Automatic hook body mounting device

Abstract

The invention relates to an automatic mounting device for a hook body. Provided is a technique for realizing an automatic hook body mounting device with a reasonable configuration, said automatic hook body mounting device automatically mounting a substantially flat-plate-shaped hook body in the width direction of a cardboard in a mounting hole that is inserted into the cardboard and has a long dimension in the width direction of the cardboard. In the present invention, a hook body hooking process is executed by moving a held hook body (1) along an X-axis and a Y-axis while changing a yaw angle of the held hook body (1), thereby inserting respective cut-in grooves (4, 6) of a pair of extension protrusions (3, 5) of a held cardboard (8) into both edge portions (9a, 9b) of a mounting hole (9) of the held hook body (1). A pair of extending projections (3, 5) of a held hook body (1) are hooked in a mounting hole (9) of a held cardboard (8).

Description

Technical Field

[0001] The present invention relates to an automatic hook mounting device for automatically mounting a substantially flat hook in a mounting hole which is bored through cardboard and is elongated in the width direction of the cardboard, along the width direction of the cardboard. Background Art

[0002] As a hook body used for hanging socks and other commodities on a hanging rod for display, the following hook body is known: it has a hook portion located at the top, and a pair of extended protrusions extending from the bottom of the aforementioned hook portion to both sides in the width direction and respectively forming cut-in grooves extending from the front end opening portion located at the outside toward the inside, and is installed on the aforementioned cardboard in a form in which the two edge portions in the long dimension direction of the aforementioned mounting hole are respectively inserted into the respective cut-in grooves of the aforementioned pair of extended protrusions (for example, refer to patent document 1).

[0003] The operation of attaching such a hook to cardboard is conventionally performed manually. That is, the operator moves the hook held by the hand on one side closer to the cardboard mounting hole held by the hand on the other side, and adjusts the hook while visually observing the posture and position of the hook so that the edge of the cardboard mounting hole is sequentially inserted into the respective cut-in grooves formed in the pair of extended protrusions from one side, and the pair of extended protrusions of the hook are hooked to the cardboard mounting hole.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Utility Model Registration No. 3154381 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In recent years, for the purpose of improving the efficiency and quality of work, there has been a demand for a hook body automatic attaching device that automatically performs the work of attaching the above-mentioned hook body to cardboard.

[0009] However, if the automatic hook installation device is constructed in a manner that automates the action that the operator previously performed while visually confirming the posture and position of the hook and adjusting it, the detection device and drive device used to confirm the posture and position of the hook and adjust it will become a very complex structure, which may become unrealistic in terms of cost.

[0010] In view of this actual situation, the main subject of the present invention lies in the following aspects: providing a technology for realizing an automatic hook installation device with a reasonable structure, wherein the automatic hook installation device automatically installs a roughly flat hook body along the width direction of the aforementioned cardboard for an installation hole that is penetrated in the cardboard and is long along the width direction of the cardboard.

[0011] Means used to solve problems

[0012] The first characteristic structure of the present invention lies in the following aspects: an automatic hook installation device, for a mounting hole that is penetrated in cardboard and is elongated along the width direction of the cardboard, automatically installs a substantially flat hook along the width direction of the cardboard; the hook body is formed by arranging a hook portion and a pair of extended protrusions along a central axis extending in the vertical direction, the hook portion is located on the upper side, and the pair of extended protrusions extend from the lower side of the hook portion in both width directions, and each of them is formed with a cut extending from a front end opening located on the outer side toward the inner side. The hook body is installed on the cardboard in the form of two edge portions in the long dimension direction of the installation hole are respectively inserted into the respective cut-in grooves of the pair of extending protrusions; three axes orthogonal to each other are set as X-axis, Y-axis and Z-axis; it comprises: a cardboard holding portion, which holds the cardboard as the held cardboard in a state where the width direction is along the Y-axis and the up and down direction is along the Z-axis; and a hook body holding portion, which holds the hook body in a state where the thickness direction is along the Z-axis and the pair of extending protrusions are directed forward along the X-axis. The cardboard holding part is held as a held hook body in a state where the cardboard holding part protrudes sideways; it comprises: a yaw mechanism part, which supports the hook body holding part and can rotate the supported hook body holding part around a yaw axis to change the yaw angle, the yaw axis passes through the upper side of the central axis of the held hook body and is parallel to the Z axis, and the yaw angle is the angle formed by the central axis of the held hook body relative to the X axis; a moving mechanism part, which supports the yaw mechanism part and can move the supported yaw mechanism part along the X axis and the Y axis; and an action control part , controlling the actions of the aforementioned swaying mechanism part and the aforementioned moving mechanism part; the aforementioned action control part executes the following hook body hanging processing: by changing the swaying angle of the aforementioned held hook body by the aforementioned swaying mechanism part while moving the aforementioned held hook body along the aforementioned X-axis and the aforementioned Y-axis by the aforementioned moving mechanism part, the two edge parts of the mounting hole in the aforementioned held cardboard are respectively inserted into the respective cutting grooves of the aforementioned pair of extending protrusions in the aforementioned held hook body, and the pair of extending protrusions of the aforementioned held hook body are hung on the mounting hole of the aforementioned held cardboard.

[0013] According to the present structure, a relatively simple structure is adopted in which the above-mentioned deflection mechanism part supports the above-mentioned hook body holding part, and the above-mentioned moving mechanism part supports the deflection mechanism part, and the action control part controls the actions of these deflection mechanism parts and moving mechanism parts. Moreover, by adopting such a structure, the above-mentioned action control part performs the above-mentioned hook body hanging and stopping processing, while the above-mentioned deflection mechanism part changes the deflection angle of the held hook body held by the hook body holding part, and the above-mentioned moving mechanism part moves the above-mentioned held hook body along the X-axis and the Y-axis, so that the two edge parts of the mounting hole in the held cardboard held by the cardboard holding part can be inserted into the respective cut-in grooves of the pair of extended protrusions in the held hook body, and the pair of extended protrusions of the held hook body can be stably and reliably hung on the mounting hole of the held cardboard held by the cardboard holding part.

[0014] Therefore, with the help of the present invention, it is possible to provide a technology for realizing an automatic hook installation device with a reasonable structure, wherein the automatic hook installation device automatically installs a roughly flat hook body along the width direction of the aforementioned cardboard for an installation hole that is penetrated in the cardboard and is long along the width direction of the cardboard.

