KR102623803B1 - Apparatus for supplying containers - Google Patents

Abstract

The present invention relates to a container feeding device.
According to one embodiment of the present invention, the packaging box sealed with tape can be automatically cut, the cover of the packaging box is automatically opened, and the container storage body packed in the packaging box can be automatically removed, thereby enabling the work process. It has the effect of achieving automation.
In addition, the container holding body within the packaging box is pulled out by the collaborative robot module, and the containers stored in the pulled out container holding body are automatically pulled out by the collaborative robot module, which has the effect of achieving automation of the work process.

Description

{APPARATUS FOR SUPPLYING CONTAINERS}

The present invention relates to a container supply device, and more specifically, the taped and sealed cover of the packaging box is cut and opened by the collaborative robot module, the container storage body in the packaging box is pulled out by the collaborative robot module, and the drawn container storage is carried out. It relates to a container supply device in which containers stored in the body are automatically retrieved by a collaborative robot module.

Generally, packaging boxes are made of corrugated cardboard in the form of a square box.

These packaging boxes are generally transported by placing items such as containers and products inside them and then taping them, or by tying a band to the outside of the packaging box. Afterwards, when taking out the items inside the packaging box, a person must cut the taped part. Alternatively, after cutting the band, the packaging box is opened to take out the items stored inside.

Meanwhile, Korean Registered Utility Model No. 20-0392266 discloses an automatic band cutting and removal device that automatically cuts and removes the bundle band wound in one direction on the outside when dismantling a packaging box with a large weight or volume.

However, despite such automatic band cutting and removal devices, in most cases to date, a lot of manpower has to be invested in the process of removing the items inside the packaging box, so packaging boxes sealed with tape, etc. are automatically cut, and packaging boxes are There is a need for the development of a device that can automatically retrieve items stored inside.

Accordingly, the present invention was conceived in the above-mentioned background, and it is possible to automatically cut a packaging box sealed with tape, automatically open the cover of the packaging box, and then automatically withdraw the container storage body packed in the packaging box. The purpose is to provide a container supply device that can achieve automation of the work process.

In addition, the purpose is to provide a container supply device in which a container storage body within a packaging box is withdrawn by a collaborative robot module, and containers stored in the extracted container storage body are automatically withdrawn by a collaborative robot module.

The object of the present invention is not limited here, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve this purpose, one embodiment of the present invention includes a transport module for transporting a packaging box in which a container holding body containing a container is packaged; A first collaborative robot module that cuts and opens the cover sealed with tape of the packaging box transported through the transfer module; A cover support module supporting the open cover of the packaging box on at least one side of the front, rear, left, and right sides of the packaging box; And a second collaborative robot module that withdraws the container storage body in the opened packaging box, moves the extracted container storage body, and then tilts the container storage body to withdraw the container stored in the container storage body; It provides a container supply device comprising:

In addition, the first collaborative robot module includes a camera unit that generates coordinate information about the cut position of the tape attached to the packaging box; A cutting module that cuts the tape attached to close the space between the cover and the side of the packaging box among the tapes, according to the coordinate information generated by the camera unit; And a cutting and opening module that is coupled to the cutting module and cuts the tape attached to the cover of the packaging box among the tapes according to the coordinate information generated by the camera unit and opens the cover. A container supply device featuring features is provided.

In addition, the cover support module is provided on the right side of the packaging box in the moving direction, and has a plurality of link structures and a first support arm portion that pressurizes and supports the right side of the lid of the packaging box that is rotated and opened, and the first support arm part A first cover support module provided at the lower part of the first support arm and including a first elevating and lowering mechanism that raises and lowers the first support arm. and a second support arm provided on the left side of the packaging box in the moving direction, which has a plurality of link structures and pressurizes and supports the left portion of the lid of the packaging box that is rotated and opened, and is provided at the lower part of the second support arm. and a second cover support module including a second elevating and lowering drive unit that raises and lowers the second support arm.

