Packing apparatus and packing method
The conveyor system with a controlled suction head and lifting mechanism addresses the issue of item damage in boxing devices by adjusting to item conditions, enabling safe and efficient packing.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- YAMATO SCALE CO LTD
- Filing Date
- 2024-12-11
- Publication Date
- 2026-06-23
AI Technical Summary
Existing boxing devices risk damaging items during high-speed extrusion or movement due to varying suction strength based on item condition, leading to potential dropping and improper packing.
A conveyor system with a holding device and lifting mechanism using a suction head, controlled by a controller, adjusts the lifting position and movement speed to match item conditions, allowing precise and safe packing without extrusion.
Enables high-speed boxing that is appropriate to the condition of the items, preventing damage and ensuring proper packing, suitable for items like potato chips, cakes, and soups.
Smart Images
Figure 2026102347000001_ABST
Abstract
Description
Technical Field
[0001] This specification discloses a boxing device and a boxing method.
Background Art
[0002] For example, foods such as potato chips, candies, beans, and soups, detergents, etc. are often handled as bagged or boxed items. These items are often boxed in outer packaging boxes such as cardboard boxes and dozen boxes and shipped. A boxing device for such outer packaging boxes is disclosed in Japanese Patent Application Laid-Open No. 2008-143572.
[0003] In the boxing device of Japanese Patent Application Laid-Open No. 2008-143572, a conveyor conveys articles to an accumulation position. An extrusion device extrudes the articles at the accumulation position to an arrangement position. A suction tool sucks the articles at the arrangement position. An opening / closing device opens the floor at the arrangement position. The suction tool boxes the articles in an outer packaging box arranged under the opened floor.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] In this boxing machine, an extruder pushes items from the stacking position to the placement position. However, high-speed extrusion can damage the items. An alternative method using a suction device to move items from the stacking position to the placement position is conceivable. In this method, the suction device moves the items vertically and horizontally from the stacking position to the placement position. However, the suction strength of the suction device varies depending on the condition of the item, such as its weight and the shape of the suction surface. Movement using a suction device carries the risk of dropping items depending on their condition. This risk increases further with higher speeds.
[0006] The applicant's intention is to provide a boxing apparatus and method for packing articles into outer boxes that can be performed at a speed appropriate to the condition of the articles. [Means for solving the problem]
[0007] The packaging apparatus disclosed herein is A conveyor that transports placed items. A first mobile device that moves the conveyor together with the placed article, A holding device having a suction head for picking up the article located at a predetermined position on the conveyor and a lifting device for raising and lowering the suction head, And, The first moving device is equipped with a second moving device that moves the holding device in the direction that moves the conveying device.
[0008] The packing method disclosed herein is a packing method for placing articles into an outer box, The conveyor on which the article is placed is moved together with the article. A holding device having a suction head for adsorbing the article and a lifting device for raising and lowering the suction head is moved in the direction that moves the conveyor. In the direction in which the conveyor is moved, the article placed on the conveyor and the suction head of the holding machine are aligned. The article is adsorbed onto the suction head, The suction head lifts the article, The aforementioned article is placed into the outer box using the suction head. [Effects of the Invention]
[0009] This boxing device allows the lifting position of the items using the suction head to be set to a position appropriate to the condition of the items, in the direction in which the first mobile unit moves the conveyor. This boxing device enables high-speed boxing that is appropriate to the condition of the items. Similarly, this boxing method enables high-speed boxing that is appropriate to the condition of the items. [Brief explanation of the drawing]
[0010] [Figure 1] Figure 1 is a perspective view of a boxing apparatus according to one embodiment. [Figure 2] Figure 2 is a plan view of the standby conveyor, positioning conveyor, first mover, holding machine, and second mover that are included in the box packing device shown in Figure 1. [Figure 3] Figure 3 is an explanatory diagram of the first conveyor shown in Figure 2. [Figure 4] Figure 4 is a rear view of the positioning conveyor, first mover, holding device, and second mover of the box packing device shown in Figure 1. [Figure 5] Figure 5 is an explanatory diagram showing the boxing device in use as shown in Figure 1. [Figure 6] Figure 6 is an explanatory diagram showing other usage scenarios of the boxing apparatus shown in Figure 1. [Figure 7] Figure 7 is an explanatory diagram showing yet another usage scenario of the boxing apparatus shown in Figure 1. [Figure 8] Figure 8 is an explanatory diagram showing the usage state of the boxing device as viewed in the direction of arrow VIII in Figure 7. [Figure 9] Figure 9A is an explanatory diagram showing yet another usage scenario of the boxing apparatus shown in Figure 1, and Figure 9B is an explanatory diagram showing yet another usage scenario. [Modes for carrying out the invention]
[0011] Hereinafter, preferred embodiments will be described in detail while referring to the drawings as appropriate.