[0015] The second characteristic structure of the present invention lies in the following aspects: one side of the pair of extended protrusions is set as the first extended protrusion, and the cut-in groove formed on the first extended protrusion for inserting the first edge portion is set as the first cut-in groove, and the first edge portion is the edge portion on one side of the mounting hole of the retained cardboard; the other side of the pair of extended protrusions is set as the second extended protrusion, and the cut-in groove formed on the second extended protrusion for inserting the second edge portion is set as the second cut-in groove, and the second edge portion is the edge portion on the other side of the mounting hole of the retained cardboard; the hook body hanging process is a process of sequentially performing a prescribed insertion preparation process, a first insertion process and a second insertion process; in the insertion preparation process, when the swing angle of the retained hook body is set by the swing mechanism to an initial swing angle when the front end opening portion of the first cut-in groove becomes a position close to the swing axis on the Y axis, the hook body is stopped by the front swing mechanism. The moving mechanism moves the retained hook body along the Y-axis and the X-axis so that the front end opening of the first cutting groove is located on the inner side of the mounting hole in the retained cardboard; in the first insertion process, the swing angle of the retained hook body is reduced by the swing mechanism to be close to the reference swing angle when installed in the mounting hole, and the retained hook body is moved by the moving mechanism at least in the first Y-axis direction from the center side of the mounting hole of the retained cardboard toward the first edge portion along the Y-axis, so that the first edge portion is inserted into the first cutting groove; in the second insertion process, the swing angle of the retained hook body is maintained at the reference swing angle, so that the retained hook body is moved by the moving mechanism at least in the second Y-axis direction from the center side of the mounting hole of the retained cardboard toward the second edge portion along the Y-axis, so that the second edge portion is inserted into the second cutting groove.

[0016] According to the present structure, in the above-mentioned hook body hanging process, the above-mentioned insertion preparation process is performed to move the retained hook body to the specified position in a specified posture, then the above-mentioned first insertion process is performed to insert the first edge portion into the first cut groove, and then the above-mentioned second insertion process is performed to insert the second edge portion into the second cut groove, thereby completing the hanging of the first extended protrusion and the second extended protrusion of the retained hook body on the mounting hole of the retained cardboard.

[0017] That is, in the insertion preparation process, by setting the swing angle of the held hook body to the initial swing angle, the posture of the held hook body becomes a posture in which the first extension protrusion protrudes toward the held cardboard side more than the second extension protrusion, and the front end opening portion of the first cut groove formed in the first extension protrusion becomes located inside the mounting hole in the held cardboard. Thus, in the first insertion process to be performed next, by reducing the swing angle of the held hook body from the initial swing angle by the swing mechanism part, the front end opening portion of the first cut groove can be moved in the first Y-axis direction while the displacement on the X-axis is suppressed. Furthermore, in the first insertion process, by moving the held hook body at least in the first Y-axis direction by the moving mechanism part, the first cut groove extending and protruding in the width direction of the held hook body after the inclination relative to the Y-axis is relaxed can be moved in the first Y-axis direction. Thus, in the first insertion step, the first edge portion of the mounting hole can be stably and reliably inserted into the first cutout groove.

[0018] Furthermore, in the first insertion process, the second cut groove is set to be along the width direction of the cardboard to be held by setting the swing angle of the held hook body to the reference swing angle when the first edge portion is finally inserted into the first cut groove, and the front end opening of the second cut groove is located inside the mounting hole in the cardboard to be held. Thus, in the second insertion process to be performed next, the held hook body whose swing angle is maintained at the reference swing angle is moved at least in the second Y-axis direction by the moving mechanism, so that the second cut groove along the width direction of the cardboard to be held can be moved in the second Y-axis direction. Thus, in the second insertion process, the second edge portion of the mounting hole can be stably and reliably inserted into the second cut groove.

[0019] The third characteristic structure of the present invention lies in the following aspect: the above-mentioned first insertion process includes an initial swing angle reduction step performed immediately after the execution of the above-mentioned insertion preparation process and an initial first Y-axis direction movement step performed after the execution of the initial swing angle reduction step; in the above-mentioned initial swing angle reduction step, while maintaining the position of the above-mentioned swing mechanism part on the above-mentioned X-axis and the above-mentioned Y-axis, the above-mentioned swing mechanism part reduces the swing angle of the above-mentioned retained hook body from the above-mentioned initial swing angle to a specified insertion starting swing angle until the above-mentioned first edge portion is close to the front end opening portion of the above-mentioned first cutting groove; in the above-mentioned initial first Y-axis direction movement step, while maintaining the swing angle of the above-mentioned retained hook body at the above-mentioned insertion starting swing angle, the above-mentioned moving mechanism part moves the above-mentioned retained hook body in the above-mentioned first Y-axis direction until the insertion of the above-mentioned first edge portion into the above-mentioned first cutting groove begins.

[0020] According to this configuration, when the first insertion step is performed, the initial yaw angle reduction step and the initial first Y-axis direction movement step are first performed in sequence.

[0021] That is, in the initial deflection angle reduction step, the deflection angle of the held hook body is only reduced from the initial deflection angle to the insertion start deflection angle. Thus, while the inclination of the hook body in the width direction relative to the Y-axis is relaxed, the front end opening portion of the first cut-in groove extending in the width direction can be appropriately brought close to the first edge portion in a state in which the front end opening portion is slightly displaced from a position close to the deflection axis on the Y-axis inside the mounting hole in the held cardboard toward the deflection axis along the X-axis from the held cardboard side toward the deflection axis side and roughly displaced along the first Y-axis direction.

[0022] Furthermore, in the initial first Y-axis direction movement step, the first cut groove can be moved in the first Y-axis direction by the moving mechanism portion moving the retained hook body at least in the first Y-axis direction, so that the insertion of the first edge portion into the first cut groove can be started stably and reliably.

[0023] The fourth characteristic structure of the present invention lies in the following aspect, the above-mentioned first insertion process includes a first Y-axis direction moving step executed on the way after the insertion of the above-mentioned first edge portion into the above-mentioned first cutting groove is started, a swing angle reducing step executed on the way after the execution of the first Y-axis direction moving step on the way, a second Y-axis direction retreat step executed after the execution of the swing angle reducing step on the way, and a final swing angle reducing step executed after the execution of the second Y-axis direction retreat step; in the above-mentioned first Y-axis direction moving step on the way, the above-mentioned held hook body is moved in the above-mentioned first Y-axis direction by the above-mentioned moving mechanism part while maintaining the swing angle of the above-mentioned held hook body at the state of the insertion starting swing angle when the above-mentioned first edge portion is started to be inserted into the above-mentioned first cutting groove, so that the insertion of the above-mentioned first edge portion into the above-mentioned first cutting groove is progressed; in the above-mentioned swing angle reducing step on the way, while maintaining While keeping the position of the aforementioned deflection mechanism part on the aforementioned X-axis and the aforementioned Y-axis, the aforementioned deflection mechanism part reduces the deflection angle of the aforementioned held hook body from the aforementioned insertion start deflection angle to a prescribed intermediate deflection angle, so that the insertion of the aforementioned first edge portion into the aforementioned first cut groove progresses; in the aforementioned second Y-axis direction retreat step, while keeping the deflection angle of the aforementioned held hook body at the aforementioned intermediate deflection angle, the aforementioned moving mechanism part moves the aforementioned held hook body in the aforementioned second Y-axis direction, so that the insertion depth of the aforementioned first edge portion into the aforementioned first cut groove is reduced; in the aforementioned final deflection angle reduction step, while keeping the position of the aforementioned deflection mechanism part on the aforementioned X-axis and the aforementioned Y-axis, the aforementioned deflection mechanism part reduces the deflection angle of the aforementioned held hook body from the aforementioned intermediate deflection angle to the aforementioned reference deflection angle, so that the insertion of the aforementioned first edge portion into the aforementioned first cut groove progresses.

