JPH069042A - Conveyed article aligning device and conveyed article packing device - Google Patents
Conveyed article aligning device and conveyed article packing deviceInfo
- Publication number
- JPH069042A JPH069042A JP16763392A JP16763392A JPH069042A JP H069042 A JPH069042 A JP H069042A JP 16763392 A JP16763392 A JP 16763392A JP 16763392 A JP16763392 A JP 16763392A JP H069042 A JPH069042 A JP H069042A
- Authority
- JP
- Japan
- Prior art keywords
- conveyed
- stopper
- article
- leading
- conveying device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Special Conveying (AREA)
- Control Of Conveyors (AREA)
- Specific Conveyance Elements (AREA)
- Attitude Control For Articles On Conveyors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、内容物の入ったプラス
チックボトル等の搬送物を箱詰めする前に、その搬送物
を停止させて整列させる搬送物整列装置、及びその搬送
物整列装置を備えた搬送物箱詰装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a conveyed product aligning device for stopping and aligning a conveyed product such as a plastic bottle containing contents before it is packed in a box. The present invention relates to a transported object boxing device.
【０００２】[0002]
【従来の技術】一般に、内容物の入ったプラスチックボ
トル等の搬送物はコンベア等によって搬送され、搬送物
整列装置によって所定数，所定位置に整列され、その整
列された搬送物を把持装置で把持して箱詰装置に箱詰め
される。従来の搬送物整列装置は、例えば、実公昭62─
34899 号に開示されているように、コンベアによって搬
送されてきた搬送物を先頭ストッパーに当てて停止させ
るとともに、その停止時における搬送物のはねかえりを
バックストッパーによって防止するように構成されてい
る。バックストッパーとしては、バックストッパー本体
の自重により動作せしめるチルチング方式や、引っ張り
ばねの力によりバックストッパーを動作せしめる上下可
動方式などが採用されている。2. Description of the Related Art Generally, a conveyed product such as a plastic bottle containing contents is conveyed by a conveyer or the like and is arranged at a predetermined number and a predetermined position by a conveyed product arranging device, and the arranged conveyed products are grasped by a grasping device. Then, it is packed in a boxing machine. A conventional conveyed object aligning device is, for example, Jikken Sho 62-
As disclosed in Japanese Patent No. 34899, it is configured such that a conveyed product conveyed by a conveyor is stopped by hitting a leading stopper and the rebound of the conveyed product at the time of the stop is prevented by a back stopper. As the back stopper, a tilting method in which the back stopper body operates by its own weight or a vertically movable method in which the back stopper operates by the force of a tension spring is adopted.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、従来の
搬送物整列装置では、搬送物が内容物の入った大型のボ
トルのような場合、その揺動が大きいため、搬送物同志
のぶつかる衝撃や先端の搬送物が先頭ストッパーに当た
ったときの衝撃により、送り込まれる搬送物を安定した
位置に整列させることは難しく、箱詰めする際に把持装
置により把持できないで、搬送装置上に残ってしまうも
のがあるという問題点があった。However, in the conventional transported object aligning apparatus, when the transported object is a large bottle containing the contents, the swing thereof is large, so that the impact and tip of the transported objects collide with each other. It is difficult to align the conveyed goods in a stable position due to the impact when the conveyed goods hit the leading stopper, and there is something that remains on the conveyor device because it cannot be grasped by the grasping device when packing the boxes. There was a problem.
【０００４】本発明は、上記問題点に鑑み、搬送物を安
定して整列できる整列装置及び箱詰装置を提供する。In view of the above problems, the present invention provides an aligning device and a boxing device which can stably align the conveyed items.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記課題を解
決するために、搬送装置の一端側に設けられ、搬送装置
によって搬入されてきた搬送物を停止させる先頭ストッ
パーと、搬送装置の側部に回転自在に設けられ、搬送物
を先頭ストッパー側に順次送り込むとともに、回動を停
止して搬送物の一側への搬入を阻止する歯車状に形成さ
れたロータリーストッパーと、搬送装置の側部に設けら
れ、搬送装置側に付勢されて、最後尾の搬送物の逆走を
阻止するバックストッパーとから構成される。In order to solve the above-mentioned problems, the present invention provides a leading stopper which is provided at one end side of a conveying device and stops a conveyed object carried in by the conveying device, and a side of the conveying device. The rotary stopper, which is rotatably installed in the unit, sequentially feeds the conveyed items to the leading stopper side, and stops rotation to prevent the conveyed items from being conveyed to one side. And a back stopper that is biased toward the transport device and that prevents the rearmost transported object from running backward.
