JPH11314618A - Device for placing article and paper piece - Google Patents

Abstract

PROBLEM TO BE SOLVED: To speed up a process wherein on an internal lid of a can, an indication description and a spoon are placed. SOLUTION: For this device, on a robot hand 28, a spoon suction part 30 and an indication-description suction part 32 are provided in a manner to be close by, and they integrally move. The spoon suction part 30 can suck or release a spoon 8. The description suction part 32 is equipped with an upper air cylinder 30 and a lower vacuum cylinder 44, and the vacuum cylinder 44 ascends immediately after sucking an indication description 6, and at the same time, a vacuum pad 48 at the tip end contracts. When the description suction part 32 draws the indication description 6, the vacuum pad 48 descends to a location lower than the spoon 8 which is held by the spoon suction part 30, and after sucking the description 6, the part 32 ascends to a location higher than the spoon 8 which is held by the spoon suction part 32. By this method, the description 6 can be bent by the spoon 8, and the spoon 8 and the description 6 are integrated and placed on an internal lid, and the speeding up of the process becomes possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article and paper sheet placing apparatus for holding an article and a piece of paper and placing them on another article.

[0002]

2. Description of the Related Art For example, a medicine containing a powdered gastric medicine in a can has been conventionally known. The inside of such a medicine is sealed by a plastic inner lid, on which an instruction book (instructions describing the effects of the drug, usage, etc.) and a small spoon are placed. . FIG.
And an inner lid 4 for sealing the inside of the can 2 as shown in FIG.
Is formed with a projection 4a so that it can be easily removed by pinching it with a finger when drinking the powder inside. When the Noh book 6 is approximately the same size as the inner lid 4, one end 6a
Is placed on the inner lid 4 so as to enter the lower side of the projection 4a, and the spoon 8 is placed on the function book 6.

As described above, the article 8 such as a spoon and the book 6
In the prior art, when is placed on the inner lid 4 of the can 2, it is conventionally held at different processing stations by different holding means, and is sequentially placed on the inner lid 4. Also, when placing the book 6 on the inner cover 4, in order to insert the end 6a of the book 6 below the projection 4a and avoid it,
Tilt the holding means holding Noh 6 or
Noh book 6 was pressed against the guide, a part of the book was bent downward, and then inserted into diagonally lateral direction with respect to projection 4 a and placed on inner lid 4.

[0004]

In the above-mentioned conventional insertion method, articles such as a letter book and a spoon are held by separate holding means and placed on the inner lid. Since the means must be provided, there has been a problem that the entire apparatus becomes large, the cost is high, and the processing capacity is low. In addition, in order to insert the Noh, the holding means holding the Noh is tilted or the Noh is pressed against the guide, so a mechanism to tilt the holding means and a guide to bend the Noh are necessary However, there is a problem that the number of necessary components increases and the number of processes also increases.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to hold an article and a paper piece at the same time, and to fold the held paper piece by using the article as a guide in one process. It is an object of the present invention to provide an article and a paper sheet placing apparatus capable of mounting an article and a paper sheet on another article.

[0006]

According to the present invention, there is provided an article and paper sheet placing apparatus according to the present invention, wherein an article holding means for holding a first article and a paper sheet adsorbing means for adsorbing the paper piece are provided in proximity to the article holding means. A sheet holding means for holding the paper piece, a moving means for integrally moving the article holding means and the paper piece sucking means, and an elevating means for moving the article holding means and the paper piece sucking means relatively up and down. Means and the sheet adsorbing means are moved to the article holding position to hold the first article by the article holding means, and then the article holding means and the sheet adsorbing means are moved to the sheet adsorbing position and the sheet adsorbing means And a part of the paper piece is positioned below the article, and then the paper piece suction means is raised relative to the article holding means to bend a part of the paper piece with the first article. ,this A first article and the paper is obtained by so placed on the second article.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an embodiment shown in the drawings. FIG. 1 is a plan view showing an entire article and paper sheet placing apparatus according to an embodiment of the present invention. As described above, the powdery medicine and the like are stored inside, and the can 2 sealed by the inner lid 4 having the projection 4a for opening is continuously conveyed by the can supply conveyor 10 in the direction of arrow A shown in the drawing. These cans 2 are transported in a state where the direction of the projections 4a of the inner lid 4 is random, and the inner lid (second
The letter book (paper piece) 6 and the spoon (first article) 8 are placed on the article 4) in a state as shown in FIG.
Of the inner lid 4 is inserted under the protrusion 4a.