[0024] According to the present structure, when executing the above-mentioned first insertion process, after starting the insertion of the above-mentioned first edge portion into the first cut-in groove, the above-mentioned first Y-axis direction movement step and the above-mentioned midway swing angle reduction step are sequentially executed to make the insertion of the first edge portion into the first cut-in groove progress, and on this basis, the above-mentioned second Y-axis direction retreat step and the above-mentioned final swing angle reduction step are sequentially executed to complete the hooking of the first extending protrusion of the retained hook body into the mounting hole of the retained cardboard.

[0025] That is, in the above-mentioned first Y-axis direction movement step, the above-mentioned held hook body is moved in the above-mentioned first Y-axis direction by the above-mentioned moving mechanism part, so that the first cutting groove can be moved in the first Y-axis direction, and the insertion of the first edge part into the first cutting groove can be carried out stably and reliably.

[0026] Furthermore, in the above-mentioned midway swing angle reduction step, by only reducing the swing angle of the retained hook body from the above-mentioned insertion start swing angle to the above-mentioned midway swing angle, it is possible to mitigate the inclination of the width direction of the retained hook body relative to the Y-axis, while displacing the front end opening portion of the first cutting groove extending and protruding in the width direction approximately along the first Y-axis direction, so that the insertion of the first edge portion relative to the first cutting groove proceeds stably and reliably.

[0027] Moreover, by executing the second Y-axis direction retreat step just before the final deflection angle reduction step is executed, and the above-mentioned hook body to be held is moved in the second Y-axis direction by the above-mentioned moving mechanism part, the insertion depth of the first edge portion into the first cut groove is reduced. Thus, in the above-mentioned final deflection angle reduction step, the deflection angle of the hook body to be held is reduced from the above-mentioned intermediate deflection angle to the above-mentioned reference deflection angle, so that when the front end opening portion of the first cut groove is displaced roughly along the first Y-axis direction, the insertion depth of the first edge portion into the first cut groove is prevented from becoming excessive, and the end of the first edge portion is prevented from interfering with the base end of the first cut groove. Moreover, by means of the execution of the above-mentioned final deflection angle reduction step, the deflection angle of the hook body to be held is set to the above-mentioned reference deflection angle in the state where the first edge portion is inserted into the first cut groove to the deepest part. Thus, the front end opening portion of the second cut groove can be located inside the mounting hole in the held cardboard and can be appropriately close to the second edge portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a plan view showing a schematic structure of the hook body automatic mounting device involved in this embodiment.

[0029] Figure 2 It is a front view showing part of the cardboard holding part and the hook holding part of the hook automatic mounting device according to the present embodiment.

[0030] Figure 3 The diagram is an explanatory diagram for explaining the state of the hook body and the mounting hole in each step of the hook body locking process.

[0031] Figure 4 This is to explain the hook body hanging process Figure 4 An explanatory diagram of the state of the hook body and the mounting hole in each of the steps shown.

[0032] Figure 5 This is to explain the hook body hanging process Figure 5 An explanatory diagram of the state of the hook body and the mounting hole in each of the steps shown.

[0033] Figure 6 The three-dimensional diagram shows the state of cardboard and the hook body before being attached to the cardboard (a) and the state of cardboard and the hook body attached to the cardboard (b).

[0034] Figure 7 This is a front view showing the state of the product with the cardboard and the hook body assembled.

[0035] Figure 8 It is a front view showing the structure of the hook body. DETAILED DESCRIPTION

[0036] Embodiments of the present invention will be described with reference to the drawings.

[0037] The hook body automatic installation device 100 of this embodiment (refer to Figure 1 and Figure 2 )like Figure 6 and Figure 7 As shown, the device is configured to automatically attach a substantially flat hook body 1 along the width direction of the cardboard 8 to a mounting hole 9 that is penetrated through the cardboard 8 mounted on a product 90 and is elongated along the width direction of the cardboard 8 .

[0038] (Hook 1)

[0039] The hook body 1 used in this embodiment is as follows Figure 7 As shown, it is used to hang merchandise 90 such as socks on a hanging rod 92 for display, and is a substantially flat plate-shaped member integrally formed of a plastic material, pulp material, or the like.

[0040] In the leptosome 1, Figure 8 As shown, the hook portion 2 is arranged on the upper side along the central axis C extending in the up-down direction, and the first extended protrusion portion 3 and the second extended protrusion portion 5 are arranged on the lower side.

[0041] The hook portion 2 is formed in a hook shape that can be hung on the hanging rod 92 .

[0042] The first extension 3 and the second extension 5 are formed as a pair of extensions extending from the lower side of the hook 2 in both width directions and each having a cutout groove 4, 6 extending from the outer front end opening 4a, 6a toward the inner side.

[0043] Such hook body 1 Figure 6 (a) and Figure 6 As shown in (b), the mounting hole 9 is mounted on the cardboard 8 in such a manner that the first edge portion 9a and the second edge portion 9b, which are both edge portions in the longitudinal direction of the mounting hole 9, are inserted into the respective cutout grooves 4 and 6 of the first extension protrusion 3 and the second extension protrusion 5.

[0044] The first extended protrusion 3 extends from the lower end of the hook portion 2 in one direction of the left and right directions (in the Figure 8 The first portion of the first extension protrusion piece 3A is formed between the first upper extension protrusion piece 3A and the first lower extension protrusion piece 3B. The first cut-in groove 4 is formed from the first upper extension protrusion piece 3A and the first lower extension protrusion piece 3B in the above-mentioned one direction (in the left direction). Figure 8 The front end open portion 4a opened to the left side of the hook 2 extends in a substantially horizontal direction toward the center of the lower end of the hook 2. In the first extended protrusion 3, the front end of the first lower extended protrusion piece 3B protrudes outwards than the front end of the first upper extended protrusion piece 3A.

[0045] The second extended protrusion 5 extends from the lower end of the hook 2 in the other direction (in the left-right direction) opposite to the extending direction of the first extended protrusion 3. Figure 8 The second cut-in groove 6 is formed between the second upper extending protrusion piece 5A and the second lower extending protrusion piece 5B. The second cut-in groove 6 extends from the other direction (in the right direction) to the right direction. Figure 8 The front end open portion 6a opened to the right side in the middle extends in a substantially horizontal direction toward the center of the lower end side of the hook portion 2. In the second extended protrusion 5, the front end of the second upper extended protrusion piece 5A protrudes outwards than the front end of the second lower extended protrusion piece 5B.

[0046] like Figure 8As shown in the figure, the first cut groove 4 extending from the front end opening 4a toward the center is formed by bending so that the center side portion is located below the front end side portion. By the bending formation of the first cut groove 4, a step portion 4A for preventing loosening is formed on the lower end surface of the first upper extension piece 3A facing the front end opening 4a side. The end of the first edge portion 9a formed in the mounting hole 9 of the cardboard 8 described later abuts against the step portion 4A for preventing loosening, thereby suppressing the displacement of the hook body 1 in the width direction of the cardboard 8 and suppressing the hook body 1 from coming off the cardboard 8.

