JP6965551B2 - Goods boxing device - Google Patents

Description

The present invention relates to an article boxing device that holds an article in a hanging state and packs the article into a box.

As a boxing device that packs conical articles with staggered vertical orientations side by side in close contact with each other, with the first row of suction chucks that suck and hold one row of staggered articles. , A transfer device including a second row of suction chucks that suck and hold the other row is known (Patent Document 1). In this device, two rows are separated, and a plurality of articles are simultaneously sucked and held by the suction chucks in each row in a state where the articles in each row are also separated. The transfer device brings the rows closer to each other while holding the articles, and by narrowing the distance between the articles in each row, the conical articles are arranged in close contact with each other in a horizontal row alternately in the vertical direction.

Further, as a device for aligning and transferring articles, a robot that aligns and transfers articles transported on a first conveyor in a random direction on a second conveyor is also known (patented). Document 2). In this device, a support member having a plurality of vacuum pads arranged in a horizontal row can be rotated in a horizontal plane, and the support member is rotated according to the orientation of the article on the first conveyor, and the articles are aligned in the same direction. The articles that are attracted and held by each vacuum pad and aligned are transferred onto the second conveyor.

Japanese Patent No. 6084845 Japanese Patent No. 3314890

However, in the configuration of Patent Document 2, it is not possible to hold and transport the articles in close contact with each other.

An object of the present invention is to provide an apparatus capable of holding and transporting aligned articles in close contact with each other.

The article boxing device according to the first aspect of the present invention has a first holding means and a second holding means for holding an article by an article holding member, and an article held by the first and second holding means in a case. In the article boxing device provided with the article insertion means to be inserted into, an article row forming means for holding a first article row and a second article row in which a plurality of articles are arranged, respectively, is provided, and the article insertion means is provided. state that the a plurality of article holding members of the first holding means holding said first article row and the second article row by a plurality of article holding members of the second holding means are arranged in parallel to said first object product columns The article holding member of the second holding means is held at a standby position above the article holding member of the first holding means and an operating position below the article holding member of the first holding means. The article holding member has a moving means for moving the article, and the first holding means holds the article in a state where the article holding member of the second holding means is positioned at the standby position, and then the second holding member is held. The article is held by the second holding means in a state where the article holding member of the holding means is positioned at the operating position, the article is moved into the case while maintaining the same state, and the article is moved by the second holding means. After releasing the holding of the second article row and transferring the second article row into the case, the article holding member of the second holding means is moved from the operating position to the standby position, and then the first holding. It is characterized in that the holding of the first article row by means is released and the first article row is transferred into the case.

In the article boxing device according to the fourth aspect of the present invention, in the first invention, the article has a tapered shape in which one end is smaller than the other end, and the first and second articles are arranged. Are aligned so that one end of each adjacent article faces one end of the other adjacent article and the other end of one adjacent article faces the other end of the other adjacent article. The first holding means holds the other end side of the articles in the first article row by the article holding member, and the article holding member moving means holds the article holding member by the article holding member. 1 The article row is moved from the standby position to the operating position so as to pass between one end of one adjacent article and the other end of the adjacent article while being held by the first holding means. It is characterized by that.

According to the present invention, it is possible to provide an apparatus capable of holding and transporting aligned articles in close contact with each other.

It is a top view which shows the arrangement of the line to which the article boxing apparatus which is one Embodiment of this invention is applied. It is an arrow view of the article row forming part from the II direction in FIG. It is an arrow view from the direction III of FIG. 2 of the chuck for gripping an article. It is a top view of the article row forming part. It is an arrow view from the V direction of FIG. 4 of the article row forming part. It is a top view when a set of 12 articles arranged in a box is packed. It is a top view and the arrow view from the VI direction of the article row forming part for explaining the structure of a holder tilting mechanism. FIG. 7A is a cross-sectional view taken along the line FF in FIG. 7A of the holder tilting mechanism, a cross-sectional view taken along the line GG of the mounting plate, and a view taken along the line E of the holder and the article. It is a partially enlarged view in the state where each holder is tilted by the holder tilting mechanism. It is a figure for demonstrating the structure and operation (the first half part) of the head part provided at the tip of an arm robot. It is a figure for demonstrating the structure and operation (the latter half part) of the head part provided at the tip of an arm robot.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing the arrangement of lines to which the article boxing device according to the embodiment of the present invention is applied.

