JP6800767B2 - Assembly equipment and method - Google Patents

Description

The present invention relates to an assembly device and an assembly method for assembling a one-touch box.

As a box body for accommodating articles, a box body configured so that the bottom part is automatically assembled by three-dimensionalizing the peripheral wall part from the folded state by sticking two places on the bottom surface which is a combination of four pieces. (One-touch box (also called one-touch bottom, one-touch bottom box, one-touch carton, etc.)).

Then, in a line for packing articles in such a box body (hereinafter referred to as a one-touch box), a robot having a hand portion holds the one-touch box in a folded state before assembly, assembles it three-dimensionally, and conveys it to a downstream process. To do. Then, the article is housed inside the one-touch box by the supply means in the downstream process.

For example, conventionally, after a carton supply robot unboxes a one-touch box, the bottom of the box is brought into contact with a transport surface and supplied onto a carton conveyor which is a downstream process, and an article is delivered by an article insertion robot in the downstream process. The technology to be accommodated is known (see, for example, Patent Document 1).

By the way, although the bottoms of the one-touch box are automatically combined, the bottom is easily returned to the original folded state only by making the peripheral wall three-dimensional, which is unstable as a box. For this reason, in general, by making the peripheral wall portion three-dimensional and then pushing the bottom portion from the inside to make it flat, it is possible to perform fitting (locking) to prevent the return to the folded state.

That is, in the conventional one-touch box assembling device, the device has a pushing member or the like that conveys the peripheral wall portion of the one-touch box to the downstream process in a three-dimensional state and separately pushes out the unfinished bottom portion from the inside. A stable box was completed using (a dedicated device for completing the bottom) and the like.

Japanese Patent No. 4720023

However, if a dedicated device equipped with a drive mechanism (a mechanism for driving a pushing member or the like) separate from the assembly device is provided, the cost increases, it is necessary to secure an occupied area, and the work process required for maintenance etc. is also required. There are increasing problems.

On the other hand, as described in Patent Document 1, in the configuration in which the carton supply robot raises the one-touch carton, arranges the bottom so as to contact the transport surface, and transports the robot to the downstream process, a separate dedicated device is temporarily used. Even if the bottom is not provided and the fitting of the bottom is insufficient, there is a possibility that the bottom is pushed when the article is supplied and the fitting is completed.

Even in that case, the fitting may be insufficient depending on the weight of the articles, and it is a desirable method to have the bottom fitting performed by supplying the articles in the line for packing various articles. Absent. Further, this method is limited to a configuration in which articles are stored from the upper opening of the one-touch box.

That is, in order to cope with the case where the peripheral wall portion of the one-touch box is three-dimensionalized and the article is supplied into the box in a state where the opening is laid on the side so as to be sideways, a bottom portion separate from the assembly device is provided. A dedicated device was needed to complete it.

The present invention has been made in view of the above problems, and is an assembly device capable of fitting the bottom of a one-touch box during transportation to a downstream process without providing a separate dedicated device for completing the bottom. And an assembly method is intended.

The present invention is an assembling device for assembling a box body configured so that the bottom portions can be combined by opening from a folded state and three-dimensionalizing the peripheral wall portion, and the holding portion for holding the box body. A robot that moves the holding portion in a three-dimensional space to transport the box body toward a downstream process, and the bottom portion of the box body are fitted to the bottom portion during the transportation of the box body by the robot. It is configured to be contactable and has an assisting means for assisting the completion of the bottom portion and a stopper provided on the holding portion for regulating the displacement of the box body in the direction of action of the force by the assisting means. It is an assembly device characterized by.
Further, the present invention is an assembly method for assembling a box body configured so that the bottom portions can be combined by opening from a folded state and three-dimensionalizing the peripheral wall portion while being conveyed by a robot having a holding portion. A transport step of holding the box body by a unit and moving the holding portion in a three-dimensional space by the robot to send the box body to a downstream process, and an assisting means at the bottom of the box body during the transport process. An assistance step of assisting the completion of the bottom portion by abutting and fitting , and a step of restricting the displacement of the box body in the direction of action of the force by the assistance means by the stopper provided on the holding portion . It is an assembly method having.

According to the present invention, it is possible to provide an assembling device and an assembling method capable of fitting a one-touch box during transportation to a downstream process without providing a separate device for fitting.

It is a top view of the assembly apparatus of this embodiment. It is a figure which shows the box body of this embodiment, (a) plan view, (b) perspective view, (c) perspective view. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment. It is a figure which shows the assembly apparatus of this embodiment.

Hereinafter, the configuration of the assembly device 10 according to the embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic top view showing the operation of the assembly device 10 in chronological order, FIG. 2 is a view showing the one-touch box XA1 assembled by the assembly device 10, and FIG. 2A is a folded view before assembly. It is an external view of the one-touch box XA1 in a state, and FIGS. (B) and (c) are views showing a bottom portion B portion during assembly. In this drawing and each of the following drawings, some configurations will be omitted as appropriate to simplify the drawings. Further, in this figure and each subsequent drawing, the size, shape, thickness, etc. of the member are exaggerated as appropriate.

<Overall configuration>

With reference to FIG. 1, the assembling device 10 of the present embodiment is used in a line for packing articles and the like, has a robot 12 provided with a holding portion 11, and an assisting means 13, and is in a folded state before assembly. The one-touch box XA1 is assembled three-dimensionally, and the bottom B is transferred to the downstream process in a state where the fitting is completed. The holding unit 11 is movable in a three-dimensional space, and can hold and assemble the one-touch box XA1.

Although detailed illustration is omitted here, the robot 12 is, for example, a dual-arm robot including a plurality of (for example, two) arm portions 11 as holding portions. The robot 12 can be used for various tasks by replacing the end effectors provided at the tips of the arm portions 11 according to the intended use. Alternatively, the robot 12 may be configured to use two single-arm robots provided with one arm portion 11 and work in cooperation with each arm portion 11 of the two robots (single-arm robots) 12. ..

The assisting means 13 is provided during the transportation of the one-touch box XA1 to the downstream process by the robot 12 (during the transportation), and assists the completion of the bottom portion B of the one-touch box XA1 during the transportation.

Each part of these assembly devices 10 is collectively controlled by the control unit. The control unit is composed of a CPU, RAM, ROM, and the like, and executes various controls. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. The RAM is used as a work area of the CPU. The ROM stores the basic OS and programs executed by the CPU.

As shown in FIG. 2, in the one-touch box XA1, the peripheral wall portion S is attached in a tubular shape, and the peripheral wall portion S is three-dimensionalized from the folded state by attaching two places on the bottom surface which is a combination of four sheets. It is a box body configured so that the bottom B can be combined by doing so. Here, as an example, a one-touch box in which the lid portion F covering the upper opening in the assembled state is continuously provided at the upper end of the peripheral wall portion S on the rear side will be described.

