JP7219795B1 - Packaging box assembly system and goods packaging system using the same - Google Patents

Abstract

Kind Code: A1 A system is provided that is capable of miniaturizing equipment and coping with packaging boxes of different shapes, materials, and sizes. A system for forming a bottomed packaging box by bending a main body portion of a folded packaging box into a rectangular tubular shape, and packaging an article in the packaging box, wherein the packaging box is assembled by a packaging box assembling hand. and a first multi-joint robot that holds and moves the body, and is placed within the working range of the first multi-joint robot, and pushes the side edge of the body portion moved by the first multi-joint robot to bend it up. The first jig and the two inner flaps, the outer flaps and the tacks, which are arranged within the working range of the first multi-joint robot and extend from both ends of the main body portion, are sequentially folded while releasing them into the gaps. The article is held and moved by the second and third jigs for forming the bottom lid and the top lid by means of a hand for inserting the article, and the main body portion is placed in the bottomed packaging box held by the first articulated robot. and a second articulated robot inserted from the open end. [Selection drawing] Fig. 1

Description

The present invention is a packaging box assembly system that is configured by combining a general-purpose articulated robot and a simple jig and that automatically assembles packaging boxes. The present invention relates to an article packing system for automatically packing.

Boxes made of cardboard or resin are widely used for packing goods such as products and leaflets, and a series of operations from assembling the packing box to packing the goods is a process that is desired to be automated.

When the shape and material of the packaging boxes are the same and the products to be packed are mass-produced, as disclosed in Patent Document 1, for example, large dedicated equipment is introduced to assemble the boxes and pack the articles. is automated.

On the other hand, in the case of high-mix, medium- and low-volume production, the shape and material of the packaging box will change for each item, so if large-scale dedicated equipment for mass production is used, preparation and adjustment for each shape and material of the packaging box will be required. It takes time and effort to make changes.

By the way, as a device for automatically assembling a packing box and packing an article, for example, as disclosed in Patent Document 2, it is configured by combining a general-purpose articulated robot and a simple jig, and it is flat. A system is also known in which a bottomed packaging box is assembled from folded packaging boxes, an article is stored in the packaging box, and the top cover of the packaging box is closed to complete the package.

JP 2012-096807 A JP 2019-214399 A

However, in the conventional system disclosed in Patent Document 2, the multi-joint robot uses two suction pads of hands provided at the tips of its arms to move two adjacent sides of the main body of the flatly folded packing box. are held by suction, the hand is moved to press the side end of the main body against a jig placed at a fixed position, and the main body is turned into a rectangular tube by changing the orientation of one of the suction pads. In this holding method of holding by suction from two mutually different directions, if the shape and material of the packing box are different, there is a possibility that a sufficient holding force cannot be obtained.

In addition, in the conventional system disclosed in Patent Document 2, the position of the packaging box when folding the inner flap with the jig and the position of the packaging box when folding the outer flap with the jig are separated from each other. Since it was not possible to bend the outer flap while holding down the inner flap with the same jig, the inner flap did not enter the inner side of the outer flap, possibly resulting in a failure to close the bottom lid and the top lid.

Therefore, the present invention provides a packaging box assembling system that enables a significant downsizing of equipment, can handle packaging boxes of different shapes and materials only by changing the program, and can assemble the packaging boxes automatically and reliably. It is also possible to significantly reduce the size of the equipment, and it is possible to handle packaging boxes of different shapes and materials only by changing the program, and the packaging boxes assembled by the above-mentioned packaging box assembly system can be automatically packed. It is an object of the present invention to provide an article packing system capable of reliably carrying out packing.

The packaging box assembly system of the present invention, which advantageously solves the above problems,
A system that assembles a bottomed packaging box by bending the main body of a flat-folded packaging box supplied to a predetermined position into a square tube shape and forming a bottom cover on one end of the main body. There is
a packing box assembling hand that sucks and holds one surface of the main body portion of the packing box with a suction pad;
a first articulated robot having the packaging box assembling hand attached to the distal end of its arm, and moving and operating the packaging box assembling hand according to a predetermined control program;
It is fixedly arranged within the working range of the first multi-joint robot, and moves and operates the packaging box assembling hand by the first multi-joint robot to move one side edge of the main body of the packaging box. a first jig that presses and bends the main body portion into a rectangular tubular shape;
fixedly arranged within the working range of the first articulated robot, and in cooperation with the movement and operation of the packaging box assembling hand by the first articulated robot, at one end of the body portion of the packaging box Two inner flaps extending from two sides of said one side of the main body part in parallel with those sides, and extending from said one side or another side opposite to said one side in parallel with said side. One outer flap and a tuck further extending from the outer flap in parallel with it are sequentially folded while releasing the inner flap, the outer flap and the tack before folding other than the latest folding object, to form a bottom lid. a second jig that forms
with
The second jig includes two folding plates extending in the same plane with a first gap between them, and a pair of folding plates along the side edges of the two folding plates. and a bending ridge that extends in the direction opposite to the two bending plates from the base of the bending ridge that extends with a second gap connected to the first gap. and an abutment portion .

In addition, an article packing system of the present invention using the packing box assembling system, which advantageously solves the above problems,
A system comprising the packaging box assembling system and packing an article in a bottomed packaging box assembled by the packaging box assembling system,
an article inserting hand having a suction pad for sucking and holding the article;
The article-inserting hand is attached to the tip of the arm, and the article-inserting hand is moved and operated according to a predetermined control program to move the article sucked and held by the article-inserting hand to the first arm. a second articulated robot that inserts into the bottomed packaging box sucked and held by the packaging box assembling hand from the opening at the other end of the main body of the packaging box;
It is arranged within the work range of the first articulated robot, and in cooperation with the movement and operation of the packaging box assembling hand by the first articulated robot, the body portion of the bottomed packaging box At the end, two inner flaps extending parallel to the two sides of said one side, respectively, and one outer flap extending parallel to said one side or another side opposite to said one side. and tucks further extending in parallel from the outer flaps are sequentially folded while releasing the inner flaps, the outer flaps and the tucks before folding other than the most recent folding target, and the article is inserted. a third jig for forming an upper lid on the bottomed packaging box;
is further provided.

In the packaging box assembling system of the present invention, the first articulated robot moves and operates the packaging box assembling hand attached to the tip of the arm based on the control program. one surface of the main body of the packaging box is held by suction with the suction pad, then one side edge of the main body is pressed in cooperation with the first jig to bend the main body into a square tube shape, and then two inner flaps each extending from two sides of said one side of said body portion at one end of said body portion in cooperation with a second jig in parallel with said one side of said body portion; One outer flap extending parallel to that surface from one surface or another surface opposite to that surface, and a tuck further extending from the outer flap parallel to it, are folded other than the most recent folding target A bottomed packing box is assembled by sequentially folding the bottom cover while releasing the front inner flap, outer flap and tuck.

Therefore, according to the packaging box assembling system of the present invention, there is provided a general-purpose first multi-joint robot having packaging box assembling hands attached to the tips of its arms, and the working range of the first multi-joint robot. With the first and second jigs of simple configuration fixedly arranged inside, it is possible to greatly reduce the size of the equipment, and moreover, by only changing the program, different shapes, ie, plain and reverse caramel box type packaging Corresponds to boxes, packing boxes made of board materials with creases made of different materials such as cardboard and resin boards, and packing boxes of different sizes and profiles (length-to-width height ratio) within the range of jig sizes. , the packing box can be assembled automatically and reliably.

Here, when the packaging box is of the one-touch box type, when the body portion of the packaging box supplied in a flat folded state is bent into a square tube shape by the first articulated robot and the first jig, Since the bottom cover is also bent and raised together, the packing box can be automatically and reliably assembled without using the second jig.