【０００６】又、先頭ストッパー近傍に設けられ、先頭
の搬送物が送り込まれたか否かを検知する位置センサ
と、その位置センサにより先頭の搬送物が送り込まれた
ことを検知すると搬送装置を減速するように制御する速
度制御装置とを有して構成してもよい。Further, a position sensor provided near the leading stopper for detecting whether or not the leading conveyed object has been fed, and decelerating the feeding device when the position sensor detects that the leading conveyed article has been fed. It may be configured to include a speed control device that controls the above.
【０００７】[0007]
【作 用】本発明によれば、搬送物が所定数溜まると、
ロータリーストッパーが回転し、所定数の搬送物が順次
一側に送り込まれる。そして、送りこまれた搬送物はバ
ックストッパーの付勢力に抗して通過する。次に、位置
センサーが先頭の搬送物を検知すると、速度制御装置に
より搬送速度が減速する。そのため、先頭の搬送物が先
頭ストッパーに当たるときの衝撃が緩和する。搬送装置
上に所定数の搬送物が搬入されると、ロータリーストッ
パーの回転が停止し後続の搬送物の搬入を阻止する。最
後尾の搬送物は、バックストッパーにより逆走したり、
揺動することはない。このようにして搬送装置上に搬送
物が安定して整列される。[Operation] According to the present invention, when a predetermined number of conveyed articles are accumulated,
The rotary stopper rotates, and a predetermined number of conveyed objects are sequentially fed to one side. Then, the conveyed article is passed against the urging force of the back stopper. Next, when the position sensor detects the leading object, the speed controller reduces the carrying speed. Therefore, the impact when the leading conveyed object hits the leading stopper is mitigated. When a predetermined number of conveyed items are carried in on the conveying device, the rotation of the rotary stopper is stopped to prevent the subsequent conveyed items from being conveyed. The backmost stopper can be used to reverse the last item,
It does not rock. In this way, the transported objects are stably aligned on the transport device.
【０００８】[0008]
【実施例】以下、本発明の実施例を図面に基づいて詳細
に説明する。図１は、本発明の搬送物整列装置Ａの構成
を示す平面図である。図中、１は例えば、内容物の入っ
た大型のプラスチックボトル等の搬送物、２はコンベア
等の搬送装置であり、搬送物を図中右側から左側（他側
から一側）へ搬送する。３は先頭ストッパであり、搬送
装置２の一端側に設けられ、搬送装置２によって搬入さ
れてきた搬送物１を停止させる。Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a plan view showing the configuration of a conveyed product aligning apparatus A of the present invention. In the figure, for example, 1 is a conveyed product such as a large-sized plastic bottle containing contents, and 2 is a conveying device such as a conveyor, which conveys the conveyed product from the right side to the left side (from the other side to the one side) in the figure. Reference numeral 3 denotes a leading stopper, which is provided on one end side of the transport device 2 and stops the transported object 1 loaded by the transport device 2.
