Carton former

Abstract

To provide a carton former capable of performing a box-making step with a high accuracy while sucking and holding a paper-made storage box sheet before assembling at the same position in each time.SOLUTION: A carton former 10 comprises: a multi-joint robot arm 15; a suction head 20; a temporarily placing part 40 which is for temporarily placing a paper-made storage box sheet 7 and has a temporarily placing panel 41 and a V-shaped sheet support member 42 which is, on left and right two sides perpendicular to each other at a corner of downward protrusion on a panel surface of the temporarily placing panel 41, installed so as to protrude to a front side from the panel surface and, by contacting to the paper-made storage box sheet 7 temporarily placed on the panel surface and to be dropped by its own weight from both left and right sides, supports the paper-made storage box sheet 7 at a temporarily placing position. The multi-joint robot arm 15 and the suction head 20 are controlled so as to temporarily place the paper-made storage box sheet 7 at the temporarily placing part 40 before assembling the paper-made storage box sheet 7.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a box making machine for assembling paper storage boxes. [Background technology]

[0002] Conventionally, many box-making machines have been provided that assemble folded sheet-like cardboard box sheets to form a box-shaped cardboard box, and are disclosed, for example, in the following Patent Documents 1 and 2. The following Patent Documents 1 and 2 disclose box-making machines that use an articulated robot arm to suck and hold pre-assembled cardboard box sheets, and assemble a cardboard box while moving the sucked cardboard box sheets. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-1304 [Patent Document 2] Patent Publication No. 2021-10971 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in order to assemble a cardboard box neatly, it is necessary to accurately bring the cardboard box sheet into contact with folding components and the like at specific locations during the downstream box-making process, and when the cardboard box sheet is sucked and held by an articulated robot arm, it is desirable to accurately suck up the same locations on the cardboard box sheet every time.

[0005] However, the pre-assembled cardboard box sheets that are supplied in large numbers stacked on a pallet are rarely stacked in an accurate alignment, and typically each cardboard box sheet is stacked with some horizontal misalignment.

[0006] Therefore, even if the suction head at the tip of the articulated robot arm is positioned exactly in the same place each time to pick up the cardboard box sheet, the position where the cardboard box sheet is picked up will not be the same each time, but will shift slightly, which inevitably reduces the assembly accuracy in the box-making process downstream.

[0007] The present invention has been made in consideration of such problems, and aims to provide a box making machine that can perform the box making process with high precision while suctioning and holding unassembled paper storage box sheets in the same position every time. [Means for solving the problem]

[0008] In order to solve the above problems, the box making machine of the present invention is a box making machine that assembles paper storage boxes from pre-assembled paper storage box sheets, and includes a multi-joint robot arm, a suction head that is installed at the tip of the multi-joint robot arm and that suctions and holds the paper storage box sheet, a temporary placement unit for temporarily placing the paper storage box sheet, the temporary placement unit being installed at a predetermined angle from a vertical state, and a sheet that is installed so as to protrude from the panel surface to the front side on two orthogonal sides, left and right, that intersect at a convex corner facing downward on the panel surface of the temporary placement panel, and the sheet that is temporarily placed on the panel surface and a temporary placement section having a V-shaped sheet support member that supports the paper storage box sheet at a temporary placement position by contacting the paper storage box sheet from both the left and right sides when the paper storage box sheet attempts to fall due to its own weight, and the articulated robot arm and the suction head are controlled to release the paper storage box sheet that they have adsorbed and held on the panel surface with the corners facing downward before assembling the paper storage box sheet, and to adsorb and hold the main suction portion of the paper storage box sheet and move it downstream after the paper storage box sheet has fallen to the temporary placement position due to its own weight. [Effects of the Invention]

[0009] According to the box making machine of the present invention, the suction head installed at the tip of the articulated robot arm can perform the box making process by suctioning and holding the same suction point on the paper storage box sheet before assembly each time, thereby improving the assembly accuracy of the paper storage box. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the configuration of a box former according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the configuration of a suction head according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing the configuration of the temporary placement unit according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram for explaining the function of the temporary placement unit according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram for explaining the function of the temporary placement unit according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram for explaining a process of sucking and holding a cardboard box sheet in a cardboard box sheet supply unit according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram for explaining a process of raising the side of a cardboard box sheet in the temporary placement unit according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram for explaining a process of raising the side of a cardboard box sheet in the temporary placement unit according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing the flow of the temporary placement process according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The box making machine according to this embodiment will be described below with reference to the drawings. The box making machine 10 is characterized in that it performs the box making process by accurately suctioning and holding the desired suction portion of the sheet-like, rectangular cardboard box sheet 7 before assembly using a suction head 20 attached to the tip of an articulated robot arm 15.

