Box packing apparatus and box packing method

Abstract

To provide a box packing apparatus which can smoothly execute box packing in various conditions.SOLUTION: A box packing apparatus 110 for packing plural paper containers into a packing box comprises: a suction unit 111 that is configured to be able to suck the paper containers and movable in one direction; and a plate 115 configured to be movable relative to the suction unit. The plate is configured such that, when the suction unit holds the paper containers in a state tilted with respect to a vertical direction, it is movable to a position below the held paper containers.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a packing device, and more particularly to a packing device for packing a plurality of paper containers filled with liquid into a packaging box. The present invention also relates to a packing method using the packing device. [Background technology]

[0002] Various beverages, liquid nutrients, and the like are widely distributed in rectangular paper containers. In particular, liquid nutrients and the like may be taken over a long period of time, and so to prevent users from becoming bored with them, they are distributed in an assorted state, in which paper containers of multiple flavors, such as coffee flavor and strawberry flavor, are packed in one packaging box.

[0003] When preparing an assorted box, the paper containers are removed from the individual boxes in which each flavor is packed, and packed into an empty packaging box. At this time, the boxes are prepared with as little gaps as possible to reduce rattling during distribution.

[0004] Patent Document 1 discloses a packing device that packs multiple items into a cardboard box with few gaps. This packing device first arranges the items into an area including the four corners of the cardboard box, and then fills the remaining area with the items. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2014 / 125627 Summary of the Invention [Problem to be solved by the invention]

[0006] The inventors discovered that when there are a large number of paper containers to be packed into a packaging box or depending on the planar shape of the paper containers, packing may not proceed smoothly using the packaging device of Patent Document 1, and based on this discovery, they completed the present invention.

[0007] In consideration of the above circumstances, an object of the present invention is to provide a packing device and a packing method that are capable of smoothly packing items in boxes under various circumstances. [Means for solving the problem]

[0008] A first aspect of the present invention is a box packing device for packing a plurality of paper containers into a packaging box. This boxing machine includes a suction unit configured to be able to suction paper containers and move in one direction, and a plate configured to be able to move relatively to the suction unit. The plate is configured to be movable to below the held paper container when the suction unit holds the paper container in a state inclined with respect to the vertical direction.

[0009] A second aspect of the present invention is a packing method for packing a plurality of paper containers into a packaging box. In this packing method, the top surface of a paper container is held by suction, and the held paper container is transported at an angle to the vertical with a plate placed on the bottom, and after the plate is inserted into a packaging box, the held paper container is then inserted into the packaging box. Effect of the Invention

[0010] According to the present invention, it is possible to provide a packing device and a packing method that are capable of smoothly packing items in boxes in various situations. [Brief description of the drawings]

[0011] [Figure 1] 1 is an overall view of an assortment boxing line according to a first embodiment of the present invention. FIG. [Diagram 2] FIG. 2 is a schematic diagram showing the arrangement of paper containers in a packaging box after packaging is completed. [Diagram 3] FIG. 2 is a schematic diagram showing the arm tip of a robot arranged in the assortment boxing line. [Figure 4] FIG. 2 is a bottom view of the packing device attached to the tip of the arm. [Diagram 5] FIG. 2 is a schematic diagram showing the boxing device as viewed from the side. [Figure 6] FIG. 2 is a diagram showing an initial state in the packing method according to the first embodiment. [Figure 7] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. [Figure 8] FIG. 11 is a diagram showing another example of step C in the boxing method. [Figure 9] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. [Figure 10] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. [Figure 11] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. [Figure 12] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. [Figure 13] 11A and 11B are diagrams illustrating a packing device and a packing method according to a second embodiment. [Figure 14] FIG. 11 is a diagram showing a modified example of the packing method according to the second embodiment. [Figure 15] FIG. 15 is a front view of the pressing portion of FIG. 14. [Figure 16] 13 is a diagram showing an operation of the packing device in the packing method according to the third embodiment. FIG. [Figure 17] 11 is a diagram showing an operation of the boxing device in the boxing method. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall view of an assortment boxing line (hereinafter, sometimes simply referred to as a "line") 1 according to this embodiment. The line 1 includes a packaging box supply section 10, a boxing section 20, and an inspection section 30, and performs the boxing method according to this embodiment.