【０００９】４はロータリーストッパーであり、搬送装
置２の側部に回転自在に設けられ、回転しながら搬送物
１を先頭ストッパー３側に順次送り込むとともに、回動
を停止して搬送物１の一側への搬入を阻止するように歯
車状に形成されている。５はバックストッパーであり、
搬送装置２の側部に設けられ、搬送装置２側に付勢され
て、搬送物の逆走を阻止する。各バックストッパー５
は、本体５ａと、その本体の支軸５ｂに回動自在に取り
付けられ、搬送装置２により搬入される搬送物１と当接
する当接板５ｃと、その当接板５ｃと本体５ｂとの間に
取り付けられ、当接板５ｃを搬送装置２側へ付勢するバ
ネ５ｄとからなる。Reference numeral 4 denotes a rotary stopper, which is rotatably provided on a side portion of the conveying device 2 and sequentially conveys the conveyed article 1 to the leading stopper 3 side while rotating, and stops the rotation of the conveyed article 1 to move it. It is formed in a gear shape so that it cannot be carried into the side. 5 is a back stopper,
It is provided on the side portion of the carrier device 2 and is biased toward the carrier device 2 side to prevent the conveyed object from running backward. Each back stopper 5
Is a main body 5a and a contact plate 5c that is rotatably attached to a support shaft 5b of the main body and that abuts on a conveyed object 1 carried in by the transfer device 2, and between the contact plate 5c and the main body 5b. And a spring 5d that urges the contact plate 5c toward the transport device 2 side.
【００１０】Ｓ1 は、先頭ストッパー３の他側近傍に設
けられた第一位置センサであり、先頭の搬送物１が送り
込まれたことを検知する。この第一位置センサＳ1 は、
図示しない搬送装置速度制御装置と接続しており、先頭
の搬送物１が送り込まれたことを検知すると、その速度
制御装置により、搬送装置２の速度が減速するように制
御する。S 1 is a first position sensor provided in the vicinity of the other side of the leading stopper 3 and detects that the leading conveyed article 1 has been fed. This first position sensor S 1
It is connected to a transport device speed control device (not shown), and when it is detected that the leading article 1 has been fed, the speed control device controls the speed of the transport device 2 to be reduced.
【００１１】図２は、搬送物整列装置Ａを備えた箱詰装
置Ｂ全体の構成を示す側面図である。１０はフレーム
部、１１は搬送物１を詰め込むための箱、１２は箱搬送
装置、１３は搬送された箱１１を所定数に整列させるた
めのストッパーである。１４は把持装置であり、フレー
ム１０の上部に設けられ、搬送物整列装置Ａによって整
列された搬送物１を把持し、箱搬送装置１２上まで移動
する。この把持装置１４は、両側のフレームに水平方向
に移動自在に取り付けられ、搬送装置２上と箱搬送装置
１２上との間を移動する移動部１４ａと、移動部１４ａ
の下部に設けられたシリンダ１４ｂと、そのシリンダ１
４ｂのピストンロッド１４ｃの先端に設けられたヘッド
１４ｄと、ヘッド１４ｄの下部に設けられ、搬送物１を
把持する複数のグリッパー１４ｅとから構成されてい
る。移動部１４ａの上部は図３に示すように、リンク部
材１５と連結され、そのリンク部材１５を駆動させる駆
動部１６の作動により、移動部１４ａを水平方向へ移動
できるように構成されている。ヘッド１４ｄは、駆動部
２０により昇降できるように構成されている。FIG. 2 is a side view showing the overall construction of the boxing device B equipped with the conveyed product aligning device A. As shown in FIG. Reference numeral 10 is a frame portion, 11 is a box for packing the articles to be conveyed 1, 12 is a box conveying device, and 13 is a stopper for arranging the conveyed boxes 11 in a predetermined number. Reference numeral 14 denotes a gripping device, which is provided on the upper part of the frame 10 and grips the conveyed objects 1 aligned by the conveyed object arranging device A and moves to the box conveying device 12. The gripping device 14 is movably attached to the frames on both sides in a horizontal direction, and moves between the transport device 2 and the box transport device 12 and a moving part 14a and a moving part 14a.
Cylinder 14b provided at the bottom of the cylinder and its cylinder 1
The head 14d is provided at the tip of the piston rod 14c of 4b, and a plurality of grippers 14e provided at the lower part of the head 14d for gripping the conveyed product 1. As shown in FIG. 3, the upper portion of the moving portion 14a is connected to the link member 15, and the moving portion 14a can be moved in the horizontal direction by the operation of the driving portion 16 that drives the link member 15. The head 14d is configured to be able to move up and down by the drive unit 20.