[0012] The box making machine 10 is equipped with an articulated robot arm 15, a suction head 20, a temporary placement section 40 where sheet-like cardboard box sheets 7 can be temporarily placed before assembly, a flap folding plate 50, and a sealing section 55 (see Figure 1).

[0013] The articulated robot arm 15 is a six-axis vertical articulated robot, with a suction head 20 fixed to its tip. The articulated robot arm 15 picks up the cardboard box sheets 7 stacked on the pallet 6 in the cardboard box sheet supply unit 5 one by one with the suction head 20, and carries them to the box-making process.

[0014] The suction head 20 includes a housing 21, a fixed suction pad 25, a buffer-equipped suction pad 30, and a bending member 35 (see FIG. 2). FIG. 2(a) is a plan view of the suction head 20, FIG. 2(b) is a front view of the suction head 20, and FIG. 2(c) is a bottom view of the suction head 20.

[0015] The fixed suction pad 25 and the buffer-equipped suction pad 30 are connected to a suction line that leads to a vacuum pump (not shown), and the cardboard box sheet 7 can be adsorbed by air suction while in contact with the surface of the cardboard box sheet 7.

[0016] Five fixed suction pads 25 are installed, including four first fixed suction pads 25a for adsorbing the large first side surface of the cardboard box sheet 7 (cardboard box 8) and one second fixed suction pad 25b for adsorbing the small second side surface of the cardboard box sheet 7 (cardboard box 8). The first fixed suction pad 25a is fixed to the housing 21, and the second fixed suction pad 25b is fixed to a bending member 35 that is installed to be rotatable at a right angle to the housing 21.

[0017] The bending member 35 is installed at the end of the housing 21 and is configured to be freely bent at right angles between a parallel state in which the suction surface of the second fixed suction pad 25b is parallel to the suction surface of the first fixed suction pad 25a and a vertical state in which the suction surface of the first fixed suction pad 25a is perpendicular to the suction surface of the first fixed suction pad 25a (see Figure 8, etc., described later).

[0018] The suction surfaces of the four first fixed suction pads 25a are configured to be positioned on the same plane, and when the first fixed suction pads 25a adsorb an object to be adsorbed, such as a cardboard box sheet 7 (cardboard box 8), the pad bodies 26 of the four first fixed suction pads 25a simultaneously come into contact with the suction surfaces to perform adsorption.

[0019] When the bending member 35 is in a parallel state, the suction surface of the second fixed suction pad 25b is positioned on the same plane as the suction surface of the first fixed suction pad 25a, but when the bending member 35 is in a vertical state, the suction surface is positioned on a plane perpendicular to the suction surface of the first fixed suction pad 25a, and the second fixed suction pad 25b can suction the second side of the cardboard box sheet 7, which is raised so as to be perpendicular to the first side of the cardboard box sheet 7 suctioned by the first fixed suction pad 25a.

[0020] The buffer-equipped suction pad 30 comprises a pad body 31 that comes into contact with the object to be suctioned, and a slide shaft 32 that is slidably installed in the direction perpendicular to the suction surface relative to the housing 21 and is slidable integrally with the pad body 31. The slide shaft 32 is supported by a rubber bushing (not shown).

[0021] Therefore, the pad body 31 of the buffer-equipped suction pad 30 is freely slidable along the axis of the slide shaft 32, and moves toward the tip or base due to its own weight, or is pushed back toward the base when it comes into contact with an object to be adsorbed, such as a cardboard box sheet 7 (cardboard box 8).

[0022] When the suction head 20 suctions the cardboard box sheet 7 in the cardboard box sheet supply section 5, the suction head 20 is positioned with its suction surface horizontal and facing downward, so that the pad body 31 of the buffer-equipped suction pad 30 moves to the tip (lower end) under its own weight.

[0023] In this embodiment, when the pad body 31 of the buffered suction pad 30 is positioned at the tip, the pad body 31 protrudes further toward the tip than the fixed position of the pad body 26 of the fixed suction pad 25 (see Figure 2(b)).

