Packaging method and packaging device

Abstract

An article packaging method according to an embodiment includes: a selection step of selecting a cushion corresponding to a size of an article from among a plurality of cushions having different sizes; and a packaging process, wherein the article is wrapped in the selected buffer piece through an arm.

Description

Technical Field

[0001] The disclosed embodiments relate to a packaging method and a packaging device. Background Art

[0002] Conventionally, for example, there is known a packaging device that packages an article by arranging a cushioning material around the article (see, for example, Patent Document 1).

[0003] In the prior art.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2015-224046 Summary of the Invention

[0007] (Technical problem to be solved by the invention)

[0008] In the prior art, the use of cushioning members to wrap articles of different sizes is not considered. Therefore, in the prior art, there is room for improvement in how to improve the efficiency of the operation of wrapping articles with cushioning members.

[0009] The present invention has been made in view of the above-mentioned situation, and an object of the present invention is to improve the efficiency of wrapping articles of different sizes using a cushioning member.

[0010] (Technical solutions for solving technical problems)

[0011] A packaging method according to one embodiment includes a selection step and a packaging step. In the selection step, a cushioning member corresponding to the size of an article is selected from a plurality of cushioning members of different sizes. In the packaging step, the article is wrapped in the selected cushioning member using an arm.

[0012] A packaging method according to one aspect of the embodiment includes a selection step and a packaging step. In the selection step, an article is transported to a packaging location pre-installed with a plurality of cushioning members of different shapes. A cushioning member corresponding to the shape of the article is selected from the plurality of cushioning members. In the packaging step, a robot arm wraps the article in the selected cushioning member.

[0013] A packaging method according to one aspect of the embodiment includes a selection step and a packaging step. In the selection step, a cushioning member is selected from a plurality of cushioning members of varying sizes, corresponding to the size of the article and the size of the packaging box in which the article is packaged. In the packaging step, the article is wrapped in the selected cushioning member using an arm. In the selection step, the cushioning member selected is larger than the storage space of the packaging box in which the article is packaged.

[0014] (Effects of the Invention)

[0015] According to one aspect of the embodiment, the work efficiency of wrapping articles of different sizes using a cushioning member can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram schematically showing an article packaging device according to the first embodiment.

[0017] Figure 2 This is a control system block diagram of the information processing device according to the first embodiment.

[0018] Figure 3 This is a flowchart illustrating the packaging process according to the first embodiment.

[0019] Figure 4 This is a diagram showing a state where an article is inserted into the cushioning member.

[0020] Figure 5 This figure shows a state where an article wrapped in a cushioning material is conveyed into a packaging box.

[0021] Figure 6 This is a diagram schematically showing an example of a hardware configuration of a computer that functions as an information processing device.

[0022] Figure 7 It is a diagram schematically showing an article packaging device according to a second embodiment.

[0023] Figure 8 It is a schematic diagram showing a configuration example of a holding portion.

[0024] Figure 9 This is a flowchart illustrating the packaging process according to the second embodiment.

[0025] Figure 10 This is a diagram showing a state where an article is inserted into the cushioning member.

[0026] Figure 11 It is a diagram schematically showing an article packaging device according to a third embodiment.

[0027] Figure 12 It is a diagram schematically showing a packaging device according to a fourth embodiment.

[0028] Figure 13 This is a diagram showing a state where a cushioning material wrapped with an article is packed in a packaging box. DETAILED DESCRIPTION

[0029] The present invention will be described below by way of embodiments, but the following embodiments do not limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the technical aspects of the invention.

[0030] (First embodiment)

[0031] Reference Figure 1 A packaging device 1 according to the first embodiment will be described. Figure 1 This is a diagram schematically showing a packaging device 1 for articles 100 according to the first embodiment.

[0032] The packaging device 1 involved in the first embodiment, for example, packages articles 100 (loads) transported from a storage unit (warehouse, shelf, etc.) through a picking operation based on outbound information. The articles 100 are transported, for example, by a cart robot. The outbound information is, for example, information related to a pre-indicated list, an order, etc. The picking operation is the work of collecting (selecting) the required articles 100. The cart robot is a picking staff. The picking staff plays an indispensable role in, for example, the shipment of articles 100 in the warehouse, and is therefore deployed in all types of warehouses. The picking staff includes a humanoid robot.

[0033] After the packaging device 1 wraps the article 100 in the cushioning member 110, the packaging device 1 packs the article 100 wrapped in the cushioning member 110 into a packaging box 120 (see Figure 5 ) (for example, a cardboard box). Here, "packaging" includes the action of wrapping the article 100 in the cushioning member 110, but is not limited thereto. In addition, the packaging device 1 can also enable the article 100 to be packaged in the packaging box 120 instead of being wrapped in the cushioning member 110. In addition, the packaging device 1 can enable multiple articles 100 to be packaged in one packaging box 120. The packaging device 1 can enable articles 100 wrapped in the cushioning member 110 and articles 100 not wrapped in the cushioning member 110 to be packaged in one packaging box 120.

[0034] The cushioning member 110 is used to protect the article 100. The cushioning member 110 is formed into a bag shape, for example. The cushioning member 110 can also be formed into a cylindrical shape. The cushioning member 110 is, for example, a bubble cushioning member. The cushioning member 110 is not limited to a bubble cushioning member. The cushioning member 110 can be made of, for example, paper.

[0035] The cushioning member 110 includes a plurality of cushioning members 110 of different sizes. For example, the cushioning member 110 includes three different sizes: small (S size), medium (M size), and large (L size). The medium cushioning member 110 is larger than the small cushioning member 110. In other words, the medium cushioning member 110 can wrap a larger object 100 than the small cushioning member 110. The large cushioning member 110 is larger than the medium cushioning member 110. In other words, the large cushioning member 110 can wrap a larger object 100 than the medium cushioning member 110.

[0036] The size of the cushioning material 110 is not limited to the three sizes mentioned above, and the cushioning material 110 may be of two or more sizes.

[0037] The packaging device 1 includes a plurality of robot arms 2 (arms), a detection unit 3 , and an information processing device 4 (control device).

[0038] The plurality of robot arms 2 are configured to grip and transport the object 100 or the cushioning material 110. The plurality of robot arms 2 may be configured so that the robot arm 2 gripping the object 100 is different from the robot arm 2 gripping the cushioning material 110. Hereinafter, the robot arm 2 gripping the object 100 may be referred to as the first robot arm 2A, and the robot arm 2 gripping the cushioning material 110 may be referred to as the second robot arm 2B.

[0039] Each robot arm 2 has multiple rods 2a and multiple joints 2b. A joint 2b is located, for example, between two rods 2a, enabling relative rotation of the two rods 2a. Each joint 2b includes a motor. By rotating the rods 2a relative to each other using the joints 2b, the robot arm 2 can be extended and retracted, and rotated 360 degrees.

[0040] A gripping portion 2c is provided at the distal end of the robot arm 2. The gripping portion 2c includes, for example, a plurality of fingers 2d. The number of fingers 2d relative to the gripping portion 2c may be three or five. The number of fingers 2d relative to the gripping portion 2c is not limited thereto. The number of fingers 2d relative to the gripping portion 2c may be two or more. The robot arm 2 grips the object 100 or the cushioning member 110 by moving the plurality of fingers 2d. The gripping portion 2c can grip the object 100 or the cushioning member 110 by suction.

