 40 extends along the traveling rail and the extension. It is possible to move along the rail 38. An RF tag 52 is provided on the vertical surface portion 44. The RF tag 52 stores unique information of each traveling body 40 (identification data of each traveling body 40 and unique movement error information). As shown in FIG. 5, the traveling body 40 intersects with the mounting surface 54 and extends along the traveling rails 26A and 26B. An air pipe 58 is formed therebetween, and an end 60 of the air pipe 58 (a hole penetrating from one side surface to the mounting surface 54) is provided in a direction intersecting the traveling direction of the traveling body 40.

  As shown in FIG. 3, the main body frame 22 includes a photoelectric sensor S1, a proximity sensor S2, and an RFID antenna S3. Based on the detection of the position and the unique information by the sensors S1, S2, S3, the electric power supply to the electromagnet is performed. Is controlled, the traveling body 40 can be moved to a specific position. The photoelectric sensor S1 is a sensor that detects the presence or absence of the box 90 on the mounting surface 54 of the traveling body 40 and outputs a signal to a control device (not shown) of the linear motor, and includes a box receiving unit 82, a product supply unit 84 and the discharge unit 88 at a position that is separated to one side crossing the running direction. The proximity sensor S2 is a sensor that detects the arrival of the traveling body 40 and outputs a signal to a control device of the linear motor, and outputs signals to the box receiving unit 82, the product supply unit 84, the adhesion processing unit 86, and the discharge unit 88. It is arranged at a position distant to one side crossing the traveling direction. The RFID antenna S3 is a sensor that detects information unique to the RF tag 52 of each traveling body 40 and outputs a signal to a control device of the linear motor, and is disposed near the start end 26AS of the upper traveling rail 26A.

  As shown in FIGS. 1 and 3, the box packing device 10 travels independently and sequentially with a space therebetween in a state where the semi-molded box 90 is placed on the plurality of traveling bodies 40, and along the transport path. In the processing unit 80 provided for performing various box packing processes, a box packing operation is performed. A processing unit 80 is provided on the upper traveling rail 26A to pack the product P (article) into the box 90 and join the lid side flap 95 of the top panel 94 (lid) of the box 90 with an adhesive. ing. The processing section 80 includes a box receiving section 82, a product supply section 84, an adhesion processing section 86, and a discharge section 88 in the traveling direction of the upper traveling rail 26A. The box receiving portion 82 is an area where the semi-formed box 90 is received and placed on the traveling body 40. The product supply section 84 is an area for supplying the product P to the box 90 transported from the box receiving section 82 by the traveling body 40. The adhesive processing section 86 is an area for applying an adhesive to the box 90 transported from the product supply section 84 by the traveling body 40. The discharge section 88 is an area for taking out the box body 90 with the adhesive from the traveling body 40. The upper running rail 26A is provided with a fluid deriving means 28 at positions of a box receiving portion 82 and a product supply portion 84, and is configured to be able to discharge fluid to the end 60 of the air pipe 58 in the running body 40. Have been. As shown in FIG. 5, the fluid deriving means 28 travels to reach the mounting surface 54 when connected to the end 60 of the air pipe 58 (a hole penetrating from one side to the mounting surface 54). By receiving the positive pressure air supplied from the fluid deriving means 28 into the air pipe 58 in the body 40, a negative pressure is generated by the Bernoulli effect, and the box body 90 is formed by the suction port 55 provided substantially in the center of the mounting surface 54. Is held by suction.

  As shown in FIG. 1, a first robot 110 having a robot hand freely movable in a three-dimensional space (carton forming means, Box supply means) is provided. The first robot 110 takes out the carton sheets 91 one by one from two sheet magazines (not shown) in which the carton sheets 91 are accumulated, and half-molds the carton sheets 91 to form a box body 90 (top panel 94 (lid)). Stand up and a box body 90) with an open box top. The carton sheet 91 exemplifies a method in which the carton sheet 91 is folded from the expanded state to form a box body 90. The carton sheet 91 includes a rectangular bottom panel 92, a side panel 93 connected from four edges of the bottom panel 92, a top panel 94 connected to one edge of the side panel 93, and a top panel 94. And a joining panel 96 for joining adjacent side panels 93 to each other. The first robot 110 constitutes a part of the carton forming means, and places the one traveling body 40 that has stopped traveling of the two half-molded boxes 90 in the box receiving section 82 of the transport device 20. It also serves as a part of box supply means for simultaneously supplying the surface 54 with a space therebetween in the traveling direction of the traveling body 40.

