JPWO2014125627A1 - Packing apparatus and packing method - Google Patents

Packing apparatus and packing method Download PDF

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Publication number
JPWO2014125627A1
JPWO2014125627A1 JP2013053736A JP2015500063A JPWO2014125627A1 JP WO2014125627 A1 JPWO2014125627 A1 JP WO2014125627A1 JP 2013053736 A JP2013053736 A JP 2013053736A JP 2015500063 A JP2015500063 A JP 2015500063A JP WO2014125627 A1 JPWO2014125627 A1 JP WO2014125627A1
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Japan
Prior art keywords
arm
cardboard
package
paper
hand
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Granted
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JP2013053736A
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Japanese (ja)
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JP6112191B2 (en
Inventor
亮介 堤
亮介 堤
健一 元永
健一 元永
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株式会社安川電機
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Priority to PCT/JP2013/053736 priority Critical patent/WO2014125627A1/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/36Arranging and feeding articles in groups by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14Feeding individual bags or carton blanks from piles or magazines
    • B65B43/145Feeding carton blanks from piles or magazines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/30Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
    • B65B43/305Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated specially adapted for boxes, cartons or carton blanks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/08Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B31MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31BMAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2100/00Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B31MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31BMAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2100/00Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs
    • B31B2100/002Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs characterised by the shape of the blank from which they are formed
    • B31B2100/0022Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs characterised by the shape of the blank from which they are formed made from tubular webs or blanks, including by tube or bottom forming operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B31MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31BMAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2110/00Shape of rigid or semi-rigid containers
    • B31B2110/30Shape of rigid or semi-rigid containers having a polygonal cross section
    • B31B2110/35Shape of rigid or semi-rigid containers having a polygonal cross section rectangular, e.g. square
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B31MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31BMAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/004Closing boxes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/02Machines characterised by incorporation of means for making the containers or receptacles
    • B65B5/024Machines characterised by incorporation of means for making the containers or receptacles for making containers from preformed blanks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00Closing containers or receptacles after filling
    • B65B7/16Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/20Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps

Abstract

The packaging device (100) according to one aspect of the embodiment includes a first end effector (14) and a second end effector (15), and a first arm part (12) and a second arm part (13). With. The first arm portion (12) includes the first end effector (14). The second arm portion (13) includes the second end effector (15). In addition, the first arm portion (12) and the second arm portion (13) store a package to be stored in a box body assembled from a folded packing material in the first end effector ( 14) and the second end effector (15) are used to move the package while holding at least one of the diagonals of the package.

Description

  Embodiments disclosed herein relate to a packing apparatus and a packing method.
  2. Description of the Related Art Conventionally, an assembling apparatus that assembles a folded cardboard into a box shape is known. Such an assembling apparatus assembles the corrugated cardboard into a box shape by three-dimensionally unfolding the folded corrugated cardboard, folding the flaps, and joining the folded flaps with an adhesive tape or the like.
  Further, in recent years, not only the above-described corrugated cardboard assembly work but also a series of packing work such as a storing work for storing a packed item in the assembled cardboard and a sealing work for the corrugated cardboard after the packed item is stored. There has also been proposed a technique performed while operating this robot (see, for example, Patent Document 1).
  In the technology disclosed in Patent Document 1, the robot is a single-arm robot having one arm portion, and a work for three-dimensionally deploying cardboard using a special end effector provided at the tip of the arm portion. Do.
  Here, the special end effector is provided with an adsorption mechanism and a bending mechanism. The suction mechanism sucks one side surface of the folded cardboard and the other side surface connected to the side surface. Further, the bending mechanism bends one side of the two side surfaces of the cardboard adsorbed by the adsorption mechanism at an angle of 90 degrees with respect to the other side surface. Thereby, the cardboard is developed three-dimensionally.
  In addition, dedicated devices such as a filling device and a sealing machine are used for the package storage operation and the cardboard sealing operation.
JP-A-11-70917
  However, the above-described conventional technology has room for further improvement in terms of performing high-quality packing work at low cost and space saving.
  For example, in the above-described conventional technology, it is necessary to provide dedicated devices for various operations constituting the packing operation, so that the cost and installation space are easily increased.
  In addition, the packing work includes the work of folding paper such as slips, slips, and sending slips and storing them in a bag on the surface of the corrugated cardboard. End up with.
  Further, in the above-described conventional technology, a special end effector is used to fold while adsorbing only one set of side surfaces to which the cardboards are connected. However, in the case of a heavy cardboard with heavy weight, the cardboard is bent due to its own weight, etc. May not be assembled. That is, it is insufficient for keeping the quality of the packing work high.
  One aspect of the embodiments has been made in view of the above, and an object thereof is to provide a packing apparatus and a packing method capable of performing high-quality packing work at low cost and space saving.
  A packaging device according to an aspect of an embodiment includes a first end effector and a second end effector, and a first arm portion and a second arm portion. The first arm unit includes the first end effector. The second arm portion includes the second end effector. In addition, the first arm portion and the second arm portion may store a package to be stored in a box assembled from a folded packing material, and the first end effector and the second end effector. The package is moved while holding at least one of the diagonals of the package using.
  According to one aspect of the embodiment, it is possible to mount components on a workpiece with high efficiency and high quality.
FIG. 1 is a schematic plan view illustrating the overall configuration of the packaging device according to the embodiment. FIG. 2A is a schematic front view showing the configuration of the robot. FIG. 2B is a schematic top view illustrating the configuration of the robot. FIG. 3A is a schematic perspective view illustrating the configuration of the right hand. FIG. 3B is a schematic perspective view illustrating the configuration of the left hand. FIG. 4 is a schematic perspective view showing the configuration of the cardboard supply base. FIG. 5A is an explanatory diagram (part 1) of an operation of taking out the cardboard from the cardboard supply table. FIG. 5B is an explanatory diagram (part 2) of the operation of taking out the cardboard from the cardboard supply table. FIG. 6A is an explanatory diagram (part 1) of a cardboard unfolding operation. FIG. 6B is an explanatory diagram (part 2) of the cardboard unfolding operation. FIG. 7A is a schematic diagram (part 1) illustrating holding positions by the right hand and the left hand. FIG. 7B is a schematic diagram (part 2) illustrating holding positions by the right hand and the left hand. FIG. 8A is an explanatory diagram (part 3) of the cardboard unfolding operation. FIG. 8B is an explanatory diagram (part 4) of the cardboard unfolding operation. FIG. 8C is an explanatory diagram (part 5) of the cardboard unfolding operation. FIG. 8D is an explanatory diagram (part 6) of the cardboard unfolding operation. FIG. 9A is an explanatory diagram (part 1) of the operation of fixing the cardboard using the fixing device. FIG. 9B is an explanatory diagram (part 2) of the operation of fixing the cardboard using the fixing device. FIG. 9C is an explanatory diagram (part 3) of the operation of fixing the cardboard using the fixing device. FIG. 10A is an explanatory diagram (part 1) of an operation of rotating a cardboard. FIG. 10B is an explanatory diagram (part 2) of the operation of rotating the cardboard. FIG. 10C is an explanatory diagram (part 3) of the operation of rotating the cardboard. FIG. 10D is an explanatory diagram (part 4) of the operation of rotating the cardboard. FIG. 10E is an explanatory diagram (part 5) of the operation of rotating the cardboard. FIG. 11A is an explanatory diagram (part 1) of the operation of bending the inner flap. FIG. 11B is an explanatory diagram (part 2) of the operation of bending the inner flap. FIG. 11C is an explanatory diagram (part 3) of the operation of bending the inner flap. FIG. 12A is an explanatory diagram (part 1) of the operation of bending the outer flap. FIG. 12B is an explanatory diagram (part 2) of the operation of bending the outer flap. FIG. 12C is an explanatory diagram (part 3) of the operation of bending the outer flap. FIG. 13A is an explanatory diagram (part 1) of an operation of attaching an adhesive tape. FIG. 13B is an explanatory diagram (part 2) of the operation of attaching the adhesive tape. FIG. 13C is an explanatory diagram (part 3) of the operation of attaching the adhesive tape. Drawing 13D is an explanatory view (the 4) of operation which sticks an adhesive tape. FIG. 13E is an explanatory diagram (part 5) of the operation of attaching the adhesive tape. FIG. 13F is an explanatory diagram (part 6) of the operation of attaching the adhesive tape. FIG. 14A is an explanatory diagram (part 1) of the operation of rotating the cardboard before the storing operation. FIG. 14B is an explanatory diagram (part 2) of the operation of rotating the cardboard before the storing operation. FIG. 15A is an explanatory diagram (part 1) of the preparatory operation for the storing operation. FIG. 15B is an explanatory diagram (part 2) of the preparation operation for the storage operation. FIG. 15C is an explanatory diagram (part 3) of the preparatory operation for the storing operation. FIG. 16A is a schematic perspective view illustrating a configuration of an L-shaped tool. FIG. 16B is a schematic diagram illustrating a state where the robot holds the cosmetic box. FIG. 16C is a schematic plan view schematically showing the held cosmetic box. FIG. 17A is an explanatory diagram (part 1) of the 2 × 3 storage procedure. FIG. 17B is an explanatory diagram (part 2) of the 2 × 3 storage procedure. FIG. 17C is an explanatory diagram (part 3) of the 2 × 3 storage procedure. FIG. 17D is an explanatory diagram (part 4) of the 2 × 3 storage procedure. FIG. 17E is an explanatory diagram (part 5) of the 2 × 3 storage procedure. FIG. 17F is an explanatory diagram (part 6) of the 2 × 3 storage procedure. FIG. 17G is an explanatory diagram (part 7) of the 2 × 3 storage procedure. FIG. 17H is an explanatory diagram (part 8) of the 2 × 3 storage procedure. FIG. 18A is an explanatory diagram (part 1) of the 2 × 4 storage procedure. FIG. 18B is an explanatory diagram (part 2) of the 2 × 4 storage procedure. FIG. 18C is an explanatory diagram (part 3) of the 2 × 4 storage procedure. FIG. 18D is an explanatory diagram (part 4) of the 2 × 4 storage procedure. FIG. 18E is an explanatory diagram (part 5) of the 2 × 4 storage procedure. FIG. 18F is an explanatory diagram (part 6) of the 2 × 4 storage procedure. FIG. 18G is an explanatory diagram (part 7) of the 2 × 4 storage procedure. FIG. 18H is an explanatory diagram (part 8) of the 2 × 4 storage procedure. FIG. 18I is an explanatory diagram (part 9) of the 2 × 4 storage procedure. FIG. 18J is an explanatory diagram (part 10) of the 2 × 4 storage procedure. FIG. 19A is an explanatory diagram (part 1) of a 3 × 3 storage procedure. FIG. 19B is an explanatory diagram (part 2) of the 3 × 3 storage procedure. FIG. 19C is an explanatory diagram (part 3) of the 3 × 3 storage procedure. FIG. 19D is an explanatory diagram (part 4) of the 3 × 3 storage procedure. FIG. 19E is an explanatory diagram (part 5) of the 3 × 3 storage procedure. FIG. 19F is an explanatory diagram (part 6) of the 3 × 3 storage procedure. FIG. 19G is an explanatory diagram (part 7) of the 3 × 3 storage procedure. FIG. 19H is an explanatory diagram (part 8) of the 3 × 3 storage procedure. FIG. 19I is an explanatory diagram (part 9) of the 3 × 3 storage procedure. FIG. 19J is an explanatory diagram (part 10) of the 3 × 3 storage procedure. FIG. 19K is an explanatory diagram (part 11) of the 3 × 3 storage procedure. FIG. 19L is an explanatory diagram (part 12) of the 3 × 3 storage procedure. FIG. 19M is an explanatory diagram (part 13) of the 3 × 3 storage procedure. FIG. 20A is a schematic perspective view illustrating a configuration of a folding tool. FIG. 20B is a schematic perspective view illustrating the configuration of the positioning tool. FIG. 20C is a schematic perspective view illustrating a configuration of a paper folding work table. FIG. 21A is an explanatory diagram (part 1) of the paper folding operation. FIG. 21B is an explanatory diagram (part 2) of the paper folding operation. FIG. 21C is an explanatory diagram of the paper folding operation (part 3). FIG. 21D is an explanatory diagram (part 4) of the paper folding operation. FIG. 21E is an explanatory diagram (part 5) of the paper folding operation. FIG. 21F is an explanatory diagram (part 6) of the paper folding operation. FIG. 21G is an explanatory diagram (part 7) of the paper folding operation. FIG. 21H is an explanatory diagram (part 8) of the paper folding operation. FIG. 22A is an explanatory diagram (part 1) of the paper storing operation. FIG. 22B is an explanatory diagram (part 2) of the paper storing operation. FIG. 22C is an explanatory diagram (part 3) of the paper storing operation. FIG. 22D is an explanatory diagram (part 4) of the paper storing operation. FIG. 22E is an explanatory diagram (part 5) of the paper storing operation. FIG. 22F is an explanatory diagram (part 6) of the paper storing operation. FIG. 22G is an explanatory diagram (part 7) of the paper storing operation. FIG. 22H is an explanatory diagram (part 8) of the paper storing operation. FIG. 22I is an explanatory diagram (part 9) of the paper storing operation. FIG. 22J is an explanatory diagram (part 10) of the paper storing operation.