[0012] FIG. 1 shows a boxing device 1. In FIG. 1, an article 2 and an outer packing box 3 are shown by a two-dot chain line. The boxing device 1 is a device for boxing the article 2 into the outer packing box 3. The arrow X in FIG. 1 represents the forward direction in the front-rear direction of the boxing device 1, the arrow Y represents the leftward direction in the left-right direction, and the arrow Z represents the upward direction in the up-down direction. The article 2 is not particularly limited, but for example, it is the boxing of snacks. The outer packing box 3 is not particularly limited, but for example, it is a cardboard box.
[0013] The boxing device 1 includes a frame 4. The boxing device 1 includes a standby conveyor 5 to which the article 2 is supplied from the upper process, a positioning conveyor 6 to which the article 2 is supplied from the standby conveyor 5, and a first mover 7 for moving the positioning conveyor 6. Further, the boxing device 1 includes a holding mechanism 8 for lifting the article 2 from the positioning conveyor 6 and a second mover 9 for moving the holding mechanism 8.
[0014] The boxing device 1 includes a sensor 10 for detecting the article 2 placed on the standby conveyor 5 and a sensor 11 for detecting the article 2 placed on the positioning conveyor 6. The boxing device 1 includes a controller 12 for controlling the standby conveyor 5, the positioning conveyor 6, the first mover 7, the holding mechanism 8, and the second mover 9 and receiving a detection signal of the article 2 from the sensor 10 and the sensor 11.
[0015] In this boxing device 1, the standby conveyor 5, the first mover 7, the second mover 9, the sensor 10, the sensor 11, and the controller 12 are attached to the frame 4. The positioning conveyor 6 is attached to the first mover 7. The holding mechanism 8 is attached to the second mover 9.
[0016] As shown in Figure 2, the standby conveyor 5 has a conveyor belt 5A that transports the placed article 2 in a forward direction. The standby conveyor 5 has a pair of guides 5B that are located on the conveyor belt 5A and guide the article 2 to the center in the left-right direction. The standby conveyor 5 has a guide drive 5C that moves the pair of guides 5B in the left-right direction. In Figure 2, the pair of guides 5B are positioned towards the center in the left-right direction by the guide drive 5C.
[0017] The positioning conveyor 6 has a conveyor belt 6A that transports the placed article 2 in a forward direction. The positioning conveyor 6 has a pair of guides 6B located on the left and right sides of the conveyor belt 6A that guide the article 2 to the center in the left-right direction. The positioning conveyor 6 has a guide drive 6C that moves the pair of guides 6B in the left-right direction. In Figure 2, the pair of guides 6B are positioned outward in the left-right direction by the guide drive 6C.
[0018] The first mobile unit 7, as shown in Figure 1, has a base 7A attached to a frame 4 and a servo motor 7B attached to the base 7A. Figure 3 shows the structure of the first mobile unit 7. The first mobile unit 7 has a pair of linear guides 7C attached to the base 7A and a mobile platform 7D connected to the pair of linear guides 7C. The first mobile unit 7 has a drive pulley 7E rotated by the servo motor 7B, a driven pulley 7F, and a timing belt 7G stretched between the drive pulley 7E and the driven pulley 7F. The linear guides 7C have a rail 7H and a carriage 7J that slides along the rail 7H. The mobile platform 7D is connected to the timing belt 7G and the carriage 7J. As shown in Figure 1, a positioning conveyor 6 is attached to this mobile platform 7D.