[0041] The first robot arms 2A can grasp the article 100 and lift the article 100 using, for example, two first robot arms 2A.

[0042] The second robot arm 2B takes out the cushioning material 110 from the storage unit 10. The second robot arm 2B takes out the cushioning material 110 of a size suitable for the object 100 from the storage unit 10. The second robot arm 2B takes out the cushioning material 110 that can wrap the object 100 from the storage unit 10. Specifically, the second robot arm 2B takes out the cushioning material 110 that can wrap the object 100 from the storage unit 10. Figure 4 ) is inserted into and can accommodate the cushioning member 110 of the article 100. For example, the second robot arm 2B takes out the cushioning member 110 of the smallest size among the cushioning members 110 that can accommodate the article 100 from the storage unit 10.

[0043] The robot arm 2 wraps the object 100 with the cushioning member 110. For example, the first robot arm 2A inserts the held object 100 into the cushioning member 110 held by the second robot arm 2B.

[0044] The robot arm 2 folds a portion of the cushioning material 110 wrapped with the object 100 to close the opening 110a of the cushioning material 110. For example, the first robot arm 2A grasps the end of the cushioning material 110 on the side of the opening 110a and folds the grasped end of the cushioning material 110 to close the opening 110a of the cushioning material 110.

[0045] The robot arm 2 carries the article 100 wrapped by the cushioning member 110 and houses the article 100 wrapped by the cushioning member 110 in the packaging box 120 .

[0046] The first robot arm 2A and the second robot arm 2B may be robot arms of different types or robot arms of the same type.

[0047] The detection unit 3 is provided on the robot arm 2. The detection unit 3 is mounted on the distal end of the robot arm 2. The detection unit 3 is, for example, a camera. The camera is mounted near the distal end of the robot arm 2, specifically, mounted on the robot arm 2 in a manner capable of capturing images of the surroundings of the gripping portion 2c. The camera includes, for example, an imaging element such as a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), and a lens. The detection unit 3 may include at least one of a solid-state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, or other various sensors. The detection unit 3 may include a MoPU (Motion Processing Unit). The MoPU is a unit that detects motion using a high-resolution camera. The MoPU outputs motion information representing the motion of an object captured, for example, at a frame rate of 1000 frames per second or higher, from an image of the object captured at a frame rate of 1000 frames per second or higher. Furthermore, vector information representing the motion of a point at the object's location along a given coordinate axis is output as motion information. That is, the motion information output from the MoPU does not include the information required to identify what the photographed object is (for example, a person or an obstacle), but only includes information representing the movement (moving direction and moving speed) of the center point (or center of gravity) of the object on the coordinate axes (x-axis, y-axis, z-axis).

[0048] Information processing device 4 such as Figure 2 As shown, the information acquisition unit 40 , the control unit 41 and the information storage unit 42 are provided. Figure 2 This is a control system block diagram of the information processing device 4 according to the first embodiment.

[0049] The information acquisition unit 40 is connected to the detection unit 3 or the like wirelessly or by wire. The information acquisition unit 40 acquires information detected by the detection unit 3. For example, the information acquisition unit 40 acquires data of an image captured by the detection unit 3.

[0050] The information acquisition unit 40 may acquire information related to the article 100 etc. transmitted from the control center etc. The information related to the article 100 etc. may include information related to the size of the article 100.

[0051] The control unit 41 controls each robot arm 2 based on the detection results of the detection unit 3. The control unit 41 sends a control signal to each robot arm 2. For example, the control unit 41 uses the detection results of the detection unit 3 and artificial intelligence (AI) to wrap the object 100 with the cushioning material 110 and control each robot arm 2 to transport the object 100 wrapped in the cushioning material 110 to the packaging box 120. The control unit 41 performs a first image processing on the image data captured by the detection unit 3 and controls each robot arm 2 based on the processing results. The first image processing is used to enable each robot arm 2 to grasp and transport the object 100 or the cushioning material 110.

[0052] The control unit 41 measures the size of the object 100 based on the detection results of the detection unit 3. For example, the control unit 41 measures the size of the object 100 based on the image data of the object 100 captured by the detection unit 3. The control unit 41 performs a second image processing on the image data captured by the detection unit 3 and measures the size of the object 100 based on the processing result. The second image processing is used to measure the size of the object 100. The size of the object 100 includes information related to the length of the object 100. The size of the object 100 may also include information related to the shape of the object 100.

[0053] The information storage unit 42 is implemented by a storage medium such as a RAM (Random Access Memory) or a semiconductor memory device such as a flash memory. The information storage unit 42 stores various programs executed by the control unit 41. The information storage unit 42 stores information acquired by the information acquisition unit 40.

[0054] Next, use Figure 3 The packaging process according to the first embodiment will be described. Figure 3 This is a flowchart illustrating the packaging process according to the first embodiment.

[0055] The control unit 41 performs a measurement process (S100). For example, the control unit 41 measures the size of an article 100 being transported by a cart robot. The control unit 41 measures the size of the article 100 based on image data captured by the detection unit 3 provided on the first robot arm 2A. For example, the control unit 41 controls the first robot arm 2A to capture an image of the article 100 using the detection unit 3. The control unit 41 then measures the size of the article 100 based on the captured image data.

[0056] After the measurement process, the control unit 41 performs a selection process (S101). The control unit 41 selects a cushioning member 110 corresponding to the measured size of the article 100 from among a plurality of cushioning members 110 of varying sizes. The control unit 41 selects a cushioning member 110 that can accommodate the article 100 and that allows the article 100 to be inserted through the opening 110a of the cushioning member 110.

[0057] For example, when the measured article 100 is of a size that can be wrapped by a “small” cushioning member 110 , the control unit 41 selects the “small” cushioning member 110 as the cushioning member 110 for wrapping the article 100 .

[0058] After the selection process, the control unit 41 performs the packaging process ( S102 ). The control unit 41 controls the plurality of robot arms 2 to perform the packaging process. After the object 100 is wrapped in the cushioning material 110 , the control unit 41 controls the plurality of robot arms 2 to transport the wrapped object 100 to the packaging box 120 .

[0059] Specifically, the control unit 41 uses the second robot arm 2B to take out the selected cushioning member 110 from the storage unit 10. The control unit 41 uses the first robot arm 2A to hold the article 100 and lift it. Figure 4 As shown, the first robot arm 2A and the second robot arm 2B are controlled to insert the article 100 into the cushioning member 110 through the opening 110 a of the cushioning member 110 held by the second robot arm 2B. Figure 4 1 and 2 are diagrams showing a state where an article 100 is inserted into a cushioning member 110 .

[0060] The control unit 41 controls the first robot arm 2A and the second robot arm 2B to fold the end portion of the cushioning member 110 on the side of the opening 110a into which the article 100 is inserted, thereby wrapping the article 100 in the cushioning member 110. For example, the control unit 41 uses the first robot arm 2A to grasp the end portion of the cushioning member 110 on the side of the opening 110a and fold the end portion of the cushioning member 110 on the side of the opening 110a.