A spoon supply conveyor 12 is arranged in parallel with the can supply conveyor 10, and spoons 8 supplied from a spoon hopper 14 are continuously conveyed in a random state in the direction of arrow B shown in the drawing. . The spoons 8 are all supplied in a downward direction (with the convex side of the head 8a facing upward) so that they can be sucked and held by a robot hand described later.

[0009] The can supply conveyor 10 and the spoon supply conveyor 12 are running in parallel and in opposite directions to each other. On both sides of the two rows of conveyors 10, 12, both the spoon 8 and the function book 6 are provided. And a robot 16 for holding the robot on the inner lid 4. A robot magazine 18 for storing a large number of magazines 6 is disposed on the robot 16 opposite the conveyors 10 and 12.
The robot 16 holds the spoon 8 conveyed from the right in FIG. 1 by the robot hand, and then holds the book 6 in the book 18 on the opposite side.
The book 6 and the spoon 8 are simultaneously placed on the inner lid 4 of the can 2 which has been transported from the left side of FIG.

The spoon 6 conveyed by the spoon supply conveyor 12 and the can 2 conveyed by the can supply conveyor 2 are both conveyed in a random state. A first camera unit 22 is provided upstream of the first station (placement unit) 20 on the can supply conveyor 10, and
The second camera units 26 are arranged on the spoon conveyor 12 upstream of the second station (holding unit) 24. Control of the robot 16 using these camera units 22, 26 and the like will be described later.

Attached to the robot 16,
The configuration of the robot hand 28 that holds the spoon 8 and puts it on the inner lid 4 will be described with reference to FIGS. The robot hand 28 includes a spoon suction unit 30 that sucks and holds the spoon 8 and a function book suction unit 32 that sucks the function book 6 and removes it from the function magazine 18.

The spoon suction section 30 includes a suction cylinder 36 fixed to a lower portion of the mounting body 34.
The air is sucked through an air hose 38 connected to the upper part of the air conditioner. When the opening at the tip (lower end) of the suction cylinder 36 is brought into close contact with the head 8a of the spoon 8 during suction of air, the spoon 8 is sucked, and when the air is shut off, the spoon 8 is released. I have.

The function book suction section 32 is provided adjacent to the spoon suction section 30 and has a lift air cylinder 40 fixed to the upper side surface of the mounting body 34 and an operating rod 42 of the lift air cylinder 40. And a vacuum pad 48 attached to the distal end of a telescopic rod 46 of the vacuum cylinder 44. The vacuum cylinder 44 has a spring incorporated therein to constantly urge the telescopic rod 46 downward (in the extension direction). In addition, air is sucked from above, and the vacuum pad 4
When the book No. 6 is brought into close contact with the hole 8, the inside becomes vacuum,
The telescopic rod 46 rises rapidly while adsorbing the letter 6. Further, the bellows-shaped vacuum pad 48 also contracts when the function book 6 is sucked.

The air cylinder 40 for raising and lowering the function book suction part 32
And the vacuum cylinder 44 have the same stroke,
When the elevating air cylinder 40 and the vacuum cylinder 44 are both extended, the lower end of the vacuum pad 48 is lowered to the position C in FIG. Further, when the lifting / lowering air cylinder 42 contracts with the vacuum cylinder 44 extended, the lower end of the vacuum pad 48 rises to the position D in FIG. On the other hand, when the vacuum cylinder 44 contracts in a state where the lifting / lowering air cylinder 40 is extended, the lower end of the vacuum pad 48 is moved according to the stroke amount of the vacuum cylinder 44 itself.
2, the vacuum pad 48 itself contracts, and its lower end rises to the position E in FIG.

As described above, the spoon sucking section 30 sucks the convex vertex 8b of the head 8a of the spoon 8, while
The Noh adsorption part 32 is a portion 6c of the Noh 6 near the end 6b opposite to the end 6a inserted below the protrusion 4a of the inner lid 4.
To adsorb. In addition, as shown in FIG. 6, the function book 6 sucked by the function book suction part 32 and the spoon 8 sucked by the spoon suction part 30 are, as shown in FIG. The robot hand is positioned so that the spoon 8 faces in a direction perpendicular to the line connecting the center of the portion 6a inserted below the protrusion 4a of While the position of 28 is controlled,
The spoon 8 is adsorbed first, and then the template 6 is adsorbed.

