JP2020200054A - Robot boxing device - Google Patents

Robot boxing device Download PDF

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JP2020200054A
JP2020200054A JP2019106491A JP2019106491A JP2020200054A JP 2020200054 A JP2020200054 A JP 2020200054A JP 2019106491 A JP2019106491 A JP 2019106491A JP 2019106491 A JP2019106491 A JP 2019106491A JP 2020200054 A JP2020200054 A JP 2020200054A
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article
holding member
box
transport device
articles
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JP7250327B2 (en
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智敬 早川
Tomotaka Hayakawa
智敬 早川
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Omori Machinery Co Ltd
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Omori Machinery Co Ltd
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Abstract

To provide a robot boxing device which positions a nozzle part near a corner of a box by simple configuration/control, when feeding two articles into different boxes at the same time.CONSTITUTION: A robot boxing device comprises: a first transport device 11 for transporting articles 1 with nozzle parts 4 in two lines; a second transport device 12 for transporting a box 5 in which an upper part is opened which accommodates the articles; and an article transfer robot 13 which holds and moves the article on the first transport device and feeds the article into the box on the second transport device. The first transport device shifts a position of the article at each beginning in the two lines forward and backward along a conveying direction, and makes the nozzle part wait in a backward-looking posture. The article transfer robot holds the article at each beginning in which a first hold member and a second hold member wait on the first transport device, respectively, moves the article onto the second transport device, rotates a support member midway etc. of the movement thereof, and locates and supplies the first hold member and the second hold member to front and rear boxes waiting on the second transport device. The nozzle part of the article is located on the corner side of the box by the rotation of the support member.SELECTED DRAWING: Figure 1

Description

本発明は、ロボット箱詰め装置に関するものである。 The present invention relates to a robot boxing device.

物品用の搬送ライン上を流れる複数の物品を保持し、当該物品を箱用の搬送ライン上にある上部開口した箱内に移し替え供給するロボット箱詰め装置として、例えば特許文献１に開示された装置がある。この特許文献１に開示された装置は、ロボットアームの先端部に、回転機構を介して帯板状の支持部材を設け、その支持部材の両端に保持手段としての第１グリッパと第２グリッパとを設けたロボットを用い、箱詰め処理を行う。第１グリッパと第２グリッパの開閉作動により、起立した物品を上方から把持し、その状態でロボットアームにより物品を上部開口した箱の上に移動するとともに、第１グリッパと第２グリッパの把持を解除して物品を箱内に供給する。これにより、２個の物品を同時に同一の箱に対して箱詰めする。 A device disclosed in, for example, Patent Document 1 as a robot boxing device that holds a plurality of articles flowing on a transport line for articles and transfers and supplies the articles into a box having an upper opening on the transport line for boxes. There is. In the device disclosed in Patent Document 1, a strip-shaped support member is provided at the tip of a robot arm via a rotation mechanism, and a first gripper and a second gripper as holding means are provided at both ends of the support member. Boxing processing is performed using a robot provided with. By opening and closing the first gripper and the second gripper, the standing article is gripped from above, and in that state, the article is moved onto the box with the upper opening by the robot arm, and the first gripper and the second gripper are gripped. Release and supply the goods into the box. As a result, two articles are packed in the same box at the same time.

特開２００６−９６４０８号JP-A-2006-96408

箱詰め対象の物品が、例えばノズル付き容器のようなものの場合、ノズルの先端は容器本体の外周縁よりも外側に突出するものがある。そのようなノズル付き容器を箱詰めする場合、例えば矩形の箱の内寸は、容器本体の外周の寸法形状に応じたものとし、ノズルを例えば矩形の箱の角部付近に位置するように収納すると、箱の寸法を容器本体の外形寸法に比べてさほど大きくすること無く、ノズルを含めて綺麗に収納できるとともに、容器本体も箱の内周面との隙間を小さくすることが可能となる。 When the article to be boxed is, for example, a container with a nozzle, the tip of the nozzle may protrude outward from the outer peripheral edge of the container body. When packing such a container with a nozzle into a box, for example, the inner dimensions of the rectangular box shall correspond to the dimensions and shape of the outer circumference of the container body, and the nozzle may be stored so as to be located near the corner of the rectangular box, for example. The size of the box can be neatly stored including the nozzle without making it much larger than the outer size of the container body, and the gap between the container body and the inner peripheral surface of the box can be reduced.

しかし、特許文献１のように、複数の容器を同時に把持し、同時に箱詰めするような装置では、複数の容器を、それぞれノズルの角度を所定の向きに揃えて箱詰めするのは難しい。また、例えば、第１グリッパと第２グリッパのそれぞれを自転可能にし、容器を把持した状態で各グリッパが回転することでノズルの向きを変移させることはできるものの装置の構造が複雑化する。 However, in a device such as Patent Document 1 in which a plurality of containers are simultaneously gripped and packed in a box at the same time, it is difficult to pack the plurality of containers in a box with the nozzle angles aligned to a predetermined direction. Further, for example, the first gripper and the second gripper can each rotate, and the direction of the nozzle can be changed by rotating each gripper while holding the container, but the structure of the device is complicated.

上述した課題はそれぞれ独立したものとして記載しているものであり、本発明は、必ずしも記載した課題の全てを解決できる必要はなく、少なくとも一つの課題が解決できれば良い。またこの課題を解決するための構成についても単独で分割出願・補正等により権利取得する意思を有する。 The above-mentioned problems are described as independent of each other, and the present invention does not necessarily have to be able to solve all of the described problems, as long as at least one problem can be solved. In addition, we have the intention to acquire the rights to the structure for solving this problem independently by divisional application, amendment, etc.

上述した課題を解決するために、本発明のロボット箱詰め装置は、（１）ノズル部を備えた物品を２列で搬送する第一搬送装置と、前記物品を収納する上部開口する箱を搬送する第二搬送装置と、前記第一搬送装置上の前記物品を保持するとともに移動して前記第二搬送装置上の前記箱に供給する物品移し替えロボットを備え、前記第一搬送装置は、前記２列のそれぞれの先頭の前記物品の位置を、搬送方向に沿って前後にずらし、前記ノズル部を後ろ向きの状態で待機させるようにし、前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上で待機する前記２列の先頭の前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、前記支持部材の回転により前記物品の前記ノズル部が、前記箱の角部側に位置するように構成した。 In order to solve the above-mentioned problems, the robot boxing device of the present invention (1) transports a first transport device for transporting articles provided with nozzles in two rows and a box having an upper opening for storing the articles. The first transfer device includes a second transfer device and an article transfer robot that holds and moves the article on the first transfer device and supplies it to the box on the second transfer device. The position of the article at the head of each row is shifted back and forth along the transport direction so that the nozzle portion stands by in a backward state, and the article transfer robot rotates in a plane parallel to the transport surface. A possible support member, a first holding member and a second holding member supported by the support member, and a moving means for moving the support member onto the first transfer device and the second transfer device are provided. The article transfer robot holds the articles at the head of the two rows in which the first holding member and the second holding member stand by on the first transport device, respectively, and uses the moving means to hold the articles with the first holding member. The second holding member is moved onto the second transport device, and the support member is rotated during the movement or on the second transport device to move the first holding member and the second holding member to the second. Positioned on the box before and after waiting on the transport device, the holding of the first holding member and the second holding member is released so that the article is supplied to each of the boxes, and the support member The nozzle portion of the article is configured to be located on the corner portion side of the box by rotation.

このようにすると、例えば物品移し替えロボットが、支持部材を第一搬送装置上の所定位置に移動させると共に、支持部材を回転させることで、第一保持部材と第二保持部材をそれぞれ第一搬送装置上で待機する２列のそれぞれの先頭の物品の上方に位置させ、当該物品を把持することができる。そして、その把持した状態のまま移動手段を動作させると、第一保持部材及び第二保持部材を第二搬送装置上に位置させることができ、さらに適宜のタイミングで支持部材を回転させることで第一保持部材と第二保持部材をそれぞれ第二搬送装置で搬送される異なる箱の上に位置させることができ、把持を解除することで、物品をそれぞれの箱に供給することができる。さらに、第一搬送装置上で待機する物品は、ともに後ろ側を向いているため、上記のように支持部材を回転させると、第一保持部材及び第二保持部材は、物品を保持した状態のまま支持部材の回転中心を中心とする所定の演習場を移動し、それに伴い物品のノズル部の向きも回転し、箱の角部付近に至る。このように、本発明によれば、第一搬送装置上で待機する物品のノズルの向きを後ろ向きにすることで、支持部材の回転により物品移し替えロボットが保持する２の物品のノズル部の向きを変えて箱の角部側に合わせることができる。 In this way, for example, the article transfer robot moves the support member to a predetermined position on the first transfer device and rotates the support member to first transfer the first holding member and the second holding member, respectively. It can be positioned above the leading article in each of the two rows waiting on the device to grip the article. Then, when the moving means is operated in the gripped state, the first holding member and the second holding member can be positioned on the second transport device, and the support member is further rotated at an appropriate timing to obtain the second holding member. The first holding member and the second holding member can be positioned on different boxes transported by the second transport device, and the articles can be supplied to the respective boxes by releasing the grip. Further, since the articles waiting on the first transport device are both facing the rear side, when the support member is rotated as described above, the first holding member and the second holding member are in a state of holding the articles. As it is, it moves in a predetermined training ground centered on the center of rotation of the support member, and the direction of the nozzle portion of the article also rotates accordingly to reach the vicinity of the corner portion of the box. As described above, according to the present invention, by making the direction of the nozzle of the article waiting on the first transport device backward, the direction of the nozzle portion of the article 2 held by the article transfer robot by the rotation of the support member. Can be changed to fit the corner side of the box.

例えば、ノズル部付きの物品は、ノズル部の先端が物品の容器本体の周縁よりも外に出っ張っているものがあり、そのような物品では箱入れの際にノズル部の向きを合わせるのは重要であるが、本発明では、ノズル部が上流を向いている物品を二個とって、支持部材が回転することで、ノズル部の向きをよい位置にそろえることができる。 For example, in some articles with a nozzle portion, the tip of the nozzle portion protrudes outside the peripheral edge of the container body of the article, and in such an article, it is important to align the nozzle portion when putting in a box. However, in the present invention, the orientation of the nozzle portion can be aligned in a good position by taking two articles whose nozzle portions are facing upstream and rotating the support member.

（２）前記箱は、前記物品を２個並べて収納するものであり、前記第二搬送装置は、前記箱を平面視で横長の状態で搬送するようにし、前記第一保持部材は、前記箱の搬送方向の左側を或いは右側の一方側に保持した前記物品を供給し、前記第二保持部材は、前記第一保持部材と異なる側に保持した前記物品を供給するとよい。このようにすると、簡単な動作・制御で、最終的に２個の物品を箱内の所定位置に供給することができる。 (2) The box is for storing two articles side by side, the second transport device transports the box in a horizontally long state in a plan view, and the first holding member is the box. It is preferable to supply the article holding the left side in the transport direction or one side on the right side, and the second holding member supplies the article held on a side different from the first holding member. In this way, two articles can be finally supplied to a predetermined position in the box with simple operation and control.

（３）前記箱は、前記物品を２個並べて収納するものであり、前記箱の本体の上端開口部における一方の短辺に、中仕切用フラップを設け、前記物品移し替えロボットは、前記箱に対して最初に供給する前記物品は、前記中仕切用フラップを設けた前記短辺側に行うようにし、前記箱内に前記最初の物品を供給した状態で前記中仕切用フラップを折り曲げる折り曲げ手段を備え、前記物品移し替えロボットにより、前記箱に対して２つめの前記物品を供給する際に、その供給する前記物品が前記折り曲げられた前記中仕切用フラップを箱内に押し込むようにするとよい。このようにすると、簡単な動作・制御で、同一の箱内に収納される２個の物品の間に、中仕切用フラップを介在させ、中仕切用フラップ入りの箱を形成できる。 (3) The box is for storing two articles side by side. A flap for partitioning is provided on one short side of the upper end opening of the main body of the box, and the article transfer robot is the box. The article to be supplied first is to be provided on the short side side provided with the flap for the partition, and the folding means for bending the flap for the partition while the first article is supplied into the box. When the second article is supplied to the box by the article transfer robot, the article to be supplied may push the bent partition flap into the box. .. In this way, a box containing the partition flap can be formed by interposing a partition flap between two articles stored in the same box with simple operation and control.

（４）前記箱は、前記物品を１個収納するものであり、前記第一保持部材と前記第二保持部材は、前後に並ぶ前記箱にそれぞれ保持した前記物品を供給するとよい。このようにすると、効率よく、１個入りの箱に対し、ノズル部の向きを箱の角部に向けた状態で箱詰め処理を行える。上記の（２），（３）の発明と組み合わせると、例えば第二搬送装置で搬送する箱の種類を変えることで、一個入れと二個入れを許容できる。 (4) The box stores one of the articles, and the first holding member and the second holding member may supply the articles held in the boxes arranged one after the other. By doing so, it is possible to efficiently perform the boxing process for a box containing one box with the nozzle portion facing the corner of the box. When combined with the inventions (2) and (3) above, for example, by changing the type of the box to be conveyed by the second transfer device, it is possible to allow one case and two cases.

（５）前記第一搬送装置は、前記物品が移動する経路となる第一通路部及び第二通路部を備え、前記第一通路部と前記第二通路部の搬入口付近に、その上流側から搬送されてくる前記物品をいずれかの通路に振り分ける手段を配置し、前記第一通路部を移動する前記物品の前記ノズル部は、その第一通路部の通路を形成する一対の周壁の少なくとも一方に接触して前記後ろ向きの状態になり、前記第二通路部を移動する前記物品の前記ノズル部は、その第二通路部の通路を形成する一対の周壁の少なくとも一方に接触して前記後ろ向きの状態になるようにし、前記第一通路部と前記第二通路部における前記物品の搬出口の位置を搬送方向に対して前後にずらすようにするとよい。このようにすると、例えば第一通路部及び第二通路部の上流側からノズル部の向きが前向きと後ろ向きでランダムな状態で搬送されてきても、第一通路部と第二通路部から搬出される際には後ろ向きにそろえることができる。 (5) The first transport device includes a first passage portion and a second passage portion that serve as a route for the article to move, and is located on the upstream side of the first passage portion and the vicinity of the carry-in entrance of the second passage portion. A means for distributing the article transported from the above to any passage is arranged, and the nozzle portion of the article moving in the first passage portion is at least a pair of peripheral walls forming the passage of the first passage portion. The nozzle portion of the article that comes into contact with one of them to be in the backward facing state and moves in the second passage portion is in contact with at least one of a pair of peripheral walls forming the passage of the second passage portion and is facing backward. It is preferable to shift the positions of the carry-out outlets of the articles in the first passage portion and the second passage portion back and forth with respect to the transport direction. In this way, for example, even if the nozzles are transported from the upstream side of the first passage and the second passage in a random state with the nozzles facing forward and backward, they are carried out from the first passage and the second passage. When you do, you can align it backwards.

（６）前記第一通路部の搬出口或いは前記第二通路部の搬出口で待機する前記物品の前記ノズル部に対し、前記第一搬送装置の搬送方向に対して交差する方向に付勢して前記ノズル部の向きを揃える機能を備えるとよい。このようにすると、ノズル部の向きを精度良くそろえることができ、箱の角部に精度良く向かせることが可能となるので良い。 (6) The nozzle portion of the article waiting at the carry-out port of the first passage portion or the carry-out outlet of the second passage portion is urged in a direction intersecting the transport direction of the first transport device. It is preferable to have a function of aligning the directions of the nozzle portions. In this way, the orientation of the nozzle portions can be accurately aligned, and it is possible to accurately align the nozzle portions with the corners of the box.