[0061] The control unit 41 closes the end of the folded cushioning member 110 on the side of the opening 110a. For example, the control unit 41 uses the first robot arm 2A to apply tape to the folded cushioning member 110 to close the end of the cushioning member 110 on the side of the opening 110a. The method for closing the end of the cushioning member 110 on the side of the opening 110a is not limited to this. The end of the cushioning member 110 on the side of the opening 110a can be closed using a pin, a rope, or by thermal compression. Alternatively, the control unit 41 may close the end of the cushioning member 110 on the side of the opening 110a without folding it.

[0062] Furthermore, during the packaging process, the position of the opening 110a of the cushioning member 110 is detected based on, for example, data from an image captured by the detection unit 3. Furthermore, when the cushioning member 110 is gripped by the second robot arm 2B, the cushioning member 110 can be stored in the storage unit 10 such that the opening 110a of the cushioning member 110 is positioned at a predetermined position relative to the second robot arm 2B.

[0063] The control unit 41 is as follows Figure 5 As shown, the robot arm 2 is controlled to move the article 100 wrapped by the buffer 110 to the packaging box 120 . Figure 5 This figure shows a state where an article 100 wrapped in a cushioning material 110 is conveyed to a packaging box 120 .

[0064] Furthermore, the size of the article 100 can be measured by a device separate from the detection unit 3 provided on the robot arm 2. For example, the measurement device for measuring the size of the article 100 can be provided independently of the detection unit 3. Alternatively, the size of the article 100 can be measured by a cart robot. In this case, the measurement result of the size of the article 100 measured by the cart robot is received by the information acquisition unit 40. Furthermore, the control unit 41 can select the cushioning member 110 to wrap the article 100 based on information regarding the size of the article 100 transmitted from a control center or the like.

[0065] Packaging device 1 includes multiple robot arms 2 and an information processing device 4. The multiple robot arms 2 wrap an object 100 using cushioning materials 110. The information processing device 4 controls the multiple robot arms 2. The information processing device 4 selects a cushioning material 110 corresponding to the size of the object 100 from among multiple cushioning materials 110 of varying sizes. The information processing device 4 controls the multiple robot arms 2 to wrap the object 100 using the selected cushioning material 110.

[0066] Thus, the packaging device 1 can wrap articles 100 of different sizes using the cushioning member 110 according to the sizes of the articles 100. Therefore, the packaging device 1 can improve the efficiency of the operation of wrapping articles 100 of different sizes using the cushioning member 110.

[0067] The cushioning material 110 is formed in a bag shape. The packaging device 1 inserts the article 100 into the bag-shaped cushioning material 110. Thus, the packaging device 1 can further improve the efficiency of the operation of wrapping the article 100 with the cushioning material 110.

[0068] The packaging device 1 folds a portion of the cushioning material 110 wrapping the article 100 to close the opening 110 a of the bag-shaped cushioning material 110 .

[0069] Thus, the packaging device 1 can suppress the article 100 from falling from the cushioning material 110 .

[0070] Figure 6 This diagram schematically illustrates an example of the hardware configuration of a computer 1200 functioning as an information processing device 4. A program installed in computer 1200 can cause computer 1200 to function as one or more "units" of the apparatus described in this embodiment, or can cause computer 1200 to perform operations associated with the apparatus described in this embodiment or the one or more "units," and / or can cause computer 1200 to perform processes described in this embodiment or stages of such processes. Such a program can also be executed by CPU 1212 to cause computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0071] The computer 1200 of this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected via a main controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the main controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid-state drive, or the like. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0072] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214 , thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 from a frame buffer or the like provided in the RAM 1214 or from the graphics controller itself, and displays the image data on the display device 1218 .

[0073] Communication interface 1222 communicates with other electronic devices via a network. Storage device 1224 stores programs and data used by CPU 1212 within computer 1200. A DVD drive reads programs and data from a DVD-ROM or the like and provides them to storage device 1224. An IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0074] The ROM 1230 stores therein a boot program or the like executed by the computer 1200 upon activation, and / or programs that depend on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

[0075] The programs are provided on a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, facilitating collaboration between the programs and the various types of hardware resources described above. Apparatus or methods can be configured to implement information manipulation or processing based on the use of the computer 1200.

[0076] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded into the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer provided in the RAM 1214, the storage device 1224, a DVD-ROM, or an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer provided on the recording medium.

[0077] Furthermore, the CPU 1212 can read all or a required portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card from the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 can then write the processed data back to the external recording medium.

[0078] Various types of information such as various types of programs, data, tables, and databases can be stored in the recording medium and subjected to information processing. The CPU 1212 can perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc., specified by the instruction sequence of the program, as described anywhere in this disclosure, and write the results back to the RAM 1214. In addition, the CPU 1212 can retrieve information from files, databases, etc. in the recording medium. For example, in a case where a plurality of entries are stored in the recording medium, each entry having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 can search for an entry that is consistent with the condition specifying the attribute value of the first attribute from the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that meets the predetermined condition.

[0079] The above-described program or software module can be stored in a computer-readable storage medium on or near the computer 1200. Alternatively, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0080] The boxes in the flowcharts and block diagrams in this embodiment may represent the stages of the process of performing an operation or the "parts" of a device having the function of performing an operation. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits provided together with computer-readable instructions stored on a computer-readable storage medium, and / or processors provided together with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include, for example, field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), including reconfigurable hardware circuits such as logical product, logical sum, exclusive or, negated logical product, negated logical sum, and other logical operations, flip-flops, registers, and storage elements.

[0081] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device, so that a computer-readable storage medium having instructions stored therein comprises a product, wherein the product includes instructions that can be executed to create a unit for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media include floppy disks (registered trademark), magnetic disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), electrically erasable programmable read-only memories (EEPROM), static random access memories (SRAM), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks (registered trademarks), memory sticks, integrated circuit cards, and the like.

[0082] The computer readable instructions may include source code or object code described in any combination of one or more programming languages, including assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or an object-oriented programming language such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and a conventional procedural programming language such as the "C" programming language or a similar programming language.

[0083] In order to cause a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device to generate a unit for performing the operations specified in the flowchart or block diagram and execute computer-readable instructions, the computer-readable instructions may be provided to the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet. Examples of the processor include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0084] (Second embodiment)

[0085] Reference Figure 7 A packaging device 1 according to a second embodiment will be described. Figure 7 This is a diagram schematically showing a packaging device 1 for articles 100 according to a second embodiment. Here, differences from the first embodiment will be described. Descriptions of the same configurations as those in the first embodiment will be omitted.

[0086] For example, an article 100 transported by a cart robot is placed at a predetermined position 11 on a work table 12 of the packaging device 1 and packaged at the predetermined position 11. Hereinafter, the predetermined position 11 where packaging is performed may be referred to as a "packaging position 11."

[0087] The cushioning member 210 for protecting the article 100 is formed to have an opening 210d (see Figure 7 The cushioning member 210 may be made of, for example, paper, foamed plastic such as expanded polystyrene, polyurethane, or other materials.

