JP6675708B2 - Hook disengagement machine - Google Patents

Description

  The present invention relates to a hook disengaging device for disengaging a hook portion of a container such as a compact.

2. Description of the Related Art Conventionally, there has been known a loading apparatus for automatically loading contents into a container such as a compact and manufacturing a final product. For example, an automatic assembling apparatus described in Patent Literature 1 includes a container opening device that automatically opens a compact lid, an inner plate assembling device that compactly incorporates an inner plate filled with cosmetics, and an inner plate. And a cartoning device that packs a film on a cosmetic filled with a film. Then, final products are manufactured by transporting compacts to these devices.
In addition, the container opening device that automatically opens the compact lid attaches a fork-shaped jig to the tip of the robot hand, inserts this jig into the compact hook, and rotates the robot hand to set the jig. The hook is released by rotating. The container opening device opens the compact lid by moving the robot hand and pushing the inner surface of the compact lid with a fork-shaped jig.

JP-A-6-729

  However, in the automatic assembling apparatus described in Patent Document 1, the container opening device releases the hook by rotating the robot hand to rotate the jig, so that the compact hook is damaged. There is a problem that it may be.

  An object of the present invention is to provide a hook disengagement device capable of disengaging a hook portion without damaging a container.

  The hook disengagement device of the present invention includes a container body having a housing portion, a lid member for covering the housing portion of the container body, a hinge portion rotatably connecting one end of the container body and one end of the lid member, By disengaging the hook portion of the container having the other end of the container body and the hook portion that engages the other end of the lid member so as to be able to open and close, the other end of the container body and the other end of the lid member are separated. A hook engagement release machine, comprising: a flat insertion member that is inserted into an engagement portion of a hook portion; a release advance / retreat mechanism that advances / retreats the insertion member with respect to the hook portion; A rotation mechanism for rotating the insertion member about an axis parallel to the direction, and a release control means for controlling the release advance / retreat mechanism and the rotation mechanism, the release control means for releasing the insertion member for release. The hook portion is advanced by the advance / retreat mechanism. An engagement control unit configured to be inserted into the engagement portion; and a release control unit configured to rotate the insertion member by a rotation mechanism to release the engagement of the hook unit. The member is rotated without being moved in the direction opposite to the direction in which the container is opened.

According to such a configuration, the hook disengagement device is configured to cause the flat insertion member to advance with respect to the hook portion by the disengagement reciprocating mechanism, so that the hook engagement disengaging device is inserted into the engagement portion of the hook portion. Since the engagement of the hook portion is released by rotating the insertion member by the rotation mechanism, the configuration of the hook engagement release device can be simplified. Further, since the rotation mechanism rotates the insertion member without moving the insertion member in the direction opposite to the opening direction of the container, the engagement of the hook portion can be released without applying a load to the container. In other words, the rotation mechanism can release the engagement of the hook portion without damaging the container.
Since the container body and the lid member are rotatably connected via the hinge part, if the engagement of the hook part is released, even if the fitting member is moved in the lid opening direction side of the container, the container body and the lid member are connected to the container. There is no load.

  In the present invention, the insertion member extends on the rotation axis of the rotation mechanism, and has one side parallel to the reciprocation direction of the release advancement / retraction mechanism. It is preferable to rotate in a direction to advance with respect to the lid direction.

  According to such a configuration, the insertion member extends on the rotation axis of the rotation mechanism and has one side parallel to the advance / retreat direction of the release advance / retreat mechanism, and the rotation mechanism includes the insertion member. Is rotated in the direction in which it advances with respect to the container opening direction, so that the insertion member can be rotated without moving in the direction opposite to the container opening direction. Therefore, the rotation mechanism can release the engagement of the hook portion without applying a load to the container.

  In the present invention, it is preferable that the rotation mechanism advances the insertion member in the opening direction of the container when the insertion member is rotated.

  According to such a configuration, the rotation mechanism advances the insertion member in the container opening direction when rotating the insertion member, so that the insertion member is opposite to the container opening direction. It can be rotated without moving in the direction. Therefore, the rotation mechanism can release the engagement of the hook portion without applying a load to the container.

  In the present invention, it is preferable that the hook disengagement device includes a regulating unit that regulates the movement of the container toward the hinge by contacting the hinge-side end of the container.

  According to such a configuration, since the hook disengagement device includes the restricting means for restricting the movement of the container to the hinge portion side, the flat insertion member is released to the hook portion by the disengaging mechanism. When the container is inserted into the engagement portion of the hook portion, the container can be restricted from moving toward the hinge portion. Therefore, the hook disengagement device can disengage the hook portion without changing the position of the container, so that the subsequent device can carry out the process efficiently and the production efficiency of the final product can be improved. Can be improved.

Perspective view showing a compact Top view showing a compact loading device Diagram showing container Top and cross-sectional views of pallets used for conveyors 1 is a perspective view showing a container opening device including a hook disengagement device according to a first embodiment of the present invention. Top view of container opening device Functional block diagram showing a schematic configuration of a container opening device The figure which shows the flowchart of the container opening process performed by a container opening apparatus. The figure which shows the state which advanced the nozzle with respect to the pallet Top view of the container opening device showing a state where the insertion member is advanced to the hook portion of the container. Top view of the container opening device showing a state in which the engagement of the hook portion of the container is released by rotating the insertion member. Side view and cross-sectional view of a container opening device showing a state where engagement of a hook portion of a container is released. Top view and sectional view of a container opening device showing a state where an insertion member is inserted between a container body and a lid member Top view and cross-sectional view of the container opening device showing a state where the container body is being pushed out by the insertion member. Top view and cross-sectional view of the container opening device showing a state where the container body is further pushed out by the insertion member. Perspective view showing container and cover A perspective view showing a covering mechanism of the cover covering device. A perspective view showing the cover holding means in an enlarged manner. Bottom view of cover holding means Functional block diagram showing a schematic configuration of a cover covering device The figure which shows the flowchart of the cover covering process performed by a cover covering apparatus. The figure which shows the cover covering device in the state which held the cover with the cover holding means. FIG. 6 is a view showing the cover covering device in a state where the cover holding means is lowered. FIG. 4 is a view showing the cover covering apparatus in a state where the cover holding unit is further lowered. Perspective view showing the cover handling device Sectional view showing cover handling device Functional block diagram showing a schematic configuration of the cover handling device The figure which shows the flowchart of the cover handling process performed by a cover handling device. Figure showing the cover handling device with the roller head lowered The perspective view which shows the container opening device provided with the hook disengagement machine which concerns on 2nd Embodiment of this invention. Top view of container suction machine and hook disengagement machine Functional block diagram showing a schematic configuration of a container opening device The figure which shows the flowchart of the hook release process performed by a container opening apparatus. Top view of the container opening device showing a state where the nozzle has advanced to the pallet Top view of the container opening device showing a state in which the regulating means has advanced to the pallet. Top view of the container opening device showing a state where the insertion member is advanced to the hook portion of the container. Top view of the container opening device showing a state in which the engagement of the hook portion of the container is released by rotating the insertion member. Side view and cross-sectional view of a container opening device showing a state where engagement of a hook portion of a container is released. The figure which shows the flowchart of the hinge rotation process performed by a container opening apparatus. A side view of a hinge rotating machine showing a state where a hinge part of a container is rotated.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
The compact loading device of the present embodiment is a device for manufacturing a compact as a final product by loading a container with an inner plate filled with cosmetics of three colors and a brush, and covering the container with a cover. is there. First, this compact will be described.

FIG. 1 is a perspective view showing a compact.
As shown in FIG. 1, the compact 100 includes a container 20, a middle plate D and a brush B loaded in the container 20. In addition, the compact 100 includes a cover C that covers the container 20. The cover C will be described later in detail.

The container 20 includes a container body 201 and a lid member 202 that covers the container body 201. This container 20 will be described later in detail.
The container main body 201 includes a storage section 201A that stores the inner plate D filled with the three color cosmetics D1 to D3, and a storage section 201B that stores the brush B.
The lid member 202 includes a rectangular plate-shaped mirror M and a housing 202A that houses the mirror M.

FIG. 2 is a top view showing a compact loading device. Specifically, FIG. 2 is a schematic view of the compact loading device 1 as viewed from the vertically upper side. In FIG. 2, the vertical direction is defined as the + Z-axis direction, and two axes orthogonal to the Z-axis are defined as the X and Y axes. The same applies to the following drawings.
As shown in FIG. 2, the compact loading device 1 includes a conveyor 2 that transports a plurality of containers 20 by transporting a pallet P containing a plurality of containers 20 in a predetermined direction (+ X axis direction). .

FIG. 3 is a diagram showing a container. Specifically, FIG. 3A is a diagram illustrating a container in a closed state, and FIG. 3B is a diagram illustrating a container in an open state.
As shown in FIG. 3, the container 20 includes a container main body 201 having a first housing portion 201A and a second housing portion 201B having a substantially rectangular bottom surface, and a first housing portion 201A and a second housing portion 201B of the container body 201. And a cover member 202 for covering. Further, the container 20 has a hinge portion 203 rotatably connecting one end of the container body 201 and one end of the lid member 202, and a hook for opening and closing the other end of the container body 201 and the other end of the lid member 202. Unit 204. The container 20 has a substantially rectangular parallelepiped shape by rotating the hinge 203 and engaging the hook 204 to close the container.

As shown in FIG. 2, the compact loading device 1 includes a container transport device 3, a label sticking device 4, a container supply device 5, a container opening device 6, a middle plate loading device 7, a brush loading device. The apparatus includes a device 8, a cover covering device 9, a cover handling device 10, and a container discharging device 11, and these devices are arranged from the upstream side to the downstream side of the conveyor 2.
In addition, the conveyor 2 and the devices 3 to 11 are housed inside a region sealed by a frame into which a glass plate is fitted. The operator can carry out maintenance and the like of the conveyor 2 and the devices 3 to 11 by opening doors respectively disposed near the conveyor 2 and the devices 3 to 11.