[0047] The bottom portion 7 constituted by the lower end portions of the first lower extending piece 3B and the second lower extending piece 5B is formed so that the left and right end portions are located slightly above the central portion.

[0048] (Hard paper 8)

[0049] like Figure 7 As shown in FIG. 1 and FIG. 2 , the cardboard 8 is made of thick paper, etc., and is assembled to the product 90 by covering the upper end portion of the product 90 in a state of being folded into two parts and sewing it with a sewing stopper 91, etc. In the cardboard 8, as shown in FIG. Figure 6 As shown in (a), a mounting hole 9 elongated in the width direction is formed in the portion that becomes the top portion when mounted on the product 90. In the mounting hole 9, the first edge portion 9a and the second edge portion 9b, which are both edge portions in the longitudinal direction (width direction), are inserted into the respective cutout grooves 4 and 6 of the first extension protrusion 3 and the second extension protrusion 5 of the hook body 1.

[0050] (Hook body automatic installation device 100)

[0051] Next, use Figure 1 and Figure 2 The structure of the hook body automatic mounting device 100 will be described.

[0052] In the hook body automatic mounting device 100, three mutually orthogonal axes are set as X-axis (in Figure 1 and Figure 2 The "X" axis in the Figure 1 The Y axis is represented by "Y" in the figure) and the Z axis is represented by "Y" in the figure. Figure 2 In the present application, the direction from the yaw axis R side to the side of the held cardboard 8 along the X-axis ( Figure 1 and Figure 2 The left direction in the figure is called the first X-axis direction X1, and the opposite direction ( Figure 1 and Figure 2 The rightward direction in the Y axis is referred to as the second X-axis direction X2. The direction from the center side of the mounting hole 9 of the held cardboard 8 described later toward the first edge portion 9a ( Figure 1The upward direction in the figure is called the first Y-axis direction Y1, and the opposite direction ( Figure 1 The downward direction in the figure is called the second Y-axis direction Y2.

[0053] The hook automatic mounting device 100 includes a cardboard holding portion 10 and a hook holding portion 12 .

[0054] The cardboard holding section 10 is supported by the device body to which a flat main body side base member 80 is fixed, and holds the cardboard 8 automatically supplied in a timely manner in a state where the width direction is along the Y axis and the vertical direction is along the Z axis. In addition, the cardboard 8 held by the cardboard holding section 10 is referred to as held cardboard 8 in this application.

[0055] The hook body holding portion 12 is supported by a yawing mechanism portion 20 described later, and holds the hook body 1 automatically supplied in a timely manner in a horizontal posture with the thickness direction along the Z axis and the first extended protrusion 3 and the second extended protrusion 5 protruding along the X axis toward the cardboard holding portion 10. In addition, the hook body 1 held by the hook body holding portion 12 is referred to as the held hook body 1 in the present application.

[0056] The hook body holding portion 12 is composed of a main body 12A fixed to a yaw shaft portion 22 of a yaw mechanism portion 20 described later, and a clamping portion 12B mounted on the main body 12A. The clamping portion 12B is configured to be able to insert and remove the hook body 1 in the horizontal posture along the X-axis and to elastically clamp the hook body 1 inserted along the second X-axis direction X2 from above and below.

[0057] Furthermore, although detailed description is omitted, the hook body automatic mounting device 100 is provided with a hook body temporary holding portion 73 for temporarily holding the hook body 1 before being held by the hook body holding portion 12, and a hook body supplying portion 75 for timely supplying the hook body 1 in a state temporarily held in the hook body temporary holding portion 73.

[0058] In the hook body automatic mounting device 100, the yaw mechanism 20, the Z-axis moving mechanism 30, the Y-axis moving mechanism 40 (an example of a moving mechanism), and the X-axis moving mechanism 50 (an example of a moving mechanism) are arranged on the main body side base member 80. Furthermore, a control device 85 is provided to control the operation of these mechanism 20, 30, 40, 50, other equipment, detectors, etc.

[0059] The yaw mechanism 20 is mounted on a base member 31 for Z-axis movement described later, and supports the hook body holding portion 12. The yaw mechanism 20 is configured to be able to rotate the supported hook body holding portion 12 around a yaw axis R passing through the upper side of a center axis C extending in the vertical direction of the held hook body 1 and parallel to the Z axis to change the yaw angle, which is an angle formed by the center axis C of the held hook body 1 with respect to the X axis.

[0060] That is, the yaw mechanism 20 includes a stepping motor 21 composed of a yaw shaft 22 and a motor body 23, wherein the yaw shaft 22 is fixed to the main body 12A of the hook holding portion 12, and the motor body 23 is fixed to a box-shaped Z-axis moving base member 31 with the yaw axis R as the central axis, and the yaw shaft 22 can be driven to rotate in the forward and reverse directions around the yaw axis R. Furthermore, by controlling the operation of the stepping motor 21 by the control device 85, the yaw mechanism 20 can rotate the hook holding portion 12 around the yaw axis R at an arbitrary angle.

[0061] The Z-axis moving mechanism section 30 is mounted on a Y-axis moving base member 41 to be described later, and supports the yaw mechanism section 20. The Z-axis moving mechanism section 30 is configured to be able to move the supported yaw mechanism section 20 along the Z-axis.

[0062] That is, the Z-axis moving mechanism section 30 includes: a Z-axis moving base member 31 fixed to the motor body 23 side of the yaw mechanism section 20; and an electric actuator 34 capable of linearly moving the Z-axis moving base member 31 along the Z-axis and positioning it at an arbitrary position on the Z-axis. The electric actuator 34 is composed of a pair of rods 32 whose front end portions are fixed to the Z-axis moving base member 31 and extend along the Z-axis, and an actuator body 33 fixed to the Y-axis moving base member 41 and capable of driving the pair of rods 32 forward and backward along the Z-axis. Furthermore, by controlling the operation of the electric actuator 34 by the control device 85, the Z-axis moving mechanism section 30 can move the yaw mechanism section 20 along the Z-axis with an arbitrary movement range.

[0063] In addition, in the present embodiment, an electric actuator 34 capable of high-precision positioning is used as the Z-axis moving mechanism 30, but an actuator of another form such as a cylinder may also be used. In addition, when an actuator with poor positioning accuracy such as a cylinder is used, another positioning mechanism such as a stopper may also be used together.

[0064] The Y-axis moving mechanism 40 is mounted on a base member 51 for X-axis movement described later, and supports the Z-axis moving mechanism 30. The Y-axis moving mechanism 40 is configured to be able to move the supported Z-axis moving mechanism 30 along the Y-axis.

