JP6832802B2 - Box making / boxing device - Google Patents

Description

The present invention relates to a box-making / packing device for mechanically manufacturing a box in an unfolded state and accommodating an article.

Conventionally, an article is gripped by an article gripping means attached to an arm of a working robot, and the box (blank sheet) in an unfolded state is pushed down by the article gripping means while being gripped, thereby forming the article into a box shape. A wrap-round wrapping device for packaging is known (see, for example, Patent Document 1).

Further, it is a boxing device that packs a boxed product in a container installed separately from the product, and attracts the product to an arm member that swivels between the upper part of the boxed product and the upper part of the container that houses the product. A so-called rotary boxing device that supports a support member provided with a suction pad so as to be able to move up and down is also known (see, for example, Patent Document 2).

Japanese Patent No. 3047530 Japanese Unexamined Patent Publication No. 9-301307

However, the working robot described in Patent Document 1 is a single-arm robot, and since the arm is reciprocated or rotated to grip an article, form a blank sheet, and store an article, there is a problem of poor work efficiency. There is. In addition, when the arm is operated at high speed, the inertial force or moment of inertia (inertia) of the arm becomes large, and the article may be dropped during transportation, so that packaging (boxing) may not be performed reliably. , There was a limit to speeding up the packaging (boxing) work.

On the other hand, the boxing device described in Patent Document 2 is composed of an arm member that swivels between the upper part of the product to be boxed and the upper part of the container that houses the product, and a support member attached to the arm member. It is a double-armed robot that holds and stores goods), and can improve work efficiency compared to a single-armed robot. However, in the boxing device, it is necessary to assemble a container (cardboard box) for accommodating products by a device different from the boxing device. For this reason, there is a problem that the size of the entire device from assembling the container to packing the product in the container becomes large and the work becomes complicated.

Further, in the boxing device described in Patent Document 2, the support member that sucks and turns the product is also lifted and lowered by the lifting mechanism, but the support member and the lifting mechanism are configured to be disengaged and engaged as necessary. ing. For this reason, it is essential to disengage and engage the support member and the elevating mechanism each time when the product is held or stored in the container, and complicated control such as timing adjustment and alignment and a mechanism (configuration) for that purpose are required. ) Was required.

The present invention has been made in view of the above problems, and has realized stable, reliable, and efficient storage of a box in an unfolded state and storage of an article in the box, and space saving. The purpose is to provide a box-making / boxing device.

(1) In the present invention, a first transport means for transporting an article, a second transport means for transporting a box in an unfolded state, and a box in which a side surface portion of the box is erected by passing through the box in the unfolded state. The article holding hand includes a portion and a plurality of article holding hands that can move intermittently in a horizontal plane and move up and down in a vertical direction, and each of the article holding hands holds the article conveyed by the first conveying means. It is possible to carry out a holding operation and a box-making and accommodating operation in which the unfolded box conveyed by the second conveying means is pushed down at the box-raising portion to produce a box, and the article is accommodated in the box. The holding operation by one of the article holding hands and the box-making and accommodating operation by the other article holding hand are configured to be executed in parallel for at least a part of the period, and each of the article holding hands is configured. The box-making / box-packing device is characterized by having a guide portion for assisting box-making by contacting or approaching the article and partially contacting the box during the box-making and accommodating operation.

(2) The present invention also includes an elevating mechanism for raising and lowering the article holding hand and a rotating mechanism for rotating and moving the article holding hand, and the elevating mechanism rotates and moves integrally with the rotating mechanism. The box-making / boxing device according to (1) above.

(3) The box-making / boxing according to (1) or (2) above, wherein the present invention also includes at least a position adjusting means capable of adjusting the lower limit position of the article holding hand in the holding operation. It is a device.

(4) In the present invention, the article holding hand also has a holding portion for holding the article, a support portion, a connecting portion for connecting the holding portion and the supporting portion, and the holding portion with respect to the connecting portion. The box-making / boxing device according to any one of (1) to (3) above, wherein the box-making / boxing device is provided with a buffering means for allowing the crab to move relatively in the vertical direction.

(5) The production according to any one of (1) to (4) above , wherein the guide portion abuts on the crease line of the box during the box-making and accommodating operation. It is a box / box packing device.

According to the present invention, it is possible to provide a box-making / box-packing device that stably and reliably and efficiently stores a box in an unfolded state and stores an article in the box, and realizes space saving. it can.

It is a top view of (A) the boxing apparatus and (B) the top view of the accommodating means extracted in the embodiment of the present invention. It is a figure which shows the cushioning box in embodiment of this invention, (A) the top view of the expanded state, (B) (A) the back side top view, (C), (D) the external perspective view in the process of assembling, (E) It is an external perspective view after assembly. It is (A) top view and (B) side view which shows the temporary folding unit in embodiment of this invention. It is (A) top view and (B) side view which shows the temporary folding unit in embodiment of this invention. It is (A) side view and (B) top view which shows the temporary folding unit in embodiment of this invention. It is a front view which shows the whole of (A) the box making unit in embodiment of this invention, and (B) is the front view which shows the boxing unit extracted. It is a side sectional view which shows the outline of the accommodating means in embodiment of this invention. It is a top view which shows the outline of the accommodating means in embodiment of this invention, (A) AA line arrow view of FIG. 7, (B) BB line arrow view of FIG. It is (A) front view, (B) top view, (C) sectional view which shows the article holding hand in embodiment of this invention. It is (A) front view and (B) side view which shows the article holding hand in embodiment of this invention. It is (A) side view, (B) top view, (C)-(E) side view which shows the boxing unit in embodiment of this invention. It is a figure which shows another example of the folding guide in embodiment of this invention. It is a front view which shows the box making / boxing unit in embodiment of this invention. It is a front view which shows the box making / boxing unit in embodiment of this invention. It is (A) top view and (B)-(G) side view which show the sealing unit in embodiment of this invention.

Hereinafter, the boxing device 1 according to the embodiment of the present invention will be described in detail with reference to the drawings.

<Overall configuration>
First, the configuration of the boxing device 1 of the present embodiment will be described with reference to FIG. FIG. 1A is a top view of the boxing device 1, and FIG. 1B is a top view showing the accommodating means extracted. In this drawing and each of the following drawings, some configurations will be omitted as appropriate to simplify the drawings. Then, in this drawing and each subsequent drawing, the size, shape, thickness, etc. of the member are appropriately exaggerated and expressed.

The boxing device 1 of the present embodiment is a device for storing and sealing the article XA1 by raising the side plate while transporting the unfolded (folded flatly and before assembling) shock absorber YA1. The transport means 10, the supply means 2 of the buffer box YA1, the box making means 3, the accommodating means 6, the box sealing means 7, various sensors (not shown), the control unit (not shown), and the like. Has. In the following embodiment, a case where the article XA1 housed in the buffer box YA1 is an egg (boiled egg) will be described as an example.

The transport means 10 includes, for example, a first transport means 10A, a second transport means 10B, and a third transport means 10C. In this example, the first transport means 10A is a finger conveyor, the second transport means 10B is a pusher device, and the third transport means 10C is a bucket conveyor. The first transporting means 10A is a transporting means of the box-making means 3, and the second transporting means 10B is a transporting means for positioning the front and rear of the buffer box YA1 discharged from the box-making means 3 and sending it to the box-sealing means 7. In the following description, the width direction of the transport surface (vertical direction in FIG. 1) orthogonal to the transport direction L is transported with reference to the transport direction L (horizontal direction in FIG. 1) of the buffer box YA1 in the first transport means 10A. The width direction W is defined, and the direction perpendicular to the transport surface is the transport height direction H.

The buffer box supply means 2 is, for example, a hopper 2 of the buffer box YA1, a stocker 21 for stocking the deployed buffer box YA1 in an upright position, and a holding means for the buffer box YA1 for taking out the buffer box YA1 from the stocker 21. It has a buffer box holding hand) 22. In this example, the buffer box holding hand 22 is a suction hand that holds the buffer box YA1 by the suction means, but it may be a hand that holds (grasps) the buffer box YA1. The hopper 2 takes out the buffer boxes YA1 developed from the stocker 21 one by one, and supplies the buffer boxes YA1 on the transport means 10 (first transport means 10) in a flatly folded state.

The box-making means 3 is a box-making unit (or a box-making device) 3 in which the developed buffer box YA1 is three-dimensionalized into a box body, and the first transport means 10A, the temporary folding means 4, and the box-raising means 5 Etc.

The temporary folding means 4 is provided on the upstream side of the boxing means 5, and is a temporary folding unit (temporary folding unit) that temporarily folds the deployed buffer box YA1 supplied on the first transport means 10A by the hopper 2 along a predetermined crease. The first folding guide 41 (first guide means), which is a temporary folding device and is a guide means for temporary folding, and the second folding guide 42 (first guide means), which is another guide means for temporary folding. It has two guide means (not shown in FIG. 1), a driving means for the second folding guide 42, and the like.

The boxing means 5 is a boxing unit (also a boxing device) 5 for hoisting a side plate (described later) of a temporarily folded shock absorber box YA1 and making it three-dimensional into a box body, and accurately hoisting the box. The third fold guide 51 (not shown in FIG. 1), which is another guide means for performing the boxing, and the fourth fold guide 52 (not shown in FIG. 1), which is yet another guide means for accurate boxing. ) Etc.

The accommodating means 6 is, for example, a rotary accommodating robot 6 that holds the article XA1 and accommodates the article XA1 in the boxed buffer box YA1, and is a flat surface (on the conveying surface of the conveying means 10) as shown in FIG. A disk-shaped base (rotating base portion) 61 that rotates and moves in a horizontal plane) is attached so as to extend in the direction perpendicular to the base 61 (transport height direction H), and at the same time in the vertical direction (transport height). It has a plurality of (two in this example) article holding means (article holding hand 62) that can be moved in the vertical direction H). The accommodating means 6 will be described in detail later.

The article XA1 is transferred from a predetermined position to the position of the accommodation robot 6 by the transfer means 60. The transfer means 60 is, for example, a servo loop conveyor that circulates and moves a plurality of buckets 601. In this example, one article XA1 (egg) is placed on each bucket 601. Although not shown, the article XA1 of each bucket 601 is, for example, taken out from a stocker or the like by a worker at a predetermined position and placed on each bucket 601. However, each bucket 601 is automatically placed by another supply means or the like. The article XA1 may be placed on the surface.

The above-mentioned box-making unit 3, the accommodation robot 6, and the transfer means 60 constitute a box-making / boxing device (unit) 30. That is, the box-making / boxing device (unit) 30 of the present embodiment has a transfer means 60 (first transport means) for transporting the article XA1 and a first transport means 10A (second transport means) for transporting the buffer box YA1 in the deployed state. The transporting means), the boxing unit 5 (boxing section) that raises the side plate (described later) of the buffer box YA1 by passing through the unfolded box YA1, and the boxing unit 5 (boxing portion) that intermittently rotates and moves in the horizontal plane. It includes a plurality of article holding hands 62 that can be raised and lowered in the vertical direction.