[0088] The buffer 210 includes a plurality of buffers 210 having different shapes. Specifically, the buffer 210 includes a plurality of buffers 210 having different sizes. In other words, the plurality of buffers 210 are formed to have different sizes. For example, the buffer 210 includes three different sizes of buffers: small (S size), medium (M size), and large (L size). Hereinafter, the "large" buffer 210 will sometimes be described as a "large buffer 210a", the "medium" buffer 210 will sometimes be described as a "medium buffer 210b", and the "small" buffer 210 will sometimes be described as a "small buffer 210c". In addition, when explaining the large buffer 210a, the medium buffer 210b, and the small buffer 210c without making any special distinction, they will be described as "buffer 210".

[0089] The sizes of the cushioning members 210 are not limited to the three sizes described above. The cushioning members 210 may be of two or more sizes. The plurality of cushioning members 210 of different sizes (shapes) are pre-installed at the packaging position 11 of the packaging device 1, as will be described later.

[0090] The packaging device 1 includes a plurality of robot arms 2, a detection unit 3, and a holding unit 5 (see Figure 8 ) and information processing device 4 (control device).

[0091] The multiple robot arms 2 of the packaging device 1 include a robot arm configured to grip and transport the article 100 and a robot arm configured to grip and install the cushioning member 210. The multiple robot arms 2 can be configured so that the robot arm 2 gripping the article 100 and the robot arm 2 gripping and installing the cushioning member 210 are different. Furthermore, a single robot arm 2 can have both the function of gripping and transporting the article 100 and the function of gripping and installing the cushioning member 210.

[0092] In the following description, the robot arm 2 that grips the article 100 may be referred to as a first robot arm 2A, and the robot arm 2 provided with the buffer 210 may be referred to as a second robot arm 2B.

[0093] Before the second robot arm 2B performs the packaging operation on the article 100, the plurality of buffer members 210 are pre-installed (arranged) at the packaging position 11. Figure 7 In FIG. 1 , an example is shown in which a large-sized cushioning member 210a, a medium-sized cushioning member 210b, and a small-sized cushioning member 210c are provided. In addition, although the cushioning member 210 is provided at the packaging position 11 by the holding portion 5 (refer to FIG. Figure 8 ) to maintain the state of the setting, but in Figure 7 For the sake of easy understanding, the illustration of the holding portion 5 is omitted.

[0094] Specifically, the second robot arm 2B removes the cushioning member 210 from a storage unit (not shown) storing the cushioning member 210. The second robot arm 2B places the removed cushioning member 210 at a pre-set position, thereby completing the installation of the cushioning member 210. Specifically, in the packaging device 1 according to this embodiment, a plurality of cushioning members 210 (here, a large cushioning member 210a, a medium cushioning member 210b, and a small cushioning member 210c) of different sizes (shapes) are pre-set, regardless of the size of the object 100 being packaged. This improves the efficiency of the operation of wrapping objects 100 of varying sizes (shapes) using the cushioning members 210.

[0095] Specifically, the article 100 is wrapped by a cushioning member 210 that corresponds to (fits) the shape of the article 100 including its size. For example, a large article 100 is preferably wrapped by a cushioning member 210 that can move the large article 100 from the opening 210d (see Figure 8 ) is inserted and accommodated in the cushioning member 210 (here, the large cushioning member 210a). Furthermore, a medium-sized article 100 is preferably wrapped by a cushioning member 210 (here, the medium cushioning member 210b) among the plurality of cushioning members 210 that can accommodate and accommodate a medium-sized article 100 through the opening 210d. Furthermore, a small article 100 is preferably wrapped by a cushioning member 210 (here, the small cushioning member 210c) among the plurality of cushioning members 210 that can accommodate and accommodate a small-sized article 100 through the opening 210d.

[0096] In a configuration where, for example, a cushioning member 210 is not pre-installed in the packaging device 1, the second robot arm 2B detects the size of the article 100 and selects a cushioning member 210 corresponding to (suitable for) the detected size of the article 100 from among the plurality of cushioning members 210. The second robot arm 2B then removes the selected cushioning member 210 from a storage unit (not shown) and sets it at the packaging position 11. After the cushioning member 210 is set, the process of wrapping (packaging) the article 100 with the cushioning member 210 begins. In this case, in a configuration where cushioning members 210 are not pre-installed, the process of selecting, removing, and setting the cushioning member 210, from detecting the size of the article 100 to actually wrapping the article 100 with the cushioning member 210, takes time. This can reduce the efficiency of wrapping the article 100 with the cushioning member 210.

[0097] To this end, the packaging device 1 according to this embodiment is pre-installed with a plurality of cushioning members 210 having different shapes. Specifically, the packaging device 1 is pre-installed with a plurality of cushioning members 210 having different sizes. As a result, in this embodiment, the steps of removing and installing the cushioning members 210 are eliminated from the process of detecting the size of the object 100 to be packaged until the actual wrapping of the object 100 with the cushioning members 210 begins. Therefore, the time from detecting the size of the object 100 to the start of wrapping the cushioning members 210 can be shortened by the amount of unnecessary work. Consequently, the efficiency of wrapping the object 100 with the cushioning members 210 can be improved.

[0098] The description of the operation of the robot arm 2 continues. The robot arm 2 wraps the article 100 using the cushioning member 210. For example, the first robot arm 2A inserts the gripped article 100 into the cushioning member 210 provided at the packaging position 11.

[0099] The robot arm 2 folds a portion of the cushioning material 210 wrapped with the object 100 to close the opening 210d of the cushioning material 210. For example, the first robot arm 2A grasps the end of the cushioning material 210 on the side of the opening 210d and folds the grasped end of the cushioning material 210 to close the opening 210d of the cushioning material 210.

[0100] Next, refer to Figure 8 The holding portion 5 will be described. Figure 8 It is a schematic diagram showing a configuration example of the holding portion 5 .

[0101] like Figure 8As shown, the retaining portion 5 holds the cushioning member 210. The retaining portion 5 is, for example, a container with a bottom, formed in a cylindrical shape. The retaining portion 5 is open at the top with an opening 5a and has a hollow portion 5b formed inside. The size of the retaining portion 5 (specifically, the size of the opening 5a and the hollow portion 5b) varies depending on the size of the cushioning member 210 being held, but is not limited thereto.

[0102] The cushioning member 210 is inserted and held in the holding portion 5 of the above structure, thereby setting the cushioning member 210. For example, the bag-shaped cushioning member 10 is configured to be inserted from the opening 5a of the holding portion 5 and positioned in the hollow portion 5b. At this time, the cushioning member 210 is configured so that the opening 210d opens upward. Thus, for example, the first robot arm 2A (refer to Figure 7 ) The gripped article 100 is lowered from above the cushioning member 210, so that the article 100 can be easily inserted and accommodated through the opening 210d of the cushioning member 210.

[0103] Furthermore, although the buffer member 210 is configured such that the opening 210d opens upward in the above example, the present invention is not limited thereto and may be configured such that the opening 210d opens in other directions such as sideways (laterally) or obliquely upward.