[0019] As shown in Figure 4, the holder 8 has a suction head 8A and a lifting mechanism 8B for raising and lowering the suction head 8A. The suction head 8A includes a plurality of suction devices. The suction head 8A has an air intake device connected to each suction device. The suction devices are capable of drawing in air by the air intake device. The suction devices can draw in the article 2 by contacting the surface of the article 2 and drawing in air. The suction devices can release the suction of the article 2 by stopping the air intake.
[0020] As shown in Figure 1, the elevator 8B has a base 8C attached to the second mobile unit 9 and a servo motor 8D attached to the base 8C. As shown in Figure 4, the elevator 8B has a linear guide 8E attached to the base 8C. The holder 8 has a drive pulley 8F rotated by the servo motor 8D, a driven pulley 8G, and a timing belt 8H stretched between the drive pulley 8F and the driven pulley 8G. The linear guide 8E has a rail 8J and a carriage 8K that slides along the rail 8J. The holder 8 has a lifting platform 8L connected to the timing belt 8H and the carriage 8K. A suction head 8A is attached to this lifting platform 8L.
[0021] As shown in Figure 1, the second mobile unit 9 has a base 9A attached to the frame 4 and a servo motor 9B attached to the base 9A. As shown in Figure 4, the second mobile unit 9 has a pair of linear guides 9C attached to the base 9A and a mobile platform 9D connected to the pair of linear guides 9C. The second mobile unit 9 has a drive pulley 9E rotated by the servo motor 9B, a driven pulley 9F, and a timing belt 9G stretched between the drive pulley 9E and the driven pulley 9F. The linear guides 9C have a rail 9H and a carriage 9J that slides along the rail 9H. The mobile platform 9D is connected to the timing belt 9G and the carriage 9J. The base 8C of the holder 8 is attached to this mobile platform 9D.
[0022] Furthermore, as shown in Figure 4, the outer box 3 is placed on a roller conveyor 13. The outer box 3 is positioned on the roller conveyor 13. Note that the roller conveyor 13 is an example of a conveying machine for the outer box 3 and is not limited to this.
[0023] The controller 12 has circuits for controlling each of the devices in the boxing device 1. As shown in Figure 1, the controller 12 has an operation panel 12A. The operation panel 12A is an input device for operating the boxing device 1, but is not limited to this. The controller 12 may be a single controller that provides centralized control, or it may be a combination of multiple controllers that cooperate with each other to provide distributed control.
[0024] Figure 5 shows the boxing device 1 in use. Figure 5 shows the positioning conveyor 6, the first moving device 7, the holding device 8, and the second moving device 9. In the left-right direction, the positioning conveyor 6 is in the same position as in Figure 4. Article 2 is placed on the conveyor belt 6A of the positioning conveyor 6. The guide 6B of the positioning conveyor 6 positions article 2 in the left-right center of the conveyor belt 6A. In the left-right direction, the suction head 8A of the holding device 8 is at the position of article 2. In the up-down direction, the suction head 8A is in contact with article 2. In Figure 5, article 2 is in the lifting position where the holding device 8 lifts it with the suction head 8A. The positioning conveyor 6 and the holding device 8 are in positions corresponding to the lifting position of article 2.
[0025] Figure 6 shows another operating state of the boxing device 1. Figure 6 shows the positioning conveyor 6, the first moving device 7, the holding device 8, and the second moving device 9. In the left-right direction, the positioning conveyor 6 is located to the right of its position in Figure 5. Article 2 is placed on the conveyor belt 6A of the positioning conveyor 6. The guide 6B of the positioning conveyor 6 positions article 2 in the left-right center of the conveyor belt 6A. In the left-right direction, the suction head 8A of the holding device 8 is at the position of article 2. In the up-down direction, the suction head 8A is in contact with article 2. In Figure 6, the lifting position of article 2 is different from that in Figure 5. Article 2 is in a different lifting position than in Figure 5. The positioning conveyor 6 and the holding device 8 are in positions corresponding to this lifting position.