Then, each of the plurality of article holding hands 62 pushes down the holding operation of holding the article XA1 conveyed by the transfer means 60 and the unfolded buffer box YA1 conveyed by the first transfer means 10A in the boxing unit 5. It is possible to carry out the box-making and housing operation of storing the article XA1 in the box-made buffer box YA1. Then, the holding operation by one article holding hand 62 and the box-making and accommodating operation by the other article holding hand 62 are executed in parallel for at least a part of the period.

That is, in the accommodating robot 6, for example, in the lowering operation, one article holding hand 62 sucks and holds the article XA1 from the transfer means (servo loop conveyor) 60 (holds the article XA1), and the other article holding hand 62 sucks and holds the article XA1. The article XA1 is stored in the container and the box is manufactured (the box-making storage operation is performed).

Specifically, in the accommodation robot 6, one of the plurality of article holding hands 62 is located directly above a part of the article XA1 transferred by the transfer means 60, and the other one is directly above the boxing unit 5. For example, it is arranged at the position of the broken line in the figure (A) so as to be located. Each article holding hand 62 descends on the transport means 60 to hold the article XA1 in the bucket 601 and rises to take out the article XA1 (performs a holding operation). Then, for example, the base 61 is rotated by, for example, 180 degrees in the counterclockwise direction shown in the figure, and temporarily stopped and lowered above the boxing unit 5. The rotation speed of the base 61 is, for example, 32 rotations / minute. The article holding hand 62 holds the article XA1 and pushes the buffer box YA1 downward while accommodating the article XA1 in the buffer box YA1 waiting in the boxing unit 5, and releases the article XA1 at a predetermined position below. .. The buffer box YA1 is opened by pushing the article holding hand 62 downward, and the article XA1 is accommodated in the box (the box-making accommodating operation is performed). That is, a part of the accommodating robot 6 (article holding hand 62) also functions as a part of the boxing unit 5.

Then, the operation timing of each article holding hand 62 is set so that the holding operation by one article holding hand 62 and the box-making and accommodating operation by the other article holding hand 62 are executed in parallel at least for a part of the period. Set.

The sealing means 7 is a sealing unit (or sealing device) that closes and adheres the lid (cover plate) 107 by applying an adhesive to a part of the main body 101 of the buffer box YA1 in which the article XA1 is housed. It has a third transport means 10C, an adhesive application unit 8, a pressing means 9 for pressing the lid surface plate 107, and the like. For example, the pressing means 9 pulls the lid surface plate 107 of the buffer box YA1 into the roller 91 while pressing the plurality of rollers 91 (91A, 91B) that abut and press the lid surface plate 107 upstream of the roller 91. It has holding means 92 and the like.

<Cushion box>
The buffer box YA1 of the present embodiment will be described with reference to FIG. FIG. 3A is a top view (plan view) of the inner surface of the unfolded (flatly folded state) buffer box YA1, and FIG. 3B is the back side of FIG. It is a top view (plan view) of the outer surface of the buffer box YA1, and the drawings (C) and (D) are external perspective views of the shock absorber YA1 during assembly (raising). E) is an external perspective view of the shock absorber box YA1 after assembly. The article (egg) XA1 housed in FIG. 2 is not shown.

The buffer box YA1 is, for example, a paper box (buffer paper box) in which a crease line is formed in advance and can be folded or creases by the box making unit 3, and is a main body for accommodating an article (egg) XA1. The main body 101 has a 101 and a lid face plate 107, and the main body 101 includes a bottom plate 102 (outer bottom plate 102A, inner bottom plate 102B), a holding plate 103 (front holding plate 103A, rear holding plate 103B), and a side auxiliary plate 104. (104A to 104F), a side plate 105 (front side plate 105A, rear side plate 105B), and a glue margin plate 106 (front glue margin plate 106A, rear glue margin plate 106B).

Further, the holding plate 103 is provided with a hole (holding hole (article holding hole) 1031) capable of holding the article XA1 in the central portion. In the buffer box YA1, the article XA1 is held in a predetermined position in the box by fitting the article XA1 into the holding hole 1031. In this example, one article (egg) is fitted by fitting the article (egg) XA1 into a set of holding holes 1031 arranged to face each other at the top and bottom of the figure (A) and to the left and right of the figure (C). Holds XA1. That is, the buffer box YA1 shown in the figure can accommodate two (two) articles XA1 in one box. However, the number of articles XA1 to be accommodated is not limited to this, and may be one or three or more.

In this embodiment, as an example, the side of the buffer box YA1 where the lid plate 107 is not provided (the lower side in the figure (A) and the figure (B), and the lower side in the figure (C) to the figure (E)). The left side) is referred to as "front", and the side facing "front" (upper side in the figure (A), right side in the figures (C) to (E)) is referred to as "rear". And "backward" are for convenience of explanation and may be interchanged.

In the unfolded state, the side plate 105 and the holding plate 103 are folded so that the front side and the rear side overlap each other before assembly (FIG. (A)).

The outer lid surface plate 107, the front side surface plate 105A, the outer bottom surface plate 102A, the rear side surface plate 105B, and the side surface auxiliary plate 104 of the main body 101 constitute an outer surface 101A whose appearance can be visually recognized when the box is made and the lid is closed. Further, the front glue margin plate 106A, the front holding plate 103A, the inner bottom plate 102B, the rear holding plate 103B, and the rear glue margin plate 106B (and the inner lid surface plate 107) of the main body 101 are invisible when the box is made and the lid is closed. Alternatively, it constitutes an inner surface 101B that is difficult to see.

Specifically, as shown in FIG. 3A, the inner side surface 101B has a front glue margin plate 106A and a front holding plate 106A along a first direction from the front side to the rear side (from the lower side to the upper side in the drawing) in the deployed state. The plate 103A, the inner bottom plate 102B, the rear holding plate 103B, the rear glue margin plate 106B, and the lid surface plate 107 are connected in this order via the crease lines a, b, c, d, and h between them. ..

Further, as shown in FIG. 3B, the outer surface 101A has a front side plate 105A and an outer bottom plate 102A along the first direction from the front side to the rear side (from the lower side to the upper side in the drawing) in the deployed state. , The rear side plate 105B and the lid plate 107 are connected in this order via the crease lines f, g, and h between them.

Further, side auxiliary plates 104A and 104D are continuously provided on both sides of the front side plate 105A along the second direction (direction orthogonal to the first direction) via the crease lines i and l, respectively, and the outer bottom plate 102A is the first. Side auxiliary plates 104B and 104E are continuously provided on both sides along the two directions via crease lines j and m, respectively, and side auxiliary plates 104C and 104F are provided on both sides along the second direction of the rear side plate 105B. It is serialized via k and n. The length of the third direction BH of the side auxiliary plates 104 (104A to 104F) is shorter than the length of the third direction BH of the side plate 105, whereby the article (egg) XA1 can be placed when the box is made and the lid is closed. It is visible (see FIGS. 15 (D) to 15 (F)).

At both ends of the outer side surface 101A and the inner side surface 101B, the front side surface plate 105A and the front glue margin plate 106A are connected via the crease line e, and the rear glue margin plate 106B and the rear side surface plate 105B are connected via the crease line h. It is connected.

Then, when the crease lines a to h are folded and boxed so that the front holding plate 103A and the rear holding plate 103B face each other in an upright state (FIGS. (C) to (D)), the article (egg). ) The box is manufactured so that the XA1 can be accommodated.

In the following description, as shown in FIG. (E), the depth (thickness direction) is set to the first direction BD and the first direction as an absolute direction regardless of the direction during transportation in the box-made and three-dimensional buffer box YA1. The width direction orthogonal to the unidirectional BD will be described as the second direction BW, and the height direction orthogonal to any of the first direction BD and the second direction BW will be described as the third direction BH. In the example of the figure, one article (egg) XA1 is held by the holding holes 1031 facing each other in the first direction BD so that the first direction BD is in the major axis direction. Further, the buffer box YA1 in the figure can accommodate two articles XA1 in one box, and two articles XA1 are accommodated side by side along the second direction BW.

The front holding plate 103A and the rear holding plate 103B stand up from the inner bottom plate 102B, and the front side plate 105A and the rear side plate 105B stand up from the outer bottom plate 102A. That is, the inner bottom plate 102B has a smaller length in the first direction BD than the outer bottom plate 102A, and the front holding plate 103A and the front side plate 105A, and the rear holding plate 103B and the rear side plate 105B are the inner bottom plates, respectively. It is separated by half the difference between the 102B and the outer bottom plate 102A in the first direction BD. Further, the front glue margin plate 106A and the rear glue margin plate 106B are arranged so as to face the outer bottom plate 102A that does not overlap with the inner bottom plate 102B. As a result, a hollow structure cushioning portion 108 (front buffering portion 108A, rear buffering portion 108B) capable of buffering the external force related to the article XA1 is created between the holding plate 103 and the side plate 105.

By holding the article XA1 in the holding plate 103 (holding hole 1031) while opening the buffer box YA1, the article XA1 has a holding hole in the state after the boxing (FIGS. (D) and (E)). It is supported only by 1031 and is in a non-contact state with any of the bottom plate 102, the side plate 105, and the lid plate 107. As a result, the impact from the outside of the main body 101 (impact received during normal transportation, display, etc.) can be alleviated, and the box body is suitable for accommodating a fragile article XA1 such as a boiled egg.

<Box making unit / Temporary folding unit>
The details of the box making unit 3 will be described with reference to FIGS. 3 to 6.

FIG. 3 is a diagram showing a state in which the buffer box YA1 deployed from the hopper 2 to the box making unit 3 is supplied. FIG. 3A is a top view, and FIG. 3B is an upstream side (FIG. 3 (A). It is a side view seen from the left side of)).

Further, FIG. 4 is a diagram showing a state after the buffer box YA1 is supplied onto the first transport means 10A, in which FIG. 4A is a top view and FIG. 4B is an upstream side (FIG. 4A). It is a side view seen from the left side) of).

Further, FIG. 5 is an enlarged view of the vicinity of the buffer box YA1 in the temporary folding unit 4, and FIG. 5 (A) is an enlarged view of FIG. 4 (B) in a state where the temporary folding unit 4 is temporarily folded. ) Is a top view of the figure (A). Further, FIG. 6 is a front view of the box making unit 3 as viewed from the transfer means 60 side (lower side of FIG. 1).

