Box folding system

Abstract

The present disclosure is a blank box folding system capable of easily changing the size of a box body formed of a box sheet having a plurality of panels connected to each other, having a robot having a work head that adsorbs the box sheet to move the box body, and a folding assisting member that changes the relative angle of the panels by abutting against the box body moved by the robot.

Description

Technical Field

[0001] This invention relates to a box folding system. Background Technology

[0002] Various items are contained within boxes for transport. As such transport boxes, corrugated cardboard boxes are widely used, which are formed from a single sheet of corrugated cardboard and have a square cylindrical main body, a lid extending from the main body to form a sealing main body, and a bottom with multiple folds. Typically, corrugated cardboard boxes and similar containers are folded flat in a way that minimizes space occupation after the items are removed.

[0003] In situations where items need to be sequentially removed from multiple boxes and supplied to manufacturing equipment, it is possible to study the automatic removal of items from boxes and the folding of boxes. A device has also been proposed in which the flaps of a corrugated cardboard box are opened by a swinging piece with a suction cup at the front end, the flaps are kept open by a guide and the items are removed, and finally the corrugated cardboard box is folded by the swinging piece adsorbing the main body (see, for example, Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 5-254525 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] When opening the flaps and folding the case by oscillating flaps that oscillate while adsorbing corrugated cardboard, the flaps of appropriate length need to be positioned appropriately to match each action. Therefore, when changing the size of the case, the length and placement of the flaps need to be adjusted. Thus, a system that allows for easy changes to the size of the case is desirable.

[0009] Methods for solving problems

[0010] One aspect of the disclosed empty box folding system folds a box formed from box sheets having multiple interconnected panels, comprising: a robot having a working head that adsorbs the box sheets to move the box; and folding aids that change the relative angle of the panels by abutting against the box moved by the robot.

[0011] Invention Effects

[0012] According to this disclosure, the dimensions of the enclosure can be easily changed. Attached Figure Description

[0013] Figure 1 is a schematic diagram showing the structure of the box folding system according to the first embodiment of the present disclosure.

[0014] Figure 2 This is a flowchart illustrating the folding process of the box based on the box folding system in Figure 1.

[0015] Figure 3 This is a schematic cross-sectional view illustrating a scenario of the opening action of the lower folding wing of the box-type folding system based on Figure 1.

[0016] Figure 4 This refers to the opening action of the lower folding wing of the box-type folding system based on Figure 1. Figure 3 A schematic cross-sectional view illustrating the next scene.

[0017] Figure 5 This refers to the opening action of the lower folding wing of the box-type folding system based on Figure 1. Figure 4 A schematic cross-sectional view illustrating the next scene.

[0018] Figure 6 This refers to the opening action of the lower folding wing of the box-type folding system based on Figure 1. Figure 5 A schematic cross-sectional view illustrating the next scene. Detailed Implementation

[0019] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. FIG1 is a schematic diagram showing the structure of the box folding system 1 according to the first embodiment of the present disclosure.

[0020] The box folding system 1 is a system that folds a box B flat, which is formed by box sheets S having multiple interconnected panels. As a box sheet S, for example, slotted corrugated boxes as specified by code number 02 of JIS-Z1507 are typical, such as the 0201 type (old A-1 type) corrugated box.

[0021] The 0201 type box sheet S has multiple panels, including: a pair of length panels P1 and a pair of width panels P2 that are alternately connected laterally to form a square cylindrical portion; two pairs of outer flaps (upper outer flap P3 and lower outer flap P4) extending from the upper and lower edges of the pair of length panels P1 respectively; and two pairs of inner flaps (upper inner flap P5 and lower inner flap P6) extending from the upper and lower edges of the pair of width panels P2 respectively. Regarding the 0201 type box sheet S, a sealed box B is assembled by combining the upper flaps P3 and P5 to form a cover that seals the lower end of the square cylindrical portion, and by combining the lower flaps P4 and P6 to form a base that seals the upper end of the square cylindrical portion. Furthermore, the terms "lateral," "upper," and "lower," used to indicate the orientation of the box sheet, are used for ease of explanation and refer to the general orientation of the box B during use, and do not limit the orientation of the box B in the box folding system 1.