In addition, the cover support module is provided in the front of the packaging box in the moving direction, and has a plurality of link structures and a third support arm that pressurizes and supports the front part of the lid of the packaging box that is rotated and opened, and the third support arm part a third cover support module provided at the lower part of the third support arm and including a third elevating and lowering mechanism that raises and lowers the third support arm; and a fourth support arm provided at the rear of the packaging box in the moving direction, which has a plurality of link structures and pressurizes and supports the rear portion of the lid of the packaging box that is opened by rotating, and is provided at the lower part of the fourth support arm. and a fourth cover support module including a fourth raising and lowering drive unit that raises and lowers the fourth support arm.

In addition, the second collaborative robot module includes a robot arm; A 3D camera unit coupled to the robot arm and generating spatial coordinate information about the spatial position of the container storage body in the opened packaging box; and a gripper unit that moves while coupled to the robot arm and grabs, withdraws, and tilts the container storage body in the opened packaging box according to the spatial coordinate information.

According to one embodiment of the present invention, the packaging box sealed with tape can be automatically cut, the cover of the packaging box is automatically opened, and the container storage body packed in the packaging box can be automatically removed, thereby enabling the work process. It has the effect of achieving automation.

In addition, the container holding body within the packaging box is pulled out by the collaborative robot module, and the containers stored in the pulled out container holding body are automatically pulled out by the collaborative robot module, which has the effect of achieving automation of the work process.

Figure 1 is a block diagram showing the configuration of a container supply device according to an embodiment of the present invention.
Figure 2 is a diagram showing an example of a container storage body in which a container is stored.
Figure 3 is a diagram showing an example of a packaging box in which a container storage body is packaged.
Figure 4 is a perspective view of a portion of the container supply device and a partially enlarged view of the stopper according to an embodiment of the present invention.
Figure 5 is a diagram showing an example of a first collaborative robot module.
Figure 6 is a perspective view highlighting the cover support module in some configurations of the container supply device according to an embodiment of the present invention.
Figure 7 is a partially enlarged view of the first cover support module in Figure 6.
Figure 8 is a partially enlarged view of the third cover support module in Figure 6.
Figure 9 is a perspective view showing another example of the first collaborative robot module.
Figures 10 and 11 are diagrams showing an example of the first collaborative robot module of Figure 9 cutting the tape attached between the cover and the side of the packaging box.
FIG. 12 is a diagram showing an example of the first collaborative robot module of FIG. 9 cutting the tape attached to the cover of a packaging box.
Figures 13 and 14 are diagrams showing an example of the second collaborative robot module withdrawing a container storage body from a packaging box.
Figure 15 is a diagram showing an example of the cover part where the static electricity removal module is located inside.
Figure 16 is a diagram showing an example where the static electricity removal module is installed in the frame part.
Figure 17 is a diagram showing the process of removing the stopper from the container housing by the second collaborative robot module and the stopper removal module.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Additionally, when describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. When a component is described as being “connected,” “coupled,” or “connected” to another component, that component may be directly connected or connected to that other component, but there is another component between each component. It will be understood that elements may be “connected,” “combined,” or “connected.”

Figure 1 is a block diagram showing the configuration of a container supply device according to an embodiment of the present invention. Figure 2 is a diagram showing an example of a container storage body in which a container is stored. Figure 3 is a diagram showing an example of a packaging box in which a container storage body is packaged. Figure 4 is a perspective view of a portion of the container supply device and a partially enlarged view of the stopper according to an embodiment of the present invention. Figure 5 is a diagram showing an example of a first collaborative robot module. Figure 6 is a perspective view highlighting the cover support module in some configurations of the container supply device according to an embodiment of the present invention. Figure 7 is a partially enlarged view of the first cover support module in Figure 6. Figure 8 is a partially enlarged view of the third cover support module in Figure 6. Figure 9 is a perspective view showing another example of the first collaborative robot module. Figures 10 and 11 are diagrams showing an example of the first collaborative robot module of Figure 9 cutting the tape attached between the cover and the side of the packaging box. FIG. 12 is a diagram showing an example of the first collaborative robot module of FIG. 9 cutting the tape attached to the cover of a packaging box. Figures 13 and 14 are diagrams showing an example of the second collaborative robot module withdrawing a container storage body from a packaging box. Figure 15 is a diagram showing an example of the cover part where the static electricity removal module is located inside. Figure 16 is a diagram showing an example where the static electricity removal module is installed in the frame part. Figure 17 is a diagram showing the process of removing the stopper from the container housing by the second collaborative robot module and the stopper removal module.

