JP7288672B2 - Robot hand with edge folding device and boxing device using it - Google Patents

Description

TECHNICAL FIELD The present invention relates to a robot hand with an edge folding device and a boxing device using the robot hand.

For example, when a product consisting of a pillow package is stored in a box, the ear portions (top seal portions) present at both ends of the pillow package and the film portions around the ear portions that are not in contact with the contents of the package are placed downward. It can be efficiently stored in a small box by folding it to reduce the flat area and packing it in the folded state. Conventionally, there is a device disclosed in Patent Document 1 as a device that automatically performs a series of processes for the edge folding and feeding to the box body.

The device disclosed in this Patent Document 1 has a robot hand attached to the lower surface of the tip of a robot arm. The robot hand includes a tubular body for sucking the package, and an edge folding section for folding the edge of the package. The tubular main body includes a cylindrical upper tubular body and a lower tubular body movably mounted below the upper tubular body, and the lower surface of the lower tubular body serves as an adsorption portion having a through hole. When the sucking part is driven to suck while in contact with the top surface of the package, the package is sucked by the sucking part, the lower cylindrical body and the package move upward, and the selvages are directed downward by the selvage-folding claws, Furthermore, by closing the edge folding claws, the edge portion can be reliably folded.

By moving the robot hand to a predetermined position above the box and lowering the robot hand as it is, the package is inserted into the box together with the edge folding claws while the edges are folded by the edge folding claws. . During this insertion, the edge folding claws also function as guides when inserting the package into the box. When the suction is released in this state, the package separates from the suction section and is fed into the box.

Japanese Patent No. 4914696

As described above, when the suction is released with the package inserted into the box, the lower cylinder tries to move downward. Further downward movement is inhibited by the presence of the contents. As a result, the load of the lower cylindrical body is applied to the package and contents. As a result, if the contents are fragile goods such as souvenir sweets, the contents may be damaged or the bag may burst.

The above-described problems are described as independent ones, and the present invention does not necessarily have to be able to solve all of the described problems, and it is sufficient if at least one of the problems can be solved. In addition, we intend to obtain the right for the configuration to solve this problem by filing a divisional application or making an amendment.

In order to solve the above-described problems, a robot hand with an edge folding device according to the present invention includes: (1) suction means for sucking and holding a package; wherein the suction means has a hollow suction box provided so that the position of the suction surface can be moved up and down; In the suction box, when the inside of the suction box is sucked with the package covering the through hole, the package is sucked and held by the suction surface, and the suction surface moves upward to move the suction surface upward. When the suction is stopped, the attracting surface moves downward. The edge folding means includes a pair of edge folding members and a driving mechanism for opening and closing the pair of edge folding members. When the edge folding members are closed, the space between the pair of edge folding members is narrowed so that both ends of the package are brought into contact with each other and both ends of the package are folded. An adjusting function for changing a stop position is provided, wherein the adjusting function is such that the lowering stop position when stopping the suction and moving downward is higher than the lowering stop position when the package is sucked and held, Avoid damaging the package.

In this way, for example, when the suction surface is in contact with the upper surface of the package at a predetermined position on the upstream side and suction is applied, the suction surface rises. Then, when the edge folding members are closed while both ends of the package are positioned between the pair of edge folding members, both ends are folded. For example, if the suction-held package is moved to the vicinity of the supply position of a box or the like, the suction is stopped, and the suction-held is released to transfer and supply the package, the suction surface will move downward. As a result, the load of the suction box is applied to the package and contents, but due to the adjustment function, it stays in a position that does not damage the package, and further downward movement is suppressed. Therefore, for example, damage such as breakage or breakage of the bag constituting the package, or damage to the contents can be suppressed as much as possible.

The adsorption box corresponds to the tubular body in the embodiment. In order to move the position of the attracting surface up and down, for example, as in the embodiment, one ends of the upper tubular body 13 and the lower tubular body 14 may be connected so as to be movable in the axial direction, or bellows. You may mount the member which expands and contracts, such as. Moreover, since at least the position of the adsorption surface should be moved, the lower cylindrical body may be moved from the middle as in the embodiment. The entire box may move, or conversely, only the attracting surface may move. In the embodiment, the adjustment function is constituted by a first cylinder, a first stopper pin that moves up and down by the cylinder, a first elongated hole, and the like. In the embodiment, when the suction is stopped, the suction surface moves downward a little, and the downward movement is stopped by the action of the first stopper pin 31 or the like.