[0026] Figure 7 shows yet another configuration of the boxing device 1. Figure 7 shows the positioning conveyor 6, the first mover 7, the holder 8, and the second mover 9. In the left-right direction, the positioning conveyor 6 is located further to the right than in Figure 6. Article 2 is placed on the conveyor belt 6A of the positioning conveyor 6. The guide 6B of the positioning conveyor 6 positions article 2 in the left-right center of the conveyor belt 6A. In the left-right direction, article 2 is at the position of the outer box 3. In the left-right direction, the suction head 8A of the holder 8 is at the position of article 2. In the up-down direction, the suction head 8A is in contact with article 2. In Figure 7, the lifting position of article 2 is different from that in Figures 5 and 6. Article 2 is at a different lifting position than in Figures 5 and 6. The positioning conveyor 6 and the holder 8 are at positions corresponding to this lifting position.
[0027] Figure 8 shows the boxing device 1 in use, as viewed in the direction of arrow VIII in Figure 7. As shown in Figure 8, in the front-to-back direction, the item 2 is at the position of the suction head 8A of the holder 8. The item 2 is located below the suction head 8A, and in the up-and-down direction, the suction head 8A is in contact with the item 2. In Figure 8, in the front-to-back direction, the item 2 is positioned at a predetermined position on the positioning conveyor 6.
[0028] In Figure 9A, the suction head 8A is positioned above the object in the usage state shown in Figure 8. The holder 8 lifts the object 2 from the positioning conveyor 6 using the suction head 8A. The usage state in Figure 9A is otherwise the same as that in Figure 8.
[0029] Figure 9B shows yet another configuration of the boxing device 1. Figure 9B shows the boxing device 1 viewed in the same orientation as in Figure 9A. In Figure 9B, the positioning conveyor 6 is not located on top of the outer box 3. The suction head 8A is located inside the outer box 3. The holder 8 is holding the item 2 inside the outer box 3 using the suction head 8A. In Figure 9B, the item 2 is in the outer box storage position. The holder 8 is in a position corresponding to the outer box storage position. Other configurations in Figure 9B are the same as those in Figure 9A.
[0030] Here, a method for packing articles 2 into outer boxes 3 using a packing device 1 is described. This packing method is executed by a controller 12 that controls the standby conveyor 5, positioning conveyor 6, first moving device 7, holding device 8, and second moving device 9, and receives detection signals for articles 2 from sensors 10 and 11.
[0031] In the box packing device 1 shown in Figure 1, the lifting position of the item 2 is set. The controller 12 can acquire information on the lifting position of item 2 and the transport speed of item 2 from input from the operation panel 12A. The controller 12 may acquire and store a large amount of information on the lifting position of item 2 and the transport speed of item 2. For example, in this box packing device 1, the lifting position of item 2 can be set to the position in Figure 5, the position in Figure 6, or the position in Figure 7. The box packing method using this box packing device 1 will be described below.
[0032] First, a boxing method is described in which the lifting position of item 2 is set to the position shown in Figure 5. The standby conveyor 5 conveys item 2 to the standby position. Sensor 10 detects item 2 at the standby position. Furthermore, the standby conveyor 5 conveys item 2 forward from the standby position and supplies it to the positioning conveyor 6. The boxing device 1 is then put into the operating state shown in Figure 1. The positioning conveyor 6 conveys item 2 further forward. The positioning conveyor 6 conveys item 2 to a predetermined position in the front-rear direction. This predetermined position corresponds to the position where the suction head 8A picks up the item in the front-rear direction. Sensor 11 detects item 2 at this predetermined position.