  The conveyor 2 conveys the containers 20 by conveying the pallets P supplied with the three containers 20 in a predetermined direction (+ X axis direction). First, the pallet P used for the conveyor 2 will be described.

FIG. 4 is a top view and a sectional view of a pallet used for the conveyor. Specifically, FIG. 4A is a top view of the pallet P, and FIG. 4B is a cross-sectional view taken along line AA of FIG. 4A.
The pallet P is a resin pallet formed in a rectangular plate shape as shown in FIG. The pallet P is formed by penetrating upper and lower surfaces at three places P1 having a size enough to place the container 20 in the open state and at two places on the + Y axis direction side of the place P1. And a communication hole P3 that allows the through hole P2 corresponding to the mounting portion P1 to communicate with the side surface of the pallet P on the −Y axis direction side.

The mounting portion P1 is formed in a groove shape and has a rectangular opening slightly larger than the area of the container 20 in the open state (the total area of the container body 201 and the cover member 202). I have. Therefore, the container 20 in the open state is placed so as to fit into the placement portion P1.
In the present embodiment, the pallet P includes three mounting portions P1, but may include one or two mounting portions P1, and may include three or more mounting portions P1. May be provided.

  As shown in FIG. 2, the conveyor 2 conveys the pallets P supplied with the three containers 20 in a predetermined direction (+ X axis direction), thereby conveying the containers 20. The pallet P is conveyed in the direction opposite to the predetermined direction (−X axis direction) by disposing the three pallets 20 in parallel with each other, thereby conveying the pallet P to the upstream side of the forward conveyor 21. And a return path conveyor 22.

  In addition, the conveyor 2 includes an outgoing delivery mechanism 23 for sending out the pallet P, which has been conveyed to the upstream side of the outgoing conveyor 21 on the outgoing conveyor 21, to the outgoing conveyor 21, and And a return path sending mechanism 24 for sending the pallet P conveyed to the upstream side of the pallet P to the return path conveyor 22.

  Therefore, the conveyor 2 conveys the pallet P in the + X-axis direction on the forward conveyor 21, and then sends it out to the return conveyor 22 by the return-feeding mechanism 24, and conveys it in the −X-axis direction on the return conveyor 22. Thereafter, the pallet P is sent out again to the outward conveyor 21 by the outward transport mechanism 23, so that the pallet P is circulated and rotated around the Z axis to be transported.

  The container transfer device 3 includes a mounting table 31 on which the containers 20 are mounted, and a transfer path 32 for transferring the closed containers 20 mounted on the mounting table 31 to the conveyor 2. The container transport device 3 transports the container 20 placed on the mounting table 31 by the operator to the label attaching device 4 via the transport path 32, and then transports the container 20 to the container supply device 5 via the transport path 32. Here, the operator places the container body 201 in the closed state on the vertically upper side, the lid member 202 on the vertically lower side, and places the container 20 upside down on the mounting table 31.

The label attaching device 4 attaches a label to the container 20 being transported in the −Y-axis direction via the transport path 32 from a vertically upper side. Here, since the container 20 is turned upside down, the label applying device 4 applies a label to the container main body 201.
The container supply device 5 includes a transfer mechanism 51 for transferring the container 20 being transported in the + X-axis direction through the transport path 32 to the pallet P. Is transferred to the pallet P and supplied.

The container opening device 6 opens the container 20 by releasing the engagement of the hook portion 204 of the container 20 supplied to the pallet P and then rotating the hinge portion 203. This container opening device 6 will be described later in detail.
The middle plate loading device 7 includes a mounting table 71 on which the middle plate D is placed, and a loading mechanism 72 for loading the middle plate D placed on the placement table 71 into the container 20. The loading mechanism 72 loads the inner tray D into each of the containers 20 that have been opened by the container opening device 6. Specifically, the loading mechanism 72 applies the hot melt adhesive to the first storage portion 201A of the container 20, and then loads the inner plate D filled with the three color cosmetics D1 to D3.
The brush loading device 8 includes a loading mechanism 81 that loads a brush (not shown) into the container 20. The loading mechanism 81 loads a brush into each of the containers 20 loaded with the middle plate D by the middle plate loading device 7. Specifically, the loading mechanism 81 loads the brush into the second storage portion 201B of the container 20.

The cover covering device 9 includes a transport mechanism 91 for transporting a transparent thin resin cover C having a shape covering the top and side surfaces of the container 20 in the open state, and a cover 20 transported by the transport mechanism 91 to the container 20. And a coating mechanism 92 for coating the surface. Specifically, the covering mechanism 92 covers the cover 20 by lowering and covering the cover C toward the upper surface of the container 20. The cover covering device 9 will be described later in detail.
The cover handling device 10 lowers and covers the cover C toward the upper surface of the container 20 by the cover coating device 9, and then closes the cover C to the container 20 by handling the upper surface of the cover C. The cover handling device 10 will be described later in detail.
The container discharge device 11 includes a discharge path 111 for discharging the container 20, and a transfer mechanism 112 for transferring the container 20 from the pallet P to the discharge path 111. The transfer mechanism 112 transfers the container 20 from the pallet P. It is transferred to the discharge path 111 and discharged.
Hereinafter, the main devices among the devices constituting the compact loading device 1 will be described in order.

<Container opening device>
FIG. 5 is a perspective view showing a container opening device provided with the hook engagement release device according to the first embodiment of the present invention.
As shown in FIG. 5, the container opening device 6 releases the engagement between the container suction device 61 that suctions and fixes the container 20 placed on the pallet P and the hook portion 204 of the container 20. A hook disengaging device 62 for separating the other end of the container body 201 and the other end of the lid member 202, and the hinge portion 203 is turned after the hook 204 is disengaged by the hook disengaging device 62. And a hinge rotating device 63 for opening the container 20.

FIG. 6 is a top view of the container opening device.
As shown in FIGS. 5 and 6, the container suction device 61 includes three nozzles 611 inserted into each of the communication holes P3 (not shown) of the pallet P, and a suction advance / retreat for moving the nozzle 611 forward / backward with respect to the pallet P. And a mechanism 612.

The nozzle 611 has a truncated conical tip 611A whose diameter decreases toward the pallet P side, a cylindrical trunk 611B fixed to the suction advance / retreat mechanism 612, and bends in the + Z-axis direction from the trunk 611B. And a cylindrical base end 611C extending in this manner. The proximal end 611C is connected to a suction device (not shown) via a flexible tube (not shown).
The suction moving mechanism 612 includes a rectangular frame 612A for fixing the body 611B of the nozzle 611, and a linear actuator 612B for moving the frame 612A with respect to the pallet P. Therefore, the suction advance / retreat mechanism 612 advances / retreats the nozzle 611 with respect to the pallet P by moving the frame 612A with the linear actuator 612B.

  The hook disengagement device 62 includes three fitting members 621 fitted into each of the engaging portions of the hook portion 204 of the container 20, and a releasing mechanism 622 for moving the fitting member 621 forward and backward with respect to the hook portion 204. And a rotation mechanism 623 for rotating the insertion member 621 about an axis parallel to the direction in which the release mechanism 622 advances and retreats.

  The insertion member 621 includes a cylindrical shaft portion 621A and a flat knife portion 621B fixed to the shaft portion 621A. The knife portion 621B is formed to have a thickness that allows the knife portion 621B to be inserted into the engagement portion of the hook portion 204. Further, the knife portion 621B is fixed to the shaft portion 621A such that one side on the −X axis direction side in the axial direction of the shaft portion 621A coincides with the center axis of the shaft portion 621A.

The release advance / retreat mechanism 622 includes a rectangular plate-shaped frame 622A that supports the insertion member 621, and a linear actuator 622B that advances and retreats the frame 622A with respect to the hook portion 204. Therefore, the release advance / retreat mechanism 622 advances / retreats the insertion member 621 with respect to the hook portion 204 by moving the frame 622A with the linear actuator 622B.
The frame 622A supports the shaft 621A of the insertion member 621 via the elastic member 622A1. Therefore, the frame 622A swingably supports the insertion member 621.
In the present embodiment, the frame 622A supports the insertion member 621 so as to swing freely, but may support the insertion member 621 in a fixed manner.

  The rotation mechanism 623 is provided on the frame 622A so as to be movable along the X-axis direction and three pinions 623A concentrically fixed to the shaft portions 621A of the insertion member 621, respectively. And a linear actuator 623C that is attached to the frame 622A and moves the rack 623B along the X-axis direction, and a support base 623D that supports the rack 623B. Therefore, the rotating mechanism 623 causes the linear actuator 623C to move the rack 623B, thereby rotating the insertion member 621 about an axis (around the Y axis) parallel to the advance / retreat direction of the release advance / retreat mechanism 622.

Here, the frame 622A swingably supports the insertion member 621, but since the pinion 623A is engaged with the rack 623B provided on the frame 622A, the insertion member 621 is in the −Z axis direction. Movement to the side is regulated.
In the present embodiment, the rotation mechanism 623 employs a rack and pinion mechanism, but may employ another mechanism. In short, the rotation mechanism only needs to be able to rotate the insertion member about an axis parallel to the advance / retreat direction of the release advance / retreat mechanism. For example, the rotation mechanism may be configured to directly connect the motor to the fitting member and rotate the motor.

As shown in FIG. 5, the hinge rotating device 63 includes three cylindrical shaft-shaped insertion members 631 inserted between the container body 201 and the lid member 202, and a rotation moving mechanism 632 for moving the insertion member 631. It has.
The rotation moving mechanism 632 has a center axis parallel to the center axis of the insertion member 631, and supports the shaft 632A that supports the insertion member 631 via the elliptical disk 632A1 and the shaft 632A to be rotatable. A frame 632B, a motor 632C attached to the frame 632B and rotating the shaft 632A, and a robot arm 632D for moving the frame 632B in three directions of X, Y and Z are provided. Therefore, the rotation moving mechanism 632 can rotate the insertion member 631 around the central axis of the shaft 632A by rotating the shaft 632A with the motor 632C. In addition, the rotation moving mechanism 632 can move the insertion member 631 in the three axes of X, Y, and Z by moving the frame 632B with the robot arm 632D.

