JP7266855B2 - cartoning equipment - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boxing device that packs articles into boxes that are erected in the shape of a rectangular tube.

Japanese Patent Laid-Open Publication No. 2002-100003 proposes a boxing apparatus that packs a rectangular tube-shaped box over an object to be packaged, such as a bottle, can, or PET bottle of food and drink. In the apparatus disclosed in Patent Document 1, an object to be packaged is placed on a table smaller than the opening dimension of the body of a box raised in the shape of a rectangular tube, and the box holding the body is extended from the body by a robot. The inner flap and the outer flap on the lower side face downward and cover the article to be packaged on the table from the upper side. Then, by moving the box to one side by a robot, one of the inner flaps extending downward from the side edge of the table is pressed against the lid closing means and folded inward, and then the folded inner flap is folded. Lift the box so that it rests on the top surface of the table and move it to the other side. Next, by moving the box with the other inner flap in the same manner as described above, the box with both inner flaps folded and the lower opening of the trunk closed is positioned on the upper surface of the table. After that, both outer flaps are folded under the table by the outer flap folding means, and after the table is pulled out sideways by the pulling means from between the inner and outer flaps positioned above and below, the outer flaps are closed by the sealing means. configured to seal.

JP 2018-154345 A

In the device disclosed in Patent Document 1, it is necessary to pull out the table sideways after folding the outer flap on the underside of the table. Management was complicated. In addition, when the size of the box is changed, it is necessary to replace the table, which is a troublesome task, resulting in a long lost time.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cartoning apparatus that can easily cope with changes in the size of boxes.

The boxing device of the invention according to claim 1 of the present application is
a table (20) on which the article (18) is placed;
A box (10) in which flaps (12a, 14a) extend outward from the lower end edge of a body (16) in the shape of a rectangular tube that covers the article (18) on the table (20) and opens vertically. ) and the box (10) with the article (18) contained in the body (16) on the table (20) outwardly away from the side edges (20a) of the table (20). a robot hand (24) whose motion is controlled so as to advance and retreat in the opposite direction and to rotate around a vertical axis;
a bending member (26) for bending the flaps (12a, 12a) extending from the side edge (20a) of the table (20) to the lower side of the table (20),
By advancing the box (10) held by the robot hand (24) on the table (20), the first flap (12a) facing the side edge (20a) is moved to the side edge (20a). The first flap (12a) is bent toward the bottom side of the box (10) by operating the bending member (26) and bending the first flap (12a) toward the bottom side of the box (10). ) is supported through the first flap (12a), and the first flap (12a) is placed on the upper surface of the table (20). The box (10) is retracted together with the box (10), and the box (10) is rotated around the vertical axis to move the second flap (12a) paired with the first flap (12a) to the side of the table (20). After directing the edge (20a), the second flap (12a) is moved to the bottom of the box (10) by the movement of the forward, backward and bending members (26) of the box (10) by the robot hand (24). While bending the box (10) to the side and placing it on the upper surface of the table (20), the robot hand (24) advances, retreats, rotates the box (10) around the vertical axis and rotates the remaining flaps (14a) . The box (10) is bent to the bottom side by repeating the operation of the bending member (26), the bottom of the box (10) is closed by the flaps (12a, 14a), and placed on the top surface of the table (20). characterized by
According to the first aspect of the invention, at least a pair of flaps extending from the lower edge of the body of the box covered with the article on the table is protruded from the side edge of the table and folded to the bottom side of the table. Since it is configured to be placed on the upper surface of the box, it is possible to reduce the frequency of changing the size of the table when changing the size of the box. In other words, it is not necessary to replace the table each time the size of the box is changed, which simplifies handling when the size of the box is changed. In addition, since all the flaps extending from the lower edge of the body of the box protrude from the side edges of the table and are folded toward the bottom side to be placed on the top surface of the table, when the size of the box is changed, the size of the table can be changed. table can be used as well. That is, since it is not necessary to prepare tables of multiple sizes, management is facilitated, and time loss can be reduced by eliminating the complicated work of exchanging tables when changing the size of a box.