（７）第一搬送装置上の物品を保持するとともに移動して第二搬送装置上の箱に供給する物品移し替えロボットを備え、前記箱は、前記物品を２個並べて収納するものであり、前記箱の本体の上端開口部における一方の短辺に、中仕切用フラップを設け、前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上の２つの前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、前記物品移し替えロボットは、前記箱に対して最初に供給する前記物品は、前記中仕切用フラップを設けた前記短辺側に行うようにし、前記箱内に前記最初の物品を供給した状態で前記中仕切用フラップを折り曲げる折り曲げ手段を備え、前記物品移し替えロボットにより、前記箱に対して２つめの前記物品を供給する際に、その供給する前記物品が前記折り曲げられた前記中仕切用フラップを箱内に押し込むようにするとよい。このようにすると、箱内に物品を２個並べて収納するものにおいて、２個並びの物品間に中仕切を配置することができるのでよい。 (7) An article transfer robot that holds and moves the articles on the first transfer device and supplies them to the box on the second transfer device is provided, and the box stores two of the articles side by side. A flap for partitioning is provided on one short side of the upper end opening of the main body of the box, and the article transfer robot is supported by a support member that can rotate in a plane parallel to the transport surface and the support member. The first holding member and the second holding member, and the moving means for moving the support member onto the first transport device and the second transport device are provided, and the article transfer robot includes the first holding member. The second holding member holds the two articles on the first transport device, respectively, and the first holding member and the second holding member are moved onto the second transport device by the moving means, and the movement thereof. The support member is rotated on the way or on the second transport device to position the first holding member and the second holding member on the boxes before and after waiting on the second transport device. The holding member and the second holding member are released so that the article is supplied to the respective boxes, and the article transfer robot first supplies the article to the box. It is provided on the short side side provided with the partition flap, and is provided with a folding means for bending the middle partition flap while the first article is supplied into the box, and the article transfer robot is used to move the article into the box. On the other hand, when the second article is supplied, the article to be supplied may push the bent partition flap into the box. In this way, in a box in which two articles are stored side by side, a partition can be arranged between the two articles.

（８） 物品を２列で搬送する第一搬送装置と、前記物品を収納する上部開口する箱を搬送する第二搬送装置と、前記第一搬送装置上の前記物品を保持するとともに移動して前記第二搬送装置上の前記箱に供給する物品移し替えロボットを備え、前記第一搬送装置は、前記２列のそれぞれの先頭の前記物品の位置を、搬送方向に沿って前後にずらした状態で待機させるようにし、前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上で待機する前記２列の先頭の前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、前記第一搬送装置で待機する前記２列のそれぞれの先頭の前記物品の相対位置を変更調整可能に構成し、その相対位置の変更にあわせて前記支持部材に支持される前記第一保持部材及び前記第二保持部材の間隔を異ならせるように構成したことをするとよい。このようにすると、１個入り用の箱と、２個入り用の箱を兼用したロボット箱詰め装置を構成できるのでよい。待機する各先頭の物品の相対位置の変更調整は、搬送方向に沿った方向の距離と、搬送方向に対して直交する方向の距離の少なくとも一方を変えるようにすると良く、特に、ノズル部を備えた物品の場合、両方とも変更できるようにするとより好ましい。係る変更調整に応じて行う第一保持部材及び前記第二保持部材の間隔を異ならせるようにする構成は、例えば、同一の支持部材に取り付ける第一保持部材と第二保持部材の少なくとも一方を支持部材に対して移動可能に構成するようにしたり、予め異なる間隔になるように支持部材に取り付けたものを複数用意し、移動手段に着脱したりするとよい。 (8) A first transport device for transporting articles in two rows, a second transport device for transporting an upper opening box for storing the articles, and the articles on the first transport device are held and moved. A state in which the article transfer robot for supplying to the box on the second transfer device is provided, and the position of the article at the head of each of the two rows is shifted back and forth along the transfer direction. The article transfer robot makes the article transfer robot stand by with a support member that can rotate in a plane parallel to the transport surface, a first holding member and a second holding member supported by the support member, and the support member. The article transfer robot includes moving means for moving onto the first transfer device and the second transfer device, and the first holding member and the second holding member stand by on the first transfer device. Each of the articles at the head of the two rows is held, and the first holding member and the second holding member are moved onto the second transport device by the moving means, and the movement is in progress or on the second transport device. The support member is rotated to position the first holding member and the second holding member on the boxes before and after waiting on the second transport device, and the first holding member and the second holding member The holding is released so that the article is supplied to each of the boxes, and the relative position of the article at the head of each of the two rows waiting in the first transfer device can be changed and adjusted, and the relative position thereof It is preferable that the first holding member and the second holding member supported by the support member have different intervals according to the change. In this way, a robot boxing device that also serves as a box for one piece and a box for two pieces can be configured. It is preferable to change and adjust the relative position of each of the leading articles on standby by changing at least one of the distance in the direction along the transport direction and the distance in the direction orthogonal to the transport direction, and in particular, the nozzle portion is provided. In the case of articles, it is more preferable to be able to change both. The configuration for making the distance between the first holding member and the second holding member different according to the change adjustment supports, for example, at least one of the first holding member and the second holding member attached to the same support member. It is preferable to configure the members so that they can be moved, or to prepare a plurality of members attached to the support members at different intervals in advance and attach / detach them to the moving means.

本発明によれば、２個の物品を同時に別々の箱内に供給するに際し、簡単な構成・制御でノズル部をそれぞれの箱の角部付近に向かせることができる。 According to the present invention, when two articles are simultaneously supplied into separate boxes, the nozzle portion can be directed toward the corners of the respective boxes with a simple configuration and control.

本発明に係るロボット箱詰め装置の好適な一実施形態を示す平面図である。It is a top view which shows one preferable embodiment of the robot boxing apparatus which concerns on this invention. 第一搬送装置上に配置する物品の振り分け・ノズル部の向き揃え機構を示す図である。It is a figure which shows the sorting mechanism of the article to arrange on the 1st transfer apparatus, and the orientation alignment mechanism of a nozzle part. その作用を説明する図である。It is a figure explaining the action. 物品移し替えロボットを示す図（その１）である。It is a figure (the 1) which shows the article transfer robot. 物品移し替えロボットを示す図（その２）である。It is a figure (No. 2) which shows the article transfer robot. 物品移し替えロボットを示す図（その３）である。It is a figure (3) which shows the article transfer robot. 物品移し替えロボットを示す図（その４）である。It is a figure (4) which shows the article transfer robot. 箱に供給する際のノズル部の向きを、箱の角付近にする機能を説明図である。It is explanatory drawing of the function which makes the direction of the nozzle part when supplying to a box near the corner of a box. 中仕切付の箱を形成する機能を説明図である。It is explanatory drawing of the function of forming a box with a partition. ２個入り用箱に対する箱詰め処理を説明する図である。It is a figure explaining the boxing process for a box for 2 pieces. １個入り用箱に対する箱詰め処理を説明する図である。It is a figure explaining the boxing process for a box for one piece.

以下、本発明の好適な実施形態について図面に基づき、詳細に説明する。なお、本発明は、これに限定されて解釈されるものではなく、本発明の範囲を逸脱しない限りにおいて、当業者の知識に基づいて、種々の変更、修正、改良を加え得るものである。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not 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.

図１は、本発明に係るロボット箱詰め装置の好適な一実施形態を示している。本実施形態のロボット箱詰め装置は、物品１を起立姿勢で搬送する第一搬送装置１１と、その第一搬送装置１１に並列して配置され、箱５を搬送する第二搬送装置１２と、第一搬送装置１１で搬送される物品１を保持するとともに所定の軌跡で移動し第二搬送装置１２上の箱５に供給する物品移し替えロボット１３等を備える。 FIG. 1 shows a preferred embodiment of the robot boxing device according to the present invention. The robot boxing device of the present embodiment includes a first transfer device 11 that conveys an article 1 in an upright posture, a second transfer device 12 that is arranged in parallel with the first transfer device 11 and conveys a box 5, and a second transfer device 12. It is provided with an article transfer robot 13 or the like that holds the article 1 transported by the transfer device 11 and moves along a predetermined trajectory to supply the box 5 on the second transfer device 12.

箱５に対する箱詰め対象の物品１は、本実施形態では、例えばノズル付容器としている。ノズル付容器は、図６，図７，図１０等に示すように、有底で略円筒状の容器本体２と、容器本体２の上方開口部位である首部に装着するキャップ部３と、そのキャップ部３に設け容器本体２に収納した内容物を吐出するためのノズル部４等を備える。 In the present embodiment, the article 1 to be boxed with respect to the box 5 is, for example, a container with a nozzle. As shown in FIGS. 6, 7, 10, 10 and the like, the container with a nozzle includes a bottomed and substantially cylindrical container body 2, a cap portion 3 attached to the neck portion which is an upper opening portion of the container body 2, and a cap portion 3 thereof. The cap portion 3 is provided with a nozzle portion 4 and the like for ejecting the contents stored in the container body 2.

第一搬送装置１１は、ベルトコンベア１４からなる搬送面を有する。物品１は、上流側の装置から第一搬送装置１１の搬送面の幅方向の中央付近に順次供給され、ノズル部４の向きがランダムな姿勢で搬送される。搬送面の上方所定位置には、物品１を搬送面の幅方向の中心位置に移動させる左右一対のガイド部１６を配置する。図２に拡大して示すように、ガイド部１６は、物品１のキャップ部３に接触する位置に配置され、一対のガイド部１６の対向面間の距離は、搬送方向の下流側にいくに従って徐々に短くなり、その最下流端では、キャップ部３の直径とほぼ等しくしている。これにより、搬送面の中央付近を移動する物品１は、左右一対のガイド部１６間の領域に進入し、そのまま前進移動すると、物品１のキャップ部３は、一方のガイド部１６に接触し、そのガイド部１６に沿って斜めに前進移動する。そして、物品１がガイド部１６の最下流端に至ると、搬送面の中心位置に位置決めされそのまま搬出される。 The first transfer device 11 has a transfer surface made of a belt conveyor 14. The article 1 is sequentially supplied from the device on the upstream side to the vicinity of the center in the width direction of the transport surface of the first transport device 11, and is transported in a random posture in the direction of the nozzle portion 4. A pair of left and right guide portions 16 for moving the article 1 to the center position in the width direction of the transport surface are arranged at a predetermined position above the transport surface. As shown enlarged in FIG. 2, the guide portion 16 is arranged at a position where it contacts the cap portion 3 of the article 1, and the distance between the facing surfaces of the pair of guide portions 16 increases toward the downstream side in the transport direction. It gradually shortens, and at its most downstream end, it is substantially equal to the diameter of the cap portion 3. As a result, the article 1 moving near the center of the transport surface enters the area between the pair of left and right guide portions 16, and when the article 1 moves forward as it is, the cap portion 3 of the article 1 comes into contact with one of the guide portions 16. It moves forward diagonally along the guide portion 16. Then, when the article 1 reaches the most downstream end of the guide portion 16, it is positioned at the center position of the transport surface and is carried out as it is.

さらに本形態では、ガイド部１６は、物品１のノズル部４に接触可能な位置に配置する。これにより、物品１がガイド部１６から搬出される際には、ノズル部４は前方或いは後方の所定角度範囲内を向いた姿勢となる。すなわち、例えばノズル部４の先端がガイド部１６に接触すると、物品１の前進移動に伴いノズル部４の先端がガイド部１６に沿って搬送面の幅方向の中央側に移動するように物品１が回転する。これにより、物品１がガイド部１６から搬出される際には、ノズル部４の先端は、左右一対のガイド部１６の最下流端の間を通過することになる。よって、ノズル部４の先端は、容器本体２の前側或いは後側に位置し、搬送方向に対して所定角度範囲内を向いた前向き或いは後ろ向きの姿勢となる。 Further, in the present embodiment, the guide portion 16 is arranged at a position where it can come into contact with the nozzle portion 4 of the article 1. As a result, when the article 1 is carried out from the guide portion 16, the nozzle portion 4 is in a posture facing the front or the rear within a predetermined angle range. That is, for example, when the tip of the nozzle portion 4 comes into contact with the guide portion 16, the tip of the nozzle portion 4 moves along the guide portion 16 toward the center in the width direction of the transport surface as the article 1 moves forward. Rotates. As a result, when the article 1 is carried out from the guide portion 16, the tip of the nozzle portion 4 passes between the most downstream ends of the pair of left and right guide portions 16. Therefore, the tip of the nozzle portion 4 is located on the front side or the rear side of the container body 2, and is in a forward or backward posture facing within a predetermined angle range with respect to the transport direction.

一対のガイド部１６の下流端には、それぞれ物品１の移動を案内する二股状に分岐した第一通路部１８と第二通路部１９を配置する。第一通路部１８は搬送方向の左側を進む経路を取り、第二通路部１９は搬送方向の右側を進む経路を取る。第一通路部１８と第二通路部１９の上流端である搬入口は、ガイド部１６の搬出口に近接した位置に配置する。第一通路部１８と第二通路部１９の搬入口近傍には、搬送面と平行な平面内で所定角度範囲内で正逆回転する振り分けプレート２０を配置する。この振り分けプレート２０は、円盤状の本体２０ａの外周縁の２箇所に略円弧状に切り欠かれた凹部２０ｂを有する形状からなり、その凹部２０ｂが物品１の容器本体２に接触可能としている。 At the downstream ends of the pair of guide portions 16, a bifurcated first passage portion 18 and a second passage portion 19 for guiding the movement of the article 1 are arranged. The first passage portion 18 takes a path traveling on the left side in the transport direction, and the second passage portion 19 takes a path traveling on the right side in the transport direction. The carry-in entrance, which is the upstream end of the first passage portion 18 and the second passage portion 19, is arranged at a position close to the carry-out outlet of the guide portion 16. In the vicinity of the carry-in entrances of the first passage portion 18 and the second passage portion 19, a distribution plate 20 that rotates forward and reverse within a predetermined angle range is arranged in a plane parallel to the transport surface. The distribution plate 20 has a shape having recesses 20b notched in a substantially arc shape at two points on the outer peripheral edge of the disk-shaped main body 20a, and the recesses 20b can come into contact with the container main body 2 of the article 1.

そして、振り分けプレート２０は、一方の凹部２０ｂがガイド部１６の下流側で当該ガイド部１６の搬出口に対向する位置に配置された姿勢で待機する。これにより、ガイド部１６から搬出された物品１は、振り分けプレート２０の凹部２０ｂに接触して一時停止する。この状態で、振り分けプレート２０が時計方向或いは反時計方向に回転すると、凹部２０ｂの位置も回転方向に移動し、それにともない凹部２０ｂ内に符合する物品１も追従して移動し、第一通路部１８或いは第二通路部１９内に供給される。これにより、振り分けプレート２０が、時計方向と反時計方向に交互に所定角度回転することで、ガイド部１６から前後一列で搬出される物品１は、交互に第一通路部１８と第二通路部１９に振り分けられる。 Then, the distribution plate 20 stands by in a posture in which one recess 20b is arranged on the downstream side of the guide portion 16 at a position facing the carry-out outlet of the guide portion 16. As a result, the article 1 carried out from the guide portion 16 comes into contact with the recess 20b of the distribution plate 20 and temporarily stops. In this state, when the distribution plate 20 rotates clockwise or counterclockwise, the position of the recess 20b also moves in the rotational direction, and along with this, the article 1 that matches the recess 20b also moves, and the first passage portion It is supplied into 18 or the second passage portion 19. As a result, the distribution plate 20 is rotated by a predetermined angle alternately in the clockwise direction and the counterclockwise direction, so that the articles 1 carried out from the guide portion 16 in a front-rear row are alternately the first passage portion 18 and the second passage portion. It is distributed to 19.