[0024] Therefore, when the suction head 20 approaches the object to be adsorbed, such as a cardboard box sheet 7, from above downward, the three buffer-equipped suction pads 30 come into contact with the object to be adsorbed first (see Figure 6). However, if the suction head 20 is further moved downward, the pad body 31 retracts and the suction head 20 descends, causing the five fixed suction pads 25 (the second fixed suction pad 25b is in a parallel state) to also come into contact with the object to be adsorbed, and the suction head 20 cannot descend any further.

[0025] Therefore, when the cardboard box sheet 7 (cardboard box 8) is adsorbed and held by the fixed suction pad 25, its position relative to the suction head 20 remains fixed, but when it is adsorbed and held only by the buffer-equipped suction pad 30, it can slide along the axis of the slide shaft 32 relative to the suction head 20, and its relative position can be changed.

[0026] The four first fixed suction pads 25a, one second fixed suction pad 25b, and the buffered suction pad 30 are each grouped and connected to a suction line (not shown), and are configured so that suction can be turned on / off for each group using an electromagnetic valve installed on the suction line.

[0027] In this embodiment, the fixed suction pad 25 and the buffer-attached suction pad 30 are configured to be capable of selectively performing suction, and the fixed suction pad 25 and the buffer-attached suction pad 30 do not perform suction operations at the same time.

[0028] The temporary placement section 40 includes a temporary placement panel 41, a V-shaped sheet support member 42, and a temporary placement position opening auxiliary suction pad 45 (see FIG. 3). The temporary placement panel 41 is a square plate with a larger area than the cardboard box sheet 7 before assembly, and is installed at a predetermined angle inclined from the vertical position. In this embodiment, the inclination angle of the temporary placement panel 41 is 10°, but this can of course be changed as appropriate, and a value of approximately 7 to 20° is desirable so that the cardboard box sheet 7 can slide stably down the panel surface.

[0029] Here, the square-shaped temporary placement panel 41 is installed so that the corner is located at the lowest position and the two adjacent lower sides that intersect perpendicularly at this corner are inclined at 45° to the horizontal when viewed from the front.

[0030] The V-shaped sheet support member 42 is provided with a long, thin, strip-like support plate 43 that is installed on the two lower sides of the temporary placement panel 41, perpendicular to the panel surface and protruding perpendicularly from the panel surface.

[0031] However, as shown in FIG. 3, the support plate 43 is not installed on the entire two left and right sides that make up the V shape, but is not installed on some of the two left and right sides, such as near the orthogonal angle of the V shape.

[0032] Furthermore, the V-shaped sheet support member 42 is equipped with a cylinder 44 for sliding the left support plate 43a, as viewed from the front, parallel to the panel surface of the temporary placement panel 41. The cylinder 44 holds the support plate 43a so that it can slide freely in a direction perpendicular to the plate surface. In detail, the support plate 43a is configured to slide freely between a contact position where it comes into contact with the cardboard box sheet 7 in the temporary placement position, and a retracted position where it is separated from the cardboard box sheet 7 in the temporary placement position by approximately 1 cm, which is the thickness of the cardboard (see FIG. 3(b)).

[0033] When the second side of the sheet-like cardboard box sheet 7 is raised perpendicular to the first side in the temporary placement position, the part of the cardboard box sheet 7 in contact with the support plate 43a in the temporary placement position bulges outward by the thickness of the cardboard, so when raising the second side, the support plate 43a can be slid outward by about 1 cm in conjunction with the raising action, allowing the cardboard box sheet 7 to be supported in the same position.

[0034] The temporary placement position opening auxiliary suction pad 45 is a suction member that assists in the operation of opening the cardboard box sheet 7 at the temporary placement position by adsorbing the temporarily placed cardboard box sheet 7 to prevent it from separating from the temporary placement panel 41, and is connected to the above-mentioned suction line (not shown). Two circular holes are made in the part of the temporary placement panel 41 that is lower from the center, and a temporary placement position opening auxiliary suction pad 45 is installed at each of these suction openings 41a (see Figure 3(b)).

[0035] 4, the temporary placement position opening auxiliary suction pad 45 is connected to a cylinder (not shown) so as to be slidable in a direction perpendicular to the panel surface of the temporary placement panel 41. The temporary placement position opening auxiliary suction pad 45 is slidable between a suction position where it comes into contact with the cardboard box sheet 7 of the temporary placement position, and a retracted position where it is separated from the cardboard box sheet 7 of the temporary placement position.