Specifically, when the opposing side portions T, which are mountain-folded in the folded state shown in FIG. 6A, are brought closer to each other in the direction of the arrow, the peripheral wall portion S becomes three-dimensional, and accordingly. The bottom B is automatically combined ((b), (c) in the figure). As an example, the opposite side portions T are urged in the direction of the arrow, or the two peripheral wall portions S (the peripheral wall portions S on the front side and the rear side in FIG. 2) that overlap vertically in the folded state are separated from each other. Then, the peripheral wall portion S becomes three-dimensional. In the present embodiment, the box body shown in the figure is referred to as a "one-touch box", but it may also be referred to as a one-touch bottom, a one-touch bottom box, a one-touch carton, or the like.

With reference to FIG. 1 again, as an example, a stocker 14 of the one-touch box XA1 is provided upstream of the assembly device 10. The one-touch box XA1 in a folded state is housed in the stocker 14. The robot 12 moves the arm portion (holding portion) 11 and sucks the one-touch boxes XA1 one by one from the stocker 14 by, for example, sucking by the suction means 17 provided on the arm portion 11 (FIG. FIG. (A)) The peripheral wall portion S of the one-touch box XA1 is three-dimensionalized as shown in FIG. 2B by a predetermined operation. The three-dimensional appearance of the peripheral wall portion S is performed by using the operation of the arm portion 11 and, if necessary, an auxiliary member provided on or near the stage (conveying surface) 16 or the stage 16 (FIG. (b)). )). The three-dimensional process will be described later.

Further, after the peripheral wall portion S is three-dimensionalized, or at the same time, the robot 12 moves the arm portion 11 to the position of the assisting means 13 that stands by at a predetermined position during transportation, and the assisting means 13 moves the bottom portion B. Is completed (fitting) (Fig. (C)). Then, the robot 12 further moves the arm portion 11 that holds the completed one-touch box XA1 and supplies the one-touch box XA1 to the downstream process with the opening of the one-touch box XA1 facing upward (FIG. (D)).

Hereinafter, the method of assembling the one-touch box XA1 in the assembling device 10 of the present embodiment will be specifically described with reference to FIGS. 3 to 5.

First, FIG. 3 is a diagram showing an example of the robot 12, for example, is a front view seen from the direction of the assisting means 13 in FIG.

As an example, the robot 12 of the present embodiment is a dual-arm robot having two arm portions 11 (arm portion 11A and arm portion 11B) as two arms, as shown in FIG. The arm portions 11A and 11B are multi-axis (multi-joint) arms each having a plurality of joint axes, and suction means 17 is attached to the tips of the arm portions 11A and 11B as end effectors, respectively. The suction means 17 has a suction portion 17A, and holds the suction portion 17A by abutting (adhering) it to the one-touch box XA1 and sucking it.

As shown in FIG. 3A, the arm portion 11A and the arm portion 11B are attached to both shoulder portions of the main body portion of the robot 12, for example, and the main body portion 11 is also configured to be rotatable around the waist circumference. ing. As a result, the arm portions 11 (11A, 11B) of the robot 12 can move in the three-dimensional space.

For example, the robot 12 holds the one-touch box XA1 in a folded state as shown in FIG. 6B by being sucked by each suction means 17, and each suction means 17 is held as shown in FIG. The peripheral wall portion S of the one-touch box XA1 in the folded state is three-dimensionally developed (three-dimensionalized) by driving the arm portion 11A and the arm portion 11B in a state where both sides of the one-touch box XA1 are adsorbed.

A step of three-dimensionally developing (three-dimensionalizing) the peripheral wall portion S to complete it as a one-touch box X1 for accommodating articles will be further described with reference to FIGS. 4 and 5. FIG. 4 shows a method (three-dimensionalization step) of three-dimensionalizing the peripheral wall portion S of the one-touch box XA1 by using each arm portion 11 shown in FIG. 3 and the suction means (suction means) 17 provided on each arm portion 11. ), And FIG. 5 is a diagram showing an example of a method (assistance step) for assisting the completion of the bottom portion of the bottom portion B. In addition, in FIGS. 4 and 5, the illustration of each arm portion 11 of the robot 12 is omitted, and only the suction means 17 portion of the robot 12 shown in FIG. 3 is extracted and shown.

First, as shown in FIG. 4A, the robot 12 moves the arm portion 11, that is, the suction means 17, and takes out the folded one-touch box XA1 from the stocker 14. For example, the robot 12 sucks both sides of the one-touch box XA1 mounted on the stocker 14 by using the suction means 17 of the arm portions 11A and 11B, respectively. Specifically, the robot 12 has one arm portion (for example, an arm) on the upper surface (one surface of the peripheral wall portion S (for example, the surface that becomes the front side in the assembled state)) of the one-touch box XA1 in the folded state. The lower surface (another surface of the peripheral wall portion S (for example, the surface that becomes the rear side in the assembled state)) is sucked by the suction means 17 of the portion 11A), and the other arm portion (for example, the arm portion 11B) is used. Is adsorbed using the adsorption means 17 (see FIG. 3B). The suction means 17 can move in the three-dimensional space by the arm portion 11, but may be independently moved up and down by an actuator (not shown) composed of, for example, an air cylinder or the like (similar to the following embodiment). Is).

After that, as shown in, the two suction means 17 holding the peripheral wall portion S are moved in different directions (opposite directions), rotating in the vertical direction in this example (see FIG. 3C).

As a result, as shown in FIG. 4 (b), both sides of the one-touch box XA1 held by the suction means 17 are expanded so as to be separated, and the mountain-folded opposing side portions T are shown in FIG. 2 (b). The peripheral wall portion S is three-dimensionalized by being moved in the direction of the arrow. The bottom portion B of the one-touch box XA1 is shown in FIG. 3B, and the state of the one-touch box XA1 as seen from the upper suction means 17 side is shown in FIG.

In the three-dimensional step by the arm portion 11, for example, the angle α of the two corner portions including the opposite side portions T is opened to an angle of 90 degrees or less and as close to 90 degrees as possible as shown in FIG. As described above, the suction means 17 (arm portion 11) is moved (the same applies hereinafter). That is, in the state where this three-dimensionalization step is completed, as shown by the broken line in FIG. 3C, the bottom portion B of the one-touch box XA1 is widened, but the fitting (embedding) is insufficient. There is.

Here, an example in which both the arm portion 11A and the arm portion 11B are driven is shown, but the robot 12 has one arm portion (for example, the arm portion 11B) fixed in the position of the other arm portion 11B. Only the arm portion (for example, the arm portion 11A) may be driven.