図２に拡大して示すように、第一通路部１８と第二通路部１９は、それぞれキャップ部３の直径とほぼ等しい通路幅を有し、ベルトコンベア１４から搬送力を受ける物品１は、キャップ部３が接触する第一通路部１８或いは第二通路部１９に案内され、所定の軌跡で移動する。第一通路部１８と第二通路部１９は、搬入部位となる上流側は振り分けプレート２０の本体２０ａの外周縁に対応した中心角が略９０度の円弧状の区間を有し、当該区間に続いてベルトコンベア１４の搬送方向と平行な直線状の区間を有する。第一通路部１８の直線状の区間よりも第二通路部１９の直線状の区間を長くし、当該第二通路部１９の直線状の区間の先端位置を第一通路部１８の直線状の区間よりも下流側に位置させる。さらに各直線状の区間の先端の搬出口には、それぞれスターホイール１７を配置する。各直線状の区間から搬出された物品１は、それぞれ対応するスターホイール１７にて保持されて一時停止する。これにより、第一通路部１８と第二通路部１９をそれぞれ進む先頭の物品１は、スターホイール１７にて一時停止されることから、前後にずれた特定の相対位置関係で待機する。 As shown enlarged in FIG. 2, the first passage portion 18 and the second passage portion 19 each have a passage width substantially equal to the diameter of the cap portion 3, and the article 1 receiving the conveying force from the belt conveyor 14 is The cap portion 3 is guided by the first passage portion 18 or the second passage portion 19 in contact with the cap portion 3 and moves in a predetermined trajectory. The first passage portion 18 and the second passage portion 19 have an arcuate section having a central angle of approximately 90 degrees corresponding to the outer peripheral edge of the main body 20a of the distribution plate 20 on the upstream side serving as a carry-in site. Subsequently, it has a linear section parallel to the transport direction of the belt conveyor 14. The linear section of the second passage portion 19 is made longer than the linear section of the first passage portion 18, and the tip position of the linear section of the second passage portion 19 is set to the linear section of the first passage portion 18. It is located on the downstream side of the section. Further, a star wheel 17 is arranged at the carry-out port at the tip of each linear section. The article 1 carried out from each linear section is held by the corresponding star wheel 17 and temporarily stopped. As a result, the leading article 1 traveling through the first passage portion 18 and the second passage portion 19 is temporarily stopped by the star wheel 17, and therefore stands by in a specific relative positional relationship shifted back and forth.

さらに、第一通路部１８の通路幅を規定する第一外周壁１８ａと第一内周壁１８ｂは、キャップ部３の直径とほぼ等しい間隔で平行に配置され、それら第一外周壁１８ａと第一内周壁１８ｂは、キャップ部３並びにノズル部４に接触可能な高さに配置される。そして、第一外周壁１８ａは進行方向の左側に配置されるガイド部１６に接続され、第一内周壁１８ｂの上流側の先端は、左側に配置されるガイド部１６の下流側先端部位の搬送方向下流側に位置する。なお、図２等に示すように、第一外周壁１８ａと第一内周壁１８ｂは、その上端同士が第一天板１８ｃで接続された構成となる。 Further, the first outer peripheral wall 18a and the first inner peripheral wall 18b that define the passage width of the first passage portion 18 are arranged in parallel at intervals substantially equal to the diameter of the cap portion 3, and the first outer peripheral wall 18a and the first are first. The inner peripheral wall 18b is arranged at a height that allows contact with the cap portion 3 and the nozzle portion 4. Then, the first outer peripheral wall 18a is connected to the guide portion 16 arranged on the left side in the traveling direction, and the upstream tip of the first inner peripheral wall 18b is the transport of the downstream tip portion of the guide portion 16 arranged on the left side. It is located on the downstream side in the direction. As shown in FIG. 2 and the like, the first outer peripheral wall 18a and the first inner peripheral wall 18b have a configuration in which the upper ends thereof are connected by a first top plate 18c.

同様に、第二通路部１９の通路幅を規定する第二外周壁１９ａと第二内周壁１９ｂは、キャップ部３の直径とほぼ等しい間隔で平行に配置され、それら第二外周壁１９ａと第二内周壁１９ｂは、キャップ部３並びにノズル部４に接触可能な高さに配置される。そして、第二外周壁１９ａは進行方向の右側に配置されるガイド部１６に接続され、第二内周壁１９ｂの上流側の先端は、左側に配置されるガイド部１６の下流側先端部位の搬送方向下流側に位置する。そして、図２等に示すように、第二外周壁１９ａと第二内周壁１９ｂは、その上端同士が第二天板１９ｃで接続された構成となる。 Similarly, the second outer peripheral wall 19a and the second inner peripheral wall 19b that define the passage width of the second passage portion 19 are arranged in parallel at intervals substantially equal to the diameter of the cap portion 3, and the second outer peripheral wall 19a and the second outer peripheral wall 19a are arranged in parallel. (2) The inner peripheral wall 19b is arranged at a height that allows contact with the cap portion 3 and the nozzle portion 4. Then, the second outer peripheral wall 19a is connected to the guide portion 16 arranged on the right side in the traveling direction, and the upstream tip of the second inner peripheral wall 19b conveys the downstream tip portion of the guide portion 16 arranged on the left side. It is located on the downstream side in the direction. Then, as shown in FIG. 2 and the like, the second outer peripheral wall 19a and the second inner peripheral wall 19b have a configuration in which the upper ends thereof are connected by a second top plate 19c.

上記の配置レイアウトをとることで、左右一対のガイド部１６間の搬出側の対向面には、第一内周壁１８ｂ並びに第二内周壁１９ｂの上流側端部が存在せず、開放状態となる。これにより、例えば図１，図２，図３（ａ）に示すように、左右一対のガイド部１６から搬出されて振り分けプレート２０の凹部２０ｂ内に位置する物品１が、ノズル部４を前方を向いた姿勢にある状態では、ノズル部４は、第一内周壁１８ｂと第二内周壁１９ｂの間の空間を通りさらに下流側に突出した状態となる。この状態で、振り分けプレート２０が所定方向に回転（図１，図２，図３（ａ）の例では、時計方向に回転）すると、キャップ部３は第一外周壁１８ａと第一内周壁１８ｂ間に案内されて第一通路部１８内を移動し、その際にノズル部４は第一内周壁１８ｂの上流端に接触し、ノズル部４の先端が徐々に上流側に移動するように変位する（図３（ｂ）等参照）。そして、最終的にノズル部４は第一外周壁１８ａと第一内周壁１８ｂとの間の通路に進入する（図３（ｃ）等参照）。これにより、第一通路部１８内では、物品１はノズル部４が進行方向の後側に向いた姿勢で移動する。同様に、第二通路部１９内に移動した物品１は、ノズル部４が第二内周壁１９ｂに接触して向きを変えながら第二通路部１９内を移動する（図３（ｄ）等参照）。 By adopting the above arrangement layout, the upstream end portion of the first inner peripheral wall 18b and the second inner peripheral wall 19b does not exist on the opposite surface between the pair of left and right guide portions 16 on the carry-out side, and the state is opened. .. As a result, as shown in FIGS. 1, 2, and 3 (a), the article 1 carried out from the pair of left and right guide portions 16 and located in the recess 20b of the distribution plate 20 moves the nozzle portion 4 forward. In the facing posture, the nozzle portion 4 passes through the space between the first inner peripheral wall 18b and the second inner peripheral wall 19b and protrudes further downstream. In this state, when the distribution plate 20 rotates in a predetermined direction (in the example of FIGS. 1, 2, and 3 (a), it rotates clockwise), the cap portion 3 has the first outer peripheral wall 18a and the first inner peripheral wall 18b. Guided between them, they move in the first passage portion 18, at which time the nozzle portion 4 comes into contact with the upstream end of the first inner peripheral wall 18b and is displaced so that the tip of the nozzle portion 4 gradually moves to the upstream side. (See Fig. 3 (b), etc.). Finally, the nozzle portion 4 enters the passage between the first outer peripheral wall 18a and the first inner peripheral wall 18b (see FIG. 3C and the like). As a result, in the first passage portion 18, the article 1 moves in a posture in which the nozzle portion 4 faces the rear side in the traveling direction. Similarly, the article 1 that has moved into the second passage portion 19 moves in the second passage portion 19 while the nozzle portion 4 contacts the second inner peripheral wall 19b and changes its direction (see FIG. 3D and the like). ).

一方、ノズル部４が進行方向の後ろを向いた姿勢でガイド部１６内を移動する物品１は、ノズル部４が第一外周壁１８ａ或いは第二外周壁１９ａに接触して向きを変えながら第一通路部１８或いは第二通路部１９内を移動する（図３（ｄ）等参照）。よって、第一通路部１８並びに第二通路部１９内を移動し、スターホイール１７にて一時停止される物品１は、ノズル部４が全て進行方向の後側を向いた姿勢に揃う。 On the other hand, in the article 1 in which the nozzle portion 4 moves in the guide portion 16 with the nozzle portion 4 facing backward in the traveling direction, the nozzle portion 4 comes into contact with the first outer peripheral wall 18a or the second outer peripheral wall 19a and changes its direction. It moves in the one passage portion 18 or the second passage portion 19 (see FIG. 3D and the like). Therefore, the article 1 that moves in the first passage portion 18 and the second passage portion 19 and is temporarily stopped by the star wheel 17 is aligned with the nozzle portions 4 facing the rear side in the traveling direction.

さらに本実施形態では、天板１８ｃ、１９ｃの下流側の端部は、その一部が切り欠いている（図２等参照）。これによりノズル部４の回転は規制されるが、物品１の取り出し時にノズル部４が天板１８ｃ，１９ｃに干渉しない。 Further, in the present embodiment, a part of the downstream ends of the top plates 18c and 19c is cut out (see FIG. 2 and the like). As a result, the rotation of the nozzle portion 4 is restricted, but the nozzle portion 4 does not interfere with the top plates 18c and 19c when the article 1 is taken out.

図４〜図７等に示すように、本形態の物品移し替えロボット１３は、ロボットアーム２１が水平平面内の所定の領域内を移動するスカラロボットからなり、ロボットアーム２１の先端に支持軸２２を昇降可能に配置し、その支持軸２２の下端に支持軸２２と直交する水平平面内で回転する回転機構２３を取り付け、その回転機構２３に２本の支持ロッド２４を介して帯板状の支持部材２５を取り付け、支持部材２５の両端の下面側に第一保持部材２６と第二保持部材２７を設ける。第一保持部材２６は、開閉する３片の把持爪２６ａを有し、その把持爪２６ａが閉じることで物品１のキャップ部３の外周囲を三点支持してしっかり保持する。同様に、第二保持部材２７は、開閉する３片の把持爪２７ａを有し、その把持爪２７ａが閉じることで物品１のキャップ部３の外周囲を三点支持してしっかり保持する。 As shown in FIGS. 4 to 7, the article transfer robot 13 of this embodiment is composed of a SCARA robot in which the robot arm 21 moves within a predetermined area in a horizontal plane, and a support shaft 22 is attached to the tip of the robot arm 21. Is arranged so as to be able to move up and down, a rotating mechanism 23 that rotates in a horizontal plane orthogonal to the support shaft 22 is attached to the lower end of the support shaft 22, and the rotating mechanism 23 is in the shape of a strip via two support rods 24. The support member 25 is attached, and the first holding member 26 and the second holding member 27 are provided on the lower surface sides of both ends of the support member 25. The first holding member 26 has three pieces of gripping claws 26a that open and close, and when the gripping claws 26a are closed, the outer periphery of the cap portion 3 of the article 1 is supported at three points and firmly held. Similarly, the second holding member 27 has three pieces of gripping claws 27a that open and close, and when the gripping claws 27a are closed, the outer periphery of the cap portion 3 of the article 1 is supported at three points and firmly held.

第一保持部材２６と第二保持部材２７との距離は、第一通路部１８と第二通路部１９の下流端側においてそれぞれスターホイール１７にて一時停止している物品１間の距離と等しくしている。 The distance between the first holding member 26 and the second holding member 27 is equal to the distance between the articles 1 temporarily stopped by the star wheel 17 on the downstream end side of the first passage portion 18 and the second passage portion 19, respectively. doing.

ロボットアーム２１の先端は、第一搬送装置１１の第一通路部１８と第二通路部１９の下流側端付近の上方領域（第一領域）と、第二搬送装置１２の例えば箱５への物品供給位置の上方領域（第二領域）の間を行き来するように移動する。そして、第一領域と第二領域の間を移動する際には、支持軸２２は上昇位置で保持され、第一保持部材２６，第二保持部材２７も上昇位置で移動する。一方、ロボットアーム２１の先端が第一領域並びに第二領域に至ると、支持軸２２は下降移動する。また、下降移動中或いは下降開始前の適宜のタイミングで回転機構２３が動作し、支持部材２５を水平平面内で所定角度回転させ、第一保持部材２６と第二保持部材２７を適宜の位置に位置させる。 The tip of the robot arm 21 is attached to an upper region (first region) near the downstream ends of the first passage portion 18 and the second passage portion 19 of the first transfer device 11 and to, for example, the box 5 of the second transfer device 12. It moves back and forth between the upper area (second area) of the article supply position. Then, when moving between the first region and the second region, the support shaft 22 is held in the raised position, and the first holding member 26 and the second holding member 27 also move in the raised position. On the other hand, when the tip of the robot arm 21 reaches the first region and the second region, the support shaft 22 moves downward. Further, the rotation mechanism 23 operates at an appropriate timing during the descending movement or before the start of the descending, the support member 25 is rotated by a predetermined angle in the horizontal plane, and the first holding member 26 and the second holding member 27 are placed at appropriate positions. To position.

具体的には、第一領域においては、第一保持部材２６と第二保持部材２７が、第一通路部１８と第二通路部１９の下流端側においてそれぞれスターホイール１７にて一時停止している物品１のそれぞれの上に位置する角度で停止する（図８（ｂ）等参照）。また、第二領域においては、第一保持部材２６と第二保持部材２７が保持する物品１をそれぞれ供給する箱５の上に位置する角度で停止する（図８（ａ），（ｃ）等参照）。 Specifically, in the first region, the first holding member 26 and the second holding member 27 are temporarily stopped by the star wheels 17 at the downstream end sides of the first passage portion 18 and the second passage portion 19, respectively. It stops at an angle located above each of the articles 1 (see FIG. 8B, etc.). Further, in the second region, the articles 1 held by the first holding member 26 and the second holding member 27 are stopped at an angle located on the box 5 for supplying the articles (FIGS. 8A and 8C). reference).