In the invention according to claim 2 , a first moving part (50) for moving the bending member (26) in the front-rear direction to approach and separate the bending member (26) from the side edge (20a) of the table (20); A second moving part (52) that moves (26) vertically,
The second moving part (52) raises the bending member (26) to a position where the flaps (12a, 14a) bent toward the bottom side of the box (10) are lifted above the upper surface of the table (20). It is characterized by being configured as follows.
According to the invention of claim 2 , by moving the bending member back and forth and up and down in accordance with the advance and retreat of the box, the flap can be bent without dropping the article, and the bent flap can be used to move the box. Can be placed on top of a table without lifting.

The invention according to claim 3 is characterized in that the table (20) is configured such that the lower surface gradually displaces toward the upper surface toward the side edge (20a).
According to the invention of claim 3 , even when the flap in the process of folding contacts the bottom surface of the table, the top surface of the flap can be folded to a position approaching the top surface of the table, so that the article that has come off the table is greatly lowered. can prevent

In the invention according to claim 4 , a supply conveyor (38) for supplying the article (18);
a accumulating conveyor (40) in which the supply direction and the transport direction of the supply conveyor (38) obliquely intersect;
transfer means (42) for transferring a predetermined number of articles (18) arranged in the supply direction on the supply conveyor (38) to the accumulation conveyor (40);
a regulating member (46) for blocking and aligning the articles (18) conveyed by the accumulation conveyor (40),
The regulating member (46) has a first surface portion (46a) that crosses the conveying path of the accumulation conveyor (40) and a portion that is transferred from the supply conveyor (38) to the accumulation conveyor (40) at the first surface portion (46a). a second surface portion (46b) extending upstream in the conveying direction on the side of the article located furthest downstream in the
The article (18), which is dammed up by the regulating member (46) and arranged in a plurality of rows and columns, is covered with a box (10) having a top and bottom opening held by the robot hand (24) from the upper side of the article (18). It is characterized in that it is configured to move together with the table (20).
According to the invention of claim 4 , a plurality of articles to be packed in the box can be aligned and accumulated according to the size of the box.

According to the present invention, even when the size of the box is changed, the flap can be folded without changing the size of the table on which the articles are placed, and the switching operation when changing the size of the box is simple. become.

It is a schematic plan view showing the main part of the boxing device. It is a schematic side view which shows the principal part of a boxing apparatus. (a) is a schematic diagram showing a state in which the box is placed on the table with the inner flaps spread outward; It is the schematic which shows the state which extends diagonally to the lower side of a table from the space between a member and a table. (a) is a schematic diagram showing a state in which the box is advanced and the bending member is advanced to fold the inner flap, and (b) is a state in which the bending member is raised to lift the inner flap above the upper surface of the table. 1 is a schematic diagram showing the . (a) is a schematic diagram showing a state in which the box is retracted and folded and the inner flap is placed on the upper surface of the table, and (b) is a schematic diagram showing the state in which the box is rotated 180 degrees from the state in (a). It is a diagram.

Next, preferred embodiments of the boxing apparatus according to the present invention will be described below with reference to the accompanying drawings.

The box 10 to be handled by the box packing apparatus according to the embodiment has four rectangular side panels 12, 12, 14, and 14 arranged in series to form a square tube-shaped body 16, and each side panel Flaps 12a, 12a, 14a, and 14a extend from both ends (opening sides) of the openings 12, 12, 14, and 14 (see FIGS. 1 and 2). In a posture in which the opening of the body portion 16 faces up and down, the pair of side panels 12, 12 facing one of the front, rear, left, and right are referred to as first side panels 12, 12, and the pair of side panels 14, 14 facing each other on the other side. 14 are designated as second side panels 14,14. The flaps 12a extending from the ends of the first side panels 12 are referred to as inner flaps 12a, and the flaps 14a extending from the ends of the second side panels 14 are referred to as outer flaps 14a. In the embodiment, one inner flap 12a of the pair extending from the pair of opposing first side panels 12, 12 is the first flap and the other inner flap 12a is the second flap.