[0033] The second mobile unit 9 moves the holder 8 in the left-right direction to a position corresponding to the lifting position of the item 2. The holder 8 lowers the suction head 8A. The boxing device 1 is set to the operating state shown in Figure 5. The holder 8 uses the suction head 8A to pick up the item 2. The holder 8 raises the suction head 8A, lifting the item 2 from the positioning conveyor 6. The second mobile unit 9 moves the holder 8 in the left-right direction towards the outer box 3, positioning the holder 8 to a position corresponding to the outer box placement position. The holder 8 lowers the suction head 8A, placing the item 2 inside the outer box 3. The boxing device 1 is set to the operating state shown in Figure 9B. The holder 8 releases the suction of the suction head 8A. The holder 8 raises the suction head 8A. In this way, the item 2 is packed into the outer box 3.
[0034] The controller 12 controls the standby transporter 5, the positioning transporter 6, the first moving machine 7, the holding machine 8, and the second moving machine 9, receives detection signals for the items 2 from sensors 10 and 11, and repeatedly places the items 2 into the outer box 3 until a predetermined number of items 2 are placed in the outer box 3.
[0035] Next, a boxing method in which the lifting position of item 2 is set to the position shown in Figure 7 will be described. In this case as well, similar to the boxing method in which the lifting position is set to the position shown in Figure 5, the item 2 on which the standby conveyor 5 is placed is supplied to the positioning conveyor 6, and the item 2 is conveyed to a predetermined position in the front-rear direction.
[0036] Then, the first mobile unit 7 moves the positioning conveyor 6 in the left-right direction to a position corresponding to the lifting position of the item 2. The second mobile unit 9 moves the holder 8 in the left-right direction to a position corresponding to the lifting position of the item 2. The holder 8 lowers the suction head 8A. The boxing device 1 is set to the operating state shown in Figure 7. The holder 8 uses the suction head 8A to pick up the item 2. The holder 8 raises the suction head 8A, lifting the item 2 from the positioning conveyor 6. The first mobile unit 7 moves the positioning conveyor 6 from the position shown in Figure 7. For example, the first mobile unit 7 moves the positioning conveyor 6 in the left-right direction to the position shown in Figure 4. The holder 8 lowers the suction head 8A, placing the item 2 inside the outer box 3. The boxing device 1 is set to the operating state shown in Figure 9B. The holder 8 releases the suction of the suction head 8A. The holder 8 raises the suction head 8A. In this way, the item 2 is packed into the outer box 3.
[0037] Furthermore, a boxing method in which the lifting position of item 2 is set to the position shown in Figure 6 is described. In this case as well, similar to the boxing method in which the lifting position is set to the position shown in Figure 5, the item 2 on which the standby conveyor 5 is placed is supplied to the positioning conveyor 6, and the item 2 is conveyed to a predetermined position in the front-rear direction.
[0038] Then, the first mobile unit 7 moves the positioning conveyor 6 in the left-right direction to a position corresponding to the lifting position of the item 2. The second mobile unit 9 moves the holder 8 in the left-right direction to a position corresponding to the lifting position of the item 2. The holder 8 lowers the suction head 8A. The boxing device 1 is set to the operating state shown in Figure 6. The holder 8 uses the suction head 8A to pick up the item 2. The holder 8 raises the suction head 8A, lifting the item 2 from the positioning conveyor 6. The first mobile unit 7 moves the positioning conveyor 6 from the position shown in Figure 6. For example, the first mobile unit 7 moves the positioning conveyor 6 in the left-right direction to the position shown in Figure 4. The second mobile unit 9 moves the holder 8 towards the outer box 3 in the left-right direction, positioning the holder 8 to a position corresponding to the outer box storage position. The holder 8 lowers the suction head 8A, storing the item 2 inside the outer box 3. The boxing device 1 is set to the operating state shown in Figure 9B. The holder 8 releases the suction of the suction head 8A. The holder 8 raises the suction head 8A. In this way, the item 2 is packed into the outer box 3.
[0039] In this boxing method, if the lifting position is at the position shown in Figure 6 or Figure 7, the positioning conveyor 6 and the holding device 8 may be moved synchronously by the first moving device 7 and the second moving device 9. While the positioning conveyor 6 and the holding device 8 are moving, the holding device 8 may use the suction head 8A to pick up the article 2 that is located at a predetermined position on the positioning conveyor 6.