As shown in FIGS. 3 to 6, the first transport means 10A of the box making unit 3 is hung on a plurality of sprockets 11 including sprockets 11 arranged before and after the transport direction L, and the plurality of sprockets 11. It has an endless chain 12, a plurality of push fingers 13 attached to the endless chain 12 at predetermined pitch intervals, a rail 15 serving as a transport surface of the buffer box YA1 and the like. As a result, when the pushing finger 13 abuts at the rear portion of the buffer box YA1 in the traveling direction, the buffer box YA1 also moves forward on the rail 15 as the pushing finger 13 moves.

As shown in FIG. 3, the cushioning box holding hand 22 of the hopper 2 is configured to be swingable around the joint portion of the arm 23 or to be movable in the three axial directions, and is deployed. The buffer box YA1 is sucked and held from the stocker 21 that stocks the buffer box YA1 in an upright state, and is supplied one by one to the supply position P0 of the first transport means 10A (the supply position P0 of the temporary folding unit 4). The buffer box holding hand 22 supplies the buffer box YA1 to the supply position P0 so that the second direction BW of the buffer box YA1 is along the transport direction L, and the buffer box YA1 is transported so that its second direction BW is along the transport direction L. (See FIG. 4 (A)).

The temporary folding unit 4 has a first folding guide 41 (first guide means), a second folding guide 42 (second guide means), and driving means for these (see FIG. 3). The first folding guide 41 is a claw portion attached to the buffer box holding hand 22 of the hopper 2, and moves integrally with the cushioning box holding hand 22, and at the supply position P0 of the temporary folding unit 4, the cushioning box Temporary folding (temporary folding to make it easier to bend the side plate 105 by moving in the vertical direction relative to the holding hand 22 and contacting the vicinity of the boundary between the bottom plate 102 and the side plate 105 of the buffer box YA1 from the inner side surface 101B side. Folding guide).

The second folding guide 42 is a plate member configured so as to be able to advance and retreat from the lower side of the rail 15 toward the upper side of the rail 15, and is outside the side plate 105 of the buffer box YA1 in synchronization with the operation of the first folding guide 41. Temporary folding (bending guide) is performed to make the side plate 105 easier to bend by contacting from the side surface 101A side.

As shown in FIG. 5A, the second folding guide 42 has a side surface 42A at the upper ends of the side surface 42A and the side surface 42A which are erected perpendicularly to the rail 15 so that the opening becomes larger toward the upper side. It has an inclined surface 42B that is inclined with respect to a predetermined angle. The side surface 42A and the inclined surface 42B are arranged to face each other on both sides of the rail 15 so as to correspond to the side plate 105 of the buffer box YA1. The distance between the side surfaces 42A arranged to face each other (distance in the transport width direction W) is such that the boxed buffer box YA1 can be accepted and the side plate 105 of the buffer box YA1 can be brought into contact with the buffer box YA1. It is set slightly larger than the distance between the side plates 105 of.

Further, auxiliary side surfaces 42C are provided at both ends of the inclined surface 42B along the transport direction L. The auxiliary side surfaces 42C are arranged to face each other corresponding to the side surface auxiliary plates 104A, 104C, 104D, 104F of the buffer box YA1. Distance between auxiliary side surfaces 42C (for example, auxiliary side surfaces 42C corresponding to side surface auxiliary plates 104A and 104D) arranged to face each other on one inclined surface 42B (for example, the left side in FIG. 5A) (distance in transport direction L). Is slightly smaller than the distance of the second direction BW of the side plate 105 of the buffer box YA1 so as to be able to accept the boxed buffer box YA1 and to be in contact with the side auxiliary plates 104A and 104D of the buffer box YA1. It is set large.

Further, the distance between the auxiliary side surfaces 42C (for example, the auxiliary side surfaces 42C corresponding to the side surface auxiliary plates 104C and 104F) arranged to face each other on the other inclined surface 42B (for example, the right side in FIG. 5A) (in the transport direction L). The distance) is greater than the distance of the side plate 105 of the buffer box YA1 in the second direction BW so that the boxed buffer box YA1 can be accepted and the side auxiliary plates 104C and 104F of the buffer box YA1 can be brought into contact with each other. It is set slightly larger.

The open end of the auxiliary side surface 42C is arranged so as to project upward from the open end of the inclined surface 42B, and the side surface auxiliary plates 104A, 104C, 104D, and 104F are bent before the side plate 105.

The first folding guide 41 provided on the buffer box holding hand 22 extends in the axial direction of the buffer box holding hand 22, and its tip is positioned substantially in the same plane as, for example, the suction surface of the buffer box holding hand 22. It is fixed to do.

On the other hand, the second folding guide 42 is configured to be movable in the vertical direction with respect to the rail 15 by the driving means 43 (for example, the crank mechanism shown in FIG. 6A), and before the buffer box YA1 is supplied, the second folding guide 42 is configured to be movable in the vertical direction. The inclined surface 42B is retracted below the rail 15 so as not to protrude from the rail 15, and when the first folding guide 41 descends, the inclined surface 42B rises so as to project above the rail 15 in synchronization with this (FIG. 4). reference). As a result, the buffer box YA1 is temporarily folded so as to be sandwiched between the first folding guide 41 and the second folding guide 42.

As shown in FIGS. 4A and 5, a plurality of first folding guides 41 are provided near the corners of the buffer box holding hand 22 (4 locations in this example), and the positions are the supply positions. It is set at a position where it comes into contact with the crease line g and the crease line f of the unfolded buffer box YA1 placed on P0 from the inner side surface 101B side via the holding hole 1031. As described above, the crease line g and the crease line f are the boundaries between the side plate 105 and the bottom plate 102, and are located outside the crease line b and the crease line c which are the boundaries between the holding plate 103 and the bottom plate 102.

Further, the rail 15 of the first transport means 10A has a length (width) of the transport width direction W as a distance between the front side plate 105A and the rear side plate 105B of the buffer box YA1 (distance in the first direction BD). That is, it is smaller than the distance between the crease lines g and f. Further, the distance between the facing side surfaces 42A of the second folding guide 42 is larger than the length of the rail 15 in the transport width direction W.

Then, the buffer box holding hand 22 puts the buffer box YA1 on the rail 15 so that the center of the transport direction L of the rail 15 coincides with the center of the bottom plate 102 in the second direction BW of the buffer box YA1 at the supply position P0. Place it.

That is, in the buffer box YA1 at the supply position P0, there is nothing to support below the crease line g and the crease line f, and the cushion box YA1 is placed on the rail 15 so as to be in a hollow state. Then, in this state, the first folding guide 41 abuts two points on the crease line g and two points on the crease line f from the inner side surface 101B of the buffer box YA1, and pushes the crease line g and the crease line f downward. put out. At the same time, the inclined surfaces 42B of the second folding guide 42 rise from both sides of the rail 15 in the transport width direction W.

As a result, the outer side of the side plate 105 of the buffer box YA1 is in contact with and supported by the inclined surface 42B of the second folding guide 42, and the vicinity of the boundary between the side plate 105 of the buffer box YA1 and the bottom plate 102 (crease line g). And the crease line f and its vicinity) are sandwiched between the tip of the first fold guide 41 and the side surface 42A of the second fold guide 42, whereby the crease line g and the crease line f are temporarily folded.

Further, when the second folding guide 42 is raised and the outside of the side plate 105 is in contact with and supported by the inclined surface 42B of the second folding guide 42, the side auxiliary plates 104A, 104C, 104D, 104F of the buffer box YA1 , It is pushed up from the lower side by the auxiliary side surface 42C, and the crease lines i, k, l, and n are temporarily folded in the same manner.

As described above, in the present embodiment, the first folding guide 41 and the second folding guide that abut on the vicinity of the boundary between the bottom plate 102 and the side plate 105 to guide the temporary folding of the side plate 105 prior to the standing of the side plate 105. Since the temporary folding unit 4 having 42 is used for temporary folding, when the article (egg) XA1 is housed in the downstream boxing unit 5 described in detail later, the holding plate 103 can be boxed while avoiding bending.

The buffer box holding hand 22 temporarily stops the buffer box YA1 at the supply position P0, and does not open the buffer box YA1 until the temporary folding of the first folding guide 41 is completed. That is, during the temporary folding, the buffer box holding hand 22 also holds the vicinity of the center of the bottom of the buffer box YA1. As a result, even when the buffer box YA1 is stiff (the repulsive force is large), the repulsion and the misalignment due to the repulsion can be prevented and the temporary folding can be performed.

In the temporary folding of the temporary folding unit 4, the side plate 105 is not completely upright, and the side plate 105 is raised slightly above the side plate 105 (in the direction of the glue margin plate 106) with respect to the rail 15. It is transported to the unit 5 (see FIG. 6).

Further, the adhesive is applied to each of the side auxiliary plates 104 of the buffer box YA1 by the coating unit 16 (see FIG. 1A) arranged between the temporary folding unit 4 and the boxing unit 5.

<Box making unit / Boxing unit>
The boxing unit 5 will be described with reference to FIGS. 6 to 11. 6 is a front view of the box making unit 3 as described above, FIG. 7 is a side sectional view showing an outline of the containment robot 6, and FIG. 8 is a plan view showing a drive mechanism of the containment robot 6. FIG. 7A is a view taken along the line AA of FIG. 7, and FIG. 7B is a view taken along the line BB of FIG. 7. 9A and 9B are views showing an article holding hand 62, FIG. 9A is a front schematic view, FIG. 9B is a top view showing a part of the article, and FIG. 9C is an article. It is sectional drawing of the suction part 637 of the holding hand 62. FIG. 10A is a front schematic view of the article holding hand 62, and FIG. 10B is a side view of the article holding hand 62. 11A and 11B are a side view (A), a top view (B), and side views (C) to (E) for explaining the article holding hand 62. The article holding hand 62 is configured to be rotatable, and the “front” and “side surface” in FIGS. 9 to 11 are merely directions for convenience indicating that they are different surfaces.

As shown in FIG. 6, in the boxing unit 5, the side plate 105, the holding plate 103, and the side auxiliary plate 104 of the temporarily folded buffer box YA1 are erected substantially perpendicular to the bottom plate 102 to form a three-dimensional box. It has a third fold guide 51 and a fourth fold guide 52, which are units to be made into a body and are guide means for erecting the side plate 105.

An opening OP is provided at the downstream end of the rail 15. The opening OP is slightly larger than the size of the outer bottom plate 102A of the buffer box YA1, and the length along the transport direction L is also the length along the transport direction L of the buffer box YA1 in the temporarily folded state (buffer box). It has a length smaller than the length of the second direction BW of YA1). The length of the buffer box YA1 in the temporarily folded state along the transport direction L is longer than the length of the bottom plate 102 along the transport direction L because the side auxiliary plate 104 is not completely upright. There is.

Further, below the opening OP, a rectangular tubular portion 55 having a cross-sectional shape horizontal to the transport surface (rail 15) and having the same size as the opening OP is formed.