[0022] The box folding system 1 includes: a robot 10 that moves the box B; an opening auxiliary component 20 that opens any one of the outer folding wings P3, P4 and the inner folding wings P5, P6 by abutting against the box B moved by the robot 10; a pad removal device 30 that cooperates with the robot 10 to remove a cushioning pad C disposed in the box B; a folding auxiliary component 40 that changes the relative angle of the panels (particularly the relative angle between the width panel P2 and the inner folding wings P5, P6) by abutting against the box B moved by the robot 10; and a control device 50 that controls the robot 10 and the pad removal device 30.

[0023] The robot 10 is configured with a working head 11 at its end that adsorbs a box sheet S. By changing the position and orientation of the working head 11, the box sheet S (including the assembled box B) can be moved. Typically, a vertical joint robot can be used as the robot 10, but other types of robots can also be used.

[0024] The working head 11 can be configured to adsorb the box sheet S through multiple adsorption pads 12. The working head 11 is designed to be large and attractive enough to keep two adjacent panels of the box sheet S (length panel P1 and lower outer wing P4, or length panel P1 and width panel P2) in a substantially coplanar position at the same time.

[0025] In addition, in order to open the flaps P3 to P6, the working head 11 may also have a cutter 13 for cutting the tape that holds the outer flaps P3 and P4 in a sealed state and a sensor 14 for confirming the position of the cut tape (outer edge of the outer flaps P3 and P4).

[0026] The opening assist component 20 is formed with a width smaller than the lateral width of the length panel P1 and the width panel P2, allowing it to be inserted into the box B held by the robot 10. Furthermore, it is preferable that the opening assist component 20 has a length greater than the extension length of the flaps P3 to P6. The opening assist component 20 is arranged in an upwardly projecting manner. In this embodiment, the opening assist component 20 is fixedly attached to the end of the worktable 21 that supplies the box B. In this embodiment, the worktable 21 supplies the box B with its cover (upper flaps P3, P5) opened and the contents removed.

[0027] The pad removal device 30 includes: an adsorption part 31, which is inserted into the housing B to adsorb a buffer pad C; a support part 32, which supports the adsorption part 31 at its front end; and a pad confirmation part 33, which determines whether the buffer pad C is present. In this embodiment, the support part 32 supports the adsorption part 31 so that it can move in the insertion direction (vertical direction) toward the housing B, and the pad confirmation part 33 has a sensor that detects the movement of the adsorption part 31 relative to the support part 32. Specifically, the adsorption part 31 has a weight that can pull the buffer pad C out of the housing B by its own weight, and the pad confirmation part 33 has a proximity switch or the like that that detects the adsorption part 31 in a descending position. According to this structure, the housing B, which is held vertically by the robot 10, is embedded in the pad removal device 30. When the buffer pad C is not present, the adsorption part 31 adsorbs the bottom of the housing B, and when the robot 10 lifts the housing B, the adsorption part 31 is lifted together with the housing B. Therefore, when the gasket confirmation unit 33 detects movement of the adsorption unit 31, it can be determined that the buffer gasket C is not present. Furthermore, in this embodiment, the gasket removal device 30 is also used to hold the housing B in place when the robot 10 cuts the tape that secures the lower outer flap P4 of the bottom of the sealed housing B.

[0028] Preferably, the folding auxiliary member 40 is a rod-shaped body supported horizontally in a cantilevered state. In this embodiment, the folding auxiliary member 40 is supported by the support column 41, but it can also be held in a building or other structure. The folding auxiliary member 40 can be formed from a tube or rod. Preferably, the diameter of the folding auxiliary member 40 is as small as possible within a range that ensures rigidity so that it can be inserted into the box B in various orientations. In addition, it is preferred that the length of the folding auxiliary member 40 is greater than or equal to the height of the box sheet S in the folded state (the sum of the height of the length panel P1 and the extension lengths of the upper and lower outer flaps P3 and P4) so ​​that the box sheet S can be supported from the inside as shown by the imaginary lines in FIG1. ​​In addition, it is preferred that the folding auxiliary member 40 is held at a position higher than the combined lateral length of one length panel P1 and one width panel P2 so that it can be indicated that the box sheet S does not touch the ground.