  Hereinafter, embodiments of a packaging device and a packaging method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below. For example, although an example in the case of using corrugated cardboard as a packaging material will be described below, the packaging material is not limited to corrugated cardboard, and may be another packaging material that can be folded in a plane such as a paper bag or an envelope. .
  In the following description, it is assumed that the package stored in the cardboard is a decorative box having a rectangular parallelepiped shape. In the following, an end effector (that is, a robot hand) attached to the tip of the arm of the robot is referred to as a “hand”.
[1. overall structure]
FIG. 1 is a schematic plan view illustrating the overall configuration of the packaging device 100 according to the embodiment. FIG. 1 shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description.
  Moreover, below, about the component comprised by two or more, a code | symbol may be attached | subjected only to one part among several, and provision of a code | symbol may be abbreviate | omitted about others. In such a case, it is assumed that a part with the reference numeral and the other have the same configuration.
  As shown in FIG. 1, the packaging device 100 according to the embodiment includes a robot 1, a cardboard supply table 2, an assembly work table 3, a storage work table 4, a packaged product supply table 5, and a paper table 6. A paper folding work table 7. Further, the packing apparatus 100 includes tool holders 8 and 9.
  The robot 1 is a double-armed multi-axis robot that has two arms and is provided so as to be able to turn around an axis SW. The robot 1 is a so-called general-purpose robot. That is, the robot 1 can be used for various operations by changing the hand provided at the tip of each arm according to the application, or by changing various tools with the hand.
  Specific configurations of the robot 1, hand, tool, and the like will be described later with reference to FIGS. 2A and 2B. The operation of the robot 1 is controlled by a control device (not shown).
  The cardboard supply stand 2 is a place where the folded cardboard 20 is placed. The placement of the cardboard 20 on the cardboard supply table 2 may be performed by an operator or may be performed by a transport device such as a belt conveyor.
  The cardboard 20 is a general cardboard that becomes a rectangular parallelepiped box by being molded. Specifically, the cardboard 20 includes a side surface portion 21, an inner flap 22, and an outer flap 23. The side surface portion 21 is a portion that becomes a side wall of the cardboard 20 formed into a box shape.
  The inner flap 22 and the outer flap 23 are provided at an edge portion that is not connected to the other side surface portion 21 of each side surface portion 21. The outer flap 23 is a flap that becomes the bottom surface or top surface of the cardboard 20 by molding. The inner flap 22 is a flap that is folded inside the cardboard 20 rather than the outer flap 23 during molding.
  The assembly work table 3 is a place where the three-dimensionally expanded cardboard 20 is placed. The assembly work table 3 includes a fixing device 30. The fixing device 30 fixes the corrugated cardboard 20 in a suspended state by supporting the side surface portion 21 of the corrugated cardboard 20 developed three-dimensionally from the X-axis direction in the figure.
  In the assembly work table 3, in order to form the bottom surface of the corrugated cardboard 20, the inner flap 22 and the outer flap 23 are bent, and an adhesive tape is attached to both ends of the bent outer flap 23 to cover the bottom surface of the corrugated cardboard 20. The closing “assembly work” is performed by the robot 1.
  9A to 14B are used for specific contents of the “assembly operation” such as the configuration of the fixing device 30, the fixing method of the cardboard 20 to the fixing device 30, and the bending operation of the inner flap 22 and the outer flap 23. Will be described later.
  The storage work table 4 is a place where the cardboard 20 having a bottom surface is placed with the bottom surface facing downward. The storage work table 4 includes a fixing device 40. The fixing device 40 positions and fixes the cardboard 20 in the Y-axis direction by supporting the side surface portion 21 of the cardboard 20 from the Y-axis direction in the drawing. The positioning in the X-axis direction is performed by the robot 1.
  In the storage work table 4, a “storage operation” in which the cosmetic box BX is stored in the cardboard 20 and the upper surface of the cardboard 20 is closed with an adhesive tape is performed by the robot 1. In the “storage operation”, the temporary storage table 4a, the adsorption unit 4b, and the injection unit 4c included in the storage work table 4 are used.
  The “storage operation” includes “paper storage operation” for storing paper PP such as a slip or a delivery slip in a bag 24 (not shown) provided on the side surface of the cardboard 20.
  The specific contents of the “storage operation” such as the configuration of the fixing device 40, the storage method of the decorative box BX in the cardboard 20 and the paper storage operation will be described later with reference to FIG.
  The package supply stand 5 is a place where a cosmetic box BX in which products and the like are stored is placed. The cosmetic box BX may be placed on the package supply stand 5 by an operator or by a transport device such as a belt conveyor as in the case of the cardboard 20.
  The paper table 6 is a table on which the above-described paper PP is placed in advance. The paper folding work table 7 is a place where the paper PP stored in the bag 24 of the cardboard 20 is transported from the paper table 6 and placed. In the paper folding work table 7, the “paper folding work” is performed by the robot 1 to fold the paper PP into a size that can be stored in a bag 24 (described later) of the cardboard 20.
  The specific contents of the “paper folding work” including the configuration of the paper folding work table 7 will be described later with reference to FIGS. 20A to 21H.
  The tool holders 8 and 9 are storage units for various tools used by the robot 1 as necessary. For example, the tool holder 8 houses a tape cartridge 156 that is a sticking tool including a main body portion of an adhesive tape. Then, the robot 1 takes out the tape cartridge 156 from the tool holder 8 and uses it at the time of the above-described “assembly operation” or “storage operation”.
  Further, for example, as a tool for holding the cosmetic box BX during “storage work”, the tool holder 8 stores the L-shaped tool T1 and the tool holder 9 stores the L-shaped tool T2. Then, the robot 1 takes out the L-shaped tools T1 and T2 from the tool holders 8 and 9 and uses them in the “storing operation”.
  Further, for example, as a tool for the above-mentioned “paper folding operation”, the tool holder 8 stores the folding tool T3 and the tool holder 9 stores the positioning tool T4. Then, the robot 1 takes out the folding tool T3 and the positioning tool T4 from the tool holders 8 and 9, respectively, for the “paper folding operation”.
  Specific contents of the configuration and usage of the tape cartridge 156, the L-shaped tools T1, T2, the folding tool T3, and the positioning tool T4 will be described later.
  The packaging device 100 is configured as described above, and the robot 1 which is a double-arm robot first combines the multi-axis motion of both arms and the turning motion around the axis SW, and first the cardboard 20 in a flat folded state. It is moved from the corrugated board supply table 2 to the assembly work table 3 while being developed three-dimensionally.
  Then, the robot 1 performs an “assembly operation” in which the inner flap 22 and the outer flap 23 are bent in the assembly work table 3, and an adhesive tape is attached to the bent outer flap 23. Further, the robot 1 performs a “storage operation” for storing the cosmetic box BX in the cardboard 20 in the storage work table 4.
  As described above, in the packing device 100 according to the present embodiment, the robot 1 performs a series of “packing work” including “assembly work” and “storage work”. Hereinafter, the configuration of the robot 1 and various operations performed by the robot 1 will be specifically described.
[2. Robot configuration]
Next, a configuration example of the robot 1 will be described with reference to FIGS. 2A and 2B. FIG. 2A is a schematic front view showing the configuration of the robot 1, and FIG. 2B is a schematic top view showing the configuration of the robot 1.
  As described in FIG. 1, as shown in FIG. 2A, the robot 1 is a double-armed multi-axis robot. Specifically, the robot 1 includes a base part 10, a body part 11, a right arm part 12, and a left arm part 13.
  The base portion 10 is fixed to a floor surface or the like, and supports the body portion 11 at the distal end portion so as to be able to turn around the axis SW (see a double arrow around the axis SW).
  The body portion 11 is supported at the base end portion by the base portion 10 and supports the base end portion of the right arm portion 12 at the right shoulder so as to be rotatable around the axis S. Similarly, the base end portion of the left arm portion 13 is supported at the left shoulder so as to be rotatable about the axis S (see both arrows around the axis S).
  Each of the right arm portion 12 and the left arm portion 13 is composed of a plurality of links and joint portions, and can rotate around the axes S, E, and T at each joint portion from the proximal end portion to the distal end portion. (See double arrows around the axis S, the axis E, and the axis T).
  Further, as shown in FIG. 2B, the right arm portion 12 and the left arm portion 13 can rotate around the axis L, the axis U, the axis R, and the axis B, respectively (the axis L, the axis U, the axis R, and (See double arrow around axis B). That is, the robot 1 has 7 axes per arm.
  Then, the robot 1 performs various multi-axis operations combining the two 7-axis arms and the rotation around the axis SW based on an operation instruction from a control device (not shown). The operation instruction from the control device is specifically given as a drive instruction for each actuator mounted on each joint portion of the robot 1.
  A right hand 14 (described later) is attached to the distal end portion of the right arm portion 12 around the axis T, and a left hand 15 (described later) is attached to the distal end portion of the left arm portion 13 around the axis T.
[3. Hand configuration]
Next, configurations of the right hand 14 and the left hand 15 included in the robot 1 will be described with reference to FIGS. 3A and 3B.
  First, the configuration of the right hand 14 will be described with reference to FIG. 3A. FIG. 3A is a schematic perspective view showing the configuration of the right hand 14. In the present embodiment, the right hand 14 is an example of a first end effector, and the right arm unit 12 is an example of a first arm unit.
  As shown in FIG. 3A, the right hand 14 is provided with respect to the arm tip 121 of the right arm 12. The arm tip 121 of the right arm 12 holds the right hand 14 so as to be rotatable about the axis T (see FIG. 2A).
  As shown in FIG. 3A, the right hand 14 includes two suction portions 145 and 146 and a clamping portion 147. The suction part 145 is provided along the axis T of the right arm part 12. As will be described later, the suction portion 145 is used when performing an operation of rotating the cardboard 20.
  On the other hand, the suction portion 146 is provided in a direction perpendicular to the axis T. As will be described later, the suction portion 146 is used when performing an operation of expanding the cardboard 20 in a three-dimensional manner. The suction units 145 and 146 suck an object using a suction force generated by a suction device such as a vacuum pump.
  The clamping part 147 is used when taking out the folded cardboard 20 from the cardboard supply stand 2 as described later. Specifically, the clamping part 147 includes a first claw part 147a, a second claw part 147b, a drive part 147c, and a shaft 147d.