In addition, in the packing box assembling system of the present invention, the first jig is made of, for example, a thick plate material or a plate material bent in an L shape, and has a flat plate surface and a side edge of the plate surface. The side surface may be used as a pressing surface for pressing one side edge of the main body portion. With this configuration, the first jig can be easily configured, and the main body portion bent from a flat state on the pressing surface is pressed against the plate surface connected to the pressing surface and bent in the opposite direction. can be shaped into a rectangular tube.

In the packaging box assembly system of the present invention, the packaging box supply device is provided to supply the packaging boxes one by one within the working range of the first articulated robot, and the first jig is , may be arranged to extend along the body portion of the packaging box to be supplied by the packaging box feeder. In this way, the supply of the packaging boxes can be automated, and the supply of the packaging boxes and the bending of the main body can be performed in a series of operations, thereby shortening the assembly time.

Further, in the packaging box assembling system of the present invention, as described above , the second jig includes two folding plates extending on the same plane with the first gap between them, A bending ridge extending along the side edges of the two bending plates with a second gap connected to the first gap on the side thereof, and from the base of the bending ridge to the It has an abutting portion projecting and extending in the direction opposite to the two folding plates. By doing so, the second jig can be easily configured, and the inner flap other than the nearest folding target can be inserted into the first gap and released, and at the same time, the second jig can be positioned near the second gap. Since the unfolded outer flaps other than those to be folded can be inserted and released, the nearest inner flap can be easily and reliably folded.

Further, in the packaging box assembling system of the present invention, the second jig is provided on both sides of the two folding plates symmetrically with respect to the folding plates, with the second gaps being formed between the two jigs. You may have a bending protrusion and the said abutment part. In this way, plain and reverse caramel box-type packaging boxes can be assembled without changing the up-down direction of the packaging box.

Further, in the packing box assembling system of the present invention, the packing box assembling hand holds the main body portion held by the suction pad while holding the bent and raised sides of the one side of the main body portion. two holding members held in a rectangular tubular shape; a holding member loading/unloading mechanism for loading and unloading the two holding members between an advanced position where the two holding members are advanced beyond the adsorption surface of the suction pad and a retracted position where the two holding members are retracted; a holding member approaching/separating mechanism for moving the holding members toward and away from each other in the advanced position. With this configuration, when the main body of the packing box folded flat is sucked and held by the suction pad, the two holding members are moved to the retracted position from the suction surface of the suction pad by the holding member loading/unloading mechanism. When the body part is bent up, the two holding members are positioned at the advanced position where they advance beyond the suction surface of the suction pad by the holding member loading/unloading mechanism, and the holding member approaching/separating mechanism. By bringing the main body portion closer to each other, the main body portion is held in a square tubular shape by sandwiching the two bent and raised sides on both sides, so that the bent and raised main body portion of the packing box can be reliably shaped into a square tubular shape during the packing work of the article. can be held.

Furthermore, in the packaging box assembling system of the present invention, the second jig may be arranged toward one end in the extending direction of the first jig. With this configuration, the main body portion bent into a square tube shape by the first jig is positioned close to the second jig, and the main body portion is moved from that position to open the inner flap at one end and the outer flap. Since the bottom lid can be formed by bringing the flap and tuck into contact with the second jig, it is possible to shorten the moving distance and time of the packing box from the end of bending up the main body portion to the start of forming the bottom lid. .

Furthermore, in the packaging box assembly system of the present invention, the second jig may be arranged obliquely upward. In this way, after the bottom cover is formed with the main body in the inclined posture, the article can be dropped into the main body while maintaining the inclined posture, so that the time required for changing the posture of the main body can be saved.

Further, in the article packing system of the present invention, the first articulated robot moves and operates the packing box assembling hand attached to the tip of the arm based on the control program. A bottomed packing box sucked and held by a suction pad of a hand is arranged so that the opening of the other end of the main body portion of the packing box faces upward from the horizontal position, and preferably the bottom reed is a second jig. The second articulated robot moves and operates the article insertion hand attached to the tip of the arm based on the control program. First, one or a plurality of articles are sucked and held by the suction pad of the article-inserting hand, and then the article is held at an angle by the packing-box assembling hand at the other end of the main body of the packing box. , released at a position facing the opening facing upward from the horizontal position and dropped into the main body portion.

Next, based on the control program, the first articulated robot moves and operates the packaging box assembling hand attached to the tip of the arm, and cooperates with the third jig to assemble the packaging box. and two inner flaps extending from two sides of one side of the main body portion in parallel with the other side of the main body portion of the packing box moved while being sucked and held by the suction pad of the hand. , one outer flap extending parallel to the one surface or another surface opposite to the one surface, and a tuck extending further parallel to the outer flap from the outer flap, other than the nearest folding object The package is completed by successively folding the package while releasing the inner flaps, the outer flaps and the tucks before folding, and forming the upper cover on the bottomed package box in which the article is inserted.

Therefore, according to the article packing system of the present invention, a general-purpose first articulated robot having a packing box assembling hand attached to the tip of its arm and an article inserting hand attached to the tip of its arm. a general-purpose second articulated robot, a first jig and a second jig of a simple configuration fixedly arranged within the working range of the first articulated robot, and the first With the simple configuration of the third jig arranged within the work range of the articulated robot, it is possible to greatly reduce the size of the equipment, and by changing the program, different shapes, ie, plain and reverse caramel box shapes. It can be used for packaging boxes of different materials such as cardboard or resin board with creases, and packaging boxes with different sizes and profiles (length-to-width height ratio) within the range of jig sizes. By doing so, the article can be automatically and reliably packed.

In addition, in the article packing system of the present invention, the third jig may have the same configuration as the second jig. In this way, the formation of the bottom lid and the formation of the top lid can be performed by the same movement of the packaging box, and the second jig and the third jig can be made of common materials and equipment at a low cost. In addition, even if any jig needs to be repaired, it can be quickly handled by using a common jig.

Also, in the article packing system of the present invention, the article insertion hand is aligned with the article sucked and held by the suction pad, and the two pieces of the article at the other end of the main body portion of the bottomed packing box are aligned. It may have an inner flap holding member that enters inside the inner flaps and holds the inner flaps in a state that they are spread out to a distance through which the article can pass. In this way, the article inserting hand can reliably drop the article from the suction pad into the main body of the packing box without being hindered by the inner flap.

Furthermore, the article packing system of the present invention may comprise an article supply device for supplying the article within the working range of the second articulated robot. By doing so, it is possible to automate the packing of articles in a bottomed packing box, including the supply of articles, and shorten the time required for packing work.

Furthermore, in the article packing system of the present invention, the second jig may be shared as the third jig, but the third jig is more preferably the same as the first jig. It may be fixed above the second jig in a direction perpendicular to the second jig in a plan view. With this configuration, after dropping the article into the main body through the opening of the other end of the main body near the second jig having the bottom lid formed on one end of the main body, the other end of the main body is dropped into the main body. When the upper lid is formed on the part by the third jig, the other end of the main body part is positioned close to the third jig only by changing the orientation of the packaging box by 90 degrees, and the other end is positioned from that position. Since the top cover can be formed by moving the inner flap, the outer flap and the tuck of the part and bending it with the third jig, the moving distance and the can save time.

Furthermore, in the article packing system of the present invention, the third jig may be fixedly arranged obliquely downward. With this configuration, after the main body is placed in the inclined position and the article is dropped into the main body, the top cover can be formed on the other end of the main body while maintaining the inclined position, so that the main body can be changed in position. It can save time.

