Packing device and packing method

Abstract

To provide a box-packing device capable of suppressing deformation of box-packed articles, and a partial presence of contents.SOLUTION: A box-packing device 100 comprises a box-packing robot 4 for holding an article 1 on a conveyor 3, and putting the article into a box 2. The box-packing robot 4 comprises a hand part 42 capable of holding and releasing the article 1. The hand part 42 comprises a comb-shaped fork part 422 arranged along a lower face part of the article 1, and capable of lifting the article 1 along with raising operation of a robot arm 41. The conveyor 3 comprises: a plurality of conveyor rollers 31 parallelly arranged at a predetermined pitch in a conveyance direction of the article 1; and a conveyor frame 32 for rotatably supporting the plurality of conveyor rollers 31. The conveyor frame 32 comprises a gap 321 for allowing each fork 422a of the fork part 422 to pass vertically through between the conveyor rollers 31 at a position where the article 1 is lifted by the fork part 422.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a packing device and a packing method for packing articles into boxes. [Background technology]

[0002] <Description of Background Art> 2. Description of the Related Art Conventionally, there have been proposed boxing machines that pack articles such as bagged food into boxes such as cardboard boxes (see, for example, Patent Documents 1 and 2).

[0003] <Explanation of Patent Documents 1 and 2> The packing devices described in Patent Documents 1 and 2 are configured to pack items into a box by holding items on a conveyor with a robot arm, moving the held items to a box, and then releasing the items at an item storage position in the box.

[0004] <Desired Technology-1> However, in the packing devices described in Patent Documents 1 and 2, the articles are held by being lifted up using vacuum suction, which may cause deformation or uneven distribution of the contents depending on the article, leaving room for improvement. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 1-23903 [Patent Document 2] JP 2019-214389 A Summary of the Invention [Problem to be solved by the invention]

[0006] <Background Technology Issues> The present invention has been made in consideration of the above circumstances, and has an object to provide a boxing device that can suppress deformation of articles to be boxed and uneven distribution of contents. [Means for solving the problem]

[0007] <Content of claim 1> In order to achieve the above object, the present invention is realized by the following configuration. (1) The present invention provides a packing device for storing items in boxes, comprising: a conveyor for transporting items; a packing robot for holding items on the conveyor and storing them in boxes; and a control device for controlling at least the packing robot, wherein the packing robot comprises a robot arm and a hand unit attached to the robot arm and capable of holding and releasing an item, wherein the hand unit comprises a comb-shaped fork unit arranged along the underside of the item and capable of lifting the item in response to the robot arm's raising action of the hand unit, and a push-out member capable of pushing out the item on the fork unit, wherein the conveyor comprises a plurality of conveyor rollers arranged in parallel at a predetermined pitch in the direction in which the items are transported, and a conveyor frame for rotatably supporting the plurality of conveyor rollers, wherein the conveyor frame has a gap for allowing the fork unit to pass between the conveyor rollers in the vertical direction at a position where the fork unit lifts the item.

[0008] <Contents of claim 2> (2) In the present invention, in the configuration as described above in (1), a fall prevention guide for preventing an article from falling sideways is provided on both sides of the fork portion.

[0009] <Content of claim 3> (3) In the present invention, in the configuration of (1) or (2) above, the control device controls the posture of the hand section so that after the fork section lifts an article in response to the rising motion of the hand section, the tip side of the fork section in the article extrusion direction is higher and the base end side in the article extrusion direction is lower.

[0010] <Contents of claim 4> (4) In the present invention, in any one of the configurations (1) to (3) above, the hand section further includes an actuator for a push-out member that moves the push-out member in an article push-out direction, and an actuator for a fork section that moves the fork section in a direction opposite to the article push-out direction, and the control device is capable of controlling the actuator for the push-out member and the actuator for the fork section, and when pushing out an article on the fork section, moves the push-out member in the article push-out direction while moving the fork section in a direction opposite to the article push-out direction.

[0011] <Content of claim 5> (5) In the present invention, in any one of the configurations (1) to (4) above, the control device operates the robot arm so that the fork portion smooths the top surfaces of the items stored in the box after the packing robot has placed the items in the box.

[0012] <Content of claim 6> (6) In the present invention, in any of the configurations (1) to (5) above, a transport path for boxes containing items is arranged in a straight line on an extension of the conveyor, and a box supply robot for supplying empty boxes to the transport path is arranged to the side of the starting end of the transport path.