  The clamping part 147 moves the shaft 147d along the extending direction by using the driving part 147c, so that the second claw part 147b connected to the shaft 147d moves toward the first claw part 147a. Thereby, the object located between the 1st nail | claw part 147a and the 2nd nail | claw part 147b is pinched | interposed by the 1st nail | claw part 147a and the 2nd claw part 147b, and is supported.
  Next, the configuration of the left hand 15 will be described with reference to FIG. 3B. FIG. 3B is a schematic perspective view illustrating the configuration of the left hand 15. FIG. 3B shows a state in which the tape cartridge 156 is attached to the left hand 15. In the present embodiment, the left hand 15 is an example of a second end effector, and the left arm unit 13 is an example of a second arm unit.
  As shown in FIG. 3B, the left hand 15 is provided with respect to the arm tip portion 131 of the left arm portion 13. The arm tip 131 of the left arm 13 holds the left hand 15 so as to be rotatable about the axis T.
  The left hand 15 includes a tape cartridge 156, a clamping unit 157, and a suction unit 158. The tape cartridge 156 includes a tape main body 156a, a casing 156b, a roller 156c, a cutting portion 156d, and a sandwiched portion 156e.
  The tape main body 156a is a member in which adhesive tape is wound around the annular core 160 in multiple layers. The tape body 156a is rotatably mounted on the casing 156b by holding the core portion 160 with respect to the casing 156b.
  The casing 156b is a member that covers, for example, the peripheral surface and the side surface of the tape main body 156a. The casing 156b is formed with an opening that is substantially the same shape as the core 160 of the tape body 156a.
  The roller 156c is a columnar member that is rotatably attached to the casing 156b. The roller 156c presses the adhesive tape drawn out from the tape main body 156a to the corrugated cardboard 20 that is the object to be pasted. The cutting part 156d is a cutter that is provided in the casing 156b and cuts the adhesive tape drawn from the tape body part 156a.
  The sandwiched portion 156e is a portion that is sandwiched by the sandwiching portion 157. When the sandwiched portion 156e is sandwiched by the sandwiching portion 157, the tape cartridge 156 is attached to the left hand 15.
  The clamping part 157 is a clamping mechanism. Specifically, the clamping part 157 includes a first claw part 157a, a second claw part 157b, a drive part 157c, and a shaft 157d.
  The sandwiching portion 157 moves the shaft 157d along the extending direction using the drive portion 157c, so that the second claw portion 157b connected to the shaft 157d moves toward the first claw portion 157a. Thereby, the object located between the 1st nail | claw part 157a and the 2nd nail | claw part 157b is pinched | interposed by the 1st nail | claw part 157a and the 2nd claw part 157b, and is supported.
  Thus, in the packaging device 100 according to the embodiment, the tape cartridge 156 is detachably attached to the left hand 15 that is the first hand. For this reason, according to the packing apparatus 100 which concerns on embodiment, the exchange operation | work etc. of the tape main-body part 156a can be performed easily, for example.
  The suction part 158 is provided along the axis T of the left arm part 13. The suction unit 158 is used when performing an operation of rotating the cardboard 20, similarly to the suction unit 145 included in the right hand 14.
  The suction portion 158 is inserted into the core portion 160 of the tape main body portion 156a through an opening formed in the casing 156b of the tape cartridge 156. Thus, the enlargement of the left hand 15 can be suppressed by arranging the suction portion 158 at a position where the core portion 160 of the tape main body portion 156a is inserted.
[4. Corrugated board supply structure]
Next, the configuration of the cardboard supply base 2 will be described with reference to FIG. FIG. 4 is a schematic perspective view showing the configuration of the cardboard supply base 2.
  As shown in FIG. 4, the cardboard supply base 2 includes a column 201, a base 202, and frame bodies 203a to 203d. The column 201 is a member for positioning the base 202 at a predetermined height. The base 202 is a plate-like member having substantially the same shape as the folded corrugated cardboard 20 and is supported by the support column 201.
  The frames 203a to 203d are members provided at the four corners of the base 202 in order to maintain the state in which the corrugated boards 20 are stacked. The frame bodies 203a to 203d are erected along the vertical direction and come into contact with the four corners of the cardboard 20 placed on the base 202, respectively.
  Of the frames 203a to 203d, flanges 204 extending in the horizontal direction are formed on the two frames 203c and 203d arranged on the assembly work table 3 side. The flange portion 204 is used as a temporary storage place for temporarily mounting the cardboard 20 taken out from the cardboard supply base 2. This will be described later with reference to FIGS. 6A and 6B.
[5. Cardboard removal operation]
Next, the operation of taking out the cardboard 20 from the cardboard supply base 2 will be described with reference to FIGS. 5A and 5B. 5A and 5B are explanatory diagrams (part 1) and (part 2) of the operation of taking out the cardboard 20 from the cardboard supply base 2. FIG.
  As shown in FIG. 5A, in the robot 1, the left arm unit 13 sucks the cardboard 20 positioned at the top of the cardboards 20 stacked on the cardboard supply base 2 using the suction unit 158 of the left hand 15. Lift slightly while.
  Thereby, a space for inserting the first claw portion 147a of the holding portion 147 included in the right hand 14 is formed between the cardboard 20 positioned at the uppermost portion and the cardboard 20 positioned below it.
  Subsequently, as shown in FIG. 5B, in the robot 1, the right arm unit 12 sandwiches both side surfaces of the cardboard 20 lifted by the left arm unit 13 using the sandwiching unit 147. In the robot 1, the right arm unit 12 moves the cardboard 20 held by the holding unit 147 from the cardboard supply base 2.
  As described above, in the packaging device 100 according to the embodiment, the robot 1 can directly take out the cardboards 20 stacked in a folded state from the cardboard supply base 2, thereby improving work efficiency.
  In the packaging device 100 according to the embodiment, the robot 1 slightly lifts the cardboard 20 using the suction unit 158 of the left hand 15, and then clamps the lifted cardboard 20 using the clamping unit 147 of the right hand 14. To do. For this reason, the robot 1 can reliably hold one of the cardboards 20 stacked in large numbers.
  Here, an example in which the corrugated board 20 is taken out from the corrugated board supply base 2 using the sandwiching section 147 and the suction section 158 is shown, but the robot 1 uses only the sandwiching section 147 to remove the corrugated board 20 from the corrugated board supply base 2. May be taken out from.
[6. Cardboard unfolding and moving operations]
Next, the unfolding operation of the cardboard 20 taken out from the cardboard supply base 2 will be described with reference to FIGS. 6A to 8D. 6A and 6B are explanatory views (No. 1) and (No. 2) of the unfolding operation of the cardboard 20.
  7A and 7B are schematic diagrams (No. 1) and (No. 2) showing holding positions by the right hand 14 and the left hand 15. FIG. FIG. 7A shows an upper surface of the cardboard 20 placed on the cardboard supply table 2, and FIG. 7B shows a lower surface of the cardboard 20 placed on the cardboard supply table 2.
  In the following, as shown in FIGS. 7A and 7B, among the four side surfaces 21 included in the cardboard 20, the side surface portions 21 located on the upper surface side are referred to as side surface portions 21 a and 21 b, respectively, and are located on the lower surface side. The side parts 21 are referred to as side parts 21c and 21d, respectively. The side surface portion 21a faces the side surface portion 21d when the cardboard 20 is developed three-dimensionally. Further, the side surface portion 21b faces the side surface portion 21c when the cardboard 20 is developed three-dimensionally.
  Hereinafter, the inner flaps 22 connected to the side surface portion 21a are referred to as inner flaps 22a and 22b, respectively, and the outer flaps 23 connected to the side surface portion 21b are referred to as outer flaps 23a and 23b, respectively.
  Similarly, hereinafter, the outer flaps 23 connected to the side surface portion 21c are referred to as outer flaps 23c and 23d, respectively, and the inner flaps 22 connected to the side surface portion 21d are referred to as inner flaps 22c and 22d, respectively.
  8A to 8D are explanatory views (No. 3) to (No. 6) of the unfolding operation of the cardboard 20.
  When the robot 1 takes out the cardboard 20 from the cardboard supply base 2, the robot 1 temporarily places (temporarily places) the cardboard 20 thus taken out on the flange portion 204 formed on the upper part of the frame bodies 203 c and 203 d.
  Thereafter, the robot 1 switches the holding form of the cardboard 20 by the right hand 14 from a state in which the cardboard 20 is held by the holding unit 147 to a state in which the cardboard 20 is sucked by the suction unit 146.
  Then, the robot 1 is folded by driving the right arm unit 12 and the left arm unit 13 with the suction unit 146 of the right hand 14 and the suction unit 158 of the left hand 15 sucking both surfaces of the cardboard 20. The corrugated cardboard 20 in a state of being rolled is developed three-dimensionally.
  This will be specifically described below. First, as shown in FIG. 6A, in the robot 1, after temporarily placing the cardboard 20 taken out from the cardboard supply base 2 on the flange portion 204, the upper surface of the cardboard 20 is placed on the left hand so that the temporarily placed cardboard 20 does not fall. It is pressed by 15 suction portions 158.
  At this time, as shown in FIG. 7A, for example, the sandwiching portion 147 of the right hand 14 sandwiches the end portion of the side surface portion 21b deviating from the center line CL as the holding point P1. Further, for example, the left hand 15 similarly presses the holding point P2 of the side surface portion 21a deviating from the center line CL with the suction portion 158.
  That is, the right hand 14 and the left hand 15 hold the cardboard 20 at positions that are diagonally opposite each other across the center line CL. Thereby, since the deflection and deformation | transformation by the dead weight etc. of the cardboard 20 can be suppressed, it can contribute to the assembly of the high quality cardboard 20. That is, a high quality packing operation can be performed.
  Subsequently, as shown in FIG. 6B, in the robot 1, the right arm unit 12 releases the clamping unit 147 from the cardboard 20 and sucks the lower surface of the cardboard 20 using the suction unit 146 of the right hand 14 (in the drawing). (See arrow 601). In the robot 1, the left arm unit 13 sucks the upper surface of the cardboard 20 with the suction unit 158 of the left hand 15.
  Here, the robot 1 uses the suction portions 146 and 158 to suck the side surfaces facing each other in the three-dimensionally deployed state among the side surfaces 21a to 21d of the folded cardboard 20. Thereby, compared with the case where the adjacent side surfaces (for example, the side surface portion 21a and the side surface portion 21b) among the side surface portions 21a to 21d of the cardboard 20 are sucked using the suction portions 146 and 158, the operation is simple. The cardboard 20 can be developed.
  At this time, as shown in FIG. 7B, for example, the suction portion 158 of the left hand 15 sucks the holding point P2 of the side surface portion 21a deviated from the center line CL. Further, for example, the suction portion 146 of the right hand 14 similarly sucks the holding point P3 of the side surface portion 21d that deviates from the center line CL.
  That is, as in the case of FIG. 7A, the right hand 14 and the left hand 15 adsorb the cardboard 20 at positions diagonally opposite to each other across the center line CL, so that the cardboard 20 is not bent or deformed by its own weight or the like. Can be suppressed. Therefore, it can contribute to the assembly of the high quality cardboard 20. That is, a high quality packing operation can be performed.
  Further, as described above, in the packaging device 100 according to the embodiment, the flange portion 204 formed on the frames 203c and 203d of the cardboard supply base 2 is used as a temporary storage place for the cardboard 20 taken out from the cardboard supply base 2. It was decided. Therefore, space saving of the packing apparatus 100 can be achieved.
  Further, the left arm portion 13 presses the upper surface of the cardboard 20 placed on the flange portion 204 downward by the suction portion 158 provided in the left hand 15.
