KR20230000013A - Apparatus for supplying containers - Google Patents

Abstract

The present invention relates to a container supply device. According to one embodiment of the present invention, the container supply device automatically cuts a packaging box sealed by a tape and automatically draws out a container storage body packed inside the packaging box after automatically opening a cover of the packaging box to realize automatization of a work process. Moreover, the container storage body inside the packaging box is drawn out by a cooperative robot module. In addition, a container stored inside the container storage body that has been drawn out is automatically drawn out by the cooperative robot module to realize the automatization of the work process.

Description

Container supply device {APPARATUS FOR SUPPLYING CONTAINERS}

The present invention relates to a container supply device, and more particularly, a taped cover of a packaging box is cut and opened by a collaborative robot module, a container container in the packaging box is pulled out by the collaborative robot module, and the container storage is pulled out. It relates to a container supply device in which a container stored in a body is automatically withdrawn by a collaborative robot module.

In general, the packaging box is used by making a corrugated cardboard fabric in the form of a square box.

These packaging boxes are generally transported by taping after putting objects such as containers and products inside them, or by tying a band on the outside of the packaging boxes and transporting them. Or, after cutting the band, open the packaging box to take out the items stored (stored) inside.

On the other hand, Korea Utility Model Registration No. 20-0392266 discloses an automatic band cutting and removing device for automatically cutting and removing a bundled band wound in one direction on the outside when dismantling a heavy or bulky packaging box.

However, in most cases so far, despite such automatic band cutting and removal devices, a lot of manpower must be put into the process of taking out the inside of the packing box, so the packing box sealed with tape is automatically cut and Development of a device capable of automatically withdrawing objects stored inside is required.

Accordingly, the present invention has been devised from the above background, and can automatically cut the packaging box sealed with tape, automatically open the cover of the packaging box, and automatically withdraw the container container packed in the packaging box. However, the purpose is to provide a container supply device capable of automating the work process.

Another object of the present invention is to provide a container supply device in which a container storage body in a packaging box is pulled out by a collaborative robot module, and containers stored in the container container are automatically pulled out by the collaborative robot module.

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

In order to achieve this object, one embodiment of the present invention is a transport module for transporting the packaging box in which the container container is packed; a first collaborative robot module for cutting and opening the cover sealed with tape of the packaging box transported through the transfer module; a cover support module supporting the opened cover of the packing box from at least one of the front, rear, left, and right sides of the packing box; and a second collaborative robot module for withdrawing the container storage body from the opened packaging box, moving the container storage body, and then tilting the container storage body to take out the container stored in the container storage body. It provides a container supply device characterized in that it comprises.

In addition, the first collaborative robot module may include a camera unit generating coordinate information about a cutting position of the tape attached to the packaging box; a cutting module for cutting a tape attached to close a gap between a cover and a side surface of the packaging box among the tapes according to the coordinate information generated by the camera unit; and a cutting and opening module coupled to the cutting module and cutting the tape attached to the lid of the packaging box among the tapes according to the coordinate information generated by the camera unit and opening the lid. It provides a container supply device characterized by.

In addition, the cover support module is provided on the right side of the moving direction of the packing box, and has a plurality of link structures, and a first support arm for pressurizing and supporting the right part of the cover of the packing box opened by rotation, and the first support arm. A first cover support module provided under the first support arm and including a first lifting and lowering driving unit for lifting and lowering the first support arm; and a second support arm provided on the left side of the packaging box in the traveling direction, having a plurality of link structures and pressurizing and supporting the left portion of the lid of the packaging box opened by rotation, and provided at the lower portion of the second support arm. and a second cover support module including a second lifting and lowering driving unit for lifting and lowering the second support arm unit.