[0065] That is, the Y-axis moving mechanism 40 has a flat plate-shaped Y-axis moving base member 41 to which the actuator body 33 of the Z-axis moving mechanism 30 is fixed. A slider 42 is fixed to the bottom surface of the Y-axis moving base member 41. On the other hand, a guide rail 43 extending along the Y-axis is fixed to the top surface of the X-axis moving base member 51. And the slider 42 fixed to the bottom surface of the Y-axis moving base member 41 slides along the guide rail 43 fixed to the top surface of the X-axis moving base member 51 of the X-axis moving mechanism 50. With this structure, the Y-axis moving base member 41 of the Y-axis moving mechanism 40 can move linearly along the Y-axis relative to the X-axis moving base member 51.

[0066] Furthermore, a driven pulley 45 and a driving pulley 46 are arranged along the Y axis on the X-axis moving base component 51, and an endless belt 47 connected to the above-mentioned Y-axis moving base component 41 or the above-mentioned slider 42 fixed to the above-mentioned Y-axis moving base component 41 is wound between these pulleys 45 and 46.

[0067] A stepper motor 49 is provided to rotate the driving pulley 46 in the forward and reverse directions. The Y-axis moving base member 41 can be linearly moved along the Y-axis and positioned at any position on the Y-axis by the forward and reverse rotation of the stepper motor 49. Furthermore, by controlling the operation of the stepper motor 49 by the control device 85, the Y-axis moving mechanism 40 can move the Z-axis moving mechanism 30 along the Y-axis with any movement range.

[0068] In addition, in the present embodiment, a belt-driven mechanism is adopted as the Y-axis moving mechanism 40 , but it is obvious that another type of actuator may be adopted.

[0069] The X-axis moving mechanism 50 is mounted on the main body side base member 80, and supports the Y-axis moving mechanism 40. The X-axis moving mechanism 50 is configured to be able to move the supported Y-axis moving mechanism 40 along the X-axis.

[0070] That is, the X-axis moving mechanism 50 has a flat X-axis moving base member 51 to which the guide rail 43 of the Y-axis moving mechanism 40 is fixed. A pair of sliders 52 are fixed to the bottom surface of the X-axis moving base member 51. On the other hand, a pair of guide rails 53 extending along the X-axis are fixed to the upper surface of the main body side base member 80. And the pair of sliders 52 fixed to the bottom surface of the X-axis moving base member 51 slide along the pair of guide rails 53 fixed to the upper surface of the main body side base member 80. With this structure, the X-axis moving base member 51 of the X-axis moving mechanism 50 can move linearly along the X-axis relative to the main body side base member 80.

[0071] Furthermore, a driven pulley 55 and a driving pulley 56 are arranged on the main body side base member 80 along the X-axis, and an endless belt 57 connected to the above-mentioned X-axis moving base member 51 or the above-mentioned slider 52 fixed to the above-mentioned X-axis moving base member 51 is wound between these pulleys 55 and 56.

[0072] A stepper motor 59 is provided which can rotate the driving pulley 56 in the forward and reverse directions. The X-axis moving base member 51 can be linearly moved along the X-axis and positioned at any position on the X-axis by the forward and reverse rotation of the stepper motor 59. Furthermore, by controlling the operation of the stepper motor 59 by the control device 85, the X-axis moving mechanism 50 can move the Y-axis moving mechanism 40 along the X-axis with any movement range.

[0073] In addition, in the present embodiment, a belt-driven mechanism is adopted as the X-axis moving mechanism 50 , but it is obvious that another type of actuator may be adopted.

[0074] (Hook stop treatment)

[0075] The control device 85 functions as an action control unit that controls the actions of the yaw mechanism unit 20, the Z-axis moving mechanism unit 30, the Y-axis moving mechanism unit 40, and the X-axis moving mechanism unit 50. Furthermore, the control device 85 is configured to perform the following hook body hanging processing: at least the actions of the yaw mechanism unit 20, the Y-axis moving mechanism unit 40, and the X-axis moving mechanism unit 50 are controlled to hang the pair of extended protrusions 3 and 5 of the above-mentioned held hook body 1 on the mounting hole 9 of the held cardboard 8.

[0076] In addition, the control device 85 performs the following hook holding process immediately before the hook body hanging process is executed: the operation of the Z-axis moving mechanism section 30, the Y-axis moving mechanism section 40, and the X-axis moving mechanism section 50 is controlled, and after the hook body holding section 12 is moved to the hook body temporary holding section 73 side so that the hook body 1 temporarily held by the hook body temporary holding section 73 is held by the hook body holding section 12, the held hook body 1 held by the hook body holding section 12 is moved to the initial position at the start of the hook body hanging process described later (refer to Figure 3 The Z-axis position of the held hook body 1 at the initial position is pre-registered to match the mounting hole 9 of the held cardboard 8 held by the cardboard holding portion 10. The registration of the Z-axis position of the held hook body 1 at the initial position can be registered by means of a teaching operation performed by an operator. In the teaching operation, the held hook body 1 is held by the hook body holding portion 12, and the held hook body 1 is placed in a state immediately after step #04 in the hook body hanging process described later (refer to Figure 3As in step #04), the first extended protrusion 3 protruding to the side of the held cardboard 8 is located inside the mounting hole 9 in the held cardboard 8. Then, the electric actuator 34 of the Z-axis moving mechanism 30 is manually operated to make the widths of the upper and lower gaps of the first extended protrusion 3 in the mounting hole 9 substantially equal, and the position on the Z axis when the widths of the upper and lower gaps become substantially equal can be registered as the position on the Z axis at the above-mentioned initial position.

[0077] Furthermore, when there are multiple types of cardboard 8 held by the cardboard holding portion 10 and the positions of the mounting holes 9 on the Z axis in each of the multiple types of cardboard 8 are different, the configuration may be such that the positions on the Z axis at the initial positions are pre-registered to match the mounting holes 9 of each cardboard 8, an identification code attached to the cardboard 8 held by the cardboard holding portion 10 is read, and the position on the Z axis at the pre-registered initial position is called out for the cardboard 8 identified by the read identification code.

[0078] Furthermore, the position on the Z axis of the hook body 1 temporarily held by the hook body temporary holding portion 73 can also be registered in advance by the same teaching operation as described above.

[0079] In the hook body hanging process, the control device 85 changes the yaw angle of the held hook body 1 by the yaw mechanism 20, and moves the yaw mechanism 20 supporting the hook body holding part 12 along the X-axis and the Y-axis by the X-axis moving mechanism 50 and the Y-axis moving mechanism 40. Then, the pair of extended protrusions 3 and 5 of the held hook body 1 are inserted into the respective cut-in grooves 4 and 6 of the pair of extended protrusions 3 and 5 of the held hook body 1, and the pair of extended protrusions 3 and 5 of the held hook body 1 are stably and reliably hung on the mounting hole 9 of the held cardboard 8 held by the cardboard holding part 10.

[0080] The following is based on Figure 3 , Figure 4 and Figure 5 The details of each step executed in the hook body locking process will be described.

[0081] In the hook body hanging process, execute Figure 3 Steps #01 to #06 are shown, and then, Figure 4 Steps #07 to #12 are then executed in the order in which they are written. Figure 5 Steps #13 to #14 are shown.