  Accordingly, since the corrugated board 20 is held by the flange portion 204 and the left hand 15, the corrugated board 20 can be reliably prevented from dropping even if the size of the flange portion 204 is not the same as that of the corrugated board 20. . Moreover, since the flange part 204 can be formed small, it can contribute to the space-saving of the packing apparatus 100. FIG.
  In the packaging device 100, a flange portion similar to the corrugated cardboard 20 may be formed on the frames 203c and 203d. By doing so, it is not necessary to hold the upper surface of the cardboard 20 with the left arm portion 13.
  Subsequently, the robot 1 folds the cardboard in a folded state by driving either or both of the right arm portion 12 and the left arm portion 13 with the suction portions 146 and 158 sucking both surfaces of the cardboard 20. 20 is developed three-dimensionally.
  For example, as shown in FIG. 8A, the robot 1 first drives the left arm portion 13 to move the cardboard 20 so that the shape of the cardboard 20 when viewed from the Y-axis direction in the figure becomes a substantially parallelogram. It occurs three-dimensionally (see arrow 801 in the figure).
  Subsequently, as shown in FIG. 8B, the robot 1 rotates the cardboard 20 by, for example, 90 degrees by driving the right arm portion 12 and the left arm portion 13 (see an arrow 802 in the figure).
  Thereby, as shown in FIG. 8C, the longitudinal direction of the corrugated cardboard 20 can be along the XY plane (that is, the horizontal direction). The robot 1 further expands the cardboard 20 in a three-dimensional manner until the shape of the cardboard 20 when viewed from the Y-axis direction in the drawing is substantially rectangular by further driving the right arm portion 12 and the left arm portion 13. (See arrow 803 in the figure).
  In other words, as shown in FIG. 8B, by adding an operation for causing the longitudinal direction of the corrugated cardboard 20 to follow the horizontal direction, even if the corrugated cardboard 20 is large, the corrugated cardboard 20 can be easily developed in three dimensions. It becomes.
  In addition, the size of the cardboard 20 can be met without increasing the size of the packaging device 100. That is, space saving of the packing apparatus 100 can be achieved.
  Thus, the packaging device 100 according to the embodiment performs the operation of developing the cardboard 20 in a three-dimensional manner using the right arm portion 12 and the left arm portion 13.
  Then, as shown in FIG. 8D, the robot 1 drives the right arm unit 12 and the left arm unit 13 with the adsorbing units 146 and 158 adsorbing both surfaces of the cardboard 20, so that the opening of the cardboard 20 is vertical. The cardboard 20 is rotated along the direction (see the arrow 804 in the figure).
  Then, the robot 1 moves the cardboard 20 to the assembly work table 3 using the right arm unit 12 and the left arm unit 13. The robot 1 may start the operation of moving the cardboard 20 to the assembly work table 3 after the operation of deploying the cardboard 20 is completed, or the operation of expanding the cardboard 20 and the operation of the cardboard 20 to the assembly work table. The operation of moving to 3 may be performed in parallel.
[7. Cardboard assembly operation]
Next, the assembly operation of the cardboard 20 performed on the assembly work table 3 will be described. In the assembly work table 3, as an assembly operation, an operation of fixing the cardboard 20 using the fixing device 30, an operation of bending the inner flap 22 and the outer flap 23 on the bottom surface side of the cardboard 20, and an adhesive tape between the tips of the outer flaps 23. Are joined to form the bottom surface of the cardboard 20.
  First, the operation | movement which fixes the corrugated cardboard 20 using the fixing device 30 is demonstrated using FIG. 9A-FIG. 9C. 9A to 9C are explanatory views (No. 1) to (No. 3) of an operation of fixing the cardboard 20 using the fixing device 30. FIG.
  As shown in FIG. 9A, the fixing device 30 includes a first support part 31, a second support part 32, a drive part 33, and a detection part 34.
  The first support portion 31 includes two adsorption portions 31a and 31b. The second support portion 32 is disposed so as to face the first support portion 31, and includes two adsorption portions 32 a and 32 b as with the first support portion 31. The adsorbing units 31a, 31b, 32a, and 32b adsorb an object using a suction force generated by a suction device such as a vacuum pump.
  The drive part 33 is provided between the 1st support part 31 and the 2nd support part 32, for example. The drive unit 33 moves the shaft 33a along the extending direction of the shaft 33a using a drive device such as a motor. The distal end portion of the shaft 33 a is connected to the second support portion 32. Therefore, the second support part 32 moves toward the first support part 31 by the drive part 33 driving the shaft 33 a.
  The detection unit 34 is a proximity sensor that detects an object using light, ultrasonic waves, or the like, for example. When the cardboard 20 is detected by the detection unit 34, the fixing device 30 drives the drive unit 33 to move the second support unit 32 toward the first support unit 31.
  Then, as shown in FIG. 9A, the robot 1 positions the three-dimensionally deployed cardboard 20 in the space between the first support part 31 and the second support part 32 of the fixing device 30. At this time, the robot 1 corrugated cardboard so that the side part 21 (side parts 21b and 21c shown in FIGS. 7A and 7B) provided with the outer flap 23 faces the first support part 31 and the second support part 32. 20 is positioned.
  Subsequently, as shown in FIG. 9B, the robot 1 moves the cardboard 20 to a position where the side surface portion 21 of the cardboard 20 comes into contact with the suction portions 31 a and 31 b of the first support portion 31.
  When the side surface portion 21 of the cardboard 20 comes into contact with the suction portions 31 a and 31 b of the first support portion 31, the detection unit 34 detects the cardboard 20. When the detection unit 34 detects the cardboard 20, the drive unit 33 moves the second support unit 32 toward the first support unit 31.
  And the fixing device 30 adsorb | sucks the side part 21 of the cardboard 20 using the adsorption | suction part 31a, 31b, 32a, and 32b, after moving the 2nd support part 32. FIG. As a result, as shown in FIG. 9C, the cardboard 20 is fixed by the fixing device 30.
  Here, as shown in FIG. 9C, the corrugated cardboard 20 is fixed in a state where the side portion 21 of the corrugated cardboard 20 provided with the outer flap 23 is slightly bent inward by the pressing force received from the second support portion 32. 30 is fixed.
  By the way, the cardboard 20 moved to the assembly work table 3 is placed on the outer flap 23 (and the inner side) on the bottom surface side due to the installation layout of the packing device 100 and the direction in which the cardboard 20 is placed on the cardboard supply table 2. It is also conceivable that the flap 22) faces downward.
  In this case, when forming the bottom surface of the cardboard 20, the robot 1 rotates the cardboard 20 so that the bottom surface is directed upward, and the fixing device 30 is used to re-fix the cardboard 20. Such an operation will be described with reference to FIGS. 10A to 10E.
  10A to 10E are explanatory views (No. 1) to (No. 5) of the operation of rotating the cardboard 20.
  As shown in FIG. 10A, it is assumed that the corrugated cardboard 20 is fixed to the fixing device 30 with the outer flap 23 on the bottom side facing downward. In this case, the robot 1 sucks the side portions 21 a and 21 d of the cardboard 20 using the suction portion 145 of the right hand 14 and the suction portion 158 of the left hand 15 in order to rotate the cardboard 20 to change the direction.
  At this time, as shown in FIG. 10B, the suction portion 145 of the right hand 14 and the suction portion 158 of the left hand 15 suck the center points C1 of the side portions 21a and 21d of the cardboard 20.
  Then, as shown in FIG. 10C, the packaging device 100 once unfixes the corrugated cardboard 20 by the fixing device 30 in a state where the center point C1 is adsorbed by the adsorbing unit 145 and the adsorbing unit 158, respectively.
  In this state, the robot 1 rotates the right hand 14 and the left hand 15 about the axis T, respectively, and faces the outer flap 23 on the bottom side of the cardboard 20 upward (see arrow 1001 in the figure). Thereby, the direction of the corrugated cardboard 20 can be changed while accurately rotating around the central axis passing through the center point C1 of the side surface portions 21a and 21d.
  However, at this time, the corrugated cardboard 20 rotates in a state where the inner flap 22 and the outer flap 23 are not bent, that is, in a state where the opening is not supported, so that the shape of the opening is substantially rectangular to approximately rhombus. There is a risk of deformation into a shape.
  Therefore, as shown in FIGS. 10D and 10E, the robot 1 moves the suction portion 145 of the right hand 14 and the suction portion 158 of the left hand 15 to positions (holding) that are diagonally opposite to the side portions 21a and 21d of the cardboard 20. Press against each of the points P4 and P5) (see arrow 1002 in the figure).
  Thereby, even if it is a case where the corrugated cardboard 20 is rotated in the state which has no support in an opening part, the packing apparatus 100 can arrange the shape of an opening part in a substantially rectangular shape again. Therefore, it can contribute to the assembly of the high quality cardboard 20. That is, a high quality packing operation can be performed.
  In this way, the cardboard 20 whose direction is changed so that the bottom surface side is upward and the shape of the opening is adjusted to a substantially rectangular shape is renewed in the same procedure as shown in FIGS. 9A to 9C. It is fixed to the assembly work table 3 using the fixing device 30.
  Next, the operation | movement which bends the inner flap 22 is demonstrated using FIG. 11A-FIG. 11C. 11A to 11C are explanatory views (No. 1) to (No. 3) of the operation of bending the inner flap 22. Here, an operation of bending the inner flaps 22b and 22d among the inner flaps 22a to 22d shown in FIGS. 7A and 7B will be described.
  First, prior to bending the inner flaps 22b and 22d, the robot 1 drives the right arm portion 12 and the left arm portion 13 to contact the right hand 14 and the left hand 15 as shown in FIG. The flaps 23b and 23d are opened outward (see arrow 1101 in the figure).
  Thereby, when the inner flaps 22b and 22d are bent, the inner flaps 22b and 22d can be prevented from colliding with the side end portions of the outer flaps 23b and 23d. Therefore, it can contribute to the assembly of the high quality cardboard 20. That is, a high quality packing operation can be performed.
  11B, the robot 1 bends the inner flaps 22b and 22d toward the inside of the cardboard 20 using the right arm portion 12 and the left arm portion 13 (see arrow 1102 in the drawing).
  For example, the robot 1 bends the inner flap 22d toward the inside of the cardboard 20 by driving the right arm portion 12 with the right hand 14 in contact with the inner flap 22d. Further, the robot 1 bends the inner flap 22b toward the inside of the cardboard 20 by driving the left arm portion 13 with the left hand 15 in contact with the inner flap 22b.
  Here, as already described with reference to FIG. 9C, the corrugated cardboard 20 is fixed to the fixing device 30 with the side surface portion 21 of the corrugated cardboard 20 provided with the outer flap 23 being bent inward. Accordingly, since the inner flaps 22b and 22d bent to the inside of the cardboard 20 are caught by the side surface portion 21 of the cardboard 20, it is possible to easily suppress the inner flaps 22b and 22d from bouncing outside the cardboard 20. it can.
  In order to prevent the inner flaps 22b and 22d from rebounding more reliably, the robot 1 uses the left arm portion 13 and the left hand 15 to hold the inner flaps 22b and 22d from above as shown in FIG. 11C. Perform the operation.
  Next, the operation | movement which bends the outer flap 23 is demonstrated using FIG. 12A-FIG. 12C. 12A to 12C are explanatory views (No. 1) to (No. 3) of the operation of bending the outer flap 23. FIG. Here, the operation | movement which bend | folds the outer flaps 23b and 23d among the outer flaps 23a-23d shown to FIG. 7A and FIG. 7B is demonstrated.
  As shown in FIG. 12A, the robot 1 first uses the right arm portion 12 to bring the right hand 14 into contact with the outer flap 23b and bends the outer flap 23b halfway (see an arrow 1201 in the figure).
