JPH06227505A - Automatic boxing device - Google Patents

Abstract

PURPOSE:To slantly confront respective upper and lower packings with each other to align them and contain bags superposed at a part thereof, by providing a first superposing means in an aligning device and a second superposing means in a conveyor. CONSTITUTION:When an object 11 to be boxed on a supply conveyor 1 is detected by a detector 2, a shutter 7 is shifted to the right to fully open and as soon as the sutter has received the object 11, it is reversely moved to the left side and the position and direction of the object 11 are regulated by a stopper 4. When the object 11 on the aligning conveyor 5 is detected by an optical sensor 2, it stops after it moves by a little shorter distance than the length thereof. And at the same time, the shutter 7 is rapidly shifted to the right and the object 11 is nearly horizontally dropped on the aligning conveyor 5 in a state superposed with another object at a part thereof. When four bags are aligned, a robot provided with a sucker 12 at the front thereof is immediately actuated to suck the object 11 and slantly hold it by the sucker and stack well them on the way of transfer to make it possible to do slantly superposed and aligned accurate boxing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cartoning device which is useful for cases such as carton packing of pillow packaging bags.

[0002]

2. Description of the Related Art Conventionally, the work of packing a predetermined number of pillow packaging bags of snacks in a corrugated cardboard box or the like has mainly been a manual work. As a device for automating this, one that naturally drops from the supply conveyor, one that moves the discharge side pulley of the supply conveyor at a high speed to drop it substantially horizontally, make normal alignment on the alignment device, and during transportation There is a device for stacking a part of bags so that they can be packed in a box.

[0003]

The conventional manual work is not efficient, and the natural fall from the supply conveyor causes
Alignment accuracy is poor and volumetric efficiency does not improve. In addition, if you use a device that moves the discharge side pulley of the supply conveyor at a high speed and drops it substantially horizontally, the grounding area of the bag etc. will be smaller when a part of the bag etc. is aligned sufficiently. ,
If the alignment speed is high, slippage causes a positional shift, and the suction or gripping position of the transport device is displaced, so that it may not be sufficiently held during transport, resulting in defective packaging. Furthermore,
Although it was attempted to carry out normal alignment on the aligning device and stack a part of the bags sufficiently so that they could be packed during transportation, the adjacent bags interfere with each other and may not be neatly aligned. In order to solve this problem, it is considered to arrange the bags with sufficient space, but this is difficult to speed up because the re-alignment mechanism of the transfer device becomes large.

Therefore, according to the present invention, when packing is performed in a state where the upper and lower packages are horizontally aligned like packing of pillow packaging bags in a corrugated box, the volumetric efficiency is lowered and the transportation cost is increased. An object of the present invention is to provide an automatic boxing device capable of performing a state in which packages are obliquely butted and aligned, that is, a method of stacking a part of bags is stacked.

[0005]

SUMMARY OF THE INVENTION An automatic boxing apparatus of the present invention is an apparatus for packing a plurality of successively supplied packages and the like on a aligning apparatus and then packing them by a transporting apparatus. It is characterized by having a first stacking means for stacking a part of it slightly above and below, and a carrying device having a second stacking means for stacking a part of a boxing target 11 such as a package further up and down. And

The first stacking means of the aligning device moves the aligning conveyor 5 a little shorter than the length of the object 11 to be packed each time the object 11 to be packed such as a package falls from the opening / closing device 3 at the outlet of the supply conveyor 1. A structure for controlling so as to do so is preferable.

In a preferred mode of the second stacking means, a suction port for obliquely holding the object 11 to be packed is provided in the conveying device, and the intervals between the suction ports are such that the objects 11 to be packed are stacked by the first stacking means. This is a structure in which the adjusting device 27 is provided so as to adjust as described above. As a specific example of this adjusting device 27, the suction port is supported by a movable slide holding block 16, and the space between each slide holding block 16 is connected to a space adjusting cylinder 26 via a space adjusting rod 25 and a crank 28, It is possible to show a structure in which the boxing target 11 is sufficiently stacked by the adjusting device 27 during transportation.

[0008]

According to the apparatus of the present invention, the first stacking means of the aligning device aligns the boxed objects 11 such as pillow packages for snacks on the aligning conveyor in a state in which a part of them is piled up. Fully overlap by two-ply means,
It is possible to efficiently pack the adjacent objects 11 to be packed into a corrugated cardboard box or the like in a state where they are diagonally overlapped and aligned.