(2) The pair of edge folding members are configured to be able to move up and down relative to the suction box, and when the suction is stopped and the suction box is positioned at the lowering stop position, the pair of edge folding members It is preferable to construct the edge folding member so as to move upward relative to the suction box.

With this arrangement, for example, when the package is transferred to the box, if the edge folding members enter the box with both ends of the package folded, then only the edge folding members are raised. You can move and escape from the box. When the edge folding members are raised, for example, both ends of the package pressed by the edge folding members may be urged upward and the package may be lifted. Even if the package tries to be lifted, the adsorption part exists above it, so that further upward movement is suppressed, and the edge folding member can be reliably raised while leaving the package. . A similar effect can also be obtained by, for example, gradually lowering the descent stop position of the suction unit when the suction is stopped by the adjustment function, while raising the edge fold member and the mid-term arrival box. It is good because it can be easily configured.

(3) The pair of edge folding members are opened and closed by rotating forward and reverse with the upper side as the center of rotation. The lower end sides of the pair of edge folding members form a V shape facing outward, and in the first operating posture in which the pair of edge folding members are closed from the standby posture, the interval between the lower end sides of the pair of edge folding members is narrowed and the The package is configured to be folded in contact with both ends of the package, the distance between the lower ends of the pair of edge folding members is further narrowed from the first operating posture, the lower ends of the pair of edge folding members are located inside the upper ends, and the lower ends are tapered. It may be constructed so as to assume a second operating posture in which it narrows into a shape.

By doing so, the lower ends of the pair of edge folding members can be brought closer to each other and tapered to be narrower than the upper end. For example, it functions more effectively as a guide when the package is housed in the box. good.

(4) A boxing apparatus according to the present invention includes the above-described robot hand with an edge folding device, and means for supporting and moving the robot hand with the edge folding device between a plurality of points, wherein the suction-held packaging material is held by suction. It is advisable to feed the body into the box.

According to the present invention, both ends of the package can be folded and supplied into a box or the like without damaging the contents, for example, without tearing the bag.

1 is a perspective view showing a preferred embodiment of a cartoning device according to the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a front view which shows one suitable embodiment of the boxing apparatus which concerns on this invention. 1 is a side view of a preferred embodiment of a cartoning device according to the present invention; FIG. It is a figure explaining an effect|action. It is a figure explaining an effect|action. It is a figure explaining an effect|action.

Preferred embodiments of the present invention will now be described in detail with reference to the drawings. It should be noted that the present invention is not to be construed as being limited to this, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

1 to 3 show the main part (robot hand part of the boxing device) of a preferred embodiment of the present invention. As shown in the figure, the boxing device 1 of this embodiment has a structure in which a robot hand 10 capable of holding a package 3 is attached to the bottom surface of the tip of a robot arm 2 that moves along a preset trajectory. ing.

The robot hand 10 includes a tubular main body 11 for sucking and holding the package 3 and an edge folding portion 12 for folding the ear 3a of the package 3 . The tubular main body 11 includes a cylindrical upper tubular body 13 and a lower tubular body 14 mounted below the upper tubular body 13. The lower portion of the upper tubular body 13 is the lower tubular body. It adopts the configuration inserted in 14 .

A suction portion 15 is provided at the lower end of the lower cylindrical body 14 . The adsorption portion 15 is formed in an elongated, substantially rectangular shape so as to extend in a horizontal direction orthogonal to the vertically extending lower cylindrical body 14 . A plurality of through holes (not shown) penetrating vertically are formed in the adsorption portion 15 . The lower surface of the adsorption part 15 becomes an adsorption surface. Further, in this embodiment, a plurality of (for example, four) packages 3 are configured to be able to be sucked and held at the same time. The ear portions 3a at both ends of each package 3 are held by suction in a layout such that they are located on both sides of the long sides of the suction portion 15.例文帳に追加

The outer diameter of the upper tubular body 13 and the inner diameter of the lower tubular body 14 are made substantially equal to prevent air from leaking from the contact surfaces of the two tubular bodies 13 and 14 . In order to ensure the airtightness between the upper tubular body 13 and the lower tubular body 14, for example, an O-ring is attached, the contact surface is covered with silicone rubber or the like, or grease is interposed. Various methods can be adopted. Also, the upper cylindrical body 13 is linked to a suction pump (not shown) through the robot arm 2 .