そして、第一領域においては、支持軸２２の下降移動に追従して支持部材２５ひいては第一保持部材２６と第二保持部材２７が下降移動し、適宜のタイミングで把持爪２６ａ，２７ａが開閉してそれぞれが物品１のキャップ部３をつかむ（図８（ｂ）等参照）。このように２つの物品１を同時に把持した状態で支持軸２２が上昇し、ロボットアーム２１が旋回してその先端が第二搬送装置１２上の第二領域に至る。このとき第二搬送装置１２における箱５の搬送は一時停止し、上方開口した箱５は物品供給位置で待機する。また、例えばこのロボットアーム２１の先端の移動中或いは第二領域に至った際に、回転機構２３が動作し、第一保持部材２６と第二保持部材２７ひいてはそれらが保持する物品１が、第二搬送装置１２上で待機する前後の箱５の所定位置に対向する角度位置にし、その状態で第二領域にある支持軸２２を下降移動する。これにより、物品１は、それぞれ箱５内の所定位置に挿入される（図８（ａ）等参照）。そして、適宜のタイミングで把持爪２６ａ，２７ａが開いて物品１に対する保持を解除し、物品１を箱５に供給する。これにより、２個の物品１を、異なる箱５に対してそれぞれ同時に箱詰めする。 Then, in the first region, the support member 25, and thus the first holding member 26 and the second holding member 27 move downward following the downward movement of the support shaft 22, and the gripping claws 26a and 27a open and close at appropriate timings. Each grabs the cap portion 3 of the article 1 (see FIG. 8B and the like). In this way, the support shaft 22 rises while holding the two articles 1 at the same time, and the robot arm 21 turns to reach the second region on the second transfer device 12. At this time, the transport of the box 5 in the second transport device 12 is temporarily stopped, and the box 5 opened upward stands by at the article supply position. Further, for example, when the tip of the robot arm 21 is moving or reaches the second region, the rotation mechanism 23 operates, and the first holding member 26, the second holding member 27, and the article 1 held by them are the first. (Ii) The support shaft 22 in the second region is moved downward in an angle position facing a predetermined position of the boxes 5 before and after waiting on the transport device 12. As a result, each of the articles 1 is inserted into a predetermined position in the box 5 (see FIG. 8A and the like). Then, the gripping claws 26a and 27a are opened at appropriate timings to release the holding of the article 1 and supply the article 1 to the box 5. As a result, the two articles 1 are packed into different boxes 5 at the same time.

一方、第二搬送装置１２は、バケットコンベアから構成され、搬送方向の前後に配置される一組の前壁部３０と後壁部３１の間で箱５を挟み込んだ状態で間欠駆動し、当該箱５を間欠搬送する。前壁部３０は、第二タイミングベルト３４に対して一定間隔毎に複数個を取付け、後壁部３１は、第一タイミングベルト３３に対して一定間隔毎に複数個を取付ける。そして、第一タイミングベルト３３は、第二搬送装置１２の搬送方向の前後に配置した第一タイミングプーリ３６に掛け渡す。また第二タイミングベルト３４は、第二搬送装置１２の搬送方向の前後に配置した第二タイミングプーリ３７に掛け渡す。前後に配置された第一タイミングプーリ３６と第二タイミングプーリ３７は、それぞれ同軸に配置され、運転中は第一タイミングプーリ３６と第二タイミングプーリ３７は同速度で回転する。これにより、第一タイミングベルト３３と第二タイミングベルト３４は同速度で回転移動し、各ベルトに取り付けられた前壁部３０と後壁部３１は、相対位置関係すなわち両者間の距離を一定に保ったまま前進移動し、それに伴い前壁部３０と後壁部３１間に挟まれた箱５を搬送する。また、第一タイミングベルト３３と第二タイミングベルト３４の相対位置を調整可能としており、前壁部３０と後壁部３１の間隔を変更することで、異なるサイズの箱５を搬送可能としている。 On the other hand, the second transport device 12 is composed of a bucket conveyor, and is intermittently driven with the box 5 sandwiched between a set of front wall portions 30 and rear wall portions 31 arranged in the front-rear direction in the transport direction. The box 5 is intermittently transported. A plurality of front wall portions 30 are attached to the second timing belt 34 at regular intervals, and a plurality of rear wall portions 31 are attached to the first timing belt 33 at regular intervals. Then, the first timing belt 33 is hung on the first timing pulley 36 arranged before and after the second transport device 12 in the transport direction. Further, the second timing belt 34 is hung on the second timing pulley 37 arranged before and after the second transport device 12 in the transport direction. The first timing pulley 36 and the second timing pulley 37 arranged in the front-rear direction are coaxially arranged, respectively, and the first timing pulley 36 and the second timing pulley 37 rotate at the same speed during operation. As a result, the first timing belt 33 and the second timing belt 34 rotate at the same speed, and the front wall portion 30 and the rear wall portion 31 attached to the respective belts have a relative positional relationship, that is, the distance between them is constant. The box 5 is moved forward while being maintained, and the box 5 sandwiched between the front wall portion 30 and the rear wall portion 31 is conveyed accordingly. Further, the relative positions of the first timing belt 33 and the second timing belt 34 can be adjusted, and the boxes 5 of different sizes can be conveyed by changing the distance between the front wall portion 30 and the rear wall portion 31.

さらに本実施形態は、第二搬送装置１２の搬送ラインに近接する所定位置に配置される、第二搬送装置１２の前壁部３０と後壁部３１の間に箱５を供給するカートン供給装置４０や、供給された箱５のフラップを折り曲げるフラップ折り曲げ装置４１や、フラップを糊付けして箱５を閉じる糊付け装置（図示省略）等を備える。 Further, the present embodiment is a carton supply device that supplies the box 5 between the front wall portion 30 and the rear wall portion 31 of the second transport device 12, which is arranged at a predetermined position close to the transport line of the second transport device 12. 40, a flap bending device 41 for bending the flap of the supplied box 5, a gluing device for gluing the flap and closing the box 5 (not shown), and the like are provided.

カートン供給装置４０は、例えば、シート状に折り畳まれたカートン６を起立させた駒立て状態で貯留するホッパー部４５と、そのホッパー部４５に貯留された複数のカートン６の先頭から一枚ずつ取り出すカートン取出装置４６と、そのカートン取出装置４６で取り出された折り畳まれたカートン６を受け取り、カートン取出装置４６と協働してカートン６を開いて上部開口する箱５に形成して第二搬送装置１２上に供給するカートン受け渡し装置４７を備える。 The carton supply device 40 takes out one by one from the hopper portion 45 that stores the carton 6 folded in a sheet shape in an upright piece stand state and the heads of a plurality of cartons 6 stored in the hopper portion 45. The carton take-out device 46 and the folded carton 6 taken out by the carton take-out device 46 are received, and the carton 6 is opened in cooperation with the carton take-out device 46 to form a box 5 having an upper opening to form a second transport device. A carton delivery device 47 to be supplied on the 12 is provided.

カートン取出装置４６は、所定の軌跡で移動する支持アーム４６ａと、その支持アーム４６ａの先端に取り付けられた第一吸引ノズル４６ｂと、図示省略する支持アーム４６ａを移動させる機構等を備える。所定の軌跡は、少なくとも水平平面内で反転する区間を有し、図１中実線で示す第一吸引ノズル４６ｂがホッパー部４５内に貯留されるカートン６に対向する状態（第一位置）と、図１中破線で示す第一吸引ノズル４６ｂが第二搬送装置１２の搬送ライン側を向く状態（第二位置）を遷移するように構成する。さらに、本実施形態では、第一位置と第二位置の間で遷移する際に、搬送方向に対して直交方向に前後進移動するようにし、第二位置が第二搬送装置１２の搬送ラインの近くにし、第二位置にある第一吸引ノズル４６ｂで吸着保持されたカートン６が搬送ラインの側縁付近で待機するように構成する。 The carton extraction device 46 includes a support arm 46a that moves in a predetermined trajectory, a first suction nozzle 46b attached to the tip of the support arm 46a, a mechanism for moving the support arm 46a (not shown), and the like. The predetermined locus has a section that is inverted at least in the horizontal plane, and the first suction nozzle 46b shown by the solid line in FIG. 1 faces the carton 6 stored in the hopper portion 45 (first position). The first suction nozzle 46b shown by the broken line in FIG. 1 is configured to transition to a state (second position) facing the transfer line side of the second transfer device 12. Further, in the present embodiment, when transitioning between the first position and the second position, the movement is made to move forward and backward in a direction orthogonal to the transport direction, and the second position is the transport line of the second transport device 12. The carton 6 which is attracted and held by the first suction nozzle 46b at the second position is configured to stand by near the side edge of the transport line.

カートン受け渡し装置４７は、所定の軌跡で移動する支持アーム４７ａと、その支持アーム４７ａの先端に取り付けられた第二吸引ノズル４７ｂと、図示省略する支持アーム４７ａを移動させる機構等を備える。所定の軌跡は、第二吸引ノズル４７ｂが第二搬送装置１２の搬送ラインに向いている第一吸引ノズル４６ｂに対して接近離反移動するように搬送ライン上を搬送方向に対して直交する方向に前後進移動する。 The carton delivery device 47 includes a support arm 47a that moves in a predetermined trajectory, a second suction nozzle 47b attached to the tip of the support arm 47a, a mechanism for moving the support arm 47a (not shown), and the like. The predetermined locus is in a direction orthogonal to the transport direction on the transport line so that the second suction nozzle 47b moves closer to and away from the first suction nozzle 46b facing the transport line of the second transport device 12. Move forward and backward.

そして、上記の構成のカートン供給装置４０は、カートン取出装置４６が、第一位置に位置させた第一吸引ノズル４６ｂでホッパー部４５内のカートン６を吸着保持し、その状態のまま第一吸引ノズル４６ｂを第二位置に遷移させ、保持した折り畳まれたカートン６を第二搬送装置１２の搬送ライン側に向け、その状態で待機する。次いで、カートン受け渡し装置４７が動作し、第二吸引ノズル４７ｂを前進移動させ、待機しているカートン６の所定部位に接触させるとともに吸着する。この第二吸引ノズル４７ｂが吸着する面は、カートン６を開いて形成される箱５における第一吸引ノズル４６ｂが吸着保持している面に対向する面である。 Then, in the carton supply device 40 having the above configuration, the carton extraction device 46 sucks and holds the carton 6 in the hopper portion 45 with the first suction nozzle 46b located at the first position, and the first suction is performed in that state. The nozzle 46b is transitioned to the second position, and the held folded carton 6 is directed to the transfer line side of the second transfer device 12 and stands by in that state. Next, the carton delivery device 47 operates to move the second suction nozzle 47b forward so as to bring it into contact with a predetermined portion of the waiting carton 6 and suck it. The surface on which the second suction nozzle 47b is sucked is a surface facing the surface on which the first suction nozzle 46b is sucked and held in the box 5 formed by opening the carton 6.

カートン取出装置４６とカートン受け渡し装置４７を相対的に移動して対向する面を離反させる。例えば、カートン受け渡し装置４７は、カートン６の所定の面を吸着した第二吸引ノズル４７ｂを、吸着した状態のまま後退移動する。このとき、第一吸引ノズル４６ｂは、第二位置で待機したまま或いは後退移動するとよい。
対向する面が離反したら、カートン取出装置４６の第一吸引ノズル４６ｂの吸引を解除し、カートン受け渡し装置４７を後退させる。 箱５は第二吸引ノズル４７ｂのみによる保持に切り替える。そして、カートン受け渡し装置４７の後退移動ともない、カートン６は、第二搬送装置１２であるバケットコンベアのバケット、すなわち、前壁部３０と後壁部３１の間に進入し、両壁に押し当てて移動することで起函される。つまり、折り畳まれたカートン６が開き、上部開口した有底の箱５が形成され、各箱５が第二搬送装置１２の前壁部３０と後壁部３１の間にセットする。 The carton extraction device 46 and the carton delivery device 47 are relatively moved to separate the opposing surfaces. For example, the carton delivery device 47 moves backward with the second suction nozzle 47b adsorbing a predetermined surface of the carton 6 in the adsorbed state. At this time, the first suction nozzle 46b may be kept waiting at the second position or moved backward.
When the facing surfaces are separated from each other, the suction of the first suction nozzle 46b of the carton extraction device 46 is released, and the carton delivery device 47 is retracted. The box 5 is switched to holding only by the second suction nozzle 47b. Then, with the backward movement of the carton delivery device 47, the carton 6 enters between the buckets of the bucket conveyor, which is the second transfer device 12, that is, between the front wall portion 30 and the rear wall portion 31, and presses against both walls. It is posted by moving. That is, the folded carton 6 is opened to form a bottomed box 5 having an upper opening, and each box 5 is set between the front wall portion 30 and the rear wall portion 31 of the second transport device 12.

本実施形態では、物品１を箱詰めする対象の箱５は、上方が開口して起立した姿勢で第二搬送装置１２上にセットする。さらに、本実施形態で用いる箱５は、物品１を並べて収納する２本入り用のもので、箱５は横長、すなわち搬送方向に対して直交する方向に２個の物品１を供給するようにセットする（図１，図１０（ａ）等参照）。 In the present embodiment, the target box 5 for packing the article 1 is set on the second transport device 12 in an upright posture with the upper side open. Further, the box 5 used in the present embodiment is for storing two articles 1 side by side, and the box 5 is horizontally long, that is, the two articles 1 are supplied in a direction orthogonal to the transport direction. Set (see FIGS. 1, 10 (a), etc.).

本実施形態で用いる箱５は、２本入り用のもので、起立した物品１を２個並べて収納するもので、収納した２個の物品１の間に中仕切を配置可能とするものである。具体的には、図１０等に示すように、上部開口した状態の箱５の本体５ａの上端縁に連続して、それぞれフラップを有し、第二搬送装置１２を搬送しながらその途中で適宜のフラップを折り曲げることで閉塞した箱５を形成する。一対の短辺のうちの一方（例えば第二搬送装置１２の搬送方向の右側で、第一搬送装置１１の配置側）に連続するフラップは中仕切用フラップ５ｂとなり、他方に連続するフラップは外蓋用フラップ５ｃとなる。また一対の長辺のうちの一方（例えば、第二搬送装置１２の搬送方向の後側）のフラップは、内蓋用フラップ５ｄとなり、他方のフラップは折り曲げることなくディスプレイ用フラップ５ｅとなる。 The box 5 used in the present embodiment is for two boxes, and stores two standing articles 1 side by side, and a partition can be arranged between the two stored articles 1. .. Specifically, as shown in FIG. 10 and the like, flaps are continuously provided on the upper end edges of the main body 5a of the box 5 in the state where the upper part is opened, and the second transport device 12 is appropriately transported in the middle of the flaps. The closed box 5 is formed by bending the flaps of the above. The flap continuous with one of the pair of short sides (for example, on the right side of the transfer direction of the second transfer device 12 and the arrangement side of the first transfer device 11) is the partition flap 5b, and the flap continuous with the other is the outside. The flap for the lid is 5c. Further, the flap of one of the pair of long sides (for example, the rear side in the transport direction of the second transport device 12) becomes the inner lid flap 5d, and the other flap becomes the display flap 5e without bending.