[0013] <Content of claim 7> (7) The present invention is a packing method using any one of the packing devices (1) to (6), including the steps of: lifting an item on the conveyor by passing the fork portion upward between the conveyor rollers; moving the fork portion to above an item storage position in the box; and pushing the item on the fork portion with a push-out member to store it in the box. Effect of the Invention

[0014] According to the present invention, it is possible to provide a boxing device that can suppress deformation of articles to be boxed and uneven distribution of contents. [Brief description of the drawings]

[0015] [Figure 1]1 is a block diagram showing a schematic configuration of a packing device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view showing a hand unit of the packing robot. [Diagram 3] FIG. 4 is a side view showing a hand unit of the packing robot. [Figure 4] FIG. 4 is a rear view showing the hand unit of the packing robot. [Diagram 5] 5A and 5B are diagrams illustrating the operation of the hand unit, in which (a) is a side view showing the hand unit in an article-holding state, and (b) is a side view showing the hand unit immediately after pushing out the article. [Figure 6] FIG. 13 is a perspective view illustrating an operation of the packing device, showing a packing robot in a standby state. [Figure 7] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which the fork portion is inserted into the conveyor. [Figure 8] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which the articles have been transported to the terminal end of the conveyor. [Figure 9] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which the fork portions have lifted up an article. [Figure 10] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which the hand unit is inclined. [Figure 11] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which an article has been conveyed onto a box. [Figure 12] FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which an article is being pushed out. [Figure 13] FIG. 13 is a perspective view illustrating the operation of the packing device, showing the state in which the top surfaces of the packed articles are being smoothed. [Figure 14] 10 is an explanatory diagram of the operation of the packing device, and is a perspective view showing a state in which a box is closed by cooperation between the packing robot and the box supply robot. FIG. [Figure 15] 13 is an explanatory diagram of the operation of the packing device, and is a perspective view showing a state in which the box supply robot has finished closing the box. FIG. [Figure 16]FIG. 13 is a perspective view illustrating the operation of the packing device, showing a state in which the box transport device transports a box. [Figure 17] 10 is an explanatory diagram of the operation of the packing device, and is a perspective view showing a state in which the box supply robot sets an empty box on the box transport device. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] <Description of the embodiment-1> DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same elements are designated by the same reference numerals throughout the description of the embodiments.

[0017] <Box packing equipment configuration-1> FIG. 1 is a block diagram showing a schematic configuration of a packing device according to an embodiment of the present invention. As shown in FIG. 1, a packing apparatus 100 according to an embodiment of the present invention comprises a conveyor 3 that transports items 1 to be packed, a packing robot 4 that holds the items 1 on the conveyor 3 and stores them in boxes 2, a box transporting device 5 that serves as a loading section for the boxes 2 and removes the boxes 2 after packing is complete, a box supply robot 6 that supplies the boxes 2 onto the box transporting device 5 and closes the boxes 2 after packing is complete, and a control device 7 that controls the conveyor 3, the packing robot 4, the box transporting device 5, and the box supply robot 6.

[0018] <Box packing equipment configuration-2> The item 1 of this embodiment is a plurality (e.g., 40) of small bags each containing a small amount (e.g., 10 g) of seasoning (e.g., mayonnaise), and deformation and uneven distribution of contents are likely to occur when vacuum suction is used. However, the item of the present invention is not limited to the item 1 of this embodiment. Also, the box 2 of this embodiment is made of cardboard and is configured to be able to contain a plurality (e.g., 2 rows x 5 columns = 10 items) of items 1, but the box of the present invention is not limited to the box 2 of this embodiment.

[0019] <Box packing robot configuration-1> 1, the packing robot 4 includes a robot arm 41 and a hand unit 42 attached to the robot arm 41 and capable of holding and releasing an item 1. Note that the robot arm 41 is a general-purpose robot arm, and therefore a detailed description thereof will be omitted.

[0020] <Hand section configuration-1> FIG. 2 is a plan view showing a hand unit of the packing robot, FIG. 3 is a side view showing the hand unit of the packing robot, and FIG. 4 is a rear view showing the hand unit of the packing robot. As shown in Figures 2 to 4, the hand unit 42 comprises a base unit 421 connected to the robot arm 41, a comb-shaped fork unit 422 that is arranged along the underside of the item 1 and can lift the item 1 in response to the robot arm 41 raising the hand unit 42, fall prevention guides 423 that are provided on both sides of the fork unit 422 and prevent the item 1 from falling sideways, a push-out member 424 that can push out the item 1 on the fork unit 422, a push-out member actuator 425 that operates the push-out member 424 in the item push-out direction, and a pair of fork unit actuators 426 that operate the fork unit 422 in the direction opposite to the item push-out direction.

[0021] <Hand section configuration-2> The base portion 421 includes a robot connection portion 421a that is connected to the robot arm 41, a first actuator fixing portion 421b to which a pair of fork portion actuators 426 are fixed, and a second actuator fixing portion 421c to which a pusher member actuator 425 is fixed.

[0022] <Hand section configuration-3> In this embodiment, the actuator 425 for the pusher member and the actuator 426 for the fork portion are pneumatic cylinders, and the base portion 421 supports the fork portion 422 via the actuator 426 for the fork portion, and supports the pusher member 424 via the actuator 425 for the pusher member.

[0023] <Hand section configuration-4> The fork section 422 has an L-shape in a side view, and includes a plurality of (e.g., five) forks 422a arranged in parallel at predetermined intervals along the article extrusion direction and in the width direction perpendicular to the article extrusion direction, and rising sections 422b rising from the base ends of the forks 422a and connected to a fork section actuator 426. The fall prevention guides 423 are provided to rise from the outer ends of the forks 422a located at both ends in the width direction, and prevent the article 1 on the fork section 422 from falling outward.

