JPH10194227A - Box packing system for packaging flexible body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To scoop up, transfer, mount and grip a work by a gripper, and move the work under a gripped state, and pack the work in a box while being gripped in order to make a gripping, moving and packing in a box of the work comprising a flexible body possible by suppressing an cumulative plastic deformation which is applied to the work to a minimum. SOLUTION: This system comprises a posture position control device 11 for a carried in work, which is provided at the final end of a carry-in conveyor, a transfer robot 13, and a box body fixing device 15. Then, the center of the posture position control device 11 and the center of the box body fixing device 15 are respectively located on the turning central axial cores A-A, B-B of the transfer robot 13, and at the same time, they are arranged in a movable range G of a gripper 14 which is provided at the leading end of the transfer robot 13 for the constitution.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible flexible body which is a plastic material such as plastic, such as clay, food or living body, which is packaged in a film, and in particular, a partial packaged film (eg, catalose) which is packaged by a transfer robot. For boxing systems.

[0002]

2. Description of the Related Art Generally, a work carried in by a carry-in conveyor is packaged in a box in an open state separately manufactured and carried through a transfer robot by robot handling or extrusion and stacking by a suitable actuator. However, the objects to be boxed by the above handling and actuators were mostly rigid bodies. However, the partial meat such as catalose which is the object of the present invention,
It belongs to a flexible body that is a plastic substance such as clay and living body, and the strain due to external force remains even after the external force is removed, does not behave as an elastic body, and remains plastic strain, causing cumulative deformation due to continuous application of external force. I do. That is, in the case of handling a flexible body, a large external force that causes deformation due to plastic strain, particularly, a compressive force should not be applied. The basic problem is that you have to keep it to a minimum. Therefore, when the flexible workpiece is transported or placed, the transport attitude or the loaded attitude of the workpiece is such that the surface having the maximum area of the outer shape of the workpiece is brought into contact with the mounting face, and the weight of the workpiece is reduced by the weight of the workpiece. It is distributed on the maximum contact surface, and is placed in a horizontal state where plastic deformation is minimized.

In particular, setting and controlling the magnitude of the external force applied to the flexible body forms an important factor in determining the performance when gripping the flexible body. That is, in the handling operation of the flexible body, it is difficult to accurately grasp the mechanical characteristics of the target object, and there is a problem that the shape changes with time in the process of gripping the flexible body. Therefore, in order to realize a good grip, it is essential to introduce an appropriate evaluation value capable of expressing the current grip state. Conventionally, only the representative value of the force applied to the work has been used as the evaluation value. First, the minimum gripping force is obtained by experiment for different works in the same part, and the “weight-gripping force relationship” for each part is thereby obtained.
From the target value to enable gripping.
In the above-described method, it is only possible to determine whether or not the object can be carried by gripping, and when the object can be carried, it is not determined whether or not the grasping state is desirable. For this reason, there is a problem that the target value is set to be relatively large in order to eliminate the holding failure, and the deformation of the work becomes large.

By the way, in order to pack a work into a box via a transfer robot, the transfer robot needs to have an operation mode of gripping the work, moving the work through the grip, and packing the work into a box. . To grip the above-mentioned flexible body, a, the work is directly grasped b, the packaging material for wrapping the work is grasped c, and the work is sucked by the suction hand. And so on. The gripping operation requires an external force for holding the weight of the work and an external force for preventing the work from moving from the gripping position and preventing the work from falling (the plastic is likely to cause a fall). For this reason, both of the above a and b have a problem that an extra external force acts on the work and the deformation of the work becomes large. In addition, in the case of gripping by the suction hand corresponding to the above item c, the flatness of the suction surface due to the weight of the work and the flexible body changes during gripping and lifting, and it becomes difficult to maintain the vacuum, and suction is not performed. There are problems that can be made.

[0005] As described above, for example, the operation of sandwiching and holding both sides of the work on the end of the conveyor by two or more movable arms includes extra force for holding the work's own weight and preventing excessive movement of the work from the gripping position. There is the problem of requiring force and thus creating a source of large shape changes.