  As shown in FIG. 1, a second robot 120 (product) having a robot hand (not shown) that can move freely in a three-dimensional space is provided at a position away from the product supply unit 84 to one side crossing the traveling direction. Supply means) is provided. The second robot 120 supplies the product supplied to the transfer device 20 by suction means (not shown) provided in the robot hand corresponding to the distance between the two boxes 90 placed on the traveling body 40. The two products P on the conveyor 150 are collectively sucked (held) by two boxes, and the sucked products P are put into two box bodies 90 on one traveling body 40 stopped traveling to the product supply unit 84. The operation of collectively supplying is repeatedly executed until the number of products to be supplied in one box is reached. When the traveling body 40 arrives at the product supply unit 84 in a state where one of the boxes 90 placed on the traveling body 40 is missing (less than the prescribed number of two), the box 90 is placed in one of the boxes. The third robot 130 described later discharges the box body 90 out of the box packing line (outside the system) without supplying the product and spraying the box body 90 with an adhesive described later. Has become.

  As shown in FIGS. 1 and 3, a gun 141 (spraying means) for spraying an adhesive is disposed near one side of the bonding section 86. The gun 141 sprays the adhesive onto the side panel 93 on one side of the box 90 facing the gun 141 when the traveling body 40 travels through the bonding processing section 86. Note that the adhesive may be any as long as the carton sheet 91 is assembled in a box shape and the panels are joined, and organic adhesives such as starch adhesives and natural rubber adhesives, and synthetic adhesives using various synthetic resins. Any of the adhesives may be included.

  As shown in FIGS. 1 and 6, a third robot 130 (a lid closing unit) having a hand unit 132 that can move freely in a three-dimensional space is provided at a position away from the discharge unit 88 to one side crossing the running direction. , Discharge means). The third robot 130 collects the two boxes 90 arriving at the discharge unit 88 and collects the boundary area between the top panel 94 in the upright state and the side panel 93 connected to the top panel 94. A hand portion 132 is provided that can be folded and bend the lid side flap 95 connected to the top panel 94 at each connection position with the top panel 94. The hand unit 132 includes a rectangular plate 134 that can close the top opening of the box body 90 by tilting the top panel 94 in a standing state, and a first claw that can rotate in a direction orthogonal to three sides of the plate 134. 135, a second claw 136, and a third claw 137. The second claw 136 and the third claw 137 are provided at positions facing each other. The first claw 135 is provided at a position between the second claw 136 and the third claw 137. A back plate 138 adjacent to the side panel 93 of the box body 90 is provided at a position facing the first claw 135. The first claw 135, the second claw 136, and the third claw 137 are configured to be rotatable by various driving means such as an air cylinder.

  As shown in FIGS. 1 and 3, a discharge conveyor 160 is provided on the other side intersecting the traveling direction from the discharge unit 88, and the box 90 on the traveling body 40 arriving at the discharge unit 88 is discharged. Bed 162 is provided so that it can be delivered to conveyor 160. Further, the bed 162 is provided with a second gun 142 and a third gun 143 (spraying means) on both sides intersecting the discharging direction of the box body 90. The third robot 130 seals the semi-formed box body 90 in the discharge unit 88 in the following procedure. As shown in FIGS. 1 and 6, the plate 134 provided on the hand unit 132 of the third robot 130 presses the top panel 94 in the upright state, thereby forming the side panel 93 connected to the top panel 94. Is folded down to close the upper opening of the box 90. Next, the first claw 135 provided on the hand portion 132 of the third robot 130 is rotated, one of the lid side flaps 95 is turned down, and the box 90 is sandwiched between the back side plate 138 and the adhesive. It is brought into surface contact with the side panel 93 and joined. Next, the box body 90 is transferred to the bed 162 while maintaining the state where the first claw 135 is rotated and the state where the plate 134 presses the top panel 94. Here, when moving the box 90 to the bed 162, the second gun 142 and the third gun 143 spray the adhesive on the remaining side panels 93 of the box 90, respectively. Next, the second claw 136 and the third claw 137 provided on the hand portion 132 of the third robot 130 are turned to turn down the remaining lid side flaps 95 and come into surface contact with the side panel 93 with the adhesive. Then, the sheet is transferred to the discharge conveyor 160. Thus, the third robot 130 corresponds to a discharging unit that transfers the box body 90 conveyed to the discharging unit 88 by the traveling body 40 to the discharging conveyor 160.