[0013] In the packing box supplying section 10, cardboard boxes are assembled to prepare packing boxes, and the packing boxes are supplied to the boxing section in a predetermined form. In this embodiment, four packing boxes with their upper portions open are supplied in a lined up state. The packaging box supply unit can be configured by combining a known cardboard assembly device, a conveyor, etc. The supply mode is not limited to the above, and can be set appropriately.

[0014] Five robots 21 are arranged in the box packing section 20. Each robot packs multiple types of paper containers into a packing box. An intermediate stage 22 and a paper container supply unit 23 are provided at positions facing each robot 21 across the packing box transport path. Paper containers to be packed into packing boxes are supplied by workers to the paper container supply unit 23. The paper containers taken out by the robot 21 from the paper container supply unit 23 are temporarily placed on the intermediate stage 22, and then aligned. The structure of the robot 21 and the operation of each part of the packing section 20 will be described in detail later.

[0015] The inspection unit 30 performs various inspections on the packaging boxes after the packaging has been completed, such as checking the dates of the packed paper containers, whether they are crushed, or for other defects. Products that pass all inspections are sealed and loaded onto pallets (not shown) in preparation for transportation.

[0016] 2 is a schematic diagram showing the arrangement of paper containers in a packaging box Ab after the packaging is completed. The paper container Bp according to this embodiment is a rectangular parallelepiped in a plan view, and has a straw hole h sealed on the top surface. In some cases, a bag containing a straw is fused to one of the larger of the four side surfaces.

[0017] The paper containers Bp are packed in the packaging box Ab in a state where a flavor row in which three containers of the same flavor are lined up in the long side direction in a plan view are stacked in eight rows in the short side direction in a plan view. Therefore, a total of 24 paper containers Bp (3 containers x 8 flavors) are stored in the packaging box. Since the vertical dimension of the paper containers Bp is the longest when stored, they are in a state where they are likely to fall over in the short side direction in a plan view inside the packaging box Ab until packing is completed.

[0018] As shown in FIG. 1, the robot 21 has a base 101 and an arm 102 attached to the base 101. 3 is a schematic diagram showing a state seen from the front of the tip of the arm 102. Four packing devices 110 and a camera 103 are attached to the tip of the arm.

[0019] The packing device 110 has a suction unit 111 equipped with a plurality of suction pads 111a, and a guide 112. As shown in Fig. 4, the suction unit 111 according to this embodiment has two rows of three suction pads 111a arranged in a front and rear direction, so that the suction unit 111 has six suction pads 111a. Each suction pad 111a slightly protrudes from a slit 113a provided in a flat holding surface 113. Two guides 112 are provided to sandwich the suction unit 111, and by moving closer to and away from each other, the distance between the two guides can be increased or decreased without interfering with the suction unit 111. The suction unit 111 is configured to be able to advance and retreat in one direction, and can move between a position where the suction pad 111a is between the two guides 112 and a position where the suction pad 111a is not between the guides 112. Examples of a mechanism for moving the suction unit 111 back and forth include a cylinder and a servo motor.

[0020] FIG. 5 is a schematic diagram showing the packing device 110 as seen from the side, with the guides 112 shown by dashed lines for ease of viewing. A plate 115 is disposed behind the suction unit 111 and the guide 112. The plate 115 is a plate-like member having a surface that extends generally between the guides 112 in a front view of the packing device 110 shown in FIG. The plate 115 is configured to be capable of moving forward and backward in the same direction as the suction unit 111, and can move forward and backward independently of the suction unit 111. Examples of a mechanism for moving the plate 115 forward and backward include a cylinder and a servo motor, and may be the same as or different from the suction unit. The material of the plate 115 is preferably metal, but is not limited to this and other materials such as synthetic resins can also be used.