中仕切用フラップ５ｂは、本体５ａの上端縁の部位から、所定距離離れた位置に当該上端縁と平行な方向に延びる折り癖５ｈを有し、その折り癖５ｈよりも先端側の部位が中仕切部５ｉとなる。所定距離は、箱５の本体５ａの長辺の長さの約半分であり、中仕切用フラップ５ｂを本体５ａの上端縁の部位で折り曲げると、折り癖５ｈまでの部位が本体５ａ内に収納された１本の物品１の上方を覆うようになる。そして、折り癖５ｈの部分を山折りにすると、折り癖５ｈより先端側の中仕切部５ｉが本体５ａ内に入り込む。そして、本体５ａ内に２本の物品１を収納した状態では、当該中仕切部５ｉが２本の物品１の間に介在し、物品１同士が直接接触することを抑制し、中仕切として機能する。 The partition flap 5b has a folding habit 5h extending in a direction parallel to the upper end edge at a position separated from the upper end edge portion of the main body 5a by a predetermined distance, and the portion on the tip side of the folding habit 5h is in the middle. It becomes a partition part 5i. The predetermined distance is about half the length of the long side of the main body 5a of the box 5, and when the partition flap 5b is bent at the upper end edge of the main body 5a, the parts up to the folding habit 5h are stored in the main body 5a. It comes to cover the upper part of one article 1 that has been made. Then, when the portion of the folding habit 5h is folded into a mountain fold, the partition portion 5i on the tip side of the folding habit 5h enters the main body 5a. Then, in a state where the two articles 1 are stored in the main body 5a, the partition portion 5i is interposed between the two articles 1 to prevent the articles 1 from coming into direct contact with each other, and functions as a partition. To do.

内蓋用フラップ５ｄは、箱５の本体５ａの上方開口部と略同一の矩形状を有し、本体５ａの上端縁の部分で折り曲げると、上方開口部を塞ぐように構成する。さらに内蓋用フラップ５ｄの先端には、差し込みフラップ５ｇを連続して形成する。内蓋用フラップ５ｄと差し込みフラップ５ｇの境界部分を適宜の方向に折り曲げると、内蓋用フラップ５ｄが本体５ａの上方開口部を塞いだ際に、差し込みフラップ５ｇは本体５ａ内に収納されるように構成する。 The inner lid flap 5d has substantially the same rectangular shape as the upper opening of the main body 5a of the box 5, and is configured to close the upper opening when bent at the upper end edge of the main body 5a. Further, an insertion flap 5g is continuously formed at the tip of the inner lid flap 5d. When the boundary between the inner lid flap 5d and the insertion flap 5g is bent in an appropriate direction, the insertion flap 5g is stored in the main body 5a when the inner lid flap 5d closes the upper opening of the main body 5a. Configure to.

外蓋用フラップ５ｃは、箱５の本体５ａの上方開口部と略同一の矩形状を有し、本体５ａの上端縁の部分で折り曲げると、上方開口部を塞ぐように構成する。ディスプレイ用フラップ５ｅは、物品１の商品名や、キャッチコピー等の宣伝・広告その他のデザイン等を印刷しており、外蓋用フラップ５ｃを閉じた状態でも起立した姿勢で外に露出するように構成する。 The outer lid flap 5c has substantially the same rectangular shape as the upper opening of the main body 5a of the box 5, and is configured to close the upper opening when bent at the upper end edge of the main body 5a. The display flap 5e is printed with the product name of the article 1, advertisements such as catchphrases, advertisements, and other designs so that the outer lid flap 5c is exposed to the outside in an upright posture even when the outer lid flap 5c is closed. Constitute.

上述した各フラップは、第二搬送装置１２の搬送ラインに沿って適宜配置されるフラップ折り曲げ装置４１により順次折り畳まれ、糊付け装置（図示省略）により外蓋用フラップ５ｃが糊付け固定する。 Each of the above-mentioned flaps is sequentially folded by a flap bending device 41 appropriately arranged along the transport line of the second transport device 12, and the outer lid flap 5c is glued and fixed by a gluing device (not shown).

フラップ折り曲げ装置４１は、複数の装置から構成され、図１，図９等に示すように、上流から順に、上方に向けて起立する各フラップを外に向けて倒すように広げるフラップ開き装置５１と、中仕切用フラップ５ｂの折り癖５ｈを折り曲げる折り癖付け装置５２と、中仕切用フラップ５ｂを本体５ａの上方開口部を覆うように倒す中仕切用フラップ折り曲げ装置５３と、内蓋用フラップ５ｄを本体５ａの上方開口部を覆うように倒す内蓋用フラップ折り曲げ装置（図示省略）と、外蓋用フラップ５ｃを本体５ａの上方開口部を覆うように倒す外蓋用フラップ折り曲げ装置（図示省略）等を備える。 The flap bending device 41 is composed of a plurality of devices, and as shown in FIGS. 1, 9 and the like, includes a flap opening device 51 that spreads each flap that stands upward in order from the upstream so as to tilt it outward. , A folding habit bending device 52 that bends the folding habit 5h of the partition flap 5b, a partition flap bending device 53 that folds the partition flap 5b so as to cover the upper opening of the main body 5a, and an inner lid flap 5d. The flap bending device for the inner lid (not shown) that folds the flap 5a so as to cover the upper opening of the main body 5a, and the flap folding device for the outer lid (not shown) that folds the flap 5c for the outer lid so as to cover the upper opening of the main body 5a. ) Etc. are provided.

フラップ開き装置５１は、図９（ａ）に示すように、角錐台状のプッシャー部材５１ａと、そのプッシャー部材５１ａを昇降移動する駆動機構等を備える。プッシャー部材５１ａは、下方が先細り状に配置し、下側の底面は本体５ａの上部開口部よりも小さい寸法形状とし、上側の天面が本体５ａの上部開口部よりも大きい寸法形状とする。 As shown in FIG. 9A, the flap opening device 51 includes a pyramid-shaped pusher member 51a, a drive mechanism for moving the pusher member 51a up and down, and the like. The lower part of the pusher member 51a is arranged in a tapered shape, the lower bottom surface has a size smaller than the upper opening of the main body 5a, and the upper top surface has a size larger than the upper opening of the main body 5a.

プッシャー部材５１ａは、第二搬送装置１２で搬送され、一時停止する箱５の上方に位置させ、当該位置で昇降する。図１０（ａ）に示すように、カートン供給装置４０により第二搬送装置１２上に供給された箱５は、上部開口し各フラップが本体５ａの上端縁からまっすぐ上方に起立した姿勢となる。そして、その上部開口した状態のまま間欠移動し、箱５がプッシャー部材５１ａの下で一時停止する。その状態でプッシャー部材５１ａが下降移動し、図９（ａ）に示すように、プッシャー部材５１ａの下方部位が箱５の本体５ａ内に入り込むと、プッシャー部材５１ａの側面に案内されて各フラップは上端側が外に移動して、広がる姿勢に遷移する。このように各フラップが外に広がる姿勢となるので、下流側の後行程において物品移し替えロボット１３が物品１を箱５内に供給する際に、スムーズに挿入できる。なお、本形態では、プッシャー部材５１ａは、中仕切用フラップ５ｂ、外蓋用フラップ５ｃ、内蓋用フラップ５ｄ並びにディスプレイ用フラップ５ｅをそれぞれ外に広がるように折り曲げるが、図１では図示の便宜上中仕切用フラップ５ｂと外蓋用フラップ５ｃのみ折り曲げて外に広がった状態を示し、内蓋用フラップ５ｄ並びにディスプレイ用フラップ５ｅの図示を省略している。 The pusher member 51a is transported by the second transport device 12, is positioned above the temporarily stopped box 5, and moves up and down at that position. As shown in FIG. 10A, the box 5 supplied on the second transfer device 12 by the carton supply device 40 has an upper opening and each flap stands straight upward from the upper end edge of the main body 5a. Then, the box 5 is intermittently moved with the upper portion open, and the box 5 is temporarily stopped under the pusher member 51a. In this state, the pusher member 51a moves downward, and as shown in FIG. 9A, when the lower portion of the pusher member 51a enters the main body 5a of the box 5, the flaps are guided by the side surface of the pusher member 51a. The upper end side moves outward and transitions to a spreading posture. Since each flap is in a posture of spreading outward in this way, the article transfer robot 13 can smoothly insert the article 1 into the box 5 in the rear stroke on the downstream side. In the present embodiment, the pusher member 51a is bent so that the flap 5b for the partition, the flap 5c for the outer lid, the flap 5d for the inner lid, and the flap 5e for the display are respectively spread outward, but in FIG. Only the partition flap 5b and the outer lid flap 5c are shown in a state of being bent and expanded outward, and the illustration of the inner lid flap 5d and the display flap 5e is omitted.

フラップ開き装置５１により各フラップが外に開いた姿勢に遷移した箱５は、間欠移動して折り癖付け装置５２の設置位置で一時停止する。図１，図９（ｂ）等に示すように折り癖付け装置５２は、所定位置に固定設置されるＬ字型の受けプレート５２ａと、搬送ラインに対して前後進移動可能に配置される第一付勢部材５２ｂと、第一付勢部材５２ｂを往復移動させる駆動機構（図示省略）等を備える。 The box 5 in which each flap is changed to the outward open posture by the flap opening device 51 is intermittently moved and temporarily stopped at the installation position of the folding habit-making device 52. As shown in FIGS. 1 and 9B, the folding habit bending device 52 is arranged so as to be movable back and forth with respect to the L-shaped receiving plate 52a fixedly installed at a predetermined position and the transport line. A drive mechanism (not shown) for reciprocating the first urging member 52b and the first urging member 52b is provided.

受けプレート５２ａは、搬送方向に沿って水平に延びる下側片５２ａ′と、その下側片５２ａ′の上流側の一端から上方に延びる連結片５２ａ″とを備え、連結片５２ａ″を所定の機枠に直接または連結部材を介して取り付け固定することで、受けプレート５２ａを所望位置に所望の姿勢に固定設置する。当該所望の位置・姿勢は、例えば以下のようにすると良い。 The receiving plate 52a includes a lower piece 52a ′ extending horizontally along the transport direction and a connecting piece 52a ″ extending upward from one end on the upstream side of the lower piece 52a ′, and the connecting piece 52a ″ is designated. The receiving plate 52a is fixedly installed at a desired position and in a desired posture by attaching and fixing it directly to the machine frame or via a connecting member. The desired position / posture may be, for example, as follows.

受けプレート５２ａは、第二搬送装置１２の搬送ラインの搬送方向右側の外側に、当該搬送方向に沿うように配置し、さらに、上方にいくに従って外に位置するように傾斜状に配置する。受けプレート５２ａの傾斜角度は、プッシャー部材５１ａの側面の傾斜角度に応じたものとし、プッシャー部材５１ａで広げられて開いた中仕切用フラップ５ｂの傾きにあわせている。さらに、Ｌ字型の受けプレート５２ａにおける水平方向に延びる下側片５２ａ′は、その高さ方向の幅が、中仕切用フラップ５ｂの基端（箱５の本体５ａの上端縁）から折り癖５ｈまでの長さと等しいか若干短く設定する。そして受けプレート５２ａは、第二搬送装置１２により搬送される箱５の中仕切用フラップ５ｂの内側に位置し、下側片５２ａ′の上端縁が折り癖５ｈの通過位置と等しいか若干低い位置し、下側片５２ａ′の下端縁が箱５の本体５ａの上端縁より上方に位置するように設定する。これにより、第二搬送装置１２により搬送される箱５の中仕切用フラップ５ｂは、受けプレート５２ａの外側を通過する。さらに、搬送途中の箱５が折り癖付け装置５２の設置領域で一時停止した際、中仕切用フラップ５ｂが、連結片５２ａ″に接触しないようにする。 The receiving plate 52a is arranged on the outside of the transport line of the second transport device 12 on the right side in the transport direction along the transport direction, and is further arranged in an inclined shape so as to be located outside as it goes upward. The inclination angle of the receiving plate 52a is set according to the inclination angle of the side surface of the pusher member 51a, and is matched with the inclination of the partition flap 5b opened by the pusher member 51a. Further, the lower piece 52a'extending in the horizontal direction of the L-shaped receiving plate 52a has a width in the height direction from the base end of the partition flap 5b (the upper end edge of the main body 5a of the box 5). Set the length equal to or slightly shorter than the length up to 5h. The receiving plate 52a is located inside the partition flap 5b of the box 5 conveyed by the second conveying device 12, and the upper end edge of the lower piece 52a'is equal to or slightly lower than the passing position of the bending habit 5h. Then, the lower end edge of the lower piece 52a'is set to be located above the upper end edge of the main body 5a of the box 5. As a result, the partition flap 5b of the box 5 conveyed by the second transfer device 12 passes through the outside of the receiving plate 52a. Further, when the box 5 in the middle of transportation is temporarily stopped in the installation area of the folding device 52, the partition flap 5b is prevented from coming into contact with the connecting piece 52a ″.

一方、第一付勢部材５２ｂは、その先端が受けプレート５２ａの下側片５２ａ′の上端縁に近接する領域を通過するように往復移動可能に配置する。そして、第一付勢部材５２ｂの先端が、下側片５２ａ′より外側に離れた位置に待機し、所定のタイミングで第二搬送装置１２の搬送ラインに向けて前後進移動する。 On the other hand, the first urging member 52b is arranged so as to be reciprocally movable so that its tip passes through a region close to the upper end edge of the lower piece 52a'of the receiving plate 52a. Then, the tip of the first urging member 52b stands by at a position distant from the lower piece 52a'outside, and moves forward and backward toward the transfer line of the second transfer device 12 at a predetermined timing.

これにより、折り癖付け装置５２の設置領域で箱５が一時停止すると、中仕切用フラップ５ｂは受けプレート５２ａの下側片５２ａ′の外側に位置し、中仕切用フラップ５ｂの外側に第一付勢部材５２ｂが待機した状態となる（図９（ｂ）等参照）。この状態で第一付勢部材５２ｂが前進移動すると、第一付勢部材５２ｂの先端と、受けプレート５２ａの下側片５２ａ′の上端縁との間で中仕切用フラップ５ｂを挟み込み、折り曲げる。箱５の搬送の一時停止中では、中仕切用フラップ５ｂの折り癖５ｈが、下側片５２ａ′の上端縁付近に位置しているので、上記の第一付勢部材５２ｂが前進し、その先端が下側片５２ａ′上を通過して搬送ライン側に至ると、中仕切用フラップ５ｂは、折り癖５ｈの部位で折り曲げられる（図９（ｂ）中、二点鎖線参照）。 As a result, when the box 5 is temporarily stopped in the installation area of the folding device 52, the partition flap 5b is located outside the lower piece 52a'of the receiving plate 52a, and is first located outside the partition flap 5b. The urging member 52b is in a standby state (see FIG. 9B and the like). When the first urging member 52b moves forward in this state, the partition flap 5b is sandwiched between the tip of the first urging member 52b and the upper end edge of the lower piece 52a'of the receiving plate 52a and bent. During the suspension of transportation of the box 5, the folding habit 5h of the partition flap 5b is located near the upper end edge of the lower piece 52a', so that the first urging member 52b advances, and the first urging member 52b moves forward. When the tip passes over the lower piece 52a'and reaches the transport line side, the partition flap 5b is bent at the portion where the bending habit is 5h (see the alternate long and short dash line in FIG. 9B).

中仕切用フラップ折り曲げ装置５３は、搬送ラインに対して前後進移動可能に配置される第二付勢部材５３ａと、第二付勢部材５３ａを往復移動させる駆動機構（図示省略）等を備える。第二付勢部材５３ａは、箱５の本体５ａの上端縁と同じから若干高い位置に置いて水平移動し、前進移動時に一時停止中の箱５の中仕切用フラップ５ｂに接触して本体５ａの上部開口部側に付勢する。この付勢力を受けて、中仕切用フラップ５ｂは、本体５ａの上端縁の接続部位から折り曲げられ、本体５ａの上部開口部を覆うように変位する（図９（ｃ−１）等参照）。 The partition flap bending device 53 includes a second urging member 53a arranged so as to be movable back and forth with respect to the transport line, a drive mechanism (not shown) for reciprocating the second urging member 53a, and the like. The second urging member 53a is placed at a position slightly higher than the upper end edge of the main body 5a of the box 5 and moves horizontally, and comes into contact with the partition flap 5b of the box 5 which is temporarily stopped during the forward movement to contact the main body 5a. Bounce on the upper opening side of the. In response to this urging force, the partition flap 5b is bent from the connecting portion of the upper end edge of the main body 5a and displaced so as to cover the upper opening of the main body 5a (see FIG. 9 (c-1) and the like).