  Next, the movement of the transport device 20 will be described with reference to FIG. As shown in FIG. 7, in the transport device 20, seven traveling bodies 40A to 40G travel independently and sequentially with an interval therebetween.

  FIG. 7A illustrates an initial state of the transfer device. The traveling body 40A is supported by an extension rail 38 above the first rotating body 30A. The traveling body 40B is located at the position of the box receiving portion 82. The traveling body 40 </ b> C is located at a position to wait just before the product supply unit 84. The traveling body 40D is located at the position of the product supply unit 84. The traveling body 40E is located at the position of the discharge unit 88. The traveling body 40F is supported by the extension rail 38 above the second rotating body 30B. The traveling body 40G is supported by the lower traveling rail 26B and is located at a position where it stands by just before the first rotating body 30A. Here, the transport device 20 controls the supply of the product P from the second robot 120 (product supply means) on the traveling body 40D, the supply of the box 90 from the first robot 110 on the traveling body 40B, and the traveling body 40G. When the movement from the lower extension rail 38 on the lower side of the second rotating body 30B to the lower traveling rail 26B to the position immediately before the first rotating body 30A is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical position of the rail 38 is reversed.

  FIG. 7B illustrates the movement of each of the traveling bodies 40A to 40G after the rotation of the second rotating body 30B. The traveling body 40A moves from the extension rail 38 on the upper side of the first rotating body 30A to the upper traveling rail 26A and moves to the box receiving portion 82. The traveling body 40B moves to a position where the traveling body 40B stands by just before the product supply unit 84. The traveling body 40C moves to the position of the product supply unit 84. The traveling body 40D moves to a position where the traveling body 40D stands by immediately before the discharge unit 88. In the traveling body 40E, a step of sealing the box body 90 by the third robot 130 at the position of the discharge unit 88 and transferring the box body 90 to the discharge conveyor 160 is performed. The traveling body 40F is supported by the lower extension rail 38 after the rotation of the second rotating body 30B. The traveling body 40G is supported by the first rotating body 30A after finishing passing from the lower traveling rail 26B to the lower extended rail 38 of the first rotating body 30A. Here, the transfer device 20 rotates the first rotating body 30A by completing the respective movements of the traveling bodies 40A to 40D and the steps of closing and discharging the box body 90 in the traveling body 40E, and moves the first rotating body 30A up and down. The positional relationship is reversed.

  FIG. 7C illustrates the movement of each of the traveling bodies 40A to 40G after the first rotating body 30A rotates. The traveling body 40A is located at the position of the box receiving portion 82. The traveling body 40B is located at a position where the traveling body 40B stands by just before the product supply unit 84. The traveling body 40C is located at the position of the product supply unit 84. When the traveling body 40D moves from the position waiting just before the discharge section 88 to the discharge section 88, the adhesive is applied to the side panel 93 on one side of the box 90 by the gun 141 (spraying means) of the bonding section 86. Sprayed. The traveling body 40E is supported by the second rotating body 30B after finishing traveling from the position of the discharge section 88 to the extension rail 38 above the second rotating body 30B. The traveling body 40F moves from the lower extension rail 38 on the lower side of the second rotating body 30B to the lower traveling rail 26B and moves to a position immediately before the first rotating body 30A. The traveling body 40G is supported by the upper extension rail 38 after the rotation of the first rotating body 30A. Here, the transport device 20 supplies the product P from the second robot 120 (product supply means) on the traveling body 40C, supplies the box 90 from the first robot 110 on the traveling body 40A, and sets the traveling body 40F. When the movement from the lower extension rail 38 on the lower side of the second rotating body 30B to the lower traveling rail 26B to the position immediately before the first rotating body 30A is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical position of the rail 38 is reversed.