[0036] The temporary placement position opening auxiliary suction pad 45 can suction the back surface of the cardboard box sheet 7 at the temporary placement position and fix it at the temporary placement position, and when the first side of the cardboard box sheet 7 is pulled with the suction head 20 at the temporary placement position to open the cardboard box sheet 7, the entire cardboard box sheet 7 can be prevented from moving, allowing the work to be carried out stably.

[0037] When the cardboard box sheet 7 is placed on the panel surface of the temporary placement panel 41 in the temporary placement section 40, the cardboard box sheet 7 falls downward along the panel surface due to its own weight. By falling in this manner, the cardboard box sheet 7 is held in the temporary placement section 40 at a temporary placement position where a predetermined corner becomes the lowest end and the two sides sandwiching this corner are in contact with the left and right sides of the V-shaped sheet support member 42 in parallel.

[0038] With the temporary placing unit 40 having this structure, if the unassembled cardboard box sheet 7 that has been sucked up by the suction head 20 is released at a position slightly above the temporary placing position on the temporary placing panel 41 with the corner at the lowest end, the cardboard box sheet 7 will fall by its own weight, and the cardboard box sheet 7 can be accurately positioned at the temporary placing position. In Figure 5, the cardboard box sheet 7 drawn with a solid line shows an example of the released position, and the cardboard box sheet 7 drawn with a two-dot chain line shows the temporary placing position.

[0039] At this time, the position and posture of the cardboard box sheet 7 held by suction by the suction head 20 when it is released do not need to be precise, and a more or less appropriate position and posture will suffice. After being released, the cardboard box sheet 7 falls by its own weight while coming into contact with the V-shaped sheet support member 42, and is therefore accurately positioned at the temporary placement position.

[0040] The cardboard box sheet 7 is accurately positioned in the temporary placement position, and the articulated robot arm 15 accurately positions the suction head 20 at the desired suction position to actually suction the cardboard box sheet 7, thereby making it possible to accurately suction the desired actual suction location of the cardboard box sheet 7 every time, and to smoothly carry out the box-making process described below.

[0041] The flap folding plate 50 is a component used to fold the flaps of the cardboard box 8 inward. By moving the cardboard box sheet 7, which is held by suction by the suction head 20, with the articulated robot arm 15, the bottom flaps are brought into contact with the flap folding plate 50, and the cardboard box 8 can be assembled by folding the flaps inward.

[0042] The sealing portion 55 is a member for forming the cardboard box 8 by folding the bottom flap inward using the flap folding plate 50 and attaching tape to the bottom of the cardboard box 8.

[0043] The configuration of the box former 10 has been described above, and next, a description will be given of the flow of the temporary placement process in the temporary placement section 40 when assembling a box in the box former 10. Figure 9 is a flowchart showing the flow of the temporary placement process according to this embodiment.

[0044] First, in S1, the articulated robot arm 15 moves the suction head 20 to the cardboard box sheet supply section 5 where cardboard box sheets 7 before assembly are stacked, and the suction head 20 picks up the top cardboard box sheet 7.

[0045] In the suction operation at S1, as shown in Figure 6, the suction head 20 is lowered from directly above the horizontal cardboard box sheet 7 with the suction surface facing downward, and the pad body 31 of the buffer-equipped suction pad 30, which is located further towards the tip than the fixed suction pad 25, is brought into contact with the surface of the cardboard box sheet 7.

[0046] At this time, the surface of the cardboard box sheet 7 may not be completely flat, but even if some of the pad bodies 31 come into contact with the cardboard box sheet 7 first, the pad bodies 31 that came into contact first will retreat along the slide shaft 32, so that only the pad bodies 31 that have not yet come into contact can be further lowered while the pad bodies 31 that have already come into contact remain in contact.

[0047] The articulated robot arm 15 lowers the suction head 20 until all of the buffer-equipped suction pads 30 come into contact with the cardboard box sheet 7, but within a range where the fixed suction pads 25 do not come into contact with the cardboard box sheet 7. Thereafter, the suction action of the buffer-equipped suction pads 30 is initiated, thereby suctioning and holding the cardboard box sheet 7 to the suction head 20. At this time, the fixed suction pads 25 do not perform their suction action.

[0048] When an object having an uneven surface is adsorbed using multiple suction pads of the same height in the adsorption direction, it is difficult to ensure that all of the suction pads make good contact with the object, and it is not possible for all of the suction pads to adsorb well. However, by employing buffer-equipped suction pads 30 as in this embodiment, it is possible to achieve good adsorption by all of the buffer-equipped suction pads 30 even for objects that are not flat.