As a method of holding a work other than the above-described gripping of the work, there is a method of transferring and mounting a work from a transfer surface on a transfer surface provided at a leading end of a robot. In this case, the holding of the work with respect to the gripping by the movable arm only needs to prevent the work from slipping off the transfer surface, which simplifies the problem and minimizes the deformation to the work. However, at the time of transfer, the work is
The end surface and the transfer surface are slid and transferred onto the transfer surface positioned in parallel. To slide, one end of the work is pressed and the end surface and the transfer surface are moved. It is necessary to continuously apply the pressing force for transferring the material against the sliding resistance during the transferring time.Because the work is flexible, it reacts sensitively to the unevenness of the sliding surface, On the other hand, there is a problem that a large deformation force is continuously applied. That is, there is a problem in the way of transferring.

Next, in the case of box packing, in the case of a conventional rigid work, the same amount of packing as the box packing and the same size and the same shape as the empty box for box packing are used as actuators such as stoppers, pushers and lifters. The empty box is laid down on the mounting surface of the stack, and the stack is pushed into the box at a time by pushing the stack with a pusher. Alternatively, an empty box opened from the top is placed on the above-mentioned integrated body and packed.
Alternatively, the unfolded member of the empty box for packing is placed on the mounting surface of the stack, and the stack is placed on the unfolded member by a pusher, and then the stack is built in. The method of box making and box making is adopted as it is. In any of the above-described conventional methods of packing, the pressing means such as the pusher is required, and the packing material is not applicable to a flexible body that causes continuous cumulative deformation due to plastic strain due to external force, and must be performed by another means. There is a problem. In other words, the conventional method for packing a flexible body into a box
A fundamentally different approach is needed. When a flexible work is gripped and packed in a box, there are two types of boxing of the work: (A) horizontal and (B) vertical as shown in FIG. It uses a vertical boxed format.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is possible to reduce the amount of cumulative plastic deformation to be applied to a work to minimize the possibility of gripping, moving, and packing a work made of a flexible body. The purpose of the present invention is to provide a boxing system for a flexible packaging body, in which a workpiece is scooped, transferred, mounted, gripped by a gripper, horizontally moved while being gripped, and boxed while being gripped. .

Therefore, the invention according to claim 1 of the present invention provides
After carrying in the work, the posture and position of the work are controlled via the transfer robot, and the work consisting of the flexible packaging member is minimized by excessive deformation and cumulative plastic deformation due to external force from the outside. It is an object of the present invention to provide a flexible packaging box packing system incorporating various means.

[0010] According to a second aspect of the present invention, in addition to the object of the first aspect, a flexible package body for specifying a posture and position control of a work necessary for handling the carried-in work by a transfer robot. The purpose of this is to provide a boxing system.

The third aspect of the present invention is to provide a boxing system for a flexible packaging body in which the configuration of the boxing means is specified, in addition to the object of the first aspect.

[0012] Further, in addition to the object of the first aspect, the invention described in claim 4 specifies the configuration of the gripper of the transfer robot and is used when the flexible work is a catalose. The purpose of the present invention is to provide a flexible packaging body boxing system that supports vertical packaging.

A fifth aspect of the present invention, in addition to the object of the fourth aspect, is to provide a boxing system for a flexible packaging body in which the configuration of the built-in sensor of the gripper flat plate is specified. is there.

[0014]

According to the first aspect of the present invention,
A box packing system in which a transfer work robot is configured to grip a carry-in work made of a substantially rectangular parallelepiped flexible body by a transfer robot and pack the work into an empty box. And a transfer robot having a holding and transferring means of the mounted work, a boxing means for the held work, and a box supply conveyor having a tilting mechanism of the carrying-in box, Things.

As mentioned above, at the end of the system,
As will be described later, the surveillance camera and the rotating conveyor table control the optimal posture and position that can handle the transfer robot, that is, a substantially hexahedron facing the transfer robot and formed of a substantially rectangular parallelepiped packaging flexible body. The posture is controlled to be the most stable horizontal placement with the surface having the maximum area of the workpiece in the mounting surface. For this reason, the subsequent scooping and loading, gripping transfer, and gripping box packing means are exercised to enable accurate handling in each of the box packing steps, thereby enabling a tight box packing.