As shown in these drawings, the container supply device 100 according to an embodiment of the present invention transports the packaging box 103 in which the container storage body 101 containing the container 201 is packaged. module 105; A first collaborative robot module (107) that cuts and opens the cover (C) sealed with tape (T, T') of the packaging box (103) transported through the transfer module (105); A cover support module 109 that supports the cover C of the open packaging box 103 on at least one of the front, rear, left, and right sides of the moving direction of the packaging box 103; And the container storage body 101 in the open packaging box 103 is withdrawn, the drawn container storage body 101 is moved, and the container storage body 101 is tilted to accommodate the container stored in the container storage body 101 ( It is characterized in that it includes a second collaborative robot module 113 that withdraws 201).

The transfer module 105 transfers the packaging box 103 in which the container storage body 101 containing the container 201 is packaged.

Here, the container 201 may be, for example, a cup-shaped container with an open top.

The container storage body 101 stores containers 201 by stacking them.

The container storage body 101 may be configured to include, for example, a hollow cylindrical storage body 203 and a stopper 205 respectively coupled to both ends of the storage body 203.

The storage body 203 and the stopper 205 may be made of a transparent material so that the operator can check the container 201 stored inside the container storage body 101 from the outside.

The transfer module 105 includes a plurality of rollers (R) arranged in parallel and spaced apart in the direction of movement of the packaging box 103, and a plurality of rollers (R) so that the plurality of rollers (R) rotate in conjunction with each other. It includes a connecting power transmission element 401.

Here, the power transmission body 401 may be provided as a belt or chain, for example.

Next, the first collaborative robot module 107 cuts and opens the cover C sealed with tapes T and T' of the packaging box 103 transported through the transfer module 105.

To describe an example of this first collaborative robot module 107 in more detail, the first collaborative robot module 107 determines the cut position of the tapes T and T' attached to the packaging box 103. A camera unit 501 that generates coordinate information; According to the coordinate information generated by the camera unit 501, a cutting module ( 503); And it is combined with the cutting module 503, and cuts the tape (T) attached to the cover (C) of the packaging box (103) among the tapes (T, T') according to the coordinate information generated by the camera unit 501. and a cutting and opening module 505 that opens the cover (C).

In Figure 5, an example of this first cooperative module 107 is expressed as a simple structural diagram.

Hereinafter, the configuration of the first cooperative module 107 will be described based on FIGS. 9 to 12.

The first cooperative robot module 107 has robot arms (RA) that are rotatably coupled to each other and have a plurality of degrees of freedom.

Since the robot arm (RA) operates using known technology, detailed descriptions are omitted.

The camera unit 501 generates coordinate information about the cut positions of the tapes T and T' attached to the packaging box 103.

This camera unit 501 may be provided as a 3D camera capable of generating 3D coordinate information of a specific object (position, point, etc.) in 3D space.

Meanwhile, the camera unit 501 may be mounted on the base plate 901 of the cutting module 503, which will be described later.

The cutting module 503 is a tape (T') attached to close between the cover (C) and the side of the packaging box (103) among the tapes (T, T') according to the coordinate information generated by the camera unit 501. ) is cut.

To describe an example of the structure of the cutting module 503 in more detail, the cutting module 503 includes a base plate 901 rotatably coupled to the robot arm (RA); A first cutting knife unit ( 903); A device that is coupled to the base plate 901 and guides the movement path of the first cutting knife part 903 while rolling and supporting the cover (C) of the packaging box 103 during the cutting operation of the first cutting knife part 903. 1 guide roller unit (905); And a second guide that is coupled to the base plate 901 and guides the movement path of the first cutting knife part 903 while rolling and supporting the side of the packaging box 103 during the cutting operation of the first cutting knife part 903. Includes a roller unit 907.

The base plate 901 is rotatably coupled to the robot arm (RA).

For example, the base plate 901 is provided in a long rectangular shape. In FIGS. 9 to 11, the base plate 901 is shown rotated so that its long side is parallel to the horizontal.

The first cutting knife portion 903 is coupled to the base plate 901.

This first cutting knife unit 903 cuts the tape T' attached to close the space between the cover C and the side of the packaging box 103 according to the movement of the robot arm RA.

