JP4505969B2 - Carton hoisting device - Google Patents

Description

[0001]
[Technical field to which the invention belongs]
The present invention relates to a carton hoisting apparatus that takes out and raises cartons housed in a carton housing portion one by one, and in particular, a one-touch carton in which four wall surfaces are folded flat and a bottom portion is folded between the wall surfaces. The present invention relates to a carton hoisting device that takes out from the carton housing and takes up the carton.
[0002]
[Prior art]
Recently, a one-touch carton that does not require a folding process or a gluing process and forms a wall surface and a bottom surface in four directions immediately after opening is widely used. This one-touch carton folds flat with two wall surfaces facing each other, and the bottom surface is folded inside the folded wall surface, and the lid is placed upright on the top of one wall surface. Is connected.
[0003]
One-touch cartons are sucked and held one by one with a sucker or the like from a carton housing portion in which a large number of one-touch cartons are stacked and accommodated, and expanded by a hoisting means, and then delivered to a carton conveyor. Various carton hoisting devices have been known.
[0004]
For example, an apparatus described in the first embodiment of Japanese Patent Application Laid-Open No. 11-11430 (hereinafter referred to as a first apparatus) includes a carton magazine that accommodates a large number of cartons folded in a sheet shape, A carton take-out means provided with a suction cup for adsorbing the carton, which is disposed on the take-out side of the carton magazine, and a fixed hoisting guide (carton for taking out the carton taken out and held by the carton take-out means) And a carton transport conveyor for receiving and transporting the carton.
[0005]
In the first apparatus, the carton take-out means advances to the carton magazine side, adsorbs the carton by the suction cup, and then moves backward to take out one carton. Then, when the take-out means holding the carton further moves backward, the end side of the taken-out carton interferes with the fixed hoisting guide disposed on the side of the moving path so that the carton is raised. It has become.
[0006]
Further, an apparatus described in Japanese Patent Application Laid-Open No. 10-3101113 and the second embodiment of the publication (hereinafter referred to as a second apparatus) includes a suction cup for adsorbing a carton in a magazine to a robot hand, There is a loading assistance means for assisting in carton loading. The hoisting assisting means includes an arm that swings in a horizontal plane with a pin as a fulcrum, a plate that is attached to the tip of the arm and strikes the side surface of the carton, and an air cylinder that is connected to the arm and swings. I have.
[0007]
In this second device, after the carton is adsorbed by the sucker, the arm is swung by the operation of the air cylinder, and the part attached to the tip of the arm is far from the part adsorbed by the sucker on the side surface of the carton. It is designed to be bent and folded strongly.
[0008]
[Problems to be solved by the invention]
In the first apparatus, the carton take-out means that adsorbs and takes out the carton is moved linearly as it is, and one end of the carton is pressed against the opening guide so as to open the folded carton. When the size of the four side walls of the carton is almost equal, that is, when the shape of the expanded carton is close to a square when viewed from above, it is folded backward (the side wall adsorbed by the suction cup and the opposite side wall May break in the same direction without opening).
[0009]
In addition, since the second device is provided with a rotation mechanism, there is a problem in that the entire device is increased in size and weight. Moreover, when the size of the carton is changed, the entire robot hand must be exchanged, and there is a problem that it is necessary to prepare the same number of robot hands as the type of carton.
[0010]
The present invention has been made in order to solve the above-described problems. The carton can be reliably opened without being easily folded back, and the robot hand is light in weight, and even when the carton size is changed. Therefore, it is an object of the present invention to provide a carton hoisting device having high compatibility.
