JPH0891304A - Automatic casing device - Google Patents

Abstract

PURPOSE: To provide an automatic casing device consisting of a simple device, of which the equipment cost can be kept low. CONSTITUTION: For an automatic casing device, a slide unit 1 which operates in X axis direction and Y axis direction is provided, and in the vicinity of the tip of the slide unit 1, an air cylinder 3 which operates in Z axis direction is provided. In addition, a hoizontally rotatable rotary cylinder 4 is provided under the lower end of the air cylinder 3, and at the tip of the rotary cylinder 4, a gripping means 5 for a product, for which a height-detecting sensor 52 and gripping apparatus 53 are provided, is arranged.

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 for gripping a product and an insole, conveying the product and automatically cartoning the carton.

[0002]

2. Description of the Related Art Conventionally, robot devices have been widely used in recent years for automatically packaging various products. For example, in Japanese Patent Laid-Open No. 64-23903, there is provided a boxing device for accumulating boxed products such as cosmetics and medicines in an outer box such as a corrugated board, which is a vertical articulated 6-axis robot or a SCARA robot. Moreover, a 4-axis (X-axis, Y-axis, Z-axis, and horizontal turning axis) servo Cartesian robot, etc. is provided, and the box is automatically boxed by controlling the movement amount of each axis. The device is described.

[0003]

However, in the boxing device described in the above-mentioned Japanese Patent Laid-Open No. 64-23903, an all-axis servo robot is used for automatic boxing. There is a problem that this equipment cost is considerably high.

The present invention has been made in view of the above problems, and an object of the present invention is to solve these problems and to provide a simpler method unlike the conventional packing apparatus. The present invention provides an automatic packaging device that can be installed at a low facility cost.

[0005]

According to the automatic boxing apparatus of the present invention, in a boxing apparatus that automatically grips, conveys, and packs products, a slide unit that operates in the X-axis direction and the Y-axis direction. And an air cylinder that operates in the Z-axis direction near the tip of the slide unit, and a rotary cylinder that can horizontally swivel is provided at the lower tip of the air cylinder, and a detection sensor is provided at the tip of the rotary cylinder. , And gripping means for the product provided with the gripping tool are provided.

[0006]

In the automatic boxing device of the present invention, the slide unit is operated in the X-axis direction and the Y-axis direction to run,
In addition, the gripping means is raised or lowered by the operation of the air cylinder provided in the slide unit, the height is detected by the height detection sensor, and the product or the insole is gripped by the gripping means, and is also used for packaging. Since it is transported to the box, the direction is changed by the turning operation of the rotary cylinder, and it descends, the product boxing and the filling of the insole during this time are alternately performed automatically, so unlike the conventional boxing machine. With a simple device, the equipment cost can be reduced.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an example of an automatic packaging device of the present invention. In FIG. 1, reference numeral 1 is moved in the X-axis direction (parallel to the packing line) and the Y-axis direction (direction orthogonal to the packing line) by the interlocking action of a slide mechanism 2 provided below. Is a slide unit in which
The slide unit 1 has a function of controlling a product take-out position, a box packing position, an insole take-out position, and a draw box packing position on the XY plane.

In the vicinity of the tip of the slide unit 1,
Air cylinder 3 that operates in the Z-axis direction (vertical direction)
The air cylinder 3 is equipped with a double solenoid valve that enables the intermediate stop of the cylinder rod, and a sensor for height detection (5 in FIG. 1 below) is provided.
By cooperating with 2), it is possible to stop at any height in the vertical direction.

Further, a rotary cylinder 4 capable of horizontal rotation (R-axis horizontal rotation shown in the drawing) is provided at the lower end of the air cylinder 3, and an angle of the gripped product is arbitrarily set in the range of 0 ° to 180 °. It has the function of turning the product to line up in a specified direction.

Further, a gripping means 5 is provided at the tip of the rotary cylinder 4. In this gripping means 5,
A chuck plate 51 is provided, and a plurality of height detection sensors 52, 52 are provided at the end of the chuck plate 51.
Further, a gripping tool 53 for gripping the product is provided on the back side so that the product is gripped by a suction action.