  Subsequently, as shown in FIG. 12B, the robot 1 moves the left arm portion 13 and the left hand 15 that have pressed the inner flaps 22b and 22d from above to bring the left hand 15 into contact with the outer flap 23d. The operation is performed (see arrow 1202 in the figure). At this time, since the outer flap 23b has already been bent halfway by the right hand 14, the inner flaps 22b and 22d can be prevented from bouncing back.
  Then, as shown in FIG. 12B, the robot 1 bends the outer flap 23b, which has been bent halfway, to the end using the right arm portion 12 (see arrow 1203 in the figure).
  Then, as shown in FIG. 12C, the robot 1 bends the outer flap 23d to the end using the left arm portion 13 (see an arrow 1204 in the figure). Thereby, as shown to FIG. 12C, the outer flaps 23b and 23d will be in the state which the front-end | tip part contact | connected mutually.
  Subsequently, the robot 1 proceeds to an operation of joining the joints of the outer flaps 23b and 23d with the adhesive tape TP while holding the left hand 15 placed at the position shown in FIG. 12C as it is.
  Next, the operation of joining the joints of the outer flaps 23a and 23c with the adhesive tape TP will be described with reference to FIGS. 13A to 13F. 13A to 13F are explanatory views (No. 1) to (No. 6) of the operation of attaching the adhesive tape TP.
  As shown in FIG. 13A, the corrugated cardboard 20 is in a state where the outer flaps 23b and 23d are bent. The robot 1 presses the outer flaps 23b and 23d with the first claw portion 157a provided in the holding portion 157 of the left hand 15 in order to prevent the outer flaps 23b and 23d in the bent state from rebounding.
  The pressing position is the position where the left hand 15 is finally placed in FIG. 12C. Thereby, the robot 1 can be efficiently transferred to the next operation without driving the left arm portion 13 unnecessarily. In addition, the first claw portion 157a is formed in a curved shape at a portion that comes into contact with the outer flaps 23b and 23d so as not to damage the outer flaps 23b and 23d.
  Then, as shown in FIG. 13A, the robot 1 holds the adhesive tape TP of the tape cartridge 156 provided in the left hand 15 while holding the outer flaps 23b and 23d with the first claw 157a. The operation of pulling out while applying the tension by holding at 147 is performed.
  Subsequently, as shown in FIG. 13B, the robot 1 uses the left hand 15 to the cardboard 20 with the first claw portion 157 a as a fulcrum while using the tension associated with the pull-out of the adhesive tape TP by the holding portion 147 of the right hand 14. Tilt toward.
  Then, the robot 1 sticks the adhesive tape TP to the joint between the outer flaps 23b and 23d, and sticks the adhesive tape TP sandwiched by the sandwiching portion 147 to the side surface portion 21d of the cardboard 20.
  As described above, in the packaging device 100 according to the embodiment, the right arm portion 12 of the robot 1 holds the adhesive tape TP with the holding portion 147 and pulls it out while applying tension, and pulls the drawn adhesive tape TP with respect to the cardboard 20. And stick.
  Thereby, the robot 1 can adhere the adhesive tape TP to the cardboard 20 more neatly. That is, the robot 1 can stick the adhesive tape TP from the side surface portion 21d of the cardboard 20 with difficulty in turning.
  Then, as shown in FIG. 13C, the robot 1 drives the right arm portion 12 to position the tip end portion of the clamping portion 147 of the right hand 14 at a position spaced apart from the left hand 15 by a predetermined distance i. . At this time, the front end portion of the holding portion 147 is placed in contact with the adhesive tape TP attached to the joint of the outer flaps 23b and 23d.
  Then, as shown in FIG. 13D, the robot 1 drives the right arm unit 12 and the left arm unit 13 to move the right hand 14 and the left hand 15 with the arrow 1301 in the figure while maintaining a predetermined interval i. The adhesive tape TP is adhered to the joint between the outer flaps 23b and 23d.
  Specifically, the robot 1 presses the adhesive tape TP pulled out from the left hand 15 as the left hand 15 moves by the front end portion of the sandwiching portion 147 of the right hand 14, while pressing the right hand 14 and the left hand 15. The hand 15 is moved.
  Then, as shown in FIG. 13E, the robot 1 moves the left hand 15 to the middle of the side surface portion 21a of the cardboard 20 and attaches the adhesive tape TP to the middle of the side surface portion 21a ( (See arrow 1302 in the figure).
  At this time, as shown in FIG. 13E, the robot 1 keeps pressing the end portions of the outer flaps 23 b and 23 d with the tip portion of the clamping portion 147 for the right hand 14.
  Accordingly, when the left hand 15 attaches the adhesive tape TP to the side surface portion 21 a of the cardboard 20, tension can be applied to the adhesive tape TP, so that the adhesive tape TP is applied to the side surface portion 21 a of the cardboard 20. Can be attached securely and neatly.
  Then, as shown in FIG. 13F, the robot 1 drives the left arm portion 13 to use the first claw portion 157 a of the left hand 15 while using the adhesive tape TP attached to the side surface portion 21 a of the cardboard 20. Is pressed (see arrow 1303 in the figure). Thereby, the edge part of the adhesive tape TP stuck on this side part 21a can be finished hard to turn.
  Further, the robot 1 drives the right arm 12 after the end of the adhesive tape TP is hard to be turned over by the left hand 15, and moves the front end of the holding part 147 of the right hand 14 to the outer flaps 23 b and 23 d. (See arrow 1304 in the figure).
  Thus, the adhesive tape TP can be reliably adhered to the cardboard 20 by pressing the adhesive tape TP adhered to the cardboard 20 using the right hand 14 and the left hand 15.
  Subsequently, before the robot 1 moves to the storing operation, the corrugated cardboard 20 on which the adhesive tape TP is adhered and the bottom surface is formed is arranged so that the bottom surface faces downward and the opening on the upper surface side faces upward. Performs rotation. That is, here, the same rotating operation of the cardboard 20 as described with reference to FIGS. 10A to 10D is performed.
  Such a case will be described with reference to FIGS. 14A and 14B. 14A and 14B are explanatory diagrams (part 1) and (part 2) of the operation of rotating the cardboard 20 before the storing operation. Note that FIGS. 14A and 14B correspond to FIGS. 10A and 10C, respectively, which have already been described, and thus the description will be simplified.
  That is, as shown in FIG. 14A, the robot 1 uses the suction part 145 of the right hand 14 and the suction part 158 of the left hand 15 prior to the storing operation to use the center points C1 ( (See FIG. 10B).
  Then, the packaging device 100 releases the fixing of the cardboard 20 by the fixing device 30, and the robot 1 rotates the right hand 14 and the left hand 15 around the axis T as shown in FIG. The outer flap 23 on the upper surface side is directed upward (see arrow 1401 in the figure).
  Then, as shown in FIG. 14B, the robot 1 drives the right arm unit 12 and the left arm unit 13 to move the cardboard 20 to the storage work table 4.
[9. Packing operation of packing items]
Next, the storing operation of the cosmetic box BX as a package will be described. First, a preparation operation performed on the storage work table 4 before actually storing the cosmetic box BX will be described. 15A to 15C are explanatory views (No. 1) to (No. 3) of the preparatory operation for the storing operation.
  As shown in FIG. 15A, the storage work table 4 includes a fixing device 40. Note that the basic configuration of the fixing device 40 is substantially the same as that of the above-described fixing device 30, and therefore, common components are omitted from the reference numerals.
  That is, as shown in FIG. 15A, the fixing device 40 performs substantially the same operation as the fixing device 30 to position the cardboard 20 moved from the assembly work table 3 along the Y-axis direction in the drawing. , Fix.
  Here, in the X-axis direction in the drawing, the robot 1 is positioned by performing the same operation as shown in FIGS. 10D and 10E. That is, in a state where the fixing by the fixing device 40 is once released, the robot 1 moves to the position where the side portions 21a and 21d of the cardboard 20 are diagonally opposite to each other as shown in FIG. Each suction part 158 of the left hand 15 is pressed (see an arrow 1501 in the figure).
  Thereby, the corrugated cardboard 20 is positioned in the X-axis direction in the figure, and the shape of the opening is adjusted to a substantially rectangular shape before the storing operation. Therefore, it is possible to contribute to guaranteeing the quality of the storage operation. That is, a high quality packing operation can be performed.
  Then, when the positioning in the X-axis direction is performed by the robot 1, the fixing device 40 presses and fixes the cardboard 20 from the Y-axis direction again.
  As shown in FIG. 15A, the storage work table 4 further includes four suction portions 4b and one injection portion 4c. The suction unit 4b sucks an object using a suction force generated by a suction device such as a vacuum pump. The injection unit 4c injects air with an injection device such as a vacuum pump.
  Here, the suction portion 4b is provided in association with the outer flaps 23a and 23c and the inner flaps 22a and 22c of the cardboard 20, and each of the associated flaps is stored while the robot 1 performs the storing operation. Adsorb and hold. That is, the suction part 4b is an example of a flap holding mechanism.
  That is, as shown in FIG. 15C, the robot 1 drives the right arm portion 12 and the left arm portion 13 prior to performing the storing operation, and the flaps 23 a, 23 c, 22 a with the right hand 14 and the left hand 15. And 22c are opened outward (see arrow 1502 in the figure).
  At this time, the suction portion 4b sucks and holds the flaps 23a, 23c, 22a and 22c opened to the outside.
  Accordingly, it is possible to prevent the flaps 23a, 23c, 22a and 22c from being closed and preventing the storing operation while the robot 1 performs the storing operation. Therefore, a high quality storage operation can be ensured. That is, a high quality packing operation can be performed. The operation of the ejection unit 4c will be described later in the description of the paper storing operation.
  Next, a method for holding the cosmetic box BX in the storing operation of the decorative box BX will be described with reference to FIGS. 16A to 16C. FIG. 16A is a schematic perspective view illustrating the configuration of the L-shaped tools T1 and T2. FIG. 16B is a schematic diagram illustrating a state in which the robot 1 holds the cosmetic box BX. FIG. 16C is a schematic plan view schematically showing the held cosmetic box BX.
  As shown in FIG. 16A, the L-shaped tools T1 and T2 include a grip part GP and a holding part LS. The grip part GP is a member that is clamped by the clamping part 147 of the right hand 14 or the clamping part 157 of the left hand 15. In addition, the arrow in a figure has shown the clamping direction.
  As shown in FIG. 16A, the holding portion LS is formed to have a substantially right-angled L shape that fits into a corner portion of the cosmetic box BX, and is attached to the grip portion GP. Then, the robot 1 takes out the L-shaped tools T1 and T2 from the tool holders 8 and 9 (see FIG. 1) and uses them in the storing operation.
  Specifically, as shown in FIG. 16B, in the robot 1, the left arm unit 13 uses the L-shaped tool T <b> 1 using the left hand 15. Further, the right arm unit 12 uses the L-shaped tool T <b> 2 using the right hand 14.
  In the robot 1, as shown in FIGS. 16B and 16C, the right arm portion 12 and the left arm portion 13 are fitted with the L-shaped tools T1 and T2 on the diagonal of the cosmetic box BX. By sandwiching from the corner direction, the cosmetic box BX is held.
  Thus, by holding the diagonal of the cosmetic box BX from the diagonal direction, it is possible to prevent the cosmetic box BX from being deformed or dropped during the storing operation. Therefore, it can contribute to the quality improvement of the storing operation. That is, a high quality packing operation can be performed.
  Next, a storage procedure in which the robot 1 actually stores the cosmetic box BX in the cardboard 20 while holding the diagonal of the decorative box BX in this way will be described with reference to FIGS. 17A to 19L. First, a storage procedure for storing 2 × 3 = 6 cosmetic boxes BX in the cardboard 20 will be described with reference to FIGS. 17A to 17H.
  17A to 17H are explanatory diagrams (No. 1) to (No. 8) of the 2 × 3 storage procedure. As already described, it is assumed here that 2 × 3 = 6 cosmetic boxes BX are stored in the cardboard 20 as shown in FIG. 17A.