Here, 'side' means 'side' in the direction of the line perpendicular to the line formed by the two covers (C) facing each other.

The first guide roller unit 905 is coupled to the base plate 901.

This first guide roller unit 905 guides the movement path of the first cutting knife unit 903 while rolling and supporting the cover C of the packaging box 103 during the cutting operation of the first cutting knife unit 903. do.

Referring to FIGS. 9 to 11, the first guide roller unit 905 guides the movement path of the first cutting knife unit 903 while being located above the first cutting knife unit 903.

The second guide roller unit 907 is coupled to the base plate 901.

This second guide roller unit 907 guides the movement path of the first cutting knife unit 903 while rolling and supporting the side of the packaging box 103 during the cutting operation of the first cutting knife unit 903.

Referring to FIGS. 9 to 11, the second guide roller unit 907 guides the movement path of the first cutting knife unit 903 while located below the first cutting knife unit 903.

The cutting and opening module 505 is combined with the cutting module 503.

This cutting and opening module 505 cuts the tape (T) attached to the cover (C) of the packaging box (103) among the tapes (T, T') according to the coordinate information generated by the camera unit 501. and open the cover (C).

To describe the detailed structure of the cutting and opening module 505 in more detail, the cutting and opening module 505 includes an extension arm 1001 connected to the base plate 901 of the cutting module 503; A second cutting knife unit 1003 protrudes from one side of the extension arm 1001 and cuts the tape T attached to the cover C of the packaging box 103 according to the movement of the robot arm RA. ; And it is formed at the end of the extension arm 1001, enters to secure the space between the cover (C) and the side of the packaging box 103, and after completion of cutting the tape (T) attached to the cover (C), the cover ( It includes a guide opening portion 1005 that opens C).

The extension arm 1001 is connected to the base plate 901 of the cutting module 503.

For example, the extension arm 1001 may be provided in the shape of an angled long bar.

Although not shown in the drawing, the extension arm 1001 may have a structure whose length is variable as it is retracted or withdrawn into or out of the base plate 901.

The second cutting knife portion 1003 protrudes from one side of the extension arm 1001.

This second cutting knife unit 1003 may be detachably coupled to one side of the extension arm 1001 to enable replacement.

The guide opening portion 1005 is formed at the end of the extension arm 1001.

This guide opening 1005 enters the packaging box 103 so that the space between the cover (C) and the side is secured and the cover (C) is opened after cutting the tape (T) attached to the cover (C). Open.

For this purpose, the guide opening portion 1005 may have a sharp shape at one end facing the space between the cover C and the side of the packaging box 1003, and may have a convex shape toward the other end.

As a result, when the guide opening 1005 enters and moves into the space between the cover C and the side of the packaging box 1003, the tape (T) attached to both covers C by the second cutting knife unit 1003 ) is cut, the center lines of both covers (C) are lifted upward, which makes it easier to cut the tape (T) of the second cutting knife unit (1003).

Meanwhile, when the cutting operation of the tape (T) attached to the cover (C) is completed by the second cutting knife unit (1003), the guide opening part (1005) is opened by the movement of the robot arm (RA) to cover (C). will be opened.

Next, the cover support module 109 supports the cover C of the open packaging box 103 on at least one of front, rear, left, and right in the moving direction of the packaging box 103.

To describe an example of this cover support module 109 in more detail, the cover support module 109 is provided on the right side of the packaging box 103 in the moving direction, and has a plurality of link structures and rotates to open the packaging. A first support arm 601 that pressurizes and supports the right side of the cover C of the box 103, and a first support arm 601 that is provided at the lower part of the first support arm 601 and raises and lowers the first support arm 601. A first cover support module (109A) including an elevation and lowering mechanism (603); and a second support arm provided on the left side of the packaging box 103 in the moving direction, which has a plurality of link structures and pressurizes and supports the left portion of the cover C of the packaging box 103 that is rotated and opened. It includes a second cover support module (109B) provided at the lower part of the support arm and including a second elevating and lowering mechanism that raises and lowers the second support arm.

Since the first cover support module 109A and the second cover support module 109B have the same configuration, the first cover support module 109A will be described below.

The first cover support module 109A is provided on the right side of the packaging box 103 in the traveling direction.