FIG. 1 is a schematic diagram showing the essential parts of a boxing apparatus according to an embodiment. The boxing apparatus includes a table 20 on which articles 18 are placed, and a robot hand 24 that lifts the box 10 into a rectangular tubular shape. The robot 22 moves the box 10 along with the article 18 along the upper surface of the table while covering the article 18 on the table from above, and the box 10 held by the robot hand 24 and moved on the table. A bending member 26 for bending the flaps 12a, 12a, 14a, 14a extending from the lower edge of the body 16 toward the bottom side of the box 10 is provided. The boxing device includes a magazine (stacking unit) 30 for stacking folded sheets 28 obtained by flatly folding the boxes 10, and a stacking device 32 for stacking the articles 18 in a plurality of rows and columns. The folded sheets 28 are held and taken out one by one by the robot hand 24 and raised in a square tube shape in the raising section (described later) S1. After covering the accumulated articles 18 from above, the box 10 is moved to the table 20 together with the articles 18 accommodated in the body section 16 .

As shown in FIG. 1, in front of the take-out port of the magazine 30, within the operation area N of the robot hand 24, a folding part S1 and a flap folding part S2 are arranged in front and behind in the take-out direction of the folded sheet 28. In addition, a stacking section S3 for the articles 18 in the stacking device 32 is provided on the side of the folding section S1 and the flap folding section S2. Four flaps 12a, 12a, 14a, and 14a extending from the lower edge of the body portion 16 are folded at the flap folding portion S2 on the side opposite to the folding portion S1 across the flap folding portion S2. A transport conveyor 34 is arranged for transporting the box 10 with the bottom closed to a sealing section (not shown). In the sealing portion, the outer flaps 14a, 14a folded on the top and bottom sides of the box 10 are sealed, respectively.

The robot 22 is provided with the robot hand 24 at the tip of a robot arm 22a that can freely move in a three-dimensional space. It has an adsorption part 36 that can be adsorbed from. The suction unit 36 is provided with a plurality of suction cups 36a that generate a suction force due to negative pressure. The robot 22 sucks the folded sheets 28 from the magazine 30 by the suction cups 36a and takes them out one by one. The outer surface of the trunk portion 16 of the box 10, which has been erected into a square tube shape by a lifting device (not shown), is sucked from both sides by the suction cups 36a, 36a, and the opening of the trunk portion 16 is held in a posture facing up and down. .

The folding section S1 is provided with a spreading means (not shown), and the four flaps 12a, 12a, 14a, and 14a extending from the lower edge of the body section 16 of the box 10 held by the robot hand 24 are By folding outwardly by the expanding means, the flaps 12a, 12a, 14a, 14a are bent outwardly from creases connecting the side panels 12, 14 and the flaps 12a, 14a.

As shown in FIG. 1, the accumulating device 32 includes a feed conveyor 38 that feeds articles 18 such as food bottles, cans, PET bottles, etc. in an upright position in a row, and is provided on the side of the feed conveyor 38. The accumulating conveyor 40 is arranged so that the conveying direction of the accumulating conveyor 40 obliquely intersects the supply direction of the supply conveyor 38 . In the embodiment, the conveying direction of the accumulating conveyor 40 is inclined toward the downstream side so as to approach the flap bent portion S2. The stacking device 32 also includes transfer means 42 such as a pusher that pushes and transfers a predetermined number of articles 18 supplied by the supply conveyor 38 and arranged in the supply direction toward the stacking conveyor 40 . The accumulating device 32 also includes a damming means 44 for accumulating the articles 18 conveyed by the accumulating conveyor 40. The damming means 44 collects the articles 18 in a plurality of rows and a plurality of columns in the accumulating section S3. The box 10 held by the robot hand 24 is covered from above.