As a result, for example, as shown in FIGS. 2 and 3, when the suction portion 15 contacts the upper surface of the package 3 and closes the through hole, negative pressure is generated in the tubular body 11 when the suction is driven. The package 3 is sucked by the suction part 15 . If the suction process is continued in this state, the negative pressure inside the tubular body 11 increases, causing the lower tubular body 14 to move upward relative to the upper tubular body 13 (approaching the robot arm 2). Moving). Therefore, assuming that the position of the upper tubular body 13 is constant, the package 3 sucked and held by the lower tubular body 14 (suction portion 15) also moves upward.

Furthermore, a first elongated hole 21 extending in the vertical direction is formed in the side surface of the lower cylindrical body 14 located on one long side of the adsorption portion 15 , and a second elongated hole 21 is inserted into the first elongated hole 21 . One stopper pin 31 is provided. When the lower cylindrical body 14 moves up and down as the suction is turned on and off, the first stopper pin 31 relatively moves along the inside of the first elongated hole 21 . Then, for example, when the lower cylindrical body 14 moves downward, the first stopper pin 31 relatively moves upward within the first long hole 21, and when it reaches the upper end of the first long hole 21, further downward movement is inhibited. be done. Similarly, when the lower cylindrical body 14 moves upward, the first stopper pin 31 relatively moves downward within the first elongated hole 21, and when it reaches the lower end of the first elongated hole 21, further upward movement is inhibited. be done.

A second elongated hole 22 extending in the vertical direction is formed in the side surface of the lower cylindrical body 14 located on the other long side of the adsorption portion 15 , and a second elongated hole 22 is inserted into the second elongated hole 22 . Two stopper pins 32 are provided. When the lower cylindrical body 14 moves up and down as the suction is turned on and off, the second stopper pin 32 relatively moves along the inside of the second elongated hole 22 . Then, for example, when the lower cylindrical body 14 moves downward, the second stopper pin 32 relatively moves upward within the second long hole 22, and when it reaches the upper end of the second long hole 22, further downward movement is inhibited. be done. Similarly, when the lower tubular body 14 moves upward, the second stopper pin 32 relatively moves downward within the second elongated hole 22, and when it reaches the lower end of the second elongated hole 22, further upward movement is inhibited. be done.

In this manner, both the first stopper pin 31 and the second stopper pin 32 have the function of restricting the vertical movement of the lower cylindrical body 14, and when the heights of the two are different, the upper end of the elongated hole is first removed. Alternatively, the vertical movement of the lower cylindrical body 14 is regulated preferentially by contacting the lower end. In this embodiment, the second stopper pin 32 is fixed and the first stopper pin 31 is vertically movable. For example, the vertically movable configuration is preferably as follows.

In this embodiment, the first cylinder 41 is attached to the upper tubular body 13 or the robot arm 2 . More specifically, the first cylinder 41 is attached so that its cylinder rod 41a protrudes downward and reciprocates vertically. Then, the first stopper pin 31 is connected to the tip of the cylinder rod 41a. As a result, as the cylinder rod 41 a of the first cylinder 41 reciprocates, the tip of the cylinder rod 41 a and thus the first stopper pin 31 relatively move up and down within the first elongated hole 21 . When the cylinder rod 41a is extended and the first stopper pin 31 is positioned at the lowest position, the first cylinder 41 is, for example, the same height as the second stopper pin 32. When the one stopper pin 31 is positioned at the uppermost position, it is positioned higher than the second stopper pin 32 by a predetermined distance, for example.