The work which has been subjected to the preferred attitude control and position control at the end of the system as described above is transferred and mounted on the gripper of the transfer robot by the work scooping means. That is, while one end of the horizontally placed work is prevented from moving by a work stopper, a lower flat plate of a pair of parallel gripper flat plates provided in advance to the gripper of the transfer robot is described below. Advance to form a spoon-like gripper. Therefore, the entire gripper is advanced from the other lower end portion of the work in the movement hindered state while the spoon-shaped gripper is inclined, and penetrated into the lower side of the work from the tip end portion of the spoon-shaped gripper, and Scoop and transfer onto the gripper plate. This transfer minimizes deformation to the workpiece. Next, the inclined spoon-shaped gripper on which the work is transferred is shifted to a horizontal state, the upper gripper flat plate of the gripper is advanced, and the work is lightly gripped and held by the gripping mechanism. Therefore, it is possible to prevent the workpiece from being dropped from the gripper when the workpiece is transferred. Due to the above configuration, the frictional resistance due to the weight of the flexible packaging body is smaller than that in the conventional example, in which the horizontal horizontal work is transferred to the gripper flat plate, which is a new horizontal mounting surface, while maintaining the horizontal horizontal posture. This eliminates the process of sliding and shifting the mounting surface in opposition to the above, so that the change in shape received by the workpiece can be minimized. After scooping up the workpiece, the work piece is rotated around the tip of the lower gripper flat plate forming the spoon-shaped gripper until the inclination angle falls within 15 degrees, and thereafter, the work piece is rotated about the gripper base. Since the complete transfer of the work onto the lower gripper flat plate forming the spoon-shaped gripper is completed, it is possible to prevent the work after being scooped from slipping when the work is shifted to the horizontal mounting state. .

Then, the work placed and gripped by the upper and lower gripper flat plates of the gripper is moved by the gripper up / down and rotation operations to the position immediately before the box packing by the gripper transferring means for the placed work. Is placed and gripped and transferred horizontally. In this case, the work is lightly gripped in a horizontal state, and in the state of the horizontal gripping, the workpiece is raised and lowered to an appropriate height and horizontally rotated in an appropriate direction, so that the workpiece is horizontally gripped and transferred to a predetermined packing start position. Therefore, the deformation of the work from the scooping-up of the work to the boxing start position can be suppressed to the minimum value of only the deformation due to the work's own weight, and the work can be transferred in a stable gripping state.

Next, the opening surface is inclined at an appropriate predetermined angle in advance by the box inclining mechanism in the work transfer section of the box supply conveyor. Next, the work transferred in the horizontal gripping state to the boxing start position facing the work transfer section is boxed by the boxing means, and the work is obliquely moved along the box side surface forming the wall surface of the inclined box in the open state. The lower clipper plate is inserted into the box while being held downward, and the lower clipper plate is retracted, and is placed horizontally on the inclined side surface of the box. For this reason, at the time of insertion, the work is laid tightly by the work's own weight in a state of being placed horizontally on the inclined side surface of the box, and after storage, it can be stored vertically in the box bottom surface, so that efficient packing can be performed. In addition, the inclination angle of the gripper, that is, the inclination angle of the box in the case of the above-described oblique downward gripping of the workpiece, is gripped so as not to cause large deformation of the workpiece, and also prevents the workpiece in an unstable state from slipping down.
In addition, the workpiece can be stacked horizontally on the inclined side of the box. At this time, the gripping interval is controlled by the sensor built in the gripper plate and its control means, and stable gripping with minimum gripping force is possible. There is. If the above operation is repeated by the number of boxes, the required boxing can be completed. In addition, the shape and size of the inclined side surface of the box on which the work of the box is placed horizontally are set to be large enough to accommodate the horizontal placement surface of the work.

According to a second aspect of the present invention, the control of the posture and the position of the work according to the first aspect comprises a posture monitoring mechanism for the carried-in work, and a rotary conveyor table capable of controlling the posture and the position of the work. , Is characterized.