The damming means 44 includes a regulating member 46 disposed above the conveying surface of the accumulating conveyor 40 for damming and aligning the articles 18 , and the regulating member 46 regulating the articles 18 conveyed by the accumulating conveyor 40 . actuating means (not shown) for moving between a dammed position (solid line position in FIG. 1) and a release position (double-dot chain line position in FIG. 1) that allows movement of the article 18 to the table 20; Prepare. At the damming position, the regulating member 46 has a flat plate-like first surface portion 46a extending across the conveying path of the article 18 and one end portion of the first surface portion 46a perpendicular to the first surface portion 46a. It is a member formed in an L shape from a flat second surface portion 46b extending from the second surface portion 46b toward the upstream side in the conveying direction. An end portion of the first surface portion 46a opposite to the end portion where the second surface portion 46b is provided is connected to an operating means, and the regulating member 46 is rotated horizontally between the damming position and the release position. Configured. In the damming position shown in FIG. 1, the second surface portion 46b is located on the side close to the flap bent portion S2 intersecting the conveying direction of the stacking conveyor 40 (in the box moving direction from the stacking conveyor 40 to the table 20). It extends along the conveying direction on the front side (flap folding portion side) and on the side of the most downstream articles transferred from the supply conveyor 38 to the accumulation conveyor 40 .

As shown in FIG. 1, the table 20 extends from the accumulating conveyor 40 to the flap folding portion S2, and the top surface of the table 20 is flat and positioned at the same level or slightly lower than the conveying surface of the accumulating conveyor 40. Thus, the articles 18 can be smoothly transferred from the accumulating conveyor 40 to the table 20 . Further, as shown in FIG. 2, the table 20 is formed with an inclined surface 20b whose lower surface is inclined upward so as to be gradually displaced toward the side edge 20a on the side away from the raised portion S1. , and the thickness of the table 20 decreases toward the side edges 20a. Then, the robot 22 advances and retreats the box 10 covered by the article 18 on the table and held by the robot hand 24 along the upper surface of the table in the front-rear direction with respect to the side edge 20a at the flap bending portion S2. It is configured to control the motion of the robot hand 24 so that it rotates around the axis in the vertical direction together with the robot hand 24 (see FIGS. 3 to 5). Specifically, the robot hand 24 advances the box 10 in a direction away from the side edges 20a and retreats in the opposite direction.

As shown in FIGS. 2 to 5, the boxing device includes folding means 48 for folding flaps 12a, 12a, 14a, 14a extending from the lower edge of the body portion 16 of the box 10 toward the bottom side of the box 10. . The bending means 48 includes the flat plate-shaped bending member 26 that contacts and bends the flaps 12a, 12a, 14a, 14a, and the bending member 26 that is moved toward and away from the side edge 20a of the table 20. A first air cylinder 50 as a first moving part that advances and retreats in a direction, and a second air cylinder 52 as a second moving part that vertically moves the bending member 26 up and down. The second air cylinder 52 is movably supported by a guide rail 54 extending in the front-rear direction. of the piston rod 50a is connected. A bending member 26 is disposed on the upward piston rod 52a of the second air cylinder 52. As shown in FIG. The first air cylinder 50 moves the bending member 26 so that the tip 26a facing the side edge 20a of the table 20 is separated from the side edge 20a and the flaps 12a and 14a are positioned on the lower side of the table between the side edge 20a and the side edge 20a. between a retracted position (see FIG. 3(a)) defining a cavity 58 which allows it to be lowered, and a folded position (see FIG. 4(a)) where the tip 26a is adjacent to the side edge 20a. Move back and forth. The second air cylinder 52 also moves the bending member 26 to a contact height position (FIG. 3 ( a)) and a lifting position (see FIG. 4(b)) where the folded flaps 12a and 14a can be placed on the upper surface of the table. In addition, the upper surface of the bending member 26 is located above the upper surface of the table 20 in the lifted position.

Next, the action of the cartoning apparatus according to the embodiment will be described.