The article boxing device 10 is an apparatus for aligning and adhering articles P and packing them in a case C. The article P handled in this embodiment exhibits, for example, a cone shape. The article P is supplied by a supply conveyor (not shown) in a state where, for example, 5 rows × 6 columns are placed on a tray as a set, and an article supply unit (article supply means) is supplied for each set by a robot (not shown). ) Reprinted in 12.

The article supply unit 12 holds the article P while maintaining multiple rows (here, 6 rows). Each row in the article supply unit 12 is held by a pair of guide chutes 12G. The pair of guide chutes 12G are arranged in parallel at intervals narrower than the maximum diameter of the article P, and the article P exhibiting a conical shape is inserted between the guide chutes 12G with the apex facing down. The side surface of the article P inserted between the pair of guide chute 12G engages with the guide chute 12G on both sides and hangs down from the guide chute 12G.

The guide chute 12G is tilted downward from the supply conveyor side toward the article row forming portion 16 described later, and each guide chute 12G has a spiral unevenness (screw) that fits with the side surface of the article P along the longitudinal direction. Provided. The guide chute 12G is rotatable, and the article P transferred to the article supply unit 12 has an article row forming portion along the guide chute 12G due to the inclination of the guide chute 12G and the transfer using the screw of the guide chute 12G. Moved towards 16.

Further, a cutting stopper 12S orthogonal to the guide chute 12G is provided above the downstream side of the guide chute 12G, and the first two articles moved along the guide chute 12G are removed from the row of the following articles P. To separate. The first two articles P in each of the separated rows are adsorbed by the arm robot 14 (partially shown) installed above in units of one set in two rows (six in one row for a total of 12 in the figure). It is held and transferred to the article row forming unit (article row forming means) 16 by moving the arm of the robot 14.

The article row forming unit 16 arranges a set of two rows of articles P supplied from the article supply unit 12 in an manner matched to boxing in cooperation with an arm robot 18 which is installed above and partially illustrated. A set of articles P in two rows is delivered to the arm robot 18 and boxed in a case C arranged on the case transfer conveyor 20 by the arm robot 18.

When the article P is received from the arm robot 14, the article row forming unit 16 is arranged at the receiving position (A) on the article supply unit 12 side, and when the article P is delivered to the arm robot 18, the article transfer conveyor 20 side (article). It is arranged at the delivery position (B) (away from the supply unit 12). That is, the article row forming unit 16 is reciprocated (arrow C) between the receiving position (A) and the delivering position (B). FIG. 1 shows the arrangement when the article row forming portions 16 are at both positions (A) and (B).

The article row forming unit 16 includes a pair of spline shafts 16S arranged in parallel at a predetermined distance from each other, and an article P is loaded from the arm robot 14 into each of the spline shafts 16S, and a holder 16H for holding the article P is inserted into each of the spline shafts 16S. It is slidably attached along the axis for one row (6 in this case). The holders 16H provided on the spline shafts 16S are separated from each other at substantially equal intervals at the receiving position (A) and brought into close contact with each other at the delivering position (B) by a mechanism described later. Further, as will be described later, the spline shaft 16S is rotatable, and by rotating the spline shaft 16S in opposite directions, the holder 16H is rotated in the opposite direction.

At the receiving position (A), each holder 16H takes an upright posture, and the cone-shaped article P is held by each holder 16H in an upright posture with its apex facing downward. On the other hand, at the delivery position (B), the spline shaft 16S is finally rotated by about 90 degrees, each holder 16H in the standing posture is in the lying posture, and the vertices of the articles P in each row are on the other row side of each other. It is laid on its side so that it faces. As will be described in detail later, the axis of the article P in the lying position is slightly tilted thereafter. The delivery position (B) in FIG. 1 shows a state in which the holder 16H and the article P are still in an upright posture.