そして、中仕切用フラップ５ｂの折り癖５ｈより先端側の部位である中仕切部５ｉを本体５ａの内部に挿入する処理は、物品１の供給処理と協働して行う。すなわち、上述したように、物品移し替えロボット１３は、第一搬送装置１１で把持した２個の物品１を、第二搬送装置１２上の前後に並ぶ異なる箱５に対してそれぞれ同時に箱詰めする。このとき、搬送方向の後側の箱５には、物品移し替えロボット１３側（搬送方向の右側）に供給し、搬送方向の前側の箱５には、物品移し替えロボット１３から離れた側（搬送方向の左側）に供給する。そして、係る１回の物品の供給作業が終了すると、第二搬送装置１２により箱５が１ピッチ分搬送され、物品移し替えロボット１３における物品供給エリアの進行方向の後側にいた箱５は、当該物品供給エリアの進行方向の前側に移動する。よって、次の物品１の供給処理で、当該前側に位置する箱５の物品移し替えロボット１３から離れた側（搬送方向の左側）に物品１を供給することで、箱５内に２本の物品１が収納される。 Then, the process of inserting the intermediate partition portion 5i, which is a portion on the tip side of the folding habit 5h of the intermediate partition flap 5b, into the inside of the main body 5a is performed in cooperation with the supply process of the article 1. That is, as described above, the article transfer robot 13 simultaneously packs the two articles 1 gripped by the first transfer device 11 into different boxes 5 arranged in front and behind on the second transfer device 12. At this time, the box 5 on the rear side in the transport direction is supplied to the article transfer robot 13 side (right side in the transport direction), and the box 5 on the front side in the transport direction is on the side away from the article transfer robot 13. Supply to the left side in the transport direction). Then, when the one-time supply operation of the article is completed, the box 5 is conveyed by one pitch by the second transfer device 12, and the box 5 located behind the article supply area in the article transfer robot 13 in the traveling direction is removed. Move to the front side in the traveling direction of the article supply area. Therefore, in the next supply process of the article 1, by supplying the article 1 to the side (left side in the transport direction) away from the article transfer robot 13 of the box 5 located on the front side, the two articles 1 are supplied in the box 5. Article 1 is stored.

そして、上記の物品供給エリアの進行方向の後側には折り癖付け装置５２を配置し、物品供給エリアの進行方向の前側には中仕切用フラップ折り曲げ装置５３を配置し、それら各装置と物品移し替えロボット１３は、以下のように動作し、２個入り用の箱５内に、２本の物品１を収納するとともに、当該２本の物品１の間に中仕切用フラップ５ｂを配置する。まず、搬送方向の後側の１本目の物品１を収納する箱５に対しては、物品移し替えロボット１３が、物品１を箱５の本体５ａ内に供給した後、折り癖付け装置５２が動作し、中仕切用フラップ５ｂの折り癖５ｈを折り曲げる。 Then, a folding habit bending device 52 is arranged on the rear side in the traveling direction of the article supply area, and a flap bending device 53 for partitioning is arranged on the front side in the traveling direction of the article supply area. The transfer robot 13 operates as follows, stores two articles 1 in a box 5 for two pieces, and arranges a partition flap 5b between the two articles 1. .. First, with respect to the box 5 for storing the first article 1 on the rear side in the transport direction, the article transfer robot 13 supplies the article 1 into the main body 5a of the box 5, and then the folding habit bending device 52 It operates and bends the folding habit 5h of the partition flap 5b.

一方、物品供給エリアの進行方向の前側に位置する箱５の本体５ａ内には、その搬送方向右側に物品１が収納されており、その状態で、まず、中仕切用フラップ折り曲げ装置５３が動作し、中仕切用フラップ５ｂを折り曲げ、本体５ａの上部開口部を覆う。これにより、例えば図９（ｃ−１）に示すように、中仕切用フラップ５ｂは、折り癖５ｈの部分で山折り状態で、既に収納されている物品１の上方を覆う。その状態で、物品移し替えロボット１３が動作し、箱５の本体５ａの開いている空間内に物品１を供給する。このとき、当該空間の上方には、中仕切用フラップ５ｂの折り癖５ｈより先端側の中仕切部５ｉが存在しているので、物品１の箱５の本体５ａ内の供給に伴い、物品１の底部が中仕切部５ｉを下方に付勢する。そして、物品１を本体５ａ内に収納すると、例えば図９（ｃ−２）に示すように、物品１の下降移動に追従して、折り癖５ｈで折り曲げられてその先端がわの中仕切部５ｉが本体５ａ内に入り込み、物品１間に位置する。これにより、２つの物品１の間に中仕切部５ｉが介在する状態となる。このように、本形態では、物品移し替えロボット１３にて、物品１を箱５内に１本入れた後で中仕切用フラップ５ｂを閉じ、次の１本の物品１を入れる際に当該中仕切用フラップ５ｂを押し込み・折り込みながら中仕切付の箱５を形成する。 On the other hand, the article 1 is stored on the right side in the transport direction in the main body 5a of the box 5 located on the front side in the traveling direction of the article supply area, and in that state, the flap bending device 53 for partitioning first operates. Then, the partition flap 5b is bent to cover the upper opening of the main body 5a. As a result, for example, as shown in FIG. 9 (c-1), the partition flap 5b covers the upper part of the article 1 already stored in the mountain-folded state at the portion of the folding habit 5h. In that state, the article transfer robot 13 operates to supply the article 1 into the open space of the main body 5a of the box 5. At this time, since the partition portion 5i on the tip side of the folding habit 5h of the partition flap 5b exists above the space, the article 1 is supplied in the main body 5a of the box 5 of the article 1. The bottom of the partition urges the partition 5i downward. Then, when the article 1 is stored in the main body 5a, for example, as shown in FIG. 9 (c-2), the article 1 is bent with a bending habit 5h following the descending movement of the article 1, and its tip is a partition portion of a wa. The 5i enters the main body 5a and is located between the articles 1. As a result, the partition portion 5i is interposed between the two articles 1. As described above, in the present embodiment, when the article transfer robot 13 puts one article 1 in the box 5, closes the partition flap 5b, and puts the next article 1 in the box 5. A box 5 with a partition is formed by pushing and folding the partition flap 5b.

なお、具体的な装置構成並びに動作の説明を省略するが、この中仕切を形成した後、通常のフラップ折り曲げ装置により所定のフラップを折り曲げて箱５を閉塞するとともに、糊付け装置により外蓋用フラップ５ｃを糊付けして接着し、箱詰め処理を完了する。そして、第二搬送装置１２の下流側に配置されたプッシャー式の排出装置６０により、物品を収納した箱５を押し出し、下流側の搬送路に排出する。 Although a specific description of the device configuration and operation will be omitted, after forming the partition, a predetermined flap is bent by a normal flap bending device to close the box 5, and a flap for an outer lid is closed by a gluing device. Glue and bond 5c to complete the boxing process. Then, the pusher-type discharge device 60 arranged on the downstream side of the second transport device 12 pushes out the box 5 containing the article and discharges it to the transport path on the downstream side.

なお、図１０（ｅ）〜（ｋ）は、上記の各フラップの折曲げや糊付け作業の工程をしめしており、各図がそれぞれ第二搬送装置１２で一時停止する箇所を示しているわけではなく、複数の工程を同一の一時停止する場所で行うようにしてもよい。各工程を簡単に説明すると、図１０（ｅ），（ｆ）は、内蓋用フラップ５ｄの折り曲げ工程を示しており、同じ一時停止する場所で行われる。また、図１０（ｇ），（ｈ）は、外蓋用フラップ５ｃの折り曲げ工程を示しており、同じ一時停止する場所（例えば内蓋用フラップの折り曲げ工程を行う場所の一つ下流側の場所）で行われる。図１０（ｉ）は、さらに下流側の所定位置で行われる糊付け工程を示しており、折り曲げられた外蓋用フラップ５ｃを少しあげて糊を塗布する。その後、図１０（ｊ）に示すように外蓋用フラップ５ｃを畳むことで、糊付けてして外蓋用フラップ５ｃを接着固定する。これにより、図１０（ｋ）に示すように２個入りの箱が完成する。 It should be noted that FIGS. 10 (e) to 10 (k) show the steps of bending and gluing each of the flaps described above, and each figure does not show a place where the second transfer device 12 temporarily stops. Instead, a plurality of steps may be performed at the same pause location. Briefly explaining each step, FIGS. 10 (e) and 10 (f) show a bending step of the inner lid flap 5d, which is performed at the same temporary stop location. Further, FIGS. 10 (g) and 10 (h) show the bending process of the outer lid flap 5c, and the same temporary stop location (for example, a location one downstream of the location where the inner lid flap bending process is performed). ). FIG. 10 (i) shows a gluing step performed at a predetermined position on the downstream side, and the bent outer lid flap 5c is slightly raised to apply the gluing. Then, as shown in FIG. 10 (j), the outer lid flap 5c is folded and glued to bond and fix the outer lid flap 5c. As a result, as shown in FIG. 10 (k), a box containing two pieces is completed.

また、第一搬送装置１１上で待機する前後にずれた２つの物品１は、ともにノズル部４が搬送方向の上流側に向いた姿勢となっており、支持部材２５が水平平面内で所定角度回転することで、第一保持部材２６と第二保持部材２７で保持された物品１は、ノズル部４の向きが当該所定角度回転する。そして、本形態では、支持部材２５を所定角度回転することで、箱５の本体５ａ内に物品１を収納した際、図１等に示すように、ノズル部４が箱５の本体５ａの角部付近に位置する。所定角度は、４５度から少しずれた角度とし（図８（ｂ）と（ａ））、ノズル部４が角部から少しずれているが箱５の外に突出しない範囲内に位置するように設定する。このようにすることで、矩形の箱５の内寸は、物品１の容器本体２の外径に対してさほど大きくすること無く、ノズル部４を含めて綺麗に収納できるとともに、容器本体２も箱５の内周面との隙間を小さくすることが可能となる。 Further, the two articles 1 that are displaced before and after waiting on the first transport device 11 are both in a posture in which the nozzle portion 4 faces the upstream side in the transport direction, and the support member 25 has a predetermined angle in the horizontal plane. By rotating, the direction of the nozzle portion 4 of the article 1 held by the first holding member 26 and the second holding member 27 rotates by the predetermined angle. Then, in the present embodiment, when the article 1 is stored in the main body 5a of the box 5 by rotating the support member 25 by a predetermined angle, the nozzle portion 4 is the corner of the main body 5a of the box 5 as shown in FIG. Located near the department. The predetermined angle is an angle slightly deviated from 45 degrees (FIGS. 8B and 8A) so that the nozzle portion 4 is slightly deviated from the corner portion but is located within a range that does not protrude out of the box 5. Set. By doing so, the inner dimensions of the rectangular box 5 can be neatly stored including the nozzle portion 4 without being so large with respect to the outer diameter of the container body 2 of the article 1, and the container body 2 can also be neatly stored. It is possible to reduce the gap between the box 5 and the inner peripheral surface.

さらに、本形態では、物品移し替えロボット１３にて２個の物品１を把持した状態で第一搬送装置１１から箱５に移し替えるに際し、例えば第一保持部材２６，第二保持部材２７をそれぞれ自転させて個々の物品１をそれぞれ回転させてノズル部４の向きを箱５の所定位置に位置させるのではなく、第一保持部材２６，第二保持部材２７を支持する支持部材２５を回転させ、第一保持部材２６と第二保持部材２７を所定の円周上を移動させることでノズル部４の向きを変更することができる。よって、簡単な構成・制御で、ノズル部４を、箱５の角部付近に位置する状態で箱詰めをすることができる。 Further, in the present embodiment, when the article transfer robot 13 grips the two articles 1 and transfers them from the first transfer device 11 to the box 5, for example, the first holding member 26 and the second holding member 27 are respectively. Rather than rotating the individual articles 1 to rotate each of them to position the nozzle portion 4 at a predetermined position on the box 5, the support member 25 that supports the first holding member 26 and the second holding member 27 is rotated. The orientation of the nozzle portion 4 can be changed by moving the first holding member 26 and the second holding member 27 on a predetermined circumference. Therefore, the nozzle portion 4 can be boxed in a state of being located near the corner portion of the box 5 with a simple configuration and control.

上述した実施形態では、２個入り用の箱５に対する箱詰めに適用する例を説明したが、本実施形態のロボット箱詰め装置は、１個入り用の箱５′に対する箱詰め処理も行える構成としている（図１１等参照）。すなわち、第一搬送装置１１側では、上述した実施形態と同様に、物品１を２列に振り分け、各列の先頭の物品１は、ともにノズル部４が進行方向の後側を向いた姿勢で前後に所定距離を置いた状態で待機する。 In the above-described embodiment, an example of applying the boxing to the box 5 for two pieces has been described, but the robot boxing device of the present embodiment is configured to be able to perform the boxing process for the box 5'for one piece. See FIG. 11 and the like). That is, on the first transport device 11 side, as in the above-described embodiment, the articles 1 are distributed into two rows, and the articles 1 at the head of each row are both in a posture in which the nozzle portion 4 faces the rear side in the traveling direction. Stand by with a predetermined distance back and forth.

一方、第二搬送装置１２は、１個入り用の箱５′を前壁部３０と後壁部３１との間で挟み込んで保持した状態で、一列縦隊で間欠搬送する。具体的な図示は省略するが、フラップ開き装置は、一時停止中の箱に対し、上方より所定形状のプッシャー部材を下降移動させ、当該箱の本体の上端縁に連続して形成される各フラップを外に開いた姿勢にする。第二搬送装置１２は、そのようにフラップが開いた箱を間欠移動させ、次段の物品供給エリアに移す。物品供給エリアは、前後２個分の箱が一列に並んだ状態で待機する。 On the other hand, the second transport device 12 intermittently transports the box 5'for one piece in a single column in a state of being sandwiched and held between the front wall portion 30 and the rear wall portion 31. Although specific illustration is omitted, the flap opening device moves a pusher member having a predetermined shape downward from above with respect to the temporarily stopped box, and each flap formed continuously on the upper end edge of the main body of the box. Put the posture open to the outside. The second transport device 12 intermittently moves the box with such an open flap and moves it to the next-stage article supply area. The goods supply area stands by with two front and rear boxes lined up in a row.