Further, in the article packing system of the present invention, the third jig is arranged at the tip of the arm of the second articulated robot instead of being arranged above the first jig. It may be mounted together in the same orientation as the insertion hand. With this configuration, the top lid can be formed on the other end of the main body portion by the third jig without changing the orientation of the main body portion from the posture in which the article is inserted by the article-inserting hand. The time required for direction change can be saved.

Furthermore, in the article packing system of the present invention, the second articulated robot may form two arms of a dual-arm robot together with the first articulated robot of the packaging box assembly system. In this way, the control program for the dual-arm robot can easily operate the second articulated robot in association with the actuation of the first articulated robot.

Further, in the article packing system of the present invention, the dual-arm robot has a stereo vision camera, and the control program for the dual-arm robot determines at least the first jig based on the image and orientation of the stereo vision camera. and the second jig and the third jig, the three-dimensional positions of the markers provided on one or more jigs are determined, and the three-dimensional positions of the markers are used to determine at least the one or It may correct the position data of a plurality of jigs. In this way, even if the positional relationship between the jigs and the dual-arm robot deviates when the article packing system is relocated, the control program can detect the deviation of the positional relationship from the image and orientation of the stereo vision camera. can be corrected, so if the deviation is within the working range of the dual-arm robot, the packing work can be performed without adjustment.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view schematically showing a packaging box assembling system according to an embodiment of the invention and an article packaging system using the system according to an embodiment of the invention; It is a side view which shows typically the packing box assembly system of the said embodiment, and the goods packing system of the said embodiment using the same. (a), (b) and (c) are a plan view, a front view and a side view showing the packing box assembling system of the above embodiment and the hand for packing box assembling of the article packing system of the above embodiment using the same. be. (a), (b) and (c) are a plan view, a front view and a side view showing an article insertion hand of the article packing system of the embodiment. (a) and (b) are a plan view and a front view showing a first jig of the packaging box assembly system of the embodiment. (a), (b) and (c) are a plan view, a front view and a side sectional view showing a second jig of the packaging box assembling system of the embodiment. FIG. 2 is an exploded view of a caramel box type packaging box used by the packaging box assembling system of the embodiment and the article packing system of the embodiment using the same. (a) and (b) are plan views respectively showing plain-type and reverse-type flat-folded packing boxes of the caramel box-type packing box. (a) and (b) are explanatory diagrams showing a procedure for bending and erecting the main body portion of the packing box into a rectangular tubular shape. 9C and 9D are explanatory diagrams showing the procedure for bending and erecting the main body of the packaging box into a square tube shape following FIG. 9A. (e) and (f) are explanatory diagrams showing the procedure for bending and erecting the body portion of the packaging box into a square tube shape following FIG. 9B. (a) to (h) are explanatory diagrams showing the procedure for forming the bottom cover of the packaging box, the upper side of each drawing being a plan view and the lower side being a side view. FIG. 10 is a plan view schematically showing a packaging box assembly system according to another embodiment of the present invention and an article packaging system according to another embodiment of the present invention using the same. FIG. 12 is a side view schematically showing the packaging box assembly system of the other embodiment and the article packing system of the other embodiment using the same. (a), (b) and (c) are a plan view, a front view and a side view showing an article insertion hand and a third jig of the article packing system of the other embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Below, embodiments of the present invention will be described in detail based on the drawings. Here, FIG. 1 is a plan view schematically showing a packaging box assembly system according to one embodiment of the present invention and an article packaging system according to one embodiment of the present invention using the system. FIG. 2 is a side view schematically showing the packing box assembly system of the embodiment and the article packing system of the embodiment using the system.

The packing box assembling system of this embodiment and the article packing system of this embodiment using the system support a human upper body type robot main body 1a by a support base 1b equipped with pedal-operated elevating casters, and move inside the support base 1b. A dual-arm robot 1 containing a robot controller 1c is provided.

Furthermore, the packaging box assembling system of this embodiment includes a workbench 2 fixed at an arbitrary position and on which the dual-arm robot 1 is arranged close to the workbench 2, and a front back side of the workbench 2 as viewed from the dual-arm robot 1. A packaging box supply device 3 fixedly arranged obliquely upward, a bending jig 4 as a first jig fixed to the front end of the packaging box supply device 3, and a workbench viewed from the dual-arm robot 1. 2, and a bottom reed forming jig 5 as a second jig fixedly arranged obliquely upward to the right on the front left side of 2, and a package arranged at the back left on the workbench 2 as viewed from the dual-arm robot 1. An article carry-out tray 6 is provided.

The article packing system of this embodiment using the packing box assembly system of this embodiment includes a content supply tray 7 arranged in front of the right side of the workbench 2 when viewed from the dual-arm robot 1, and a dual-arm robot. A label supply device 8 as an article supply device is fixedly arranged on the right rear side of the workbench 2 as viewed from the view point 1, and a third jig is fixedly arranged on the packaging box supply device 3 obliquely upward. It is provided with an upper canopy forming jig 9 as a tool.

Here, the robot main body 1a includes a left arm portion 11 consisting of a multi-joint arm as a first multi-joint robot, a right arm portion 12 consisting of a multi-joint arm serving as a second multi-joint robot, a head portion 13, and a head portion. A neck portion 14 capable of changing the orientation of the portion 13, a body portion 15 supporting the left and right arms 11 and 12 and supporting the head 13 via the neck portion 14, and the body portion 15 being rotatable around a vertical axis. It has a columnar waist portion 16 for supporting, and is positioned and mounted on the support base 1 b via the waist portion 16 . The robot controller 1c has at least a normal computer and a motor drive circuit and a pressurized air supply circuit controlled by the computer, and controls the left and right arms of the robot main body 1 based on a program given in advance to the computer. It controls the operation of the above sections including sections 11 and 12 .

The robot controller 1c of the left arm 11 of the robot body 1 controls the motor drive circuit based on a program given to the computer in advance, and drives the motors of the joints of the left arm 11 to rotate and rotate the wrist. It is moved, including changes in posture, and the pressurized air control circuit controls the packaging box assembling hand 17 attached to the wrist of the left arm 11. Operate with negative pressure generated by pressurized air.

The robot controller 1c of the right arm 12 of the robot body 1 controls the motor drive circuit based on a program given to the computer in advance, and drives the motors of the joints of the right arm 12 to rotate and rotate the wrist. In addition to changing the posture, the pressurized air control circuit is controlled to move the article insertion hand 18 attached to the wrist of the right arm 12 to a vacuum generated by a vacuum generator (not shown) with pressurized air. operated by pressure.

The head 13 of the robot main body 1 has a stereo vision camera 19 in its front part, and the stereo vision camera 19 moves in at least two directions, up and down around a predetermined pitch axis and left and right around a predetermined yaw axis, by the operation of the neck 14. The imaging direction data is detected by the encoder in the neck 14 and input to the robot controller 1c together with the image data captured by the two vision cameras of the stereo vision camera 19. be.

3(a), 3(b) and 3(c) are a plan view, a front view and a side view showing the packaging box assembling hand 17 of the packaging box assembling system of the above embodiment. The packing box assembling hand 17 has a base plate 17a and, in the drawing, a suction pad mounting plate 17b fixedly supported below the base plate 17a. Two suction pads 17c are attached to both ends of the direction downward in the figure, and two pressing plates 17d whose lower ends are slightly recessed from the suction pads 17c are located closer to the center than the positions of the suction pads 17c. It is fixed downward in the drawing along the suction pad 17c.