【００１２】１７は案内部であり、フレーム１０の下部
に設けられ、各箱１１に対応する位置に開口部（図示せ
ず）を形成している。１８はガイド部材であり、案内部
１７の下部に設けられ、開口部を仕切って搬送物１を確
実に箱に入れるためのものである。次に、本発明の上述
の実施例の作用について説明する。Reference numeral 17 is a guide portion, which is provided at the bottom of the frame 10 and has an opening (not shown) formed at a position corresponding to each box 11. Reference numeral 18 denotes a guide member, which is provided at the lower portion of the guide portion 17 to partition the opening portion and surely put the conveyed article 1 in the box. Next, the operation of the above-described embodiment of the present invention will be described.
【００１３】内容物が充填され、蓋が装着された搬送物
１は、振分け装置Ｃ（図４）により２列に振り分けら
れ、搬送物整列装置Ａのロータリーストッパー４（回転
していない）まで来て一旦停止する。ロータリーストッ
パー４から所定長さある第二位置センサＳ2 の位置まで
搬送物が溜まったことを第二位置センサＳ2 が検知する
と、ロータリーストッパー４が回動し、所定数の搬送物
１が順次一側（図中左側）に送り込まれる。そして、送
りこまれた搬送物１はバックストッパー５の当接板５ｃ
に当たり、その当接板５ｃをばね５ｄの付勢力に抗して
回動させて通過する（図５（ａ）（ｂ）（ｃ）参照）。The articles 1 filled with the contents and fitted with the lids are sorted into two rows by the sorting apparatus C (FIG. 4) and come to the rotary stopper 4 (not rotating) of the article sorting apparatus A. Stop once. When the second position sensor S 2 detects that the conveyed object has accumulated from the rotary stopper 4 to the position of the second position sensor S 2 having a predetermined length, the rotary stopper 4 is rotated and a predetermined number of conveyed objects 1 are sequentially arranged. It is sent to one side (left side in the figure). Then, the conveyed article 1 is transferred to the contact plate 5c of the back stopper 5.
Then, the contact plate 5c is rotated against the biasing force of the spring 5d to pass therethrough (see FIGS. 5A, 5B and 5C).
【００１４】次に、第一位置センサーＳ1 が先頭の搬送
物１を検知すると、速度制御装置により搬送速度が減速
する。そして搬送装置２上に所定数の搬送物１が送りこ
まれると、第三位置センサＳ3 が、先頭の搬送物１が先
頭ストッパーに当接していることを検知するとともに、
第四位置センサＳ4 が遮光していないことを検知してロ
ータリーストッパー４の回転を停止し、後続の搬送物１
の搬入を阻止する。この第四位置センサＳ4 が遮光して
いると、搬送物が倒れているか又は前サイクルのつかみ
残しがあることになり、ヘッド１４ｄは待機位置で停止
する。又、搬入された最後尾の搬送物１は、バックスト
ッパー４によりその揺動や逆走を防止する。Next, when the first position sensor S 1 detects the leading object 1, the speed controller decelerates the carrying speed. When a predetermined number of conveyed articles 1 are sent onto the conveying apparatus 2, the third position sensor S 3 detects that the leading conveyed article 1 is in contact with the leading stopper, and
When the fourth position sensor S 4 detects that the light is not blocked, the rotation of the rotary stopper 4 is stopped and
Prevent the delivery of. If the fourth position sensor S 4 is shielded from light, it means that the conveyed object has fallen down or there is an unretained portion in the previous cycle, and the head 14d stops at the standby position. Further, the backmost stopper 4 prevents the backmost conveyed article 1 carried in from swinging or running backward.
【００１５】このように所定数の搬送物１が整列装置Ａ
により整列されると、把持装置１４のヘッド１４ｄが下
降してグリッパー１４ｅにより搬送物１を把持する。そ
して先頭ストッパー３が搬送物１から矢印方向（図１）
へ離れた後に、ヘッド１４ｄを上昇して搬送物１を搬送
装置２上より取り出す（図３）。そして把持装置１４が
箱搬送装置１２上まで水平方向に移動した後、ヘッド１
４ｄを下降して、グリッパー１４ｅから搬送物１を離脱
する。離脱された搬送物１は案内部１７の開口部を通過
して、ガイド部材１８にガイドされながら箱１１内に詰
められる。In this way, the predetermined number of conveyed articles 1 are arranged in the aligning device A.