In this way, when the first stopper pin 31 is at the uppermost position, the downward movement of the lower cylindrical body 14 accompanying the suction off causes the first stopper pin 31 and the second stopper pin 32 to extend to the first length. It moves relatively upward in the hole 21 and the second elongated hole 22 . Then, the first stopper pin 31 reaches the upper end of the first long hole 21 first. Therefore, the lower tubular body 14 is prevented from descending any further.

On the other hand, when the first stopper pin 31 is at the lowest position, the downward movement of the lower cylindrical body 14 accompanying the suction off causes the first stopper pin 31 and the second stopper pin 32 to move to the first long hole 21 and the second stopper pin 32, respectively. It moves relatively upward within the second elongated hole 22 . The first stopper pin 31 and the second stopper pin 32 simultaneously reach the upper ends of the first elongated hole 21 and the second elongated hole 22, respectively. Further lowering of the lower tubular body 14 is suppressed. That is, when the first stopper pin 31 is at the lowest position, the lower cylindrical body 14 moves downward to a position corresponding to the installation height of the second stopper pin 32, and the first stopper pin 31 is at the uppermost position. Sometimes, it can only move downward to a position higher than that position by a predetermined distance (e.g., corresponding to the movement stroke of the cylinder rod 41a).

Further, when the lower cylindrical body 14 is moved upward due to suction-on, regardless of the state of the first cylinder 41, i.e., the position of the first stopper pin 31, it rises to a height that is regulated by the second stopper pin 32. Any further movement is inhibited.

As described above, in the present embodiment, by driving the first cylinder 41 to move the first stopper pin 31 up and down, it is possible to change the lower stop position of the lower cylindrical body 14 that descends when the suction is turned off. Furthermore, regardless of the position of the first stopper pin 31, the upper stop position of the lower cylindrical body 14 that rises when suction is turned on can be made constant.

On the other hand, the edge folding portion 12 includes a pair of edge folding plate members 25 and an opening/closing mechanism 26 for opening and closing the edge folding plate members 25 . A pair of plate-shaped members 25 are arranged outside both side surfaces of the lower cylindrical body 14 having the first elongated hole 21 and the second elongated hole 22, and are arranged at a predetermined angle so that the lower portion opens and closes in the space outside the lower tubular body 14. It opens and closes by rotating forward and backward within the range.

The opening/closing mechanism 26 includes a second cylinder 42 and a third cylinder 43 that are vertically arranged in series, a link mechanism 27 linked to the cylinder rod 43a of the third cylinder 43, and the like. The third cylinder 43 moves up and down as the cylinder rod 42a of the second cylinder 42 reciprocates. As the tip position of the cylinder rod 43a of the third cylinder 43 connected to the link mechanism 27 moves up and down, the plate member 25 rotates forward and backward about its upper edge.

Therefore, for example, when the cylinder rod 42a of the second cylinder 42 and the cylinder rod 43a of the third cylinder 43 are both raised and housed in the cylinder body as shown in FIGS. The lower ends of the members 25 are both located outside the upper ends (in the direction away from the side surface of the lower tubular body 14), and are in an open standby posture. Further, for example, when the second cylinder 42 is driven from the standby posture and the tip of the cylinder rod 42a moves downward, the tip position of the cylinder rod 43a of the third cylinder 43 also moves downward. The plate-like member 25 rotates by an angle, and the lower ends of the plate-like member 25 approach each other and close. Further, when the third cylinder 43 is driven from this state and the tip of the cylinder rod 43a moves downward, the plate-like member 25 rotates further, and the lower ends thereof approach each other. For example, when the second cylinder 42 is driven, the cylinder rod 42a extends, and the plate member 25 closes in the first motion posture, the pair of plate members 25 are oriented in the vertical direction and parallel to each other. In the second operation posture in which the third cylinder 43 is driven from the second cylinder 43 to extend the cylinder rod 43a and further close the plate-like member 25, the lower ends of the pair of plate-like members 25 are located inside the upper edges (on the side surface of the lower tubular body 14). approaching direction), and the lower end is tapered.

Furthermore, in this embodiment, the plate member 25 is configured to be vertically movable relative to the tubular body 11 . That is, the fourth cylinder 44 is arranged so that the cylinder rod protrudes downward, and the entire edge folded portion 12 moves up and down as the cylinder rod reciprocates as the fourth cylinder 44 is driven. For example, the upper end of the plate-like member 25 may be rotatably attached to the base member attached to the tip of the cylinder rod, or the main body of the second cylinder 42 may be attached.