The spoon 8 conveyed by the spoon supply conveyor 12 is in a random state, and the can 2 conveyed by the can supply conveyor 10 is also in a random state. The position and direction of the projection 4a of the lid 4 are confirmed, and the control device 50 (see FIG. 5) controls the operation of the robot 16 based on this information.

The control device 50 includes a first position / direction storage unit 5
2. It is composed of a second position / direction storage unit 54, a calculation unit 56, and a command unit 58. Each pulse motor 60 of the can supply conveyor 10 and the spoon supply conveyor 12,
The pulse signals from the first camera unit 22 and the second camera unit are input to the first position and direction storage unit 52 and the second position and direction storage unit 54, respectively.
The camera unit 26 captures an image of each of the conveyors 10 and 12.
In each of the first and second position / direction storage units 52 and 54, data on the direction of the can 2 and the spoon 8 is stored for each photographing of each of the camera units 22 and 26.
Position data of the can 2 and the spoon 8 photographed by the pulse signals of 0 and 62 are also stored.

The arithmetic unit 56 calculates the movement amount and the rotation amount of the robot hand 28 from the stored data of the position and direction of the can 2 (more precisely, the projection 4a of the inner lid 4) and the spoon 8, and issues a command. A signal is sent to the
The robot hand 28 is operated in accordance with the command of 8 and the spoon 8 and the function sheet 6 are sequentially sucked and held, and then the can 2
The book 6 and the spoon 8 are placed on the inner lid 4.

The operation of the apparatus for placing articles and paper pieces according to the above configuration will be described. In the can supply conveyor 10, the cans 2 are continuously conveyed in a random state, that is, in a state where the direction of the projections 4a of the inner lid 4 is indefinite. This can 2
Is captured by the first camera unit 22 in response to a signal from the pulse motor 60 of the can supply conveyor 10, and the position data and the direction data are stored in the first position and direction storage unit 52.

On the other hand, in the spoon supply conveyor 12, the spoon 8 is downwardly directed, and is continuously conveyed in a random position and direction. On the conveyor 12 side,
The second camera unit 26 according to a signal from the pulse motor 62
, And the position data and the direction data are stored in the second position and direction storage unit 54. The arithmetic unit 56 calculates the amount of movement and the amount of rotation of the robot hand 28 from the position data and the direction data, and sends them to the command unit 58 to operate the robot 16. The robot 16 is a robot hand 2
When the spoon suction unit 30 rotates the spoon 8 and the spoon suction unit 30 sucks the apex 8b of the head 8a of the spoon 8, the vacuum pad 48 of the function book suction unit 32 moves in the direction of the spoon 8 as shown in FIG.
The direction is changed so that the positional relationship shown in FIG. In this state, the robot hand 28 descends, and the head 8 of the spoon 8
adsorbs a. At this time, the elevating air cylinder 40 contracts, and the vacuum cylinder 44 expands, so that the lower end of the vacuum pad 48 is positioned at the height D in FIG.

After the spoon suction unit 30 sucks the spoon 8, the robot hand 28 moves above the book magazine 18. Here, the book 6 is sucked in a state in which the elevating air cylinder 40 of the book suction unit 32 is extended and the vacuum pad 48 is lowered to the position C in FIG. When the vacuum pad 48 of the vacuum cylinder 44 comes into close contact with the function book 6, the hole of the vacuum pad 48 is closed and the telescopic rod 4 is closed.
The inside of the tube 6 is evacuated, the book 6 is sucked, and the telescopic rod 46 contracts immediately. Adsorption position 6c of Noh book 6
As shown in FIG. 6, is the end 6b side opposite to the part 6a to be inserted below the projection 4a of the inner lid 4 later. When this position 6c is sucked, the book 6 and the spoon 8 are The positional relationship shown in FIG.

As described above, since the telescopic rod 46 of the vacuum cylinder 44 is raised and the vacuum pad 48 is compressed, the lower end surface of the vacuum pad 48 that is holding the book 6 is positioned from the position D in FIG. Also rises to the upper E position. Since the lower surface 8c of the spoon 8 is located lower than the portion 6c of the Noh 6 that is sucked by the vacuum pad 48, the portion of the Noh 6 that is not sucked is bent downward ( 2 and 3).