When aligned, the head 14d of the gripping device 14 descends and grips the conveyed object 1 by the gripper 14e. And the front stopper 3 is in the direction of the arrow from the conveyed object 1 (Fig. 1).
After separating from, the head 14d is lifted to take out the conveyed object 1 from the conveying device 2 (FIG. 3). Then, after the gripping device 14 moves in the horizontal direction onto the box transport device 12, the head 1
4d is lowered and the conveyed article 1 is separated from the gripper 14e. The detached conveyed article 1 passes through the opening of the guide portion 17 and is packed in the box 11 while being guided by the guide member 18.
【００１６】以上、本発明の好ましい実施例を説明した
が、発明の範囲又は精神から逸脱することなく開示した
実施例に種々の変更をすることができることは明らかで
ある。While the preferred embodiment of the invention has been described above, it will be apparent that various changes can be made to the disclosed embodiment without departing from the scope or spirit of the invention.
【００１７】[0017]
【発明の効果】本発明によれば、ロータリーストッパー
により搬送物間の間隔を多少隔てながら整列できるの
で、搬送物同志の接触が回避され安定した位置に整列す
ることができる。又、先頭ストッパーより他側近傍に位
置センサを設け、先頭の搬送物が送り込まれたことを検
知して、搬送装置の速度を減速させるので、先頭の搬送
物が先頭ストッパーに当たる衝撃を緩和でき、搬送物を
より正確な位置に整列できる。According to the present invention, since the articles can be aligned by the rotary stopper while the distance between the articles is slightly separated, the articles can be aligned at a stable position by avoiding contact between the articles. In addition, since a position sensor is provided near the other side of the leading stopper to detect that the leading conveyed product has been fed in and reduce the speed of the conveying device, the impact of the leading conveyed product hitting the leading stopper can be mitigated, The transported items can be aligned at a more accurate position.
【００１８】従って、箱詰めの際、把持装置による搬送
物の把持残し等の問題が生じず、安定した箱詰めが可能
となる。Therefore, when packing the boxes, there is no problem of the gripping device remaining ungripped, and stable packing is possible.
【図１】本発明の搬送物整列装置の構成を示す平面図で
ある。FIG. 1 is a plan view showing a configuration of a conveyed product alignment apparatus of the present invention.
【図２】箱詰装置全体の構成を示す側面図である。FIG. 2 is a side view showing the configuration of the entire packaging device.
【図３】箱詰装置の把持装置の作動を示す説明図であ
る。FIG. 3 is an explanatory diagram showing an operation of a gripping device of the packaging device.
【図４】本発明の作動を示す平面図である。FIG. 4 is a plan view showing the operation of the present invention.
【図５】本発明のバックストッパーの作動を示す説明図
である。FIG. 5 is an explanatory view showing the operation of the back stopper of the present invention.
Ａ…搬送物整列装置、 Ｂ…箱詰装置、 １…搬送物、 ２…搬送装置、 ３…先頭ストッパ、 ４…ロータリーストッパー、 ５…バックストッパー、 Ｓ1 …第一位置センサ。A ... conveyed alignment apparatus, B ... boxing device, 1 ... conveyed, 2 ... transporting apparatus, 3 ... top stopper 4 ... rotary stopper, 5 ... back stopper S 1 ... the first position sensor.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 掘田 雄介 奈良県大和郡山市池沢町337番地 ハウス 食品工業株式会社奈良工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yusuke Horita House 337 Ikezawa Town, Yamatokoriyama City, Nara House House Food Industry Co., Ltd. Nara Factory
Claims (3)
よって他側から一側へ搬入されてきた搬送物を停止させ
る先頭ストッパーと、 搬送装置の側部に回転自在に設けられ、搬送物を先頭ス
トッパー側に順次送り込むとともに、回転を停止して搬
送物の一側への搬入を阻止する歯車状に形成されたロー
タリーストッパーと、 搬送装置の側部に設けられ、搬送装置側に付勢されて、
最後尾の搬送物の逆走を阻止するバックストッパーと、 からなることを特徴とする搬送物整列装置。1. A head stopper provided at one end of a carrying device for stopping a carried product carried in from one side to the other side by the carrying device, and rotatably provided at a side part of the carrying device. A rotary stopper formed in the shape of a gear that stops the rotation and stops the conveyance of the transported object to one side while sequentially feeding the items to the front stopper side, and is provided on the side of the transportation device and attached to the transportation device side. Energized,
A backside stopper for preventing backward traveling of the rearmost transported article, and a transported article aligning device.