FIG. 5 is a diagram showing an example of an assistance method (assistance step) in which the bottom portion B is completed by the assistance means 13 following the three-dimensionalization step shown in FIG. 5 (a) to 5 (c) are views seen from the downstream side of the assembly device 10 shown in FIG. 1, for example, and FIG. 5 (d) is a front view of the completed one-touch box XA1.

The robot 12 is an assisting means for holding the arm portion 11 holding the one-touch box XA1 at a predetermined position during transportation of the one-touch box XA1 as shown in FIGS. (A), 1 (b) and 1 (c). Move to position 13. As an example, the assisting means 13 in this case is a guide member 13A that is fixed during the transportation of the one-touch box XA1 and can come into contact with the inside of the bottom portion B.

The guide member 13A is, for example, a fixed guide member whose one end is fixed to a fixed portion 30 or the like located at an opposite position of the robot 12 and the other end is open, and is a reference surface (for example, a surface (conveyed surface) of a stage 16). On the other hand, it is a rod-shaped body that extends (protrudes) horizontally.

The robot 12 moves the arm portion 11 so that the tip of the guide member 13A enters from the opening OP of the one-touch box XA1 toward the bottom B (to the right in the figure), and inside the bottom B of the one-touch box XA1. The tip of the guide member 13A is brought into contact with the guide member 13A (FIG. 5 (b)) and further pushed in the direction of the guide member 13A (FIG. 5 (c)).

As a result, as shown in FIG. 3D, the bottom portion B is pushed from the inside, and the fitting (installation) thereof becomes sufficient (in a locked state), and the one-touch box XA1 is completed.

After that, the robot 12 conveys the one-touch box XA1 downstream by using the arm portions 11A and 11B that hold the one-touch box XA1 in the completed state (see FIG. 1D). The one-touch box XA1 released from the robot 12 is transported further downstream by another transport means (transfer means) (not shown) or the like to accommodate articles. The one-touch box XA1 may be supplied in synchronization with the bucket conveyor of the boxing device that is operated intermittently or continuously.

As described above, the robot 12 of the present embodiment is a transport means for the one-touch box XA1 that assembles the one-touch box XA1 while moving it from the upstream side to the downstream side and opens the one-touch box XA1 at a predetermined position on the downstream side. ..

Then, the guide member 13A (assisting means 13) stands by at a predetermined position during transportation of the one-touch box XA1 transported by the transporting means (robot 12), and abuts on the inside of the bottom B of the one-touch box XA1 to the outside. Pushed towards, assisting in the completion of bottom B. As a result, the one-touch box XA1 is completed.

According to the present embodiment, the robot (conveying means) 12 continuously performs an operation of deploying and completing the one-touch box XA1 and an operation of moving the completed one-touch box XA1 to a downstream process to assemble it. Work efficiency can be improved.

In particular, since the robot (transportation means) 12 can sufficiently fit the bottom portion B by the assistance means 13 and complete the bottom portion B during the transportation of moving the one-touch box XA1 to the downstream process, the robot 12 can be completed. In the downstream process, it is not necessary to control a separate dedicated device and the dedicated device for completing the bottom B after transportation. As a result, the efficiency of the assembly work of the one-touch box XA1 can be further improved, and the cost and the occupied area can be reduced by providing the dedicated device.

Further, in order to move the one-touch box XA1 toward the assisting means 13 to which the robot 12 is fixed during the transport operation by the robot 12, for example, the assisting means 13 is moved toward the robot 12 that holds and stands by the one-touch box XA1. Compared to the case of making the robot, complicated control such as timing adjustment becomes unnecessary.

Further, since the one-touch box XA1 has already been completed as a stable box body in a state where the robot 12 (arm portion 11) opens the one-touch box XA1 on the downstream side, it is possible to immediately store articles.

FIG. 6 is a diagram showing another embodiment of the robot 12 of the present embodiment. The robot 12 is a single-arm robot provided with one arm portion 11, and may be configured to use two single-arm robots 12 and work in cooperation with each arm portion 11.

The robot (single-arm robot) 12A is a multi-axis (multi-joint) robot having one arm portion 11A having a plurality of joint axes, and the robot (single-arm robot) 12B also has a plurality of joint axes. It is a multi-axis (multi-joint) robot provided with one arm portion 11B. Then, the suction means 17 is attached as an end effector to the tip portions of the arm portions 11A and 11B, respectively.

In this case, by coordinating the arm portions 11A and 11B of the single-arm robots 12A and 12B and controlling them to perform the same operations as the arm portions 11A and 11B of the dual-arm robots 12 shown in FIGS. 3 to 5. , The step of three-dimensionalizing the peripheral wall portion S of the one-touch box XA1 and the assisting step of completing the bottom portion B are performed, and the one-touch box XA1 is conveyed to the downstream process.

Although the robot 12 and the arm portion 11 are not shown in the drawings referred to in the following description, unless otherwise specified, the above-mentioned dual-arm robot 12 or two single-arm robots 12A and 12B By cooperation, it is assumed that the three-dimensional step of the peripheral wall portion S of the one-touch box XA1 and the assistance step of completing the bottom portion B are performed. Further, in the above example, the case where the suction means 17 is used as the end effector for holding the one-touch box 11 has been described, but the present invention is not limited to this as long as the one-touch box XA1 can be held. For example, the end effector may be a sticking means, a gripping means, a roller, or the like, and the same applies to the subsequent embodiments.

FIG. 7 is a diagram showing another example of the assistance process. In the example of the assistance step shown in FIG. 5, the case where the guide member 13A extends horizontally with respect to the reference plane has been described as an example, but the guide member 13A has the reference plane (as shown in FIG. 7A). For example, it may be fixed at an angle with respect to the surface of the stage 16), or may be fixed perpendicularly (vertically) to the reference surface as shown in FIG. 7 (b). In these cases, as shown in FIG. 7, it is preferable to provide the open tip portion (open end portion) so as to be located at the same level as or below the fixed end portion (fixed end portion). According to such a configuration, the amount of movement of the one-touch box XA1 by the robot 12 can be reduced as compared with the case where the open end portion is located above the fixed end portion.

Further, in either case, if the open end portion (tip portion) of the guide member 13A is arranged so as to face (face) the opening OP in the state immediately after the peripheral wall portion S is three-dimensionalized by the arm portion 11. Good (Fig. 5 (a), Fig. 7).

By doing so, the path from the three-dimensional state of the peripheral wall portion S to the completion of the bottom portion B can be shortened (shortest).

Further, the guide member 13A may include an urging means for urging in the axial direction (extending direction) and may be configured to be expandable and contractible in the axial direction (extending direction). According to such a configuration, when a load of a predetermined value or more is applied to the guide member 13A, the tip portion retracts and the one-touch box XA1 can be prevented from being damaged.

Further, the guide member 13A may be configured to be detachably attached to the fixing portion 30, and may be configured so that it can be replaced or the attachment position to the fixing portion 30 can be changed depending on the size and shape of the one-touch box XA1.