Reference numeral 6 denotes a product placed on a product table 7 arranged in a line in the X-axis direction, reference numeral 8 denotes a box in which the products placed under the gripping means 5 are packed, and further, this box. An insole 9 is arranged on the opposite side of the product 6 with the product 8 interposed therebetween.

The product 8 placed on the product table 7 is, for example,
In the case of a molded product molded by injection molding or the like, it is automatically conveyed by a robot apparatus attached to the injection molding machine and placed on the product table 7. Therefore,
The automatic boxing device of the present invention is preferably arranged near the injection molding machine so as to be interlocked with it.

[Operation of Embodiment] FIG. 2 is a flow chart for explaining the operation of the automatic boxing apparatus of the present invention. In this flow chart, the product 6 shown in FIG. 1 is used as an example of a molded product molded by injection molding.

From the top of FIG. 2, first, in the process 1 (hereinafter referred to as P1), the slide unit 1 is operated to move forward in the Y-axis direction to the line where the product 6 is placed, and then, Traveling in the product direction, that is, the X-axis direction, the gripping means 5 descends in the Z-axis direction, that is, downward by the operation of the air cylinder 3, and the product 6 is attracted and gripped by the gripping tool 53 at the tip.

Subsequently, at P2, the product 6 gripped by the gripping means 5 ascends in the Z axis direction, further travels in the X and Y axis directions, moves to the boxing position, and descends. At this point, the height detection sensor 52 detects the boxing height and descends to the detected position again.
The product 6 gripped by the gripper 53 is released. The above operation is repeated, and the counter reads the number of boxes to be packed in each stage, and the work of packing the products 6 in the first stage is completed.

On the above-mentioned boxed first stage product 6,
Then, the process of laying the insole 9 is started. P3 of this insole 9
The process is advanced by substantially the same operation as the packaging P1 to P2 of the product 6, and when the introduction of the insole 9 of the first stage is completed, the product 6 of the second stage is then packaged. In P4, the packing work of the product 6 is repeated, and when the number of stages reaches the predetermined number of stages, the work is stopped and the box 8 is replaced, and the packaging work by the new box 8 is performed again. Repeated from P1.

In the automatic packing apparatus of the present invention, the slide unit 1 has a servo for both 1) X and Y axes, and 2) X.
Any of the axes may be used: servo, Y axis is air cylinder, 3) X axis is air cylinder, Y axis is servo, and 4) X and Y are both air cylinders.

Further, the height detecting sensor 52 can be used in any combination of product taking-out, product boxing, insole gripping height, and insole loading.

Further, in the automatic boxing apparatus of the present invention, the gripping tool 53 provided on the gripping means 5 is, in addition to the suction pad,
Various items such as a chuck can be used as long as they can securely hold the product or the insole.

[0020]

In the automatic boxing apparatus of the present invention, the slide unit is moved in the X-axis direction and the Y-axis direction to run, and the gripping means is raised by the operation of the air cylinder provided in the slide unit. Or, it descends, the height is detected by the height detection sensor, the product or insole is gripped by the gripping means, and it is conveyed to the box for packing, and the direction is changed by the rotary operation of the rotary cylinder. As the product is boxed down and the product is boxed and the insole of the insole between the products is alternately operated by automatic operation,
Unlike the conventional packaging device, the equipment cost can be kept low with a simple device. Therefore, it is preferably used as an automatic packaging device.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of an automatic packaging device of the present invention.

FIG. 2 is a flow chart for explaining the operation of the automatic packaging device of the present invention.

[Explanation of symbols]

 1 slide unit 2 slide mechanism 3 air cylinder 4 rotary cylinder 5 gripping means 6 product 7 product stand 8 box 9 insole 51 chuck plate 52 height detection sensor 53 gripping tool

Claims (1)

[Claims] 1. A packaging device for automatically gripping, conveying, and packing products, a slide unit that operates in the X-axis direction and the Y-axis direction, and a Z-axis direction near the tip of the slide unit. And a rotary cylinder that is horizontally rotatable at the lower end of the air cylinder, and a height detection sensor at the end of the rotary cylinder and a gripping means for the product provided with a gripping tool. An automatic packaging device characterized by being provided.