[0104] In addition, the buffer 210 is arranged so that the upper end portion 210e is exposed from the opening portion 5a of the holding portion 5. In other words, the buffer 210 is arranged so that a portion near the opening portion 210d is exposed from the opening portion 5a of the holding portion 5. Thus, for example, the first robot arm 2A (see Figure 7 ) When closing the opening 210d of the cushioning member 210 containing the article 100, the end portion (upper end portion 210e) on the side of the exposed opening 210d can be easily grasped and the grasped end portion of the cushioning member 210 can be folded to close the opening 210d of the cushioning member 210. In addition, for example, the first robot arm 2A (see Figure 7 ) After closing the opening 210d, the exposed upper end 210e of the cushioning member 210 can be easily grasped and lifted, and the lifted cushioning member 210 (in other words, the cushioning member 210 wrapped with the article 100) can be carried to the packaging box 120 (refer to Figure 5 ) to accommodate.

[0105] In addition, the buffer member 210 is set in a state where the opening portion 210d is opened. Specifically, the buffer member 210 is held and set in the holding portion 5 in a state where the opening portion 210d is opened. Specifically, Figure 8As shown by the imaginary line in FIG, the holding portion 5 is provided with an opening portion 200 for opening the opening portion 210d of the held buffer member 210. As the opening portion 200, for example, an air nozzle for spraying air toward the opening portion 210d of the buffer member 210 can be used. By spraying air, the opening portion 210d of the buffer member 210 held by the holding portion 5 is opened and maintained in this open state. Thus, the first robot arm 2A (refer to FIG. Figure 7 ) The article 100 to be grasped can be easily inserted and accommodated through the opening 210d of the cushioning member 210 set to the open state.

[0106] Furthermore, while the above example shows an air nozzle as the opening portion 200, the present invention is not limited thereto. For example, the opening portion 200 may be configured such that the opening portion 210d of the buffer member 210 is hooked and locked onto the opening portion 5a of the retaining portion 5, or may be configured such that the opening portion 200 is opened by being detachably bonded to the opening portion 5a. Alternatively, other configurations may be employed as long as the open state is maintained.

[0107] Furthermore, the holding portion 5 is not limited to holding a single cushioning member 210, and may also be configured to hold two or more cushioning members 210. For example, in the case of a holding portion 5 that holds two or more cushioning members 210, after a cushioning member 210 wrapped with an article 100 is lifted for transport, the two or more cushioning members 210 may be stacked and held to prepare for the next packaging operation, thereby installing a new cushioning member 210.

[0108] in addition, Figure 8 The structure of the holding portion 5 shown is only an example and does not constitute a limitation. Figure 7 ) forms a hole portion, and holds the buffer member 210 in the hole portion, so that the hole portion functions as the holding portion 5, etc. The holding portion 5 can also be Figure 8 Configurations other than those shown.

[0109] The control unit 41 of the information processing device 4 (see Figure 3 ) For example, the first image processing is performed on the image data captured by the detection unit 3, and each robot arm 2 is controlled based on the processing result. The first image processing is used to enable each robot arm 2 to grasp and transport the object 100, or to enable each robot arm 2 to grasp and set the cushioning member 210.

[0110] Next, use Figure 9 The packaging process according to the second embodiment will be described. Figure 9 This is a flowchart illustrating the packaging process according to the second embodiment.

[0111] The control unit 41 performs a setting process (step S200). For example, before transporting the article 100 to be packaged to the packaging position 11, the control unit 41 pre-sets (arranges) a plurality of buffers 210 at the packaging position 11. Specifically, the control unit 41 controls the second robot arm 2B to remove the buffer 210 from a storage unit (not shown). The control unit 41 controls the second robot arm 2B to arrange the removed buffer 210 at a predetermined position, specifically, to hold it in the holding unit 5 corresponding to the removed buffer 210. Thus, before transporting the article 100, a plurality of buffers 210 of different sizes (large buffer 210a, medium buffer 210b, and small buffer 210c) are set at the packaging position 1 of the packaging device 1.

[0112] Furthermore, although the example in which the cushioning member 210 is provided before the article 100 is conveyed is described above, the present invention is not limited thereto. For example, the cushioning member 210 may be provided during the conveyance of the article 100 to the packaging position 11 .

[0113] Thus, in the installation process according to this embodiment, the second robot arm 2B (an example of a robot arm) pre-installs a plurality of cushioning members 210 of different sizes (shapes) at the packaging position 11. Thus, the second robot arm 2B can automatically and accurately install the plurality of cushioning members 210 at the packaging position 11.

[0114] In the installation process, the buffer member 210 is installed with the opening 210d opened (see Figure 8 Specifically, in the setting process, the buffer member 210 is held and set on the holding portion 5 with the opening portion 210d opened. Thus, in the packaging process described later, the first robot arm 2A (see Figure 7 ) The article 100 to be held can be easily inserted and accommodated through the opening 210d of the cushioning member 210 in the opened state.

[0115] After the setting process, the control unit 41 performs a measuring process (step S201 ). For example, the control unit 41 measures the size of the article 100 transported to the packaging position 11 by the cart robot.

[0116] After the measurement process, the control unit 41 performs a selection process (step S202). The control unit 41 transports the article 100 to the packaging position 11, where a plurality of cushioning members 210 are pre-installed. After the size of the article 100 is measured, the control unit 41 selects a cushioning member 210 from the plurality of cushioning members 210 that matches the shape of the article 100, specifically, the size of the article 100. Specifically, the control unit 41 selects a cushioning member 210 that can accommodate the article 100 and that allows the article 100 to be inserted through the opening 210d of the cushioning member 210.

[0117] For example, when the measured article 100 is of a size that can be wrapped by the small cushioning member 210 c , the control unit 41 selects the small cushioning member 210 c as the cushioning member 210 for wrapping the article 100 .

[0118] After the selection process, the control unit 41 performs a packaging process (step S203 ). The control unit 41 performs the packaging process by controlling the plurality of robot arms 2 to wrap the article 100 in the selected cushioning material 210 .

[0119] Specifically, the control unit 41 controls the first robot arm 2A to grasp and lift the article 100 placed at the packaging position 11. Figure 10 As shown, the lifted article 100 is carried to the position for placing the buffer member 210 selected in the selection process. Then, the control unit 41 controls the first robot arm 2A to insert the article 100 into the buffer member 210 through the opening 210 d of the buffer member 210 . Figure 10 1 and 2 are diagrams showing a state where the article 100 is inserted into the cushioning material 210 .

[0120] The control unit 41 controls the first robot arm 2A to fold the end portion of the cushioning member 210 on the side of the opening 210d, into which the article 100 is inserted, thereby wrapping the article 100 in the cushioning member 210. For example, the control unit 41 uses the first robot arm 2A to grasp the end portion (upper end portion 210e) on the side of the opening 210d of the cushioning member 210 and fold the end portion on the side of the opening 210d of the cushioning member 210. The control unit 41 closes the folded end portion of the cushioning member 210 on the side of the opening 210d.

[0121] Furthermore, when the cushioning material 210 wrapping the article 100 is conveyed to the packaging box 120 and no cushioning material 210 is held by the holding portion 5 , a new cushioning material 210 is placed on the holding portion 5 in the next placement step.