[0040] This boxing device 1 includes a positioning conveyor 6 for transporting the placed articles 2, a first moving device 7 for moving the positioning conveyor 6 together with the articles 2, a holding device 8 having a suction head 8A for picking up the articles 2 placed on the positioning conveyor 6 and a lifting device 8B for raising and lowering the suction head 8A, and a second moving device 9 for moving the holding device 8 in the direction in which the first moving device 7 moves the positioning conveyor 6.
[0041] This boxing device 1 can pack articles 2 into outer boxes 3 without using an extrusion device. The boxing device 1 can prevent damage to articles 2 caused by high-speed extrusion. The boxing device 1 is suitable for packing articles 2 that contain easily damaged items such as potato chips, items that are prone to losing their shape or becoming unevenly packed such as cakes, items that are prone to shifting such as prepared foods, and items that are prone to spilling such as soups.
[0042] The boxing device 1 includes a first moving device 7 that moves the positioning conveyor 6 together with the article 2, and a second moving device 9 that moves the holder 8 in the direction in which the first moving device 7 moves the positioning conveyor 6. The boxing device 1 can set a lifting position in which the holder 8 lifts the article 2 from the positioning conveyor 6 in the direction in which the positioning conveyor 6 moves.
[0043] For example, in the case of an item 2 that is heavy and difficult to pick up with the suction head 8A, the boxing device 1 lifts the item 2 from the positioning conveyor 6 on top of the outer box 3, as shown in Figure 7. In the case of an item 2 that is light and easily picked up with the suction head 8A, the boxing device 1 lifts the item 2 from the positioning conveyor 6 while keeping the positioning conveyor 6 positioned in front of the standby conveyor 5 (see Figure 1), as shown in Figure 5. The positioning conveyor 6 shown in Figure 5 can supply the item 2 from the standby conveyor 5 while the holder 8 is conveying the item 2 toward the outer box 3.
[0044] Furthermore, depending on the item 2, the boxing device 1 can set the positioning conveyor 6 to a lifting position between the position in Figure 5 and the position in Figure 7, as shown in Figure 6. In this case as well, the lateral movement distance of the positioning conveyor 6 is smaller compared to the case shown in Figure 7. The time it takes for the positioning conveyor 6 to return to the front of the standby conveyor 5 can be shortened compared to the case shown in Figure 7.
[0045] This boxing device 1 can set the lifting position of the item 2 based on how easily the item 2 is picked up. This boxing device 1 can speed up boxing that is appropriate for the condition of the item 2.
[0046] This boxing device 1 positions the holder 8 at a position corresponding to the outer box placement position where the article 2, which has been picked up by the second moving machine 9 using the suction head 8A, is placed in the outer box 3. The holder 8 then places the article 2 into the outer box 3 using the suction head 8A. This boxing device 1 can quickly pack the article 2, which is placed on the positioning conveyor 6, into the outer box 3 without using an extrusion device. From this viewpoint, it is preferable that the boxing device 1 places the article 2 into the outer box 3 using the suction head 8A of the holder 8.
[0047] In this boxing device 1, the controller 12 acquires information about the lifting position of the item 2. Based on this lifting position information, the controller 12 controls the first mobile device 7 to position the positioning conveyor 6 to the lifting position, and also controls the second mobile device 9 to position the holder 8 to the lifting position. The controller 12 controls the holder 8 to lift the item 2 from the positioning conveyor 6 with the suction head 8A at the lifting position. By including the controller 12, the boxing device 1 can set the lifting position of the holder 8 from the positioning conveyor 6 for each item other than item 2, depending on how easily the suction head 8A can pick up the item. From this viewpoint, it is preferable that the boxing device 1 includes a controller 12 that acquires information about the lifting position of the item 2.