[0009]

1 is a side view of an automatic boxing apparatus according to the present invention, and FIG. 2 is a plan view thereof. 3 is an enlarged side view of the vicinity of the aligning device having the first stacking means, and FIG. 4 is an enlarged side view of the suction device having the second stacking means. FIG. 5 is a side view of the robot of the transfer device having the suction device in the hand portion.

As shown in these figures, the apparatus has a supply conveyor 1 on the upper right side, whereby the boxed objects 11 sequentially supplied are placed on the alignment conveyor 5 by the first stacking means of the alignment apparatus 6. This is a device in which a part is overlapped a little and a plurality of them are aligned, and then a second stacking means provided in a transfer device such as the robot 30 sufficiently stacks and packs them.

An optical sensor is provided as a detection device 2 near the outlet of the supply conveyor 1, and an opening / closing device 3 is arranged below the outlet. A plate-shaped stopper 4 is arranged in front of the opening / closing device at a predetermined interval. As a result, the direction and position of the object to be packed that falls onto the opening / closing device 3 is always regulated to be constant and positioned.

When the object to be packed 11 is detected by the detection device 2, the opening / closing device 3 is operated thereafter, the details of which are shown in FIG. An opening / closing plate 7 that can move forward and backward in the same direction as the moving direction of the object 11 to be packed at the lower part of the outlet of the supply conveyor 1.
Are provided substantially horizontally with respect to the slide block 8. The slide block 8 has a female screw hole at the center, and a ball screw 10 rotated by a servomotor 9 is screwed into the female screw hole. The opening / closing plate 7 moves forward and backward depending on the rotation direction of the servo motor 9.

An alignment conveyor 5 is provided below the opening / closing device 3 so that the objects 11 to be packed are slightly overlapped with each other every time the objects 11 to be packed such as packages are dropped and supplied from the opening / closing device. Therefore, as the first stacking means, every time the boxing target 11 falls from the opening / closing device 3, the alignment conveyor 5 is controlled to move a distance slightly shorter than the length of the boxing target 11. Specifically, the rotation of the drive motor (servo motor) 24 of the alignment conveyor 5 is controlled to a predetermined amount. The boxing target 11 is seated and the aligning conveyor 5 is moved a predetermined distance a plurality of times,
Items to be boxed are partially overlapped and aligned. At this time, the boxing target 11 such as a package has a sufficient ground contact area so that it does not slip. When the alignment is completed, the alignment conveyor 5 moves the boxed objects 11 to the vicinity of the transport device by a distance equal to or more than the moving distance of the first stacking means. Then, it is packed in a corrugated cardboard box by a transport device such as a vertical biaxial joint robot 30 shown in FIG. 5 having a suction device 12 at its tip or a suitable manipulator.

As shown in FIG. 4, the suction device 12 of the transfer device is provided with the second stacking means. The second stacking means is a pair of suction ports 13 and 14 for holding the object 11 to be packed at an angle, and an adjusting device for adjusting the suction port so that the stacking of the objects 11 to be packed is more than the stacking by the first stacking means. It consists of 27 and.
The pair of suction ports 13 and 14 are installed in the lower part of the slide holding block 16 so as to hold two sets of suction targets for one boxing target 11. A flexible suction pipe 15 connected to a suction device is connected to each of the suction ports 13 and 14. Each slide holding block 16 is attached to a horizontal slide shaft 17 in a variable arrangement position. Although the suction ports 13 and 14 are provided for the slide holding block 16, these are provided at the tip of the support tube 29 in which a spring is inserted,
It has a structure that contracts when pressed.

The adjusting device 27 has the following structure. Each slide holding block 16 is provided with a space adjusting rod 25 and a space adjusting cylinder 26 via a central rotatable crank 28.
The state of the solid line in FIG. 4 is a state in which the space adjusting cylinder 26 is extended and the boxing target 11 is suction-held. When it is transferred, the interval adjusting cylinder 26 is contracted to adjust the interval between the suction ports, and as shown by the chain double-dashed line, the objects 11 to be packed can be packed sufficiently more than the first stacking means to stack. To do.

As shown in FIG. 5, in a robot 30 having a suction device 12 at the tip as a transfer device, a first arm 21 is pivotally supported on a shaft whose base side can be rotated by a motor 20, and a link is provided. A parallel link is formed with 22 and a second arm 23 is provided on the tip side of the parallel link to form a computer-controlled vertical biaxial robot. The casing 18 of the suction device 12 is rotatably attached to the tip of the second arm 23 by a suspension support bar 19. When the first and second arms 21 and 23 are moved, the suspension support bar 19 always maintains the vertical state, and the suction port 1 of the adsorption device 12 is
The boxes 3 and 14 can be boxed in a state where they are held in a predetermined inclined state and the boxes 11 to be boxed, such as pillow packages, are held in an appropriate overlapping state.