In addition, the cover support module includes a third support arm that is provided in front of the moving direction of the packing box and has a plurality of link structures and pressurizes and supports the front portion of the cover of the packing box opened by rotation; a third cover support module provided under the third support arm and including a third lifting and lowering driving unit for lifting and lowering the third support arm; and a fourth support arm provided at the rear of the packing box in the traveling direction, having a plurality of link structures, and pressurizing and supporting the rear part of the cover of the packing box opened by rotation, and provided at the lower part of the fourth support arm. And a fourth cover support module including a fourth lifting and lowering driving unit for lifting and lowering the fourth support arm; provides a container supply device comprising a.

In addition, the second collaborative robot module may include a robot arm; a 3D camera unit coupled to the robot arm and generating spatial coordinate information about a spatial position of the container container within the opened packaging box; and a gripper unit coupled to the robot arm and moving, grabbing, pulling out, and tilting the container storage body in the opened packing box according to the spatial coordinate information.

According to one embodiment of the present invention, after automatically cutting the packaging box sealed with tape, automatically opening the cover of the packaging box, and then automatically withdrawing the container container packed in the packaging box, the work process There is an effect that can achieve the automation of

In addition, the container storage body in the packaging box is pulled out by the collaborative robot module, and the containers stored in the container storage body are automatically pulled out by the collaborative robot module, thereby achieving an effect of automating the work process.

1 is a block diagram showing the configuration of a container supply device according to an embodiment of the present invention.
2 is a view showing an example of a container housing in which containers are stored.
3 is a view showing an example of a packaging box in which a container holder is packaged.
4 is a perspective view and a partially enlarged view of a stopper for some configurations of a container supply device according to an embodiment of the present invention.
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.
7 is a partially enlarged view of the first cover support module in FIG. 6 .
8 is a partially enlarged view of the third cover support module in FIG. 6 .
9 is a perspective view showing another example of the first collaborative robot module.
10 and 11 are diagrams illustrating an example in which the first collaborative robot module of FIG. 9 cuts the tape attached between the cover and the side of the packaging box.
FIG. 12 is a diagram illustrating an example in which the first collaborative robot module of FIG. 9 cuts a tape attached to a cover of a packaging box.
13 and 14 are diagrams illustrating an example in which the second collaborative robot module withdraws a container storage body from a packaging box.
15 is a view showing an example of a cover portion in which an electrostatic removal module is located inside.
16 is a view showing an example in which an electrostatic removal module is installed in a frame unit.
17 is a view showing a process in which a stopper is removed from a container container by a second collaborative robot module and a stopper removal module.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, 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.

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

1 is a block diagram showing the configuration of a container supply device according to an embodiment of the present invention. 2 is a view showing an example of a container housing in which containers are stored. 3 is a view showing an example of a packaging box in which a container holder is packaged. 4 is a perspective view and a partially enlarged view of a stopper for some configurations of a container supply device according to an embodiment of the present invention. 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. 7 is a partially enlarged view of the first cover support module in FIG. 6 . 8 is a partially enlarged view of the third cover support module in FIG. 6 . 9 is a perspective view showing another example of the first collaborative robot module. 10 and 11 are diagrams illustrating an example in which the first collaborative robot module of FIG. 9 cuts the tape attached between the cover and the side of the packaging box. FIG. 12 is a diagram illustrating an example in which the first collaborative robot module of FIG. 9 cuts a tape attached to a cover of a packaging box. 13 and 14 are diagrams illustrating an example in which the second collaborative robot module withdraws a container storage body from a packaging box. 15 is a view showing an example of a cover portion in which an electrostatic removal module is located inside. 16 is a view showing an example in which an electrostatic removal module is installed in a frame unit. 17 is a view showing a process in which a stopper is removed from a container container by a second collaborative robot module and a stopper removal module.