With the above structure, the rotating conveyor table is appropriately rotated to face the gripper of the transfer robot under the monitoring of the work posture monitoring camera provided at the end of the work carry-in conveyor, and suitable for the gripper. Control the position. In addition, since the work is attitude-controlled and carried in the most stable horizontal placement (vertical placement in a box) with the surface having the maximum area of the substantially hexahedral work made of the substantially rectangular parallelepiped packaging flexible body as the mounting surface, the work is carried in. The workpiece can be placed and gripped in a horizontal state, so that a change in shape in the subsequent steps of scooping and loading, gripping transfer and gripping box packing can be minimized. In addition, since the gripper of the transfer robot is capable of controlling the posture so as to face the workpiece, accurate handling is performed in each of the subsequent steps of scooping and loading, gripping transfer, and exercising gripping box packing means. It is possible and can be packed tightly.

According to a third aspect of the present invention, the work box packing means according to the first aspect is configured such that the works are stacked horizontally on the inclined side wall of the box. .

In the box packing according to the above configuration, as described above, the open box that opens the empty box for box packing is tilted, and the work is tilted and held obliquely downward parallel to the side surface of the tilted box. After the work is transferred to the box while gripping the entire gripper, the lower gripper flat plate on the side of the slanted box is retracted, and the work is stacked horizontally on the slanted box side. It was made. By the way, when the inclination angle is set to be deep with respect to the horizontal plane, the gripping state of the work becomes unstable, and the work separates from the gripping portion of the gripper and slides in the middle of box packing and cannot be boxed unless it is strongly gripped. Or, in order to prevent detachment, a large gripping force is applied too much, causing a large change in the shape of the work, making accurate packing impossible. When the inclination angle is too shallow, the gripping state of the work becomes stable, the gripping force is reduced, and the change in shape can be suppressed to a small extent. However, on the other hand, it cannot be stored exactly toward the bottom of the box.
That is, the inclination angle is suitably set, and a proper component force due to its own weight is applied to the case side surface and the case bottom surface inclined to the work, and can be stored exactly from the lower corner of the case, and It must be possible with minimum gripping force.

According to a fourth aspect of the present invention, in the transfer robot according to the first aspect, a gripper comprising two movable gripper flat plates having a simultaneously driven gripping mechanism and a slide mechanism slidable to the gripping position is provided. It is characterized by having a configuration provided with.

The structure of the gripper is such that the above-mentioned work can be continuously operated for scooping and placing the work, holding and transferring the placed work, and packing the work in a box. And two gripper flat plates having a structure that can be driven in parallel and simultaneously in the gripping direction. In addition, the lower gripper flat plate forms a spoon-shaped gripper by the slide mechanism of each gripper flat plate to enable the work to be scooped and fried. Enables gripping and stable holding of the workpiece after lifting,
At the time of packing in a box, the lower gripper plate is retracted from the gripping position so that the work can be stacked. That is, each of the pair of gripper flat plates is configured to be able to slide forward and backward at any time with respect to the gripping position of the work.

According to a fifth aspect of the present invention, there is provided the gripper flat plate according to the fourth aspect, wherein the gripper plate has a built-in sensor for providing information on a change over time in a contact area with a work and information on distribution of a force on the work. The configuration is such that the holding interval can be appropriately controlled by information.

When the work is packed in a box, the work is gripped by two gripper flat plates, and the gripping surface is inclined obliquely downward. Therefore, it is necessary to detect the distribution state and the magnitude of the force received by the gripping surface in the gripping state, and the state of the contact area of the flexible work with the gripping surface with time to change the gap between the gripper flat plates. , And a minimum gripping force is appropriately applied to prevent the work from slipping, so that the boxes can be packed.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described.
This will be described together with the illustrated example. However, unless otherwise specified, the dimensions, shapes, relative positions, and the like of the components described in this embodiment are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent. FIG.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an embodiment of a box packing system for a flexible packaging body according to the present invention, (A) is a plan view, and (B) is a view taken along the line II of FIG. 2 is a schematic diagram showing the structure of the gripper of the transfer robot of FIG. 1, FIG. 3 is a diagram showing a sensor configuration incorporated in the gripper flat plate of FIG. 2, (A) is a perspective view, and (B) is a side view. FIG. FIG. 4 is a flow chart showing the flow of the line in the case where the packaging system for flexible packaging in FIG. 1 is used for packing meat (catalose).