The guide member 13A has been described by taking the case of a rod-shaped body as an example. It suffices that the tip end portion (open end portion) of a mountain shape or the like protrudes beyond the fixed end portion to the depth of the one-touch box XA1 or more.

FIG. 8 is a diagram showing another embodiment, and FIGS. 8 (a) and 8 (b) are diagrams corresponding to FIGS. 5 (b) and 5 (c). In this case, the robot 12 is one. A single-arm robot in which a suction means 17 is provided at the tip of one arm portion, for example, shows a case where the one-touch box XA1 is three-dimensionalized and held by the method shown in FIG. 13 or FIG. 14 described later.

As shown in FIGS. (A) and (b), the arm portion 11 or the suction means 17 of the robot 12 may be provided with a stopper 15 that supports at least the bottom portion B of the one-touch box XA1 from the outside. The stopper 15 supports the one-touch box XA1 so that the one-touch box XA1 does not shift in the backward direction with respect to the guide member 13A when the robot 12 presses the inside of the bottom portion B of the one-touch box XA1 against the guide member 13A. To do.

That is, the stopper 15 preferably has a shape that supports at least the bottom portion B of the one-touch box XA1, and for example, as shown in FIG. 3C, at least one of the peripheral wall portion S and the bottom portion B of the one-touch box XA1. It is more preferable that the portion is formed in an L shape so that the portions can be supported at the same time. Further, FIG. 8 shows an example in which the stopper 15 is provided on the suction means 17 for holding the upper peripheral wall portion S of the one-touch box XA1, for example, but the suction means 17 for holding the lower peripheral wall portion S of the one-touch box XA1 is provided. A stopper 15 may be provided.

Further, although not shown, if the stopper 15 is configured to be movable (evacuated) and the stopper 15 interferes with the suction means 17 or the like in the three-dimensional step of the peripheral wall portion S, the stopper 15 is positioned at a predetermined position. It is preferable to configure the structure so that the peripheral wall portion S and the bottom portion B can be supported at the timing when the bottom portion B is pushed by the guide member 13A.

Further, in the embodiment shown in FIG. 8, two single-arm robots 12 may coordinately control each arm portion 11 (suction means 17), or one dual-arm robot 12 May be used.

FIG. 9 is a diagram showing another embodiment of the assisting means 13, and is a diagram corresponding to FIGS. 5 (b) and 5 (c). As shown in FIG. 9, the assisting means 13 may be a suction means 13B that sucks the bottom B, which is insufficiently incorporated, from the outside.

As shown in FIG. 6A, the robot 12 (double-armed robot 12, or two single-armed robots 12, the same applies hereinafter) has a one-touch box XA1 in which the peripheral wall portion S is three-dimensionalized by the method as described above. The arm portion 11 to be held is moved to the position of the assisting means 13 that stands by at a predetermined position during transportation of the one-touch box XA1. As an example, the assisting means 13 in this case is fixed to the fixing portion 30 (see FIG. 5) to stand by during the transportation of the one-touch box XA1 and is attractable to the outside of the bottom portion B (for example, a suction nozzle). ) 13B.

As shown in FIG. 3B, the suction nozzle 13B sucks the bottom portion B and further sucks the bottom portion B outward. As a result, the bottom portion B is pushed from the inside to the outside, and the fitting (embedding) is sufficient to complete the stable one-touch box XA1.

Further, as shown in FIG. 9C, the robot 12 moves to the position of the assisting means 13 (suction nozzle 13B) in a state where the opening OP of the one-touch box XA1 is inclined so as to face diagonally downward. The suction surface of the suction nozzle 13B and the bottom B (indicated by a broken line) slightly folded inward are in close contact with each other, that is, with respect to the suction region (surface) of the bottom B to which the suction nozzle 13B sucks. The suction direction of the suction nozzle 13B may be substantially vertical.

Then, after the suction nozzle 13B is brought into close contact with the bottom B, the robot 12 rotates the opening OP of the one-touch box XA1 so as to be horizontal with respect to the stage 16 and is opposite to the bottom B of the one-touch box XA1. The one-touch box XA1 may be moved in the direction (direction of the opening OP) and pulled back to fit the bottom portion B.

Before the bottom B is completed (insufficient fitting), there is a dent (recess) in the center of the bottom B, and the suction nozzle 13B may become unstable (suction). (See FIG. 3A) shows that the suction nozzle 13B can be reliably sucked by bringing the suction nozzle 13B into close contact with the bottom portion B as shown in FIG.

Further, the suction means 17 of the embodiment shown in FIGS. 3 to 7 and 9 may be a means (device) for sucking one of the four surfaces of the peripheral wall S of the one-touch box XA1.

FIG. 10 is a diagram showing another embodiment of the assisting means 13, and FIG. 10A is a diagram corresponding to FIG. 4B. Further, FIG. 10B is a diagram corresponding to FIG. 4C.

The assisting means 13 may be composed of a part of the arm portion 11. In this case, the arm portion 11 has the same suction means 17 as in FIG.

In the three-dimensional step of the peripheral wall portion S shown in FIG. 4, the two suction means 17 holding the peripheral wall portion S are moved in different directions (opposite directions), so that the two corner portions including the opposite side portions T are included. The suction means 17 is moved so that the angle α of 1 is 90 degrees or less and opens as close to 90 degrees as possible to end the three-dimensional process (FIGS. 4 (b) and 4 (c)). Proceed to the assistance process to complete.

On the other hand, in the present embodiment, as shown in FIGS. 10A and 10B, after the completion of the three-dimensionalization step, the suction means 17 holding the peripheral wall portion S is placed in the same direction as the three-dimensionalization step (opposite side). The angle β of the two corners including the portion T is slightly excessively moved (so that the angle β is larger than the angle α). As a result, the fitting of the bottom portion B is completed by a slight bending deformation of the one-touch box XA1 without contacting the bottom portion B (FIGS. (c) and (d)).

In this case, the suction means 17 of the arm portion 11 abuts on the peripheral wall portion S to perform a three-dimensional operation of three-dimensionalizing and an excessive operation of slightly moving in the same direction as the three-dimensional operation. That is, the suction means 17 that fits the bottom portion B by excessive operation can be said to be the assistance means 13 in the present embodiment.

FIG. 11 is a diagram showing another embodiment of the three-dimensional step of the peripheral wall portion S by the arm portion 11.

In the embodiment shown in FIGS. 3 to 10, instead of the suction means 17 provided on the arm portion (holding portion) 11, two three-dimensional peripheral wall portions S are opposed to each other or at diagonal positions. The gripping means 18 may be provided with a gripping portion 18A for gripping the corner portion (corner portion to be brought close to the three-dimensional portion). In this case, the arm portion 11 can move in the three-dimensional space as described above, but the gripping means 18 may also be independently movable up and down by an actuator (not shown) including an air cylinder or the like.