As shown in these drawings, the container supply device 100 according to an embodiment of the present invention is transported to transport the packaging box 103 in which the container holder 101 in which the container 201 is stored is packed. module 105; A first collaborative robot module 107 that cuts and opens the cover C sealed with tapes T and T' of the packaging box 103 transported through the transfer module 105; a cover support module 109 for supporting the cover C of the opened packing box 103 in at least one of front, rear, left, and right directions of the packing box 103; And a container stored in the container storage body 101 by withdrawing the container storage body 101 in the open packaging box 103, moving the withdrawn container storage body 101, and tilting the container storage body 101 ( 201) is characterized in that it includes; a second collaborative robot module 113 to take out.

The transport module 105 transports the packaging box 103 in which the container storage body 101 in which the container 201 is stored is packed.

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

The container housing body 101 stores containers 201 stacked.

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

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

The conveying module 105 is spaced apart in the traveling direction of the packaging box 103 and arranges a plurality of rollers (R), and a plurality of rollers (R) to each other so that the plurality of rollers (R) rotate in conjunction with each other. It includes a power transmission body 401 to connect.

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

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

To describe an example of such a first collaborative robot module 107 in more detail, the first collaborative robot module 107 relates to the incision position of the tapes T and T' attached to the packaging box 103. a camera unit 501 generating coordinate information; According to the coordinate information generated by the camera unit 501, a cutting module ( 503); And combined with the cutting module 503, according to the coordinate information generated by the camera unit 501, cutting the tape (T) attached to the cover (C) of the packaging box 103 among the tapes (T, T') and a cutting and opening module 505 for opening the cover (C).

In FIG. 5, an example of the first cooperative robot module 107 is represented by a simple structural diagram.

Hereinafter, the configuration of the first cooperative robot module 107 will be described with reference to FIGS. 9 to 12 .

The first cooperating robot module 107 has a robot arm RA that is rotatably coupled to each other and has a plurality of degrees of freedom.

Since the robot arm (RA) operates with known technology, a detailed description thereof will be omitted.

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

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

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

The cutting module 503, according to the coordinate information generated by the camera unit 501, is a tape (T') attached to close between the cover (C) and the side surface of the packaging box (103) among the tapes (T, T'). ) 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 that is coupled to the base plate 901 and cuts the tape T' attached to close the gap between the cover C and the side of the packaging box 103 according to the movement of the robot arm RA ( 903); It is coupled to the base plate 901 and guides the moving path of the first cutting knife unit 903 while rolling and supporting the cover C of the packing box 103 during the cutting operation of the first cutting knife unit 903. 1 guide roller unit 905; and a second guide coupled to the base plate 901 and guiding a moving path of the first cutting knife unit 903 while rolling and supporting the side surface of the packing box 103 during a cutting operation of the first cutting knife unit 903. A roller unit 907; includes.

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

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

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

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

Here, the 'side' means a 'side' in a line direction perpendicular to the line formed by matching both sides of the cover (C).

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

The first guide roller unit 905 guides the moving path of the first cutting knife unit 903 while rolling and supporting the cover C of the packing 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 in a state located above the first cutting knife unit 903 .

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

The second guide roller unit 907 guides the moving path of the first cutting knife unit 903 while rolling and supporting the side surface of the packing box 103 during a 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 in a state located below the first cutting knife unit 903 .

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

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

Describing 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 part 1003 protruding from one side of the extension arm 1001 and cutting 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 and enters to secure a space between the cover C and the side of the packaging box 103, and after cutting the tape T attached to the cover C is completed, the cover ( C) a guide opening 1005 for opening;

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 angular long bar.

Although not shown in the drawings, the extension arm 1001 may have a structure in which the length is variable while being drawn in or out of the base plate 901 .

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

The second cutting knife unit 1003 may be detachably coupled to one side of the extension arm 1001 so as to be replaceable.

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

The guide opening 1005 enters the packaging box 103 so that the space between the cover C and the side surface is secured, and the cover C is removed after the tape T attached to the cover C is finished cutting. open up

To this end, the guide opening 1005 may have a pointed shape at one end toward the space between the side surface and the lid C of the packaging box 1003, and may have a convex shape toward the other end.