The first cover support module 109A includes a first support arm portion 601 and a first raising/lowering drive portion 603.

The first cover support module 109A may have a variable position in the left and right directions perpendicular to the traveling direction of the packaging box 103.

The first support arm portion 601 has a plurality of link structures and rotates to press and support the right portion of the cover C of the open packaging box 103.

More specifically, the first support arm portion 601 includes a base panel 701; A right support arm (601A) coupled to one side of the base panel (701), rotated by a cylinder (703) in a multiple link structure, and having a fixed roller (705) coupled to the end; and a left support arm 601B coupled to the other side of the base panel 701, rotated by a cylinder 707 in a plurality of link structures, and having a fixed roller 709 coupled to the end.

The base panel 701 is provided in a flat shape.

The right support arm (601A) and the left support arm (601B) are provided in the same configuration.

The link structure of the right support arm 601A will be described in more detail.

The right support arm (601A) includes a guide body (717) on the inside of which a cylinder (703) is disposed; A first link arm 719 connected to the cylinder 703 and rotating according to the operation of the cylinder 703, and coupled to one end of the guide body 717; a second link arm 721 that rotates as the first link arm 719 rotates and is coupled to one end of the guide body 717; A third link arm 723, one end of which is coupled to the second link arm 721 and bent into an 'L' shape, and the other end of which is coupled with a fixing roller 705; And a fourth link arm 725, one end of which is coupled to the other end of the guide body 717 and the other end of which is coupled to the third link arm 723, and which provides the rotation center of the third link arm 723. .

The fixing roller 705 of the right support arm 601A and the fixing roller 709 of the left support arm 601B are erected in the vertical direction by the operation of the cylinders 703 and 707, and then lie down in the horizontal direction to form the packaging box 103. ) Press and support the right and left parts of the cover (C), respectively.

The first raising and lowering mechanism 603 is provided at the lower part of the first support arm 601.

The first lifting and lowering mechanism unit 603 raises and lowers the first support arm unit 601.

More specifically, the first raising and lowering driving unit 603 includes a right cylinder driving unit 711 that is coupled to the lower part of one side of the base panel 701 and provides a lifting and lowering driving force to the base panel 701; A left cylinder drive unit 713 that is coupled to the lower part of the other side of the base panel 701 and provides a lifting and lowering driving force to the base panel 701; And a central support portion 715 coupled to the lower center of the base panel 701 to support the raising and lowering of the base panel 701.

The right cylinder driving part 711 and the left cylinder driving part 713 may be provided as hydraulic cylinders, for example.

Meanwhile, the cover support module 109 is provided in front of the packaging box 103 in the moving direction, has a plurality of link structures, and presses and supports the front portion of the cover C of the packaging box 103 that rotates and opens. A third cover support module including a third support arm portion 801 and a third raising and lowering drive portion 803 provided at the lower part of the third support arm portion 801 and raising and lowering the third support arm portion 801 ( 109C); and a fourth support arm provided at the rear of the packaging box 103 in the moving direction, which has a plurality of link structures and pressurizes and supports the rear portion of the lid of the packaging box 103 that is rotated and opened, and a fourth support arm unit. It includes a fourth cover support module (109D) provided at the lower portion and including a fourth raising and lowering drive unit that raises and lowers the fourth support arm.

Since the third cover support module 109C and the fourth cover support module 109D have the same configuration, the third cover support module 109C will be described below.

The third cover support module 109C is provided in front of the packaging box 103 in the moving direction.

The third cover support module 109C includes a third support arm portion 801 and a third raising/lowering drive portion 803.

The third support arm portion 801 has a plurality of link structures and rotates to press and support the front portion of the cover C of the opened packaging box 103.

The detailed configuration of the third support arm 801 is the same as the right support arm 601A or the left support arm 601B of the first support arm 601 described above.

The third lifting and lowering mechanism part 803 is provided at the lower part of the third supporting arm part 801.

The third lifting and lowering mechanism part 803 raises and lowers the third supporting arm part 801.

The third raising and lowering drive unit 803 may have the same configuration as the right cylinder drive unit 711 or the left cylinder drive unit 713 described above.