[0049] Normally, the cardboard box sheets 7 stacked in the cardboard box sheet supply unit 5 are rarely stacked exactly vertically and straight, but are stacked with a horizontal deviation of several centimeters. Therefore, even if the suction head 20 is accurately positioned with respect to the pallet 6 of the cardboard box sheet supply unit 5 during suction, the location where the cardboard box sheet 7 is picked up will be slightly off each time.

[0050] Next, the process proceeds to S2, where the articulated robot arm 15 is operated to move the cardboard box sheet 7 suction-held by the suction head 20 to the temporary placement section 40. Specifically, the cardboard box sheet 7 suctioned by the buffer-attached suction pad 30 is moved to a position slightly above the temporary placement position on the temporary placement panel 41, and the suction operation of the buffer-attached suction pad 30 is stopped at that position to release the cardboard box sheet 7. The position of the cardboard box sheet 7 depicted by the solid line in Figure 5 is the release position in this embodiment.

[0051] In this released position, the rectangular cardboard box sheet 7 is in a position where a specified corner is at the lowest end, and the two left and right sides of this corner are approximately 10 cm away from the left and right support plates 43 of the V-shaped sheet support member 42.

[0052] The cardboard box sheet 7 released in S2 falls downward on the panel surface of the temporary placement panel 41 under its own weight in S3, and stops when the two sides sandwiching the corner of its lower end collide with the left and right sides of the V-shaped sheet support member 42. This stopping position is the position of the cardboard box sheet 7 depicted by the two-dot chain line in Figure 3, and is the temporary placement position in this embodiment.

[0053] Next, as shown in Fig. 7, in S4, the cardboard box sheet 7 at the temporary placement position is held by suction using the suction head 20 in order to move the cardboard box sheet 7 to the downstream box-making process. Unlike S1, the main suction at this temporary placement position is performed using a fixed suction pad 25. Figs. 7 and 8 are side views of the temporary placement panel 41, with the panel surface horizontal.

[0054] This is because when a single cardboard box sheet 7 is placed on the temporary placement panel 41, the surface is almost flat, and by pressing the fixed suction pad 25 against the cardboard box sheet 7, multiple pad bodies 26 can be brought into contact with it simultaneously (see Figure 7(b)).

[0055] Here, as described above, the cardboard box sheet 7 is accurately positioned at the temporary placement position on the temporary placement panel 41, so if the suction head 20 is accurately positioned relative to the temporary placement panel 41 each time, the same desired suction location on the cardboard box sheet 7 at the temporary placement position can be accurately suctioned each time.

[0056] In addition, in S4, the suction head 20 adsorbs the first side surface using only the first fixed suction pad 25a, and also adsorbs the back surface of the cardboard box sheet 7 at the temporary placement position using the temporary placement position opening auxiliary suction pad 45, thereby fixing the cardboard box sheet 7 so that it does not move from the temporary placement position (see Figure 4).

[0057] Next, in S5, an assembly operation is performed at the temporary placement position to raise the second side of the cardboard box sheet 7. Specifically, the back side of the cardboard box sheet 7 is sucked by the temporary placement position opening auxiliary suction pad 45, and the first side of the front side of the cardboard box sheet 7 is sucked by the first fixed suction pad 25a, and the suction head 20 is moved in a direction away from the temporary placement panel 41, thereby raising the second side of the cardboard box sheet 7 (see FIGS. 4(d), 7(c), and 8(a)).

[0058] 8(b), when the second side surface of the cardboard box sheet 7 is raised vertically, in S6, the second side surface is further sucked by the second fixed suction pad 25b of the suction head 20. Specifically, by bending the bending member 35 vertically, the second fixed suction pad 25b comes into contact with the second side surface raised vertically, and by starting the suction operation, the second side surface can be sucked by the second fixed suction pad 25b.

[0059] In this way, in S6, the sheet-like cardboard box sheet 7 can be firmly supported by suction by the fixed suction pads 25 while maintaining the state in which it has been erected and assembled into a box shape.

[0060] Next, in S7, the articulated robot arm 15 is operated to move the cardboard box sheet 7 held by the suction head 20 sequentially to the downstream flap folding plate 50 and sealing section 55, thereby carrying out box making.

[0061] This embodiment has been described in detail above, but according to this embodiment, even if the cardboard box sheets 7 are stacked horizontally offset from each other in the cardboard box sheet supply section 5, the cardboard box sheets 7 held by suction before assembly can be temporarily placed in the temporary placement section 40 and then held by suction again using the suction head 20, so that the cardboard box sheets 7 can be held accurately at the same main suction location every time, and the subsequent box making can be carried out with high precision using the flap folding plate 50 and sealing section 55.