In the figure, the lower surface of the base plate 17a is provided with, for example, an air chuck 17e as a holding member approaching/separating mechanism for moving two slides toward and away from each other with pressurized air. For example, air motors 17f as holding member loading/unloading mechanisms are attached to the slides facing each other, and upper ends of holding plates 17g serving as holding members are attached to the output shafts of the air motors 17f. These holding plates 17g extend in parallel to each other, and rotate the output shaft of the air motor 17f to advance from the suction pad 17c to the advanced position shown in the figure, and rotate upward 90 degrees therefrom to move above the suction pad 17c. It can be rotated between a retracted retracted position (not shown).

Further, the packaging box assembling hand 17 has a wrist attachment unit 17h fixedly supported above the base plate 17a in the figure, and the tip of the left arm 11 of the robot main body 1 is mounted via the wrist attachment unit 17h. It is detachably attached to the wrist located at the part.

4(a), 4(b) and 4(c) are a plan view, a front view and a side view showing the article insertion hand 18 of the article packing system of the above embodiment. The article insertion hand 18 has a base plate 18a and a compliance unit 18b attached to the lower surface of the base plate 18a in the drawing. The frame 18c is supported so that it can move up and down while being elastically urged downward by a spring. It is attached downward in the figure via an L-shaped bracket.

The right end suction pad 18d of these suction pads 18d is attached with the base portions of two hand members 18e as inner flap holding members, and the hand members 18e move from the position of the right end suction pad 18d to The three suction pads 18d protrude to the right, which is the direction in which the three suction pads 18d are aligned, and extend horizontally.

Further, the article inserting hand 18 has a wrist attachment unit 18f fixedly supported above the base plate 18a in the figure, and the tip of the right arm 12 of the robot main body 1a is attached via the wrist attachment unit 18f. It is detachably attached to the wrist located at .

FIGS. 5(a) and 5(b) show, as shown in FIG. 1 is a plan view and a front view showing a bending jig 4 as a jig of 1. The packaging box supply device 3 here is arranged obliquely upward so that the front end portion is positioned on the back side of the front on the workbench 2. A plurality of flatly folded packing boxes 21 are piled up and accommodated in a frame-shaped frame, and the packing boxes 21 are pushed out toward the front end of the frame by a spring mechanism, and the front packing box is pushed out. 21 is locked to the front end of the frame fixedly arranged within the working range of the left arm 11 of the robot body 1a so that it can be smoothly removed by a stopper roller mechanism 3a that presses the roller at the tip of the swing arm with a spring. , the packaging box 21 is supplied to the packaging box assembly system of this embodiment in a fixed position and attitude.

The bending jig 4 is in the shape of an elongated thick plate. At least three cross marks 4b, three in the figure, are provided on the front surface 4c fixed to extend, and a set of these cross marks 4b are provided on the front surface 4c of the bending jig 4. The controller 1c of the robot main body 1a configures a marker for specifying a three-dimensional position, and the controller 1c of the robot main body 1a controls the positions of the cross marks 4b captured by the stereo vision camera 19 of the head 13 on each screen and the positions of the head 13 and each vision camera. The three-dimensional position of each of the cross marks 4b is obtained by triangulation from the horizontal direction and the vertical inclination, and the front surface 4c of the bending jig 4 and the pressing surface 4a are determined from the three-dimensional positions of the cross marks 4b. The three-dimensional position of is obtained by calculation, and position data stored in advance can be corrected by the obtained position. The markers are provided not only on the bending jig 4, but also on the packing box supply device 3, the bottom reed forming jig 5, the label feeding device 8, and the upper reed forming jig 9 (not shown). A three-dimensional position is obtained, and position data stored in advance can be corrected at the obtained position.

6(a), 6(b), and 6(c) are shown on the front left side of the workbench 2 as shown in FIG. , a plan view, a front view, and a side view of a plantar-forming jig 5 as a second jig fixedly arranged obliquely upward to the right so as to be positioned within the working range of the left arm 11 of the robot body 1a; This bottom reed forming jig 5 comprises two folding plates 5b extending on the same plane with a first gap 5a between their tip edges, and a folding plate 5b between them. Two bent ribs 5d each extending along both side edges of the bent plate 5b with a second gap 5c connected to the first gap 5a and having a rounded tip end. , and two abutting portions 5e projecting and extending in opposite directions to the two bending plates 5b from the bases of the bending ridges 5d are fixedly arranged between the support plates on both sides. are doing.

In addition, the writing supply device 8 here is in a folded state in a frame-shaped frame that is arranged obliquely upward so that the front end is located on the right side of the work table 2 when viewed from the dual-arm robot 1 . The robot main body 1a accommodates a plurality of inscriptions 23 in a pile, pushes out the inscriptions 23 toward the front end of the frame by a spring mechanism, and allows the frontmost inscription 23 to be easily taken out by left and right stopper plates. right arm 12 of the right arm 12 of the right arm 12, which is fixedly positioned within the working range of the front end of the frame.

Then, the upper reed forming jig 9 as a third jig is fixedly arranged on the front end portion of the frame of the note supply device 8 so as to face obliquely downward toward the front. It has the same configuration as the bottom reed forming jig 5 as a jig.

FIG. 7 is an exploded view of the packaging box 21 of the caramel box type packaging box used by the packaging box assembling system of the above embodiment and the article packing system of the above embodiment using the same, including the glue margin. is a main body portion 21a that is bent and raised into a rectangular tubular shape from a flat folded state, and one end and the other end in the longitudinal direction of the main body portion 21a from two sides on one side of the main body portion 21a. Two inner flaps 21b extending in parallel with the surface of each, one outer flap 21c extending parallel to the surface from the one surface or another surface opposite to the one surface, and from the outer flap 21c and a piece of tack 21d further extending in parallel therewith.

FIGS. 8(a) and 8(b) are plan views respectively showing the flat-folded packing boxes 21 of the plain type and the reverse type of the caramel box type packing box, and the plane shown in FIG. 8(a). The type packaging box 21P has outer flaps and tucks at both ends on the same surface of the main body portion, and the reverse type packaging box 21R shown in FIG. has an outer flap and tuck at the end of one side of the . The packaging box 21 shown in FIG. 7 is a plain type packaging box 21P.

FIGS. 9A (a), (b), FIGS. 9B (c), (d), and FIGS. 9C (e), (f) are explanatory diagrams showing the procedure for bending the main body of the packing box into a square tube shape, and 10(a) to 10(h) are explanatory diagrams showing the procedure for forming the bottom cover of the packaging box, and the upper side of each drawing in FIG. 10 is a plan view, and the lower side is a side view. In the article packing system of this embodiment, when the packing box assembling system of this embodiment is used to assemble the bottomed packing box 24 from the plain type packing box 21P, the packing box assembling work is performed in the following procedure. .

(environmental recognition)
First, the controller 1c of the dual-arm robot 1 captures images of the three cross marks 4b of the bending jig 4 with the stereo vision camera 19 of the head 13, and a marker consisting of a set of these cross marks 4b is provided. The three-dimensional position including the attitude in the robot coordinate system of the front surface 4c of the bending jig 4 is obtained, and similarly, the packaging box supply device 3, the bottom reed forming jig 5, the contents supply tray 7, and the letter supply device 8 are obtained. And the three-dimensional position including the posture in the robot coordinate system of the upper moth forming jig 9 is obtained, and the position of the surrounding environment is recognized. As a result, even if the positional relationship between the dual-arm robot 1 and the surrounding environment deviates when the system is relocated, the dual-arm robot 1 corrects the deviation of the task teaching points due to the positional deviation.