Next, from the position data and direction data of the can 2 stored in the first position and direction storage unit 52, the calculation unit 56 calculates and calculates the movement amount and rotation amount of the robot hand 28, The robot hand 28 is operated according to a command from the command unit 58. That is, the bent lower end 6a of the book 6 sucked by the book suction unit 32 is directed toward the projection 4a of the inner lid 4 of the can 2, and the can 2 transported by the can supply conveyor 10 is turned on. , And the lower end 6a is inserted below the projection 4a. When one end 6a of the Noh book 6 is inserted below the projection 4a, and the Noh book 6 and the spoon 8 are located right above the inner lid 4 of the can 2, the spoon suction part 30 and the Noh book suction part 32 are sucked. Cut off. Thereby, the Noh book 6 and the spoon 8 are placed on the inner cover 4 at the position shown in FIG.

When the spoon 8 and the function book 6 are placed on the inner lid 4 as described above, the operating rod 42 of the lifting / lowering air cylinder 40 of the function book suction unit 32 is in an extended state. After the release of the function sheet 6, it is expanded by the internal spring force and attempts to descend to the position C in FIG. 2, but at the same time, the elevating air cylinder 40 is contracted to return to the initial state. Thereafter, the spoon 8 is sucked again. As described above, the spoon suction unit 30 for sucking and holding the spoon 8 and the function book suction unit 32 for sucking and holding the function book 6 are integrally moved, and the spoon 8 and the function respectively held by the two are moved together. Since the document 6 is simultaneously placed on the inner lid 4 of the can 2 in one step, the speed of this step can be extremely increased. Also, spoon 8 and Noh book 6
Are accurately positioned and mounted on the inner lid 4 in one step, so that the defect rate such as insertion error is greatly reduced. Further, since the Noh book 6 is bent by the spoon 8 sucked by the spoon suction part 30 provided integrally with the Noh suction part 32, there is no need to provide another bending guide or the like. In addition, there is no need to tilt the function book suction unit 32, the structure is simplified, and the number of parts is reduced.
The number of steps for placing paper pieces and articles can be reduced.

[0025]

As described above, according to the present invention, the first
Article holding means for holding the article, a piece of paper adsorbing means provided adjacent to the article holding means for adsorbing and holding a piece of paper, and a moving means for integrally moving the article holding means and the piece of paper adsorbing means And an elevating means for relatively elevating and lowering the article holding means and the paper piece suction means, moving the article holding means and the paper piece suction means to the article holding position and holding the first article by the article holding means, Next, the article holding means and the sheet adsorbing means are moved to the sheet adsorbing position to adsorb the sheet by the sheet adsorbing means, and a part of the sheet is positioned below the article. A part of the paper piece is folded by the first article by raising the means relatively, and then the first article and the paper piece are placed on the second article, so that in one step Articles and pieces of paper Can be placed on, it can be accelerated.

[Brief description of the drawings]

FIG. 1 is a plan view showing an entire article and paper sheet placing apparatus according to an embodiment of the present invention.

FIG. 2 is a front view showing a main part (robot hand) of the article and paper sheet placing device.

FIG. 3 is a side view showing a main part (robot hand) of the article and paper piece placing device.

FIG. 4 is a view taken in the direction of arrow IV in FIG. 2;

FIG. 5 is a block diagram showing a control device of the device for placing articles and paper pieces.

FIG. 6 is a plan view showing a state in which a book and a spoon are placed on an inner lid of a can.

FIG. 7 is a side view of the inner lid.

[Explanation of symbols]

 2 Second article (middle lid of can) 6 Paper piece (Noh letter) 8 First article (spoon) 16 Moving means (robot) 30 Article holding means (spoon suction part) 32 Paper piece suction means (Noh book suction part) 40 lifting means (air cylinder for lifting) 44 lifting means (vacuum cylinder)

Claims (1)

[Claims] An article holding means for holding a first article;
A sheet adsorbing means provided in close proximity to the article holding means for adsorbing and holding the sheet, a moving means for integrally moving the article holding means and the sheet adsorbing means, an article holding means and a sheet adsorbing means; Lifting and lowering means for moving the article holding means and the paper piece adsorbing means to the article holding position to hold the first article by the article holding means. Then, the article holding means and the paper piece adsorbing means Is moved to the sheet adsorbing position to adsorb the sheet by the sheet adsorbing means, and a part of the sheet is positioned below the article. Characterized in that the first article and the piece of paper are placed on a second article after a part of the article is bent by the first article.