[0082] Hereinafter, in each of steps #01 to #14, the operation of the held hook body 1 performed by the operation control of the yaw mechanism 20, the X-axis moving mechanism 50, and the Y-axis moving mechanism 40 will be described.

[0083] Although detailed description is omitted in the following description, the yaw angle setting is performed by the rotation of the held hook body 1 about the yaw axis R by the motion control of the yaw mechanism unit 20. The position setting is performed by the movement of the held hook body 1 along the X axis by the motion control of the X-axis moving mechanism unit 50. The position setting is performed by the movement of the held hook body 1 along the Y axis by the motion control of the Y-axis moving mechanism unit 40.

[0084] The X-axis moving mechanism 50 and the Y-axis moving mechanism 40 are components that move the yaw mechanism 20 supporting the held hook body 1 along the X-axis and the Y-axis, and more specifically, are components that move the yaw axis R, which is the central axis of the yaw shaft 22 to which the hook body holding part 12 is fixed in the yaw mechanism 20. Therefore, in the following description, moving the yaw mechanism 20 by the X-axis moving mechanism 50 and the Y-axis moving mechanism 40 is expressed as moving the yaw axis R (held hook body 1).

[0085] In addition, in the following description, when the retained hook body 1 is rotated in the positive and negative directions around the yaw axis R, the rotation direction of the retained hook body 1 around the yaw axis R from the side of the first extended protrusion 3 toward the side of the second extended protrusion 5 is referred to as the first rotation direction R1, and the rotation direction of the retained hook body 1 around the yaw axis R from the side of the second extended protrusion 5 toward the side of the first extended protrusion 3 is referred to as the second rotation direction R2.

[0086] In step #01, if Figure 3 As shown, the yaw angle of the held hook body 1 is set to a reference yaw angle of 0° so that the central axis C of the held hook body 1 is parallel to the X axis. In addition, the positions of the X axis and the Y axis of the held hook body 1 are set to initial positions. The initial position is a position where the central axis C of the held hook body 1 passes through the center of the mounting hole 9 (hereinafter simply referred to as the "mounting hole 9") of the held cardboard 8 and the bottom 7 of the held hook body 1 is slightly away from the mounting hole 9 in the second X-axis direction X2.

[0087] Following step #01 above, Figure 3 As shown, the insertion preparation process consisting of steps #02 to #04 is performed. In the insertion preparation process (steps #02 to #04), the yaw angle of the held hook body 1 is set to an initial yaw angle Φ1 (e.g., about 25°) when the front end opening portion 4a of the first cut groove 4 is close to the yaw axis R on the Y axis, and the yaw axis R (held hook body 1) is moved along the Y axis and the X axis so that the front end opening portion 4a of the first cut groove 4 is located inside the mounting hole 9 in the held cardboard 8.

[0088] That is, in step #02, if Figure 3As shown, the held hook body 1 is rotated in the first rotation direction R1, and the yaw angle of the held hook body 1 is set to the above-mentioned initial yaw angle Φ1. In the next step #03, the yaw axis R (held hook body 1) is moved toward the first Y-axis direction Y1. In the next step #04, the yaw axis R (held hook body 1) is moved toward the first X-axis direction X1, and the front end opening portion 4a of the first cut-in groove 4 is moved to the inner side of the mounting hole 9.

[0089] Then, immediately after the insertion preparation process (step #02 to step #04), the retained hook body 1 is in a posture in which the first extended protrusion 3 protrudes toward the retained cardboard 8 more than the second extended protrusion 5, and the front end opening portion 4a of the first cut-in groove 4 formed in the first extended protrusion 3 becomes located on the inner side of the mounting hole 9 in the retained cardboard 8.

[0090] Then, the insertion preparation process (step #02 to step #04) is as follows: Figure 3 and Figure 4 As shown, the first insertion process consisting of steps #05 to #12 is performed. In the first insertion process (steps #05 to #12), the yaw angle of the held hook body 1 is reduced to be close to 0°, which is the reference yaw angle when installed in the mounting hole 9, while the yaw axis R (held hook body 1) is moved at least in the first Y-axis direction Y1 from the center side of the mounting hole 9 of the held cardboard 8 toward the first edge portion 9a along the Y axis. Thus, while the inclination of the width direction of the held hook body 1 relative to the Y axis is relaxed, the front end opening portion 4a of the first cut-in groove 4 extending in the width direction thereof is moved in the first Y-axis direction Y1 while suppressing displacement on the X axis. As a result, the first edge portion 9a of the mounting hole 9 is stably and reliably inserted into the first cut-in groove 4.

[0091] That is, in step #05 as the initial yaw angle reduction step executed immediately after the execution of the above-mentioned insertion preparation process (steps #02 to #04), as shown in FIG. Figure 3 As shown, while maintaining the position of the yaw axis R of the held hook body 1 on the X-axis and Y-axis, the yaw angle of the held hook body 1 is reduced from the initial yaw angle Φ1 to an insertion start yaw angle Φ2 which is slightly smaller than the initial yaw angle (e.g., about 5°) until the first edge portion 9a approaches the front end opening portion 4a of the first cut groove 4. Thus, while the inclination of the width direction of the held hook body 1 relative to the Y-axis is relaxed, the front end opening portion 4a of the first cut groove 4 extending and protruding in the width direction is appropriately approached to the first edge portion 9a in a state in which the front end opening portion 4a of the first cut groove 4 extending and protruding in the width direction is slightly displaced in the X-axis in the second X-axis direction X2 from the held cardboard 8 side toward the yaw axis R side and the front end opening portion 4a of the first cut groove 4 is displaced in the Y-axis from a position close to the yaw axis R on the inner side of the mounting hole 9 in the held cardboard 8 and crosses the yaw axis R to the first Y-axis direction Y1, thereby being slightly displaced in the X-axis in the second X-axis direction X2 from the held cardboard 8 side toward the yaw axis R side.

[0092] In step #06, which is the first Y-axis direction movement step performed following step #05, as shown in FIG. Figure 3 As shown, while the yaw angle of the held hook body 1 is maintained at the insertion start yaw angle Φ2, the yaw axis R (held hook body 1) is moved in the first Y-axis direction Y1 until the first edge portion 9a starts to be inserted into the first cut groove 4. Thus, the first cut groove 4 is moved in the first Y-axis direction Y1, and the first edge portion 9a starts to be inserted into the first cut groove 4 stably and reliably.

[0093] In step #08, which is a first Y-axis direction moving step performed after the first edge portion 9a is inserted into the first cut groove 4 in step #06, as shown in FIG. Figure 4 As shown, while the swing angle of the retained hook body 1 is maintained at the above-mentioned insertion start swing angle Φ2, the swing axis R (retained hook body 1) is moved in the first Y-axis direction Y1, so that the first edge portion 9a can be inserted into the first cut groove 4 stably and reliably.

[0094] Furthermore, in step #07 executed immediately before step #08 as the first Y-axis direction moving step, Figure 4 As shown, by moving the yaw axis R (the held hook body 1 ) in the first X-axis direction X1 , the position of the first cutout groove 4 on the X-axis is adjusted to an appropriate position.