That is, as shown in FIG. 3A, the robot 12 moves the arm portion 11, and for example, the grip portion 18A of the gripping means 18 provided on the arm portion 11 folds the folded one-touch box XA1 in a mountain fold. The one-touch boxes XA1 are taken out one by one from the stocker 14 by grasping the facing side portions T (see FIG. 2).

After that, as shown in FIG. 11B, the gripping means 18 are moved in different directions (opposite directions). Further, as the gripping means 18 moves, the gripping portion 18 holding the one-touch box XA1 is opened. As a result, the peripheral wall portion S is three-dimensionalized so that the opposing side portions T are attracted to each other (FIG. (C)).

After that, the robot 12 moves the arm portion 11 while the gripping means 18 continues to grip the facing side portions T (the corner portions facing each other after being three-dimensionalized), and is shown in FIGS. 5, 7 to 9. In the same manner, the bottom portion B is pushed from the inside to the outside by the guide member 13A to complete the one-touch box XA1.

Further, in the embodiment in which the completion of the bottom portion B is assisted by the excessive movement shown in FIG. 10, the arm portion 11 includes the gripping means 18, and the bottom portion of the one-touch box XA1 is completed by the excessive movement of the gripping means 18. You may.

FIG. 12 is a diagram showing another embodiment of the three-dimensional step of the peripheral wall portion S by the arm portion 11, and FIG. 12A is a view of the folded one-touch box XA1 as viewed from above. b) is a perspective view of the assembled state.

In the example shown in FIG. 12, the arm portion 11 includes a suction means 19 capable of changing its shape. Specifically, the suction means 19 connects, for example, a flat plate-shaped first suction means (suction pad) 19A and a second suction means (suction pad) 19B so as to be openable and closable by fixtures 19C1 and 19C2 such as hinges. It was made to. Specifically, the first suction pad 19A is fixed to the first fixture 19C1, the second suction pad 19B is fixed to the second fixture 19C2, and is attached to the arm portion 11. Fixture 19C1 is rotatable with respect to the second fixture 19C2.

In this case, first, as shown in FIG. 6A, the robot 12 moves the arm portion 11 and opens the first suction pad 19A and the second suction pad 19B so as to be on the same plane. The suction pads 19A and 19B are sucked onto the two adjacent peripheral wall portions S of the folded one-touch box XA1.

After that, as shown in FIG. 6B, the robot 12 raises the arm portion 11 to lift the one-touch box XA1 and rotates the first suction pad 19A with respect to the second suction pad 19B. That is, the robot 12 rotates the second fixture 19C2 so that the second fixture 19C2 makes 90 degrees with respect to the first fixture 19C1. As a result, the second suction pad 19B rotates so as to form 90 degrees with respect to the first suction pad 19A, and as a result, the peripheral wall portion S of the one-touch box XA1 held by both of them becomes three-dimensional.

After that, the robot 12 moves the arm portion 11 holding the one-touch box XA1 and pushes the bottom portion B from the inside to the outside by the guide member 13A in the same manner as in the cases of FIGS. 5 and 7 to 9, and the one-touch box Complete XA1.

FIG. 13 is a diagram showing another embodiment of the three-dimensional step of the peripheral wall portion S by the arm portion 11.

In the present embodiment, for example, the peripheral wall portion S is three-dimensionalized while being brought into contact with the (fixed) contacting means 20 provided on the stage 16.

The contacting means 20 in the case of FIG. 13A has a base 20A0 fixed to the surface (conveying surface) 16S of the stage 16 and an inclined surface 20A1 inclined at a predetermined angle with respect to the surface 16S of the stage 16. It is a fixed inclination guide member 20A. The inclined surface 20A1 is inclined so that the tip portion is wider than the connecting portion with the base 20A0. Specifically, it is inclined at an angle that gradually approaches and intersects the movement locus of one side T of the one-touch box XA1 in the folded state.

Further, in this case, the arm portion 11 sucks and holds one surface of the folded one-touch box XA1 by the suction means 17 or the like, and the robot 12 moves so as to rotate the arm portion 11 along the inclined surface 20A1.

That is, the arm portion 11 (suction means 17) is moved (rotated) by the robot 12, and one side portion T is brought into pressure sliding contact with the inclined surface 20A1 to make the peripheral wall portion S three-dimensional. A vertical surface 20A2 is continuously provided below the inclined surface 20A1, and the vertical surface 20A2 and the surface 16S of the horizontal stage 16 are formed in an L shape. Then, by engaging the vertical surface 20A2 with the side portion T of the one-touch box XA1 on the surface 16S of the stage 16, the peripheral wall portion S can be stably three-dimensionalized.

After that, the robot 12 moves the arm portion 11 holding the one-touch box XA1 and pushes the bottom portion B from the inside to the outside by the guide member 13A in the same manner as in the cases of FIGS. 5 and 7 to 9, and the one-touch box Complete XA1.

Further, as shown in FIG. 3B, a claw-shaped contact means 20 (20B) is provided on the stage 16, and for example, the one-touch box XA1 in a folded state is laid down by a gripping means 18 or the like on the stage (conveying surface). ) 16 is pushed so that one side portion T is brought into contact with the abutting means 20B. After that, the peripheral wall portion S may be three-dimensionalized by pressing the one side portion T against the contact member 20B, grasping the other side portion T by the gripping means 18, and lifting it diagonally upward. ..

FIG. 14 is a diagram showing another embodiment of the three-dimensional step of the peripheral wall portion S by the arm portion 11.

In the present embodiment, for example, in a state where the movement of a part of the folded one-touch box XA1 which is placed on the stage (transport surface) 16 in a sideways state is restricted, a part of the peripheral wall portion S is used as another peripheral wall. By pulling it away from the portion S, the peripheral wall portion S is made three-dimensional.

For example, below the stage (conveying surface) 16, a holding means 22 that is separate from the arm portion 11 and holds a part of the one-touch box XA1 is provided. The holding means 22 has a suction means 22A that holds a part of the one-touch box XA1.

Specifically, as shown in FIG. 6A, the one-touch box is attached to the suction surface of the suction means 22A with the arm portion 11 sucking and holding one surface of the peripheral wall portion S of the one-touch box XA1 in the folded state by the suction means 17. The arm portion 11 (suction means 17) is moved so that the surface of the XA1 facing the stage 16 comes into contact with the stage 16.

When the arm portion 11 is stopped, the suction means 22A sucks and holds the surface of the one-touch box XA1 facing the stage 16 (FIG. (B)). In this state, the suction means 17 rotates obliquely upward with the circumferential length of the peripheral wall portion S in contact with the stage 16 and the peripheral wall portion S adjacent to the stage 16 as the radius of gyration while maintaining the direction (downward) of the suction surface. Moving. That is, in a state where the lower peripheral wall portion S shown in the figure is restricted from moving by the holding means 22, the upper peripheral wall portion S is separated and the opposite side portion T approaches, and the peripheral wall portion S of the one-touch box XA1 is three-dimensional. (Fig. (C)).