[0021] The four packing devices 110 attached to the arm 102 are configured to be relatively movable. This allows the arrangement of the four packing devices 110 to be changed between a positional relationship in which they are lined up with almost no gaps when viewed from the front, and a positional relationship in which they are spaced apart at a predetermined equal interval when viewed from the front.

[0022] The packing process in the line 1 of this embodiment having the above configuration will be described in detail below. This packing process includes a packing method according to this embodiment.

[0023] In this embodiment, four of the five robots 21 are used, and each robot is responsible for packing two flavors. The robot 21A located at the most downstream is temporarily in standby mode and is used as a substitute in case of a malfunction of another robot.

[0024] As a preparation process, workers line up and place open-topped boxes of single flavors in the areas corresponding to each robot 21 in the paper container supply unit 23. Since each robot is responsible for packing two flavors, two rows of single flavor boxes are formed in each area. The single flavor boxes in each row are oriented so that the adsorbed paper containers Bp can be packed as is, and are arranged in a row of 12 boxes corresponding to four packaging boxes. The supplied single flavor boxes are successively brought closer to the robot 21 by a mechanism such as a conveyor, and the box Mb closest to the robot 21 is placed at an angle to the vertical direction so that the side of the bottom closest to the robot 21 is lower, as shown in Fig. 6 (Step A). ​​As a result, the upper side of the opened box Mb is directed toward the robot 21.

[0025] The four packing boxes Ab lined up in a row are transported to the front of the robot 21 via the packing box supply section 10 and are positioned at an angle to the vertical direction so that the side of the bottom surface closer to the robot 21 is higher, as shown in Figure 6 (step B). This completes the preparation process, and the robot 21 starts packing the boxes. The actions of each robot in the packing process are generally similar, but slightly different due to the difference in the number of paper containers Bp already packed in the packaging box Ab. In the following explanation, the actions of the robot 21B, which is the third robot from the upstream, are used. Therefore, in FIG. 6, a total of 12 paper containers Bp for four flavors have already been packed in the packaging box Ab.

[0026] The robot 21B approaches the inclined box Mb of one single flavor with the suction unit 111 moved to a position where the suction pad 111a is not between the guides 112. Then, as shown in FIG. 7, each packing device 110 uses the rear suction pad row to pick up three of the 12 lined up paper containers Bp for which it is responsible (step C). The paper container Bp that has been picked up is pressed against the flat holding surface 113, so that its posture is more stable than when it is held only by the suction pad 111a, and wobbling during transportation is suppressed. In step C, the suction pad 111a contacts the top surface of the paper container Bp at a position that avoids the straw hole h. This prevents the seal of the straw hole h from being destroyed by negative pressure, and suppresses a decrease in the suction force (holding force of the paper container) due to a step between the sealed part and the container. In the above example, the box Mb is inclined by lowering the side closer to the robot, but in steps A and C, the box Mb may be inclined by raising the side farther from the robot as shown in Fig. 8. An example of a means for raising the farther side is a mechanism using a cylinder. Since the operation of the four packing devices 110 attached to the arm 102 is generally similar, hereinafter, unless necessary, the operation of one packing device will be explained.

[0027] When the packing device 110 that has adsorbed the paper container Bp gradually moves away from the box Mb, the adsorbed paper container Bp is removed from the box Mb. At this time, the plate 115 gradually moves in parallel with the action of the packing device 110 gradually moving away, and is positioned below the adsorbed paper container Bp so as to follow the side of the paper container Bp (step D). Then, when the paper container Bp is completely removed from the box Mb, as shown in Fig. 9, the plate 115 is positioned in a position that generally covers the bottom side of the paper container Bp. This prevents the posture of the adsorbed paper container Bp from changing significantly due to the moment caused by gravity, and prevents the paper container Bp from coming off the suction pad 111a.