Next, the second collaborative robot module 113 withdraws the container storage body 101 from the open packaging box 103, moves the drawn container storage body 101, and then tilts the container storage body 101. The container 201 stored in the container storage body 101 is taken out.

To describe an embodiment of the second collaborative robot module 113 in more detail, the second collaborative robot module 113 includes a robot arm (RA'); A 3D camera unit 1301 coupled to the robot arm (RA') and generating spatial coordinate information about the spatial position of the container storage body 101 in the open packaging box 103; and a gripper unit 1303 that moves while coupled to the robot arm (RA') and grabs, pulls out, and tilts the container storage body 101 in the open packaging box 103 according to spatial coordinate information.

Since the robot arm (RA') operates using known technology, detailed descriptions are omitted.

The 3D camera unit 1301 is coupled to the robot arm (RA').

This 3D camera unit 1301 generates spatial coordinate information about the spatial position of the container storage body 101 within the open packaging box 103.

For example, the 3D camera unit 1301 senses the stacking position (depth, DEPTH) of the container storage body 101 stored in the packaging box 103 and generates spatial coordinate information in the space of the container storage body 101. do.

The gripper unit 1303 is coupled to the robot arm (RA') and moves.

This gripper unit 1303 grabs, pulls out, and tilts the container storage body 101 in the open packaging box 103 according to the spatial coordinate information of the container storage body 101 generated by the 3D camera unit 1301.

In more detail, the gripper unit 1303 includes a base module 1305 rotatably coupled to the robot arm (RA'); A robot hand module 1307 that is coupled to the base module 1305 and changes position by the operation of the robot arm (RA') according to the spatial coordinate information of the container storage body 101, and holds the container storage body 101; Includes.

FIG. 13 shows an example in which the robot hand module 1307 is formed on one end and the other end of the base module 1305 and operates in conjunction with each other.

The base module 1305 is rotatably coupled to the robot arm (RA').

For example, the base module 1305 may have a long hexahedron shape.

The robot hand module 1307 is coupled to the base module 1305.

This robot hand module 1307 grasps the container holding body 101 while changing its position by the operation of the robot arm (RA') according to the spatial coordinate information of the container holding body 101.

More specifically, the robot hand module 1307 includes a first grip bar 1311, one end of which is rotatably coupled to the first rotating portion 1309 formed on both sides of the base module 1305; and a second grip bar 1315, one end of which is rotatably coupled to the second rotating portion 1313 formed at the other end of the first grip bar 1311.

The first rotation unit 1309 and the second rotation unit 1313 may each include a power transmission device such as an electric motor.

First rotation parts 1309 are formed on both sides of the base module 1305, respectively.

One end of the first grip bar 1311 is rotatably coupled to the first rotating portion 1309.

Meanwhile, the first grip bar ( 1311) may include an anti-slip pad 1317 provided on the inner surface facing the container storage body 101.

For example, a structure to improve friction, such as an embossed structure or a plurality of grooves structure, may be formed on the surface of the anti-slip pad 1317.

A second rotating portion 1313 is formed at the other end of the first grip bar 1311.

The second grip bar 1315 is rotatably coupled to the second rotating portion 1313 formed at the other end of the first grip bar 1311.

Referring to FIGS. 2, 13, 14, and 17, the process of extracting the container 201 stored in the container storage body 101 through the second collaborative robot module 113 will be described.

The gripper unit 1303 of the second collaborative robot module 113 pulls out the container storage body 101 in the packaging box 103, and then moves the drawn container storage body 101 in the direction of the stopper removal module 1701. transfer.

At this time, the stopper 205 of the container storage body 101 faces the direction of the stopper removal unit 1703 provided in the stopper removal module 1701.

Here, the stopper removal unit 1703 can remove the stopper 205 from the container housing 101 by, for example, a vacuum adsorption method.

Afterwards, when the cap 205 is removed from the container housing 101 by the cap removal module 1701, the gripper unit 1303 of the second collaborative robot module 113 is stored in the container housing 101. The container holder 101 is rotated and tilted in one direction so that the container 201 does not fall out of the container holder 101.

Afterwards, the gripper unit 1303 of the second collaborative robot module 113 moves the container storage body 101 in the other direction in another process procedure in which the container 201 stored in the container storage body 101 is used. The container 201 stored in the container storage body 101 is pulled out by rotating.