(Picking up the packing box)
As shown in FIG. 9A(a), the controller 1c of the dual-arm robot 1 moves the two holding plates 17g of the packing box assembling hand 17 of the left arm 11 to separate positions by operating the air chucks 17e. Then, the air motor 17f is operated to rotate 90 degrees to the retracted position to avoid interference with the packaging box supply device 3, and then the packaging box assembling hand 17 is moved to supply the two suction pads 17c. Facing the frontmost packaging box 21 of the device 3, the suction pads 17c are placed at the center of one of the four surfaces of the main body portion 21a of the packaging box 21 where neither the inner flap 21b nor the outer flap 21c is extended. It is brought into contact with the part and is held by suction on one side.

Next, as shown in FIG. 9A(b), the one surface of the body portion 21a sucked and held by the suction pad 17c is lifted in a direction perpendicular to the body portion 21a, and the body portion 21a is removed from the stopper roller mechanism (not shown). Then, the packaging box assembling hand 17 is moved laterally to press the lower side edge of the main body portion 21a against the pressing surface 4a of the bending jig 4, and from this state, the packaging box assembling hand 17 is bent and raised by the bending jig 4. As shown in FIG. 9B(c), the main body portion 21a is once bent into a square tubular shape from the flatly folded state.

After that, the packaging box assembling hand 17 is moved obliquely downward above the bending jig 4, and as shown in FIG. is pressed against the upper surface 4c of the bending jig 4, the body portion 21a is further bent to the opposite side to give the body portion 21a a bending habit. In addition, grooves are provided in portions of the main body portion 21a of the packaging box 21 corresponding to the respective corners of the packaging box. It stays in the shape of a rectangular tube even if it is separated from the

Next, as shown in FIG. 9C(e), after the packaging box assembling hand 17 of the left arm 11 is lifted, the two holding plates 17g are rotated downward by 90 degrees to the forward position by the operation of the air motor 17f. 9C(f), the body portion 21a of the packaging box 21 is sandwiched between the holding plates 17g and restrained in a rectangular tubular shape, Prepare for the formation of the bottom lid.

(Assembly of bottomed packing box)
Next, as shown in FIG. 10( a ), the hand 17 for assembling the packaging box of the left arm 11 is moved to extend from one end to the bottom side of the body portion 21 a of the packaging box 21 , the first bending target. The outer flap 21c and the tuck 21d that have not been folded yet are inserted into the second gap 5c on the lower side of the bottom reed forming jig 5 to escape, and the main body portion 21a of the reed forming jig 5 faces the front side. One of the two inner flaps 21b extending from one end on the bottom side of the main body portion 21a, the inner flap 21b to be bent immediately, that is, to be first folded, is placed in a bottom reed forming jig. 5, and the other inner flap 21b before folding, which is not the first folding object, is inserted into the first gap 5a of the bottom inlay forming jig 5. , the one inner flap 21b is moved along the second gap 5c toward the base of the folding plate 5b and folded inward.

Next, as shown in FIG. 10(b), the other inner flap 21b is inserted into the first gap 5a of the bottom reed forming jig 5, and then, as shown in FIG. 10(c), the body portion 21a perpendicular to the front of the reed forming jig 5, and as shown in FIG. While pressing against the other of the two folding plates 5b on the front side, move it along the second gap 5c toward the base of the other folding plate 5b to move the one inner flap 21b to the other The other inner flap 21b is folded inward while being folded inside the other inner flap 21b.

Next, as shown in FIG. 10(d), while moving the main body portion 21a toward the lower bent ridge 5d, the outer flap 21c to be bent next in the second gap 5c is moved. 10(e), the surface of the main body portion 21a sucked and held by the packaging box assembling hand 17 is the downward surface of the bent protrusion 5d. When it reaches the bottom, the main body portion 21a is moved toward the abutment portion 5e projecting downward from the base of the bent ridge 5d, and the outer flap 21c is entirely attached to the one end portion of the main body portion 21a. The tuck 21d to be next bent is bent so as to contact the outer surface of one end of the body portion 21a with the downward surface of the bent ridge 5d.

Next, as shown in FIG. 10(f), the main body portion 21a is tilted downward with respect to the front surface of the base reed forming jig 5 and retreated from the abutment portion 5e, so that the tip of the outer flap 21c is pushed back toward the main body portion 21a. The tuck 21d is further bent toward the opening of the one end of the body portion 21a with the downward surface of the bent ridge 5d while separating from the one end of the main body portion 21a.

Next, as shown in FIG. 10(g), the main body portion 21a is returned to face the front of the base reed forming jig 5 and is advanced toward the abutment portion 5e, and the tip portion of the outer flap 21c is pushed back toward the main body. While approaching the one end of the portion 21a, the tip of the tuck 21d is inserted into the opening of the one end at a position on the side of the two inner flaps 21c at the one end of the body portion 21a, and as shown in FIG. As shown in (h), the outer flap 21c is finally folded again until it abuts on the one end of the main body portion 21a, and the tuck 21d is entirely inserted into the opening of the one end of the main body portion 21a. A bottom cover is formed by pressing, thereby assembling the bottomed packing box 24.例文帳に追加The names and symbols of the corresponding parts of the packaging box 21 are used as they are for the names and symbols of the parts of the bottomed packaging box 24 hereinafter.

Next, the article packing system of this embodiment further uses the packing box assembling system of this embodiment, and in the bottomed packing box 24 assembled as described above, contents 22 as articles and notices are prepared according to the following procedure. 23 is packed to complete a packed product 25. - 特許庁

(Removal of notes)
The controller 1c of the dual-arm robot 1 moves the article-inserting hand 18 of the right arm 12 to one end of the three suction pads 18d to which the hand member 18e is attached via the compliance unit 18b. The suction pad 18d of the book is faced to the frontmost letter 23 of the letter supply device 8, and the suction pad 18d is elastically brought into contact with the central portion of the letter 23 by the action of the compliance unit 18b to adsorb the letter 23. Hold.

Next, the article-inserting hand 18 is moved forward, and the inscription 23 sucked and held by the suction pad 18d is lifted in the direction perpendicular to the inscription 23, removed from the left and right stopper plates, picked up, and then the article-inserting hand The three suction pads 18d are turned downward while moving the suction pads 18 downward.

(Removal of Contents)
Next, the controller 1c of the dual-arm robot 1 further moves the article-inserting hand 18 of the right arm 12 to move the remaining two of the three suction pads 18d to one in the content supply tray 7. The suction pads 18d are made to face the contents 22 and elastically abut against two positions aligned in the longitudinal direction of the contents 22 by the action of the compliance unit 18b, thereby sucking and holding the contents 22 so as not to be crushed. do. Next, the article inserting hand 18 is moved upward to pick up the content 22 and overlap it with the note 23 to hold it together.

(Insertion of contents and notice)
Next, the controller 1c of the dual-arm robot 1 moves the packaging box assembling hand 17 of the left arm 11 to move the assembled bottomed packaging box 24 so that the bottom lid at one end is below the bottom reed forming jig 5. With the bottomed packing box 24 held, the hand 18 of the right arm 12 for inserting an article is held. Then, the two hand members 18e are inserted between the two inner flaps 21b extending from the other end of the body portion 21a so that the inner flaps 21b are not narrowed. While pressing from the inside, the negative pressure of the three suction pads 18d is cut off to release the content 22 and the note 23 at a position facing the obliquely upward opening of the other end of the body portion 21a. 22 and inscription 23 are superimposed on each other and inserted into the body portion 21a through the opening at the other end.

(Formation of upper lid)
Next, the controller 1c of the dual-arm robot 1 moves the packing box assembling hand 17 of the left arm 11, and uses the top lid forming jig 9 to form the main body portion 21a in the same procedure as when forming the bottom cover. Two inner flaps 21b, one outer flap 21c, and one tuck 21d extending from the outer flap 21c extending from the other end of the above are folded before folding other than the next folding target The object is inserted into the first gap 5a or the second gap 5c and released while being folded one by one, and the tack 21d is inserted from the opening of the other end to insert the content 22 and the note 23 inside. Forms the top lid of the bottom packaging box 24, thereby placing the completed package 25 in the package output tray 6, if there is no other package 25, to the edge, and if another package 25 is already present. If there is, store it side by side.