  FIG. 7D illustrates the movement of each of the traveling bodies 40A to 40G after the rotation of the second rotating body 30B. The traveling body 40A moves to a position where the traveling body 40A stands by just before the product supply unit 84. The traveling body 40B moves to the position of the product supply unit 84. The traveling body 40 </ b> C moves to a position to wait just before the discharge unit 88. At the position of the discharge unit 88, the traveling body 40D performs a process of sealing the box 90 with the third robot 130 and transferring the box 90 to the discharge conveyor 160. The traveling body 40E is supported by the lower extension rail 38 after the rotation of the second rotating body 30B. The traveling body 40F is supported by the first rotating body 30A after finishing passing from the lower traveling rail 26B to the lower extended rail 38 of the first rotating body 30A. The traveling body 40G moves from the extension rail 38 on the upper side of the first rotating body 30A to the upper traveling rail 26A and moves to the box receiving portion 82. Here, the transport device 20 rotates the first rotating body 30A by completing the respective movements of the traveling bodies 40A to 40C and 40G, and the steps of closing and discharging the box 90 in the traveling body 40D, thereby rotating the first rotating body 30A. The relationship between the upper and lower positions is inverted.

  FIG. 7E illustrates the movement of each of the traveling bodies 40A to 40G after the first rotating body 30A rotates. The traveling body 40 </ b> A is located at a position to wait just before the product supply unit 84. The traveling body 40B is located at the position of the product supply unit 84. When the traveling body 40C moves from the position waiting just before the discharging unit 88 to the discharging unit 88, the adhesive is applied to the side panel 93 on one side surface of the box 90 by the gun 141 (spraying means) of the bonding processing unit 86. Sprayed. The traveling body 40D is supported by the second rotating body 30B after finishing traveling from the position of the discharge unit 88 to the extension rail 38 above the second rotating body 30B. The traveling body 40E moves from the lower extension rail 38 on the lower side of the second rotating body 30B to the lower traveling rail 26B, and moves to a position immediately before the first rotating body 30A. The traveling body 40F is supported by the upper extension rail 38 after the rotation of the first rotating body 30A. The traveling body 40G is located at the position of the box receiving portion 82. Here, the transport device 20 supplies the product P from the second robot 120 (product supply means) on the traveling body 40B, supplies the box 90 from the first robot 110 on the traveling body 40G, and When the movement from the lower extension rail 38 on the lower side of the second rotating body 30B to the lower traveling rail 26B to the position immediately before the first rotating body 30A is completed, the second rotating body 30B is rotated and extended. The relationship between the vertical position of the rail 38 is reversed.

  As described above, the transport device 20 is configured such that the seven traveling bodies 40A to 40G independently form a vertical trajectory constituted by the upper traveling rail 26A, the lower traveling rail 26B, and the extension rail 38 with an interval therebetween. They run sequentially, and the packing operation is performed continuously. Here, when each of the first rotating body 30A and the second rotating body 30B starts rotating, one of the extension rails 38 supports the traveling body 40 received from the traveling rail 26 behind the one of them in the circulation direction. In addition, the traveling body 40 that is traveling ahead of the traveling body 40 by one distance has been configured to have crossed the traveling rail 26 forward in the circulation direction from the other of the extension rails 38.