Afterwards, the second collaborative robot module 113 pulls out the container 201 and inserts the empty container storage body 101 into the packaging box storing the empty container storage body 101.

Meanwhile, the cap removal module 1701 places the cap 205 removed from the container housing 101 into a separate storage box (storage container, etc.).

Meanwhile, the container supply device 100 according to an embodiment of the present invention includes a static electricity removal module that ionizes the air inside and around the open packaging box 103 to remove static electricity inside and around the packaging box 103. 111); may further be included.

For example, the static electricity removal module 111 generates positive and negative ions to ionize the air, thereby ionizing the air inside and around the open packaging box 103.

The static electricity removal module 111 may include an ionizer.

The static electricity removal module 111 may generate only either positive or negative ions, or may generate both positive and negative ions.

When the static electricity removal module 111 generates both positive and negative ions, the static electricity removal module 111 can be divided into a part that generates positive ions and a part that generates negative ions.

Meanwhile, the static electricity removal module 111 is included in the cover parts 1501 and 1503 to ionize the air inside the cover parts 1501 and 1503, which close the surroundings so that the open packaging box 103 is located inside. It can be installed on the frame unit 1601.

As shown in Figures 15 and 16, the cover parts 1501 and 1503 may include a side cover part 1501 and a roof cover part 1503, and the static electricity removal module 111 is a roof cover part. It may be installed on the frame portion 1601 disposed below (1503).

As the container supply device 100 is equipped with the static electricity removal module 111, the air inside and around the packaging box 103 is ionized, thereby removing static electricity inside and around the packaging box 103, and through this, the air inside and around the packaging box 103 is ionized. It is possible to prevent foreign substances such as dust from attaching to the container storage body 101 packed inside the box 103.

Meanwhile, when cutting the tapes T and T' attached to the packaging box 103 and opening the packaging box 103, the container supply device 100 packs the packaging in the front and rear of the packaging box 103. It may further include stoppers 403 and 405 that support the box 103 and fix its position.

Since the front stopper 403 and the rear stopper 405 are provided in the same configuration, the front stopper 403 will be described.

The front stopper 403 moves the packaging box 103 to a specific position (i.e., cuts the tapes T, T' attached to the packaging box 103 and opens the packaging box 103) through the transfer module 105. It is located on the lower side of the transfer module 105 until it reaches the location where the work is performed, and when the packaging box 103 reaches a specific position, it protrudes to the upper side of the transfer module 105.

Meanwhile, the position of the front stopper 403 can be changed in the moving direction of the packaging box 103 by the driving unit 407.

That is, the front stopper 403 not only supports and fixes the position of the packaging box 103, but also presses the front surface of the packaging box 103 toward the rear when the packaging box 103 is located at a specific position, While forming a space between the cover (C) and the front surface of the packaging box (103), the corresponding portion of the tape (T, T') is separated from the attachment surface, thereby performing the cutting operation of the tape (T, T') and the cover (C) ) to make the opening task easier.

As described above, according to one embodiment of the present invention, the packaging box sealed with tape is automatically cut, the cover of the packaging box is automatically opened, and then the container storage body packed in the packaging box is automatically withdrawn. This has the effect of achieving automation of the work process.

In addition, the container holding body within the packaging box is pulled out by the collaborative robot module, and the containers stored in the pulled out container holding body are automatically pulled out by the collaborative robot module, which has the effect of achieving automation of the work process.