[0062] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the present invention. For example, the shape, size, material, etc. of the components constituting the box making machine 10 can be changed as appropriate.

[0063] In addition, in the above embodiment, the boxes to be made were cardboard boxes, but the box making machine according to this embodiment can be applied to all paper storage boxes assembled from paper storage box sheets made of paper materials other than cardboard, such as thick paper.

[0064] Furthermore, the V-shaped sheet support member does not have to be a band-shaped plate, but may be a plurality of aligned cylindrical protruding members that are installed so as to protrude from the panel surface to the front side on two orthogonal left and right sides that intersect at a downwardly convex corner on the panel surface of the temporary placement panel, and that can support the cardboard box sheet at the temporary placement position to prevent it from falling by contacting from both sides the two intersecting left and right sides that intersect at the corner of the cardboard box sheet that is temporarily placed on the panel surface with a specified corner facing down and is about to fall due to its own weight. [Explanation of symbols]

[0065] 10 Box making machine 15 Articulated Robot Arm 20 suction head 21. Cabinet 25 Fixed suction pad 25a First fixed suction pad 25b Second fixed suction pad 26 Pad body 30 Buffered Suction Pads 31 Pad body 32 Slide shaft 35 Bending member 40 Temporary storage area 41 Temporary Panel 41a Adsorption opening 42 V-shaped seat support member 43 Support Plate 44 cylinders 45 Temporary placement position opening auxiliary suction pad 50 Flap folding board 55 Seal part 5. Cardboard box sheet supply section 6 palettes 7. Cardboard box sheets 8 cardboard boxes

Claims

1. In a box making machine that assembles paper storage boxes from pre-assembled paper storage box sheets, an articulated robot arm; a suction head installed at the tip of the articulated robot arm for suctioning and holding the paper storage box sheet; A temporary storage unit for temporarily storing the paper storage box sheet, A temporary placement panel installed at a predetermined angle from a vertical state; V-shaped sheet support members are installed on the panel surface of the temporary placement panel so as to protrude from the panel surface to the front side on two orthogonal left and right sides that intersect at a downward convex corner, and contact the paper storage box sheet, which is temporarily placed on the panel surface and tends to fall due to its own weight, from both the left and right sides, to support the paper storage box sheet at the temporary placement position; and a temporary storage section having the above-mentioned components.

2. The box making machine according to claim 1, characterized in that the articulated robot arm and the suction head are controlled so that before assembling the paper storage box sheet, the paper storage box sheet that has been sucked and held is released on the panel surface with the corner portion facing downward, and after the paper storage box sheet falls to the temporary placement position due to its own weight, the paper storage box sheet is sucked and held at its main suction portion and moved downstream.

3. The V-shaped sheet support member is a band-shaped plate that is installed perpendicular to the panel surface and extends on the two orthogonal sides, The box making machine of claim 1, characterized in that the temporary storage section further includes a sliding member that slidably holds either the left or right strip plate between a support position in which it contacts and supports the paper storage box sheet at the temporary storage position, and a retracted position in which it does not contact the paper storage box sheet at the temporary storage position.

4. The box making machine according to claim 1, characterized in that the temporary placement section further comprises a temporary placement position opening auxiliary suction pad installed in the opening portion of the temporary placement panel so that the suction surface is positioned on the panel surface in order to adsorb the paper storage box sheet temporarily placed on the panel surface from the back side.

5. The temporary placement position opening auxiliary suction pad suction-fixes the back side of the paper storage box sheet at the temporary placement position, and The box making machine according to claim 1, characterized in that the articulated robot arm and the suction head are configured to open the paper storage box sheet by suctioning and pulling the main suction portion of the paper storage box sheet at the temporary placement position.

6. The box making machine of claim 1, characterized in that the suction head is equipped with a plurality of fixed suction pads that are fixed so as not to move in the suction direction, and a plurality of buffer-equipped suction pads that are movable in the suction direction, and is configured so that when the paper storage box sheet is moved to the temporary placement position, it is adsorbed and held by only the buffer-equipped suction pads, and when the paper storage box sheet at the temporary placement position is adsorbed and held at its actual suction point, it is adsorbed by only the fixed suction pads.

7. 2. The box making machine according to claim 1, wherein the temporary placement panel is inclined at an angle of 7 to 20 degrees from the vertical.

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