The transport device 20 in the box packing device 10 as described above has the following effects.
-By arranging the traveling rail 26 and the extension rail 38 in parallel in the vertical direction, the installation area of the box packing device 10 can be reduced.
・ Conventional transport equipment that transports using chains and timing belts required adjustment and replacement work for elongation of chains and timing belts, but since no chains or belts were used, this adjustment and replacement work was unnecessary. Becomes
・ In the case of a conventional transport device in which a partition plate or pushing claw arrives at a constant interval on a chain or the like, when the chain etc. is extended, fine adjustment of the installation position of the device around the transport device is performed, Each position of the section 80 (the box receiving section 82, the product supply section 84, the bonding section 86, the discharge section 88, etc.) had to be adjusted. However, in the transport device of the present embodiment, since the stop position of each traveling body 40 in the processing unit 80 can be set arbitrarily, each position adjustment of the processing unit 80 can be facilitated.
Since the rotating body 30 is configured to rotate in one direction by a preset angle by alternately rotating the servo motor 34 in the forward and reverse directions, and then rotate in the opposite direction by the same angle as that angle, the rotating shaft The twisting of the wiring toward the stator 36 disposed along each extension rail 38 in the inside 31 can be prevented.
The reduction gear 32 employs a Harmonic Drive (registered trademark) capable of greatly reducing backlash, and the servo motor 34 and the rotating body 30 are drivingly connected to each other, so that each traveling rail 26A, 26B and each extension are used. Good alignment with the rail 38 can be achieved.
When the second robot 120 supplies the product P to the box 90, or when the third robot 130 bends the lid side flap 95 of the box 90, a suction force is generated on the mounting surface 54 of the traveling body 40. Since the box 90 is held on the mounting surface 54 of the traveling body 40, the second robot 120 and the third robot 130 can perform appropriate processing on the box 90 held at an appropriate position. it can.
When the processing unit 80 connects the fluid deriving means 28 disposed along the traveling rail 26 to the end 60 of the air pipe 58 (a hole penetrating from one side surface to the mounting surface 54), Since the inside of the air pipe 58 in the traveling body 40 up to the mounting surface 54 is configured to have a negative pressure to hold the box body 90 on the mounting surface 54, each of the traveling bodies 40 as moving bodies There is no need to incorporate the deriving means 28, and it is possible to prevent the position of the box body 90 from being shifted with respect to the mounting surface 54 with a simple configuration.
Also, since each traveling body 40 has a configuration in which a negative pressure is generated by utilizing the Bernoulli effect when receiving the positive pressure air supplied from the fluid deriving means 28 therein, the fluid deriving means Since the air supply pressure at 28 can be reduced, the running resistance of the running body 40 generated when switching the connection between the fluid deriving means 28 and the end 60 of the air pipe 58 can be reduced.
A second robot 120 that supplies the product P to the box body 90 is provided on one side of the transfer device 20, and the top panel 94 in the upright state is connected to the transfer device 20 farthest from the second robot 120. , The product P can be easily supplied into the box 90.