As will be described later, when the articles P in each row are brought into close contact with each other in the article row forming portion 16 and the arm robot 18 is placed in a lying position, the arm robot 18 sequentially sucks the articles P in each row, which is suitable for boxing. Hold in an array. After that, the arm robot 18 puts a set (12 pieces in this case) of articles P in a state where the arms are moved and aligned into the case C arranged on the case transfer conveyor 20 and packs them in a box. When the articles P are packed in a predetermined stage (predetermined number), the case C is conveyed by the case transfer conveyor 20 and delivered to the case discharge conveyor 22 by a transfer device (not shown). An empty case C is supplied to the case transfer conveyor 20 from the case supply conveyor 24.

Next, a detailed configuration of the article row forming portion 16 of the present embodiment will be described with reference to FIGS. 2 to 9.

First, with reference to FIG. 2, a configuration for changing the posture of the holder 16H (or the article P) between the standing posture and the lying posture in the article row forming portion 16 and its operation will be described. Note that FIG. 2 is an arrow view of the article row forming portion from the direction II in FIG. In FIG. 2, for convenience of explanation, the holder 16H in the left column is drawn in an upright position, and the holder 16H in the right column is drawn in a lying position. However, in reality, the rotations of the holders 16H in both rows are synchronized and the same posture is taken.

In the article row forming portion 16, each of the spline shafts 16S is rotatably held by the frame 16F, and the frame 16F is attached to the base plate 16B. The pair of spline shafts 16S are axially supported by the frame 16F in parallel and horizontally, and can be rotated by driving the air cylinders M1 and M2 (see FIG. 7). A holder base 26 corresponding to each holder 16H is slidably attached to the spline shaft 16S.

The holder 16H is attached to the holder base 26 via the attachment plate 28. The mounting plate 28 is rotatable with respect to the holder base 26, and can be tilted by the holder tilting mechanism 30 as described later. Further, a bracket 32 is attached to each holder base 26, and the bracket 32 is used for a sliding motion along the spline shaft 16S between the holders 16H, which will be described later, and is a pair of links linked to the brackets 32 of the holder bases 26 on both sides. The plates 34 are respectively engaged. Although three link plates 34 are drawn in FIG. 2, only one link plate 34 is engaged with the frontmost holder base 26 in the arrow viewing direction II. The other two link plates 34 are engaged with the other holder base 26.

Further, a slider 38S of, for example, a magnetic rodless cylinder 38 (see FIG. 5) is attached to the frontmost holder base 26 in the arrow viewing direction II via the bracket 36. That is, as described later, the sliding motion of the holder 16H in each row along the spline shaft 16S is the movement of the frontmost holder base 26 using the magnetic rodless cylinder 38 and the link using the link plate 34. Achieved by the mechanism.

Further, the holder 16H provided on the mounting plate 28 supports the side surface of the loaded article P, and the article P is fixed to the holder 16H by a chuck 40 attached to the mounting plate 28 below the holder 16H. Will be done. That is, the tip end portion of the article P thrown into the holder 16H is gripped and fixed by the chuck 40 at the lower end of the holder 16H.

As shown in FIG. 3 (arrow view from the direction III in FIG. 2), the chuck 40 includes a pair of left and right gripping members 40A and 40B that are opened and closed, and the opening and closing operation is a chuck provided on the mounting plate 28. This is done by an opening / closing air cylinder 42. Until the article P is loaded, the gripping members 40A and 40B are opened to the left and right as shown in FIG. 3A, and when the article P is loaded, the gripping members 40A and 40B are opened as shown in FIG. 3B. 40B is closed by the chuck opening / closing air cylinder 42, the tip end portion of the article P is gripped, and the article P is fixed to the holder 16H. By the time the article P is delivered to the arm robot 18, the chuck 40 is opened by the chuck opening / closing air cylinder 42, and the article P housed in the holder 16H is released from being fixed.