FIG. 7 is a functional block diagram illustrating a schematic configuration of the container opening device.
As shown in FIG. 7, the container opening device 6 includes the container suction device 61, the hook disengagement device 62, and the hinge rotation device 63 described above, and further includes a cover opening control means 64 for controlling these devices. Have.
The opening control means 64 is constituted by a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The lid opening control unit 64 includes a suction control unit 641, a fitting control unit 642, a release control unit 643, and a rotation control unit 644.

The suction control unit 641 controls a suction device (not shown) connected to the nozzle 611 and a linear actuator 612B of the suction advance / retreat mechanism 612, and suctions the container 20 placed on the pallet P to thereby control the container. 20 is fixed to the pallet P.
The insertion control section 642 controls the release advance / retreat mechanism 622 and causes the release member advance / retreat mechanism 622 to advance the hook section 204 so that the knife section 621 </ b> B Is inserted.
The release control unit 643 controls the rotation mechanism 623, and releases the engagement of the hook part 204 with the knife part 621B by rotating the fitting member 621 with the rotation mechanism 623.
The rotation control unit 644 controls the rotation movement mechanism 632 to move the insertion member 631 by the rotation movement mechanism 632, thereby inserting the insertion member 631 between the container body 201 and the lid member 202 and inserting the insertion member 631. The container body 201 is pushed out by the member 631 to rotate the hinge 203.

  In the present embodiment, the rotation control unit 644 pushes the container body 201 by the insertion member 631 to rotate the hinge 203, but pushes the lid member by the insertion member to rotate the hinge. May be. In short, the rotation control unit may push the container body or the lid member with the insertion member to rotate the hinge unit.

FIG. 8 is a diagram illustrating a flowchart of a container opening process performed by the container opening device.
When the container 20 is opened by the container opening device 6, the opening control unit 64 executes steps ST61 to ST65 as shown in FIG. 8 according to a predetermined program stored in the memory.
Hereinafter, details of steps ST61 to ST65 will be described with reference to the drawings.

FIG. 9 is a diagram showing a state where the nozzle has advanced to the pallet.
First, the cover opening control means 64 detects whether or not the pallet P has been transported to a predetermined position (see FIG. 6) by the conveyor 2 (ST61: pallet detection step). If it is determined in step ST61 that the pallet P has been transported to the predetermined position, the cover opening control means 64 executes the processing of step ST62 and thereafter. On the other hand, when it is determined in step ST61 that the pallet P has not been conveyed to the predetermined position, the opening control section 64 does not execute the processing after step ST62 and opens the container. The process ends.

If it is determined in step ST61 that the pallet P has been transported to the predetermined position,
The suction control unit 641 inserts the nozzle 611 into the communication hole P3 of the pallet P by causing the linear actuator 612B to advance the frame 612A with respect to the pallet P as shown in FIG. 9 (see a thick arrow in the figure). . Then, the suction control unit 641 sucks the container 20 placed on the pallet P through a communication hole P3 of the pallet P with a suction device (not shown) connected to the nozzle 611, thereby bringing the container 20 into the pallet. It is fixed to P (ST62: container suction step).

FIG. 10 is a top view of the container opening device showing a state where the fitting member is advanced with respect to the hook portion of the container.
Next, as shown in FIG. 10, the fitting control unit 642 causes the linear actuator 622B to advance the frame 622A with respect to the container 20 (see the thick arrow in the figure), so that The knife portion 621B of the insertion member 621 is inserted (ST63: knife insertion step).

FIG. 11 is a top view of the container opening device showing a state in which the engagement of the hook portion of the container is released by rotating the insertion member.
Next, as shown in FIG. 11, the release control unit 643 moves the rack 623B to the + X-axis direction side by the linear actuator 623C (see the thick arrow in the drawing), thereby moving the insertion member 621 around the Y-axis. Rotate. Then, the release control section 643 releases the engagement of the hook section 204 with the knife section 621B by rotating the insertion member 621 (ST64: hook release step).

FIG. 12 is a side view and a cross-sectional view of the container opening device showing a state where the engagement of the hook portion of the container is released. Specifically, FIG. 12 is a diagram (left diagram) of a main part of the container opening device 6 viewed from the + Y-axis direction side, and a cross-sectional view taken along line AA of the left diagram (right diagram). FIG. 12A is a diagram illustrating a state before the fitting member 621 is rotated, and FIG. 12B is a diagram illustrating a state in which the fitting member 621 is rotating. is there.
Here, in the container suction step ST62 described above, the suction control unit 641 uses the suction device (not shown) connected to the nozzle 611 to transfer the container 20 placed on the pallet P to the pallet P, as shown in FIG. The container 20 is fixed to the pallet P by suction through the communication hole P3 (see a thin arrow in the figure).

In the knife insertion step ST63 described above, the insertion control section 642 causes the linear actuator 622B to advance the frame 622A with respect to the container 20 as shown in FIG. The knife portion 621B of the insertion member 621 is inserted into the engagement portion.
Then, in the hook release step ST64 described above, the release control section 643 releases the engagement of the hook section 204 with the knife section 621B by rotating the fitting member 621 as shown in FIG. I do.

At this time, since the knife portion 621B is fixed to the shaft portion 621A such that one side on the −X-axis direction side in the axial direction of the shaft portion 621A coincides with the center axis of the shaft portion 621A as described above. , About this one side.
Therefore, the insertion member 621 extends on the rotation axis of the rotation mechanism 623 and has one side parallel to the advance / retreat direction of the release advance / retreat mechanism 622. In addition, the rotation mechanism 623 is configured to rotate the insertion member 621 in a direction in which the insertion member 621 advances with respect to the opening direction (+ Z axis direction) of the container 20. In other words, the rotation mechanism 623 rotates the fitting insertion member 621 without moving the insertion member 621 in the direction opposite to the opening direction of the container 20 (the −Z axis direction).
In the present embodiment, the rotating mechanism 623 rotates the fitting member 621 without moving the fitting member 621 in the direction opposite to the direction in which the container 20 is opened. May be rotated so as to move in the opposite direction. In this case, it is preferable to use a fitting member made of a material that is unlikely to damage the container.

FIG. 13 is a top view and a sectional view of the container opening device showing a state where the insertion member is inserted between the container body and the lid member. Specifically, FIG. 13 (A) is a top view showing a part of the container opening device 6, and FIG. 13 (B) is a cross-sectional view taken along line AA of FIG. 13 (A).
Next, as shown in FIG. 13, the rotation control unit 644 moves the insertion member 631 near the hook portion 204 of the container 20 by moving the frame 632B with the robot arm 632D (not shown). Then, as shown in FIG. 13B, the rotation control section 644 rotates the shaft section 632A with the motor 632C, thereby moving the insertion member 631 from the position indicated by the two-dot chain line in the figure to the position indicated by the solid line in the figure. Is rotated around the central axis of the shaft portion 632A and inserted between the container body 201 and the lid member 202.

  In the present embodiment, the rotation control unit 644 rotates the shaft 632A by the motor 632C to rotate the insertion member 631 around the center axis of the shaft 632A, and thereby the container body 201 and the lid member 202. However, the insertion member 631 may be inserted between the container body 201 and the lid member 202 without rotating the insertion member 631 around the central axis of the shaft portion 632A.

Here, the insertion member 631 is inserted between the container body 201 and the lid member 202 such that the axis of the insertion member 631 and the rotation axis of the hinge 203 are parallel to each other.
In this embodiment, the insertion member 631 is inserted between the container body 201 and the lid member 202 such that the axis of the insertion member 631 and the rotation axis of the hinge 203 are parallel to each other. It may not be inserted between the container body 201 and the lid member 202 so that In short, the insertion member only needs to be able to be inserted between the container body and the lid member.

FIG. 14 is a top view and a cross-sectional view of the container opening device showing a state where the container body is being pushed out by the insertion member.
Next, as shown in FIG. 14, the rotation control unit 644 pushes the container body 201 by the insertion member 631 to move the hinge unit 203 by moving the frame 632B with the robot arm 632D (not shown). (See the thin arrow in FIG. 14B).
At this time, the insertion control unit 642 causes the linear actuator 622B to retreat the frame 622A with respect to the container 20 (see the thick arrow in FIG. 14A), thereby retreating the knife portion 621B of the insertion member 621.

  As described above, in the present embodiment, after the engagement of the hook portion 204 is released by the hook disengagement device 62, the hinge rotation device 63 releases the other end of the container body 201 by the hook disengagement device 62. When the other end of the lid member 202 is separated, the container 203 is opened by rotating the hinge 203.

FIG. 15 is a top view and a cross-sectional view of the container opening device showing a state where the container body is further pushed out by the insertion member.
Finally, as shown in FIG. 15, the rotation control unit 644 moves the frame 632B with the robot arm 632D, thereby further pushing out the container body 201 with the insertion member 631, and rotating the hinge 203. (See the thin arrow in FIG. 15B). Thereby, the container 20 is completely opened (ST65: hinge rotating step).
At this time, the release control unit 643 rotates the insertion member 621 about the Y axis by moving the rack 623B in the −X axis direction side by the linear actuator 623C (see the thick arrow in FIG. 15A). . Then, the release control unit 643 returns the knife portion 621B of the insertion member 621 to the state before the rotation by rotating the insertion member 621.

  In the present embodiment, after the knife portion 621B of the insertion member 621 is retracted, the knife portion 621B of the insertion member 621 is returned to the state before the rotation by rotating the insertion member 621. However, conversely, after rotating the insertion member 621, the knife portion 621 </ b> B of the insertion member 621 is retracted to return the knife portion 621 </ b> B of the insertion member 621 to the state before the rotation. Good.

  Thereafter, the opening control unit 64 returns to the initial state (the state shown in FIG. 6) by controlling the container suction unit 61 and the hinge rotating unit 63, and executes the above-described step ST61 again for the next pallet P. By doing so, steps ST61 to ST65 are repeatedly executed.