Although the embodiment of the present invention has been described above, the transporting device in the box packing device of the present invention is not limited to the embodiment, and can be implemented in various other forms as described below.
-Although the traveling body 40 which runs by mounting two boxes 90 on the mounting surface 54 is shown, the number of the boxes 90 mounted on the mounting surface 54 is set to one, or three or more. Is also good. However, when making such a change, it is necessary to change the hand portions 132 of the first to third robots 130 so as to correspond to the number of the boxes 90 placed on the placement surface 54.
The gun 141 (spraying means) may spray the adhesive on the front box 90 on the traveling body 40 and then spray the adhesive on the rear box 90 on the traveling body 40 in timing. Good.
-Box direction changing means (rotation means) for rotating the box (90) around a vertical axis may be employed. The box body direction changing means (rotating means) comprises, for example, a turntable that rotates around the vertical axis for the mounting surface 54 of each traveling body 40, and rotates the mounting surface 54 by 90 degrees around the vertical axis by supplying air to perform the bonding process. The direction of the box 90 placed on the placement surface 54 in the section 86 may be changeable. Alternatively, the third robot 130 may support the box 90 placed on the placement surface 54 and rotate the box 90 around a vertical axis so that the direction of the box 90 can be changed.
Further, as shown in FIG. 8, the box orientation changing means (rotating means) arranges the fourth robot 170 near the adhesion processing unit 86, and the fourth robot 170 mounts the fourth robot 170 on the adhesion processing unit 86. The side panel 93 of the box 90 placed on the placement surface 54 may be gripped by the chuck 172 at the tip and rotated around a vertical axis to change the direction of the box 90.
When adopting the box direction changing means, the traveling body 40 is caused to travel forward in the adhesion processing section 86, and the adhesive blown out from the gun 141 (spraying means) adheres to the box body 90. After passing through the position, the operation of changing the direction of the box 90 and moving the traveling body 40 backward is repeated a predetermined number of times, so that the side panel 93 on which the adhesive has not been sprayed is opposed to the gun 141. Alternatively, an adhesive may be applied to each side panel 93. Here, repetitive traveling control means is required to cause the traveling body 40 to travel forward and backward. In the control by the repetitive traveling control means, when the traveling body 40 travels backward, it is necessary to temporarily retreat in the opposite direction to the traveling direction without colliding with the following traveling body 40. It should be noted that the box body orientation changing means may be provided either upstream or downstream of the gun 141, or may be provided both upstream and downstream of the gun 141 to spray the adhesive. According to this aspect, since the traveling body 40 is moved forward and backward in the adhesion processing section 86 to apply the adhesive to the plurality of side panels 93 of the box body 90, the transport device 20 can be downsized.
The third robot 130 that closes the top panel 94 (lid) of the box body 90 may remove the box body 90 determined to be defective in packing outside (outside the system) of the box packing line (exclusion means). . This makes it possible to eliminate defective products outside the system without separately providing means for removing defective products such as pushers.
In the present embodiment, the movable element 48 (traveling body) provided with the permanent magnet is moved by generating a thrust by the magnetic field generated in the stator 36 having the electromagnetic coil. For example, a configuration may be adopted in which each traveling body 40 obtains a thrust by the magnetic field generated in the stator 36 and travels linearly, such as by using the movable element 48 provided with the electromagnetic coil as the traveling body 40. .
Harmonic Drive (registered trademark) is used as the speed reducer 32 in order to reduce the rotation of the rotary body 30 by driving and connecting the servo motor 34 and the rotary body 30 via the speed reducer 32, but other wave gear devices Alternatively, the speed may be reduced by using another gear.
-The form of the carton sheet 91 is an exemplification, and the form of the various panels described above can be applied to various forms as long as the form is box-shaped.
Further, the present invention is not limited to the method in which the unfolded sheet such as the carton paper is bent to form the semi-molded box 90, and a mode in which each traveling body 40 conveys the semi-molded box 90 by the setup method can be adopted. is there.
In addition, not only the mode of supplying the product P to the box 90 from above the box 90 but also the mode of supplying the product P from the side of the box 90 can be adopted. In such a case, the direction in which the adhesive is sprayed onto the box 90 may be changed as appropriate in accordance with the type of the box 90.

10: box packing device 20: transport device 22: body frame 26: traveling rail 26A: upper traveling rail 26B: lower traveling rail 28: fluid deriving means 30: rotating body 30A: first rotating body 30B: second rotating body 31 : Rotating shaft 34: Servo motor 35: Wiring receiving port 36: Stator 38: Extension rail 40: Traveling body 54: Mounting surface 60: End of air pipe (hole penetrating from one side surface to mounting surface) 80: Processing unit 82: Box receiving unit 84: Product supply unit 86: Adhesion processing unit 88: Discharge unit 90: Box 130: Third robot (lid closing means, discharging means)
141: Gun (spraying means) 170: Fourth robot (rotating means)

Claims (1)

A stator as an electromagnet arranged along the rail,
Permanent magnet is fixed as a movable element, said stator by current supply to the electromagnetic coil is controlled of the electromagnet to generate a thrust by the magnetic field emanating found each other at an interval in the thrust the traveling member traveling on the rails independently Te, and conveying means for conveying the semi-molded box body,
Spraying means for spraying an adhesive on one of the side surfaces of the box when the box is transported by the traveling body;
Rotating means for rotating the box around which the adhesive has been sprayed around a vertical axis,
A repetitive traveling in which the traveling body that transports the box body rotated by the rotating means is temporarily retracted in a direction opposite to a traveling direction without colliding with a traveling body following one of the traveling bodies, and then is advanced. Control means;
A conveying device for applying an adhesive to a side surface of the box that has been moved in the opposite direction by the repetitive traveling control means, the side surface being different from the side surface to which the adhesive has been sprayed by the spraying means.

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