[0028] The packing device 110 approaches the intermediate stage 22 while changing the orientation of the paper container Bp to a substantially vertical direction (including a completely vertical direction, the same applies below), releases the suction, and places the paper container Bp on the intermediate stage 22 (Step E). As a result, a row of 12 paper containers of one of the two flavors handled by the robot 21B is temporarily placed on the intermediate stage 22. The robot 21B moves the packing device 110 closer to the box Mb of the other flavor, and the packing device 110 performs the above-mentioned steps C to E. As a result, both rows of paper containers of the two flavors handled by the robot 21B are temporarily placed on the intermediate stage 22. When placing the second row of paper containers on the intermediate stage 22, the plate 115 moves to a position similar to that in step C to prevent interference with the paper containers that have been temporarily placed previously. When placing the first row of paper containers on the intermediate stage 22, the plate 115 does not necessarily need to move, but is moved to a predetermined position by the time the second step C is performed.

[0029] The robot 21B approaches the packing box Ab and captures an image of the inside of the packing box Ab with the camera 103. The captured image is sent to a control unit such as a computer that controls the operation of the robot 21B. The control unit analyzes the received image to determine whether or not the paper containers already packed in the packing box Ab have fallen over, and determines whether or not to start packing the boxes by the robot 21B.

[0030] The robot 21B, which has received an instruction from the control unit to start packing, moves the packing device 110 from above toward the row of paper containers Bp temporarily placed on the intermediate stage 22. The packing device 110 uses all of the suction pads 111a to suction the six paper containers (three containers x two flavors) that it is responsible for (Step F). The row of the temporarily placed paper containers Bp may be aligned before step E. This alignment operation can be performed, for example, by bringing the walls provided on the intermediate stage 22 close to the temporarily placed row from all four sides in a plan view.

[0031] The relative positional relationship between the suction unit 111 and the guides 112 at the time when the paper container is adsorbed is generally the same as in step C, but in step F, after adsorbing the paper container Bp, the suction unit 111 moves between the guides 112, and generally the entire paper container Bp moves between the guides 112. This allows the posture of the suctioned paper container to be adjusted, making it easier to place it in the packaging box Ab. Furthermore, because the plate 115 is located below the paper container, the paper container Bp is prevented from coming off the suction pad 111a, as in step C.

[0032] The robot 21B moves each packing device 110 close to the packing box Ab. At this time, the intervals between the four packing devices may be adjusted according to the intervals between the arranged packing boxes Ab, if necessary.

[0033] The robot 21B adjusts the posture of the packing device 110 so that the adsorbed paper container Bp is approximately parallel to the paper containers already packed in the packing box Ab, and moves the packing device 110 closer to the empty space in the packing box Ab. Furthermore, the plate 115 is moved so that the plate 115 protrudes below the bottom surface of the paper container Bp as shown in FIG. 10, and enters the packaging box Ab before the adsorbed paper container Bp as shown in FIG. 11 (step G). That is, the plate 115 protrudes forward from the paper container Bp in the direction in which the paper container Bp enters the packaging box Ab.

[0034] When the plate 115 is sufficiently close to the paper containers already packed, the packing device 110 advances the suction unit 111 as shown in Figure 12, and causes the adsorbed paper containers Bp to enter the packaging box Ab (step H). When the paper container Bp has fully entered the packaging box Ab, the robot 21B releases the suction and moves the plate 115 back to move it out of the packaging box Ab. Alternatively, the plate 115 may be moved back when the paper container Bp has entered about halfway into the packaging box Ab, and then the suction may be released to allow the paper container Bp to slide into the packaging box Ab. In this way, the timing and order of the plate 115's retraction and release of suction can be determined appropriately.

[0035] This completes the work of packing paper containers into boxes by the robot 21B. The packaging box Ab is transported and packed by a downstream robot or sent to the inspection section 30. In the paper container supply section 23, if the tilted single flavor box Mb is empty, it is discarded and a new box is tilted. After that, a new packing process is carried out.

[0036] As described above, the packing device 110 according to this embodiment includes the plate 115, so that the paper containers Bp picked up by the suction unit 111 can be stably transported in an inclined state. This makes it possible to easily accommodate the paper containers picked up in the packaging box Ab that is placed at an angle. If a straw is attached to the paper container Bp, this also has the effect of preventing the straw from coming off due to interference with a paper container already placed on the intermediate stage or in a packaging box.