As described above, in the present embodiment, the cover opening control unit 64 functions as a release control unit that controls the release advance / retreat mechanism 622 and the rotation mechanism 623.
In the present embodiment, the hook engagement release device 62 has a configuration including the insertion member 621, the release advance / retreat mechanism 622, the rotation mechanism 623, and the cover opening control means 64. However, other configurations may be adopted. In short, the hook disengagement device may adopt any configuration as long as it can disengage the hook portion to separate the other end of the container body and the other end of the lid member.

In the present embodiment, the cover opening control means 64 functions as a rotation control means for controlling the rotation moving mechanism 632.
In the present embodiment, the hinge rotating machine 63 employs the configuration including the insertion member 631, the rotating moving mechanism 632, and the cover opening control means 64. However, other configurations are employed. You may. In short, the hinge rotating machine employs any configuration that can open the container by rotating the hinge portion after the hook is released by the hook disengaging device. You may.

<Cover coating device>
As described above, the cover coating device 9 includes the transport mechanism 91 that transports the cover C, and the coating mechanism 92 that coats the container 20 (covered material) with the cover C transported by the transport mechanism 91 ( (See FIG. 2).

FIG. 16 is a perspective view showing the container and the cover.
As shown in FIG. 16, the cover C is a transparent thin resin cover having flexibility and covering the upper surface and side surfaces of the container 20 in the open state.
Specifically, the cover C has a planar upper surface portion C1 that covers the upper surface of the container 20, and a rectangular frame-shaped side surface portion C2 that covers the side surface of the container 20.
In the present embodiment, a cover made of a transparent thin resin is used as the cover C, but any color and material may be used as long as the cover C has flexibility.

The upper surface portion C1 includes a hinge covering portion C11 formed to cover the hinge portion 203, a main body side hook covering portion C12 formed to cover the hook portion 204 of the container body 201, and a hook portion 204 of the lid member 202. , A first housing covering portion C14 formed to cover the first housing portion 201A, and a second housing formed to cover the second housing portion 201B. And a covering portion C15.
Here, the first housing cover portion C14 and the second housing cover portion C15 are formed so as to protrude upward. Further, the second housing cover C15 is formed so as to protrude upward from the first housing cover C14.

The side surface portion C2 includes a plurality of protrusions C21 formed so as to protrude toward the inside of the cover C. The protrusion C21 comes into contact with the side surface of the container 20 when the cover C is covered with the container 20.
The compact loading device 1 applied hot melt adhesive to the first container 201A of the container 20 with the inner plate loading device 7 in the preceding step, and then filled with the three color cosmetics D1 to D3. The intermediate plate D is loaded, and the brush B is loaded into the second storage portion 201B of the container 20 by the brush loading device 8.

FIG. 17 is a perspective view illustrating a covering mechanism of the cover covering apparatus.
As shown in FIG. 17, the coating mechanism 92 includes a cover holding means 93 for holding the cover C (see FIG. 16), and a coating moving mechanism 94 for moving the cover holding means 93.

FIG. 18 is an enlarged perspective view showing the cover holding means. FIG. 19 is a bottom view of the cover holding means.
As shown in FIGS. 17 to 19, the cover holding means 93 includes one end holding means 931 for holding one end of the cover C (the end on the container body 201 side), and the other end (lid) of the cover C. The other end holding means 932 for holding the member 202 side end) and a plate 933 for supporting the one end holding means 931 and the other end holding means 932 are provided.

  The one end holding means 931 is a substantially flat member. The one end holding means 931 has three recesses 931A formed in a shape corresponding to the end of the cover C on the container body 201 side, and a through hole 931B formed in the recess 931A so as to penetrate along the Z-axis direction. And a cylindrical portion 931C attached to the upper surface of the one end holding means 931 and provided so as to communicate with the through hole 931B. Further, the one-end holding means 931 is swingably attached to the plate 933 via a spring 931D and a damper 931E. The tubular portion 931C is connected to a suction device (not shown) via a flexible tube (not shown).

  The other end holding means 932 is a substantially flat member. The other end holding means 932 includes three recesses 932A formed in a shape corresponding to the end of the cover C on the lid member 202 side, and a through hole formed in the recess 932A so as to penetrate along the Z-axis direction. 932B and a cylindrical tubular portion 932C attached to the upper surface of the other end holding means 932 and provided to communicate with the through hole 932B. The other end holding means 932 is swingably attached to the plate 933 via a spring 932D and a damper 932E. Note that the tubular portion 932C is connected to a suction device (not shown).

The plate 933 includes a cylindrical shaft 933A provided between one end holding means 931 and the other end holding means 932, and a plurality of fixed flat plates 933B for fixing the cylindrical shaft 933A.
The cylindrical shaft body 933A has a concave portion 933A1 formed on the −Z-axis direction side and extending along the X-axis direction. The concave portion 933A1 is formed in a shape corresponding to the hinge covering portion C11 of the cover C.

  As shown in FIG. 17, the moving mechanism 94 for coating includes a slider 941 that supports the plate 933, a Z-axis driving unit 942 that moves the slider 941 along the Z-axis direction, and a Z-axis driving unit 942 that moves in the Y-axis direction. And a Y-axis drive unit 943 that moves along.

FIG. 20 is a functional block diagram illustrating a schematic configuration of the cover covering device.
As shown in FIG. 20, the cover coating device 9 includes the transport mechanism 91 and the coating mechanism 92 described above, and further includes coating control means 95 for controlling these.
The coating control unit 95 includes a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The coating control unit 95 includes a transport control unit 951 and a coating control unit 952.

The transport control unit 951 controls the transport mechanism 91, and transports the cover C to a predetermined standby position by the transport mechanism 91. Specifically, the transport control unit 951 moves the plate 933 by the coating moving mechanism 94, and moves the plate 933 to the predetermined standby position where the cover holding unit 93 can hold the three covers C. Carry C.
The coating control unit 952 controls the coating mechanism 92, and coats the container 20 with the cover C transported by the transport mechanism 91. Specifically, the covering control unit 952 covers the container 20 with the cover C by lowering and covering the cover C toward the upper surface of the container 20 by the covering mechanism 92.

FIG. 21 is a diagram illustrating a flowchart of a cover covering process performed by the cover covering apparatus.
When covering the container 20 with the cover C by the cover covering device 9, the covering control means 95 executes steps ST91 to ST93 as shown in FIG. 21 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST91 to ST93 will be described with reference to the drawings.

  First, the coating control means 95 detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 17) on the conveyor 2 (ST91: pallet detecting step). If it is determined in step ST91 that the pallet P has been conveyed to the predetermined position, the coating control unit 95 executes the processing from step ST92. On the other hand, if it is determined in step ST91 that the pallet P has not been transported to the predetermined position, the covering control means 95 executes the cover covering process without executing the processes in and after step ST92. finish.

If it is determined in step ST91 that the pallet P has been transported to the predetermined position,
The transport control unit 951 transports the cover C by the transport mechanism 91 to a predetermined standby position where the cover holding unit 93 can hold the three covers C by moving the plate 933 by the coating moving mechanism 94 ( ST92: Cover transport step).

FIG. 22 is a diagram illustrating the cover covering device in a state where the cover is held by the cover holding unit. Specifically, FIG. 22 is a diagram of the cover covering device 9 viewed from the + X axis direction side.
Next, the covering control section 952 executes a cover covering step of ST93. In this cover covering step, first, the covering control unit 952 moves the plate 933 by the covering moving mechanism 94 to move the cover C to the predetermined standby position where the cover C is carried in the cover carrying step ST92. The cover C is held by the cover holding means 93 by sucking the cover C through the through holes 931B and 932B with a suction device (not shown) connected to the cylindrical portions 931C and 932C.
Then, the coating control unit 952 moves the cover holding means 93 above the pallet P by moving the plate 933 with the coating moving mechanism 94 as shown in FIG.

Here, the end of the cover C on the side of the container body 201 is fitted with the concave portion 931A of the one end holding means 931. The end of the cover C on the side of the lid member 202 is fitted with the concave portion 932A of the other end holding means 932. I do. In other words, the one-end holding means 931 and the other-end holding means 932 have recesses 931A and 932A for accommodating the cover C when holding the cover C. The recesses 931A and 932A have shapes that cover the top and side surfaces of the cover C.
In the present embodiment, the one-end holding means 931 and the other-end holding means 932 are provided with the concave portions 931A and 932A for accommodating the cover C when holding the cover C, but need not be provided. In short, one end holding means only needs to be able to hold one end of the cover, and the other end holding means only needs to be able to hold the other end of the cover.

Further, the hinge covering portion C11 of the cover C fits into the concave portion 933A1 of the cylindrical shaft 933A. In other words, the cover covering device 9 includes a cylindrical shaft 933A as a center holding unit that holds the center of the cover C, and the cover holding unit 93 fixes and holds the cylindrical shaft 933A.
In addition, in this embodiment, although the cover covering device 9 is provided with the center holding means for holding the center portion of the cover C, this may not be provided. In short, the cover covering device only needs to include one end holding means and the other end holding means.

FIG. 23 is a diagram illustrating the cover covering device in a state where the cover holding unit is lowered.
Next, as shown in FIG. 23, the coating control unit 952 moves the cover holding means 93 by the coating moving mechanism 94 to lower the cover C toward the upper surface of the container 20 and cover the container 20 (FIG. 23). See bold arrow).

  Here, the one-end holding means 931 is swingably attached to the plate 933 via the spring 931D and the damper 931E as described above. The other end holding means 932 is swingably attached to the plate 933 via the spring 932D and the damper 932E as described above. In other words, the cover holding means 93 supports the one end holding means 931 and the other end holding means 932 so as to be able to advance and retreat toward the upper surface of the container 20.

Therefore, when the cover C is caught by the end of the container 20 when the cover C is lowered toward the upper surface of the container 20 by the coating control unit 952, the one-end holding means 931 and the other-end holding means 932 It will rise away from 20. Further, since the cover holding means 93 fixes and supports the cylindrical shaft body 933A holding the hinge covering portion C11 of the cover C, the covering control section 952 lowers and covers the cover C toward the upper surface of the container 20. When putting, the cylindrical shaft body 933A does not rise so as to be separated from the container 20.
In other words, when lowering the cover C toward the upper surface of the container 20 by the coating control unit 952 and covering it, if the cover C is caught on the end of the container 20, the cover C separates both ends from the container 20. So as to bend (see FIG. 23).