In the above example, the plain-type caramel box 21P shown in FIG. However, when forming the bottomed packing box 24 and packing the content 22 and the note 23 using the reverse-type packing box 21R of the caramel box shown in FIG. By using the second gap 5c on the upper side of each of the forming jig 5 and the upper reed forming jig 9, the bent protrusion 5d, and the abutting portion 5e, a bottomed packing box 21P can be formed in the same manner as the plain type packing box 21P. The formation of the packing box 24 and the packing of the contents 22 and the leaflet 23 can be performed. In addition, when using a one-touch box-type packaging box (not shown), the bottom cover is formed together with the main body portion by bending it upright. A packaging box 24 can be formed.

Therefore, according to the packaging box assembling system of this embodiment, the left arm 11 of the dual-arm robot 1 has the packaging box assembling hand 17 attached to the tip of the arm, and the left arm 11 is fixed within the working range of the left arm 11 . The bending jig 4 and the bottom reed forming jig 5 which are arranged in a simple configuration make it possible to greatly reduce the size of the equipment, and the caramel box of different shapes, that is, plain, reverse or one-touch box type, can be produced only by changing the program. The bottomed packaging box 24 can be assembled automatically and reliably in correspondence with a shaped packaging box and a creased plate material packaging box made of different materials such as cardboard or resin plate.

Further, according to the packaging box assembling system of this embodiment, the packaging box supply device 3 is provided to supply the packaging boxes 21 one by one so that they can be taken out, and the bending jig 4 is supplied by the packaging box supply device 3. Since it is fixedly arranged so as to extend along the main body portion 21a of the packaging box 21, the supply of the packaging box 21 to the assembly of the packaging box 24 can be automated, and the supply of the packaging box 21 and the bending of the main body portion 21a can be automated. The raising and lowering can be performed in a series of operations, and the assembly time can be shortened.

Furthermore, according to the packaging box assembling system of this embodiment, since the bottom reed forming jig 5 is fixed toward one end in the extending direction of the bending jig 4, the bending jig 4 can be used to The main body portion 21a bent into a rectangular tubular shape is positioned close to the bottom reed forming jig 5, and the main body portion 21a is moved from that position to form the inner flap 21b, the outer flap 21c and the tuck 21d at one end of the reed. Since the bottom lid can be formed by bringing it into contact with the forming jig 5, it is possible to shorten the moving distance and time of the packing box 21 from the end of bending the body portion 21a to the start of forming the bottom lid.

At this time, since the bottom reed forming jig 5 is fixed and arranged obliquely upward, after forming the bottom cover with the main body portion 21a in an inclined posture, the contents 22 are placed in the main body portion 21a in that inclined posture. Since the notation 23 can be dropped, the time required for changing the posture of the body portion 21a can be saved.

Furthermore, according to the packaging box assembling system of this embodiment, the bottom reed forming jig 5 forms the second gaps 5c on both sides of the two folding plates 5b symmetrically with respect to the folding plates 5b. Since the opening and bending ridges 5d and the butting portions 5e are provided, the plain and reverse caramel box-type packaging boxes can be assembled without changing the vertical direction of the packaging box 21.例文帳に追加

Furthermore, according to the packaging box assembling system of this embodiment, the holding member loading/unloading mechanism 17f and the holding member approaching/separating mechanism 17g of the packaging box assembling hand 17 are driven by pressurized air. The assembly hand 17 can be made lightweight and easy to control.

According to the article packing system of this embodiment using the packing box assembling system of this embodiment, the left arm 11 of the dual-arm robot 1 has a packing box assembling hand 17 attached to the tip of the arm, A right arm 12 having an article insertion hand 18 attached to the tip of the arm, and a bending jig 4 with a simple configuration fixedly arranged within the working range of the left arm 11, a bottom inlay forming jig 5, and an upper lid. By using the forming jig 9, it is possible to greatly reduce the size of the equipment, and only by changing the program, different shapes, such as plain and reverse caramel box-shaped packaging boxes, and folds made of different materials, such as cardboard and resin plates. It is possible to automatically and reliably pack items by supporting board-made packing boxes with , and packing boxes of different sizes and profiles (length-width-to-height ratio) within the range of the size of the jig. .

Further, according to the article packing system of this embodiment using the packing box assembling system of this embodiment, since the notice supply device 8 is provided to supply the notice 23 within the working range of the right arm 12, the notice 23 can be It is possible to automate the process from supply to packing in a packing box 24 with a bottom, thereby shortening the packing work time.

Furthermore, according to the article packing system of this embodiment using the packing box assembling system of this embodiment, the upper reed forming jig 9 is positioned above the bending jig 4 and on a plane with respect to the bottom reed forming jig 5. Since it is fixedly arranged in a direction perpendicular to the view, it can be inserted into the body portion 21a from the opening at the other end of the body portion 21a near the bottom reed forming jig 5 having the bottom cover formed at one end of the body portion 21a. After dropping the contents 22 and the information 23, when forming the upper lid on the other end of the main body portion 21a with the upper cap forming jig 9, the main body portion 21a can be formed by simply changing the direction of the packing box 24 by 90 degrees. The other end is positioned close to the upper reed forming jig 9, and the inner flap 21b, the outer flap 21c, and the tuck 21d of the other end are brought into contact with the upper reed forming jig 9 from that position to form the upper lid. Therefore, it is possible to shorten the moving distance and time of the packing box 24 from the dropping of the contents 22 and the information 23 into the body portion 21a to the start of forming the top cover.

At this time, since the upper reed forming jig 9 is fixedly arranged obliquely downward, after the main body portion 21a is placed in an inclined posture and the content 22 and the note 23 are dropped into the main body portion 21a, the inclined posture is maintained. Since the top cover can be formed on the other end of the main body portion 21a, the time required for changing the attitude of the main body portion 21a can be saved.

Furthermore, according to the article packing system of this embodiment using the packing box assembling system of this embodiment, the article inserting hand 18 is placed on the other end of the main body portion 21a of the packing box 24 with a bottom. Since it has an inner flap holding member 18e which enters inside the flaps 21b and holds the inner flaps 21b in such a manner that the contents 22 and the inscription 23 can pass through, the article insertion hand 18 is attracted. The contents 22 and the inscription 23 can be reliably dropped into the main body portion 21a of the packing box 24 from the pad 18d without being hindered by the inner flap 21b.

Furthermore, according to the article packing system of this embodiment using the packing box assembling system of this embodiment, the right arm 12 as the second articulated robot is replaced by the left arm 11 as the first articulated robot. Since the controller 1c of the dual-arm robot 1 can easily operate the right arm 12 in conjunction with the operation of the left arm 11 by its control program, .

Furthermore, according to the article packing system of this embodiment using the packing box assembly system of this embodiment, the dual-arm robot 1 has a stereo vision camera 19 on its head 13, and the controller 1c of the dual-arm robot 1 Based on the image and orientation of the stereo vision camera 19, the control program of . is determined, and the positions of the jigs and peripheral devices are corrected using the three-dimensional positions of the markers. Even if there is a deviation in the positional relationship between , the control program can correct the deviation in the positional relationship from the image and orientation of the stereo vision camera, so if the deviation is within the working range of the dual-arm robot 1, no adjustment is required. Packing work can be done.