Next, the holding means 22 opens (releases suction) the one-touch box XA1.

After that, the robot 12 moves the arm portion 11 holding the one-touch box XA1 and pushes the bottom portion B from the inside to the outside by the guide member 13A in the same manner as in the cases of FIGS. 5 and 7 to 9, and the one-touch box Complete XA1.

The folded one-touch box XA1 is sucked and held by the suction means 17 and the holding means 22 of the arm portion 11, and the holding means is restricted by the suction means 17 from the movement of the peripheral wall portion S on the upper side of the one-touch box XA1. The configuration may be such that 22 is lowered.

Further, an opening may be provided in the stage 16 so that the holding means 22 is exposed from the opening when the one-touch box XA1 is moved onto the opening by the arm portion 11.

In FIGS. (D) and (e), as the holding means 22, a stopper 22B attached to the arm portion 11 (suction means 17 in this example) and slidable with respect to the arm portion 11 (suction means 17) is provided. This is an example.

As shown in FIG. 3D, the stopper 22B is composed of, for example, a slide member 22B1 slidable with respect to the suction means 17, a weight 22B2 fixed to the tip thereof, and the like. The weight 22B2 of the stopper 22 presses the lid F of the one-touch box XA1 while the suction means 17 of the arm portion 11 sucks and holds the peripheral wall portion S of the folded one-touch box XA1.

Then, as shown in FIG. 6E, when the suction means 17 is raised, the peripheral wall portion S held by the suction means 17 rises while the movement of the lid portion F is restricted, so that the one-touch box XA1 The peripheral wall portion S is three-dimensionalized.

After that, the robot 12 moves the arm portion 11 holding the one-touch box XA1 and pushes the bottom portion B from the inside to the outside by the guide member 13A in the same manner as in the cases of FIGS. 5 and 7 to 9, and the one-touch box Complete XA1.

Further, the three-dimensional operation of the three-dimensional step according to the embodiment of FIGS. 11 to 14 may be excessively operated as shown in FIG. 10 to fit the bottom portions.

FIG. 15 is a diagram showing another embodiment of the assisting means 13. FIG. 6 is a diagram showing an example of an assistance method (assistance step) in which the bottom portion B is completed by the assistance means 13 following the three-dimensionalization step shown in FIG.

As shown in FIG. 6A, as an example, the assisting means 13 in this case is a guide member (movable guide member) 13C provided so as to be movable during the transportation of the one-touch box XA1. The movable guide member 13C is composed of a guide member 13C0, a slider 13D attached to the guide member 13C0, and a rail 13E that movably supports the guide member 13C0. The assisting means 13 (movable guide member 13C) of this example is also provided during the transportation of the one-touch box XA1 by the robot 12.

The guide member 13C0 is, for example, a rod-shaped body that is bent so as to be in contact with the inside of the peripheral wall portion S and the bottom portion B of the three-dimensional one-touch box XA1. More specifically, the one-touch box XA1 extends in the height direction of the peripheral wall portion S from the support portion 13C1 to which the slider 13D is attached and one end of the support portion 13C1 (the end opposite to the attachment position of the slider 13D). A connecting portion 13C2 extending substantially perpendicular to the supporting portion 13C1 along the bottom portion B of the above, and a push-in portion protruding in the height direction of the peripheral wall portion S so as to further bend in a stepwise manner from the tip of the connecting portion 13C2. It has a part 13C3. The length of the connecting portion 13C2 is, for example, approximately 1/2 of the distance between the facing peripheral wall portions S (the distance between the rear surface continuous with the lid portion F of the one-touch box XA1 and the front surface facing the lid portion F). That is, when the support portion 13C1 abuts on the inside of the front surface of the one-touch box XA1, the push-in portion 13C3 is configured to abut on the substantially center position of the bottom portion B (see FIG. 3B).

The rail 13E is arranged so as to be inclined with respect to the reference surface (for example, the surface (transport surface) of the stage 16). Further, when the robot 12 is guided by the movable guide member 13C, the rail 13E is in an upright state (opening OP). The one-touch box XA1 in the state of facing upward is conveyed horizontally with respect to the reference surface (for example, the surface (conveyance surface) of the stage 16). The slider 13D is arranged so as to be inclined so that the upstream side is high and the downstream side is low, and the slider 13D can move along the rail 13E. The slider 13D is an urging means (for example, a tension spring) (not shown). The guide member 13C0 stands by at a predetermined position upstream of the rail 13E in a state where the guide member 13C0 does not assist the pushing of the bottom portion B. The urging force of the urging means is the robot. It is smaller than the transport capacity of the one-touch box XA1 by 12.

Subsequently, with reference to the figure, an example of an assistance method (assistance step) for completing the bottom portion B by the assistance means 13 will be described.

For example, following the three-dimensional step shown in FIG. 13 or FIG. 14 to be described later, as shown in FIG. 14A, the robot 12 sucks, for example, the peripheral wall portion S on the front surface of the one-touch box XA1 to make the one-touch box XA1. The opening OP is held so as to be obliquely upward, and is conveyed to the standby position of the movable guide member 13C (guide member 13C0).

Then, as shown in FIG. 3B, the robot 12 changes the posture of the one-touch box XA1 to an upright state (a state in which the opening OP faces upward) so that the guide member 13C0 is housed inside the one-touch box XA1. Then, the one-touch box XA1 is conveyed horizontally with respect to a reference surface (for example, a surface (conveyed surface) of the stage 16). That is, the one-touch box XA1 is sucked in the direction orthogonal to the suction surface (front surface) of the suction means 17 as shown by the broken line arrow, and is horizontally upstream with respect to the reference plane as shown by the solid line arrow (the figure (b)). ) Is transported from the right) to the downstream (left in the figure (b)).

When the one-touch box XA1 is conveyed in the direction of the solid arrow by the robot 12, the guide member 13C0 comes into contact with the inside of the one-touch box XA1. More specifically, the support portion 13C1 of the guide member 13C0 comes into contact with the inside of the peripheral wall portion S on the front surface.

As shown in FIG. 3C, the guide member 13C0 resists the urging force of the urging means of the slider 13D, and is conveyed by the slider 13D and the rail 13E in the conveying direction (indicated by the solid line arrow) as indicated by the alternate long and short dash arrow. It descends while tilting with respect to. As a result, the one-touch box XA1 is conveyed to the downstream side with the inside of the front surface in contact with the support portion 13C1. The bottom B of the one-touch box XA1 moves substantially horizontally with respect to the reference plane, but the guide member 13C0 inclines with respect to the reference plane and gradually descends, so that it is not in contact in the state of FIG. When the pushing portion 13C3 comes into contact with the bottom portion B and the transportation proceeds further, the bottom portion B (substantially central portion) is pushed by the pushing portion 13C3 so as to bend downward. Then, the fitting (embedding) is sufficient (in a locked state), and the one-touch box XA1 is completed.