  In this embodiment, the cover holding means 93 supports the one end holding means 931 and the other end holding means 932 so as to be able to advance and retreat toward the upper surface of the cover C. And the other end holding means 932 alone may be supported so as to be able to advance and retreat toward the upper surface of the container 20. In short, the cover holding means only needs to support at least one of the one end holding means and the other end holding means so as to be able to advance and retreat with respect to the upper surface of the container.

FIG. 24 is a diagram illustrating the cover covering device in a state where the cover holding unit is further lowered.
Next, as shown in FIG. 24, the covering control unit 952 moves the cover holding means 93 by the covering moving mechanism 94 to further lower and cover the cover C toward the upper surface of the container 20 (see FIG. 24). (See the thick arrow in the figure).
Then, the covering control unit 952 can cover the bent cover C to the container 20 by releasing the suction of the suction device (not shown) connected to the tubular portions 931C and 932C.
Thereafter, the coating control means 95 returns to the initial state (the state shown in FIG. 17) by controlling the coating mechanism 92, and executes the above-described step ST91 again for the next pallet P, thereby obtaining steps ST91 to ST91. ST93 is repeatedly executed.

<Cover handling device>
FIG. 25 is a perspective view showing the cover handling device. FIG. 26 is a sectional view showing the cover handling device.
The cover handling device 10 lowers and covers the cover C toward the upper surface of the container 20 by the cover coating device 9, and then closes the cover C to the container 20 by handling the upper surface of the cover C. As shown in FIGS. 25 and 26, the cover handling device 10 is a roller for one end that handles the upper surface C1 of the cover C from the center of the cover C to one end (the end of the container body 201). The mechanism 101 includes a mechanism 101 and a roller mechanism 102 for the other end that handles the upper surface portion C1 of the cover C from the center of the cover C toward the other end (the end of the lid member 202). Further, the cover handling device 10 includes a roller head 103 that supports the one end roller mechanism 101 and the other end roller mechanism 102, and a handling moving mechanism 104 that moves the roller head 103 up and down.

The one-end roller mechanism 101 rotatably supports the one-end handling member 101A that is in contact with one end side of the upper surface portion C1 of the cover C and the one-end handling member 101A around the X axis. And a shaft support member 101B for one end provided on the other end side of the cover C with respect to the center portion.
In this manner, the one-end support member 101B is rotatable about the axis that is orthogonal to the handling direction (-Y-axis direction) of the one-end handling member 101A and that is parallel to the upper surface portion C1 of the cover C. It is pivoted.
Therefore, in the present embodiment, the one-end roller mechanism 101 functions as one-end handling means.

The handle member 101A for one end is provided on a rod-shaped member 101A1 formed in a prismatic shape, and at a tip end (end on the −Z-axis direction side) of the rod-shaped member 101A1, and is rotatable around an X-axis (central axis). And a columnar roller 101A2 that is pivotally supported. In this one-end handling member 101A, the side surface of the roller 101A2 is in contact with the upper surface portion C1 of the cover C.
The base end (the end on the + Z axis direction side) of the rod-shaped member 101A1 projects vertically above the roller head 103 via a slit 103A formed in the roller head 103, and is fixed to the roller head 103 via a spring 101A3. Have been.

Here, as described above, the first housing covering portion C14 and the second housing covering portion C15 are formed so as to protrude upward. Further, the second housing cover C15 is formed so as to protrude upward from the first housing cover C14.
Therefore, the roller 101A2 is configured by combining a large-diameter roller that comes into contact with the first housing covering portion C14 and a small-diameter roller that comes into contact with the second housing covering portion C15.

  In the present embodiment, the one-side handling member 101A has a configuration including the rod-shaped member 101A1 and the roller 101A2, but other configurations may be employed. For example, the handling member for one end may be provided with a cylindrical member instead of the roller, and the cylindrical member may be fixedly provided at the tip of the rod-shaped member. In short, the handle member for one end only needs to be able to contact one end side of the upper surface of the cover and to handle the upper surface of the cover from the center of the cover toward the one end.

  Further, in the present embodiment, the one-end roller mechanism 101 (one-end handling means) adopts the configuration including the one-end handling member 101A and the one-end supporting member 101B, but adopts another configuration. May be. In short, the one-end handling means only needs to be able to handle the upper surface of the cover from the center of the cover toward one end.

The other end roller mechanism 102 rotatably supports the other end handling member 102A that abuts on the other end side of the upper surface portion C1 of the cover C and the other end handling member 102A around the X axis. And a shaft support member 102B for the other end provided on one end side of the cover C with respect to the center of the cover C.
In this manner, the other-end support member 102B is orthogonal to the handling direction (+ Y-axis direction) of the other-end handling member 102A, and moves the other-end handling member 102A around an axis parallel to the upper surface portion C1 of the cover C. It is rotatably supported.
Therefore, in the present embodiment, the other end roller mechanism 102 functions as the other end handling means.

The handle member 102A for the other end is provided at a rod-shaped member 102A1 formed in a prismatic shape, and at the tip end (end on the −Z-axis side) of the rod-shaped member 102A1, and is rotatable around the X-axis (center axis). And a columnar roller 102A2 pivotally supported by the roller. The other-end handling member 102A has the side surface of the roller 102A2 abutted on the upper surface portion C1 of the cover C.
The base end (end on the + Z axis direction side) of the rod-shaped member 102A1 projects vertically above the roller head 103 via a slit 103A formed in the roller head 103, and is fixed to the roller head 103 via a spring 102A3. Have been.

  In the present embodiment, the other end handling member 102A has a configuration including the bar-shaped member 102A1 and the roller 102A2, but other configurations may be employed. For example, the handling member for the other end may be provided with a cylindrical member instead of the roller, and this cylindrical member may be fixedly provided at the tip of the rod-shaped member. In short, the other-end handling member only needs to be able to contact the other end of the upper surface of the cover and to handle the upper surface of the cover from the center of the cover toward the other end.

  Further, in the present embodiment, the other end roller mechanism 102 (the other end gripping means) adopts a configuration including the other end gripping member 102A and the other end bearing member 102B. May be adopted. In short, the other end handling means only needs to be able to handle the upper surface of the cover from the center of the cover toward the other end.

Therefore, the roller head 103 functions as a handling head that supports the one end support member 101B and the other end support member 102B.
FIG. 26 is a partial cross-sectional view of a part (roller head 103) of the cover handling device 10 cut along the YZ plane passing through the slit 103A.

Here, since the one-end roller mechanism 101 includes the one-end handling member 101A and the one-end pivot support member 101B, the one-end handling member 101A moves away from the upper surface portion C1 of the cover C as the cover member C moves away from the upper surface portion C1. It is arranged so as to be inclined from one end side to the other end side of the upper surface portion C1 of C. Further, since the other end roller mechanism 102 includes the other end handling member 102A and the other end supporting member 102B, the other end handling member 102A is separated from the upper surface portion C1 of the cover C. Therefore, the cover C is arranged so as to be inclined from the other end to the one end of the upper surface C1 of the cover C. In other words, the handle member 101A for one end and the handle member 102A for the other end are disposed so as to intersect.
In the present embodiment, the handle member 101A for one end and the handle member 102A for the other end are arranged so as to intersect, but they may be arranged so as not to intersect.

FIG. 27 is a functional block diagram illustrating a schematic configuration of the cover handling device.
As shown in FIG. 27, the cover handling device 10 includes the above-described handling moving mechanism 104 and also includes a handling control unit 105 for controlling the same.
The handling control means 105 includes a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The handling control unit 105 includes a handling control unit 1051.

  The handling control unit 1051 causes the one end roller mechanism 101 and the other end roller mechanism 102 to simultaneously handle the upper surface portion C1 of the cover C by moving the roller head 103 with the handling moving mechanism 104.

FIG. 28 is a diagram illustrating a flowchart of a cover handling process performed by the cover handling device.
When the cover handling device 10 handles the upper surface portion C1 of the cover C, the handling control means 105 executes steps ST101 to ST102 as shown in FIG. 28 according to a predetermined program stored in the memory. .
Hereinafter, details of steps ST101 to ST102 will be described with reference to the drawings.

  First, the handling control means 105 detects whether or not the pallet P has been transported to a predetermined position (see FIG. 25) on the conveyor 2 (ST101: pallet detection step). If it is determined in step ST101 that the pallet P has been conveyed to the predetermined position, the handling control unit 105 executes the processing from step ST102. On the other hand, if it is determined in step ST101 that the pallet P has not been conveyed to the predetermined position, the handling control means 105 executes the cover handling process without executing the processes in and after step ST102. finish.

  If it is determined in step ST101 that the pallet P has been conveyed to a predetermined position, the handling control unit 1051 moves the roller head 103 by the handling moving mechanism 104 to thereby control the one end roller mechanism 101 and the other. The upper surface portion C1 of the cover C is simultaneously handled by the end roller mechanism 102 (ST102: cover handling step). Specifically, the handling control unit 1051 causes the handling moving mechanism 104 to lower the roller head 103.

FIG. 29 is a diagram illustrating the cover handling device in a state where the roller head is lowered.
When the roller head 103 is lowered by the handling moving mechanism 104, the rod-shaped member 101A1 rotates around the one-end support member 101B as shown in FIG. 29, and the roller 101A2 is moved from the center of the cover C. The upper surface portion C1 of the cover C is handled toward one end.
Further, the rod-shaped member 102A1 rotates around the other end support member 102B, and the roller 102A2 handles the upper surface portion C1 of the cover C from the center of the cover C to the other end.

  After that, the handling control means 105 returns to the initial state (the state shown in FIG. 26) by controlling the handling moving mechanism 104, and executes the above-described step ST101 again for the next pallet P, thereby completing the step ST101. ST101 to ST102 are repeatedly executed.