[0095] In addition, in the present embodiment, the yaw axis R (the held hook body 1) is moved in the 1st X-axis direction X1 and the 1st Y-axis direction Y1 once in the above-mentioned step #07 and the above-mentioned step #08 respectively, but it can also be configured so that the movement of the yaw axis R (the held hook body 1) in the 1st X-axis direction X1 and the 1st Y-axis direction Y1 is divided into multiple implementations, and the yaw axis R (the held hook body 1) is moved in the 1st X-axis direction X1 between them.

[0096] In step #09, which is a step of reducing the yaw angle on the way and executed following step #08, as shown in FIG. Figure 4 As shown, while the positions of the yaw axis R (the held hook body 1) on the X-axis and the Y-axis are maintained, the yaw angle of the held hook body 1 is reduced from the insertion start yaw angle Φ2 to the intermediate yaw angle Φ3 (for example, about 5°) larger than the reference yaw angle (0°), and the insertion of the first edge portion 9a into the first cut groove 4 progresses. As a result, while the inclination of the width direction of the held hook body 1 with respect to the Y-axis is relaxed, the front end open portion 4a of the first cut groove 4 extending and protruding in the width direction is displaced along the first Y-axis direction Y1, so that the insertion of the first edge portion 9a into the first cut groove 4 progresses stably and reliably.

[0097] In step #10 as the second Y-axis direction retreat step executed following step #09, Figure 4 As shown, while the yaw angle of the held hook body 1 is maintained at the intermediate yaw angle Φ3, the yaw axis R (held hook body 1) is moved in the second Y-axis direction Y2 to reduce the insertion depth of the first edge portion 9a into the first cutout groove 4.

[0098] Then, in step #11 as the final yaw angle reduction step performed following step #10, as shown in FIG. Figure 4 As shown, while maintaining the position of the yaw axis R (the held hook body 1) on the X-axis and Y-axis, the yaw angle of the held hook body 1 is reduced from the intermediate yaw angle Φ3 to the reference yaw angle (0°), so that the insertion of the first edge portion 9a into the first cut groove 4 progresses, and the first extended protrusion 3 of the held hook body 1 is hooked into the mounting hole 9 of the held cardboard 8. By executing step #11 as the final yaw angle reduction step, the yaw angle of the held hook body 1 is set to the reference yaw angle (0°) in a state where the first edge portion 9a is inserted into the first cut groove 4 to the deepest part. As a result, the front end opening portion 6a of the second cut groove 6 is located inside the mounting hole 9 in the held cardboard 9, and is appropriately close to the second edge portion 9b.

[0099] That is, before executing step #11 as the final yaw angle reduction step, step #10 as the second Y-axis direction retreat step is executed. Figure 4 As shown, the yaw axis R (the held hook body 1) is moved in the second Y-axis direction Y2, and the insertion depth of the first edge portion 9a into the first cut groove 4 is reduced. Therefore, in step #11 executed immediately thereafter, the yaw angle of the held hook body 1 is reduced from the intermediate yaw angle Φ3 to the reference yaw angle (0°), so that when the front end opening portion 4a of the first cut groove 4 is displaced approximately along the first Y-axis direction Y1, the insertion depth of the first edge portion 9a into the first cut groove 4 is prevented from becoming excessive, and the end of the first edge portion 9a is prevented from interfering with the base end of the first cut groove 4.

[0100] In addition, in the present embodiment, step #10 as the above-mentioned second Y-axis direction retreat step is executed before step #11 as the final swing angle reduction step is to be executed. However, if interference of the end of the first edge portion 9a with the base end of the first cut-in groove 4 in step #11 as the final swing angle reduction step is not a problem, step #10 (second Y-axis direction retreat step) may be omitted.

[0101] In step #12 executed following step #11, if Figure 4As shown, while the swing angle of the retained hook body 1 is maintained at the above-mentioned reference swing angle (0°), the swing axis R (retained hook body 1) is moved in the first Y-axis direction Y1, so that the insertion of the first edge portion 9a into the first cut-in groove 4 progresses, and the insertion of the first edge portion 9a into the first cut-in groove 4 is completed.

[0102] In addition, in the present embodiment, in step #11 which is the above-mentioned final swing angle reduction step, the insertion of the first edge portion 9a into the first cut groove 4 is advanced, and in the immediately subsequent step #12, the insertion of the first edge portion 9a into the first cut groove 4 is also advanced. However, before executing step #12, the above-mentioned second Y-axis direction retreat step as performed in the above-mentioned step #10 may be performed to reduce the insertion depth of the first edge portion 9a into the first cut groove 4.

[0103] In the above-mentioned first insertion process (step #05 to step #12), by setting the swing angle of the retained hook body 1 to the above-mentioned reference swing angle (0°) when the first edge portion 9a is finally inserted into the first cut-in groove 4, the second cut-in groove 6 becomes in a state along the width direction of the retained cardboard 8, and the front end open portion 6a of the second cut-in groove 6 becomes located on the inner side of the mounting hole in the retained cardboard 8.

[0104] Following the first insertion process (step #05 to step #12), the second insertion process consisting of steps #13 to #14 is performed. In step #14 included in the second insertion process, Figure 5 As shown, the yaw axis R (held hook body 1) is moved in the second Y-axis direction Y2 while the yaw angle of the held hook body 1 is maintained at the reference yaw angle (0°). As a result, the second cut groove 6 along the width direction (Y-axis) of the held cardboard 8 is moved in the second Y-axis direction Y2, so that the second edge portion 9b of the mounting hole 9 is stably and reliably inserted into the second cut groove 6, and the insertion of the second edge portion 9b into the second cut groove 6 is completed.

[0105] In addition, before executing the above step #14, execute the above step #13. In this step #13, if Figure 5 As shown, while the yaw angle of the held hook body 1 is maintained at the reference yaw angle (0°), the yaw axis R (held hook body 1) is slightly moved in the first X-axis direction X1 until the upper surface of the second cut groove 6 in the second extended protrusion 5 (the bottom surface of the second upper extended protrusion piece 5A) is along the front surface of the held cardboard 8. Thus, in the next step #14, the second edge portion 9b is stably inserted into the second cut groove 6 while the upper surface thereof is along the front surface of the held cardboard 8.

[0106] Industrial Applicability

[0107] The present invention can be suitably used in an automatic hook mounting device for automatically mounting a hook used for hanging commodities such as socks on a hanging rod for display, to a mounting hole penetrated through a cardboard mounted on the commodity.