As a result, when the guide opening 1005 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 1003 ) is cut, the center line of both covers (C) is lifted upward, which further facilitates the tape (T) cutting operation of the second cutting knife unit (1003).

On the other hand, 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 1005 is opened by the movement of the robot arm RA. will open

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

To describe an example of the 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 traveling direction, has a plurality of link structures, and rotates to open the package. A first support arm 601 pressurizing and supporting the right side of the cover C of the box 103, and a first support arm 601 provided under the first support arm 601 and moving the first support arm 601 up and down. A first cover support module (109A) including a lifting and lowering driving unit (603); and a second support arm provided on the left side of the packaging box 103 in the traveling direction, having a plurality of link structures, and pressurizing and supporting the left portion of the cover C of the packaging box 103 opened by rotation. A second cover support module 109B provided under the support arm and including a second lifting and lowering driver for lifting and lowering the second support arm.

Since the first cover support module 109A and the second cover support module 109B have the same structure, 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 601 and a first lifting and lowering driving unit 603 .

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

The first support arm 601 rotates while having a plurality of link structures, and presses and supports the right side of the lid C of the opened 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 plurality of link structures, 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 coupled to a fixed roller 709 at an end thereof.

The base panel 701 is provided in a flat plate shape.

The right support arm 601A and the left support arm 601B are provided with 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 in which a cylinder 703 is disposed; a first link arm 719 connected to the cylinder 703, rotated 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 having one end coupled to the second link arm 721 and bent in an 'a' shape, and having a fixed roller 705 coupled to the other end; and a fourth link arm 725 having one end coupled to the other end of the guide body 717 and the other end coupled to the third link arm 723 and providing a center of rotation 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 stand up in the vertical direction by the operation of the cylinders 703 and 707, and then lie down in the horizontal direction so that the packing box 103 ) Of the cover (C), the right part and the left part are pressed and supported, respectively.

The first lifting and lowering driving unit 603 is provided below the first support arm unit 601 .

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

More specifically, the first lifting and lowering driving unit 603 includes a right cylinder driving unit 711 coupled to a lower portion of one side of the base panel 701 to provide lifting and lowering driving force to the base panel 701; a left cylinder driving unit 713 coupled to the lower part of the other side of the base panel 701 to provide lifting and lowering driving force to the base panel 701; and a central support part 715 coupled to the lower center of the base panel 701 to support the elevating and descending of the base panel 701 .

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

On the other hand, the cover support module 109 is provided at the front of the packaging box 103 in the forward direction, and presses and supports the front portion of the cover C of the packaging box 103 opened by rotation while having a plurality of link structures. A third cover support module including a third support arm 801 for carrying out and a third lifting and lowering driver 803 provided under the third support arm 801 and lifting and lowering the third support arm 801 ( 109C); and a fourth support arm that is provided at the rear of the packaging box 103 in the traveling direction, has a plurality of link structures, and presses and supports the rear portion of the lid of the packaging box 103 that is rotated and opened, and the fourth support arm portion. A fourth cover support module (109D) provided at a lower portion and including a fourth lifting and lowering driver for lifting and lowering the fourth support arm.

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

The third cover support module 109C is provided in the forward direction of the packing box 103 .

The third cover support module 109C includes a third support arm 801 and a third lifting and lowering driving unit 803 .

The third support arm 801 presses and supports the front portion of the lid C of the packaging box 103 opened by rotation while having a plurality of link structures.

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

The third lifting and lowering drive unit 803 is provided below the third support arm unit 801 .

The third lifting and lowering driver 803 raises and lowers the third support arm 801 .

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

Next, the second collaborative robot module 113 withdraws the container storage body 101 in the opened packaging box 103, moves the withdrawn container storage body 101, and 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 within the open packaging box 103; and a gripper unit 1303 coupled to the robot arm RA' and moving, grabbing, pulling out, and tilting the container storage body 101 in the open packing box 103 according to spatial coordinate information.