In the temporarily folded state buffer box YA1 transported on the first transport means 10A, the side auxiliary plates 104 (particularly the side auxiliary plates 104B and 104E) are locked to the rail 15 on the opening OP, and the bottom plate 102 floats. It is held on the rail 15 in a closed state (FIG. 6 (A)).

Then, while the article holding hand 62 of the containment robot 6 holds the article (egg) XA1, it descends toward the buffer box YA1 locked by the opening OP, and the buffer box YA1 is moved below the tubular portion 55. By pushing toward the main body 101, the holding plate 103 stands substantially perpendicular to the bottom plate 102 on the inner side surface 101B of the main body 101, and the side plate 105 stands substantially perpendicular to the bottom plate 102 on the outer surface 101A. In addition, all the side auxiliary plates 104 are erected substantially perpendicular to the bottom plate 102, and the buffer box YA1 is erected.

Further, at the same time as the box is placed, the article XA1 is held by fitting the article XA1 into the holding hole 1031 of the holding plate 103, and the article XA1 is housed in the buffer box YA1 (FIG. 6 (B)).

At this time, the buffer box YA1 is guided by the third folding guide 51 and the fourth folding guide 52 of the boxing unit 5.

The third folding guide 51 is a claw portion provided on the article holding hand 62 of the accommodating robot 6, moves in conjunction with the article holding hand 62, and moves from the inner side surface 101B of the buffer box YA1 to the holding plate 103 and the inner bottom plate. The crease line b and the crease line c with the 102B are extruded downward.

Further, the fourth folding guide 52 is a plate member provided at the upper end portion of the tubular portion 55, and the side plate 105 and the side auxiliary plate 104 stand by contacting the outer surface 101A excluding the bottom portion of the buffer box YA1. Assist the installation. The buffer box YA1 descends the tubular portion 55 of a predetermined length while being pushed into the article holding hand 62, and during the descending, the side plate 105 and the side auxiliary plate 104 are held in a state of being erected by the tubular portion 55. ..

As described above, the box-making unit 3, the accommodating robot 6, and the transfer means 60 constitute a box-making / boxing device (unit) 30 (see FIG. 1).

The housing robot 6 and the article holding hand 62 will be described with reference to FIGS. 7 to 14. 11 (A) and (C) to (E) are side views in the same direction as in FIG. 10 (B).

The accommodating robot 6 has a plurality of article holding hands 62 that can rotate intermittently in the horizontal plane and move up and down in the vertical direction, and each of the plurality of article holding hands 62 holds the article XA1 conveyed by the transfer means 60. The holding operation of holding and the unfolded buffer box YA1 transported by the first transport means 10A are pushed down by the boxing unit 5 to create a box, and the article XA1 is housed in the box-made buffer box YA1. Containment movements and can be performed. Then, the holding operation by one article holding hand 62 and the box-making and accommodating operation by the other article holding hand 62 are executed in parallel for at least a part of the period.

The accommodation robot 6 of the present embodiment includes an elevating mechanism 701 for raising and lowering the article holding hand 62 and a rotating mechanism 703 for rotating and moving the article holding hand 62, and the elevating mechanism 701 is integrated with the rotating mechanism 703. Rotate and move.

As shown in FIG. 7, the rotation mechanism 703 of the accommodation robot 6 is a mechanism for rotating and moving the disk-shaped base (rotation base portion) 61 in a horizontal plane (a plane horizontal to the transport surface of the transport means 10). Specifically, a spindle 603 extending vertically downward with respect to the base 61 is provided in the central portion of the base 61, and the spindle 603 is rotatably supported by a bracket 605 attached to the machine frame F. A gear 621 is attached to the upper end side of the spindle 603 connected to the base 61, and a gear 627 is attached to the lower end side.

Further, the elevating mechanism 701 of the accommodating robot 6 is a mechanism for elevating and lowering the article holding hand 62. Specifically, the spindle 603 has a shaft 607 that penetrates the hollow interior, the lower end of the shaft 607 is attached to a lever 609 that swings in the vertical direction, and the lever 609 is rocked by a cam mechanism (not shown). By moving the article holding hand 62, the article holding hand 62 can be raised and lowered. On the other hand, the upper end of the shaft 607 protrudes from the base 61 to which the engaging member 611 is attached. The engaging member 611 is located above the base 61 apart from the base 61.

In the vicinity of the engaging member 611, a mounting plate 617 provided with a cam follower 613 is arranged at an end thereof, and the cam follower 613 engages with the engaging member 611. The mounting plate 617 moves up and down along a guide 673 extending in the direction perpendicular to the base 61.

A spline shaft 619 extending in the vertical direction is arranged below the mounting plate 617. The spline shaft 619 is rotatably and vertically slidably attached to the base 61 by a rotary ball spline 675, the article holding hand 62 is attached to the lower end, and the upper end is attached. It is rotatably attached to the plate 617.

The plurality of article holding hands 62 engage with a single (identical) engaging member 611 and move up and down (up and down). The cam follower 613 of each article holding hand 62 is attached closer to the center of the mounting plate 617 and engages with the engaging member 611 located at the center of the base 61.

According to such a configuration, the article holding hand 62 can be raised and lowered at the same time. Therefore, the support member and the elevating mechanism are compared with a support member that attracts and turns an article and a device having a configuration in which the elevating mechanism of the support member is disengaged and engaged as necessary (see Patent Document 2 above). Since complicated control such as disengagement / engagement timing adjustment and alignment and a mechanism (configuration) for that purpose are not required, the device can be configured more compactly.

As shown in FIG. 8A, a drive pulley 661, an article holding hand pulley 663, and a tension pulley 665 are attached to the upper surface side of the base 61, and a timing belt 667 is hung on them.

Further, as shown in FIG. 3B, the gear 623 and the gear 625 are attached to the base 61 on the lower surface side of the base 61. The gear 623 meshes with the gear 621 and meshes with the gear 625, and the gear 625 drives the drive pulley 661. Further, the article holding hand pulley 663 rotates the article holding hand 62. With such a configuration, when the gear 627 attached to the lower end side of the spindle 603 rotates, the gear 621 attached to the upper end side of the spindle 603 rotates, and the base 61 rotates 180 degrees around the spindle 603. When the base 61 rotates 180 degrees around the spindle 603, the drive pulley 661 rotates via the gears 623 and 625, and the article holding hand pulley 663 rotates 180 degrees relative to the base 61.

In this way, the accommodating robot 6 rotates (rotates) the article holding hand 62 in the horizontal plane as the base 61 rotates, and raises and lowers the article holding hand 62. Then, the elevating mechanism 701 of the accommodating robot 6 rotates and moves integrally with the rotating mechanism 703 (see FIG. 7).

Specifically, the article holding hand 62 is lowered on the transfer means (for example, a servo loop conveyor) 60 to hold the article XA1 in the bucket 601. After that, the accommodating robot 6 raises the article holding hand 62 to take out the article XA1 from the bucket 601 (performs the article XA1 holding operation). Further, the accommodating robot 6 rotates the base 61, temporarily stops above the opening OP of the boxing unit 5, lowers the article holding hand 62 holding the article XA1, and the article holding hand 62 buffers the deployed state. Push down the box YA1. As a result, the boxing unit 5 (fourth folding guide 52 and the tubular portion 55) is passed through to erect the side plate (side surface portion) 105 to create the buffer box YA1 and the boxed buffer box YA1. The article XA1 is stored inside (a box-making storage operation is performed). At this time, the accommodating robot 6 can accommodate the article XA1 taken out from the bucket 601 of the transfer means 60 in the buffer box YA1 without changing the direction.

In the case of a configuration in which the rotation mechanism and the elevating mechanism of the accommodating robot 6 are separated (see Patent Document 2 described above), complicated controls and mechanisms such as positioning and timing of the two are required. However, in the present embodiment, since the plurality of article holding hands 62 are configured to engage with a single (same) engaging member 611 and move up and down (up and down), the rotating mechanism 703 Control and mechanism (configuration) for positioning and timing adjustment of the elevating mechanism 701 are not required. Therefore, the article holding hand XA1 can be rotated and moved immediately after the raising and lowering operation, and the holding operation can be smoothly shifted to the box-making and accommodating operation.

The article holding hand 62 will be described with reference to FIG. 9 (A) is a front schematic view of the article holding hand 62, FIG. 9 (B) is a top view of the lower limit stopper 655, and FIG. 9 (C) is a cross-sectional view of the suction portion 637. In the figure (A), the third folding guide 51 is omitted.

The article holding hand 62 includes a suction portion (holding portion) 637 that sucks and holds the article XA1, a support portion 651 that supports the suction portion 637, and an urging mechanism (buffer mechanism) 631 of the suction portion 637. It has a position adjusting means 645, a lower limit stopper (connecting portion) 655 for connecting the suction portion 637 and the side plate 671 of the support portion 651, a link mechanism 653, a third folding guide 51 (see FIGS. 9 and 10), and the like. doing.

The buffer mechanism (buffer means) 631 allows the suction portion 637 to move in the vertical direction relative to the lower limit stopper 655. Further, the position adjusting means 645 makes it possible to adjust the lower limit position of the article holding hand 62 (the suction portion 637) in the holding operation and the box-making and accommodating operation. As shown in FIG. 9A, the support portion 651 is fixed by inserting one end (lower end portion) of the spline shaft 619 into the center. The shaft 619A penetrating the hollow center of the spline shaft 619 protrudes below the support portion 651, and a link mechanism 653 for driving the third folding guide 51 (not shown here) is attached to the tip (lower end) thereof. ..

A lower limit stopper 655 for connecting the side plate 671 and the suction portion 637 is attached to the support portion 651. The lower limit stopper 655 restricts arbitrary movement downward so that the position of the suction portion 637 stays at a predetermined lower limit. As shown in the figure, for example, a plurality of suction portions 637 are attached to one support portion 651 (two in this example), but a single suction portion (one) is attached to one support portion 651. The configuration may be such that 637 is attached.

An air pipe (not shown) is connected to the suction unit 637 (suction nozzle 637B) via a rotary joint 641 and is connected to a suction means (not shown). A suction pad 637A is provided at the lower end of the suction nozzle 637B, and a stopper 633 is attached to the upper end. As shown in FIGS. (A) and (B), the lower limit stopper 655 is formed by bending a plate-like body into a U shape in a side view, and its tip (lower end) 655A is viewed from above. A part is cut out so as to have a U-shape. The notch area is larger than the diameter of the suction nozzle 637B and smaller than the size (diameter) of the stopper 633 (FIG. (B)). Therefore, the suction nozzle 637B is movable in the vertical direction inside the tip portion 655A (the region of the notch), but when the stopper 633 abuts on the tip portion 655A, the lower limit of the suction nozzle 637B and the suction pad 637A is lowered. The position is restricted from moving so that it does not descend below a predetermined position.