[0029] The control device 50, for example, includes a memory, processor, input / output interface, etc., and can be composed of one or more computer devices that execute appropriate control programs. Alternatively, a portion of the control device 50 can also be composed of physical circuitry. The control device 50 controls the robot 10 and the pad removal device 30 so that they can be operated via the box folding system 1. Figure 2 The folding process of box B shown.

[0030] The folding process of box B includes: a process of adsorbing the bottom surface of box B using the working head 11 (S01: bottom surface adsorption process); a process of moving box B by opening the upper folding wings P3 and P5 using the opening auxiliary component 20 (S02: upper folding wing opening process); a process of placing box B in the pad removal device 30 (S03: pad removal device placement process); a process of adsorbing the buffer pad C using the adsorption part 31 of the pad removal device 30 (S04: buffer pad adsorption process); a process of lifting box B using the robot 10 (S05: box lifting process); a process of determining whether the buffer pad C is present (S06: buffer pad presence / absence determination process); and a process of stopping the adsorption of the adsorption part 31 when the buffer pad C is absent (S07: adsorption stop process). The process includes: (S08) Cutting the tape that secures the lower outer wing P4 of the box B using robot 10; (S09) Side adsorption process where the working head 11 adsorbs the upper outer wing P3 and the adjacent long panel P1 of the box B from one side; (S10) Moving the box B by opening the lower inner wing P6 using folding auxiliary component 40; (S11) Supporting the box sheet S in a folded state on folding auxiliary component 40 by releasing the box B from the working head 11; and (S12) Extracting the box sheet S from folding auxiliary component 40 by adsorbing the long panel P1 and the wide panel P2 using the working head 11.

[0031] In the bottom adsorption process of S01, the working head 11 is used to adsorb the bottom surface of box B that is sealed with tape. Alternatively, the working head 11 can be used to adsorb the side of box B once, so that box B can be laid horizontally and then the bottom surface of box B can be adsorbed.

[0032] In the upper folding wing opening process of S02, the robot 10 moves the housing B, thereby causing the upper folding wings P3 and P5 to abut against the opening auxiliary component 20 one by one and rotate outward. This creates creases on the upper folding wings P3 and P5, maintaining them in an outward-opening state. Specifically, the robot 10 inserts the opening auxiliary component 20 between the upper folding wings P3 and P5, causing the opening auxiliary component 20 to abut against any one of the upper folding wings P3 and P5, moving the housing B to a position where its square cylindrical portion does not overlap with the opening auxiliary component 20 in the top view. Furthermore, it is preferable that the robot 10 moves the housing B downward, causing the upper folding wings P3 and P5 to rotate significantly outward.

[0033] In the gasket removal device configuration process of S03, the robot 10 is used to embed the box B into the gasket removal device 30. As a result, the suction part 31 of the gasket removal device 30 is in a state where the bottom body (lower folding wings P4, P6) of the box B is supported from the inside by the buffer gasket C.

[0034] In the buffer pad adsorption process of S04, the buffer pad C present inside the box B is adsorbed by the attraction of the adsorption unit 31. In the absence of the buffer pad C, the adsorption unit 31 adsorbs the bottom of the box B.

[0035] In the box lifting process of S05, the robot 10 slightly lifts the box B. If the cushioning pad C is present in the box B, the robot 10 lifts the box B, causing the suction unit 31 and the cushioning pad C, which is held in place by its own weight, to separate the cushioning pad C from the bottom of the box B. Conversely, if the cushioning pad C is not present in the box B, the robot 10 lifts the suction unit 31, which holds the bottom of the box B, together with the box B.

[0036] In the S06 process of determining whether there is a buffer pad, the adsorption unit 31 based on the detection result of the pad confirmation unit 33 in the box lifting process determines whether to proceed with the adsorption stop process in S07.

[0037] In the adsorption stop process of S07, the bottom inner surface of the box B is released from the adsorption section 31 by stopping the attraction of the adsorption section 31.

[0038] In the tape cutting process of S08, the box B is released from the working head 11, and the tape pasted on the bottom surface of the box B is cut using the cutter 13 of the working head 11 so that the lower outer folding wing P4 and the lower inner folding wing P6 can be opened.