  Further, in the following, the numbers indicated with () as in (1) to (6) indicate the storing order of the cosmetic box BX, and in terms of words, for example, “decorative box BX (1)” Shall be described.
  In the case of the 2 × 3 storage procedure, as shown in FIG. 17B, first, in the “first hand”, the right arm portion 12 and the left arm portion 13 use the L-shaped tools T1 and T2 to use the cosmetic box BX ( 1) is temporarily placed in the middle of the cardboard 20.
  Subsequently, the right arm portion 12 presses the cosmetic box BX (1) against the inner wall of the side surface portion 21a of the cardboard 20 using the L-shaped tool T2 (see an arrow 1701 in the drawing). Further, the right arm portion 12 moves the cosmetic box BX (1) along the inner wall and presses the corner portion formed by the adjacent side surface portions 21a and 21b (see an arrow 1702 in the drawing).
  Subsequently, as shown in FIG. 17C, in the “second hand”, the right arm portion 12 and the left arm portion 13 use the L-shaped tools T1 and T2 to place the cosmetic box BX (2) in the cardboard 20 Place it diagonally once. Then, the side wall of the cosmetic box BX (2) is brought into contact with the corner P6 of the cosmetic box BX (1), and the cosmetic box BX (2) is rotated using the corner P6 as a fulcrum (see an arrow 1703 in the figure). .
  Further, the right arm portion 12 moves the cosmetic box BX (2) along the inner wall of the side surface portion 21c of the cardboard 20 and the side wall of the cosmetic box BX (1) using the L-shaped tool T2. Press against the inner wall of the side portion 21a (see arrow 1704 in the figure).
  Subsequently, as shown in FIG. 17D, in the “third hand”, the right arm portion 12 and the left arm portion 13 use the L-shaped tools T1 and T2 to place the cosmetic box BX (3) in the cardboard 20 Mount once. Then, the side wall of the cosmetic box BX (3) is pressed against the inner wall of the side surface portion 21d of the cardboard 20 (see arrow 1705 in the figure).
  Further, the right arm portion 12 moves the cosmetic box BX (3) along the inner wall and presses the corner portion formed by the adjacent side surface portions 21b and 21d (see an arrow 1706 in the drawing).
  Subsequently, as shown in FIG. 17E, in the “fourth hand”, the right arm portion 12 and the left arm portion 13 use the L-shaped tools T1 and T2 to place the cosmetic box BX (4) in the vertical direction. Tilt it diagonally and let it invade.
  Then, the side wall portion 21c of the cardboard 20 is rotated while the side wall of the cosmetic box BX (4) is brought into contact with the corner P7 of the cosmetic box BX (3) and the cosmetic box BX (4) is rotated using the corner P7 as a fulcrum. The cosmetic box BX (4) is dropped down along the inner wall of the box and the side wall of the decorative box BX (3) (see arrow 1707 in the figure).
  Further, the left arm portion 13 moves the cosmetic box BX (4) along the inner wall of the side surface portion 21c of the cardboard 20 and the side wall of the cosmetic box BX (3) using the L-shaped tool T1 ( (See arrow 1708 in the figure). However, here, the left arm 13 moves the decorative box BX (4) to a predetermined position P8 in the drawing.
  Next, as shown in FIG. 17F, in the “fifth hand”, the right arm unit 12 and the left arm unit 13 use the L-shaped tools T1 and T2 to move the cosmetic box BX (5) in the vertical direction. Tilt it diagonally and let it invade.
  Then, the side wall of the cosmetic box BX (5) is brought into contact with the corner portion P9 of the cosmetic box BX (4) that has been left moving halfway. Then, while rotating the cosmetic box BX (5) with the corner P9 as a fulcrum, the cosmetic box BX (5) is moved downward along the inner wall of the side surface portion 21b of the cardboard 20 and the side wall of the decorative box BX (4). Drop (see arrow 1709 in the figure).
  That is, in the robot 1, the side wall of the cosmetic box BX (4) that has stopped moving halfway and left the corners, the side walls of the cosmetic boxes BX (1) and (3) stored in advance, and the side surface of the cardboard 20 The storage position of the cosmetic box BX (5) is defined in advance by the inner wall of the part 21b, and the right arm unit 12 and the left arm unit 13 perform an operation of storing the cosmetic box BX (5) in the storage position.
  That is, since the four sides of the cosmetic box BX (5) are restricted at the storage position of the decorative box BX (5), the force applied by the right arm portion 12 and the left arm portion 13 will not be swung. Therefore, the cosmetic case BX (5) can be stored in the storage position easily and reliably. That is, it can contribute to the improvement of the quality of the storing operation, and the packing operation with high quality can be performed.
  Next, as shown in FIG. 17G, in the “sixth hand”, the left arm portion 13 uses the L-shaped tool T1 to remove the cosmetic box BX (4) that has been stopped halfway through the side surface of the cardboard 20 It moves along the inner wall of the part 21c and the side wall of the cosmetic box BX (3) and presses it against the inner wall of the side part 21d (see arrow 1710 in the figure).
  Then, as shown in FIG. 17H, in the “seventh hand”, the right arm unit 12 and the left arm unit 13 use the L-shaped tools T1 and T2 to convert the cosmetic box BX (6) into the cosmetic box BX (2 ) And (4) are made to enter obliquely with respect to the vertical direction.
  Then, the side wall of the cosmetic box BX (6) is brought into contact with the corner P10 of the cosmetic box BX (4), and the cosmetic box BX (2) is rotated while rotating the cosmetic box BX (6) with the corner P10 as a fulcrum. And the cosmetic box BX (6) is pushed in along the side wall of (4) (refer arrow 1711 in the figure).
  Further, the right arm portion 12 presses the decorative box BX (6) to the bottom surface of the cardboard 20 using the L-shaped tool T2 (see an arrow 1712 in the drawing). Thereby, the storing procedure in the case of 2 × 3 is completed.
  Next, a storage procedure for storing 2 × 4 = 8 decorative boxes BX in the cardboard 20a will be described with reference to FIGS. 18A to 18J. The basic storing operation in the robot 1 is the same as the 2 × 3 case described with reference to FIGS. 17A to 17H, so the description will be simplified here and the storing order of the cosmetic boxes BX will be mainly described. .
  18A to 18J are explanatory diagrams (No. 1) to (No. 10) of a 2 × 4 storage procedure. As described above, here, as shown in FIG. 18A, 2 × 4 = 8 cosmetic boxes BX are stored in the cardboard 20a.
  In the case of the 2 × 4 storage procedure, as shown in FIG. 18B, first, in the “first hand”, the cosmetic box BX (1) is moved to the corner formed by the adjacent side surface portion 21a and side surface portion 21b of the cardboard 20a. Pressed and stored.
  Next, as shown in FIG. 18C, in the “second hand”, the decorative box BX (2) is regulated by the inner wall of the side surface portion 21c of the cardboard 20a and the side wall of the decorative box BX (1). It is pressed against the inner wall of the side surface portion 21a and stored.
  Subsequently, as shown in FIG. 18D, in the “third hand”, the cosmetic box BX (3) is stored while being pressed against the corners formed by the adjacent side surface portion 21b and side surface portion 21d of the cardboard 20a.
  Next, as shown in FIG. 18E, in the “fourth hand”, the side box 21d is controlled while the cosmetic box BX (4) is regulated by the inner wall of the side box 21c of the cardboard 20a and the side wall of the box BX (3). It is pushed against the inner wall and stored.
  Subsequently, as shown in FIG. 18F, in the “fifth hand”, the cosmetic box BX (5) is pressed against the corner formed by the inner wall of the side surface portion 21b of the cardboard 20a and the side wall of the cosmetic box BX (3). Stored.
  As shown in FIG. 18G, in the “sixth hand”, the cosmetic box BX (6) is regulated by the inner wall of the side surface portion 21c of the cardboard 20a and the side wall of the cosmetic box BX (5), while the cosmetic box BX ( 4) Stored in close proximity. However, as shown in FIG. 18G, the cosmetic box BX (6) is not pressed against the side wall of the cosmetic box BX (4) and is temporarily stopped from moving while leaving the corners. This corresponds to the “fourth hand” in the case of 2 × 3 (see FIG. 17E).
  Then, as shown in FIG. 18H, in the “seventh hand”, the cosmetic box BX (7) was stored in advance with the side wall of the cosmetic box BX (6) that stopped moving halfway and left the corner. It is housed while being regulated in all directions by the side walls of the decorative boxes BX (1) and (5) and the inner wall of the side surface portion 21b of the cardboard 20a. This corresponds to the “fifth hand” in the case of 2 × 3 (see FIG. 17F).
  As shown in FIG. 18I, in the “eighth hand”, the decorative box BX (6) stopped halfway is used for the inner wall of the side surface portion 21c of the cardboard 20a, the decorative boxes BX (5) and (7). Along the side wall, it is pressed against the side wall of the cosmetic box BX (4) and stored (see arrow 1801 in the figure).
  Then, as shown in FIG. 18J, in the “9th hand”, the cosmetic box BX (8) has the side walls of the cosmetic boxes BX (2), (6) and (7) and the inner wall of the side surface portion 21c of the cardboard 20a. And the four sides are stored in the restricted storage position. Thereby, the storing procedure in the case of 2 × 4 is completed.
  Next, a storage procedure for storing 3 × 3 = 9 cosmetic boxes BX in the cardboard 20b will be described with reference to FIGS. 19A to 19M. As in the case of 2 × 4 described above, the storage order of the cosmetic box BX will be mainly described here.
  19A to 19M are explanatory views (No. 1) to (No. 13) of a 3 × 3 storage procedure. As already described, here, as shown in FIG. 19A, 3 × 3 = 9 cosmetic boxes BX are stored in the cardboard 20b.
  In the case of the 3 × 3 storing procedure, as shown in FIG. 19B, first, in the “first hand”, the cosmetic box BX (1) is moved to the corner portion formed by the adjacent side surface portion 21a and the side surface portion 21b of the cardboard 20b. Pressed and stored.
  Subsequently, as shown in FIG. 19C, in the “second hand”, the decorative box BX (2) is pressed against the corner formed by the inner wall of the side surface portion 21a of the cardboard 20b and the side wall of the decorative box BX (1). Stored.
  Subsequently, as shown in FIG. 19D, in the “third hand”, the decorative box BX (3) is regulated by the inner wall of the side surface portion 21c of the cardboard 20b and the side wall of the decorative box BX (2). It is pressed against the inner wall of the side surface portion 21a and stored.
  Subsequently, as shown in FIG. 19E, in the “fourth hand”, the cosmetic box BX (4) is stored while being pressed against the corner portions formed by the adjacent side surface portion 21b and side surface portion 21d of the cardboard 20b.
  Then, as shown in FIG. 19F, in the “fifth hand”, the cosmetic box BX (5) is accommodated along the side wall of the cosmetic box BX (4) and close to the inner wall of the side surface portion 21d of the cardboard 20b. However, as shown in FIG. 19F, the cosmetic box BX (5) is temporarily not moved against the inner wall of the side surface portion 21d, leaving the corner portions. In addition, it is preferable here that the force which pushes cosmetic box BX (5) is applied to the diagonal direction from the upper right corner of cosmetic box BX (5) in a figure to the lower left corner.
  Then, as shown in FIG. 19G, in the “sixth hand”, the cosmetic box BX (6) is regulated by the inner wall of the side surface portion 21c of the cardboard 20b and the side wall of the cosmetic box BX (5). 5) and accommodated in parallel. That is, it cannot be pressed against the inner wall of the side surface portion 21d of the cardboard 20b.
  Then, as shown in FIG. 19H, in the “seventh hand”, the cosmetic box BX (7) was stored in advance with the side wall of the cosmetic box BX (5) that once stopped moving and left the corner. It is housed while being regulated in all directions by the side walls of the cosmetic boxes BX (1) and (4) and the inner wall of the side surface portion 21b of the cardboard 20b.