As shown in FIG. 1, the boxing system for a flexible packaging body according to the present invention comprises: a posture control device 11 for a carry-in work provided at the end of a carry-in conveyor;
The center of the posture / position control device 11 and the center of the box fixing device 15 are respectively positioned on the axes AA and BB during the rotation of the transfer robot 13 and are transferred. It is configured to be disposed within the movable range G of the gripper 14 provided at the tip of the robot 13. The attitude control device 11 for the carried-in work provided at the end of the carrying-in conveyor includes a rotating conveyor table 12, a work stopper 19, and a CCD.
The configuration includes a camera 18 and an image processing device (not shown). The workpiece 10 placed horizontally on the rotating conveyor table 12 from the end of the loading conveyor and brought into the rotating conveyor table 12 is opposed to the gripper 14 by the servo rotating mechanism of the rotating conveyor table, and the attitude of the workpiece 10 is controlled. The axis of the work 10 that is directly opposed by the positioning mechanism is positioned on the axis AA to control the position. When the workpiece is catalose, control is performed so that the fat side faces the gripper 14. Also,
When high accuracy of the attitude control is required, the attitude of the CCD camera and the image processing apparatus that processes the image of the CCD camera is monitored and controlled. A liftable work stopper 19 is provided at the rear position of the axis AA of the rotary conveyor table. The work stopper 19 is lowered during the posture position control, and is raised after the completion of the posture position control. The workpiece 10 is brought into contact with the rear end to prevent the workpiece from moving backward.

Further, the box fixing device 15 is provided with a gantry 16 for fixing the box which has been conveyed to the box supply conveyor 15a via a box making machine forming an open box for accommodating the work.
And a tilting mechanism 17 for setting the tilt angle to be equal to the workpiece insertion angle of the gripper of the transfer robot, as shown in FIG. 1B. Thereafter, the work is returned to the horizontal state, and the storage box in which the work is packed in a box is carried out to the sealing conveyor line 15b.

As shown in the schematic diagram of FIG. 2, the gripper 14 provided at the tip of the transfer robot 13 has two sets of a parallel upper gripper flat plate 20 and a lower gripper flat plate 21, and the upper and lower gripper flat plates. Rack and pinion 22 for simultaneous opening and closing
And a cylinder 25 for front and rear operation of the upper gripper plate 20
And a cylinder 26 for front and rear operation of the lower gripper plate 21
And an open / close servomotor 23 that operates the rack and pinion 22 via a gear train 24. The upper and lower two sets of gripper flat plates 20 and 21 hold a work therebetween, and can perform simultaneous enlargement or simultaneous reduction operation by a servomotor 23 via a rack and pinion 22. The upper gripper flat plate 20 is a cylinder 2 for front-rear operation.
5, the lower gripper flat plate 21 can be moved forward and backward at any time by a back-and-forth operation cylinder 26. With the above-mentioned slide mechanism, the lower gripper flat plate 21 is advanced in a state where the two gripper flat plates are retracted from the gripping position, thereby forming a spoon-shaped gripper, which can be used for scooping up a work described later. . Further, the lower gripper flat plate 21 is retracted while holding the work, so that the lower gripper flat plate 21 can be used for packing the work as described later.

As shown in FIG. 3, the upper and lower parallel gripper plates 20, 21 of the gripper 14 are composed of a row electrode side backing sheet 30, a plurality of row electrodes 31, and a pressure-sensitive conductive ink layer 32 covering the electrodes. For example, an upper gripper flat plate is formed, and a lower gripper flat plate is formed by the column electrode side backing sheet 33, the plurality of column electrodes 34 provided inside the sheet, and the pressure-sensitive conductive ink layer 32 covering the electrodes. With the above configuration, a distributed sensor is formed, a local resistance change between the plurality of electrodes is detected by a scan circuit including a multiplexer, and a contact area, a total load, a center of gravity position (for slip information of a work) are detected based on the detected data. ) By calculating, the gripping interval of the work is controlled via the servomotor 23.