物品移し替えロボット１３は、第一搬送装置１１上で待機する２つの物品１をそれぞれ第一保持部材２６と第二保持部材２７が保持し（図８（ｂ）等参照）、第二搬送装置１２上の物品供給エリアに移動する。この移動中の適宜のタイミングで支持部材２５が所定角度（例えば４５度）回転し、第二搬送装置１２の搬送方向と平行な方向に延びるように遷移する。これにより、第一保持部材２６と第二保持部材２７は、第二搬送装置１２の搬送方向に沿って平行な方向に所定距離をおいて前後に位置する（図８（ｃ）等参照）。所定距離は、第二搬送装置１２上を移動する箱の搬送ピッチに対応する長さとする。これにより、物品移し替えロボット１３の第一保持部材２６と第二保持部材２７で保持するそれぞれの物品１を、物品供給エリアで待機する２個の箱５′内に収納するとともに、保持を解除することで、物品１が箱５′内に供給される。また、例えば支持部材２５が４５度回転すると、ノズル部４の向きは、搬送方向に対して４５度傾斜する方向となり、箱５の角部に位置する状態で箱詰めをすることができる。 In the article transfer robot 13, the first holding member 26 and the second holding member 27 hold the two articles 1 waiting on the first conveying device 11, respectively (see FIG. 8B and the like), and the second conveying device 12 Move to the article supply area above. The support member 25 rotates at a predetermined angle (for example, 45 degrees) at an appropriate timing during this movement, and transitions so as to extend in a direction parallel to the transport direction of the second transport device 12. As a result, the first holding member 26 and the second holding member 27 are positioned in the front-rear direction with a predetermined distance in a direction parallel to the transport direction of the second transport device 12 (see FIG. 8C and the like). The predetermined distance is a length corresponding to the transport pitch of the box moving on the second transport device 12. As a result, each of the articles 1 held by the first holding member 26 and the second holding member 27 of the article transfer robot 13 is stored in the two boxes 5'stand by in the article supply area, and the holding is released. By doing so, the article 1 is supplied into the box 5'. Further, for example, when the support member 25 is rotated by 45 degrees, the direction of the nozzle portion 4 is inclined by 45 degrees with respect to the transport direction, and the box can be packed in a state of being located at the corner of the box 5.

このように物品１を上部開口する箱５′の本体５′ａ内に収納した後、適宜のフラップ折り曲げ装置により所定のフラップを折り曲げて箱５′を閉塞するとともに、糊付け装置により外蓋用フラップを糊付けして接着し、箱詰め処理を完了する。 After the article 1 is stored in the main body 5'a of the box 5'opening at the top in this way, a predetermined flap is bent by an appropriate flap bending device to close the box 5', and the flap for the outer lid is closed by the gluing device. Glue and glue to complete the boxing process.

上述した実施形態では、第一搬送装置１１では、物品１を２列に振り分け、各列の物品１は、ともにノズル部４が進行方向の後側を向いた姿勢となる。図示の例では、すべての物品１のノズル部４は、搬送方向と平行な方向に向いているが、実際には、第一通路部１８，第二通路部１９の幅の範囲内で揃う。そこで、より精度よく同一方向を向くため、例えば、第一通路部１８と第二通路部１９の搬出端近傍に、ノズル部４の向きを揃える装置を設けるとよい。係る揃える装置は、例えば、シリンダなどで往復移動するプッシャー部材を備え、そのプッシャー部材でノズル部４を搬送方向に対して交差する方向に付勢し、ノズル部４を第一内周壁１８ｂ或いは第一外周壁１８ａや第二外周壁１９ａ或いは第二内周壁１９ｂに突き当てて向きを揃えたり、さらにはそれら周壁とは別の部材に突き当て揃えたりするとよい。別の部材に突き当て揃える場合は、別の部材を突き当てる側の周壁は、その下流 を短くするか、別の部材が通過可能な孔部を設けるとよい。 In the above-described embodiment, in the first transport device 11, the articles 1 are distributed into two rows, and the articles 1 in each row are in a posture in which the nozzle portion 4 faces the rear side in the traveling direction. In the illustrated example, the nozzle portions 4 of all the articles 1 are oriented in a direction parallel to the transport direction, but are actually aligned within the width of the first passage portion 18 and the second passage portion 19. Therefore, in order to face the same direction more accurately, for example, it is preferable to provide a device for aligning the directions of the nozzle portions 4 near the carry-out ends of the first passage portion 18 and the second passage portion 19. The aligning device includes, for example, a pusher member that reciprocates with a cylinder or the like, and the pusher member urges the nozzle portion 4 in a direction intersecting the transport direction, and causes the nozzle portion 4 to the first inner peripheral wall 18b or the first It is preferable that the outer peripheral wall 18a, the second outer peripheral wall 19a, or the second inner peripheral wall 19b are abutted against each other to align the directions, or further, the abutment may be abutted against a member different from the peripheral wall and aligned. When abutting against another member, the peripheral wall on the side where the other member abuts may be shortened downstream thereof or provided with a hole through which the other member can pass.

また上述した実施形態並びに変形例では、物品１はノズル部を備えたものとしたが、例えばノズル部なしの物品の箱詰めに適用してもよい。例えば、中仕切用フラップ５ｂを備えた２個入り用の箱５に対して箱詰めする際に、上述した実施形態等のように、２個の物品を同時に同じ箱に供給するのではなく、前後の箱に１つずつ供給し、２個目の物品を本体５ａ内に収納する際に、その物品の底部で中仕切用フラップ５ｂを折り曲げて箱５の本体５ａ内に中仕切用フラップ５ｂの先端部分を収納することで、２つの物品間に中仕切を配置した箱に対して効率よく箱詰め処理ができるのでよい。 Further, in the above-described embodiment and modification, the article 1 is provided with a nozzle portion, but it may be applied to, for example, boxing of an article without a nozzle portion. For example, when packing a box 5 for two pieces provided with a flap 5b for partitioning, two articles are not supplied to the same box at the same time as in the above-described embodiment, but before and after. When the second article is stored in the main body 5a by supplying one by one to the box, the partition flap 5b is bent at the bottom of the article, and the partition flap 5b is placed in the main body 5a of the box 5. By storing the tip portion, it is possible to efficiently pack the box in which the partition is arranged between the two articles.

上述した実施形態では、第一搬送装置１１は、単一の装置で構成したが、本発明はこれに限ることはなく、例えば複数の搬送装置を並列配置したものでもよい。この場合、物品１は、異なる種類や、容器本体２の直径が異なるもの、または容器本体２の形状が異なるものでもよい。 In the above-described embodiment, the first transfer device 11 is composed of a single device, but the present invention is not limited to this, and for example, a plurality of transfer devices may be arranged in parallel. In this case, the article 1 may be of a different type, a container body 2 having a different diameter, or a container body 2 having a different shape.

また、上述したように、本実施形態では、２個入り用の箱５に対する箱詰め処理と、１個入り用の箱５′に対する箱詰め処理も行える構成としたが、いずれか一方の専用の装置とするとよい。兼用にした場合、第一搬送装置１１上で待機する２つの物品１の位置すなわちスターホイール１７の位置が固定とすると、図８（ｂ）に示すように、支持部材２５が第一搬送装置１１の搬送方向に対して所定角度で傾斜している姿勢で第一保持部材２６と第二保持部材２７でそれぞれの物品１を保持する。そして、２個入り用の箱５に供給するためには、図８（ａ）に示すように例えば第一保持部材２６が保持する物品１は、箱５の手前側に供給し、第二保持部材２７が保持する物品１は、箱５の奥側に供給するようにするため、支持部材２５は第二搬送装置１２の搬送方向に対して所定角度傾斜した姿勢となる。一方、１個入り用の箱５に供給するためには、図８（ｃ）に示すように、支持部材２５は第二搬送装置１２の搬送方向と平行な姿勢となる。よって、図８（ｂ）に示す第一搬送装置１１の搬送方向に対して所定角度で傾斜している支持部材２５から、第二搬送装置１２で箱５，５′に物品を供給するために当該支持部材２５が回転する回転角度は、異なる。そして、その回転角度の相違が、箱５，５′に物品１を供給した際のノズル部４の角度位置に現れる。つまり、仮に、第一搬送装置１１上で待機する物品１のノズル部４が、搬送方向で真後ろを向いているとすると、支持部材２５が４５度回転すると、箱５，５′に収納した物品１のノズル部４は、箱の一つの頂点に正対する。そのため、２個入り用の箱５或いは１個入り用の箱５′のいずれか一方に供給する際に支持部材を４５度回転させてノズル部４を箱の頂点を向くようにすると、他方の箱に供給する際には、４５度よりもずれてしまいノズル部４を頂点から少しずれた位置を向いて収納されしまう。ノズル部４は、必ずしも箱の角部の先端である頂点を向く必要は無く、頂点から一定の範囲内の角部側を向いていればよいが、頂点を向くようにすると、ノズル部４が箱から飛び出ないようにする際のノズル部４の長さの許容範囲が長くなる。そこで２個入り用の箱５に対する箱詰め処理と、１個入り用の箱５′に対する箱詰め処理のいずれか一方を行う専用の装置とすると、例えば支持部材２５が４５度回転するように設定することが容易に行えるのでよい。 Further, as described above, in the present embodiment, the boxing process for the box 5 for two pieces and the boxing process for the box 5'for one piece can be performed, but the device is dedicated to either one. You should do it. When the positions of the two articles 1 waiting on the first transport device 11, that is, the positions of the star wheels 17 are fixed, the support member 25 is the first transport device 11 as shown in FIG. 8 (b). Each article 1 is held by the first holding member 26 and the second holding member 27 in a posture of being inclined at a predetermined angle with respect to the transport direction of the above. Then, in order to supply the box 5 for two pieces, for example, the article 1 held by the first holding member 26 is supplied to the front side of the box 5 and held second, as shown in FIG. 8A. In order to supply the article 1 held by the member 27 to the inner side of the box 5, the support member 25 is tilted at a predetermined angle with respect to the transport direction of the second transport device 12. On the other hand, in order to supply the box 5 for one piece, as shown in FIG. 8C, the support member 25 is in a posture parallel to the transport direction of the second transport device 12. Therefore, in order to supply the articles to the boxes 5 and 5'by the second transport device 12 from the support member 25 inclined at a predetermined angle with respect to the transport direction of the first transport device 11 shown in FIG. 8 (b). The rotation angle at which the support member 25 rotates is different. Then, the difference in the rotation angle appears at the angular position of the nozzle portion 4 when the article 1 is supplied to the boxes 5, 5'. That is, assuming that the nozzle portion 4 of the article 1 standing by on the first transport device 11 faces directly behind in the transport direction, when the support member 25 rotates 45 degrees, the article stored in the boxes 5, 5' The nozzle portion 4 of 1 faces one apex of the box. Therefore, when supplying to either the box 5 for 2 pieces or the box 5'for 1 piece, if the support member is rotated 45 degrees so that the nozzle portion 4 faces the apex of the box, the other When it is supplied to the box, it is displaced by more than 45 degrees, and the nozzle portion 4 is stored facing a position slightly deviated from the apex. The nozzle portion 4 does not necessarily have to face the apex, which is the tip of the corner of the box, and may face the corner side within a certain range from the apex. However, when the nozzle portion 4 faces the apex, the nozzle portion 4 faces. The allowable range of the length of the nozzle portion 4 when preventing it from popping out of the box becomes long. Therefore, if a dedicated device is used to perform either the boxing process for the box 5 for 2 pieces or the boxing process for the box 5'for 1 piece, for example, the support member 25 is set to rotate 45 degrees. Is good because it can be done easily.

また、上述した実施形態のように第一搬送装置１１上で待機する２つの物品１の位置すなわちスターホイール１７の位置が固定とした場合、一方の箱に供給する際に支持部材２５を４５度回転するのではなく、２個入り用の箱５に供給する場合は例えば（４５＋α）度回転させ、１個入り用の箱５′に供給する場合は例えば（４５−β）度回転させるように設定するとよく、αとβが同じにすると特によい。何れの場合も、α，βは正の値である。 Further, when the positions of the two articles 1 waiting on the first transport device 11, that is, the positions of the star wheels 17 are fixed as in the above-described embodiment, the support member 25 is set to 45 degrees when supplying to one box. Instead of rotating, when supplying to the box 5 for 2 pieces, rotate it by (45 + α) degrees, for example, and when supplying it to the box 5'for 1 piece, rotate it by (45-β) degrees, for example. It is good to set it, especially if α and β are the same. In each case, α and β are positive values.

さらにまた、１個入り用の箱と、２個入り用の箱を兼用したロボット箱詰め装置とした場合、例えば第一搬送装置１１で待機する２つの物品１の相対位置を変更調整可能にするとよい。例えば、一方または両方のスターホイール１７を搬送方向及びまたは搬送方向に対して直交する方向へ位置調整が可能に構成するとよい。また、係る位置調整により２つの物品１の相対位置が変わることにともない、２つの物品間の距離が変更されることがあり、それに対応するため、第一保持部材２６と第二保持部材２７の位置関係を調整可能とするとよい。係る調整可能にするためには、例えば、第一保持部材２６と第二保持部材２７の少なくとも一方を、支持部材２５に対して移動可能に取り付けるとよい。移動可能は、例えば支持部材２５の取付面にガイドレールを設け、第一保持部材２６及びまたは第二保持部材２７をガイドレールに沿って移動可能に取り付けるなどするとよい。移動可能に取り付ける保持部材は、一方にすると構成が簡単になるが、好ましくは例えば両方とも移動可能な構成にするとよい。 Furthermore, in the case of a robot boxing device that also serves as a box for one piece and a box for two pieces, for example, it is preferable that the relative positions of the two articles 1 waiting in the first transport device 11 can be changed and adjusted. .. For example, one or both star wheels 17 may be configured to be capable of position adjustment in the transport direction and / or in a direction orthogonal to the transport direction. Further, as the relative position of the two articles 1 changes due to the position adjustment, the distance between the two articles may change, and in order to cope with this, the first holding member 26 and the second holding member 27 It would be nice if the positional relationship could be adjusted. In order to make such adjustment possible, for example, at least one of the first holding member 26 and the second holding member 27 may be movably attached to the support member 25. As for the movable property, for example, a guide rail may be provided on the mounting surface of the support member 25, and the first holding member 26 and / or the second holding member 27 may be movably mounted along the guide rail. The structure of the holding member to be attached so as to be movable can be simplified if one is used, but it is preferable that both of the holding members are movable.

両方とも移動可能な構成にした場合、支持部材２５の回転中心から第一保持部材２６と第二保持部材２７までのそれぞれの距離を等しくすることが容易に行えるのでよい。また、第一保持部材２６と第二保持部材２７の位置関係の調整は、一つの支持部材に対する第一保持部材２６及びまたは第二保持部材２７の取付位置を変更するのではなく、支持部材２５に取り付けた第一保持部材２６と第二保持部材２７の間隔が異なるものを複数用意し、ロボットアーム２１に対し、アタッチメントのように支持部材２５ごと交換するようにすると良い。異なる間隔のものを交換することで、第一保持部材２６と第二保持部材２７の支持部材２５への取付構造が簡単になるのでよい。 When both are movable, the distances from the center of rotation of the support member 25 to the first holding member 26 and the second holding member 27 can be easily made equal. Further, the adjustment of the positional relationship between the first holding member 26 and the second holding member 27 does not change the mounting position of the first holding member 26 and / or the second holding member 27 with respect to one support member, but the support member 25. It is preferable to prepare a plurality of members having different intervals between the first holding member 26 and the second holding member 27 attached to the robot arm 21 and replace the support member 25 together with the robot arm 21 like an attachment. By exchanging the ones having different intervals, the attachment structure of the first holding member 26 and the second holding member 27 to the support member 25 may be simplified.