Further, in this example, the lower limit stopper 655 is provided with a position adjusting means 645 at the upper end portion, whereby the position of the lower limit stopper 655 relative to the support portion 651 in the vertical direction can be adjusted. The position adjusting means 645 is, for example, a position adjusting screw, and the lower limit stopper 655 is raised or lowered relative to the support portion 651 by fastening or loosening. That is, the position adjusting means 645 can adjust the position of the tip portion 655A of the lower limit stopper 655, that is, the lower limit position of the suction nozzle 637B and the suction pad 637A within a predetermined range. As a result, the lower limit position (lower limit position from the support portion 651) of the suction portion 637 (the suction surface of the suction pad 637A) is set according to the position of the holding hole 1031 of the buffer box YA1 according to the size of the article (egg) XA1. It can be displaced, and the article XA1 can be fitted into the holding hole 1031 of the buffer box YA1.

The position adjusting means 645 is not limited to the position adjusting screw as long as the position of the lower limit stopper 655 in the vertical direction can be adjusted.

Further, as shown in FIG. 6C, the suction portion 637 is for example urged downward by the urging mechanism (buffer mechanism) 631. Specifically, the urging mechanism 631 is fixed to the support member 647 by a nut 629 or the like. The support member 647 is fixed to the side plate 671 of the support portion 651 so that the relative position does not change with respect to the lower limit stopper 655. An urging means (for example, a coil spring) 635 is built in the housing 631A of the urging mechanism 631, and a suction nozzle 637B is inserted so as to be vertically movable. Further, the internal stopper 639 is fixed at a predetermined position of the suction nozzle 637B (a predetermined position inside the housing 631A). The internal stopper 639 is configured to stop at the lower end of the housing 631A so as not to be exposed to the outside, and the lower end of the urging means 635 is connected to the internal stopper 639 to urge it downward, for example. ..

As a result, as shown in the left figure of FIG. 3C, when the stopper 633 at the upper end of the suction nozzle 637B is in contact with the tip portion 655A of the lower limit stopper 655, the internal stopper 639 is moved downward by the urging mechanism 631. It is urged and the suction unit 637 (suction pad 637A) is in the most lowered state (lower limit position).

On the other hand, when the article XA1 is taken out from the bucket 601 of the transfer means 60 or when the article XA1 is housed in the buffer box YA1, when an (unexpected) load (pressing pressure) is applied to the article XA1, the figure ( C) As shown in the right figure, the urging means 635 contracts, and the suction portion 637 can be raised relative to the lower limit stopper 655. As a result, the load (pressing pressure) can be absorbed to some extent.

Further, the article holding hand 62 is provided with a guide portion (third folding guide) 51 that comes into contact with the article XA1 during the holding operation and assists in raising the buffer box YA1 during the box-making and accommodating operation.

The third folding guide 51 will be described with reference to FIG. FIG. 10A is, for example, a front view of the article holding hand 62, and FIG. 10B is a side view when the figure (A) is the front view.

As shown in FIG. 10A, a drive shaft 643 is inserted at one end of the link mechanism 653. In the figure (A), the suction portion 637, the urging mechanism (buffer mechanism) 631, the position adjusting means 645, and the lower limit stopper 655 are not shown.

Two third folding guides 51 are attached to one support portion 651, and are arranged so as to face each other with the link mechanism 653 (and two suction portions 637 (not shown here) interposed therebetween). The third fold guide 51 has the same configuration and has two guide pieces 51A that can be opened and closed.

More specifically, as shown in FIG. 10 (A), the two third folding guides 51 are arranged side by side in one direction (horizontal direction in FIG. 10 (A)) in one support portion 651, and each third is arranged. As shown in FIG. 10B, the guide piece 51A of the folding guide 51 can be opened and closed so that its tips are close to each other and separated from each other along a direction perpendicular to one direction (horizontal direction in FIG. 10B). It has become.

Specifically, the third folding guide 51 of the article holding hand 62 operates the link mechanism 653 of the article holding hand 62 by advancing and retreating the shaft 619A penetrating the spline shaft 619 by the cylinder 615 (see FIG. 7). Then, in FIG. 10B, the tip opens and closes along the left-right direction so as to approach and separate from each other.

When the suction unit 637 sucks the article XA1 on the bucket 601 of the servo loop conveyor 60, the guide piece 51A is opened so that the tips of the article XA1 are separated from each other as shown by the broken line in FIG. After adsorbing, they are closed so that their tips are close to each other as shown by the solid line in FIG. Then, in a state where the article XA1 is held and the guide piece 51A is closed, the guide piece 51A is configured to come into contact with or approach the side surface of the article XA1. That is, the third folding guide 51 also serves as a supporting means for suppressing the shaking of the article XA1 held by the suction unit 637 during transportation and the falling caused by the shaking.

Further, as shown in FIG. 10B, the tip (claw portion 51B) of the third folding guide 51 (guide piece 51A) slightly protrudes from the lower end portion of the article XA1 with the third folding guide 51 closed. Is set to. Further, as shown in FIGS. 11A and 11B, the positions of the claws 51B in the state where the third fold guide 51 is closed coincide with the crease line b or the crease line c. It is set.

As a result, when the side plate 105 is opened while pushing the buffer box YA1 with the article holding hand 62, the claw portion 51B of the third folding guide 51 becomes a crease that serves as a boundary between the holding plate 103 of the buffer box YA1 and the inner bottom plate 102B. The crease line b and the crease line c are abutted from the inner side surface 101B, and the crease line b and the crease line c are pushed downward (FIGS. 11 (A) and 11 (B)).

In addition, the fourth folding guide 52 (upper end of the tubular portion 55) provided perpendicular to the transport surface (bottom plate 102 of the buffer box YA1) hits the side plate 105 (and the side auxiliary plate 104) from the outside. The side plate 105 is erected substantially perpendicular to the bottom plate 102 by being in contact with the tubular portion 55, and the holding plate 103 is also erected substantially perpendicular to the bottom plate 102 accordingly. Become.

In the buffer box YA1 of the present embodiment, in order to create the cushioning portion 108, the side surface portion to be erected at the time of boxing is not a single side plate 105, but the side plate 105 and the holding plate 103 having a space (gap) sandwiched between them. It has a heavy structure. Then, with respect to one bottom plate 102, the holding plate 103 stands up on the inside (crease line b, c) in the first direction BD of the box, and the side plate 105 stands up on the outside (crease line f, g). It has a structure.

That is, although the side plate 105 and the holding plate 103 have different crease lines, they must be erected in the boxing unit 5 in one step.

For example, in the boxing unit 5, it is possible to erect the holding plate 103 only by pushing the crease lines b and c, and to erect the side plate 105 in conjunction with this (by pulling). However, it is difficult to reliably stand up to the side plate 105 having no creases on the crease lines f and g only by pushing the crease lines b and c.

Further, the holding plate 103 is provided with a hole portion (holding hole) 1031, which reduces the strength (waist) of the holding plate 103.

In particular, when there are variations in the size and shape of the article (egg) XA1 (when the shape and size of the egg do not match the holding hole 1031), an excessive pressing force is applied to the weak holding plate 103. Therefore, if an attempt is made to erect the side plate 105 only by pushing the crease lines b and c, there is a problem that the holding plate 103 is bent so as to protrude outward.

In the present embodiment, prior to the boxing (main folding) by the boxing unit 5, the temporary folding unit 4 cannot be contacted when the boxing unit 5 is boxed (the third folding guide 51 cannot be contacted). Temporarily fold the crease lines f and g to give a crease.

By making the crease lines f and g in the temporary folding unit 4, even if the third fold guide 51 in the boxing unit 5 is configured to contact only the crease lines b and c to make a crease, ( The crease lines f and g that the third fold guide 51 cannot contact can also be easily bent (the fourth fold guide 52 also acts) to avoid bending of the holding plate 103 due to excessive pressing force applied to the holding plate 103. can do.

Further, according to the present embodiment, the lower limit position of the suction portion 637 (the suction surface of the suction pad 637A) can be changed (adjusted) by the lower limit stopper 655. Therefore, even if the shape or size of the article (egg) XA1 changes, the lower limit position of the suction unit 637 is appropriately changed so that the article XA1 is accommodated in a position suitable for the holding hole 1031 of the buffer box YA1 ( Can be adjusted).

The adjustment of the lower limit position of the suction unit 637 will be described with reference to FIGS. 11 (C) to 11 (E).

The position of the holding hole 1031 of the holding plate 103 of the buffer box YA1 is a certain position common to all the boxes. Alternatively, even if a plurality of types of buffer boxes YA1 having different positions of the holding holes 1031 corresponding to variations in the shape and size of the article (egg) YA1 are prepared, they are roughly classified into, for example, 2 to 4 types.

In any case, the holding hole 1031 is provided so that the center thereof coincides with the center in the height (third direction BH) direction of the buffer box YA1. Then, the suction unit 637 assumes that the article XA1 has a predetermined shape and size (for example, the shape and size indicated by “M” shown in FIG. 11C for convenience of explanation), and the suction surface is the lower limit position. When in the PL (shown by the alternate long and short dash line), the article XA1 is set to fit the holding hole 1031 (the center of the article XA1 is aligned with the center of the holding hole 1031) (see FIG. 11C). ).

In such a situation, when holding an article XA1 having a shape and size different from the assumed shape and size (for example, an article XA1 having a shape and size indicated by “L” shown in FIG. 11 (D) for convenience of explanation), conventionally, adsorption has been performed. Since the lower limit position PL of the portion 637 could not be adjusted, there was a problem that the center of the article XA1 and the center position of the holding hole 1031 did not always match even if the suction portion 637 was moved to the lower limit position PL.

The shape and size of the egg, which is the article XA1, varies greatly depending on the season and day. For example, as shown in FIG. 11 (D), if the article XA1 is larger than the assumption (FIG. (C)), the adsorption portion 637. At the lower limit position PL of, the center of the article XA1 is below the center of the holding hole 1031, and the positions of the holding hole 1031 and the article XA1 do not match. For example, in FIG. 3D, the lower end of the holding hole 1031 is in contact with the article XA1, and when the article holding hand 62 is forcibly pushed down for boxing in this state, the article XA1 becomes a weak holding plate 103. There is a problem that the holding plate 103 is bent due to the contact and the pressing pressure is applied.

However, in the present embodiment, since the lower limit position of the suction portion 637 (the suction surface of the suction pad 637A) can be adjusted by the lower limit stopper 655, even if the shape or size of the article XA1 is changed, the holding hole 1031 can be easily adjusted. It can be adjusted to a position that fits.

For example, when the article XA1 is larger than the size assumed in the holding hole 1031, the lower limit position PL of the suction portion 637 (the suction surface of the suction pad 637A) is moved upward (third direction BH, conveyed) as shown in FIG. By changing to the height direction H), the center position of the article XA1 and the center position of the holding hole 1031 can be aligned.