[0011]
[Means for Solving the Problems]
A carton hoisting device according to the present invention is a robot having a carton housing part for housing a carton in which four wall surfaces are folded flat and the bottom surface is folded into the wall surfaces, and a suction means for sucking one wall surface of the carton. A robot provided with a hand, a control means for controlling the robot, a hoisting means for raising a carton adsorbed by the robot hand, and a conveying means for receiving and carrying the carton that has been opened. In particular, the hoisting means is provided in a robot hand and supports one end of a carton adsorbed by the adsorbing means, two abutting surfaces having a L-shaped cross section, and both abutting surfaces has a contact portion provided between the cart to the other end of the carton is constructed from Okoshihako guide and being contact, was removed from the carton accommodating unit by the robot hand While supporting the end at the support guide, in which so as to Okoshihako the carton by pressing the other end to the abutment Okoshihako guide.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
The present invention will be described below with reference to embodiments shown in the drawings. FIG. 1 is a plan view showing the overall configuration of a carton hoisting apparatus according to an embodiment of the present invention, and FIG. 2 is a side view of the carton hopper. The carton hoisting apparatus is accommodated in the carton hopper 2. The carton 4 is taken out by the robot hand 8 attached to the arm of the robot 6, opened by the hoisting part 12, and then delivered to the case conveyor 14.
[0013]
The carton 4 opened by this carton hoisting device is a so-called one-touch carton, and has two wall surfaces 4a, 4b, 4c, 4d (see FIG. 1 and FIGS. 4A and 4B described later). Each surface is folded so as to face each other (4a, 4b and 4c, 4d), and the bottom surface is folded between the folded wall surfaces 4a, 4b, 4c, 4d. The lid 4e is connected in an upright state on one wall surface 4c. This one-touch carton 4 has a lower side (the wall surface part where the bottom surface is folded) having a thickness several times that of the upper lid 4e, and when the one-touch carton 4 is stacked, the lower side is The thick upper lid 4e side becomes a thin fan shape and is unstable.
[0014]
A carton hopper (carton housing part) 2 for housing the one-touch carton 4 having the shape described above includes a support rail 2a for supporting the lower end part 4f of the one-touch carton 4, and both end parts 4g of the one-touch carton 4 overlaid on each other. 4h, and a support plate 2c for supporting the rear side (left side in FIG. 2) of the last one-touch carton 4, and a downstream end (right end in FIG. 2) of the support rail 2a. By tilting toward the upper side, a large number of one-touch cartons 4 are supported while leaning against the support plate 2c. Note that the end portions 4g and 4h of the one-touch carton 4 refer to bent portions between two wall surfaces facing each other, that is, between the wall surfaces 4d and 4a and between 4b and 4c.
[0015]
Further, the carton hopper 2 is provided with a stopper 16 for pressing the lower part of the front face so that the lower side of the many one-touch cartons 4 does not swell and fall down. The stopper 16 can be moved forward and backward by the air cylinder 18 and gradually moves forward as the one-touch cartons 4 are sequentially taken out from the front surface side to prevent the remaining one-touch cartons 4 from falling down. The carton hopper 2 is configured such that when the stored one-touch carton 4 is taken out, a predetermined amount of the one-touch carton 4 is supplied from a carton supply conveyor (not shown).
[0016]
A robot hand 8 attached to the robot 6 includes a plurality of suction cups 20 for sucking one wall surface 4a of the one-touch carton 4 and a support guide 22 for supporting the wall surface 4a. The support guide 22 has a flat surface 22a that contacts the wall surface 4a adsorbed to the suction cup 20, and a rising portion 22b that engages and supports the end 4g on the wall surface 4a side. It is L-shaped. A hole (not shown) through which the suction cup 20 passes is formed in the support guide 22, and the suction cup 20 protrudes forward from the hole in a free state, and the robot 6 moves to the wall surface 4 a of the one-touch carton 4. When pressed, the suction cup 20 is compressed and retracted, and the support guide 22 contacts and supports the one-touch carton 4. Note that the rising portion 22b of the support guide 22 does not necessarily have to be 90 degrees, as long as it can be engaged with the end portion 4g of the one-touch carton 4 and pressed.