FIG. 4 shows a flow chart when the packaging system for flexible packaging shown in FIG. 1 is used for packaging catalose. Below, for each step,
This will be described with reference to FIGS. Step 40: Rotate the work 10 to the rotary conveyor table 12
Carry it on. Step 41: The work 1 is carried in by the CCD camera.
The camera monitors the posture of 0. Step 42: On the basis of the image analysis result by the image processing apparatus, the rotary conveyor table 12 is rotated to face the gripper 14 of the transfer robot 13. Next, the conveyor of the rotary conveyor table 12 is driven to control the position of the work so that the axis of the work coincides with the axis AA of the transfer robot 13. When the workpiece is catalose, the fat layer is made to face the gripper 14. “See FIG. 5A” Step 43: The work 10 is scooped up. FIG.
As shown in (B), the gripper 14 is inclined by a predetermined angle θ, and the upper gripper flat plate 20 is retracted to form a spoon-shaped gripper. Further, a gap G is provided between the tip of the lower gripper flat plate 21 and the work mounting surface 12, and the "scooping posture" is set for the gripper 14. In this case, the opening degree of the upper and lower gripper flat plates is fully opened, and the values of θ and G are preferably the following values when the workpiece is catalose. When θ = 15 degrees G = 0 to 2 mm When θ = 30 degrees G = 0 to 4 mm Then, as shown in FIG. 5C, the gripper 14 is moved in the x direction, and the work 10 is moved to the work stopper 19. The workpiece 10 is placed on the table 1
The transfer from 2 to the lower gripper flat plate 21 is performed. Step 44: The scooped work is placed horizontally to stabilize the posture. As shown in FIGS. 6A and 6B, the angle of the gripper 14 around the y-axis is set to zero so that the work 10 does not drop from the scooped lower gripper flat plate 21. In this case, when the inclination of the gripper flat plate 21 is within 15 degrees, it is rotated around the point B, and when it is 15 degrees or more, it is rotated around the point A until it becomes 15 degrees or less,
Make it horizontal. Next, as shown in FIG. 6C, the upper gripper flat plate 20 is slid to the gripping position, and the work 10 is lightly gripped by the upper and lower gripper flat plates 20 and 21. Step 45: While gripping the workpiece horizontally, the gripper 14 is moved up and down and rotated horizontally to transfer the workpiece 10 to a boxing start position in a stable gripping state. Step 46: The empty box for box packing is formed into an open box, and is transported to the box fixing device 15 by the box supply conveyor 15a. Step 47: The loaded box 35 is fixed to the gantry 16 and tilted by the tilt mechanism 17 by a predetermined angle ψ. Step 48: As shown in FIG.
Is moved to a predetermined position (indicated by a one-dot chain line) near the box fixing device 15 and is inclined so that the plate surface of the lower gripper flat plate 21 is substantially parallel to the inclined side surface of the box 35a. The gripping force at this time is the minimum gripping force at the time of the ripper angle θ. In this case, it is preferable that θ ≒ ψ = 15 to 30 degrees.
Next, as shown in FIG. 7B, the gripper 14 is moved in parallel to the inner side surface of the box 35 and inserted into the box. At this time, the stopper surface of the gripper 14 is inserted up to a point H which is a side portion of the box and a bent portion of the lid. Next, FIG.
As shown in (C), the lower gripper flat plate 21 is retracted, and the work 10 is transferred to the side surface of the box in a horizontal state. Since the box 35 has an inclination angle ψ, the work 10 is stored in the lower part of the box in a stable state with the forces of mcosψ and msinψ acting on the bottom and side surfaces of the box, respectively. Hereinafter, if the operations of steps 40 to 48 described above are repeated by the number of stored items, the work is packed in a box in a vertical position, and the packing is completed.
Next, the box housing the work is restored to a horizontal state by the tilting mechanism, and sent out to the sealing conveyor line 15b.