That is, the lower limit position (the suction surface of the suction pad 637A) of the suction portion 637 (the suction surface of the suction pad 637A) is adjusted to the position of the holding hole 1031 of the buffer box YA1 so that the article XA1 can be fitted into the holding hole 1031 of the buffer box YA1. The lower limit position from the support portion 651) can be displaced.

As a result, even when the article holding hand 62 pushes the buffer box YA1 and raises the box, it is possible to prevent the holding plate 103 from bending.

Further, although not shown, in the case of the article XA1 smaller than expected, when the article XA1 is taken out from the bucket 601 of the transfer means 60 by the accommodating robot 6, even if the suction portion 637 is lowered to the lower limit position, the article XA1 is contacted. There is a problem that it cannot be taken out and it becomes difficult to take it out. Even in such a case, since the lower limit position of the lower limit stopper 62 of the present embodiment can be adjusted, the article XA1 housed in the bucket 601 of the transfer means 60 can be reliably held and taken out.

FIG. 12 is a diagram showing another example of the first folding guide 41. FIG. 3A is another example of the temporary folding unit 4, and FIG. 3B is another example of the boxing unit 5.

The first folding guide 41 may be a suction means for sucking the vicinity of the boundary between the side plate 105 and the outer bottom plate 102A from the outer surface 101A of the buffer box YA1. In this case, the buffer box YA1 is at a position where the crease line g and the crease line f cannot be visually recognized from the holding hole 1031 of the expanded buffer box YA1 (the first fold guide 41 is the fold line g of the buffer box YA1 in the expanded state and the crease line g. It may be formed on the crease line f at a position where it cannot be brought into contact with the holding hole 1031), or it may be a buffer box YA1 not provided with the holding hole 1031.

As shown in FIG. 6A, when the suction means is adopted for the first folding guide 41 in the temporary folding unit 4, the first folding guide 41 rises from below the first conveying means 10A (rail 15). For example, the outer bottom plate 102A near the crease lines f and g is sucked and held. Then, by descending in the adsorbed state, it is possible to make a crease (temporarily fold) the crease lines f and g. Further, it is more preferable to raise the above-mentioned second folding guide 42 in synchronization with the suction of the first folding guide 41.

Further, as shown in FIG. 3B, in the boxing unit 5, in addition to the third folding guide 51 and the fourth folding guide 52, the first folding guide 41 of the suction means may be adopted. In this case, in the boxing unit 5, the third folding guide 51 provided on the article holding hand 62 pushes the crease lines b and c of the buffer box YA1 from the inner side surface 101B of the buffer box YA1 in accordance with the timing of the first from the bottom. The fold guide 41 is raised, and for example, the outer bottom plate 102A near the crease lines g and f is sucked and held, and the first fold guide 41 is sucked in accordance with the pushing by the third fold guide 51 (article holding hand 62). While moving downward.

That is, when the article holding hand 62 is used to fold the article XA1 in the buffer box (the main fold of the crease lines b and c), the first fold guide 41 may be used to guide the fold lines e and f. ..

Further, in the above embodiment, an example in which the temporary folding unit 4 is provided has been described, but the temporary folding unit 4 is omitted, and only the boxing unit 5 has the first folding guide 41 of the suction means shown in FIG. 12 (B). May be provided. Even if the temporary folding unit 4 is omitted, the third folding guide 51 and the fourth folding guide 52 come into contact with each other near the boundary between the bottom plate 102 and the side plate 105 when the side plate 105 stands up, and the side plate 105 is bent. When accommodating the article (egg) XA1, it is possible to avoid bending of the holding plate 103 and to lay the box. In this case, the box is not limited to the buffer box YA1, and may be a box without the holding plate 103. Further, in this case, the article XA1 may be supplied after the box is manufactured.

An example of the operation of the accommodation robot 6 is shown with reference to FIGS. 13 and 14. 13 and 14 are front views viewed from the front side (lower side of the drawing) of FIG. 1. For example, the containment robot 6 has two article holding hands 62 (62A, 62B) arranged in the radial direction of the base 61.

In addition, in FIGS. 13 and 14, two article holding hands 62 (62A, 62B) arranged in the front-rear direction in the front view of FIG. 1 are shown side by side for convenience of explanation.

At the timing shown in FIG. 13A, one article holding hand 62A completes the accommodation of the article XA1 in the buffer box YA1 in the tubular portion 55 (releases the holding of the article XA1), and the next article XA1 Is started to move to the holding position PX1 for holding the article (for example, ascending movement after the release of the article XA1), and the inside of the tubular portion 55 is raised. At this timing, the other article holding hand 62B takes out the article XA1 from the transfer means (servo loop conveyor) 60.

Then, at the timing shown in FIG. 13B, one article holding hand 62A is located at the holding position PX1 on the transfer means (servo loop conveyor) 60 and starts descending, and the other article holding hand 62B is in the deployed state. It is located at the box-making position PX2 on the buffer box YA1 and starts descending while holding the article XA1.

Then, at the timing shown in FIG. 6C, one article holding hand 62A sucks the article XA1 on the transfer means (servo loop conveyor) 60. At about the same time, another article holding hand 62B pushes down the bottom plate 102 of the buffer box YA1 in the deployed state to pass the boxing unit 5 to make a box, and at the same time, the article XA1 is placed in the holding hole 1031 in the buffer box YA1. It is fitted and the adsorption of the article XA1 is released.

Next, at the timing shown in FIG. 14A, one of the article holding hands 62A rises, and the article XA1 is taken out from the transfer means (servo loop conveyor) 60. At about the same time, the other article holding hand 62B that has released the article XA1 rises in the buffer box YA1.

After that, as shown in FIG. 3B, each of them is rotated 180 degrees, and one of the article holding hands 62A is located at the box-making position PX2 on the buffer box YA1 in the deployed state, and descends while holding the article XA1. To start. Further, the other article holding hand 62B is located at the holding position PX1 on the transfer means (servo loop conveyor) 60 and starts descending. After that, FIGS. 13 (A) to 14 (B) are repeatedly executed.

The "holding operation" in the present embodiment means, for example, a part or all of the operations performed by the article holding hand 62 to hold the article XA1, and the "box-making and accommodating operation" means the article holding. The hand 62 refers to a part or all of the operations performed for making the buffer box YA1.

The period of the "holding operation" in the present embodiment is, for example, immediately after the article holding hand 62 starts the operation for holding the article XA1 and immediately before the operation for manufacturing the buffer box YA1 is started. Part or all of the period up to, and the period of the "box-making storage operation" is the period of holding the next article XA1 after the article holding hand 62 starts the operation for box-making of the buffer box YA1. It means a part or all of the period until just before the operation is started.

Specifically, for example, as shown in FIG. 13A, after a certain article holding hand 62A completes the storage of the article XA1 in the buffer box YA1 (releases the holding of the article XA1), the article. After the holding hand 62A starts moving to the holding position PX1 for holding the next article XA1 (for example, after releasing the article XA1 in the tubular portion 55, it moves up from the released position), FIG. 13B The article XA is adsorbed and held as shown in FIGS. 13 (C) to 14 (A) at the holding position PX1 on the transfer means (servo loop conveyor) 60 shown in FIG. 14 (B). The period until immediately before the position at the box-making position PX2 is the period of the "holding operation". Further, after a certain article holding hand 62B shown in FIG. 13 (B) is located at the box-making position PX2 on the buffer box YA1 in the expanded state, the lowering is started as shown in FIG. 13 (C) to manufacture the product. The period until immediately before the storage of the box and the article XA1 is completed (the holding of the article XA1 is released), the ascending is performed, and the movement to the holding position PX1 for holding the next article XA1 is started is the "box-making storage operation". The period.

The period of the "holding operation" and the "box making and accommodating operation" is an example, and the period of the "holding operation" is a part of the operation of the article holding hand 62A shown in FIGS. 13 (A) to 14 (B). The period of the “box-making and accommodating operation” may be a part of the operation of the article holding hand 62B shown in FIGS. 13 (A) to 14 (B).

In the above example, an example in which the raising and lowering operations of the two article holding hands 62 are performed substantially at the same time has been described, but the holding operation by one article holding hand 62 and the box-making and accommodating operation by the other article holding hand 62 are described. If is configured to be executed in parallel for at least a part of the period, the raising and lowering operations of the two article holding hands 62 may not be performed substantially at the same time. However, it is preferable to set the timing so that the holding operation by one article holding hand 62 and the box-making and accommodating operation by the other article holding hand 62 can be continuously operated without waiting for the end of each operation. is there.

As described above, the accommodation robot 6 of the present embodiment is a so-called rotary type feeding device provided with a plurality of article holding hands 62 capable of intermittently rotating and moving in the horizontal plane and ascending and descending in the vertical direction. The holding operation by the article holding hand 62 of one of the article holding hands 62 and the box-making and accommodating operation by the other article holding hand 62 are executed in parallel for at least a part of the period.

Therefore, the work efficiency can be significantly improved as compared with the case where the box is manufactured and stored by the single-arm robot.

Further, since the box-making / boxing work efficiency can be improved by the work of the plurality of article holding hands 62, it is not necessary to make the operation (elevation and rotation operation) of the article holding hand 62 unnecessarily high speed. Therefore, it is possible to avoid an increase in the inertial force or the moment of inertia (inertia) of the article holding hand 62, prevent the article XA1 from falling during transportation, and stably and reliably pack the article.

Further, by pushing down the article holding hand 62 once, the box making (raising) of the buffer box YA1 and the accommodation of the article XA1 in the buffer box YA1 are completed. For this reason, the size of the entire device from the assembly of the container to the boxing of the product in the container should be reduced as compared with the case of assembling the box (container) by a device different from the device for packing the article XA1. And the work can be done simply and efficiently.

Further, as compared with the configuration in which the rotation mechanism and the elevating mechanism of the accommodating robot 6 are separated (see Patent Document 2 described above), complicated control and mechanism such as positioning and timing of both are not required. Therefore, the article holding hand XA1 can be rotated and moved immediately after the raising and lowering operation, and the holding operation can be smoothly shifted to the box-making and accommodating operation.

As described above, according to the present embodiment, the box-making of the buffer box YA1 in the expanded state and the storage of the article XA1 in the box YA1 are performed stably, reliably and efficiently, and space saving is realized. A box-making / boxing device 30 can be provided.

<Boxing unit>
Next, the sealing unit 7 will be described with reference to FIG. FIG. (A) is a top view of the sealing unit 7, and FIGS. (B) to (F) are viewed from the upstream side of each position P2 to P4 on the transport path of FIG. It is a side view, and the figure (G) is a side view showing another example.