The folding sheet 28 taken out from the magazine 30 by the robot hand 24 is erected into a square tube shape by the erecting device. In addition, the four flaps 12a, 12a, 14a, 14a extending from the lower edge of the trunk portion 16 of the raised box 10 are spread outward by the expanding means provided in the raising portion S1 to form the trunk portion 16. Make a crease on the connection part. In the stacking device 32 , a predetermined number of articles 18 supplied by the supply conveyor 38 are pushed out toward the stacking conveyor 40 by the transfer means 42 and transferred. The articles 18 conveyed by the accumulating conveyor 40 are regulated by the first surface portion 46a of the regulating member 46 positioned at the damming position, so that the plurality of articles 18 are aligned along the first surface portion 46a. blocked in the state. A predetermined number of articles 18 transferred from the supply conveyor 38 to the stacking conveyor 40 at predetermined intervals sequentially abut on the articles 18 that are blocked in front of each row on the second surface portion 46b along the conveying direction. The articles 18 whose positions are regulated and conveyed by the accumulating conveyor 40 are accumulated in a plurality of rows and a plurality of columns in the accumulating section S3.

When the articles 18 are stacked by the stacking device 32, the stacking conveyor 40 is stopped and the regulating member 46 is moved to the release position. The robot 22 transfers the box 10 held by the robot hand 24 to above the stacking section S3 and covers the article 18 from above. At this time, the flaps 12a, 12a, 14a, 14a extending from the lower end edge of the trunk portion 16 are spread outward due to the creases attached to the connection portion with the trunk portion 16, so that the flaps 12a, 12a, 14a, 14a, 14a, 14a, 14a The articles 14a, 14a contact the conveying surface of the accumulating conveyor 40 and bend outward without bending inward, and the article 18 is accommodated in the trunk section 16. - 特許庁

The robot 22 laterally moves the robot hand 24 holding the box 10 in which the article 18 is stored in the body 16 to transfer the article 18 together with the box 10 from the accumulation conveyor 40 to the table 20. The hand 24 is rotated to position the box 10 at the flap folding position S2 with the inner flap 12a to be folded first facing the side edge 20a of the table 20 (see FIG. 3(a)). With the bending member 26 at the contact height position positioned at the retracted position, the box 10 held by the robot hand 24 is advanced along the upper surface of the table 20 toward the side edge 20a, thereby bending the box 10 forward. The inner flap 12a protrudes from the side edge 20a and extends under the table 20 from the space 58 between the tip 26a of the bending member 26 and the side edge 20a of the table 20 by its own weight (Fig. 3 ( b)).

Next, the first air cylinder 50 advances the bending member 26 from the retracted position toward the bending position, so that the tip 26a of the bending member 26 comes into contact with the inner flap 12a from the outside, thereby folding the inner flap 12a into the box. Fold to the bottom side of 10. In addition, the robot 22 advances the box 10 held by the robot hand 24 as the bending member 26 advances. The forward movement of the bending member 26 causes the inner flap 12a to be bent under the table 20, and the forward movement of the box 10 causes the bottom surface of the article 18, which has been removed from the side edge 20a of the table 20, to be bent through the bent inner flap 12a. are supported by bending members 26 (see FIG. 4(a)). The folding member 26 is lifted by the second air cylinder 52 before reaching the folding position, thereby preventing the article 18 that has left the table 20 from dropping significantly. In addition, since the inclined surface 20b is formed on the lower surface of the table 20, even if the inner flap 12a bent by the bending member 26 contacts the lower surface of the table 20 (the inclined surface 20b), the inner flap 12a is It can be folded to a position close to the top of the table so that the bottom surface of the article 18 can be supported near the top of the table 20 .