[0033]

According to the above configuration, since the box is packed with the box inclined, the gravity can be used for positioning the work in the box, and the box can be stored exactly. Also,
When the work is transferred from the gripper flat plate to the box, the gripper flat plate is slid, pulled out and transferred, so that the positional deviation of the work can be reduced. In addition, by means of the above-mentioned work scooping means, horizontal holding and transferring means, insertion box packing while holding the work in an inclined box, a distributed sensor, etc., the work is gripped with a minimum holding force, and the cumulative plastic deformation given to the work is reduced. A flexible packaging boxing system that can be minimized can be provided.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing one embodiment of a boxing system for a flexible packaging body according to the present invention, wherein (A) is a plan view and (B) is a view of FIG.
It is an II view.

FIG. 2 is a schematic diagram showing a structure of a gripper of the transfer robot of FIG.

FIG. 3 is a diagram showing a configuration of a sensor built in the gripper of FIG. 2; (A) is a perspective view and (B) is a side view.

FIG. 4 is a flowchart in the case where the packaging system for flexible packaging in FIG. 1 is used for packing meat (catalose).

5A and 5B are schematic diagrams showing a work scooping state in the flowchart of FIG. 4, wherein FIG. 5A shows a state in which a gripper is directly opposed to a work before scooping, and FIG. (C) is a diagram showing a situation when the work is scooped up.

6A and 6B are schematic diagrams showing a situation where the scooped work is placed horizontally to stabilize the posture in the flowchart of FIG. 4; FIGS. FIG. 7C is a diagram illustrating a situation where a workpiece is held horizontally.

7A and 7B are schematic diagrams showing a state of packing the work in the flowchart of FIG. 4, wherein FIG. 7A shows a state of waiting for insertion of a gripper holding a work into an inclined box;
(B) shows the situation where the gripper is inserted into the inclined box, and (C) shows the situation where the workpiece is transferred horizontally to the side surface of the inclined box.

8A and 8B are diagrams illustrating a box packing mode in which catalose is gripped and packed in a box, in which FIG. 8A is a diagram illustrating a horizontal setting, and FIG. 8B is a diagram illustrating a vertical setting method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Work 11 Attitude / position control device 12 Rotary conveyor table 13 Transfer robot 14 Gripper 15 Container fixing device 15a Container supply conveyor 15b Sealing conveyor line 16 Stand 17 Inclination mechanism 18 CCD camera 19 Work stopper 20 Upper gripper flat plate 21 Lower gripper Flat plate 22 Rack and pinion 23 Servo motor 25, 26 Back and forth operation cylinder 30 Row electrode side backing sheet 31 Row electrode 32 Pressure sensitive conductive ink layer 33 Column electrode side backing sheet 34 Column electrode 35 Box

Claims (5)

[Claims] 1. A box packing system for holding and inserting a carry-in work made of a substantially rectangular parallelepiped flexible package into an empty box by a transfer robot, wherein the carry-in conveyor has work posture position control means; A transfer robot comprising: a scooping-up placement unit; a holding / transferring unit for holding a placed work; an inclined insertion box packing unit for holding and inserting a work; and a gripper; and a box supply having a tilting mechanism of a loading box. A packaging system for flexible packaging, comprising: a conveyor; 2. The packaging system for a flexible packaging body according to claim 1, wherein the control of the posture and the position of the work includes a posture monitoring mechanism of a carried-in work and a rotary conveyor table that enables control of the posture and the position of the work. . 3. The packaging system for a flexible packaging body according to claim 1, wherein said inclined insertion box packing means holds and inserts and stacks the work horizontally on a side surface of the inclined box. 4. The flexible packaging body according to claim 1, wherein the gripper includes a gripper including two movable gripper flat plates having a simultaneously driven gripping mechanism and a slide mechanism slidable to a gripping position. Boxing system. 5. The gripper flat plate has a built-in sensor for providing time-dependent change information of a contact area with a work and distribution information of a force applied to the work, and a gripping interval can be appropriately controlled based on the information. The packaging flexible body boxing system according to claim 4.