The boxing apparatus 1 having the above-described configuration operates, for example, as follows, and sucks and holds a plurality (for example, four) of the packages 3 moving along the upstream conveying path. Control is performed for batch packaging by transferring and supplying the products into the boxes waiting on the conveying path.

For example, the robot arm 2 positions the robot hand 10 above the package 3 waiting on the transport path 60 on the upstream side. In this state, the package 3 does not come into contact with the adsorption section 15 and is in an open state, so the lower cylindrical body 14 is positioned at the lowest position regardless of whether the suction is on or off. At this time, the first stopper pin 31 is at the lower position, and the lower cylindrical body 14 is at the lowest position restricted by the second stopper pin 32 . Also, the plate-like member 25 maintains the open standby posture.

In this state, the robot arm 2 operates, and the tubular main body 11 (the lower tubular body 14, etc.) and the plate-shaped member 25 descend together, and as shown in FIG. The adsorption part 15 contacts the upper surface. In this state, the suction pump is operated to suck the package 3 onto the suction portion 15 . Note that the operation of the suction pump may be started before the package 3 is brought into contact with the adsorption portion 15 .

As the suction is turned on, the package 3 is sucked by the suction portion 15 and closes the through-hole, and the lower cylindrical body 14 automatically rises as shown in FIG. 4(b). At this time, since the upper cylindrical body 13 and the edge folding portion 12 remain at the positions shown in FIG. Guided by the plate-shaped member 25, it is directed downward.

Next, the second cylinder 42 is operated, the linear motion of the second cylinder 42 is converted into rotary motion by the link mechanism 27, the plate-like member 25 is closed, and the first motion posture is obtained. As a result, the tabs 3a of the package 3 are folded as shown in FIG. 4(c).

The robot arm 2 moves along a preset trajectory while maintaining the folded state of the ear portion 3a. That is, first, the tubular main body 11 (lower tubular body 14, etc.) and the plate-shaped member 25 rise together (see FIG. 5(a)), and then the box 61 waiting on the downstream conveying path is lifted. Move up. Then, the third cylinder 43 is driven to displace the pair of plate members 25 to the second motion posture (see FIG. 5(b)).

Next, the cylindrical body 11 and the plate-like member 25 in the second operating posture are lowered by the robot arm 2, enter the box 61 from the lower end of the plate-like member 25, and are packed while being sucked and held by the sucking unit 15. The body 3 is inserted into the box 61 (see FIG. 5(c)). At this time, since the plate member 25 is in the second motion posture and the lower end is narrowed, it exhibits a guiding function when entering the box 61 and can enter the box 61 smoothly. can. Along with this, the package 3 is also smoothly inserted into the box 61 .

In this embodiment, the lower end of the plate-like member 25 is located below the bottom surface of the package 3, so that the lower end of the plate-like member 25 is positioned on the bottom surface of the box 61 as shown in FIG. 5(c). When they are in contact or close to each other, the package 3 is slightly lifted from the bottom of the box 61 .

Next, the suction is turned off, and at an appropriate timing before this turning off, the first cylinder 41 is driven to raise the first stopper pin 31 . This appropriate timing may be, for example, after the plate member 25 enters the box body 61 as shown in FIG. 5(c) or before entering such as in FIG. 5(b). With this configuration, the lower tubular body 14 moves downward when the suction is turned off, but the downward movement is restrained by the first stopper pin 31 . Specifically, as shown in FIG. 5(d), at least when the package 3 is in contact with the bottom surface of the box 61 and stored, the lower cylindrical body 14 is prevented from moving downward any further. It is adjusted so that the load of the lower tubular body 14 is not applied to the package 3 and the contents. Further, the plate-like member 25 may be controlled so as to return to the first motion posture at an appropriate timing when the lower end of the plate-like member 25 enters the box 61 .