FIG. 4 is a plan view of the article row forming portion 16, and FIG. 5 is an arrow view of the article row forming portion 16 from the V direction of FIG. The sliding motion of the holder base 26 (holder 16H) along the spline shaft 16S, that is, the pitch changing mechanism and its operation will be described with reference to FIGS. 4 and 5. In FIG. 4, for convenience of explanation as in FIG. 2, the holders 16H in the upper row are in close contact with each other until they are adjacent to each other, and the holder bases 26 (holders 16H) in the lower row are respectively. The holder base 26 (holder 16H) is shown in a separated state separated by a certain distance. However, the actual state of the holder base 26 (holder 16H) is the same in the upper and lower rows. Further, in FIGS. 4 and 5, configurations not related to the description are omitted.

In FIGS. 4 and 5, the six holder bases 26 attached to the spline shafts 16S are indicated by reference numerals 26A to 26F from the left side, and the brackets 32 attached to the holder bases 26A to 26F are indicated by reference numerals 32A to 32F, respectively. It is shown on the 32nd floor. Further, the link plates 34 connecting between the holder bases 26A and 26B, the holder bases 26B and 26C, the holder bases 26C and 26D, and the holder bases 26D and 26E are indicated by reference numerals 34A to 34E, respectively.

The link plates 34A to 34E are made of a long plate member. Each of the link plates 34A to 34E is provided with slits 35A to 35E having a predetermined length along the longitudinal direction. The slits 35A to 35E are formed near one end of each of the link plates 34A to 34E. In FIG. 4, the link plates 34A to 34E are provided near the left end portion.

Three pins 37A, 37B, and 37C are attached to the brackets 32A to 32F from the outside so as to be orthogonal to the spline shaft 16S. One end (left end) of the link plate 34A is engaged with the pin 37B of the bracket 32A through the slit 35A, and the other end (right end) is fixed to the pin 37B of the bracket 32B. One end (left end) of the link plate 34B is engaged with the pin 37C of the bracket 32B through the slit 35B, and the other end (right end) is fixed to the pin 37C of the bracket 32C. One end (left end) of the link plate 34C is engaged with the pin 37A of the bracket 32C through the slit 35C, and the other end (right end) is fixed to the pin 37A of the bracket 32D. Further, one end (left end) of the link plate 34D is engaged with the pin 37B of the bracket 32D through the slit 35D, the other end (right end) is fixed to the pin 37A of the bracket 32E, and one end (left end) of the link plate 34E is a slit. It is engaged with the pin 37C of the bracket 32E through 35E, and the other end (right end) is fixed to the pin 37C of the bracket 32F.

Before the article P is put into the holder 16H, the holder bases 26A to 26F are placed in a separated state in which they are separated from each other by a certain distance, as shown in the lower side of FIG. In the separated state, the pins 37A to 37C engaged with the slits 35A to 35E are engaged with the slit end on the one end (left end) side of the link plates 34A to 34E.

When the article P is loaded into the holders 16H of the holder bases 26A to 26F, the magnetic rodless cylinder 38 is operated, and the holder base 26A connected to the slider 38S of the magnetic rodless cylinder 38 via the bracket 36 is moved. It is moved to the holder base 26F side (right side in FIG. 4) along the spline shaft 16S.

When the movement of the holder base 26A is started, the pin 37B of the bracket 32A moves in the slit 35A from the left side to the right side. When the pin 37B of the bracket 32A comes into contact with the slit end on the right side, the holder base 26A comes into close contact with the holder base 26B. When the movement of the holder base 26A to the right side is further continued, the holder base 26B moves to the left side integrally with the holder base 26A, and the pin 37C of the bracket 32B moves from the left side to the right side in the slit 35B. When the pin 37C of the bracket 32B comes into contact with the slit end on the right side, the holder base 26B comes into close contact with the holder base 26C. When the movement of the holder base 26A to the right side is further continued, the holder bases 26B and 26C move to the left side integrally with the holder base 26A, and the pin 37A of the bracket 32C moves from the left side to the right side in the slit 35C. do. Hereinafter, in the same manner, the holder bases 26A to 26E are moved to the right side, and the holder bases 26A to 26F are brought into close contact with each other as shown in the upper side of FIG.