  As shown in FIG. 19I, in the “eighth hand”, the vanity box BX (5) stopped halfway along the side walls of the vanity boxes BX (4), (6) and (7) The cardboard 20b is pressed against the inner wall of the side part 21d and stored (see arrow 1901 in the figure).
  Subsequently, as shown in FIG. 19J, in the “9th hand”, the cosmetic box BX (8) is stored in advance with the side wall of the corner of the cosmetic box BX (6) that has been temporarily stopped during the movement. The cosmetic box BX (2), (5) and (7) are housed while being regulated in all directions.
  Then, as shown in FIG. 19K, in the “tenth hand”, the decorative box BX (6) stopped halfway is used for the inner wall of the side surface portion 21c of the cardboard 20b, the decorative boxes BX (5) and (8). Along the side wall, the cardboard 20b is pressed against the inner wall of the side surface portion 21d and stored (see arrow 1902 in the figure).
  Then, as shown in FIG. 19L, in the “11th hand”, the cosmetic box BX (9) has the side walls of the cosmetic boxes BX (3), (6) and (8) and the inner wall of the side surface portion 21c of the cardboard 20b. And the four sides are stored in the restricted storage position. Thereby, the storing procedure in the case of 3 × 3 is completed.
  By the way, the 2 × 3, 2 × 4, and 3 × 3 storage procedures have been described in order up to this point, and in any case, the method shown in FIG. In FIG. 19M, the case of 3 × 3 is illustrated.
  As shown in FIG. 19M, the storage position of each cosmetic box BX is represented by rows and columns, and the rows are m and the columns are n. Therefore, as shown in FIG. 19M, m = 3 and n = 3 here.
  Then, both the row m and the column n are arranged in order of early storage order. It is assumed that the row m sequentially increases from one side surface to the opposite side surface of the cardboard 20, and the column n increases sequentially from the side closer to both ends of the cardboard 20b.
  Therefore, as shown in FIG. 19M, the rows in which the cosmetic boxes BX (1), (2), and (3) are stored in order are the first row, and the cosmetic boxes BX (4), (5), and (6) are in order. The row to be stored is the second row, and the row in which the cosmetic boxes BX (7), (8), and (9) are stored is the third row.
  Then, under such preconditions, a cosmetic box BX “moved once with the corners left” in the above description is assumed. That is, these are the decorative boxes BX (5) and (6) shown by hatching in FIG. 9M.
  When these storage boxes BX (5) and (6) are arranged in the storage order under the above-mentioned preconditions, as shown in FIG. 9M, “the second row to the second row of the (n−1) th column”. The m-th row (m ≧ 2, n ≧ 3) ”.
  That is, in the packing apparatus 100, the cosmetic box BX corresponding to the “second row to m-th row (m ≧ 2, n ≧ 3) of the (n−1) th column” under the above-described preconditions is The movement is temporarily stopped with the part left in the nth row, and the storage position of the cosmetic box BX stored in the nth row is defined using the side wall of the corner.
  As a result, even when the L-shaped tools T1 and T2 are blocked from entering the side wall of the stored cosmetic box BX in the final row n, the cosmetic box BX before storage is regulated at the specified storage position. Therefore, the force applied by the right arm portion 12 and the left arm portion 13 is not swung.
  Therefore, the cosmetic box BX can be easily and reliably stored in the predetermined storage position. That is, it can contribute to the improvement of the quality of the storing operation, and the packing operation with high quality can be performed. In the following description, the term “cardboard 20” includes, of course, the above-described cardboards 20a and 20b.
[10. Corrugated cardboard sealing operation]
Subsequently, in the packaging device 100, the robot 1 performs an operation of closing the lid on the upper surface side of the cardboard 20, that is, a sealing operation of the cardboard 20. The sealing operation of the cardboard 20 is the same as the operation of bending the inner flap 22 and the outer flap 23 and sticking the joint of the outer flap 23 with the adhesive tape TP described with reference to FIGS. 11A to 13F. The description here is omitted.
[11. Paper folding operation]
Next, a paper folding operation for folding the paper PP into a size that can be stored in a bag 24 (described later) will be described with reference to FIGS. 20A to 21H. First, the configuration of the folding tool T3, the positioning tool T4, and the paper folding work table 7 used for the paper folding operation will be described with reference to FIGS. 20A to 20C.
  20A is a schematic perspective view showing the configuration of the folding tool T3, and FIG. 20B is a schematic perspective view showing the configuration of the positioning tool T4. FIG. 20C is a schematic plan view showing the configuration of the paper folding work table 7.
  As shown in FIG. 20A, the folding tool T3 includes a grip part GP and a folding part T31. The grip portion GP is a member that is sandwiched by the sandwiching portion 157 of the left hand 15 in the same manner as the L-shaped tool T1 described above. The arrow in the figure indicates the clamping direction. The folding part T31 is a member formed to have an elongated, substantially prismatic shape, and is used for pressing the paper PP to make a crease.
  As shown in FIG. 20B, the positioning tool T4 includes a grip part GP and a positioning part T41. The grip portion GP is a member that is sandwiched by the sandwiching portion 147 of the right hand 14 as in the L-shaped tool T2 described above. The arrow in the figure indicates the clamping direction. The positioning portion T41 is a member formed to have a flat, substantially prismatic shape, and is used to hold down the paper PP when the folding portion T31 makes a crease.
  In the paper folding operation, the robot 1 takes out the folding tool T3 and the positioning tool T4 from the tool holders 8 and 9 (see FIG. 1) and uses them.
  As shown in FIG. 20C, the paper folding work table 7 includes a placement portion 71, a convex portion 72, a first suction portion 73a, and a second suction portion 73b. The placement unit 71 is a part on which the paper PP is placed. The convex portion 72 is provided with a height higher than that of the placement portion 71, and the end portion of the paper PP is positioned by the side wall thereof.
  The first adsorbing unit 73a and the second adsorbing unit 73b are adsorbing mechanisms having different systems, and two systems can be used simultaneously or depending on the size of the paper PP when the paper PP is folded. It is provided so that adsorption by only one system is possible.
  Next, a specific paper folding operation procedure in the paper folding work table 7 will be described with reference to FIGS. 21A to 21H. 21A to 21H are explanatory views (No. 1) to (No. 8) of the paper folding operation.
  Here, a case will be described as an example where the paper PP is folded in four so that a cross-fold is formed.
  First, as shown in FIG. 21A, one sheet of paper PP is taken out from the paper placing table 6 (see FIG. 1), conveyed, and placed on the placing unit 71 of the paper folding work table 7. And the 1st adsorption | suction part 73a and the 2nd adsorption | suction part 73b adsorb | suck paper PP simultaneously 2 systems.
  The transport of the paper PP from the paper placing table 6 to the paper folding work table 7 may be performed by an operator. For example, the robot 1 may use the suction unit 145 of the right hand 14 or the left hand 15. You may carry out using the adsorption | suction part 158 grade | etc.,.
  Subsequently, as shown in FIG. 21B, in the robot 1, the left arm portion 13 performs an operation of inserting the folding portion T31 of the folding tool T3 under the paper PP (see arrow 2101 in the drawing).
  Next, as shown in FIG. 21C, in the robot 1, the right arm unit 12 places the positioning unit T41 of the positioning tool T4 on the paper surface of the paper PP, and the side end of the positioning unit T41 is a crease position (see FIG. 21C). (See the arrow 2102 in the figure).
  Then, the left arm portion 13 performs an operation of lifting the paper PP from below at the folding portion T31 (see an arrow 2103 in the drawing).
  Next, as shown in FIG. 21D, in the robot 1, the left arm 13 reciprocates in the X-axis direction in the drawing while bringing the folding portion T <b> 31 into contact with the side end portion of the positioning portion T <b> 41. A crease operation is performed (see arrow 2104 in the figure).
  Subsequently, as shown in FIG. 21E, in the robot 1, the right arm portion 12 performs an operation of shifting the positioning portion T41 of the positioning tool T4 to the side (see an arrow 2105 in the drawing). Then, after that, the left arm portion 13 moves the folding portion T31 on the paper surface of the paper PP (see an arrow 2106 in the drawing) and performs an operation of bending the paper PP at the fold (see the arrow 2107 in the drawing).
  Subsequently, as shown in FIG. 21F, in the robot 1, the right arm unit 12 moves the positioning unit T41 of the positioning tool T4 sandwiched between the folded papers PP onto the paper surface of the paper PP, An operation of pressing the paper PP at the positioning portion T41 is performed (see arrow 2108 in the figure).
  After that, the left arm portion 13 reciprocates the folding portion T31 in the X-axis direction in the drawing along the folding line of the paper PP, and performs an operation of clearly folding the paper PP (arrow in the drawing). 2109). Up to this point, the folding of the paper PP is completed.
  Next, as shown in FIG. 21G, in the robot 1, after the right arm unit 12 sucks the paper PP using the suction unit 145 of the right hand 14 (see the arrow 2110 in the figure), the paper PP Is rotated 90 degrees clockwise in plan view (see arrow 2111 in the figure). And the 2nd adsorption | suction part 73b starts adsorption | suction of the paper PP of only 1 system.
  Then, in the robot 1, the right arm unit 12 and the left arm unit 13 perform an operation of folding the paper PP in four (steps) in the same manner as in FIGS. 21B to 21F described so far. Arrow 2112). As a result, the folding of the paper PP is completed.
  As described above, in the packaging apparatus 100, since the robot 1 performs the paper folding operation, it is not necessary to provide a dedicated device for paper folding that requires a complicated mechanism. Thereby, it is possible to contribute to cost reduction and space saving, and it is possible to perform the paper folding work of the paper PP accompanying the work of storing the package with high quality. That is, a high-quality packing operation can be performed at low cost and space saving.
[12. Paper storage operation]
Next, the paper storing operation will be described with reference to FIGS. 22A to 22J. 22A to 22J are explanatory views (No. 1) to (No. 10) of the paper storing operation.
  As shown in FIG. 22A, the paper storage operation stores the paper PP folded in the paper folding operation in a bag 24 provided on the side surface portion 21 of the cardboard 20.
  After the paper folding operation of the paper PP is completed, as shown in FIG. 22B, in the robot 1, the right arm unit 12 sucks the paper PP using the suction unit 145 of the right hand 14, and the left arm unit 13. The paper PP is moved toward the left hand 15 (see arrow 2201 in the figure).
  On the other hand, the left arm unit 13 performs an operation of directing the left hand 15 toward the right hand 14 (see an arrow 2202 in the figure).
  Subsequently, as shown in FIG. 22C, the left arm unit 13 performs an operation of sucking and receiving the paper PP from the suction unit 145 of the right hand 14 using the suction unit 158 of the left hand 15 (in the drawing). (See arrow 2202).
  Then, as shown in FIG. 22C, the right arm portion 12 delivers the paper PP to the left arm portion 13, and then performs an operation of positioning the holding portion 147 of the right hand 14 above the paper PP (in the drawing). (See arrow 2203).
  Then, as illustrated in FIG. 22D, the right arm unit 12 performs an operation of positioning the end of the paper PP between the sandwiching unit 147 of the right hand 14. At this time, as shown in FIG. 22D, it is conceivable that the entire shape of the paper PP, including its end, is distorted by the suction force of the suction portion 158 of the left hand 15.
  Therefore, in the robot 1, as shown in FIG. 22E, the right arm unit 12 performs an operation of turning the right hand 14 while tilting the wrapping unit 147 so as to wrap the end of the paper PP (arrow 2204 in the drawing). reference). As a result, even when the paper PP is distorted by the suction force of the suction part 158 of the left hand 15, the paper PP can be securely held by the holding part 147.