[0037] In addition, since the plate 115 can move independently relative to the suction unit, by inserting it into the packaging box Ab first, the paper containers can be inserted after securing space for packing, even in a packaging box with little clearance. The surface of the plate 115 also functions as a guide for smoothly inserting the paper containers into the packaging box.

[0038] Furthermore, the tip 115a of the plate is slightly curved toward the side opposite to the side where the suction unit 111 is located. This reduces the contact area when the plate 115 comes into contact with a paper container already contained in the packaging box, making it less likely to damage the paper container.

[0039] Furthermore, even if a bag containing a straw is fused to the paper container, the user can avoid this and come into contact with the paper container. Therefore, operations such as lightly pushing a stored paper container to increase the space for a paper container to be inserted can be easily performed without interfering with the straw, etc.

[0040] In the packing method according to this embodiment, a plate is placed under the adsorbed paper container in steps D and F. This allows the paper container adsorbed by the suction unit to be moved stably even if it is inclined relative to the vertical direction. In addition, the plate located below the paper container adsorbed in steps D and F may be in contact with the paper container, but contact is not essential and it may be along the paper container with a small gap.

[0041] Furthermore, in step G, the plate 115 enters the packaging box Ab before the adsorbed paper containers, so that the inside of the packaging box can be prepared in a state suitable for packing before the paper containers enter.

[0042] In step B, since the packaging box Ab is disposed at an angle, even if a paper container that is prone to tipping in one direction is used as described above, it is possible to prevent problems such as paper containers already contained therein tipping over inside the packaging box. Furthermore, even if such a problem does occur, the control unit can detect it based on the image of the inside of the packaging box acquired by the camera 103, so that appropriate measures such as temporarily suspending the work can be taken.

[0043] As described above, the packing device 110 and the packing method according to this embodiment provide various effects. Each effect and the configurations and processes that provide them can contribute individually to the construction of an unmanned production line for packing an assortment of paper containers into boxes, and the contribution can be even greater when multiple effects are combined.

[0044] Second Embodiment Next, a second embodiment of the present invention will be described with reference to Fig. 13. In the following description, configurations common to those already described will be given the same reference numerals and duplicated description will be omitted.

[0045] FIG. 13 shows a state in which a packing device 110X according to the second embodiment is positioned near the paper container supply unit 23. The packing device 110X of the second embodiment differs from the first embodiment in that it further includes a pressing section 117. The pressing section 117 presses a paper container Bp2 adjacent to a specific paper container Bp1 adsorbed by the suction unit 111 in the forward and backward direction (one direction) of the suction unit 111. In this embodiment, the pressing section 117 contacts the flat upper surface of the paper container Bp. Therefore, the contact surface 117a of the pressing section 117 that contacts the paper container Bp is formed flat.

[0046] In this embodiment, a plurality of paper containers Bp are adsorbed by the suction unit 111 of the packing device 110X and stored in a box Mb. The plurality of paper containers Bp are lined up in a predetermined direction (the direction in which the box Mb is inclined in FIG. 13) without gaps in the box Mb. The packing device 110X sequentially adsorbs the paper containers Bp lined up on one side of the predetermined direction (the lower left side in FIG. 13) with the suction unit 111 and removes them from the box Mb. For this reason, the pressing section 117 is disposed on one side of the predetermined direction with respect to the suction unit 111, and presses another paper container Bp2 adjacent to the one side of the predetermined direction with respect to the adsorbed predetermined paper container Bp1. The other paper container Bp2 is to be removed from the box Mb in the next round after the predetermined paper container Bp1 is removed from the box Mb.

[0047] The pressing unit 117 included in the packing device 110X is configured to be movable between a pressing position P1 and a retreat position P2. The pressing position P1 is the position of the pressing part 117 that presses another paper container Bp2 adjacent to a specific paper container Bp1 when the suction unit 111 adsorbs the specific paper container Bp1. The pressing part 117 arranged at the pressing position P1 is located adjacent to the tip end side of the plate 115. Therefore, when the pressing part 117 is arranged at the pressing position P1, the plate 115 interferes with the pressing part 117, and the plate 115 cannot be moved toward its tip end side. The retracted position P2 is a position of the pressing portion 117 that is away from the above-described pressing position P1. The pressing portion 117 arranged in the retracted position P2 is not located on the tip side of the plate 115, that is, it is located away from the movement path of the plate 115. Therefore, in a state where the pressing portion 117 is arranged in the retracted position P2, the plate 115 does not interfere with the pressing portion 117, and the plate 115 can be moved toward its tip side.