Further, when the article P is pulled out from the holder 16H by the arm robot 18, the slider 38S is moved from the right side to the left side, and the holder base 26A is moved from the right side to the left side. At this time, the pin 37B of the bracket 32A is moved from the right side to the left side in the slit 35A. When the pin 37B abuts on the slit end on the left side, the link plate 34A is moved to the left side integrally with the holder base 26A, whereby the holder base 26B fixed to the link plate 34A via the pin 37B of the bracket 32B is moved. , It is moved to the left while maintaining a predetermined distance from the holder base 26A. After that, by the same operation of the link plates 34B to 34E, the holder bases 26C, 26D, and 26E are sequentially moved to the left side while securing a predetermined distance from each other, and are brought into the separated state shown in the lower side of FIG.

The magnet type rodless cylinder 38 is fixed to the spline shaft 16S via the arms 38A and 38A, and when the spline shaft 16S is rotated, it is integrally rotated together with the holder bases 26A to 26F (holder 16H). NS. In the present embodiment, the movement of the holder bases 26A to 26F between the separated state and the close state is performed while the holder 16H is moving between the standing posture and the lying posture during the rotation of the spline shaft 16S.

Next, with reference to FIGS. 6 to 11, the configuration and operation of the holder tilting mechanism 30 for tilting the mounting plate 28 in the article row forming portion 16 will be described.

FIG. 6 is a plan view of a set of 12 articles P arranged in a box. In the article boxing device 10, as shown in FIG. 6, the articles P are arranged and boxed so that the articles P having a conical shape can be accommodated in the rectangular parallelepiped case C without waste. When the sides of a pair of cones are brought into close contact with each other by reversing the directions of the vertices, the projection drawing becomes a parallelogram. Therefore, when such pairs of cones are arranged in close contact with each other at the same height so that the vertices are alternately reversed, the tips (vertices) are arranged alternately as shown in FIG. ) Is facing down and the base end is facing up, and the second article row P2 with the tip (vertex) facing up and the base end facing down is a projection drawing of a substantially rectangular shape as a whole. Form.

When the first and second article rows P1 and P2 arranged in this way are housed in a rectangular parallelepiped case C which is one size larger, almost no wasted space is generated between the first and second article rows P1 and P2, and efficient boxing can be performed. Can be done. In the arrangement of FIG. 6, the outer bus lines of the cones of the first and second article rows P1 and P2 located at both ends are parallel to the left and right sides of the case C, and the vertices in the same direction are on the upper and lower sides of the case C. Arranged so that they are parallel. Therefore, in the article row forming portion 16, the holder tilting mechanism 30 is used to incline the direction of the axis of the article P while keeping the heights of the articles P in each row uniform.

FIG. 7A is a plan view of the article row forming portion 16 for explaining the structure of the holder tilting mechanism 30 of the present embodiment, and FIG. 7B is FIG. 7A of the article row forming portion 16. It is a view of the upper row in the direction of VI. 8 (a) is a cross-sectional view taken along the line FF in FIG. 7 (a) of the holder tilting mechanism 30, and FIG. 8 (b) is a cross-sectional view taken along the line GG in FIG. 7 (a) of the mounting plate 28. c) is a view taken along the E direction in FIG. 7 (a) of the holder 16H, and FIG. 8 (d) is a view taken along the E direction of the article P in FIG. 7 (a).

The holder tilting mechanism 30 is provided for each mounting plate 28, and the mounting plate 28 (holder 16H) is tilted by moving the mounting plate 28 up and down with the holder tilting mechanism 30 at a position eccentric from the coaxial while axially supporting the mounting plate 28. ing.

That is, the mounting plate 28 includes a rotating bearing 28B that receives the rotating shaft 44S provided on the fixed plate 44 of the holder tilting mechanism 30, is configured to be rotatable around the same axis, and tilts the holder at a position away from the rotating bearing 28B. A pivot receiver 28P for receiving the pivot 46P of the mechanism 30 is provided. The pivot 46P is provided at the lower end of the rod-shaped arm 46, and the cam follower 46C is provided at the upper end of the arm 46.

The lower side of the arm 46 is inserted into the guide 44G provided on the fixing plate 44, and the pivot 46P projects outward from the opening 45 provided in the guide 44G. The upper side of the arm 46 extends in a shape, and the cam follower 46C is engaged with the cam 48 arranged above. The cam 48 is composed of a pair of upper and lower rod-shaped members extending along the spline shaft 16S.