In the above, even though all the components constituting the embodiment of the present invention have been described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, as long as it is within the scope of the purpose of the present invention, all of the components may be operated by selectively combining one or more of them.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100: container feeding device
101: Container storage body
103: Packaging box
105: Transfer module
107: 1st collaborative robot module
107A: Cutting and opening robot
107B: Open robot
109: Cover support module
109A: First cover support module
109B: Second cover support module
109C: Third cover support module
109D: Fourth cover support module
111: Static electricity removal module
113: 2nd collaborative robot module
201: Courage
203: storage body
205: stopper
401: Power transmission system
403: Front stopper
405: Rear stopper
407: driving unit
501: Camera unit
503: Cutting module
505: Cutting and opening module
601: first support arm part
601A: Right support arm
601B: Left support arm
603: Eastern part of the 1st downstairs section
701: Base panel
703: cylinder
705: Fixed roller
707: cylinder
709: Fixed roller
711: Right cylinder drive part
713: Left cylinder drive part
715: central support
717: Guide body
719: 1st link arm
721: 2nd link arm
723: Third link arm
725: 4th link arm
801: Third support arm part
803: Eastern part of the 3rd downriver
901: Base plate
903: First cutting knife part
905: First guide roller unit
907: Second guide roller unit
1001: Extension arm
1003: Second cutting knife part
1005: Guide opening part
1301: 3D camera unit
1303: Gripper part
1305: Base module
1307: Robot hand module
1309: 1st East
1311: 1st grip bar
1313: 2nd Eastern Division
1315: 2nd grip bar
1317: Anti-slip pad
1501: Side cover part
1503: Roof cover part
1601: Frame part
1701: Stopper removal module
1703: Refusal to remove the stopper
T,T': Tape
C: cover
R: roller
RA,RA': Robot arm

Claims (5)

A transfer module that transfers the packaging box in which the container storage body containing the container is packaged;
A first collaborative robot module that cuts and opens the tape-sealed cover of the packaging box transported through the transfer module, and has a robot arm that is rotatably coupled to each other and has a plurality of degrees of freedom;
A cover support module supporting the open cover of the packaging box on at least one side of the front, rear, left, and right sides of the packaging box; and
A second collaborative robot module extracts the container storage body from the open packaging box, moves the extracted container storage body, and then tilts the container storage body to withdraw the container stored in the container storage body. do,
The first collaborative robot module,
a camera unit that generates coordinate information about the cutting positions of the tapes attached to the packaging box;
A cutting module that cuts a tape attached to close a space between the cover and the side of the packaging box among the tapes, according to the coordinate information generated by the camera unit; and
A cutting and opening module that cuts the tape attached to the cover of the packaging box among the tapes and opens the cover according to the coordinate information generated by the camera unit,
The cutting module is,
A base plate rotatably coupled to the robot arm;
A first cutting knife unit coupled to the base plate and cutting the attached tape to close the space between the cover and the side of the packaging box according to the movement of the robot arm;
A first guide roller unit coupled to the base plate and guiding the moving path of the first cutting knife unit while rolling and supporting the cover of the packaging box during a cutting operation of the first cutting knife unit; and
A second guide roller unit coupled to the base plate and guiding the movement path of the first cutting knife unit while rolling and supporting the side of the packaging box during a cutting operation of the first cutting knife unit;
A container supply device comprising a. delete According to claim 1,
The cover support module is,
It is provided on the right side of the moving direction of the packaging box, and has a plurality of link structures and a first support arm portion that pressurizes and supports the right side of the lid of the packaging box that is opened by rotating, and is provided at a lower part of the first support arm portion, A first cover support module including a first elevating and lowering drive unit that raises and lowers the first support arm part; and
A second support arm is provided on the left side of the packaging box in the direction of travel, has a plurality of link structures, and is provided at the lower part of the second support arm to pressurize and support the left portion of the lid of the packaging box that is rotated and opened. a second cover support module including a second elevating and lowering mechanism that raises and lowers the second support arm;
A container supply device comprising a. According to claim 3,
The cover support module is,
A third support arm is provided in front of the packaging box in the direction of travel, has a plurality of link structures, and is provided at the lower part of the third support arm to pressurize and support the front portion of the lid of the packaging box that is rotated and opened. A third cover support module including a third lowering mechanism that raises and lowers the third support arm; and
It is provided at the rear of the moving direction of the packaging box, and has a plurality of link structures and is provided at the lower part of the fourth support arm portion to pressurize and support the front part of the lid of the packaging box that is rotated and opened. A fourth cover support module including a fourth raising and lowering mechanism that raises and lowers the fourth support arm portion;
A container supply device comprising a. According to claim 1,
The second collaborative robot module,
robot arm;
A 3D camera unit coupled to the robot arm and generating spatial coordinate information about the spatial position of the container storage body in the opened packaging box; and
A gripper unit that moves while coupled to the robot arm and grabs, withdraws, and tilts the container storage body in the opened packaging box according to the spatial coordinate information;
A container supply device comprising a.

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