[0017]
On the case conveyor 12 that receives the opened one-touch carton 4 and transports it to the next step on the downstream side, a raising part 12 for opening the one-touch carton 4 is installed. The hoisting portion 12 is provided with a hoisting guide 24 having carton contact surfaces 24 a and 24 b having an L-shaped cross section. The hoisting guide 24 and the support guide 22 provided in the robot hand 8 are provided. The carton opening means 26 is constituted by the above. Note that the angles of the L-shaped carton contact surfaces 24a and 24b formed on the opening guide 24 are not necessarily limited to 90 degrees.
[0018]
In this embodiment, in the hoisting guide 24, two contact surfaces 24a and 24b forming an L-shape have an angle of 90 degrees or more, and a bottom portion between these contact surfaces 24a and 24b. The end portion 4h of the one-touch carton 4 (the end portion opposite to the end portion 4g engaged with the rising portion 22b of the support guide 22) is pressed against 24c. Therefore, when one end 4h of the one-touch carton 4 is pressed against the bottom (contact part) 24c between the two contact surfaces 24a and 24b, the corner is set to an angle of 90 degrees or more. It can be expanded.
[0019]
The operation of the carton hoisting device according to the above configuration will be described. By the operation of the robot 6, the robot hand 8 provided with the suction cup 20 and the support guide 22 approaches the one-touch carton 4 accommodated in the carton hopper 2, and the suction cup 20 contacts one wall surface 4 a of the leading one-touch carton 4. When in close contact, vacuum acts on the suction cup 20 and is adsorbed. At this time, since the suction cup 20 is pressed against the wall surface 4a of the one-touch carton 4 and compressed, the flat surface 22a of the support guide 22 abuts against the wall surface 4a and the end portion 4g of the one-touch carton 4 on the wall surface 4a side is supported. The guide 22 is engaged with the rising portion 22b.
[0020]
When the suction cup 20 sucks the one-touch carton 4, the robot hand 8 moves backward to take out the first one-touch carton 4 from the carton hopper 2. Next, the robot hand 8 holding the one-touch carton 4 moves to the boxing portion 12 on the case conveyor 14.
[0021]
A hoisting guide 24 having L-shaped contact surfaces 24 a and 24 b is installed in the hoisting part 12, and the robot hand 8 engages with the rising part 22 b of the support guide 22 of the one-touch carton 4. The end 4h opposite to the end 4g is moved toward the hoisting guide 24. At this time, first, the end 4h of the one-touch carton 4 is moved to the longer contact surface 24a side of the hoisting guide 24 and then brought close to the bottom 24c between the contact surfaces 24a and 24b.
[0022]
When the end 4g of the one-touch carton 4 on the side opposite to the end 4g adsorbed to the suction cup 20 provided in the robot hand 8 is brought into contact with the bottom 24c of the hoisting guide 24, the one-touch carton The direction is set so that 4 is located approximately in the middle of the angle formed by both contact surfaces 24a, 24b of the hoisting guide 24 (state shown in FIG. 4A).
[0023]
Subsequently, the one-touch carton 4 is adsorbed and the robot hand 8 supporting the one end 4g by the support guide 22 is further moved toward the opening guide 24, so that the one-touch carton 4 is strongly against the opening guide 24. Press. When the robot hand 8 is moved, the rising portion 22b of the support guide 22 is linearly moved in the direction of the bottom 24c of the hoisting guide 24, and the other end 22c of the support guide 22 is moved as shown in FIG. Increasing gradually.
[0024]
When the end portion 4g supported by the support guide 22 of the one-touch carton 4 is moved closer to the other end portion 4h while the support guide 22 is operated as described above, As shown in FIG. 3, the force in the F ₁ and F ₂ directions acts and gradually expands. At this time, the angle between the end portion 4g side supported by the rising portion 22b of the support guide 22 and the end portion 4h side pressed against the bottom portion 24c of the hoisting guide 24 (the angles of the wall surfaces 4b and 4c and 4d) It is expanded until the angle with respect to 4a becomes 90 degrees or more (see FIG. 4B).