[0039] In the side adsorption process of S09, firstly, the working head 11 is configured such that a portion of it rests on a lower outer flap P4, with the remainder protruding outward from the box B. In this state, the lower outer flap P4 is adsorbed from the working head 11, and the working head 11 is moved in a 90-degree arc, causing the adsorbed lower outer flap P4 to swing open around its base edge. Thus, the remaining portion of the working head 11 can adsorb the long panel P1 adjacent to the lower outer flap P4. As a result, the working head 11 adsorbs and holds the lower outer flap P4 and the long panel P1 on the same imaginary plane. In this state, by moving the working head 11 vertically, the buffer pad C is left behind, allowing the box B to detach from the pad removal device 30.

[0040] In the lower folding wing opening process of S10, the working head 11 attaches the length panel P1 and the connected outer folding wing P4 to the same plane, and moves the box body B by positioning the other length panel P1 on the lower side. As a result, the lower inner folding wing P6 comes into contact with the folding auxiliary component 40 and opens.

[0041] Specifically, firstly, such as Figure 3As shown, using robot 10, the box B is held with the width panel P2 tilted relative to the folding auxiliary member 40, and the box B is moved along the length direction of the folding auxiliary member 40, thereby inserting the front end of the folding auxiliary member 40 into the box B. At this time, the lower inner folding wing P6 located on the front end side of the folding auxiliary member 40 is not pressed into the inside of the box B. Therefore, the lower inner folding wing P6 located on the base end side of the folding auxiliary member 40 can also be slightly pressed into the inside of the box B.

[0042] Next, as Figure 4 As shown, the robot 10 pulls the box B out along the width panel P2, thereby opening the lower inner folding wing P6 located at the front end of the folding aid 40. Furthermore, the robot 10 moves the box B along a trajectory having a component along the lower edge of the length panel P1, within a range where the lower inner folding wing P6 at the front end of the folding aid 40 does not leave the folding aid 40. Figure 5 As shown, the lower inner folding wing P6 opens significantly outwards towards the outside of the housing B, leaving creases when open.

[0043] Furthermore, by using robot 10 to reverse the tilting of box B and the trajectory of box B's movement relative to folding aid 40, box B moves in the same manner, thus, as... Figure 6 As shown, the lower inner folding wing P6 on the opposite side can also have a crease in the open state. Thus, all the folding wings P3 to P6 of the box body B are arranged on the outside of the square cylindrical part, so that they can be easily folded in a way that the width panel P2 and the length panel P1 of one side are overlapped.

[0044] In addition, the lower outer folding wing P4, which is not attracted by the working head 11, can open due to its own weight. However, if the crease of the lower outer folding wing P4 is strong, the box body B can be moved before the lower inner folding wing P6 is opened so that the lower outer folding wing P4, which is not attracted by the working head 11, comes into contact with the folding auxiliary component 40 and opens.

[0045] In the box release process of S11, the box is released from the working head 11 so that the folding auxiliary component 40 supports the box sheet S at the boundary between the length panel P1 and the width panel P2. That is, by placing the box B in the folding auxiliary component 40, the box B is folded by its own weight, and the folded box sheet S hangs down from the folding auxiliary component 40.

[0046] In the box sheet extraction process of S12, the robot 10 uses the working head 11 to keep the length panel P1 and the adjacent width panel P2 of the box sheet S supported by the folding auxiliary component 40 on approximately the same plane, and extracts the box sheet S from the folding auxiliary component 40. Due to the thickness of the folding auxiliary component 40, the box sheet S hanging from the folding auxiliary component 40 may be in an incompletely folded state with a slight residual cavity. When it is difficult to keep the length panel P1 and the width panel P2 on the same plane in this state, firstly, the working head 11 can be tilted to match the upper one of the length panel P1 and the width panel P2, keeping only the upper length panel P1 or the width panel P2. After the box sheet S is pulled out from the folding auxiliary member 40 in the horizontal direction, or after the box sheet S is lifted in the vertical direction and the folding auxiliary member 40 is positioned in the center of the box sheet S in the vertical direction, the working head 11 is rotated to make the adsorption surface vertical, so that the length panel P1 and the width panel P2 are adsorbed on the same plane.