According to the present embodiment, the following operations and effects can be obtained.
(1) The container opening device 6 includes a hook disengagement device 62 that disengages the hook portion 204 of the container 20, and after the hook portion 204 is disengaged by the hook disengagement device 62, A hinge rotating device 63 for rotating the hinge portion 203 of the container 20. In other words, in the container opening device 6, the disengagement of the hook portion 204 and the rotation of the hinge portion 203 are performed by separate devices. Therefore, the container opening device 6 employs the hook disengagement device 62 having a structure in which the engagement of the hook portion 204 is easily released and the container 20 is not easily damaged, and the structure in which the hinge portion 203 is easily rotated and the container 20 is not easily damaged. Can be used without damaging the container 20, and the manufacturing efficiency of a compact final product can be improved.

(2) The hook engaging / disengaging device 62 inserts the flat insertion member 621 into the engaging portion of the hook portion 204 by advancing with respect to the hook portion 204 by the disengaging advance / retreat mechanism 622. The engagement of the hook portion 204 is released by rotating the insertion member 621 by the rotation mechanism 623, so that the configuration of the hook engagement release device 62 can be simplified.
(3) Since the rotation mechanism 623 rotates the insertion member 621 without moving in the direction opposite to the opening direction of the container 20, the engagement of the hook portion 204 is released without applying a load to the container 20. be able to. In other words, the rotation mechanism 623 can release the engagement of the hook portion 204 without damaging the container 20.

(4) The insertion member 621 extends on the rotation axis of the rotation mechanism 623, and has one side parallel to the advance / retreat direction of the release advance / retreat mechanism 622. The rotation mechanism 623 includes the insertion member 621. Is rotated in the direction in which it advances with respect to the opening direction of the container 20, so that the insertion member 621 can be rotated without moving in the direction opposite to the opening direction of the container 20. Therefore, the rotation mechanism 623 can release the engagement of the hook portion without applying a load to the container 20.

(5) The hinge rotating device 63 releases the other end of the container body 201 and the other end of the lid member 202 by the hook disengaging device 62 after the hook portion 204 is disengaged by the hook disengaging device 62. The container 20 is opened by rotating the hinge portion 203 while the container 20 is separated, so that the container 20 can be opened by interlocking the hook disengagement device 62 and the hinge rotation device 63. The manufacturing efficiency of the compact can be further improved.
(6) The hinge rotation device 63 inserts the insertion member 631 between the container body 201 and the lid member 202 by moving the insertion member 631 by the rotation movement mechanism 632, and the container body 201 is inserted by the insertion member 631. Is pushed out to rotate the hinge part 203, so that the configuration of the hinge rotating machine 63 can be simplified.

(7) Since the hinge rotating machine 63 pushes the container body 201 by the insertion member 631 to rotate the hinge part 203, the container 20 can be completely opened without being hindered by the insertion member 631.
(8) The hinge rotating device 63 rotates the hinge portion 203 when the other end of the container body 201 and the other end of the lid member 202 are separated from each other by the hook disengagement device 62, so that the container 20 is rotated. After the other end of the container body 201 and the other end of the lid member 202 are separated by the hook disengagement device 62, the container 20 may be closed again by its own weight. Also, the insertion member 631 can be reliably inserted between the container body 201 and the lid member 202.

(9) The insertion member 631 is formed in a cylindrical shaft shape, and is inserted between the container body 201 and the lid member 202 such that the axis of the insertion member 631 is parallel to the rotation axis of the hinge 203. Therefore, the hinge 203 can be rotated by bringing the peripheral surface into contact with the container body 201. Therefore, the hinge rotating machine 63 can rotate the hinge 203 without damaging the container 20.

(10) Since the cover holding means 93 supports the one end holding means 931 and the other end holding means 932 so as to be able to advance and retreat with respect to the upper surface of the container 20, the cover control section 952 holds the cover C toward the upper surface of the container 20. When the cover C is hooked on the end of the container 20 when the cover 20 is lowered and covered, the one end holding means 931 and the other end holding means 932 rise so as to be separated from the container 20. In other words, the cover holding means 93 can cover the container 20 with the cover C by raising and bending both ends of the cover C. Therefore, the cover covering device 9 can cover the cover C on the container 20 efficiently.

(11) Since the cover holding means 93 fixes and supports the cylindrical shaft 933A holding the center of the cover C, the cover control unit 952 lowers and covers the cover C toward the upper surface of the container 20. At this time, the cylindrical shaft member 933A does not rise so as to be separated from the container 20. Therefore, since the cover covering device 9 easily raises and bends the end of the cover C, the cover C can be covered on the container 20 more efficiently.
(12) Since the one-end holding means 931 and the other-end holding means 932 are provided with the recesses 931A and 932A for accommodating the cover C when holding the cover C, the covering control part 952 faces the upper surface of the container 20. When the cover C is lowered and covered, the movement of the cover C with respect to the one end holding means 931 and the other end holding means 932 can be restricted. Therefore, the cover covering device 9 can cover the cover C on the container 20 more efficiently.

(13) The cover handling device 10 lowers and covers the cover C toward the upper surface of the container 20 and then handles the upper surface of the cover C. Therefore, the end of the cover C is raised and bent, The habit attached to the cover C can be removed by handling the upper surface portion C1 of the cover C, and the cover C can be reliably covered on the container 20 even if the cover C is hooked on the end of the container 20.
(14) The handling control unit 1051 is configured to handle the upper end portion C1 of the cover C from the center of the cover C to one end, and the roller mechanism 101 for one end and the center of the cover C to the other end. Since the upper surface portion C1 of the cover C is simultaneously handled by the roller mechanism 102 for the other end which handles the upper surface portion C1 of the cover C, the habit attached to the cover C can be efficiently removed.

(15) Since the handle member 101A for one end and the handle member 102A for the other end are disposed so as to intersect, the cover handling device 10 may, for example, move the handle member 101A for one end and the handle member 102A for the other end. The load applied to the container 20 and the cover C can be reduced as compared with the case where they are not crossed.
(16) The handle member 101A for one end and the handle member 102A for the other end cause the side surfaces of the rollers 101A2 and 102A2 to abut on the upper surface portion C1 of the cover C. Can be further reduced.

[Second embodiment]
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.
FIG. 30 is a perspective view showing a container opening device provided with the hook disengagement device according to the second embodiment of the present invention.
In the following description, the parts already described are denoted by the same reference numerals, and description thereof will be omitted.

In the first embodiment, the container opening device 6 includes the container suction device 61, the hook disengagement device 62, and the hinge rotation device 63, which are installed at one place.
On the other hand, in the present embodiment, the container opening device 6A includes the hook disengagement device 62A and the hinge rotation device 63A, which are installed at two locations on the upstream side and the downstream side of the conveyor 2. This is different from the first embodiment in that The container suction device 61 is installed in each of the hook disengagement device 62A and the hinge rotation device 63A.

  As shown in FIG. 30, the container opening device 6 </ b> A releases the engagement between the two container suction devices 61 that suction and fix the container 20 placed on the pallet P and the hook portion 204 of the container 20. The hook disengagement device 62A that separates the other end of the container body 201 and the other end of the lid member 202 from each other, and the hook portion 204 is disengaged by the hook disengagement device 62A. A hinge rotating device 63A that opens the container 20 by rotating the container is provided.

FIG. 31 is a top view of the container suction device and the hook disengagement device.
As shown in FIGS. 30 and 31, the container suction device 61 includes three nozzles 611 inserted into the communication holes P3 of the pallet P, and a suction advance / retreat mechanism 612 for moving the nozzle 611 forward / backward with respect to the pallet P. Have.
In this embodiment, the base 611C of the nozzle 611 provided alongside the hook disengagement device 62A extends from the body 611B so as to bend in the −Z-axis direction side. This is different from the base end 611C of the nozzle 611 attached to 63A.

The hook disengaging device 62A includes three fitting members 624 fitted into each of the engaging portions of the hook portion 204, a releasing mechanism 622 for moving the fitting member 624 forward and backward with respect to the hook portion 204, and a release mechanism 622. A rotation mechanism 623 for rotating the insertion member 624 around an axis parallel to the direction of movement of the use advance / retreat mechanism 622, and regulating means 625 for regulating movement of the container 20 toward the hinge 203 are provided.
In the present embodiment, the hook disengagement device 62A includes the restricting means 625 for restricting the movement of the container 20 toward the hinge 203, but may not include the restricting means 625.

  The insertion member 624 includes a cylindrical shaft portion 624A and a flat plate-shaped knife portion 624B fixed to the shaft portion 624A. The knife portion 624B is formed to have a thickness that allows the knife portion 624B to be inserted into the engagement portion of the hook portion 204. The knife portion 624B is fixed to the shaft portion 624A such that the center of the width in the X-axis direction coincides with the center axis of the shaft portion 624A.

The release advance / retreat mechanism 622 includes a rectangular plate-shaped frame 622A that supports the fitting member 624, and a linear actuator 622B that advances and retreats the frame 622A with respect to the hook portion 204. Therefore, the release advance / retreat mechanism 622 advances / retreats the insertion member 624 with respect to the hook 204 by moving the frame 622A with the linear actuator 622B.
The frame 622A supports the shaft 624A of the insertion member 624 via the elastic member 622A1. Therefore, the frame 622A swingably supports the fitting member 624.

The rotation mechanism 623 is provided on the frame 622A so as to be movable along the X-axis direction and three pinions 623A concentrically fixed to the shaft portions 624A of the insertion member 624, respectively. And a linear actuator 623C that is attached to the frame 622A and moves the rack 623B along the X-axis direction, and a support base 623D that supports the rack 623B. Therefore, the rotation mechanism 623 causes the linear actuator 623C to move the rack 623B, thereby rotating the insertion member 624 around an axis (around the Y axis) parallel to the advance / retreat direction of the release advance / retreat mechanism 622.
Here, the frame 622A swingably supports the insertion member 624, but since the pinion 623A is engaged with the rack 623B provided on the frame 622A, the insertion member 624 is moved in the −Z axis direction. Movement to the side is regulated.