The cam follower 46C is engaged between these pair of rod-shaped members, and the cam 48 moves up and down while maintaining the horizontal position, so that each arm 46 can be moved up and down by the same stroke at the same time. As a result, the pivot 46P moves up and down, the mounting plate 28 that engages with the pivot 46P via the pivot receiver 28P is rotated around the rotation shaft 44S, and the holder 16H attached to the mounting plate 28 is tilted by a predetermined angle. Both ends of the cam 48 are supported by a cam elevating air cylinder 49 that raises and lowers the cam 48 near both ends of the spline shaft 16S.

FIG. 9 corresponds to a partially enlarged view of FIG. 7B in a state where each holder 16H is tilted by the holder tilting mechanism 30. In FIG. 9, the holder tilting mechanism 30 of FIG. 8A is shown first from the left in the row of the six articles P, and the mounting plate 28 of FIG. 8B is shown second. .. Articles P housed in the holder 16H are shown in the third to fifth positions. In FIG. 9, the cam 48 is lowered so that the mounting plate 28, or article P, is tilted to the left at the same height about the rotary bearing 28B.

10 and 11 are views for explaining the configuration and operation of the head portion (article inserting means) 50 provided at the tip of the arm robot 18, and show the state of the head portion 50 in time series.

At the tip of the arm 18A, a head portion 50 that attracts and holds the first article row P1 and the second article row P2 is provided. In the adsorption of the first and second article rows P1 and P2 from the article row forming portion 16 by the head portion 50, each article row P1 and P2 are laid down in the article row forming portion 16 and are aggregated and closely attached to each row. It is performed in a state of being tilted by the holder tilting mechanism 30.

The head portion 50 is rotatably attached to the tip of the arm 18A with, for example, three axes of freedom. In FIG. 6, the head portion 50 has a first head (first holding means) 51 that attracts and holds the first article row P1 whose tip portion is arranged downward, and a second article whose tip portion is arranged upward. A second head (second holding means) 52 for sucking and holding the row P2 is provided. The first head 51 is held by the arm 18A via the first air cylinder 51A, and is held by the arm 18A by the second head 52 via the second air cylinder (article holding member moving means) 52A. The first and second heads 51 and 52 can be raised and lowered by the operation of the first and second air cylinders 51A and 52A.

The first head 51 and the second head 52 are provided with a first suction cup (article holding member) 51S and a second suction cup (article holding member) 52S, respectively, and are compatible with the side surfaces of the first and second article rows P1 and P2, respectively. It can be tilted to the desired posture and can suck and hold the side surfaces of the first and second article rows P1 and P2, respectively.

First, in FIG. 10A, the first suction cup 51S of the first head 51 is located at the descending end, and the second suction cup 52S of the second head 52 is located at the ascending end (standby position). Is turned on to suck and hold the base end side of each article in the first article row P1. Next, the head portion 50 is in the state shown in FIG. 10 (b). That is, in FIG. 10B, the first air cylinder 51A is operated with the first head 51 turned on, the first suction cup 51S of the first head 51 is moved to the rising end, and the first suction cup 51S is moved to the first suction cup 51S. The sucked first article row P1 is lifted. In parallel with this, the second head 52 is lowered by the second air cylinder 52A, and the five second suction cups 52S pass between the tips of the first article row P1 and move to the lowering end (operating position). Will be done. Then, the second head 52 is turned on, and the base end side of each article in the second article row P2 is attracted and held by the second suction cup 52S.

Next, in FIG. 10C, the first suction cup 51S of the first head 51 is lowered to the lowering end by the first air cylinder 51A with the first head 51 turned on. At this time, the position of the second suction cup 52S is maintained at the descending end while the second head 52 is maintained in the ON state. As a result, the tip end portion of the article in one row of articles is arranged substantially adjacent to the base end portion of the article in the other row of articles adjacent thereto. After that, the arm 18A is moved, and the head portion 50 holding the first and second article rows P1 and P2 is inserted into the case C as shown in FIG. 10 (d). In FIG. 10D, the first head 51 is in the ON state, the first suction cup 51S is maintained at the descending end position, and the second head 52 is turned off when the second suction cup 52S is at the descending end position. As a result, the second article row P2 is put into the case C.