After inserting and arranging the package 3 in the box 61 in this way, the robot arm 2 raises the robot hand 10 to leave the box 61 and move the upstream transport path 60 for the next transfer. to a predetermined position above the At this time, if the tubular main body 11 (lower tubular body 14) and the plate member 25 are raised together, there is a possibility that the package 3, whose left and right sides are pressed by the pair of plate members 25, is lifted together. Therefore, in this embodiment, the fourth cylinder 44 is driven to first raise the plate member 25 . Then, even if the package 3 tries to be lifted, the suction part 15 exists in the direction of upward movement, so the package 3 is not lifted and stays in the box 61 (see FIG. 6A).

After the plate-like member 25 is removed from the package 3 (for example, after it is positioned above the box 61 (see FIG. 6B)), the robot arm 2 is operated to move the robot hand 10 (cylindrical main body 11). , plate-like member 25, etc.), and the robot hand 10 is completely removed from the box 61 (see FIG. 6(c)). After that, the robot arm 2 operates, and the robot hand 10 moves to a predetermined position above the transport path 60 on the upstream side. During this movement or after reaching above the conveying path 60, a predetermined process such as opening the plate member 25 is performed.

Various aspects of the present invention have been described above using embodiments and modifications, but these embodiments and descriptions are not intended to limit the scope of the present invention, but to aid in understanding the present invention. Please note that it is provided for your convenience. The scope of the invention is not limited to the constructions or methods of manufacture explicitly described herein, but rather includes within its scope combinations of the various aspects of the invention disclosed herein. While the claimed features of the invention are identified in the appended claims, any configuration not presently specified in the claims is disclosed herein. For the sake of clarity, it is possible that such a configuration may be claimed in the future.

Reference Signs List 1: Boxing device 2: Robot arm 3: Packaging body 3a: Selvage 10: Robot hand 11: Cylindrical main body 12: Selvage folding section 13: Upper cylindrical body 14: Lower cylindrical body 15: Adsorption section 21: First Long hole 22 : Second long hole 25 : Plate member 26 : Open/close mechanism 27 : Link mechanism 31 : First stopper pin 32 : Second stopper pin 41 : First cylinder 42 : Second cylinder 43 : Third cylinder 44 : Fourth cylinder 60 : Conveyance path 61 : Box

Claims (4)

a suction means for sucking and holding the package;
edge folding means for folding both ends of the package sucked and held by the adsorption means;
The adsorption means has a hollow adsorption box in which the position of the adsorption surface can be moved up and down,
A through hole is formed in the bottom surface of the adsorption box, and the bottom surface serves as the adsorption surface,
In the suction box, when the inside of the suction box is sucked while the package blocks the through hole, the package is held by suction on the suction surface, and the suction surface moves upward to perform the suction. In a stopped state, the attraction surface is configured to move downward,
The edge folding means includes a pair of edge folding members and a driving mechanism for opening and closing the pair of edge folding members. is configured to contact both ends of the package and fold the both ends,
An adjusting function for changing the lowering stop position of the attracting surface in the state where the attracting is stopped,
The adjusting function is such that the lowering stop position when stopping the suction and moving downward is higher than the lowering stop position when the package is sucked and held so as not to damage the package. A robot hand with an edge folding device characterized by The pair of edge folding members are configured to be vertically movable relative to the suction box,
2. The pair of edge folding members are moved upward relative to the suction box in a state in which the suction is stopped and the suction box is positioned at the lowering stop position. The robot hand with the edge folding device described in . The pair of edge fold members are rotated forward and reverse with the upper side as the center of rotation to open and close,
In the standby posture in which the pair of edge folding members are opened, the lower end sides of the pair of edge folding members are in the shape of a V shape facing outward, and the pair of edge folding members are closed from the standby posture. In the posture, the space between the lower ends of the pair of edge folding members is narrowed so that both ends of the package are contacted and folded,
The space between the lower ends of the pair of edge folding members is further narrowed from the first operating posture, the lower ends of the pair of edge folding members are located inside the upper end sides, and a second operating posture is adopted in which the lower ends are tapered and narrowed. The robot hand with an edge folding device according to claim 1 or 2, characterized by: a robot hand with an edge folding device according to any one of claims 1 to 3;
means for supporting the robot hand with the edge folding device and for moving between a plurality of points;
A cartoning apparatus, wherein the package body held by suction is supplied to a carton.

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