  The restricting means 625 moves the frame 625B forward and backward with respect to the pallet P, with a contact member 625A contacting an end of the container 20 on the hinge portion 203 side, an L-shaped cross-section frame 625B for fixing the contact member 625A. And a linear actuator 625C. Therefore, the restricting means 625 moves the contact member 625A forward and backward with respect to the pallet P by moving the frame 625B forward and backward by the linear actuator 625C.

The contact member 625A is a rectangular plate-shaped member, and has three concave portions 625A1 formed in a shape to be in contact with and accommodate the end of the container 20 on the hinge 203 side.
The frame 625B fixes the contact member 625A via two joints 625B1 attached to both ends in the X-axis direction.
Therefore, the restricting means 625 restricts the movement of the container 20 toward the hinge 203 by abutting the end of the container 20 on the hinge 203 side.

As shown in FIG. 30, the hinge rotating machine 63A includes three cylindrical shaft-shaped insertion members 631A inserted between the container body 201 and the lid member 202, and a rotation moving mechanism 632 for moving the insertion member 631A. It has. Further, the hinge rotating machine 63A includes three vacuum pads 633 as holding means for sucking and holding the container body 201, and three support members 634 supporting the vacuum pad 633 and the insertion member 631A.
In this embodiment, the diameter of the insertion member 631A is larger than that of the insertion member 631 in the first embodiment.

  The rotation movement mechanism 632 has a central axis parallel to the central axis of the insertion member 631A, and is capable of rotating the shaft 632A that supports the insertion member 631A and the vacuum pad 633 via the support member 634, and the shaft 632A. And a motor 632C attached to the frame 632B and rotating the shaft 632A, and a robot arm 632D for moving the frame 632B in three X, Y, and Z directions. Therefore, the rotation moving mechanism 632 can rotate the insertion member 631A and the vacuum pad 633 around the central axis of the shaft 632A by rotating the shaft 632A with the motor 632C. The rotation moving mechanism 632 can move the insertion member 631A and the vacuum pad 633 in the X, Y, and Z axes by moving the frame 632B with the robot arm 632D.

FIG. 32 is a functional block diagram illustrating a schematic configuration of the container opening device.
As shown in FIG. 32, the container opening device 6A includes a container suction device 61, a hook disengagement device 62A, and a hinge rotation device 63A, and further includes a cover opening control unit 64A for controlling these devices. Have.
The cover opening control unit 64A includes a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The cover opening control unit 64A includes a suction control unit 641, a regulation control unit 645, a fitting control unit 642, a release control unit 643, a holding control unit 646, a first rotation control unit 647, and a And a two-rotation control unit 648.

The suction control unit 641 controls a suction device (not shown) connected to the nozzle 611 and a linear actuator 612B of the suction advance / retreat mechanism 612, and suctions the container 20 placed on the pallet P to thereby control the container. 20 is fixed to the pallet P.
The regulation control section 645 controls the linear actuator 625C to move the frame 625B forward and backward, thereby moving the contact member 625A forward and backward with respect to the pallet P.
The insertion control section 642 controls the release advance / retreat mechanism 622, and causes the insertion member 624 to advance toward the hook section 204 by the release advance / retreat mechanism 622, so that the knife section 624B Is inserted.
The release control unit 643 controls the rotation mechanism 623, and releases the engagement of the hook part 204 with the knife part 624B by rotating the fitting member 624 with the rotation mechanism 623.

The holding control unit 646 controls the rotation moving mechanism 632, and moves the support member 634 by the rotation moving mechanism 632 to bring the vacuum pad 633 closer to the container main body 201. Then, the holding control unit 646 causes the vacuum pad 633 to hold the container body 201 by sucking the container body 201.
The first rotation control unit 647 causes the container body 201 to be pulled out by the vacuum pad 633 and rotates the hinge unit 203 by moving the support member 634 by the rotation moving mechanism 632.
The second rotation control unit 648 causes the first rotation control unit 647 to rotate the hinge unit 203, and then moves the support member 634 by the rotation moving mechanism 632 to thereby move the insertion member 631 </ b> A into the container body. The container body 201 is pushed out by the insertion member 631A, and the hinge part 203 is rotated.

FIG. 33 is a diagram illustrating a flowchart of a hook release process performed by the container opening device.
When the container 20 is opened by the container opening device 6A, the opening control section 64A executes steps ST611 to ST615 as shown in FIG. 33 according to a predetermined program stored in the memory.
Hereinafter, details of steps ST611 to ST615 will be described with reference to the drawings.

FIG. 34 is a top view of the container opening device showing a state where the nozzle has advanced to the pallet.
First, the cover opening control means 64A detects whether or not the pallet P has been transported to a predetermined position (see FIG. 31) by the conveyor 2 (ST611: pallet detecting step). If it is determined in step ST611 that the pallet P has been transported to the predetermined position, the opening control unit 64A executes the processing of step ST612 and subsequent steps. On the other hand, when it is determined in step ST611 that the pallet P has not been conveyed to the predetermined position, the lid opening control means 64A does not execute the processing in step ST612 and thereafter and executes the hook release processing. To end.

  If it is determined in step ST611 that the pallet P has been transported to the predetermined position, the suction control unit 641 causes the linear actuator 612B to advance the frame 612A with respect to the pallet P, as shown in FIG. Thereby, the nozzle 611 is inserted into the communication hole P3 of the pallet P (see a thick arrow in the figure). Then, the suction control unit 641 sucks the container 20 placed on the pallet P through a communication hole P3 of the pallet P with a suction device (not shown) connected to the nozzle 611, thereby bringing the container 20 into the pallet. It is fixed to P (ST612: container suction step).

FIG. 35 is a top view of the container opening device showing a state in which the regulating means has advanced to the pallet.
Next, as shown in FIG. 35, the regulation control unit 645 causes the contact member 625A to advance with respect to the pallet P by causing the frame 625B to advance with the linear actuator 625C (see the thick arrow in the figure). Thereby, the regulating means 625 abuts on the end of the container 20 on the hinge portion 203 side, and regulates the movement of the container 20 toward the hinge portion 203 (ST613: container regulating step).

FIG. 36 is a top view of the container opening device showing a state in which the fitting member has advanced to the hook portion of the container.
Next, as shown in FIG. 36, the fitting control unit 642 causes the frame 622A to advance with respect to the container 20 by the linear actuator 622B (see the thick arrow in the drawing), thereby causing the hook portion 204 to engage with the engaging portion. The knife portion 624B of the fitting member 624 is fitted (ST614: knife fitting step).

FIG. 37 is a top view of the container opening device showing a state in which the engagement of the hook portion of the container is released by rotating the insertion member.
Next, as shown in FIG. 37, the release control unit 643 moves the rack 623B to the + X axis direction side by the linear actuator 623C (see the thick arrow in the figure), thereby moving the insertion member 624 around the Y axis. Rotate. Then, the release control section 643 releases the engagement of the hook section 204 with the knife section 624B by rotating the insertion member 624 (ST615: hook release step).

FIG. 38 is a side view and a cross-sectional view of the container opening device showing the state where the engagement of the hook portion of the container is released. Specifically, FIG. 38 is a diagram (left diagram) of a main part of the container opening device 6A viewed from the + Y axis direction side, and a cross-sectional view taken along line AA (right diagram) of the left diagram. FIG. 38A is a diagram illustrating a state before the fitting member 624 is rotated, and FIG. 38B is a diagram illustrating a state in which the fitting member 624 is rotating. is there.
Here, in the container suction step ST612 described above, the suction control unit 641 moves the container 20 placed on the pallet P to the pallet P using a suction device (not shown) connected to the nozzle 611, as shown in FIG. The container 20 is fixed to the pallet P by suction through the communication hole P3 (see a thin arrow in the figure).

In the knife insertion step ST614 described above, the insertion control section 642 causes the linear actuator 622B to advance the frame 622A with respect to the container 20 as shown in FIG. The knife portion 624B of the insertion member 624 is inserted into the engagement portion.
In the hook release step ST615 described above, the release control section 643 releases the engagement of the hook section 204 with the knife section 624B by rotating the fitting member 624 as shown in FIG. I do.

At this time, since the frame 622A supports the insertion member 624 so as to be swingable as described above, the insertion member 624 advances in the opening direction (+ Z axis direction) of the container 20 (+ Z axis direction). (See the thick arrow in the figure). In this manner, the rotation mechanism 623 advances the insertion member 624 in the opening direction of the container 20 when the insertion member 624 is rotated. In other words, the rotation mechanism 623 rotates the fitting member 624 without moving the insertion member 624 in the direction opposite to the opening direction of the container 20 (−Z-axis direction).
In the present embodiment, the rotation mechanism 623 rotates the fitting member 624 without moving the fitting member 624 in the direction opposite to the direction in which the container 20 is opened. May be rotated so as to move in the opposite direction. In this case, it is preferable to use a fitting member made of a material that is unlikely to damage the container.

After that, the release control unit 643 rotates the fitting member 624 around the Y axis by moving the rack 623B toward the −X axis direction by the linear actuator 623C. Then, the release control unit 643 returns the knife portion 624B of the insertion member 624 to the state before the rotation by rotating the insertion member 624.
Further, the insertion control section 642 causes the knife portion 624B of the insertion member 624 to retreat by retreating the frame 622A with respect to the container 20 by the linear actuator 622B.
Further, the regulation control unit 645 retreats the contact member 625A with respect to the pallet P by retreating the frame 625B by the linear actuator 625C.

  After that, the lid opening control means 64A controls the container suction device 61 to return to the initial state (the state shown in FIG. 31), and executes the above-described step ST611 again for the next pallet P, whereby the step ST611 to ST615 are repeatedly executed.

FIG. 39 is a view illustrating a flowchart of the hinge rotation process performed by the container opening device.
When the container 20 is opened by the container opening device 6A, the opening control unit 64A executes steps ST621 to ST625 as shown in FIG. 39 according to a predetermined program stored in the memory.
Hereinafter, details of steps ST621 to ST625 will be described with reference to the drawings.