When the box 10 held by the robot hand 24 is advanced to a position where the inner flap 12a bent to the bottom side does not interfere with the table 20, the bending member 26 is raised to the lifted position by the second air cylinder 52 and is bent. The lower surface of the inner flap 12a is lifted above the upper surface of the table 20 (see FIG. 4(b)). Next, by retracting the box 10 held by the robot hand 24 along the upper surface of the table, the inner flap 12a lifted by the bending member 26 is transferred to the upper surface of the table 20, so that the inner flap 12a is lifted by the table 20. The folded state is maintained (see FIG. 5(a)). Next, the robot 22 rotates the box 10 held by the robot hand 24 by 180 degrees, and directs the inner flap 12a to be folded next toward the side edge 20a of the table 20 (see FIG. 5(b)). After moving the bending member 26 to the contact height position and the retracted position by the first air cylinder 50 and the second air cylinder 52, the robot hand 24 and the bending member 26 are operated in the same manner as described above. , the other inner flap 12a is also folded and the folded state is maintained on the table 20. - 特許庁

Next, the box 10 with the pair of inner flaps 12 a , 12 a folded is rotated 90 degrees by the robot hand 24 so that one outer flap 14 a faces the side edge 20 a of the table 20 . Thereafter, similarly to the case of folding the inner flap 12a, the robot hand 24 and the bending member 26 are operated in a predetermined order to fold the pair of outer flaps 14a, 14a toward the bottom side of the box 10 to form a trunk. A box 10 closed at the bottom by folding four flaps 12a, 12a, 14a, 14a extending from the lower edge of the portion 16 is placed on the table. When the outer flaps 14a, 14a are bent, the article 18 that has deviated outward from the side edge of the table 20 is pushed downward by the bending member 26 via the already bent inner flaps 12a, 12a and the outer flap 14a. supported from

With the bending member 26 at the bending position held at the lifting position, the robot hand 24 advances the box 10 whose bottom is closed by the flaps 12a, 12a, 14a, 14a, thereby bending the box 10 from the table 20. It is transferred to the transfer conveyor 34 via the member 26 . The box 10 transported to the sealing section by the transport conveyor 34 has the outer flaps 14a, 14a folded to the bottom side sealed, and the flaps 12a, 12a, 14a, 14a on the top side folded. As a result, the outer flaps 14a, 14a are sealed.

In the boxing apparatus of the embodiment, each of the flaps 12a, 12a, 14a, 14a extending from the lower edge of the body portion 16 of the box 10 placed on the article 18 on the table 20 is placed along the upper surface of the table 20 to cover the box. The box 10 is moved forward to protrude from the side edge 20a and folded to the bottom side, and then the box 10 is retracted and the folded flaps 12a, 12a, 14a, 14a are placed on the upper surface of the table 20. 20 is not sandwiched between the inner flap 12a and the outer flap 14a. That is, there is no need to change the size of the table 20 when changing the size of the box 10, and one type of table 20 can be used for packing the articles 18 into the boxes 10 of various sizes. Moreover, since it is not necessary to prepare tables 20 of a plurality of sizes, management is facilitated, and troublesome work of exchanging tables 20 when changing the size of the box 10 is eliminated, thereby reducing lost time.

In addition, since the bending member 26 is configured to be moved in the front-rear direction by the first air cylinder 50, the flaps 12a and 14a are provided between the bending member 26 and the table 20 and have a size that allows the flaps 12a and 14a to extend below the table. In addition, the bending member 26 can support the article 18 which is removed from the table 20 by the advance of the box 10 through the flaps 12a and 14a. In addition, since the bending member 26 is configured to be vertically moved by the second air cylinder 52, the folded flaps 12a and 14a can be placed on the upper surface of the table 20 while supporting the article 18. FIG.

In the stacking device 32, the stacking conveyor 40 is arranged with respect to the supply conveyor 38 so that the conveying direction is oblique to the supply direction, and the regulating member 46 that dams the articles 18 transported by the stacking conveyor 40 is L. Because of the letter shape, a row of articles 18 transferred from the supply conveyor 38 to the accumulation conveyor 40 is accumulated in rows and columns. In addition, a plurality of articles 18 to be packed in the box 10 can be aligned and accumulated according to the size of the box 10 without changing the position or shape of the regulating member 46.例文帳に追加