[0047] With the length panel P1 and the width panel P2 adsorbed onto the same plane by the working head 11, even if the working head 11 is rotated horizontally, the box sheet S can be kept in a roughly folded state. Therefore, the box sheets S folded by the robot 10 can be stacked sequentially in a designated location.

[0048] As described above, the box folding system 1 uses the robot 10 to move the box B so that the lower inner folding wing P6 abuts against the folding auxiliary component 40 and thus opens it. Therefore, it has a large tolerance for differences in the size of the box B. Even when folding boxes B with large size differences, it can handle a wide range of situations simply by changing the motion program of the robot 10.

[0049] The embodiments of this disclosure have been described above, but the present invention is not limited to the embodiments described above. Furthermore, the effects described in the above embodiments are merely examples of preferred effects produced by the present invention, and the effects of the present invention are not limited to the effects described in the above embodiments.

[0050] As an example, the box folding system of this disclosure can be applied to boxes where the bottom (lower folding wing) opens when items are removed, and the upper folding wing is opened by a folding auxiliary component. Furthermore, in the box folding system of this disclosure, both the upper and lower folding wings can be opened using the folding auxiliary component. Therefore, the release auxiliary component can be omitted in the box folding system of this disclosure. Additionally, in the box folding system of this disclosure, a gasket removal device is not a necessary structure, and tape cutting can be performed elsewhere. Furthermore, in the box folding system of this disclosure, the working head may not have a tape cutter, and the tape may be cut using a separately provided tape cutting mechanism such as a robot. Furthermore, the box folding system of this disclosure can also be configured such that a robot, different from the robot that opens the folding wing and holds the box sheet with the folding auxiliary component, pulls the box sheet out from the folding auxiliary component. Moreover, in the box folding system of this disclosure, the robot can also be used to perform other tasks, such as removing or assisting with the removal of items contained in the box.

[0051] Explanation of reference numerals in the attached figures

[0052] 1. Folding system for the box

[0053] 10 robots

[0054] 11. Work Head

[0055] 12 Adsorption pads

[0056] 13 Cutter

[0057] 14 Sensors

[0058] 20. Open auxiliary components

[0059] 21 workbenches

[0060] 30 Gasket Removal Device

[0061] 31 Adsorption section

[0062] 32 Support section

[0063] 33 Gasket Confirmation Section

[0064] 40 Folding auxiliary components

[0065] 41 pillars

[0066] 50 Control devices

[0067] B box

[0068] C. Buffer pad

[0069] P1 Length Panel

[0070] P2 Width Panel

[0071] P3 Upper outer wing

[0072] P4 Lower Outer Fold

[0073] P5 Upper Inner Fold

[0074] P6 Lower Inner Fold

[0075] S-shaped box sheet.

Claims

1. A box folding system, wherein the folding mechanism comprises a box formed by box sheets having multiple interconnected panels, characterized in that, The box folding system has the following features: A robot having a working head that adsorbs the thin sheet of the box, thereby moving the box; and A folding auxiliary component changes the relative angle of the panel by abutting against the housing as the robot moves. The folding auxiliary component is a rod-shaped body that is supported horizontally in a cantilevered state. The plurality of panels include: a pair of length panels and a pair of width panels that are alternately connected laterally to form a square cylindrical portion; two pairs of outer flaps extending from the upper and lower edges of the pair of length panels; and two pairs of inner flaps extending from the upper and lower edges of the pair of width panels. The robot performs the following actions: The box is moved by attaching the length panel and the connected outer folding wing to the same plane with the working head, and positioning the other length panel on the lower side, so that the inner folding wing can be opened by the folding auxiliary component. Then, the box is released from the working head so that the folding auxiliary component supports the box sheet at the boundary between the length panel and the width panel.

2. The box folding system according to claim 1, characterized in that, The robot uses its working head to keep the length panel and the adjacent width panel of the box sheet supported by the folding auxiliary component on approximately the same plane.

3. The box folding system according to claim 1 or 2, characterized in that, The box folding system also includes a pad removal device having an adsorption part that is inserted into the box and adsorbs a buffer pad disposed in the box.

4. The box folding system according to claim 3, characterized in that, The pad removal device has: A support portion that supports the adsorption portion so that it can move in the insertion direction toward the housing; and The gasket confirmation section detects the movement of the adsorption section relative to the support section.

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