Since the robot arm RA' operates with known technology, a detailed description thereof will be omitted.

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

The 3D camera unit 1301 generates spatial coordinate information about the spatial position of the container container 101 in the opened packaging box 103.

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

The gripper part 1303 is coupled to the robot arm RA' and moves.

The gripper unit 1303 grabs, withdraws, and tilts the container compartment 101 in the opened packaging box 103 according to the space coordinate information of the container compartment 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 coupled to the base module 1305 and holding the container holder 101 while being changed in position by the operation of the robot arm RA' according to the spatial coordinate information of the container holder 101; includes

13 illustrates an example in which the robot hand module 1307 is formed at one end and the other end of the base module 1305 and operates while interlocking 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 hexahedral shape.

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

The robot hand module 1307 grasps the container holder 101 while changing its position by the operation of the robot arm RA' according to the spatial coordinate information of the container holder 101.

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

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

First rotational 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 pivoting part 1309 .

On the other hand, the first grip bar ( 1311) may include a slip prevention pad 1317 provided on an inner surface facing the container holder 101.

A frictional force enhancing structure such as an embossed structure or a plurality of groove structures may be formed on the surface of the anti-slip pad 1317 .

A second pivoting part 1313 is formed at the other end of the first grip bar 1311 .

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

Referring to FIGS. 2, 13, 14, and 17, a process of withdrawing 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 takes out the container storage body 101 in the packaging box 103, and then moves the pulled out container storage body 101 toward the cap removal module 1701. transfer

At this time, the stopper 205 of the container container 101 is directed toward the stopper removal unit 1703 provided in the stopper removal module 1701 .

Here, the cap removal unit 1703 can remove the cap 205 from the container holder 101 by vacuum adsorption, for example.

Thereafter, when the stopper 205 is removed from the container storage body 101 by the stopper removal module 1701, the gripper unit 1303 of the second collaborative robot module 113 is accommodated in the container storage body 101. The container holder 101 is rotated and tilted in one direction so that the container 201 does not escape to the outside of the container holder 101.

Thereafter, the gripper unit 1303 of the second collaborative robot module 113 moves the container holder 101 in the other direction in another process in which the container 201 stored in the container holder 101 is used. By rotating, the container 201 housed in the container housing 101 is taken out.

Thereafter, the second collaborative robot module 113 inserts the empty container storage body 101 into a packaging box containing the empty container storage body 101 after the container 201 has been withdrawn.

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

On the other hand, the container supply device 100 according to an embodiment of the present invention is a static electricity removal module for removing static electricity inside and around the packaging box 103 by ionizing the air inside and around the open packaging box 103 ( 111); may be further included.

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

The static electricity removal module 111 may include an ionizer.

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

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

On the other hand, 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 that close the surroundings so that the open packaging box 103 is located inside. may be installed on the frame unit 1601.

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 may include a roof cover part It can be installed on the frame part 1601 disposed below the 1503.

As such, the container supply device 100 is provided with the static electricity removal module 111, so that the air inside and around the packaging box 103 is ionized to remove static electricity inside and around the packaging box 103. Foreign substances such as dust can be prevented from being attached to the container holder 101 packed inside the box 103.

On the other hand, the container supply device 100, when cutting the tape (T, T') attached to the packing box 103 and opening the packing box 103, packs in the front and rear of the moving direction of the packing box 103 It may further include; stoppers 403 and 405 for supporting and fixing the position of the box 103.

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

The front stopper 403, through the transfer module 105, the packing box 103 is at a specific position (ie, cutting of the tapes (T, T') attached to the packing box 103 and the opening of the packing box 103) It is located on the lower side of the transport module 105 until it reaches the location where the work to be performed) is reached, and when the packing box 103 reaches a specific location, it protrudes upward from the transport module 105.