[0048] In this boxing device 1, the controller 12 has an operation panel 12A for changing the lifting position of the item 2. This boxing device 1 allows for easy setting of the lifting position for each item. This boxing device 1 allows for easy setting of the optimal lifting position for each item being boxed to maximize speed. From this viewpoint, it is preferable that the controller 12 has an operation panel 12A. Note that the operation panel 12A is an example of an input device for changing the lifting position of the item 2 and is not particularly limited.
[0049] The boxing device 1 is not limited to one equipped with a controller 12. In a boxing device 1 dedicated to boxing a specific item 2, the lifting position of the item 2 may be kept constant. For example, in this boxing device 1, the first mobile device 7 and the second mobile device 9 may be driven by air in the left-right direction, and a fixed stopper may position the positioning conveyor 6 and the holding device 8 to a position corresponding to the lifting position of the item 2.
[0050] In the boxing device 1, the controller 12 may control the first mobile machine 7 and the second mobile machine 9 to move the positioning conveyor machine 6 and the holding machine 8 in a synchronized manner. The controller 12 may also control the holding machine 8 and use the suction head 8A to pick up the article 2 located at a predetermined position on the positioning conveyor machine 6 while the positioning conveyor machine 6 and the holding machine 8 are moving. This allows the boxing device 1 to further shorten the boxing time for the article 2. From this viewpoint, it is preferable that the boxing device 1 moves the positioning conveyor machine 6 and the holding machine 8 in a synchronized manner and picks up the article 2 with the suction head 8A while the positioning conveyor machine 6 and the holding machine 8 are moving.
[0051] In the boxing device 1, the first moving device 7 moves the positioning conveyor 6 using a servo motor 7B and a timing belt 7G. The first moving device 7 can move the positioning conveyor 6 at high speed and position it accurately. In addition, the first moving device 7 can accurately set the moving speed of the positioning conveyor 6. From this viewpoint, it is preferable that the first moving device 7 has a servo motor 7B and a timing belt 7G. Similarly, it is preferable that the second moving device 9 has a servo motor 9B and a timing belt 9G. It is preferable that the holding device 8 has a servo motor 8D and a timing belt 8H.
[0052] Furthermore, in the boxing device 1, the first moving machine 7 moves the positioning conveyor 6 using a servo motor 7B and a timing belt 7G, and the second moving machine 9 moves the holder 8 using a servo motor 9B and a timing belt 9G. As a result, the boxing device 1 can move the positioning conveyor 6 and the holder 8 at exactly the same speed. Moreover, the boxing device 1 can easily change the speed of the positioning conveyor 6 and the holder 8 while maintaining the same speed.
[0053] The boxing device 1 can reliably confirm that the item 2 is positioned at a predetermined location on the positioning conveyor 6 by detecting the item 2 with the sensor 11. The boxing device 1 can reliably pick up the item 2 at the predetermined location on the positioning conveyor 6 with the suction head 8A of the holder 8. From this viewpoint, it is preferable that the boxing device 1 is equipped with the sensor 11.
[0054] In the positioning conveyor 6, the guide 6B guides the article 2 to be conveyed to the center in the left-right direction. The positioning conveyor 6 can guide the article 2 to a position where it will be picked up by the suction head 8A of the holder 8. From this viewpoint, it is preferable that the positioning conveyor 6 has a guide 6B for guiding the article 2. From a similar viewpoint, the positioning conveyor 6 may have a stopper that positions the article 2 at a predetermined position in the front-rear direction.
[0055] Furthermore, in the boxing device 1, the first moving machine 7 moves the positioning conveyor 6 in a direction that intersects with the direction in which the positioning conveyor 6 conveys the article 2, in this case in a direction perpendicular to it, but is not limited to this.
[0056] Furthermore, in the boxing device 1, the positioning conveyor 6 is not limited to one that places and conveys the articles 2 on a conveyor belt 6A. The positioning conveyor 6 may, for example, place and convey the articles 2 on a roller conveyor.
[0057] [Disclosure items] Each of the following items discloses a preferred embodiment.