れ、先頭の搬送物が送り込まれたか否かを検知する位置
センサと、その位置センサにより先頭の搬送物が送り込
まれたことを検知すると、搬送装置を減速するように制
御する速度制御装置とを有することを特徴とする請求項
１記載の搬送物整列装置。2. A position sensor which is provided near the other side of the leading stopper and detects whether or not a leading conveyed object has been fed, and when the position sensor detects that the leading conveyed article has been fed, 2. The transported object aligning device according to claim 1, further comprising: a speed control device that controls the transportation device to decelerate.
置を備えたことを特徴とする搬送物箱詰装置。3. An article packing apparatus comprising the article alignment apparatus according to claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16763392A JP2750981B2 (en) | 1992-06-25 | 1992-06-25 | Conveyed product alignment device and conveyed product boxing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16763392A JP2750981B2 (en) | 1992-06-25 | 1992-06-25 | Conveyed product alignment device and conveyed product boxing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH069042A true JPH069042A (en) | 1994-01-18 |
| JP2750981B2 JP2750981B2 (en) | 1998-05-18 |
Family
ID=15853398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16763392A Expired - Fee Related JP2750981B2 (en) | 1992-06-25 | 1992-06-25 | Conveyed product alignment device and conveyed product boxing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2750981B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5982084A (en) * | 1997-05-29 | 1999-11-09 | Matsushita Electronics Corporation | Color cathode ray tube |
| JP2006027873A (en) * | 2004-07-21 | 2006-02-02 | Shibuya Kogyo Co Ltd | Grouping device |
| JP2011116559A (en) * | 2009-12-03 | 2011-06-16 | Yoshitaka Aoyama | Device for holding standby number of component |
| KR101273477B1 (en) * | 2011-08-30 | 2013-06-17 | 현대로템 주식회사 | pallet deceleration device of conveyor |
| JP2016098089A (en) * | 2014-11-21 | 2016-05-30 | ヤンマー株式会社 | Article accumulation device and article selection and accumulation facility including the same |
| JP2020200054A (en) * | 2019-06-06 | 2020-12-17 | 大森機械工業株式会社 | Robot boxing device |
-
1992
- 1992-06-25 JP JP16763392A patent/JP2750981B2/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5982084A (en) * | 1997-05-29 | 1999-11-09 | Matsushita Electronics Corporation | Color cathode ray tube |
| JP2006027873A (en) * | 2004-07-21 | 2006-02-02 | Shibuya Kogyo Co Ltd | Grouping device |
| JP4539206B2 (en) * | 2004-07-21 | 2010-09-08 | 澁谷工業株式会社 | Grouping device |
| JP2011116559A (en) * | 2009-12-03 | 2011-06-16 | Yoshitaka Aoyama | Device for holding standby number of component |
| KR101273477B1 (en) * | 2011-08-30 | 2013-06-17 | 현대로템 주식회사 | pallet deceleration device of conveyor |
| JP2016098089A (en) * | 2014-11-21 | 2016-05-30 | ヤンマー株式会社 | Article accumulation device and article selection and accumulation facility including the same |
| JP2020200054A (en) * | 2019-06-06 | 2020-12-17 | 大森機械工業株式会社 | Robot boxing device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2750981B2 (en) | 1998-05-18 |
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