As shown in FIG. 6, the buffer box YA1 which has passed through the tubular portion 55 of the boxing unit 5 and has been boxed and discharged downward in a three-dimensional state is transported on the second transport means 10B and sealed. It reaches the upstream end of the unit 7.

An adhesive is applied to each of the side auxiliary plates 104 of the buffer box YA1 by the coating unit 16 (see FIG. 1A) arranged between the temporary folding unit 4 and the boxing unit 5.

As shown in FIG. 15A, the sealing unit 7 includes a third transporting means 10C, a coating unit 8, and a pressing means 9. The buffer box YA1 is conveyed by the third conveying means 10C (bucket conveyor) so that the second direction BW of the box coincides with the conveying direction L in the third conveying means 10C.

First, a visual inspection is performed by the sensor S at the position P1 at the upstream end of the sealing unit 7. In the visual inspection, the buffer box YA1 is checked for defective box making, and the defective buffer box YA1 is carried out of the transport path. At this time, the state of the glue margin plate 106 (the degree of inclination with respect to the bottom plate 102) that connects the side plate 105 and the holding plate 103 is also confirmed.

In the present embodiment, the bending of the holding plate 103 is suppressed in the box-making process described above, but if the holding plate 103 is bent, the glue margin plate forming the top surface of the cushioning portion 108 having a hollow structure is formed. The 106 may be inclined with respect to the bottom plate 102, and the box may not be sealed well. Further, when the appearance of the buffer box YA1 is deformed, there may be a problem such as being caught on the transport system path.

Therefore, the state of the buffer box YA1 is detected at the position P1, and if a defect occurs, it is discharged out of the transport path, and only the normal buffer box YA1 is transported to the coating unit 8. For example, the sensors S are arranged in three rows in the transport width direction W so that they can detect from multiple directions.

As shown in FIGS. (A) and (B), the adhesive is applied by the coating unit 8 at the position P2. The coating unit 8 has a nozzle 8A, and at position P2, an adhesive (for example, a hot melt adhesive) is sprayed onto the glue margin plate 106 of the buffer box YA1 for coating.

After that, the lid face plate 107 is folded from the crease line h by the lid closing means 17 provided on the side of the third transport means 10C so as to be able to advance and retreat with respect to the third transport means 10C, and the buffer box YA1 is closed. It will be covered. A part of the lid surface plate 107 is in close contact with the glue margin plate 106.

As shown in FIGS. (A), (C) to (E), the pressing means 9 provided downstream of the coating unit 8 conveys the buffer box YA1 (while moving) to the lid plate 107. It is a pressing unit (or pressing device) that presses a part of the lid plate 106 to surely adhere to the glue margin plate 106, and the rollers 91A and 91B that press a part of the lid surface plate 107 from above, the pressing means 92, and the pressing means. It is provided with 92 driving means (not shown) and the like.

As shown in FIGS. (A) and (C), a pressing means 92 is provided at the upstream end of the pressing unit 9. The pressing means 92 is provided separately from the rollers 91A and 91B, for example, and is configured to be able to move forward and backward (in the transport direction L) with respect to the buffer box YA1. Specifically, the pressing means 92 advances toward the upstream (at the position P3 upstream of the rollers 91A and 91B) as soon as the lid plate 107 is closed, and presses the downstream end of the lid plate 107. , Retreat to the roller 91 side in synchronization with the transportation of the buffer box YA1. Since the hot melt adhesive cannot be re-bonded and it is difficult to bond it instantaneously, it is necessary to press a certain amount of pressing force or elapse a time in a state of being in close contact with the hot melt adhesive. In the present embodiment, the adhesive is applied to the glue plate 106 by the coating unit 8 and the lid is closed. Immediately after that, the adhesive is applied by the coating unit according to the repulsive force of the buffer box YA1 or the result of the visual inspection. If not, the lid may be opened, and in that case, the next rollers 91A and 91B may be caught.

Therefore, immediately after the adhesive is applied to the glue margin plate 106 and the lid is closed, the lid surface plate 107 is pressed by the pressing means 92 until the rollers 91A and 91B come into contact with a part of the lid surface plate 107 to open the lid. While avoiding it, pull it below the rollers 91A and 91B.

After that, as shown in FIGS. (A), (D), and (E), the roller 91 (91A, 91B) presses the lid plate 107 on the glue margin plate 106. In this example, the rollers 91A and 91B are a group of rollers that correspond to the front glue plate 106A and the rear glue plate 106B and are arranged so as to be separated from each other in the first direction BD of the buffer box YA1. In the present embodiment, the buffer box YA1 is transported so that the second direction BW is along the transport width direction W (at least in the pressing unit 9), and the rollers 91A and 91B are the front glue plate 106A and the rear glue. It can be said that the rollers are arranged so as to correspond to the substitute plate 106B and are spaced apart from each other in the transport width direction W.

Further, the rollers 91A and 91B correspond to the front glue margin plate 106A and the rear glue margin plate 106B having a rectangular (rectangular) surface whose length in the first direction BD is shorter than the length in the second direction BW. , It is configured to be long along the transport direction L (at least longer than the length of the second direction BW of the buffer box YA1). In this example, the buffer box YA1 capable of accommodating two articles XA1 in one box is shown, but the same applies to the buffer box YA1 capable of accommodating one article XA1 in one box.

As an example, the rollers (roller group) 91A and 91B in each row are composed of a plurality of rollers 91AA and 91BB. Each of the plurality of rollers 91AA and 91BB has a rotating shaft 94 having a central axis extending in the transport width direction W attached to a support 93 extending in the transport direction L, and is arranged adjacent to each other in the radial direction in each row.

The time until the applied adhesive solidifies is determined by the length of the buffer box YA1 in the transport direction and the processing capacity. Therefore, the length of the rollers (roller group) 91A and 91B in the transport direction L is determined by the adhesive. The length is set so that sufficient time can be secured for the solidification.

With such a configuration, in the present embodiment, while moving the buffer box YA1 along the transport direction L (without stopping), the upper portion of the glue margin plate 106 is placed on the upper portion of the glue margin plate 106 via the lid plate 107 and the rollers (rollers) 91A. , 91B can be pressed to bond a part of the lid face plate 107 to the glue margin plate 106.

The positions of the rollers 91A and 91B are set so that they can efficiently press (only) on the glue margin plate 106. Specifically, as shown in an enlarged manner in FIG. 3E, the position of the pressing surface on the outer peripheral surface of the rollers 91A and 91B in the transport height direction H (the height of the third transport means 10C from the transport surface). H1) is set at a position slightly lower than the height H2 of the third direction BH of the buffer box YA1 (for example, 1 mm to 5 mm, preferably 2 mm to 3 mm lower). That is, the buffer boxes YA1 are configured to be slightly pressed downward (in the direction of the transport surface) by the rollers 91A and 91B. As a result, the buffer box YA1 can be conveyed downstream while a part of the lid surface plate 107 is brought into contact with the glue margin plate 106 and pressed. Since the position of the pressing surface (height H1) is related to the pressing pressure, the buffer box YA1 is not deformed, the lid surface plate 107 can be sufficiently pressed onto the glue margin plate 106, and the buffer box YA1 is further smoothed. The height H1 that can be transported downstream is appropriately selected.

Further, the pressing surfaces of the rollers 91A and 91B (each roller 91AA and 91BB) in the transport width direction W are in a region narrower than the length of the first direction BD of the buffer box YA1 (lid surface plate 107) and are the first of the lid surface plate 107. It is set to press the area inside both ends (crease lines e and h) of the direction BD. Specifically, both ends of the pressing surface of the rollers 91A and 91B (rollers 91AA and 91BB) on the support 93 side (outside) are both ends (crease lines e and h) of the first direction BD of the buffer box YA1. ) Slightly inside (for example, 1 mm to 5 mm, preferably 2 mm to 3 mm inside). The position of the inner end portion of the pressing surface of each of the rollers 91AA and 91BB is arbitrary, but is slightly outside the inner end portion (crease line a, d) of the glue margin plate 106 (the center side of the glue margin plate 106, for example. It is preferable to set the position so that it fits within 1 mm to 5 mm, preferably 2 mm to 3 mm outside) because the pressing force applied to the glue margin plate 106 can be concentrated.

The positions of the rollers 91A and 91B can be adjusted in the transport width direction W according to the size of the buffer box YA1.

As already mentioned, it is necessary to increase the pressing force or take time to adhere the hot melt adhesive well, but there is a limit to increasing the pressing force without spoiling the appearance. Further, conventionally, in the sealing process, the cushioning box YA1 coated with the adhesive is temporarily stopped, and the vicinity of the center of the lid surface plate 107 is pressed by a single pressing means to adhere. However, in this case, the processing capacity cannot be improved, and the pressing force of the pressing means does not reach the entire area of the glue margin plate 106 at the end where adhesion is required, which may result in insufficient adhesion. In particular, when the glue margin plate 106 is tilted, the single pressing means cannot press the side plate 105 to a position lower than the height H2, so that the adhesion may be insufficient.

Further, as described above, especially when the holding plate 103 of the buffer box YA1 is bent and the glue margin plate 106 is tilted with respect to the bottom plate 102, a single pressure is applied to the vicinity of the center of the lid plate 107. The method of pressing by means has a problem that poor adhesion increases.

In the present embodiment, the longitudinal direction (second direction BW) of the rectangular glue margin plate 106 is aligned with the transport direction L, and the rollers 91A and 91 press the buffer box YA1 while transporting it downstream. Even if the hot melt adhesive takes a long time to adhere, it can be reliably adhered by taking a sufficient time while utilizing the time during transportation. Further, the pressing force of the rollers 91A and 91B can be efficiently applied only on the glue margin plate 106 to be adhered without being dispersed. Therefore, it is possible to minimize the risk of appearance defects (deformation, scratches, etc.) of the buffer box YA1 due to pressing to a portion where adhesion is unnecessary, and to efficiently bond.

Further, by forming the rollers (roller group) 91A and 91B with a plurality of rollers 91AA and 91BB, slight distortion (deformation) to the extent that the lid surface plate 107 of the buffer box YA1 is not defective, and the glue margin plate 106 Even if an inclination occurs, the individual rollers 91AA and 91BB can flexibly follow the deformation and the inclination, and can sufficiently press the deformation.

It is preferable that the rollers 91AA and 91BB are made of, for example, silicon rubber. This prevents damage to the buffer box YA1 and makes it possible to absorb the above-mentioned deformations and inclinations (can absorb changes in shape, etc.), and the buffer box YA1 slips too much (pressing pressure). Can be prevented.

The length (pressing time) and pressing pressure (height H1 from the transport surface) of the rollers 91A and 91B are the type of adhesive applied to the glue margin plate 106, the time required for adhesion, the material of the buffer box YA1, and the like. It is appropriately selected according to.