[0122] As described above, the packaging method according to the second embodiment includes a selection step and a packaging step. In the selection step, the article 100 is transported to the packaging position 11, which is pre-installed with a plurality of cushioning members 210 of different shapes. A cushioning member 210 corresponding to the shape of the article 100 is selected from the plurality of cushioning members 210. In the packaging step, the robot arm 2 wraps the article 100 in the selected cushioning member 210.

[0123] The packaging device 1 according to the second embodiment includes a plurality of robot arms 2 and an information processing device (an example of a control device) 4. The plurality of robot arms 2 wrap an article 100 using cushioning members 210. The information processing device 4 controls the robot arms 2. The article 100 is transported to a packaging position 11, which is pre-installed with a plurality of cushioning members 210 having different shapes. The information processing device 4 selects a cushioning member 210 corresponding to the shape of the article 100 from among the plurality of cushioning members 210. The information processing device 4 controls the robot arms 2 to wrap the article 100 in the selected cushioning member 210.

[0124] Thus, in the packaging method or packaging device 1 according to the second embodiment, the efficiency of wrapping articles 100 of varying shapes, including size, using cushioning material 210 can be improved. Specifically, in the second embodiment, the steps of removing and installing cushioning material 210 are eliminated from the time the size of the article 100 to be packaged is detected until the actual wrapping of the article 100 with cushioning material 210 begins. Therefore, the time from detecting the size of the article 100 to the start of wrapping the article 100 with cushioning material 210 can be shortened by the amount of unnecessary work. Consequently, the efficiency of wrapping the article 100 with cushioning material 210 can be improved.

[0125] The cushioning material 210 is formed in a bag shape. The packaging device 1 inserts the article 100 into the bag-shaped cushioning material 210. Thus, the packaging device 1 can further improve the efficiency of the operation of wrapping the article 100 with the cushioning material 210.

[0126] The packaging device 1 folds a portion of the cushioning material 210 wrapping the article 100 to close the opening 210 d of the bag-shaped cushioning material 210 .

[0127] Thus, the packaging device 1 can suppress the article 100 from falling from the cushioning material 210 .

[0128] In addition, although the above example shows the use of the second robot arm 2B (robot arm) to pre-set multiple buffers 210 at the packaging position 11, it is not limited to this, and the buffers 210 can also be set at the packaging position 11 using devices other than the robot arm.

[0129] (Third embodiment)

[0130] Next, refer to Figure 11 A packaging device 1 according to a third embodiment will be described. Figure 11 1 is a diagram schematically showing a packaging device 1 for an article 100 according to a third embodiment. In the following, the same reference numerals are given to the same components as those in the second embodiment, and description thereof will be omitted.

[0131] like Figure 11 As shown, in the third embodiment, the plurality of cushioning members 210 are formed so that the positions and sizes of the openings 210d are different from each other. In addition, the plurality of cushioning members 210 are formed so that the sizes themselves are the same or substantially the same.

[0132] The plurality of cushioning members 210 thus formed are pre-set at the packaging position 11. In addition, the cushioning member 210 is formed by the holding portion 5 (refer to Figure 8 ) to maintain the state of the setting, but in Figure 11 The holding portion 5 is omitted in the figure.

[0133] Specifically, the plurality of cushioning members 210 include cushioning members 210f, 210g, and 210h, each having an opening 210d positioned and sized differently. For example, when cushioning member 210f is set, its opening 210d is positioned laterally (laterally). When cushioning member 210g is set, its opening 210d is positioned vertically at the top. When cushioning member 210h is set, its opening 210d is positioned vertically at the top.

[0134] In addition, the buffer member 210g and the buffer member 210h having the opening 210d in the longitudinal upper portion are formed so that the sizes of the opening 210d are different from each other. Specifically, the opening 210d of the buffer member 210h is formed larger than the opening 210d of the buffer member 210g. Figure 11 2 shows an example of a single buffer member 210f having an opening 210d in the horizontal direction, but the present invention is not limited thereto. That is, although not shown, a plurality of buffer members 210 may have openings 210d in the horizontal direction, and the openings 210d may have different sizes.

[0135] Furthermore, while the positions and sizes of the openings 210d of the plurality of cushioning members 210 have been specifically described above, these are merely examples and are not intended to be limiting. The positions and sizes of the openings 210d can be arbitrarily set. Furthermore, while the plurality of cushioning members 210 have been configured to differ in both the positions and sizes of the openings 210d in the above description, this is not limiting. The plurality of cushioning members 210 may also differ in either the positions or sizes of the openings 210d. In other words, the plurality of cushioning members 210 may differ in at least one of the positions or sizes of the openings 210d.

[0136] The packaging device 1 according to the third embodiment is provided with the aforementioned plurality of cushioning members 210 (here, cushioning members 210f, 110g, and 110h). The packaging device 1 then selects a cushioning member 210 having an opening 210d corresponding to a shape including the size of the article 100 from among the plurality of cushioning members 210. For example, the control unit 41 of the packaging device 1 (see Figure 2 ) Select a cushioning member 210 that can insert the article 100 from the opening 210d of the cushioning member 210 and can accommodate the article 100.

[0137] For example, when the object 100 is in a shape (size) that facilitates insertion from the lateral direction of the cushioning member 210, the control unit 41 selects the cushioning member 210f having the opening 210d in the lateral direction as the cushioning member 210 to wrap the object 100. Furthermore, for another example, when the object 100 is in a shape (size) that facilitates insertion from the longitudinal direction of the cushioning member 210, the control unit 41 selects the cushioning member 210g (or cushioning member 210h) having the opening 210d in the longitudinal upper portion as the cushioning member 210 to wrap the object 100.

[0138] Next, the control unit 41 controls the plurality of robot arms 2 to wrap the articles 100 in the selected cushioning materials 210. Thus, in the packaging device 1 according to the third embodiment, as in the second embodiment, the efficiency of wrapping articles 100 of varying shapes, including sizes, using the cushioning materials 210 can be improved.

[0139] Specifically, in the packaging device 1 according to the third embodiment, a plurality of cushioning members 210 having openings 210d of different positions and sizes are pre-installed. Consequently, in the third embodiment, the steps of removing and installing cushioning members 210 are eliminated from the process of detecting the size of the object 100 to be packaged until the actual wrapping of the object 100 with the cushioning members 210 begins. Consequently, the time from detecting the size of the object 100 to the start of wrapping the cushioning members 210 can be shortened by the amount of unnecessary work. Consequently, the efficiency of wrapping the object 100 with the cushioning members 210 can be improved.

[0140] Furthermore, while the third embodiment described above illustrates an example in which multiple cushioning members 210 are formed to be of the same or substantially the same size, this is not limiting and, for example, may be formed to differ in size. In other words, the second and third embodiments can be combined as appropriate. Specifically, for example, multiple cushioning members 210 may be pre-placed at the packaging position 11, each having a different size and differing in at least one of the position and size of the opening 210d.