[0058] [Item 1] A conveyor that transports placed items. A first mobile device that moves the conveyor together with the placed article, A holding device having a suction head for picking up the article located at a predetermined position on the conveyor and a lifting device for raising and lowering the suction head, And, A boxing apparatus comprising a second moving machine that moves the holding machine in the direction in which the first moving machine moves the conveying machine.
[0059] [Item 2] The second moving machine positions the holding machine at a position corresponding to the outer box storage position where the article, which has been picked up and lifted by the suction head, is placed in the outer box. The boxing apparatus according to item 1, wherein the holding device places the articles into the outer box using the suction head.
[0060] [Item 3] Equipped with a controller, The controller, The information is obtained regarding the lifting position in which the holding device lifts the article, which is located at a predetermined position on the conveyor, using the suction head. Based on the information of the lifting position, the first mobile device is positioned to move the conveyor to a position corresponding to the lifting position, and the second mobile device is positioned to move the holding device to a position corresponding to the lifting position. The boxing apparatus according to item 1 or 2, wherein the holding machine causes the article to be lifted from the conveyor by the suction head at the lifting position.
[0061] [Item 4] Equipped with a controller, The controller, The first moving machine and the second moving machine are moved in sync with the conveying machine and the holding machine. A boxing apparatus according to any one of items 1 to 3, wherein the holding device is used to pick up the article located at a predetermined position on the conveyor while the conveyor and the holding device are moving, using the suction head.
[0062] [Item 5] A method of packing goods into an outer box, The conveyor on which the article is placed is moved together with the article. A holding device having a suction head for adsorbing the article and a lifting device for raising and lowering the suction head is moved in the direction that moves the conveyor. In the direction in which the conveyor is moved, the article placed on the conveyor and the suction head of the holding machine are aligned. The article is adsorbed onto the suction head, The suction head lifts the article, A boxing method comprising placing the aforementioned articles into the outer box using the suction head. [Industrial applicability]
[0063] The boxing apparatus and boxing method described above are suitable for high-speed boxing of goods. [Explanation of symbols]
[0064] 1. Packing machine 2... Goods 3. Outer box 6. Positioning and conveying machine (conveyor machine) 7...First mobile device 8...Holding machine 8A... Suction head 8B... Elevator 9...Second mobile device 12. Controller 12A... Control panel (input device)
Claims
1. A conveyor that transports placed items. A first mobile device that moves the conveyor together with the placed article, A holding device having a suction head for picking up the article located at a predetermined position on the conveyor and a lifting device for raising and lowering the suction head, And, A boxing apparatus comprising a second moving machine that moves the holding machine in the direction in which the first moving machine moves the conveying machine.
2. The second moving machine positions the holding machine at a position corresponding to the outer box storage position where the article, which has been picked up and lifted by the suction head, is placed in the outer box. The boxing apparatus according to claim 1, wherein the holding device places the articles into the outer box using the suction head.
3. Equipped with a controller, The controller, The information is obtained regarding the lifting position in which the holding device lifts the article, which is located at a predetermined position on the conveyor, using the suction head. Based on the lifting position information, the first mobile unit is positioned to move the conveyor to a position corresponding to the lifting position, and the second mobile unit is positioned to move the holding unit to a position corresponding to the lifting position. The boxing apparatus according to claim 1 or 2, wherein the holding machine causes the article to be lifted from the conveyor by the suction head at the lifting position.
4. Equipped with a controller, The controller, The first moving machine and the second moving machine are moved in sync with the conveying machine and the holding machine. The boxing apparatus according to claim 1 or 2, wherein the holding device is used to pick up the article located at a predetermined position on the conveyor while the conveyor and the holding device are moving, using the suction head.
5. A method of packing goods into an outer box, The conveyor on which the article is placed is moved together with the article. A holding device having a suction head for adsorbing the article and a lifting device for raising and lowering the suction head is moved in the direction that moves the conveyor. In the direction in which the conveyor is moved, the article placed on the conveyor and the suction head of the holding machine are aligned. The article is adsorbed onto the suction head, The suction head lifts the article, A boxing method comprising placing the aforementioned articles into the outer box using the suction head.