[0048] 13, the pressing portion 117 is rotatably movable between a pressing position P1 and a retracted position P2. An example of a mechanism for moving the pressing portion 117 in this manner is a servo motor.

[0049] Next, a packing method according to a second embodiment will be described. The packing method according to the second embodiment differs from the first embodiment in that some of the paper containers Bp in the box Mb are pressed in step D. Step D and step C performed before step D will be described below.

[0050] As shown in Fig. 13, in step C, as in the first embodiment, the suction unit 111 of the packing device 110X is suctioned to the top surface of a predetermined paper container Bp1 in the box Mb. Furthermore, in step C, the pressing section 117 is positioned above another paper container Bp2 adjacent to the predetermined paper container Bp1. Specifically, in step C, the suction unit 111 suctions the top surface of the predetermined paper container Bp1 located at the top in the tilted box Mb. Furthermore, the pressing section 117 is positioned at the pressing position P1 and is positioned on the top side of another paper container Bp2 adjacent to the lower side of the predetermined paper container Bp1.

[0051] Then, in step D, as in the first embodiment, the packing device 110X that has adsorbed the specific paper container Bp1 is moved away from the box Mb, and the specific paper container Bp1 that is adsorbed and held is moved upward (in the direction of the arrow D1 in FIG. 13) and removed from the box Mb. At this time, the pressing unit 117 presses down another paper container Bp2 adjacent to the specific paper container Bp1 in the box Mb from above. This makes it possible to prevent the other paper container Bp2 from being removed from the box Mb together with the specific paper container Bp1 when the specific paper container Bp1 is removed from the box Mb, even if the adjacent specific paper container Bp1 and the other paper container Bp2 are in close contact with each other.

[0052] In step D, it is preferable to move the pressing portion 117 from the pressing position P1 to the retreat position P2 after the specific paper container Bp1 has been removed from the box Mb (after the specific paper container Bp1 has been separated from the other paper container Bp2). This makes it possible to prevent the pressing portion 117 from interfering with the movement of the plate 115.

[0053] According to the packing device 110X and the packing method according to the second embodiment, the same effects as those of the first embodiment are achieved. Moreover, the boxing device 110X according to the second embodiment includes a pressing unit 117 that presses in one direction another paper container Bp2 adjacent to a predetermined paper container Bp1 that is adsorbed to the adsorption unit 111. Therefore, even if the predetermined paper container Bp1 is in close contact with the other paper container Bp2, the predetermined paper container Bp1 can be peeled off from the other paper container Bp2 when the predetermined paper container Bp1 adsorbed to the adsorption unit 111 is moved in one direction. This makes it possible to prevent the other paper container Bp2 from moving unexpectedly together with the predetermined paper container Bp1. Specifically, it is possible to prevent a malfunction in which the other paper container Bp2 jumps out of the box Mb.

[0054] In addition, in the boxing method according to the second embodiment, when the top surface of a specific paper container Bp1 is held by suction and the specific paper container Bp1 is moved upward, another paper container Bp2 adjacent to the specific paper container Bp1 is pressed from above. Therefore, even if the specific paper container Bp1 is in close contact with the other paper container Bp2, when the specific paper container Bp1 held by suction is moved upward, the specific paper container Bp1 can be peeled off from the other paper container Bp2. This makes it possible to prevent the other paper container Bp2 from moving unexpectedly together with the specific paper container Bp1. Specifically, it is possible to prevent a malfunction in which the other paper container Bp2 jumps out of the box Mb.

[0055] Furthermore, with the packing device 110X and packing method according to the second embodiment, even if a plurality of paper containers Bp are packed tightly in the box Mb, only a predetermined paper container Bp1 can be removed from the box Mb.