[0141] (Fourth embodiment)

[0142] Reference Figure 12 A packaging device 1 according to a fourth embodiment will be described. Figure 12 This is a diagram schematically showing a packaging device 1 according to a fourth embodiment. Here, differences from the first embodiment are described. Descriptions of the same configurations as those in the first embodiment are omitted.

[0143] The second robot arm 2B removes the cushioning member 110 from the storage unit 10. The second robot arm 2B removes the cushioning member 110 of a size appropriate for the object 100 based on the size of the object 100 and the size of the packaging box 120 in which the object 100 is packaged. When the object 100 can be wrapped and the packaging box 120 contains the object 100, the second robot arm 2B removes the cushioning member 110 from the storage unit 10 to prevent the object 100 and the cushioning member 110 from moving within the packaging box 120.

[0144] Specifically, the second robot arm 2B takes out the article 100 from the storage unit 10 and passes it through the opening 110a of the buffer 110 (see Figure 4) is inserted into and capable of accommodating the article 100, and the cushioning member 110 is larger than the storage space of the packaging box 120. The storage space is the space in which the article 100 wrapped by the cushioning member 110 is packaged. The second robot arm 2B removes the cushioning member 110 from the storage unit 10, wherein the size of the cushioning member 110 is larger than the storage space. For example, the second robot arm 2B removes the cushioning member 110 from the storage unit 10, wherein the length, width, and height of the cushioning member 110 when wrapped with the article 100 are larger than the corresponding length, width, and height in the storage space of the packaging box 120. The second robot arm 2B can remove the cushioning member 110 from the storage unit 10, wherein at least one of the length, width, and height of the cushioning member 110 when wrapped with the article 100 is larger than the corresponding length, width, and height in the storage space of the packaging box 120.

[0145] The cushioning material 110 wrapped with the object 100 is in a state where the opening 110a of the cushioning material 110 is closed. If the cushioning material 110 wrapped with the object 100 is partially folded, the cushioning material 110 wrapped with the object 100 is in a folded state. For example, if the cushioning material 110 is partially folded to close the opening 110a of the cushioning material 110, the cushioning material 110 wrapped with the object 100 is in a state where the opening 110a of the cushioning material 110 is partially folded. If the cushioning material 110 wrapped with the object 100 is partially folded, the second robot arm 2B removes the folded cushioning material 110 from the storage unit 10, where the size of the cushioning material 110 is larger than the storage space.

[0146] Furthermore, the folding position of the cushioning member 110 is predetermined relative to the cushioning member 110. For example, the folding position of the cushioning member 110 is set to a predetermined distance from the opening 110a of the cushioning member 110. The folding position of the cushioning member 110 can be set according to the size of each cushioning member 110. In other words, the predetermined distance can be set according to the size of each cushioning member 110. The folding position of the cushioning member 110 can also be determined based on the size of the article 100.

[0147] The control unit 41 selects a cushioning member 110 that corresponds to the size of the article 100 and the size of the packaging box 120 that packages the article 100. The size of the packaging box 120 that packages the article 100 is stored in, for example, the information storage unit 42. When the packaging box 120 that packages the article 100 is placed to package the article 100, the control unit 41 reads the size of the placed packaging box 120 from the information storage unit 42.

[0148] In addition, the size of the packaging box 120 can be measured by the detection unit 3 provided on the robot arm 2, similarly to the article 100. The detection unit for measuring the size of the packaging box 120 can also be provided independently of the robot arm 2.

[0149] The control unit 41 selects a cushioning material 110 to be removed from the storage unit 10 by the second robot arm 2B. The control unit 41 selects a cushioning material 110 that can wrap the article 100 and that is larger than the storage space of the packaging box 120. Specifically, the control unit 41 selects a cushioning material 110 whose size, when wrapped with the article 100, is larger than the storage space of the packaging box 120.

[0150] The control unit 41 selects a cushioning member 110 that can wrap the article 100 based on the size of the article 100 and the size of the cushioning member 110. Information regarding the size of the cushioning member 110 is stored in the information storage unit 42. For each cushioning member 110 that can wrap the article 100, the control unit 41 calculates the size of the cushioning member 110 when the article 100 is wrapped. For each cushioning member 110 of all sizes that can wrap the article 100, the control unit 41 calculates the size of the cushioning member 110 when the article 100 is wrapped.

[0151] The control unit 41 compares the size of the cushioning member 110 wrapped with the article 100 with the size of the storage space of the packaging box 120. The control unit 41 selects the cushioning member 110 that is larger than the size of the storage space of the packaging box 120 as the cushioning member 110 for wrapping the article 100.

[0152] For example, the size of the article 100 and the size of the packaging box 120 that packages the article 100 are as follows (1) to (3).

[0153] (1) The article 100 can be wrapped in the "medium" and "large" cushioning members 110.

[0154] (2) In the “medium” state, the size of the cushioning member 110 in a state where the article 100 is wrapped therein is smaller than the storage space of the packaging box 120 .

[0155] (3) The size of the “large” cushioning member 110 in a state where the article 100 is wrapped therein is larger than the storage space of the packaging box 120 .

[0156] In this case, if article 100 is wrapped in cushioning material 110 positioned in the "middle" position and then packaged in box 120, there is a possibility that article 100 and cushioning material 110 may shift within box 120 during transport, potentially causing damage to article 100. By inserting another component between box 120 and cushioning material 110, the gap between them can be reduced, thereby preventing article 100 and cushioning material 110 from shifting within box 120 during transport and preventing damage to article 100.

[0157] However, it is necessary to insert another component between the packaging box 120 and the cushioning member 110. In addition, it is necessary to prepare another component, which increases the cost.

[0158] Under the above conditions, the control unit 41 selects a "large" cushioning member 110 as the cushioning member 110 to wrap the article 100. Consequently, when the "large" cushioning member 110, containing the article 100, is placed in the packaging box 120, a portion of the cushioning member 110 deforms along the packaging box 120, thereby preventing a gap from forming between the cushioning member 110 and the packaging box 120. Consequently, the article 100 and the cushioning member 110 are prevented from shifting within the packaging box 120 during transport, thereby preventing damage to the article 100.

[0159] In a case where there are multiple buffer parts 110 whose size when wrapping the item 100 is larger than the size of the storage space of the packaging box 120, for example, the smallest buffer part 110 among the buffer parts 110 whose size when wrapping the item 100 is larger than the size of the storage space of the packaging box 120 is selected as the buffer part 110 for wrapping the item 100.

[0160] Next, use Figure 3 The packaging process according to the fourth embodiment will be described.

[0161] The control unit 41 performs a measurement process (S100). After the measurement process, the control unit 41 performs a selection process (S101). The control unit 41 selects a cushioning member 110 from among a plurality of cushioning members 110 of varying sizes that corresponds to the measured size of the article 100 and the size of the packaging box 120. The control unit 41 selects a cushioning member 110 that can wrap the article 100, allowing the article 100 to be inserted through its opening 110a. The control unit 41 selects a cushioning member 110 that, when wrapping the article 100, is larger than the storage space of the packaging box 120.

[0162] After the selection process, the control unit 41 performs a packaging process ( S102 ) and controls the robot arm 2 to house the article 100 wrapped in the cushioning material 110 in the packaging box 120 .