Further, although the rollers 91A and 91B are an aggregate of a plurality of rollers 91A and 91BB, respectively, a single roller 91A and 91B long in the transport direction L may be arranged in two rows. Even in this case, the height H1 of the pressing surface of the rollers 91A and 91B is slightly lower than the height H2 of the third direction BH of the buffer box YA1 so that the pressing surface of the rollers 91A and 91B is on the support 93 side. The (outer) ends are all set at positions that are slightly inside the both ends (crease lines h and e of the glue margin plate 106) of the first direction BD of the buffer box YA1.

Further, as shown in FIG. 6 (G), pressing may be performed by a single roller 91. Even in this case, the height H1 of the pressing surface of the roller 91 is slightly lower than the height H2 of the third direction BH of the buffer box YA1, and the support 93 side (outer) end of the pressing surface of the roller 91 is set. All of the portions are set at positions that are slightly inside the both ends (crease lines h and e of the glue margin plate 106) of the first direction BD of the buffer box YA1.

Further, in the above embodiment, the pressing means 92 is provided separately from the rollers 91A and 91B, and has been described so as to advance to the buffer box YA1 and retract in synchronization while pressing the buffer box YA1.

However, not limited to this, the pressing means 92 is configured to stand by at a predetermined position after advancing to the buffer box YA1 and to move below the buffer box YA1 so as to slide to reach the rollers 91A and 91B. You may. In this case, after reaching the rollers 91A and 91B, the pressing means 92 retreats to the standby position.

Further, the pressing means 92 may be a part of the rollers 91 (91A, 91B). For example, the roller 91 moves as a whole along the transport direction L, or a part of the upstream side is configured to be expandable and contractible along the transport direction L.

Then, immediately after the adhesive is applied and the lid surface plate 107 is closed, the roller 91 advances to the position of the buffer box YA1 and pulls in below the roller 91 while pressing the upper part of the lid surface plate 107. May be good.

Further, the rollers 91A and 91B can incline their respective rotating shafts 94 so that the inside (the tip of the rotating shaft 94 opposite to the support 93 side) is located below the outside (support 93 side). The tilt angle can be adjusted). As a result, even if the buffer box YA1 having a large inclination of the glue margin plate 106 is conveyed without becoming a defective product due to the bending of the holding plate 103, the rotating shafts 94 of the rollers 91A and 91B are covered. By adjusting so as to tilt according to the inclination of the glue margin plate 106, the pressing surfaces of the rollers 91A and 91B can be brought into contact with the glue margin plate 106 substantially horizontally.

Further, after closing the lid by the lid closing means 17 without providing the pressing means 92, the buffer box YA1 slides under the lid closing means 17 without returning to the standby position, and the roller 91A and the roller. It may be configured to reach 91B.

The box-making / boxing device 30 of the present embodiment passes through the first transport means for transporting the article XA1, the second transport means for transporting the unfolded box YA1, and the unfolded box YA1 to pass the box. The boxing portion 5 that erects the side surface portion of the YA1 and a plurality of article holding hands 62 that can intermittently rotate and move in the horizontal plane and move up and down in the vertical direction, and the article XA1 by one article holding hand 62. The holding operation and the box-making and accommodating operation of the other article-holding hand 62 (the box-making operation of the box YA1 by the article-holding hand 62 and the accommodating operation of the article XA1 in the box YA1) are executed in parallel for at least a part of the period. The configuration is not limited to the above example.

That is, the article XA1 may be a food other than an egg or a non-food product, and the shape of the article XA1 may be a polyhedron such as a cube or a rectangular parallelepiped, a spherical shape, a conical shape, or a pyramid shape. Further, the article XA1 may be a container (for example, a cosmetic bottle, a bottle, a package, etc.).
Further, the box YA1 does not have to be a buffer box as long as it can be box-made (assembled) by pushing down the bottom surface (bottom plate) 102 and raising the side surface (side plate) 105, and the holding plate 103 It may be a box YA1 that does not have.

Further, in the above embodiment, the configuration including the lid surface plate (lid body) 107 and the coating units 8 and 16 for gluing the side auxiliary plate 104 has been described, but the configuration without these coating units (coating device) is also described. Good. In this case, for example, the box YA1 is also referred to as a so-called assembly carton (for example, a carton or a lock carton described in Japanese Patent Application Laid-Open No. 6-329149) in which a locking piece of a lid is inserted into a notch to lock the box YA1 in an assembled state. ) May be.

Further, the article holding hand 62 does not have to have the third folding guide 51. For example, a standard product whose size is constant (when the bottom of the article XA1 and the contact portion (bottom shape of the box) between the unfolded box YA1 are substantially the same), the third folding guide. Regardless of 51, the article XA1 held by the article holding hand 62 may push down (the bottom surface portion) of the unfolded box YA1 to pack the article XA1 while making the box YA1.
Further, one article holding hand 61 may be capable of holding a plurality of articles XA1.
Further, the article holding hand 62 may be configured to grip and hold the article XA1 without sucking it.

Further, three or more article holding hands 62 may be provided on one base 61. As an example, four article holding hands 62 are provided on one base 61 and are configured to rotate intermittently by 90 degrees, and the article XA1 is held by one article holding hand 62 and another article is held. The box-making and accommodating operation of the hand 62 (the box-making operation of the box YA1 by the article holding hand 62 and the accommodating operation of the article XA1 in the box YA1) may be executed in parallel for at least a part of the period.
As described above, the present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention.

For example, the outer shape of the article XA1 may be a sphere, a cylinder, a rectangular parallelepiped, or the like, and the article XA1 may be a non-food product as well as a food product.

Further, the configuration is not limited to the configuration in which the buffer box YA1 accommodates two articles (eggs) XA1, and the buffer box YA1 may accommodate one article (egg) XA1. In this case, the accommodating means 6 is provided with four article holding hands 62, and the supply means 2 of the buffer box YA1 are arranged at two locations so that the accommodating means 6 can produce boxes at two locations. May be good.

Further, the buffer box YA1 may accommodate a plurality of articles XA1 along the transport width direction W.

Further, the rollers 91 (91A, 91B) are not limited to those arranged linearly, and may be arranged in a staggered manner. In this case, for example, the rollers 91A are arranged so as to be separated by a plurality of blocks along the conveying direction L, and the rollers 91B are arranged so as to be separated from each other by a plurality of blocks along the conveying direction L. It may be arranged in a staggered pattern. Further, the individual rollers 91AA constituting the roller 91A may be arranged in a staggered pattern, and the individual rollers 91BB constituting the roller 91B may be arranged in a staggered pattern.

Further, the transfer means 60 is not limited to the servo loop conveyor, and may be a bucket conveyor.

Further, the accommodating means 6 is not limited to the rotary type robot, and may be a robot that reciprocates a plurality of article holding hands 62 or a robot that can arbitrarily move the article holding hand 62 on three axes.

The boxing unit 7 (boxing device 1) of the present invention is not limited to the case of sealing the buffer box YA1, and can also be applied to the case of sealing a box not provided with a holding plate 103 for holding the article XA1. .. For example, in the case of a box having a lid and an inner flap provided along the transport direction, the lid and the inner flap are securely adhered to each other over a sufficient period of time while utilizing the time during transport. be able to. In particular, it is effective when the article is small with respect to the box and there is a space above the article, and the lid cannot be pressed against the article to seal the box.

1 Boxing device 2 Supply means (hopper)
3 Box making means (box making unit)
5 Boxing means (boxing unit)
6 Containment means (containment robot)
7 Sealing means (sealing unit)
8 Coating unit 8A Nozzle 9 Pressing means (pressing unit)
10 Transport means 10A Transport means 10B Transport means 10C Transport means 11 Sprocket 12 Endless chain 13 Pushing finger 15 Rail 21 Stocker 22 Cushioning paper box holding hand 41 1st folding guide 42 2nd folding guide 42A Side 42B Inclined surface 42C Auxiliary side 51 3rd Folding guide 51A Guide piece 51B Claw part 52 4th folding guide 55 Cylindrical part 60 Transfer means 61 Base 62 Article holding hand 91, 91A, 91B, 91AA, 91BB Roller 101 Main body 101A Outer side surface 101B Inner side surface 102A Outer bottom plate 102B Inside Bottom plate 103 Holding plate 103A Front holding plate 103B Rear holding plate 104 Side auxiliary plate 105A Front side plate 105B Rear side plate 106 Glue allowance plate 106A Front glue allowance plate 106B Rear glue allowance plate 107 Cover face plate 108 Cushioning part 108A, Front cushioning part 108B Rear shock absorber 603 Main shaft 605 Bracket 607 Shaft 609 Lever 611 Engagement member 613 Cam follower 615 Cylinder 617 Mounting plate 619 Spline shaft 621 Gear 623 Gear 625 Gear 627 Gear 629 Nut 631 Biasing mechanism 631A Housing 633 Stopper 635 637 Suction part 637A Suction pad 637B Suction nozzle 639 Internal stopper 641 Rotary joint 643 Drive shaft 645 Position adjustment means 647 Support material 651 Support part 653 Link mechanism 655 Lower limit stopper 655A Tip part 661 Drive pulley 663 Goods holding hand pulley 665 Tension pulley BD First direction BW Second direction BH Third direction XA1 Article YA1 Cushion box

Claims (5)

The first means of transporting goods and
A second transport means for transporting the unfolded box,
An erecting portion that erects a side surface portion of the box by passing through the unfolded box,
It is equipped with multiple article holding hands that can move intermittently in the horizontal plane and move up and down in the vertical direction.
Each of the article holding hands
A holding operation for holding the article transported by the first transport means and
It is possible to push down the unfolded box transported by the second transport means at the boxing portion to produce a box, and to perform a box-making accommodating operation of accommodating the article in the box.
The holding operation by one of the article holding hands and the box-making and accommodating operation by the other article holding hand are configured to be executed in parallel for at least a part of the period.
Each of the article holding hands has a guide portion for assisting box making by abutting or approaching the article and partially contacting the box during the box making accommodating operation.
A box-making / boxing device that is characterized by this. An elevating mechanism for elevating and lowering the article holding hand,
A rotation mechanism for rotating and moving the article holding hand is provided.
The elevating mechanism rotates and moves integrally with the rotating mechanism.
The box-making / box-packing device according to claim 1. A position adjusting means capable of adjusting the lower limit position of the article holding hand in at least the holding operation is provided.
The box-making / boxing apparatus according to claim 1 or 2. The article holding hand
A holding part for holding the article and
Support part and
A connecting portion that connects the holding portion and the supporting portion,
A cushioning means that allows the holding portion to move in the vertical direction relative to the connecting portion is provided.
The box-making / box-packing device according to any one of claims 1 to 3. The guide portion abuts on the crease line of the box during the box-making and accommodating operation.
The box-making / box-packing device according to any one of claims 1 to 4.

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