Next, an operation example of this apparatus will be described. (1) When the optical sensor of the detection device 2 detects a boxed object 11 such as a package on the supply conveyor 1, 0.1 seconds later, the opening / closing plate 7
Starts to move to the right in the figure, opens completely (goes to the right end) after 0.3 seconds, immediately starts moving to the left on the opposite side, and moves to be fully closed (goes to the left end) after 0.5 seconds.

(2) When the alignment conveyor 5 detects the object 11 to be packed, such as a package, by the optical sensor, the belt starts moving in the forward direction after 0.4 seconds and moves 200 mm and stops after 0.7 seconds.

(3) When the object 11 to be packed such as a package is supplied in the above movement, the optical sensor detects the object 11 to be packed, the direction and the position are forced by the stopper, and at the same time the opening / closing plate is opened. Move rapidly to the right. When the opening / closing plate is almost fully opened, the boxing target 11 such as a package falls substantially horizontally.

(4) When the boxing object 11 having a length of 210 mm is seated on the aligning conveyor 5, the aligning conveyor moves the boxing object 11 forward by 200 mm and stops after about 0.1 seconds, and the next boxing object 11 is stopped. Wait for him to sit down. At this time, since the moving distance of the alignment conveyor 5 as the first stacking means is equal to or less than the length of the boxing target 11, the next boxing target 11
Sits on the aligning conveyor 5 with a part of it stacked on the front boxed object 11, moves the boxed object 11 by 200 mm after about 0.1 seconds, and stops. Immediately after arranging the four bags, the robot of the transfer device provided with the suction device at the front end operates to hold the object 11 to be packed in a diagonal direction by the suction device, and the adjusting device 27 of the second stacking device operates during the transfer. Boxed object 11
It is possible to stack the boxes sufficiently so that they can be accurately aligned and stacked in an aligned box.

[0021]

According to the apparatus of the present invention, it is possible to pack adjacent packages and the like in a corrugated cardboard box in a state where they are diagonally overlapped and aligned. In particular, it has become possible to efficiently pack a predetermined number of easily-deformed boxing objects such as pillow packages for snacks into cardboard boxes or the like.

[Brief description of drawings]

FIG. 1 is a side view of an automatic cartoning device of the present invention.

FIG. 2 is a plan view of the automatic box packaging device of the present invention.

FIG. 3 is an enlarged side view of the vicinity of an alignment device having a first stacking unit.

FIG. 4 is an enlarged side view of a suction device having a second stacking unit.

FIG. 5 is a side view of a robot having a suction unit in a hand unit.

[Explanation of symbols]

 1 Supply Conveyor 2 Detecting Device 3 Opening / Closing Device 4 Stopper 5 Aligning Conveyor 6 Aligning Device 7 Opening / Closing Plate 8 Sliding Block 9 Servo Motor 10 Ball Screw 11 Object to be Boxed 12 Suction Device 13 Suction Port 14 Suction Port 15 Suction Pipe 16 Slide Holding Block 17 Slide shaft 18 Casing 19 Suspension support rod 20 Motor 21 First arm 22 Link 23 Second arm 24 Drive motor (servo motor) 25 Interval holding rod 26 Interval adjustment cylinder 27 Adjuster 28 Crank 30 Robot

Claims (3)

[Claims] 1. A device for arranging a plurality of successively supplied packages or the like on an aligning device and then packing them in a box by a conveying device, wherein the aligning device comprises a first stacking means for slightly overlapping a part of the packages or the like vertically. Carrying equipment, which has a transport device and is packaged in a box
An automatic boxing device comprising a second stacking means capable of stacking a part of 11 more deeply on top of one another. 2. The first stacking means of the aligning device according to claim 1, wherein the aligning conveyor 5 of the aligning device is packed every time a boxing object 11 such as a package falls from the opening / closing device 3 at the outlet of the supply conveyor 1. An automatic cartoning device that controls to move a little shorter than the length of the object 11. 3. The second stacking means according to claim 1, wherein a suction port provided in the transport device for obliquely holding the object 11 to be packed,
The stacking of the objects 11 to be packed in the suction ports is claimed in claim 1 or 2.
An automatic boxing device comprising an adjusting device (27) for adjusting so that the stacking is performed by the first stacking means described above.