[0025]
The one-touch carton 4 that has been opened is delivered to the case conveyor 14 by the movement of the robot hand 8. The case conveyor 14 conveys the opened one-touch carton 4 while keeping the opened state, and sends it to the next step on the downstream side.
[0026]
According to the carton hoisting apparatus, the carton 4 can be reliably opened without fear of reverse folding. Further, only one end 4g side of the one-touch carton 4 is supported by the support guide 22 provided on the robot hand 8, and the other end 4h side is pressed against a fixed raising guide 24 provided separately to be raised. Therefore, there is no need to replace the robot hand 8 depending on the size of the one-touch carton 4, and the one-touch carton 4 of various sizes can be used. Furthermore, since the robot hand 8 does not have a rotation mechanism and has a simple structure, it is lightweight and low cost. In the above-described embodiment, the abutment guide 24 is provided with the L-shaped contact surfaces 24a and 24b. However, the shape is not necessarily limited to the L-shape, and other shapes may be used. Even if the abutting portion with which the end portion 4h of the one-touch carton 4 abuts is flat, it is possible to open the one-touch carton 4 by sticking rubber or the like having a high frictional resistance.
[0027]
【The invention's effect】
As described above, according to the present invention, the four-side wall surface is folded flat, and the carton housing portion for housing the carton having the bottom surface folded into the wall surface and the adsorbing means for adsorbing one wall surface of the carton are provided. A carton provided with a robot having a robot hand, a control means for controlling the robot, a hoisting means for raising a carton attracted to the robot hand, and a conveying means for receiving and carrying the carton In the hoisting device, the hoisting means is provided on the robot hand, and a support guide for supporting one end of the carton sucked by the sucking means, two abutting surfaces having a L-shaped cross section, and both It has a contact portion provided between the abutment surface, and composed of a Okoshihako guide the other end of the carton into contact, from the carton accommodating unit by the robot hand Since one end of the carton is supported by a support guide and the other end is pressed against the abutment portion of the hoisting guide, the carton is raised so that it can be used for various sizes of cartons. The carton can be opened reliably without reverse folding.
[Brief description of the drawings]
FIG. 1 is a plan view showing an overall configuration of a carton hoisting device according to an embodiment of the present invention.
FIG. 2 is a side view of a carton hopper provided in the carton hoisting device.
FIG. 3 is a view continuously showing a process of opening a carton by this carton hoisting apparatus.
FIG. 4A is a diagram showing a carton opening start by the carton lifting apparatus, and FIG.
[Explanation of symbols]
2 Carton storage (carton hopper)
4 Carton (one-touch carton)
4a Carton wall surface 4b Carton wall surface 4c Carton wall surface 4d Carton wall surface 4g Carton one end 4h Carton other end 6 Robot 8 Robot hand 14 Conveying means (case conveyor)
20 Adsorption means (suction cup)
22 Support guide 22a Flat surface 22b Rising portion 22c End 24 of flat surface Lifting guide 26 Carton lifting means

Claims (1)

A robot having a carton housing part for housing a carton in which the wall surfaces of the four sides are folded flat and the bottom surface is folded into the wall surface, and a robot hand having a suction means for sucking one wall surface of the carton, and this robot In a carton hoisting device comprising control means for controlling, a hoisting means for hoisting a carton adsorbed by a robot hand, and a conveying means for receiving and carrying the carton that has been hoisted,
The hoisting means is provided on the robot hand and supports one end of the carton adsorbed by the adsorbing means, two abutting surfaces having an L-shaped cross section, and between these abutting surfaces A carton guide with which the other end of the carton abuts, and the other end of the carton taken out from the carton housing part by the robot hand is supported by the support guide A carton hoisting device for raising a carton by pressing an end against a contact portion of a hoisting guide.

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