  As shown in FIG. 22F, in the robot 1, the right arm unit 12 performs an operation of holding the end of the paper PP with the holding unit 147 and receiving the paper PP from the suction unit 158 of the left hand 15. (See arrow 2205 in the figure). On the other hand, the left arm unit 13 performs a retreating operation after delivering the paper PP to the right arm unit 12 (see an arrow 2206 in the figure).
  Here, the end portion of the paper PP held by the holding portion 147 of the right hand 14 will be described in detail. As shown in FIG. 22G, in the above-described paper folding operation, the paper PP is first folded in half (see arrow 2207 in the figure), and finally folded in four so as to make a cross-shaped crease (see FIG. 22G). (See arrow 2208 in the figure).
  In this case, the portion shown as the end portion PP1 in the drawing is a portion having at least a crease portion and serving as a core with a certain strength. Therefore, in the robot 1, the right arm portion 12 causes the end portion PP <b> 1 to be sandwiched by the sandwiching portion 147. That is, since the paper PP can be made difficult to be distorted by the clamping of the clamping unit 147, the paper PP can be easily stored in the bag 24.
  Further, the portion shown as the end portion PP2 in FIG. 22G is a portion where the crease portion overlaps to serve as a core as in the end portion PP1, and does not flicker when closed in a bag shape. Therefore, the robot 1 performs an operation of inserting the paper PP into the bag 24 from the end PP2. That is, since the paper PP is stored in the bag 24 from the end PP2, which is the least deformable portion, the paper storing operation can be easily performed.
  Specifically, as shown in FIG. 22H, in the robot 1, the right arm portion 12 performs an operation of positioning the end portion PP <b> 2 above the opening portion of the bag 24 while bringing the end portion PP <b> 2 into contact with the side surface portion 21 of the cardboard 20. Do.
  And here, as shown to FIG. 22H, the injection part 4c of the storage work table 4 injects air toward the opening part of the bag 24 (refer arrow 2209 in a figure). Thereby, since the opening part of the bag 24 can be opened, paper PP can be made easy to accommodate.
  In other words, the injection unit 4c is an opening mechanism that injects air to open the opening of the bag 24, but is not limited to air as long as it can be opened by applying pressure. Moreover, it does not need to be pressure by injection.
  As shown in FIG. 22I, in the robot 1, the right arm unit 12 gradually lowers the right hand 14 while bringing the paper PP into contact with the side surface 21 of the cardboard 20, and gradually packs the paper PP. The operation of inserting into 24 is performed (see arrow 2210 in the figure).
  As shown in FIG. 22J, in the robot 1, the right arm unit 12 performs an operation of bringing the suction unit 145 of the right hand 14 into contact with the end of the paper PP and pushing the paper PP into the bag 24. (See arrow 2211 in the figure).
  As described above, in the packing apparatus 100, since the robot 1 performs the paper storing operation, it is not necessary to provide a dedicated device for storing paper that requires a complicated mechanism. Thereby, it is possible to contribute to cost reduction and space saving, and it is possible to perform the paper storage work of the paper PP accompanying the work of storing the package with high quality. That is, a high-quality packing operation can be performed at low cost and space saving.
  As described above, the packaging device according to the embodiment includes the first end effector (right hand) and the second end effector (left hand), the first arm portion (right arm portion), and the second arm. Part (left arm part). The first arm unit includes a first end effector. The second arm unit includes a second end effector. In addition, the first arm portion and the second arm portion are configured to store a package to be stored in the box assembled from the folded packing material using the first end effector and the second end effector. The operation of moving the package is performed while holding at least one of the diagonals of the package.
  Moreover, the packaging apparatus which concerns on embodiment has eliminated the exclusive apparatus for the various operations in a packaging operation as much as possible.
  Therefore, according to the packaging device according to the embodiment, a high-quality packaging operation can be performed with low cost and space saving.
  In the above-described embodiment, the case where the end effector holds various tools (for example, an L-shaped tool, a positioning tool, a folding tool, etc.) according to various operations in the packing operation has been described as an example. These various tools are included in the end effector when held by the end effector.
  Further, in the above-described embodiment, the case where the operation of storing the cosmetic box in the cardboard and the sealing work of the cardboard is described as an example in the storage work table, but the storage work and the sealing work are performed on the assembly work table. You may go. In such a case, the storage work table is not necessary.
  In the above-described embodiment, the case where the cosmetic box is held by sandwiching the diagonal of the cosmetic box with a pair of L-shaped tools has been described as an example. However, if the diagonal is held, For example, adsorption may be used.
  In the above-described embodiment, the case where the package is a decorative box having a substantially rectangular parallelepiped shape is taken as an example, but the present invention is not limited to this. That is, as long as it has a shape that can hold a diagonal using a hand or a tool, the type or shape is not questioned.
  In the above-described embodiment, the three storage patterns in the case of 2 × 3 = 6, 2 × 4 = 8, and 3 × 3 = 9 are illustrated, but of course, it is not limited to these three. .
  Moreover, although the case where the opening part of the bag which accommodates papers is opened by the injection of the air of an injection part was mentioned as an example in embodiment mentioned above, it is not restricted to this. For example, the robot may open the opening of the bag using a hand different from the one holding the paper without providing the ejecting unit.
  In the above-described embodiment, one dual-arm robot is provided with two arm units. However, the packing apparatus performs the above-described packing operation using two single-arm robots with one arm unit. It is good.
  In the above-described embodiment, a multi-axis robot having seven axes is illustrated, but the number of axes is not limited.
  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
DESCRIPTION OF SYMBOLS 1 Robot 2 Corrugated-cardboard supply stand 201 Support column 202 Base 203a Frame body 203c Frame body 204 Flange part 3 Assembly work table 4 Storage work table 4a Temporary placing table 4b Adsorption part 4c Injection part 5 Package supply table 6 Paper placing table 7 Paper folding work Base 71 Placement portion 72 Convex portion 73a First suction portion 73b Second suction portion 8 Tool holder 9 Tool holder 10 Base portion 11 Body portion 12 Right arm portion 121 Arm tip portion 13 Left arm portion 131 Arm tip portion 14 Right hand 145 Suction part 146 Suction part 147 Nipping part 147a First claw part 147b Second claw part 147c Drive part 147d Shaft 15 Left hand 156 Tape cartridge 156a Tape body part 156b Casing 156c Roller 156d Clamping part 156e Clamping part 156e 7 157a First claw portion 157 b Second claw portion 157c Drive portion 157d Shaft 158 Adsorption portion 160 Core portion 20, 20a, 20b Corrugated cardboard 21, 21a-21d Side surface portion 22, 22a-22d Inner flap 23, 23a-23d Outer flap 24 Bag 30 Fixing device 31 First DESCRIPTION OF SYMBOLS 1 Support part 31a Adsorption part 32 2nd support part 32a Adsorption part 33 Drive part 33a Shaft 34 Detection part 40 Fixing device 100 Packing apparatus B axis BX Cosmetic box C1 Center point CL Center line E axis GP Grip part L axis LS Holding part P1 ~ P5 Holding point P6, P7, P9, P10 Corner P8 Predetermined position PP Paper PP1 End PP2 End R Axis S Axis SW Axis T Axis T1, T2 L-shaped tool T3 Folding tool T31 Folding part T4 Positioning tool T41 Positioning part TP Adhesive tape U axis

Claims (15)

  1. A first end effector and a second end effector;
    A first arm portion comprising the first end effector and a second arm portion comprising the second end effector;
    The first arm portion and the second arm portion are:
    While holding the package to be stored in the box assembled from the folded packing material, holding at least one of the diagonals of the package using the first end effector and the second end effector An operation for moving the package is performed.
  2. Each of the first end effector and the second end effector is
    Formed with a shape that fits into the corner of the package,
    The first arm portion and the second arm portion are:
    The package is held by fitting the first end effector and the second end effector diagonally of the package and then sandwiching the package from the diagonal direction. The packaging device described in 1.
  3. The packaging device according to claim 2, wherein the shape fitted to the corner of the package is an L-shape.
  4. The first arm portion and the second arm portion are:
    Inside the box, the first end effector or the second end effector is fitted to the corner of the package, and the package is abutted against the inner wall of the box or the side wall of another package. The packing apparatus according to claim 3, wherein the packing is moved to a predetermined storage position by pressing while contacting.
  5. The storage position of the package inside the box is represented as a matrix with rows m and columns n, and the row m increases sequentially from one side to the opposite side of the box, In the case where the row n is alternately increased sequentially from the side closer to both ends of the box,
    The first arm portion and the second arm portion are:
    The movement is temporarily stopped while leaving the corners of the package stored in the second to m-th rows (m ≧ 2, n ≧ 3) of the (n−1) -th column close to the n-th column, The packing apparatus according to claim 4, wherein an operation of defining a storage position of the package stored in the n-th row is performed using a side wall of the corner.
  6. The first arm portion and the second arm portion are:
    When the two opposite side surfaces of the package store the package to a storage position regulated by the side wall of the stored package or the inner wall of the side surface of the box, the package is placed in the vertical direction. The packing apparatus according to claim 5, wherein the inserting operation is performed while tilting.
  7. A paper folding work table that is a place where paper is placed one by one;
    The first end effector is
    A positioning tool formed having a flat, substantially prismatic shape,
    The second end effector is
    Including a folding tool formed with a substantially prismatic shape,
    The first arm portion and the second arm portion are:
    When the papers are placed on the paper folding workbench, the positioning tool is placed on the papers so as to be aligned with the expected folding position of the papers, and the folding tool is moved to the side edge of the positioning tool. The packaging apparatus according to claim 1, wherein a folding operation is performed by bringing the sheet into contact with a portion and reciprocating in the extending direction of the positioning tool to fold the paper.
  8. The first end effector is
    With a clamping part,
    The first arm portion and the second arm portion are:
    The end of the paper that is folded and folded is overlapped with the holding portion, and the end of the paper is closed in a substantially bag shape. The packaging apparatus according to claim 7, wherein an operation of storing in a bag provided on a surface of the box is performed first.
  9. The packaging apparatus according to claim 8, further comprising an opening mechanism that opens the opening by applying pressure to the opening of the bag when the paper is stored in the bag.
  10. Each of the first end effector and the second end effector has a suction part for sucking an object,
    The first arm portion and the second arm portion are:
    The packaging device according to claim 1, wherein the packaging material is expanded in a three-dimensional manner while holding the opposing side surface portions of the packaging material at positions that are diagonally opposed to each other by the suction portion.
  11. The first arm portion and the second arm portion are:
    The packaging device according to claim 10, wherein the packaging material is three-dimensionally developed while adding an operation of causing the longitudinal direction of the packaging material to follow a horizontal direction.
  12. The first arm portion and the second arm portion are:
    When the packing material is three-dimensionally expanded, the suction portion holds the center point of the opposite side surface portion of the packing material, and the packing material is rotated around the center point. The packing apparatus according to claim 10, wherein the packing device is pressed while being held at positions obliquely opposite each other by the suction portion, and performs an operation of shaping the opening of the packing material so as to have a substantially rectangular shape.
  13. The packaging apparatus according to claim 1, further comprising: a holding mechanism that holds a flap of the box in an open state before the package is stored in the box. .
  14.   The packaging device according to any one of claims 1 to 13, wherein the first arm portion and the second arm portion are arm portions included in one double-arm robot.
  15. In storing the package in a box, the storage position of the package in the box is represented as a matrix with m as rows and n as rows, From the second row of the (n-1) th column, when the column n sequentially increases from the side closer to both ends of the box, the column n increases sequentially from one side to the opposite side. The package stored in the n-th column using the side wall of the corner, leaving the corner of the package stored in the m-th row (m ≧ 2, n ≧ 3) close to the n-th column A packaging method comprising a regulation step for regulating a storage position of an object.
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