例えば、スターホイール１７の搬送方向の間隔（条件１）と、スターホイール１７の搬送方向に対して直交する方向の間隔（条件２）と、第一保持部材２６と第二保持部材２７の間隔（条件３）を変更可能にした場合、ノズル部４を備えた物品１の物品移し替えを行う場合の１個入り用箱と、２個入り用箱における各部の具体的な調整は、例えば以下のようにすると良い（下記の「広い」、「狭い」は、１個入りと、２個入りとを比較したときの長さを示す）。 For example, the distance between the star wheels 17 in the transport direction (condition 1), the distance between the star wheels 17 in the direction orthogonal to the transport direction (condition 2), and the distance between the first holding member 26 and the second holding member 27 (condition 1). When the condition 3) can be changed, the specific adjustment of each part in the one-piece box and the two-piece box when the article 1 provided with the nozzle portion 4 is transferred is, for example, as follows. ("Wide" and "narrow" below indicate the length when one piece and two pieces are compared).

１個入り用の場合、条件１：狭い、条件２：広い、条件３：狭い
２個入り用の場合、条件１：広い、条件２：狭い、条件３：広い
なおまた、ノズル部４の向きを箱５，５′の角部に向かせるか否かにかかわらず、本形態のように調整を行わない場合、物品１の容器本体２が箱５，５′の側面に接触し、箱内に供給できないおそれがある。特に、容器本体２の外形寸法と、箱の内寸の差がほぼ無いような状態の場合、図８（ｂ）と図８（ｃ）の角度差に伴う物品１の搬送方向の供給位置のずれの影響が無視できず、容器本体２の底が、箱の開口部の縁に接触するおそれがある。よって、１個入り用と２個入り用で兼用する場合、上述したように調整ができるようにすると良い。 For 1 piece, Condition 1: Narrow, Condition 2: Wide, Condition 3: Narrow For 2 pieces, Condition 1: Wide, Condition 2: Narrow, Condition 3: Wide In addition, the orientation of the nozzle unit 4 Regardless of whether or not the box is directed to the corners of the boxes 5, 5', if the adjustment is not performed as in this embodiment, the container body 2 of the article 1 comes into contact with the side surface of the boxes 5, 5'and the inside of the box. May not be supplied to. In particular, when there is almost no difference between the outer dimensions of the container body 2 and the inner dimensions of the box, the supply position of the article 1 in the transport direction due to the angle difference between FIGS. 8 (b) and 8 (c). The effect of the displacement cannot be ignored, and the bottom of the container body 2 may come into contact with the edge of the opening of the box. Therefore, when the one for one piece and the one for two pieces are used together, it is preferable to enable the adjustment as described above.

また、１個入り用と２個入り用の兼用タイプの場合、ノズル部４を備えない物品の箱詰めや、中仕切用フラップ５ｂを備えないカートン・箱に対する箱詰めに適用してもよい。 Further, in the case of the combined type for 1 piece and 2 pieces, it may be applied to boxing of articles not provided with the nozzle portion 4 or boxing of cartons / boxes not provided with the partition flap 5b.

以上、本発明の様々な側面を実施形態を用いて説明してきたが、これらの実施形態や説明は、本発明の範囲を制限する目的でなされたものではなく、本発明の理解に資するために提供されたものであることを付言しておく。本発明の範囲は、明細書に明示的に説明された構成や製法に限定されるものではなく、本明細書に開示される本発明の様々な側面の組み合わせをも、その範囲に含むものである。本発明のうち、特許を受けようとする構成を、添付の特許請求の範囲に特定したが、現在の処は特許請求の範囲に特定されていない構成であっても、本明細書に開示される構成を、将来的に特許請求する可能性があることを、念のために申し述べる。 Although various aspects of the present invention have been described above using embodiments, these embodiments and explanations are not intended to limit the scope of the present invention, and are intended to contribute to the understanding of the present invention. It should be added that it was provided. The scope of the present invention is not limited to the configurations and manufacturing methods explicitly described herein, but also includes combinations of various aspects of the invention disclosed herein. Of the present invention, the configuration for which a patent is sought is specified in the appended claims, but even if the configuration is not currently specified in the claims, it is disclosed in the present specification. I would like to mention that there is a possibility of claiming a patent for this configuration in the future.

１ ：物品
２ ：容器本体
３ ：キャップ部
４ ：ノズル部
５ ：箱
５ａ ：本体
５ｂ ：中仕切用フラップ
５ｉ ：中仕切部
５′ ：箱
１１ ：第一搬送装置
１２ ：第二搬送装置
１３ ：物品移し替えロボット
１８ ：第一通路部
１９ ：第二通路部
２０ ：振り分けプレート
２１ ：ロボットアーム
２５ ：支持部材
２６ ：第一保持部材
２７ ：第二保持部材
４１ ：フラップ折り曲げ装置
５１ ：フラップ開き装置
５２ ：折り癖付け装置
５３ ：中仕切用フラップ折り曲げ装置 1: Article 2: Container body 3: Cap part 4: Nozzle part 5: Box 5a: Body 5b: Flap for partitioning 5i: Partitioning part 5': Box 11: First transporting device 12: Second transporting device 13: Goods transfer robot 18: First passage 19: Second passage 20: Sorting plate 21: Robot arm 25: Support member 26: First holding member 27: Second holding member 41: Flap bending device 51: Flap opening device 52: Folding device 53: Flap bending device for partition

Claims (8)

ノズル部を備えた物品を２列で搬送する第一搬送装置と、
前記物品を収納する上部開口する箱を搬送する第二搬送装置と、
前記第一搬送装置上の前記物品を保持するとともに移動して前記第二搬送装置上の前記箱に供給する物品移し替えロボットを備え、
前記第一搬送装置は、前記２列のそれぞれの先頭の前記物品の位置を、搬送方向に沿って前後にずらし、前記ノズル部を後ろ向きの状態で待機させるようにし、
前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、
前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上で待機する前記２列の先頭の前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、
前記支持部材の回転により前記物品の前記ノズル部が、前記箱の角部側に位置するように構成したことを特徴とするロボット箱詰め装置。 A first transport device that transports articles equipped with nozzles in two rows,
A second transport device for transporting a box with an upper opening for storing the articles, and
An article transfer robot that holds and moves the article on the first transfer device and supplies it to the box on the second transfer device is provided.
The first transport device shifts the position of the article at the head of each of the two rows back and forth along the transport direction so that the nozzle portion stands by in a backward state.
The article transfer robot has a support member that can rotate in a plane parallel to the transport surface, a first holding member and a second holding member that are supported by the support member, and the support member on the first transport device. And a moving means for moving onto the second transport device.
The article transfer robot holds the articles at the head of the two rows in which the first holding member and the second holding member stand by on the first transport device, respectively, and the first holding member is held by the moving means. And the second holding member is moved onto the second transport device, and the support member is rotated during the movement or on the second transport device to move the first holding member and the second holding member to the second holding member. (Ii) Positioned on the boxes before and after waiting on the transport device, the holding of the first holding member and the second holding member is released so that the article is supplied to each of the boxes.
A robot boxing device characterized in that the nozzle portion of the article is configured to be located on the corner portion side of the box by the rotation of the support member. 前記箱は、前記物品を２個並べて収納するものであり、
前記第二搬送装置は、前記箱を平面視で横長の状態で搬送するようにし、
前記第一保持部材は、前記箱の搬送方向の左側を或いは右側の一方側に保持した前記物品を供給し、
前記第二保持部材は、前記第一保持部材と異なる側に保持した前記物品を供給することを特徴とする請求項１に記載のロボット箱詰め装置。 The box stores two of the articles side by side.
The second transport device transports the box in a horizontally long state in a plan view.
The first holding member supplies the article holding the left side of the box in the transport direction or one side of the right side.
The robot boxing device according to claim 1, wherein the second holding member supplies the article held on a side different from that of the first holding member. 前記箱は、前記物品を２個並べて収納するものであり、
前記箱の本体の上端開口部における一方の短辺に、中仕切用フラップを設け、
前記物品移し替えロボットは、前記箱に対して最初に供給する前記物品は、前記中仕切用フラップを設けた前記短辺側に行うようにし、
前記箱内に前記最初の物品を供給した状態で前記中仕切用フラップを折り曲げる折り曲げ手段を備え、
前記物品移し替えロボットにより、前記箱に対して２つめの前記物品を供給する際に、その供給する前記物品が前記折り曲げられた前記中仕切用フラップを箱内に押し込むようにしたことを特徴とする請求項１または２に記載のロボット箱詰め装置。 The box stores two of the articles side by side.
A partition flap is provided on one short side of the upper end opening of the main body of the box.
The article transfer robot first supplies the article to the box so that the article is provided on the short side side provided with the partition flap.
A folding means for bending the partition flap with the first article supplied in the box is provided.
When the second article is supplied to the box by the article transfer robot, the article to be supplied pushes the bent partition flap into the box. The robot boxing device according to claim 1 or 2. 前記箱は、前記物品を１個収納するものであり、
前記第一保持部材と前記第二保持部材は、前後に並ぶ前記箱にそれぞれ保持した前記物品を供給することを特徴とする請求項１から３のいずれか１項に記載のロボット箱詰め装置。 The box is for storing one of the articles.
The robot boxing device according to any one of claims 1 to 3, wherein the first holding member and the second holding member each supply the articles held in the boxes arranged one after the other. 前記第一搬送装置は、前記物品が移動する経路となる第一通路部及び第二通路部を備え、
前記第一通路部と前記第二通路部の搬入口付近に、その上流側から搬送されてくる前記物品をいずれかの通路に振り分ける手段を配置し、
前記第一通路部を移動する前記物品の前記ノズル部は、その第一通路部の通路を形成する一対の周壁の少なくとも一方に接触して前記後ろ向きの状態になり、
前記第二通路部を移動する前記物品の前記ノズル部は、その第二通路部の通路を形成する一対の周壁の少なくとも一方に接触して前記後ろ向きの状態になるようにし、
前記第一通路部と前記第二通路部における前記物品の搬出口の位置を搬送方向に対して前後にずらすようにしたことを特徴とする請求項１から４のいずれか１項に記載のロボット箱詰め装置。 The first transport device includes a first passage portion and a second passage portion that serve as a route for the article to move.
A means for distributing the article transported from the upstream side to any of the passages is arranged near the carry-in entrances of the first passage portion and the second passage portion.
The nozzle portion of the article moving in the first passage portion comes into contact with at least one of the pair of peripheral walls forming the passage of the first passage portion and is in the backward facing state.
The nozzle portion of the article moving in the second passage portion is brought into contact with at least one of the pair of peripheral walls forming the passage of the second passage portion so as to be in the backward facing state.
The robot according to any one of claims 1 to 4, wherein the positions of the carry-out port of the article in the first passage portion and the second passage portion are shifted back and forth with respect to the transport direction. Boxing device. 前記第一通路部の搬出口或いは前記第二通路部の搬出口で待機する前記物品の前記ノズル部に対し、前記第一搬送装置の搬送方向に対して交差する方向に付勢して前記ノズル部の向きを揃える機能を備えることを特徴とする請求項５に記載のロボット箱詰め装置。 The nozzle is urged in a direction intersecting the transport direction of the first transport device with respect to the nozzle portion of the article waiting at the carry-out port of the first passage portion or the carry-out outlet of the second passage portion. The robot boxing device according to claim 5, further comprising a function of aligning the directions of the portions. 第一搬送装置上の物品を保持するとともに移動して第二搬送装置上の箱に供給する物品移し替えロボットを備え、
前記箱は、前記物品を２個並べて収納するものであり、前記箱の本体の上端開口部における一方の短辺に、中仕切用フラップを設け、
前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、
前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上の２つの前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、
前記物品移し替えロボットは、前記箱に対して最初に供給する前記物品は、前記中仕切用フラップを設けた前記短辺側に行うようにし、
前記箱内に前記最初の物品を供給した状態で前記中仕切用フラップを折り曲げる折り曲げ手段を備え、
前記物品移し替えロボットにより、前記箱に対して２つめの前記物品を供給する際に、その供給する前記物品が前記折り曲げられた前記中仕切用フラップを箱内に押し込むようにしたことを特徴とするロボット箱詰め装置。 Equipped with an article transfer robot that holds and moves articles on the first transfer device and supplies them to the box on the second transfer device.
The box is for storing two articles side by side, and a flap for partitioning is provided on one short side of the upper end opening of the main body of the box.
The article transfer robot has a support member that can rotate in a plane parallel to the transport surface, a first holding member and a second holding member that are supported by the support member, and the support member on the first transport device. And a moving means for moving onto the second transport device.
In the article transfer robot, the first holding member and the second holding member each hold the two articles on the first transport device, and the first holding member and the second holding member are held by the moving means. Is moved onto the second transfer device, and the support member is rotated during the movement or on the second transfer device to wait the first holding member and the second holding member on the second transfer device. It is positioned on the box before and after the operation, and the holding of the first holding member and the second holding member is released so that the article is supplied to each of the boxes.
The article transfer robot first supplies the article to the box so that the article is provided on the short side side provided with the partition flap.
A folding means for bending the partition flap with the first article supplied in the box is provided.
When the article transfer robot supplies the second article to the box, the article to be supplied pushes the bent partition flap into the box. Robot boxing device. 物品を２列で搬送する第一搬送装置と、
前記物品を収納する上部開口する箱を搬送する第二搬送装置と、
前記第一搬送装置上の前記物品を保持するとともに移動して前記第二搬送装置上の前記箱に供給する物品移し替えロボットを備え、
前記第一搬送装置は、前記２列のそれぞれの先頭の前記物品の位置を、搬送方向に沿って前後にずらした状態で待機させるようにし、
前記物品移し替えロボットは、搬送面と平行な平面内で回転可能な支持部材と、その支持部材に支持される第一保持部材及び第二保持部材と、前記支持部材を前記第一搬送装置上と前記第二搬送装置上に移動させる移動手段を備え、
前記物品移し替えロボットは、前記第一保持部材と前記第二保持部材が前記第一搬送装置上で待機する前記２列の先頭の前記物品をそれぞれ保持し、前記移動手段により前記第一保持部材と前記第二保持部材を前記第二搬送装置上に移動し、その移動途中或いは前記第二搬送装置上で前記支持部材を回転させて前記第一保持部材及び前記第二保持部材を、前記第二搬送装置上で待機する前後の前記箱の上に位置させ、前記第一保持部材及び前記第二保持部材の保持を解除して前記物品をそれぞれの前記箱に供給するようにし、
前記第一搬送装置で待機する前記２列のそれぞれの先頭の前記物品の相対位置を変更調整可能に構成し、
その相対位置の変更にあわせて前記支持部材に支持される前記第一保持部材及び前記第二保持部材の間隔を異ならせるように構成したことを特徴とするロボット箱詰め装置。 The first transport device that transports goods in two rows,
A second transport device for transporting a box with an upper opening for storing the articles, and
An article transfer robot that holds and moves the article on the first transfer device and supplies it to the box on the second transfer device is provided.
The first transport device makes the position of the article at the head of each of the two rows stand by in a state of being shifted back and forth along the transport direction.
The article transfer robot has a support member that can rotate in a plane parallel to the transport surface, a first holding member and a second holding member that are supported by the support member, and the support member on the first transport device. And a moving means for moving onto the second transport device.
The article transfer robot holds the articles at the head of the two rows in which the first holding member and the second holding member stand by on the first transport device, respectively, and the first holding member is held by the moving means. And the second holding member is moved onto the second transport device, and the support member is rotated during the movement or on the second transport device to move the first holding member and the second holding member to the second holding member. (Ii) Positioned on the boxes before and after waiting on the transport device, the holding of the first holding member and the second holding member is released so that the article is supplied to each of the boxes.
The relative position of the article at the head of each of the two rows waiting in the first transport device can be changed and adjusted.
A robot boxing device characterized in that the distance between the first holding member and the second holding member supported by the supporting member is changed according to the change in the relative position.
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