In the example of FIG. 5, the pushing direction for fitting the bottom portion B is a direction orthogonal to the suction direction of the suction means 17 (a direction substantially parallel to the suction surface), and the suction means 17 and the suction surface (a direction substantially parallel to the suction surface) by pushing. The one-touch box XA1 may be displaced from the front surface and the rear surface of the peripheral wall portion S), resulting in insufficient holding and fitting of the bottom portion B.

However, in this example, since the suction direction of the suction means 17 (broken arrow) and the transport direction by the robot 12 (solid arrow) are the same direction and opposite directions, the suction means 17 does not deviate or separate from the suction surface. The bottom B can be reliably fitted.

The pushing portion 13C3 may protrude in the height (depth) direction of the peripheral wall portion S from the connecting portion 13C2 so that the bottom portion B can be pushed in, and as shown in the figure, the pushing portion 13C3 protrudes in a rod shape. However, it may be a sphere or a hemisphere attached to the tip of the connecting portion 13B.

Further, in the example shown in FIG. 15, an urging means for urging the guide 13 downward may be provided. When a force equal to or higher than a predetermined force is applied to the bottom B of the one-touch box by the guide 13, the one-touch box can be prevented from being damaged by raising the guide 13.
Other embodiments of the assisting means 13 will be described with reference to FIG. FIG. (A) is a front view showing the overall configuration of the assisting means 13, and FIGS. (B) to (d) are top views showing an example of the assisting process, and FIGS. (G) is a front view of FIGS. (B) to (d).

The assisting means 13 in this example is a movable bucket 13F of a bucket conveyor 31 using a linear motor. The movable bucket 13F is composed of a bucket 13F1 that holds the one-touch box XA1 and a mover 13F2 that moves the bucket 13F1.

A plurality of movers 13F2 are slidably provided on the base 32 (rails provided on the base 32), and buckets 13F1 standing vertically to the sliding surfaces thereof are fixed to each. The two adjacent movers 13F2 are arranged so that the two surfaces of the bucket 13F1 face each other to form a pair (one set) of movable buckets 13F, and a plurality of sets of movable buckets 13F are placed on the base 41. Be placed.

As shown in FIGS. 16 (a), 16 (b), and (e), the robot 12 is in a state where the three-dimensional process is completed or halfway (for example, FIGS. 4 (a) to 4 (a) to The one-touch box XA1 in the drawing (b) in which the bottom B is a parallelogram) is placed so that the bottom B faces the sliding surface of the mover 13F2 (with the opening OP facing upward). ) It is located between the pair of movable buckets 13F of the bucket conveyor 31. Further, the robot 12 moves in the same direction in synchronization with the bucket conveyor 31 for a predetermined period while holding the one-touch box XA1 by the suction means 17 (without opening it).

In this example, in order to deform (bend) the one-touch box XA1 and sufficiently fit the bottom portion B, the width W1 of the bucket 13F1 (the width in the direction orthogonal to the sliding direction (conveying direction)). Is shorter than the width W2 in the direction orthogonal to the transport direction of the one-touch box XA1, and the pair of buckets 13F1 are attached to the mover 13F2 by shifting the position of the end of the bucket 13F1 in the direction orthogonal to the transport direction of the one-touch box XA1. There is.

As shown in FIGS. 16 (a), 16 (c), and (f), when the one-touch box XA1 is arranged between a pair of movable buckets 13F, the set of movers 13F2 is placed in the one-touch box. The XA1 is sandwiched from both ends and moved so that the distance between them is relatively short (so that the opposite side portions T of the one-touch box XA1 are brought closer to each other). The set of movers 13F2 move until the distance between the buckets 13F1 sandwiching the one-touch box XA1 is smaller than, for example, the width W3 along the transport direction of the bucket conveyor 31 of the completed one-touch box XA1. At this time, the one-touch box XA1 continues to be held by the robot 12.

Then, the bottom B is fitted by sandwiching with a set of movable buckets 13F (excessive operation of sandwiching until it is smaller than the width of the completed one-touch box XA1) to complete the one-touch box XA1.

After that, as shown in FIGS. 16 (a), 16 (d), and (g), the robot 12 releases the suction of the one-touch box XA1 by the suction means 17, and the one-touch box XA1 is moved downstream by the bucket conveyor 5. Will be transported to.

In the present embodiment, when the one-touch box XA1 is sandwiched between the set of movers 13F2, the robot 12 holds the one-touch box XA1, so that the one-touch box XA1 is in a moving state (moved by the robot 12 and the bucket conveyor 51). This can be stabilized even in the present state), and the bottom portion B can be securely fitted.

In particular, when one set of movers 13F2 moves until it becomes smaller than the width along the transport direction of the bucket conveyor 31 of the one-touch box XA1 in the completed state, the above-mentioned excessive operation occurs, and for example, the elasticity of the material of the one-touch box XA1 becomes It is easy to escape from the bucket 13F1 by being flipped when it is strong. However, in the present embodiment, since the robot 12 holds the one-touch box XA1 during this period as well, the one-touch box XA1 does not escape from the bucket 13F1 and the bottom portion B can be securely fitted.

17 is a diagram showing another embodiment by the bucket conveyor 31 shown in FIG. 16, FIGS. (a) to (e) are top views, and FIGS. (F) to (j) are top views. It is a front view of the figure (a) to the figure (e).

The one-touch box XA1 may be three-dimensionalized and assisted by the bucket conveyor 31 while being held by the robot 12.

The assistance means 13 in this case is a pair of movable buckets 13F similar to those in FIG. In the movable bucket 13F of this example, each bucket 13F1 is attached to the mover 13F2 with the positions of the ends aligned in the direction orthogonal to the transport direction of the one-touch box XA1.

As shown in FIGS. (A) and (f), the robot 12 takes out the one-touch boxes XA1 from the stocker 14 one by one. Then, the one-touch box XA1 is held by the suction means 17 of the robot 12 and the suction means BQ different from the robot 12, and is in a position where it can be pulled in between a set of movable buckets 13F while standing upright with respect to the sliding surface. Deploy.

Then, as shown in the figure (a'), the one-touch box XA1 is held by the suction means 17 and another suction means BQ, and the suction means 17 is moved to the front (lower side of the figure) to move the one-touch box XA1. After opening, the suction of another suction means BQ is released. Then, the one-touch box XA1 in the middle of three-dimensionalization is guided by the bucket 13F1 on the upstream side, and the one-touch box XA1 is separated from another suction means in the direction orthogonal to the transport direction of the bucket conveyor while narrowing the distance between the pair of buckets 13F1. Move in the direction to make it three-dimensional.