[0108] Description of Reference Numerals

[0109] 1 Hook body (hook body to be held)

[0110] 2 Hook

[0111] 3. 1st extension protrusion (extended protrusion)

[0112] 4 1st cutting groove (cutting groove)

[0113] 4a Front opening

[0114] 5. Second extended protrusion (extended protrusion)

[0115] 6 Second cutting groove (cutting groove)

[0116] 6a Front opening

[0117] 8 Cardboard (kept cardboard)

[0118] 9 Mounting holes

[0119] 9a 1st edge portion (edge ​​portion)

[0120] 9b Second edge (edge)

[0121] 10 Cardboard holding part

[0122] 12 Hook body holding part

[0123] 20. Tilt mechanism

[0124] 40 Y-axis moving mechanism (moving mechanism)

[0125] 50 X-axis moving mechanism (moving mechanism)

[0126] 100 Hook automatic installation device

[0127] C Center axis

[0128] R Yaw axis

[0129] XX axis

[0130] YY Axis

[0131] Y1 1st Y axis direction

[0132] Y2 2nd Y axis direction

[0133] Φ1 Initial deflection angle

[0134] Φ2 Insertion start deflection angle

[0135] Φ3 Deflection angle during the journey

Claims

1. An automatic hook installation device, which automatically installs a substantially flat hook along the width direction of the cardboard to an installation hole which is penetrated in the cardboard and is elongated along the width direction of the cardboard, characterized in that: The hook body is formed by arranging a hook portion and a pair of extended protrusions along a central axis extending in the up-down direction, the hook portion is located on the upper side, the pair of extended protrusions extend from the lower side of the hook portion in both width directions, and are respectively formed with cut-in grooves extending from the front end opening located on the outer side toward the inner side, and the hook body is mounted on the cardboard in a form in which both edge portions in the long dimension direction of the mounting hole are respectively inserted into the respective cut-in grooves of the pair of extended protrusions; Set three mutually orthogonal axes as X-axis, Y-axis and Z-axis; have: a cardboard holding section that holds the cardboard as a held cardboard in a state where the width direction of the cardboard is along the Y axis and the up-down direction of the cardboard is along the Z axis; as well as a hook body holding portion for holding the hook body as a held hook body in a state where the thickness direction of the hook body is along the Z axis and the pair of extended protrusions are protruded toward the cardboard holding portion side along the X axis; have: A yaw mechanism portion, which supports the hook body holding portion and is capable of rotating the supported hook body holding portion around a yaw axis to change a yaw angle, wherein the yaw axis passes through the upper side of the central axis of the held hook body and is parallel to the Z axis, and the yaw angle is an angle formed by the central axis of the held hook body relative to the X axis; a moving mechanism unit that supports the yaw mechanism unit and is capable of moving the supported yaw mechanism unit along the X-axis and the Y-axis; and An action control unit controls the actions of the aforementioned yaw mechanism unit and the aforementioned moving mechanism unit; The action control unit executes the following hook body hanging processing: by changing the swing angle of the retained hook body by the swing mechanism unit while moving the retained hook body along the X-axis and the Y-axis by the moving mechanism unit, the two edge portions of the mounting hole in the retained cardboard are respectively inserted into the respective cut-in grooves of the pair of extended protrusions in the retained hook body, and the pair of extended protrusions of the retained hook body are hung on the mounting hole of the retained cardboard.

2. The automatic hook installation device according to claim 1, characterized in that: One side of the pair of extended protrusions is set as a first extended protrusion, and a cut-in groove formed in the first extended protrusion for inserting a first edge portion is set as a first cut-in groove, wherein the first edge portion is an edge portion on one side of the mounting hole of the held cardboard; The other side of the pair of extended protrusions is set as a second extended protrusion, and the cut-in groove formed in the second extended protrusion and into which the second edge portion is inserted is set as a second cut-in groove, wherein the second edge portion is the edge portion on the other side of the mounting hole of the held cardboard; The hook body hanging process is a process of sequentially executing a predetermined insertion preparation process, a first insertion process, and a second insertion process; In the insertion preparation step, the swing angle of the hook body to be held is set by the swing mechanism to an initial swing angle when the front end opening portion of the first cut groove is close to the swing axis on the Y axis, and the hook body to be held is moved by the moving mechanism along the Y axis and the X axis so that the front end opening portion of the first cut groove is located inside the mounting hole in the cardboard to be held; In the first insertion step, while the deflection angle of the held hook body is reduced by the deflection mechanism to be close to the reference deflection angle when the hook body is mounted in the mounting hole, the held hook body is moved by the moving mechanism at least in the first Y-axis direction from the center side of the mounting hole of the held cardboard toward the first edge portion along the Y-axis, so that the first edge portion is inserted into the first cut-in groove; In the above-mentioned second insertion process, the above-mentioned held hook body is moved by the above-mentioned moving mechanism part at least in the second Y-axis direction along the above-mentioned Y-axis from the center side of the mounting hole of the above-mentioned held cardboard toward the above-mentioned second edge portion while maintaining the swing angle of the above-mentioned held hook body at the reference swing angle, so that the above-mentioned second edge portion is inserted into the above-mentioned second cutting groove.

3. The automatic hook installation device according to claim 2, characterized in that: The first insertion process includes an initial yaw angle reduction step performed immediately after the execution of the insertion preparation process and an initial first Y-axis direction movement step performed after the execution of the initial yaw angle reduction step; In the initial deflection angle reduction step, the deflection angle of the hook to be held is reduced from the initial deflection angle to a predetermined insertion start deflection angle by the deflection mechanism while maintaining the position of the deflection mechanism on the X-axis and the Y-axis until the first edge portion approaches the front end opening portion of the first cut-in groove. In the initial first Y-axis direction movement step, while maintaining the deflection angle of the retained hook body at the insertion start deflection angle, the moving mechanism moves the retained hook body in the first Y-axis direction until the first edge portion starts to be inserted into the first cutting groove.

4. The automatic hook installation device according to claim 2 or 3, characterized in that: The first insertion process includes a first Y-axis direction moving step performed on the way after the insertion of the first edge portion into the first cut-in groove is started, a swing angle reducing step performed on the way after the first Y-axis direction moving step is performed, a second Y-axis direction retracting step performed after the second Y-axis direction retracting step is performed, and a final swing angle reducing step performed after the second Y-axis direction retracting step is performed; In the first Y-axis direction moving step, the hook to be held is moved in the first Y-axis direction by the moving mechanism while the swing angle of the hook to be held is maintained at the insertion start swing angle when the first edge portion is inserted into the first cut groove, so that the insertion of the first edge portion into the first cut groove progresses; In the midway deflection angle reduction step, the deflection angle of the held hook body is reduced from the insertion start deflection angle to a predetermined midway deflection angle by the deflection mechanism while maintaining the position of the deflection mechanism on the X-axis and the Y-axis, so that the insertion of the first edge portion into the first cut-in groove progresses; In the second Y-axis direction retreat step, the held hook body is moved in the second Y-axis direction by the moving mechanism while the swing angle of the held hook body is maintained at the intermediate swing angle, so that the insertion depth of the first edge portion into the first cut groove is reduced; In the final swing angle reduction step, while maintaining the position of the swing mechanism unit on the X-axis and the Y-axis, the swing angle of the retained hook body is reduced from the intermediate swing angle to the reference swing angle by the swing mechanism unit, so that the insertion of the first edge portion into the first cutting groove progresses.

Images