FIG. 11 is a plan view schematically showing a packaging box assembly system according to another embodiment of the invention and an article packaging system according to another embodiment of the invention using the system. FIG. 12 is a side view schematically showing the packaging box assembling system of the other embodiment and the article packing system of the other embodiment using the system. In the packing box assembling system and article packing system of this embodiment, the same parts as in the previous embodiment are denoted by the same reference numerals.

That is, in the packing box assembly system of this embodiment and the article packing system of this embodiment using the same, as in the previous embodiment, a human upper body type robot main body 1a is mounted on a support base 1b with pedal-operated elevating casters. A dual-arm robot 1 is supported by a support base 1b and accommodates a robot controller 1c in the support base 1b.

On the other hand, the packaging box assembling system of this embodiment includes a workbench 2 fixed at an arbitrary position and on which the dual-arm robot 1 is placed close to, and a right side of the dual-arm robot 1 as viewed from the dual-arm robot 1. A pair of a packaging box supply device 3 fixedly arranged facing upward, a bending jig 4 as a first jig fixed to the front end of the packaging box supply device 3, and the packaging box supply device 3. A plantar forming jig serving as a second jig fixed vertically toward one end portion of the rearward bending jig 4 in the extending direction above the rearward side portion when viewed from the arm robot 1 . a content supply conveyor 26 arranged on the left side of the workbench 2 as seen from the dual-arm robot 1 to supply contents as articles; and a packed product carrying-out conveyor 27 for carrying out the packed product 25.

Here, the robot main body 1a includes a right arm portion 12 consisting of an articulated arm as a first articulated robot, a left arm portion 11 consisting of an articulated arm as a second articulated robot, a head portion 13, and a head portion. A neck portion 14 capable of changing the orientation of the portion 13, a body portion 15 supporting the left and right arms 11 and 12 and supporting the head 13 via the neck portion 14, and the body portion 15 being rotatable around a vertical axis. It has a columnar waist portion 16 for supporting, and is positioned and mounted on the support base 1 b via the waist portion 16 . The robot controller 1c has at least a normal computer and a motor drive circuit and a pressurized air supply circuit controlled by the computer, and controls the left and right arms of the robot main body 1 based on a program given in advance to the computer. It controls the operation of the above sections including sections 11 and 12 .

The robot controller 1c of the right arm 12 of the robot body 1 controls the motor drive circuit based on a program given to the computer in advance, and drives the motors of the joints of the right arm 12 to rotate and rotate the wrist. While moving including changing the posture, the pressurized air control circuit is controlled, and the packaging box assembling hand 17 attached to the wrist of the right arm 12 is pressurized by pressurized air and a vacuum generator (not shown). Operate with negative pressure generated by pressurized air.

The robot controller 1c of the left arm 11 of the robot body 1 controls the motor drive circuit based on a program given to the computer in advance, and drives the motors of the joints of the left arm 11 to rotate and rotate the wrist. In addition to changing the posture, the pressurized air control circuit controls the article insertion hand 18 attached to the wrist of the left arm 11 to generate a negative pressure generated by a vacuum generator (not shown) with pressurized air. operated by pressure.

13(a), 13(b) and 13(c) are a perspective view, a front view and a side view showing an article insertion hand 18 of the article packing system of this embodiment. The article insertion hand 18 has a base plate 18a and a compliance unit 18b attached to the lower surface of the base plate 18a in the drawing. The frame 18c is supported so that it can move up and down while being elastically urged downward by a spring while maintaining its posture. It is attached downward in the figure via an L-shaped bracket.

Further, the article inserting hand 18 has a wrist attachment unit 18f fixedly supported above the base plate 18a in the figure, and the tip of the left arm 11 of the robot main body 1a is attached via the wrist attachment unit 18f. It is detachably attached to the wrist located at .

Further, another support frame 18g is attached via an L-shaped bracket to one end of the support frame 18c in the longitudinal direction so as to extend in a horizontal direction orthogonal to the longitudinal direction. At both ends of the support frame 18g in the longitudinal direction, there are two L-shaped bent plates extending on the same plane with a first gap 9a between their leading edges via brackets 18h. The plate 9b is fixed, and on the side surface of the support frame 18g opposite to the support frame 18c side, a single bent ridge 9d with a rounded end is provided as a thick plate-like abutting portion. It is fixed so as to extend in the horizontal direction by sandwiching the upper part of 9e and opening a second gap 9c between the lower edges of the two folding plates 9b, and these two folding plates 9b. A single bent ridge 9d and a thick plate-like abutting portion 9e constitute an upper shell forming jig 9 facing in the same direction as the alignment direction of the two suction pads 18d of the article insertion hand 18. ing.

The packing box assembling system of this embodiment also includes a right arm 12 of a dual-arm robot 1 having a packing box assembling hand 17 attached to the tip of the arm, and a simple robot fixedly arranged within the working range of the right arm 12 . The bottomed packaging box 24 can be assembled in the same manner as in the previous embodiment by using the bending jig 4 and the bottom reed forming jig 5 having such a structure, so that the equipment can be greatly reduced in size. , Different shapes only by changing the program, such as plain, reverse, one-touch box type caramel box type packing boxes, and different materials such as cardboard, resin board, etc. The assembly of the packing box 24 can be automatically and reliably performed.

The article packing system of this embodiment using the packing box assembling system of this embodiment also includes a right arm 12 having a packing box assembling hand 17 attached to the tip of the arm of the dual-arm robot 1, and a right arm 12 attached to the tip of the arm. A left arm 11 having an article inserting hand 18 attached to its tip, a simple bending jig 4 and a sole forming jig 5 fixedly arranged within the working range of the right arm 12, and the left arm. Contents 22 can be packed in a packing box 24 in the same manner as in the previous embodiment by means of a top cover forming jig 9 attached together with an article insertion hand 18 to the tip of the container 11, and a packed article 25 can be completed. Therefore, it is possible to greatly reduce the size of the equipment, and only by changing the program, different shapes, such as plain and reverse caramel box type packaging boxes, and creased plate materials made of different materials, such as cardboard and resin boards. , and packaging boxes of different sizes and profiles (length-to-width height ratios) within the range of jig sizes, and can automatically and reliably pack articles.

Further, according to the packaging box assembling system of this embodiment, the upper lid forming jig 9 is attached to the tip of the left arm portion 11 in the same direction as the alignment direction of the two suction pads 18d of the article insertion hand 18. Therefore, after the main body portion 21a of the bottomed packing box 24 is tilted and the contents 22 are dropped into the main body portion 21a, the upper lid can be formed on the other end portion of the main body portion 21a while maintaining that orientation. Therefore, the time required for changing the posture of the body portion 21a can be saved.

Although the above has been described based on the illustrated embodiments, the present invention is not limited to the above-described embodiments, and can be appropriately modified within the scope of the claims. In the packing box assembling hand in the packing box assembling system of the present invention, the number of suction pads is not limited to two, and may be more. It may be electrically operated.

Furthermore, in the article-inserting hand in the article-packing system of the present invention, the number of suction pads is not limited to two or three and may be more or less, and the compliance unit 18b may be omitted depending on the situation.

In the packing box assembling system of the present invention and the article packing system of the present invention, the number of articles to be packed in one packing box may be three or more, and the articulated robot may be of a single-arm type instead of a double-arm type. The stereo vision camera may be provided not on the head of the dual-arm robot but on the workbench or the like.