As shown in FIGS. (B) and (g), when the one-touch box XA1 is arranged between a pair of movable buckets 13F, the set of movers 13F2 and the opposite side T of the one-touch box XA1 They come into contact with each other and move so that the distance between them is relatively short (so that the opposing side portions T of the one-touch box XA1 are brought closer to each other).

After that, as shown in FIGS. (C) and (h), the distance between the set of buckets 13F1 is moved until, for example, the width W3 along the transport direction of the bucket conveyor 31 of the completed one-touch box XA1 becomes equal. By doing so, the three-dimensional process of the one-touch box XA1 is completed. At this time, the one-touch box XA1 continues to be held by the robot 12.

After that, as shown in FIGS. (D) and (i), the robot 12 moves the one-touch box XA1 above the bucket 13F1. At this timing, the one-touch box XA1 protrudes from the bucket 13F1 in a direction orthogonal to the transport direction of the bucket conveyor 31, and is gripped by the tip of the bucket 13F1 in a state of being lifted upward. Then, by moving the suction means 17 relatively upstream with respect to the bucket 13F1, the opposite side T of the one-touch box XA1 is excessively operated in a direction closer to the bucket 13F1 to fit the bottom B into the one-touch box. Complete XA1.

Then, again, the robot 12 positions the one-touch box XA1 between the set of movable buckets 13F as shown in FIGS. (E) and (j), and after that (after the fitting of the bottom B is completed), the one-touch box XA1 To open. As a result, the completed one-touch box XA1 is conveyed downstream by the bucket conveyor 31.

In the figure (d) of this embodiment, in the set of movers 13F2, the distance of the bucket 13F1 sandwiching the one-touch box XA1 is, for example, the width along the transport direction of the bucket conveyor 31 of the completed one-touch box XA1. The bottom B is fitted by moving until it is smaller than W3, that is, by the excessive operation of sandwiching the one-touch box XA1 in the completed state by a set of movable buckets 13F until it is smaller than the width of the completed one-touch box XA1, and the one-touch box XA1 is completed. You may.

Further, in the embodiment shown in FIGS. 16 and 17, the timing after the robot 12 arranges the one-touch box XA1 between the movable buckets 13F1 (before the bottom B is completed) (for example, FIG. 16C or earlier). At the timing of FIG. 17B or earlier), the suction of the one-touch box XA1 by the suction means 17 may be released.

Further, in the embodiment shown in FIGS. 16 and 17, the bucket conveyor using the linear motor may be used as the bucket conveyor of the boxing device.
The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea. That is, in the above embodiment, the position, size, length, shape, material, orientation, etc. of each configuration can be appropriately changed.

For example, the supply method of the one-touch box XA1 is not limited to the configuration shown in FIG. 1, and for example, the one-touch box XA1 may be supplied one by one from the upstream process to the standby position of the arm portion 11. Specifically, the folded one-touch boxes that are laid down by the upstream transport means and transported one by one by the transport means may be held by suction or the like. In this case, the one-touch box XA1 may be randomly supplied.

Further, the peripheral wall portion S may be three-dimensionalized by a known method other than the above example.

Further, the method of assembling the peripheral wall portion S of the above embodiment and the method of assisting the completion of the bottom portion B by the assisting means can be appropriately selected and combined.

Further, the assisting means is not limited to the above example as long as it stands by during the transportation of the one-touch box XA1 by the robot 12 and assists the completion of the bottom portion B by the operation during the transportation of the robot 12.

Further, although not shown, the robot 12 may be a single-arm robot provided with a hand portion (holding portion) capable of three-dimensional operation. In this case, the hand portion holds the one-touch box XA1 and provides predetermined means (for example, a plurality of suction means and gripping means capable of three-dimensional operation each) capable of making the peripheral wall portion S three-dimensional. It may be provided.

Further, the boxing device may supply the article into the box in a state where the peripheral wall portion S of the one-touch box XA1 is three-dimensionalized and the box is laid on its side so that the opening is on the side.

10 Assembly device 11 Arm part 12 Robot 13 Assistance means 13A Guide member 13B Suction means (suction nozzle)
14 Stocker 15 Stopper 16 Stage 17 Suction means 18 Suction means 19 Suction means 19A Suction pad 19B Suction pad 19C1 Fixing tool 19C2 Fixing tool 20 Fixing part 20 Contacting means 20A Contacting means (fixed tilt guide member)
20A0 Base 20A1 Inclined surface 20A2 Vertical surface 20B Contact means 22 Holding means 22A Suction means 22B Stopper 22B1 Slide member 22B2 Weight 30 Fixed part B Bottom part F Lid part OP Opening part S Peripheral wall part T Side part XA1 Box body (one-touch box)

Claims (7)

It is an assembly device that assembles a box body that is configured so that the bottoms can be combined by opening from the folded state and making the peripheral wall part three-dimensional, while transporting it.
A holding portion for holding the box body and
A robot that moves the holding portion in a three-dimensional space and conveys the box body toward a downstream process.
During the transportation of the box body by the robot, the bottom portion of the box body is fitted so as to be able to come into contact with the bottom portion, and an assisting means for assisting the completion of the bottom portion.
A stopper provided on the holding portion to regulate the displacement of the box body in the direction of action of the force by the assisting means, and
Have,
An assembly device characterized by that. The assisting means waits at a predetermined position during transportation of the box body to assist the completion of the bottom portion.
The assembly device according to claim 1. The assisting means is a guide member that is fixed during transportation of the box body and can come into contact with the inside of the bottom portion of the box body.
The assembly apparatus according to claim 1 or 2. The assisting means is a suction means that abuts on the bottom and sucks from the outside.
The assembly apparatus according to claim 1 or 2. It is an assembly method in which a box body configured so that the bottoms can be combined by opening from the folded state and three-dimensionalizing the peripheral wall portion is assembled while being conveyed by a robot having a holding portion.
A transport step in which the box body is held by the holding portion, and the holding portion is moved in a three-dimensional space by the robot to send the box body to a downstream process.
During the transporting process, an assisting step of assisting the completion of the bottom portion by bringing the assisting means into contact with the bottom portion of the box body and fitting them together .
A step of regulating the misalignment of the box body in the direction of action of the force by the assisting means by the stopper provided on the holding portion, and
Have,
An assembly method characterized by that. The assisting step includes a step of bringing a guide member fixed during transportation of the box body into contact with the inside of the bottom portion of the box body.
The assembly method according to claim 5, characterized in that. The assistance step includes a step of sucking from outside by contact with the bottom portion,
The assembly method according to claim 5, characterized in that.

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