On the other hand, the position of the front stopper 403 may be varied in the traveling direction of the packing box 103 by the driving unit 407 .

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

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

In addition, the container storage body in the packaging box is pulled out by the collaborative robot module, and the containers stored in the container storage body are automatically pulled out by the collaborative robot module, thereby achieving an effect of automating 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 as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: container supply device
101: container storage body
103: packaging box
105: transfer module
107: first 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: second collaborative robot module
201: Courage
203: storage body
205: stopper
401: power transmission body
403: front stopper
405: rear stopper
407: driving unit
501: camera unit
503: cutting module
505: cutting and opening module
601: first support arm
601A: right support arm
601B: left support arm
603: first lifting and lowering drive unit
701: base panel
703: cylinder
705: fixed roller
707: cylinder
709: fixed roller
711: right cylinder drive unit
713: left cylinder drive unit
715: central support
717: guide body
719: first link arm
721: second link arm
723: 3rd link arm
725: 4th link arm
801: third support arm
803: third lifting and lowering drive unit
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
1301: 3D camera unit
1303: gripper part
1305: base module
1307: robot hand module
1309: 1st eastern part
1311: first grip bar
1313: 2nd eastern part
1315: second grip bar
1317: anti-slip pad
1501: side cover
1503: roof cover
1601: frame part
1701: cap removal module
1703: refusal to remove the stopper
T,T': Tape
C: cover
R: Roller
RA,RA' : Robot arm

Claims (5)

A transport module for transporting the packaging box in which the container container in which the container is stored is packed;
a first collaborative robot module for cutting and opening the cover sealed with tape of the packaging box transported through the transfer module;
a cover support module supporting the opened cover of the packing box from at least one of the front, rear, left, and right sides of the packing box; and
a second collaborative robot module for withdrawing the container storage body in the opened packaging box, moving the container storage body that has been withdrawn, and then tilting the container storage body to take out the container stored in the container storage body;
Container supply device characterized in that it comprises a. According to claim 1,
The first collaborative robot module,
a camera unit generating coordinate information about cut positions of the tapes attached to the packing box;
a cutting module which cuts a tape attached to close a gap between a lid and a side surface of the packaging box among the tapes according to the coordinate information generated by the camera unit; and
a cutting and opening module for cutting a tape attached to the lid of the packing box among the tapes according to the coordinate information generated by the camera unit and opening the lid;
Container supply device characterized in that it comprises a. According to claim 1,
The cover support module,
A first support arm provided on the right side of the packaging box in the traveling direction, having a plurality of link structures, and pressurizing and supporting the right portion of the cover of the packaging box opened by rotation, and a lower portion of the first support arm, a first cover support module including a first lifting and lowering driver for lifting and lowering the first support arm; and
A second support arm provided on the left side of the packaging box in the traveling direction, having a plurality of link structures, and pressurizing and supporting the left portion of the cover of the packaging box opened by rotation, and a lower portion of the second support arm, a second cover support module including a second lifting and lowering driver for lifting and lowering the second support arm;
Container supply device characterized in that it comprises a. According to claim 3,
The cover support module,
A third support arm provided in the front of the packing box in the traveling direction, having a plurality of link structures, and pressurizing and supporting the front portion of the cover of the packing box opened by rotation, and provided at the lower part of the third support arm, a third cover support module including a third lifting and lowering driver for lifting and lowering the third support arm; and
A fourth support arm provided at the rear of the packing box in the traveling direction, having a plurality of link structures, and pressurizing and supporting the lower part of the lid of the packing box opened by rotation, and provided at the lower part of the fourth support arm. a fourth cover support module including a fourth lifting and lowering driver for lifting and lowering the fourth support arm;
Container supply device characterized in that it comprises 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 a spatial position of the container container within the opened packaging box; and
a gripper unit coupled to the robot arm and moving, grasping, pulling out, and tilting the container storage body in the opened packing box according to the spatial coordinate information;
Container supply device comprising a.

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