[0163] The size of the cushioning member 110 in the state of wrapping the article 100 is larger than the size of the storage space of the packaging box 120. Therefore, when the cushioning member 110 wrapping the article 100 is accommodated in the packaging box 120, for example, a portion 110b of the outer side of the cushioning member 110 is deformed along the inner wall 120a of the packaging box 120, as shown in FIG. Figure 13 As shown, the article 100 is packed in the packaging box 120 in a state where the cushioning member 110 is in contact with the inner wall 120 a of the packaging box 120 . Figure 13 The figure shows a state where the cushioning material 110 wrapped with the article 100 is packed in the packaging box 120. A portion 110b of the cushioning material 110 is deformed and abuts against the packaging box 120, thereby suppressing movement of the article 100 and the cushioning material 110 in the packaging box 120.

[0164] The packaging device 1 includes multiple robot arms 2 and an information processing device 4. The multiple robot arms 2 wrap objects 100 using cushioning materials 110. The information processing device 4 controls the robot arms 2. Based on the size of the objects 100 and the size of the packaging box 120 in which the objects 100 are packaged, the information processing device 4 selects a cushioning material 110 from among the multiple cushioning materials 110 of varying sizes that is larger than the storage space of the packaging box 120. The information processing device 4 then controls the robot arms 2 to wrap the objects 100 using the selected cushioning material 110.

[0165] Thus, when the article 100 is packed in the packaging box 120, the packaging device 1 can suppress the formation of a gap between the cushioning member 110 and the packaging box 120, and can suppress the article 100 and the cushioning member 110 from shifting within the packaging box 120 during transport. Therefore, the packaging device 1 can prevent the occurrence of a work step that requires the use of other components to fill the gap between the packaging box 120 and the cushioning member 110. Therefore, the packaging device 1 can reduce the number of work steps required when packing the article 100 in the packaging box 120. Furthermore, the packaging device 1 can suppress the movement of the article 100 and the cushioning member 110 within the packaging box 120 without using components to fill the gap between the packaging box 120 and the cushioning member 110, thereby reducing costs.

[0166] The packaging device 1 selects a cushioning member 110 whose size when wrapping the object 100 is larger than the storage space of the packaging box 120 as the cushioning member 110 for wrapping the object 100 .

[0167] Thus, when the packaging device 1 packages the article 100 in the packaging box 120 , it is possible to further suppress the occurrence of a gap between the cushioning material 110 and the packaging box 120 .

[0168] Furthermore, the packaging device 1 can package the article 100 in the packaging box 120 instead of the cushioning member 110. Furthermore, the packaging device 1 can package multiple articles 100 in one packaging box 120. The packaging device 1 can package multiple articles 100 using one cushioning member 110.

[0169] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the technical solution that the form after applying such changes or improvements can also be included in the technical scope of the present invention.

[0170] It should be noted that the order in which actions, processes, steps, and stages, etc., of the apparatuses, systems, programs, and methods described in the claims, specifications, and drawings may be executed in any order, unless specifically indicated by the phrases "before," "prior to," etc., and unless the output of a previous process is used in a subsequent process. Even if the action flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not necessarily mean that the actions must be executed in that order.

[0171] Description of Reference Numerals

[0172] 1 Packaging device

[0173] 2 Robotic Arms

[0174] 2A First Robotic Arm

[0175] 2B Second Robot Arm

[0176] 3. Testing Department

[0177] 4 Information processing device (control device)

[0178] 5. Maintaining part

[0179] 5a Opening

[0180] 5b Hollow part

[0181] 10 Storage Department

[0182] 12 workbench

[0183] 40 Information Acquisition Department

[0184] 41 Control Department

[0185] 42 Information Storage Department

[0186] 100 items

[0187] 110, 210 buffer parts

[0188] 110a opening

[0189] 120 cartons.

Claims

1. A packaging method comprising: a selection step of selecting a cushioning member corresponding to the size of the article from a plurality of cushioning members of different sizes; as well as The packaging process involves wrapping the article in the selected buffer member by an arm.

2. The packaging method according to claim 1, wherein: The buffer member is formed into a bag shape, In the packaging step, the article is inserted into the bag-shaped cushioning member.

3. The packaging method according to claim 2, wherein: In the packaging step, a portion of the cushioning material wrapping the article is folded to close the opening of the bag-shaped cushioning material.

4. A packaging device comprising: a plurality of robotic arms that wrap the items using the cushioning members; and a control device that controls the robot arm, The control device selects a cushioning member corresponding to the size of the article from a plurality of cushioning members of different sizes. The robot arm is controlled to wrap the item with the selected buffer.

5. A packaging method comprising: A selection step in which the article is transported to a packaging position where a plurality of cushioning members having different shapes are pre-installed, and a cushioning member corresponding to the shape of the article is selected from the plurality of cushioning members; as well as The packaging process uses a robot arm to wrap the article in the selected buffer.

6. The packaging method according to claim 5, wherein: The plurality of buffer members are formed to have different sizes. In the selecting step, the cushioning material corresponding to the shape including the size of the article is selected from among the plurality of cushioning materials.

7. The packaging method according to claim 5, wherein: The plurality of buffer members are formed so that at least any one of the positions of the openings and the sizes of the openings are different from each other. In the selecting step, the cushioning material having the opening portion corresponding to a shape including a size of the article is selected from among the plurality of cushioning materials.

8. The packaging method according to claim 5, wherein: The buffer member is formed into a bag shape, In the packaging step, the article is inserted into the bag-shaped cushioning member.

9. The packaging method according to claim 5, wherein: The packaging method includes a setting step of pre-setting the plurality of buffer members at the packaging position by using a robot arm.

10. The packaging method according to claim 9, wherein: The buffer member is formed into a bag shape having an opening. In the setting step, the buffer member is set with the opening portion open.

11. A packaging device comprising: a plurality of robotic arms that wrap the items using cushioning members; and a control device that controls the robot arm, The article is transported to a packaging position where a plurality of cushioning members having different shapes are pre-installed, and the control device selects a cushioning member corresponding to the shape of the article from among the plurality of cushioning members. The control device controls the robot arm to wrap the object in the selected buffer.

12. A packaging method comprising: a selection step of selecting a cushioning member corresponding to the size of the article and the size of a packaging box in which the article is packaged from a plurality of cushioning members of different sizes; as well as The packaging process involves wrapping the item in the selected cushioning member through the arm. In the selecting step, a cushioning material having a larger storage space than a storage space of the packaging box for packaging the article wrapped in the cushioning material is selected.

13. The packaging method according to claim 12, wherein: In the selecting step, a cushioning member is selected whose size when the cushioning member is wrapped with the article is larger than the accommodation space.

14. A packaging device comprising: a plurality of robotic arms that wrap the items using cushioning members; and a control device that controls the robot arm, The control device selects a cushioning member having a larger storage space than the storage space of the packaging box for packaging the article wrapped by the cushioning member from among a plurality of cushioning members of different sizes according to the size of the article and the size of the packaging box for packaging the article. The control device controls the robot arm to wrap the object with the selected buffer.

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