Next, in FIG. 11E, the second air cylinder 52A is driven while the first head 51 is in the ON state, and the second suction cup 52S of the second head 52 that has opened the second article row P2 reaches the rising end. Moving. In FIG. 11 (f), the arm 18A is operated, the entire head 50 is lowered, and the first article row P1 is pushed between the already inserted article rows P2. As a result, the first and second article rows P1 and P2 are aligned in the case C in the state shown in FIG. 6 without disturbing the rows. After that, the first head 51 is turned off, the first suction cup 51S opens the first article row, and the arm 18A is returned to the upper side of the article row forming portion 16, and FIGS. The operations of FIGS. 11 (e) and 11 (f) are repeated.

As described above, according to the present embodiment, since the articles are pre-aggregated in each row at the article row forming portion to be in a close state and tilted at an angle suitable for boxing, the head attached to the arm is subjected to this. Since it is not necessary to provide such a mechanism, the weight of the device can be reduced and the processing speed can be improved. In addition, the head attracts and holds a dense row of articles and moves into the case, but moves the head while holding the first row of articles and the second row of articles at different heights, and moves into the case for each row. Since the articles are thrown in, the articles do not come into contact with each other and fall, and the rows are not disturbed during boxing.

In the present embodiment, the first head is raised when the second row of articles is sucked, but the height of the first head may be fixed and only the second head may be raised or lowered. In this case, the first head holds the first row of articles while the second head is made to stand by at the ascending end (standby position), and then the second head is moved to the descending end (operating position) to make the second head. 2 Hold a row of articles.

In the present embodiment, an article having a conical shape has been described as an example, but the shape of the article is not limited to this. For example, if it has a truncated cone shape or a tapered shape that tapers toward one end in the longitudinal direction, the effect is great, but in the present embodiment, the articles in a closely aligned state are packed in a box. If there is, it can be applied to articles of other shapes.

Further, in the present embodiment, the case where the article is held by using the suction cup has been described as an example, but the present invention can also be applied to a configuration in which the article is held by a method other than the suction cup.

10 Article boxing device 16 Article row forming unit 18 Arm robot 50 Head unit 51 1st head 51A 1st air cylinder 51S 1st sucker 52 2nd head 52A 2nd air cylinder 52S 2nd sucker C case P article P1 1st article Row P2 2nd article row

Claims (2)

In an article boxing device including a first holding means and a second holding means for holding an article by an article holding member, and an article inserting means for inserting the article held by the first and second holding means into a case. ,
An article row forming means for holding the first article row and the second article row in which a plurality of articles are arranged, respectively, is provided.
The article inserting means
State that the a plurality of article holding members of the first holding means holding said first article row and the second article row by a plurality of article holding members of the second holding means are arranged in parallel to said first object product columns Is to be held in
Movement of the article holding member for moving the article holding member of the second holding means to a standby position above the article holding member of the first holding means and an operating position below the article holding member of the first holding means. Have the means,
After the article was held by the first holding means in a state where the article holding member of the second holding means was positioned at the standby position, the article holding member of the second holding means was positioned at the operating position. In this state, the second holding means holds the article, and the article is moved into the case while maintaining the same state.
After releasing the holding of the second article row by the second holding means and transferring the second article row into the case, the article holding member of the second holding means is moved from the operating position to the standby position. An article boxing device, characterized in that the holding of the first article row by the first holding means is released and the first article row is transferred into the case. The article has a tapered shape in which one end is smaller than the other end.
In the first and second rows of articles, one end of one adjacent article faces one end of the other adjacent article, and the other end of one adjacent article faces the other adjacent article. It is formed so that it faces the end and is aligned.
The first holding means holds the other end side of the articles in the first article row by the article holding member.
The article holding member moving means moves the article holding member between one end of an adjacent article and the other end of the adjacent article while the first row of articles is held by the first holding means. The article boxing device according to claim 1, wherein the article boxing device is moved from the standby position to the operating position so as to pass through.

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