Thus, according to the packaging box assembling system of the present invention, there is a general-purpose first multi-joint robot having a packaging box assembling hand attached to the tip of its arm, and a working range of the first multi-joint robot. With the first and second jigs fixedly arranged in a simple configuration, it is possible to greatly reduce the size of the equipment, and the shape of the packaging box can be changed only by changing the program, such as a plain or reverse caramel box type packaging box It is possible to automatically and reliably assemble a packing box corresponding to a packing box made of a creased plate material made of different materials, ie, cardboard, resin plate, or the like. By the way, if the packaging box is a one-touch box type, when the main body of the packaging box supplied in a flat folded state is bent into a square tube shape by the first articulated robot and the first jig, Since the bottom cover is also bent and raised together, the packing box can be automatically and reliably assembled without using the second jig.

Further, according to the article packing system of the present invention, in addition to the first articulated robot and the first and second jigs of the packing box assembling system of the present invention, an article inserting hand is provided at the tip of the arm. Significant downsizing of equipment by means of a single general-purpose second articulated robot and a simple third jig fixedly arranged within the working range of the first articulated robot. By changing the program, different shapes such as plain and reverse caramel box types, one-touch box types, and different materials such as cardboard and resin boards with creases can be handled. Therefore, it is possible to automatically and reliably pack articles.

Reference Signs List 1 dual-arm robot 1a robot body 1b support base 1c robot controller 2 workbench 3 packing box supply device 3a stopper roller mechanism 4 bending jig 4a pressing surface 4b cross mark 4c front surface 5 bottom reed forming jig 5a first gap 5b Bending plate 5c Second gap 5d Bending ridge 5e Abutting portion 6 Packed product unloading tray 7 Contents supply tray 8 Writing supply device 9 Upper lid forming jig 9a First gap 9b Bending plate 9c Second gap 9d bent protrusion 9e abutment portion 11 left arm portion 12 right arm portion 13 head portion 14 neck portion 15 body portion 16 waist portion 17 packing box assembly hand 17a base plate 17b suction pad mounting plate 17c suction pad 17d pressing plate 17e air chuck 17f air motor 17g holding plate 17h wrist attachment unit 18 article insertion hand 18a base plate 18b compliance unit 18c support frame 18d suction pad 18e hand member 18f wrist attachment unit 18g support frame 18h bracket 19 stereo vision camera 21 packing box 21a body part 21b inside Flap 21c Outer flap 21d Tuck 21P Plain type packing box 21R Reverse type packing box 22 Contents 23 Instructions 24 Packing box 25 Packing goods 26 Contents supply conveyor 27 Packing goods unloading conveyor

Claims (16)

In a system for assembling a bottomed packaging box by bending the main body of a packaging box supplied to a predetermined position in a flat folded state into a rectangular tubular shape and forming a bottom lid at one end of the main body. ,
a packing box assembling hand that sucks and holds one surface of the main body portion of the packing box with a suction pad;
a first articulated robot having the packaging box assembling hand attached to the distal end of its arm, and moving and operating the packaging box assembling hand according to a predetermined control program;
It is fixedly arranged within the working range of the first multi-joint robot, and moves and operates the packaging box assembling hand by the first multi-joint robot to move one side edge of the main body of the packaging box. a first jig that presses and bends the main body portion into a rectangular tubular shape;
fixedly arranged within the working range of the first articulated robot, and in cooperation with the movement and operation of the packaging box assembling hand by the first articulated robot, at one end of the body portion of the packaging box Two inner flaps extending from two sides of said one side of the main body part in parallel with those sides, and extending from said one side or another side opposite to said one side in parallel with said side. One outer flap and a tuck further extending from the outer flap in parallel with it are sequentially folded while releasing the inner flap, the outer flap and the tack before folding other than the latest folding object, to form a bottom lid. a second jig that forms
with
The second jig includes two folding plates extending in the same plane with a first gap between them, and a pair of folding plates along the side edges of the two folding plates. and a bending ridge that extends in the direction opposite to the two bending plates from the base of the bending ridge that extends with a second gap connected to the first gap. A packing box assembling system , comprising: a butting portion . The first jig has a flat plate surface and a side surface continuous with the side edge of the plate surface, and the side surface serves as a pressing surface for pressing one side edge of the main body portion. The packaging box assembly system according to claim 1, characterized by: a packaging box supply device that removably supplies the packaging boxes one by one within the working range of the first articulated robot;
3. The packaging box assembly according to claim 1, wherein said first jig is arranged so as to extend along the body portion of the packaging box supplied by said packaging box supply device. system. The second jig has the bending ridges and the abutting portions on both sides of the two bending plates symmetrically with respect to the bending plates with the second gaps between them. The packaging box assembly system according to any one of claims 1 to 3 , characterized in that The packing box assembling hand includes two holding members that hold the main body in a rectangular tubular shape by sandwiching the two bent sides of the one surface of the main body suction-held by the suction pad; a holding member loading/unloading mechanism for loading and unloading the two holding members between an advanced position where the holding members are advanced beyond the suction surface of the suction pad and a retracted position where the holding members are retreated; 5. The packaging box assembling system according to any one of claims 1 to 4 , further comprising a holding member approaching/separating mechanism. Said 2nd jig|tool is arrange|positioned toward the one end part of the extension direction of said 1st jig|tool, The packing box of Claim 1 characterized by the above-mentioned. assembly system. The packaging box assembly system according to any one of claims 1 to 6 , wherein said second jig is arranged obliquely upward. An article packing system comprising the packing box assembling system according to any one of claims 1 to 7 and packing articles in bottomed packing boxes assembled by the packing box assembling system,
an article inserting hand having a suction pad for sucking and holding the article;
The article-inserting hand is attached to the tip of the arm, and the article-inserting hand is moved and operated according to a predetermined control program to move the article sucked and held by the article-inserting hand to the first arm. a second articulated robot that inserts into the bottomed packaging box sucked and held by the packaging box assembling hand from the opening at the other end of the main body of the packaging box;
It is arranged within the work range of the first articulated robot, and in cooperation with the movement and operation of the packaging box assembling hand by the first articulated robot, the body portion of the bottomed packaging box At the end, two inner flaps extending parallel to the two sides of said one side, respectively, and one outer flap extending parallel to said one side or another side opposite to said one side. and tucks further extending in parallel from the outer flaps are sequentially folded while releasing the inner flaps, the outer flaps and the tucks before folding other than the most recent folding target, and the article is inserted. a third jig for forming an upper lid on the bottomed packaging box;
An article packing system, further comprising: 9. The article packing system according to claim 8 , wherein said third jig has the same configuration as said second jig. The article inserting hand is aligned with the article sucked and held by the suction pad, enters the inside of the two inner flaps at the other end of the main body portion of the bottomed packing box, and enters the inner flaps. 10. The article packing system according to claim 8 or 9 , further comprising an inner flap holding member that holds the flaps in a state of being spread to a distance through which the article can pass. 11. The article packing system according to any one of claims 8 to 10 , further comprising an article supply device for supplying the article within the working range of the second articulated robot. 8 to 11 , wherein the third jig is fixed above the first jig in a direction perpendicular to the second jig in a plan view. The article packing system according to any one of 1. 13. The article packing system according to any one of claims 8 to 12 , wherein said third jig is fixed obliquely downward. 12. The apparatus according to any one of claims 8 to 11 , wherein said third jig is attached to the tip of the arm of said second articulated robot in the same direction as said article insertion hand. The article packing system according to any one of the items. 15. Any one of claims 8 to 14 , wherein the second articulated robot constitutes two arms of a dual-arm robot together with the first articulated robot of the packaging box assembly system. The article packing system according to item 1. The dual-arm robot has a stereo vision camera, and a control program for the dual-arm robot determines at least the first jig, the second jig, and the third jig based on the image and orientation of the stereo vision camera. 3-dimensional positions of markers provided on one or more of the jigs are determined, and the position data of at least one or more of the jigs is corrected using the 3-dimensional positions of the markers. 16. The article packing system according to claim 15 , characterized in that:

Images