(Change example)
The present invention is not limited to the configurations of the embodiments and the like, and can be modified, for example, as follows. In addition, without being limited to the following modification examples, various embodiments can be adopted within the scope of the present invention for the configurations described in the examples and the like.
(1) In the embodiment, the articles stacked on the conveyer are covered with a box and moved to the table. Alternatively, a configuration can be adopted in which articles are accommodated in a box positioned on a table by an article supplying means.
(2) The moving part that moves the bending member is not limited to the air cylinder, and other driving means such as a motor can be employed. Further, it is possible to employ a configuration in which the driving means is linked to the bending member via a linkage mechanism such as a link mechanism, and the bending member is moved back and forth and vertically by a single driving means.
(3) When the box is moved or rotated on the table, if the box is lifted by the robot hand so that the bottom edge of the body is lifted from the top surface of the table, the flap will not be damaged by being pressed against the top surface of the table. can be suppressed.
(4) In the embodiment, all the flaps extending from the lower edge of the body of the box are configured to protrude from the side edges of the table and be folded toward the bottom side. It is possible to employ a configuration in which the flaps protrude from the side edges of the flaps and are folded to the bottom side to be placed on the top surface of the table, and the remaining flaps are folded by other means. That is, when changing the size of the box, if the dimensions of the pair of flaps do not change, it is possible to cope with the change without changing the size of the table, thereby increasing the versatility of the table.

10 box, 12a inner flap (first flap, second flap)
14a outer flap (remaining flap), 16 trunk, 18 article, 20 table 20a side edge, 24 robot hand, 26 bending member, 38 supply conveyor 40 accumulation conveyor, 42 transfer means, 46 regulation member, 46a first Surface portion 46b Second surface portion, 50 First air cylinder (first moving portion)
52 Second air cylinder (second moving part)

Claims (4)

a table on which the article is placed;
A flap extending from the lower end edge of a square tube-shaped body covering the article on the table and opening vertically holds a box that spreads outward, and the box is placed on the table together with the article accommodated in the body. a robot hand whose movement is controlled so as to advance outward from the side edge of the table, retreat in the opposite direction, and rotate around a vertical axis;
a bending member for bending a flap extending from the side edge of the table to the underside of the table;
By advancing the box held by the robot hand on the table, the first flap facing the side edge is protruded from the side edge and extended below the table, and the bending member is extended. With the first flap actuated to fold toward the bottom of the box and support through the first flap an item outboard of the side edge of the table, the first flap is folded over the top surface of the table. After placing the box on the table and retracting the box, rotating the box about the vertical axis to direct the second flap paired with the first flap to the side edge of the table, the second flap is The robot hand moves the box forward, backward, and bends the box to bend the box to the bottom side and place it on the upper surface of the table. A box packing device characterized in that the box is folded to the bottom side by repeating the rotation around the axis and the action of the bending member, the bottom of the box is closed with a flap , and the box is placed on the upper surface of the table . a first moving part that moves the bending member in the front-rear direction to approach and separate the bending member from the side edge of the table; and a second moving part that moves the bending member in the vertical direction,
2. The box packing apparatus according to claim 1 , wherein the second moving section raises the bending member to a position where the flap bent toward the bottom side of the box is lifted above the upper surface of the table. 3. The box packing apparatus according to claim 2 , wherein the table is constructed such that the lower surface thereof is gradually displaced toward the upper surface toward the side edges. a feed conveyor that feeds the articles;
an accumulating conveyor in which the supply direction and the conveying direction of the supply conveyor obliquely intersect;
transfer means for transferring a predetermined number of articles arranged in the supply direction on the supply conveyor to the accumulation conveyor;
a regulating member that dams and aligns the articles conveyed by the accumulation conveyor;
The regulating member extends upstream in the conveying direction on a first surface portion that crosses the conveying path of the accumulating conveyor and on the side of the most downstream article that has been transferred from the supply conveyor to the accumulating conveyor on the first surface portion. and a second surface portion to
The article is dammed up by the regulating member and aligned in a plurality of rows and columns, and the article is covered with a box that opens vertically and held by the robot hand, and is moved to the table together with the article. 4. A cartoning device according to any one of items 1 to 3 .

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