  First, cover opening control means 64A detects whether or not pallet P has been transported to a predetermined position (see FIG. 30) by conveyor 2 (ST621: pallet detection step). If it is determined in step ST621 that the pallet P has been transported to the predetermined position, the opening control section 64A executes the processing of step ST622 and subsequent steps. On the other hand, when it is determined in step ST621 that the pallet P has not been conveyed to the predetermined position, the cover opening control means 64A does not execute the processing of step ST622 and thereafter, and rotates the hinge. The process ends.

  If it is determined in step ST621 that the pallet P has been conveyed to a predetermined position, the suction control unit 641 causes the frame 612A to advance with respect to the pallet P by the linear actuator 612B, thereby causing the nozzle 611 to move to the pallet P. Into the communication hole P3. Then, the suction control unit 641 sucks the container 20 placed on the pallet P through a communication hole P3 of the pallet P with a suction device (not shown) connected to the nozzle 611, thereby bringing the container 20 into the pallet. It is fixed to P (ST622: container suction step).

  FIG. 40 is a side view of the hinge rotating machine showing a state where the hinge portion of the container is rotated. Specifically, FIG. 40 is a diagram of the hinge rotating machine 63A viewed from the −X axis direction side. FIG. 40A is a diagram showing a state where the container body 201 is held by the vacuum pad 633, and FIG. 40B is a diagram in which the hinge 203 of the container 20 is rotated by the vacuum pad 633. FIG. 40 (C) is a diagram showing a state in which the insertion member 631A is in contact with the container body 201, and FIG. 40 (D) is a diagram showing a hinge of the container 20 with the insertion member 631A. FIG. 6 is a diagram illustrating a state in which a part is rotated.

  Next, as shown in FIG. 40A, the holding control unit 646 causes the vacuum pad 633 to approach the container main body 201 by moving the support member 634 by the rotation moving mechanism 632. Then, the holding control unit 646 causes the vacuum pad 633 to hold the container body 201 by sucking the container body 201 (ST623: container holding step).

Thereafter, the first rotation control unit 647 pulls out the container body 201 with the vacuum pad 633 by moving the support member 634 with the rotation moving mechanism 632 as shown by the thin arrow in FIG. To rotate the hinge 203 (ST624: first rotation step).
At this time, the first rotation control unit 647 causes the motor 632C to rotate the shaft 632A, thereby rotating the vacuum pad 633 around the center axis of the shaft 632A according to the position of the container body 201. I have.

  Next, as shown in FIG. 40C, the second rotation control section 648 rotates the hinge section 203 with the first rotation control section 647, and then rotates the shaft section 632A with the motor 632C. By moving, the insertion member 631A is brought into contact with the container body 201 (see the thin arrow in the figure).

Then, as indicated by the thin arrow in FIG. 40D, the second rotation control unit 648 pushes out the container body 201 with the insertion member 631A to rotate the hinge 203 (ST625: second rotation step). ).
At this time, the second rotation control unit 648 rotates the shaft 632A by the motor 632C, thereby rotating the insertion member 631A around the central axis of the shaft 632A according to the position of the container body 201. I have.

  In the present embodiment, the second rotation control unit 648 pushes the container body 201 by the insertion member 631A to rotate the hinge 203, but pushes the lid member by the insertion member to remove the hinge. It may be rotated. In short, the second rotation control unit may push the container body or the lid member with the insertion member and rotate the hinge part.

  Further, in the present embodiment, the hinge rotation machine 63A includes the first rotation control unit 647 and the second rotation control unit 648, and the container body 201 is pulled out by the vacuum pad 633 to rotate the hinge unit 203. Thereafter, the container body 201 was pushed out by the insertion member 631A, and the hinge 203 was rotated. On the other hand, the hinge rotating machine 63A includes only the first rotation control unit 647, and opens the container 20 only by pulling out the container body 201 with the vacuum pad 633 and rotating the hinge unit 203. You may.

  Thereafter, the lid opening control means 64A returns to the initial state by controlling the hinge rotating machine 63A, and executes the above-described step ST621 again for the next pallet P, thereby repeatedly executing steps ST621 to ST625. I do.

According to the present embodiment, the same operation and effects as (1) to (3), (6), (7), (9) to (16) in the first embodiment can be obtained. In addition, the following operations and effects can be obtained.
(17) Since the rotation mechanism 623 advances the insertion member 624 in the opening direction of the container 20 when rotating the insertion member 624, the rotation mechanism 623 moves the insertion member 624 in the opening direction of the container 20. It can be rotated without moving in the opposite direction. Therefore, the rotation mechanism 623 can release the engagement of the hook portion 204 without applying a load to the container 20.

(18) Since the hook disengagement device 62A includes the restricting means 625 for restricting the movement of the container 20 toward the hinge 203, the hook-shaped disengagement mechanism 622 disengages the flat insertion member 624 from the hook. When the container 20 is inserted into the engagement portion of the hook portion 204, the movement of the container 20 toward the hinge portion 203 can be restricted by being advanced with respect to the hook portion 204. Therefore, since the hook disengagement device 62A can disengage the hook portion 204 without changing the position of the container 20, the subsequent device (for example, the cover covering device 9) can efficiently perform the process. It is possible to improve the manufacturing efficiency of a compact as a final product.

(19) The hinge rotating machine 63A pulls the container main body 201 by the vacuum pad 633 by moving the vacuum pad 633 by the rotation moving mechanism 632 after holding the container main body 201 by the vacuum pad 633 and hinges. Since the part 203 is rotated, the configuration of the hinge rotating machine 63A can be simplified.
(20) Since the vacuum pad 633 sucks and holds the container body 201, the hinge rotating device 63A can rotate the hinge portion 203 without damaging the container 20.

(21) The hinge rotating machine 63A pulls the container main body 201 by the vacuum pad 633 by moving the support member 634 by the rotation moving mechanism 632 after the container main body 201 is held by the vacuum pad 633 and hinges. The part 203 can be rotated. Then, the hinge rotating machine 63A pulls out the container body 201 with the vacuum pad 633 to rotate the hinge part 203, and then moves the support member 634 with the rotating moving mechanism 632, thereby moving the insertion member 631A into the container. It can be inserted between the main body 201 and the lid member 202, and the container main body 201 can be pushed out by the insertion member 631A to rotate the hinge 203. That is, the hinge rotating machine 63A forms a gap enough to pull out the container body 201 with the vacuum pad 633 and insert the insertion member 631A between the container body 201 and the lid member 202, and insert the insertion member 631A into this gap. Can be inserted, and the container body 201 can be pushed out by the insertion member 631A to rotate the hinge portion 203. Therefore, the hinge rotating machine 63A can rotate the hinge 203 without damaging the container 20.

It should be noted that the present invention is not limited to the above embodiments, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.
For example, in each of the above embodiments, the hook disengaging device 62, 62A is employed in the compact loading device 1, but the hook disengaging device of the present invention may be employed in other devices.

  INDUSTRIAL APPLICABILITY As described above, the present invention can be suitably used for a hook disengagement device that can disengage a hook portion without damaging a compact container or the like.

DESCRIPTION OF SYMBOLS 1 Compact loading apparatus 6, 6A Container opening apparatus 9 Cover covering apparatus 10 Cover handling apparatus 20 Container 62, 62A Hook disengagement machine 63, 63A Hinge rotating machine 64, 64A Opening control means 92 Covering mechanism 93 Cover holding Means 94 Moving mechanism for coating 95 Control means for coating 101 Roller mechanism for one end (means for handling one end)
101A Handling member for one end 101A2 Roller 101B Supporting member for one end 102 Roller mechanism for the other end (means for handling the other end)
102A Handle member for the other end 102A2 Roller 102B Support member for the other end 103 Roller head (handle head)
104 Handling movement mechanism 105 Handling control means 201 Container body 202 Lid member 203 Hinge part 204 Hook part 621, 624 Insertion member 622 Release advance / retreat mechanism 623 Rotation mechanism 625 Regulation means 631, 631A Insertion member 632 Rotation movement mechanism 633 Vacuum pad (holding means)
634 Support member 642 Fitting control unit 643 Release control unit 644 Rotation control unit 645 Restriction control unit 646 Hold control unit 647 First rotation control unit 648 Second rotation control unit 931 One-end holding unit 931A Concave portion 932 Other end holding unit 932A Recess 933A Cylindrical shaft 1051 Handling control unit C Cover C1 Top surface

Claims (4)

A container body having an accommodating portion, a cover member for covering the accommodating portion of the container body, a hinge portion rotatably connecting one end of the container body and one end of the lid member, and the other end of the container body; A hook member that separates the other end of the container main body and the other end of the lid member by releasing the engagement of the hook portion of the container having a hook portion that freely opens and closes the other end of the lid member. A lock release machine,
A flat insertion member to be inserted into the engagement portion of the hook portion,
An advance / retreat mechanism for canceling the insertion / removal member with respect to the hook portion;
A rotation mechanism for rotating the insertion member about an axis parallel to the advance / retreat direction of the release advance / retreat mechanism,
A release control unit that controls the release advance / retreat mechanism and the rotation mechanism,
The release control means,
By making the insertion member advance with respect to the hook portion by the release advance / retreat mechanism, an insertion control portion that inserts into the engagement portion of the hook portion,
A release control unit that releases the engagement of the hook by rotating the insertion member by the rotation mechanism;
The rotation mechanism rotates the fitting member without moving the insertion member in a direction opposite to a direction in which the container is opened. The hook disengagement device according to claim 1,
The insertion member,
While extending on the rotation axis of the rotation mechanism, has one side parallel to the advance and retreat direction of the release advance and retreat mechanism,
The rotation mechanism is configured to rotate the insertion member in a direction in which the insertion member advances with respect to a direction in which the container is opened. The hook disengagement device according to claim 1,
The rotation mechanism is configured to cause the insertion member to advance in an opening direction of the container when the insertion member is rotated. The hook disengagement device according to any one of claims 1 to 3,
A hook disengaging device, comprising: a restricting means for restricting the movement of the container toward the hinge portion by contacting an end of the container on the hinge portion side.

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