[0056] In the second embodiment, the pressing unit does not have to be provided in, for example, the boxing device 110X. For example, as shown in Figures 14 and 15, the pressing unit 231 may be provided in the paper container supply unit 23. In Figure 14, the pressing unit 231 is located above the box Mb in the portion of the paper container supply unit 23 where the box Mb is located closest to the robot 21.

[0057] The pressing unit 231 is movable above the box Mb in a direction in which the paper containers Bp in the box Mb that are picked up in order by the suction unit 111 are lined up (the direction indicated by the arrow D2 in FIG. 14). The pressing unit 231 may be supported by two supports 232 on both sides of the box Mb in the left-right direction, as shown in FIG. 15, for example. Here, the "left-right direction" refers to the direction in which the multiple paper containers Bp that are picked up simultaneously by the suction unit 111 are lined up (the direction perpendicular to the paper surface in FIG. 14). These two supports 232 may be arranged on rails that extend in the direction of the arrow D2 on the surface on which the box Mb is arranged, thereby making them movable in the direction of the arrow D2. This allows the pressing unit 231 to move in the direction of the arrow D2.

[0058] 14 and 15, steps C and D can be performed in the same manner as in the boxing method of the second embodiment. That is, in step C, the pressing part 231 can be positioned on the upper surface side of another paper container Bp2 adjacent to the lower side of a predetermined paper container Bp1. In this way, when the predetermined paper container Bp1 is removed from the box Mb in step D, the pressing part 231 presses down on the other paper container Bp2 adjacent to the predetermined paper container Bp1 in the box Mb from above, preventing the other paper container Bp2 from being removed from the box Mb.

[0059] Third Embodiment Next, a third embodiment of the present invention will be described with reference to Figures 16 and 17. In the following description, components common to those already described will be given the same reference numerals and duplicated description will be omitted.

[0060] The configuration of the line 1 (see FIG. 1) including the packing device 110 of the third embodiment is similar to that of the first embodiment. The third embodiment differs from the first embodiment in some operations in step D of the packing method. Step D and step C performed before step D of the packing method according to the third embodiment will be described below.

[0061] 16, in step C, as in the first embodiment, the suction unit 111 of the packing device 110 suctions and holds the upper surface of a predetermined paper container Bp1 in the box Mb. Specifically, the suction unit 111 suctions the upper surface of the predetermined paper container Bp1 located at the uppermost position in the tilted box Mb.

[0062] Next, in step D, the specified paper container Bp1 held by suction is first moved in a direction away from another paper container Bp2 adjacent to the specified paper container Bp1. That is, the specified paper container Bp1 is moved away from the other paper container Bp2 in the direction in which the specified paper container Bp1 and the other paper container Bp2 are aligned. In the third embodiment, the movement of the specified paper container Bp1 away from the other paper container Bp2 is performed by moving the boxing device 110 holding the specified paper container Bp1 by suction in the direction indicated by arrow D11 relative to the box Mb. Then, in step D, as in the first embodiment, as shown in Figure 17, the packing device 110 that has adsorbed the specified paper container Bp1 is moved away from the box Mb, and the adsorbed and held specified paper container Bp1 is moved upward (in the direction of arrow D12 in Figure 17) and removed from the box Mb. By performing step D as described above, even if a specific paper container Bp1 and another paper container Bp2 are in close contact with each other adjacent to each other, when the specific paper container Bp1 is removed from the box Mb, the other paper container Bp2 can be prevented from being removed from the box Mb together with the specific paper container Bp1.

[0063] According to the packing device 110 and the packing method according to the third embodiment, the same effects as those of the first embodiment are achieved. In addition, in the boxing method according to the third embodiment, before the suction-held specific paper container Bp1 is moved upward, the specific paper container Bp1 is moved in a direction away from another paper container Bp2 adjacent to the specific paper container Bp1, and the specific paper container Bp1 is peeled off from the other paper container Bp2. This makes it possible to prevent the other paper container Bp2 from moving unexpectedly together with the specific paper container Bp1, even if the specific paper container Bp1 and the other paper container Bp2 are stored in the box Mb in a state of close contact. Specifically, it makes it possible to prevent the occurrence of a malfunction in which the other paper container Bp2 jumps out of the box Mb.

[0064] In the packing method of the third embodiment, for example, the top surface of a specific paper container Bp1 may be held by suction while the specific paper container Bp1 is moved in a direction away from another paper container Bp2 adjacent to the specific paper container Bp1. That is, in step C of the packing method, the specific paper container Bp1 may be peeled off from the other paper container Bp2. In this case, in step C, for example, the packing device 110 may be brought close to the top surface of a specific paper container Bp1 with the holding surface 113 (see FIG. 4) of the suction unit 111 inclined relative to the top surface of the paper container Bp to be sucked by the suction pad 111a of the suction unit 111. As a result, when the packing device 110 is brought close to the specific paper container Bp1 and the suction pad 111a is sucked to the top surface of the paper container Bp and the holding surface 113 is about to come into surface contact with the top surface of the paper container Bp, the posture of the specific paper container Bp1 changes, and the specific paper container Bp1 can be peeled off from another paper container Bp2.

[0065] Although an embodiment of the present invention has been described above, the specific configuration is not limited to this embodiment, and configuration changes and combinations within the scope that does not depart from the gist of the present invention are also included.

[0066] For example, the packing device may be configured so that the negative pressure value generated in the suction unit can be monitored by the control unit, allowing early detection and action to be taken if the suction pad is deteriorated or the size is not appropriate.

[0067] The above-described embodiment is merely an example. Therefore, various parameters such as the number and arrangement of suction pads in the packing device, the number and arrangement of paper containers packed in a packing box in the packing method, the number of robots in the line and the presence or absence of a standby robot, the number of packing devices attached to one robot, the number of flavors handled by one robot, and the number of packing boxes packed at one time are not limited to the aspects shown in the embodiment and may be set appropriately. The present invention can be effective in various aspects of assortment packing. [Explanation of symbols]

[0068] 110,110X Packing device 111 Suction unit 115 Plate 117,231 Clamp Ab Packing Box Bp Paper Container Bp1 Prescribed paper containers Bp2 Other paper containers h Straw hole

Claims

1. A box packing device for packing a plurality of paper containers into a packaging box, comprising: A suction unit configured to be able to suction the paper container and movable in one direction; a plate configured to be movable relative to the suction unit; Equipped with The plate is configured to be movable to a lower side of the paper container held by the suction unit when the paper container is held in a state inclined with respect to the vertical direction. Packing device.

2. The plate is configured to be movable in the one direction.

2. The packing machine of claim 1.

3. The tip of the plate is curved in a direction away from the suction unit.

2. The packing machine of claim 1.

4. The plate is configured to be able to protrude forward of the paper container in a direction in which the paper container held by the suction unit enters the packaging box.

2. The packing machine of claim 1.

5. The paper container further includes a pressing unit that presses another paper container adjacent to the paper container adsorbed by the adsorption unit in the one direction.

2. The packing machine of claim 1.

6. A method for packing a plurality of paper containers into a packaging box, comprising the steps of: The upper surface of the paper container is held by suction, The paper container is conveyed in a state inclined with respect to the vertical direction and with a plate disposed below the paper container; After the plate is inserted into the packaging box, the paper container is inserted into the packaging box. Packaging method.

7. Before the plate is inserted, an image of the inside of the packaging box is captured. The method of claim 6.

8. The bottom surface of the packaging box is held in a state inclined relative to the vertical direction, and the plate and the paper container enter the packaging box. The method of claim 6.

9. The paper container has a sealed straw hole on the top surface, The upper surface is adsorbed at a portion other than the straw hole. The method of claim 6.

10. When the upper surface of the predetermined paper container is held by suction and the predetermined paper container is moved upward, another paper container adjacent to the predetermined paper container is pressed from above. The method of claim 6.

11. Holding the top surface of a predetermined paper container by suction, A specific paper container is moved in a direction away from another paper container adjacent to the specific paper container; Then, a predetermined paper container is moved upward. The method of claim 6.

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