[0024] <Hand section configuration-5> The pusher member 424 is a plate-like member arranged along the article push-out direction side of the rising portion 422b, with its upper end connected to a pusher member actuator 425 and its lower end having a plurality of protrusions 424a that fit between the forks 422a.

[0025] <Hand operation-1> FIG. 5 is a diagram showing the operation of the hand unit, where (a) is a side view showing the hand unit in an article-holding state, and (b) is a side view showing the hand unit immediately after pushing out the article. As shown in FIG. 5( a ), when the article 1 is held by the hand section 42 , the pusher member actuator 425 and the fork section actuator 426 are brought into a contracted state, and a holding space for the article 1 is secured above the fork section 422 .

[0026] <Hand operation-2> On the other hand, as shown in (b) of Fig. 5, when pushing out the article 1 on the fork section 422, the actuator 425 for the push-out member and the actuator 426 for the fork section are extended, and the push-out member 424 is operated in the article pushing direction while the fork section 422 is operated in the opposite direction to the article pushing direction. This makes it possible to reduce the inertial force in the article pushing direction acting on the article 1 accompanying the pushing operation of the push-out member 424 by the retracting operation of the fork section 422, thereby suppressing disturbance of the posture of the pushed out article 1. In addition, since the push-out operation stroke of the push-out member 424 can be shortened by the retracting operation stroke of the fork section 422, not only can the hand section 42 be made smaller, but also the time required to push out the article 1 can be shortened.

[0027] <Conveyor configuration-1> 6 to 17 are explanatory diagrams of the operation of the packing device. As shown in Figures 6 to 17, the conveyor 3 includes a plurality of conveyor rollers 31 arranged in parallel at a predetermined pitch in the transport direction of the article 1, a conveyor frame 32 that rotatably supports the plurality of conveyor rollers 31, and a conveyor drive motor 33 (see Figure 1) that drives and rotates the plurality of conveyor rollers 31.

[0028] <Conveyor configuration-2> The conveyor 3 and the box transport device 5 are arranged so that the transport direction is in a straight line, with the box packing robot 4 being arranged on one side in the transport direction and the box supply robot 6 being arranged on the other side in the transport direction.

[0029] <Conveyor configuration-3> The conveyor frame 32 has a plurality of gaps 321 that allow each fork 422a of the fork part 422 to pass between the conveyor rollers 31 in the vertical direction at a lifting position of the article 1 by the fork part 422 (the conveyance end part of the conveyor 3). Specifically, the conveyor frame 32 includes a pair of side frame parts 322, 323 that rotatably support both ends of the conveyor roller 31, and the side frame part 323 on the other side where the box supply robot 6 is arranged is composed of a member that extends continuously in the article conveyance direction, while the side frame part 322 on one side where the packing robot 4 is arranged is formed in a comb shape that supports the conveyor roller 31 via the gap 321.

[0030] <Conveyor configuration-4> According to this conveyor 3, each fork 422a of the fork part 422 can be inserted into the conveyor 3 from one side of the conveyor 3 through the gap 321 by horizontal movement of the fork part 422 by the robot arm 41 as shown in Figures 6 and 7, and can also pass between the conveyor rollers 31 in the vertical direction by vertical movement of the fork part 422 by the robot arm 41 as shown in Figures 8 and 9, making it possible to lift the article 1 on the conveyor 3 while supporting the bottom surface of the article 1. This makes it possible to suppress deformation of the article 1 and uneven distribution of the contents compared to the case of lifting the article 1 by vacuum suction.

[0031] <Box conveying device configuration-1> The box conveying device 5 is arranged in a straight line on an extension of the conveying direction of the conveyor 3, and is equipped with a loading surface 51 on which a box 2 supplied by the box supply robot 6 can be placed, a box holding mechanism 52 that holds the supplied box 2 by clamping it from both sides, and a box discharge mechanism 53 that pushes the box 2 that has been packed downstream in the conveying direction.

[0032] <Box supply robot configuration-1> The box supply robot 6 includes a robot arm 61 and a box manipulation hand unit 62 attached to the robot arm 61. The box manipulation hand unit 62 is configured to be capable of performing the operations of holding an empty box 2 that has been made into a box, releasing the held box 2, and closing the lid 21 of the box 2 in cooperation with the robot arm 61.

[0033] <Control device configuration-1> The control device 7 acquires information relating to the packing work from various sensors, and controls the conveyor 3, the packing robot 4, the box transport device 5, and the box supply robot 6 in accordance with the acquired information, thereby realizing the packing operation of the packing device 100 shown in Figures 6 to 17. The operation of the packing device 100 will be described below with reference to Figures 6 to 17.

[0034] <Operation of the packing device-1> As shown in FIG. 6, before the packing robot 4 holds the article 1, the control device 7 controls the robot arm 41 so that the hand unit 42 waits on one side of the conveyor 3 in a horizontal position.

[0035] <Operation of the packing device-2> Next, the control device 7 controls the robot arm 41 so that the hand unit 42 advances a predetermined distance toward the conveyor 3, as shown in Fig. 7. As a result, each fork 422a of the fork unit 422 provided on the hand unit 42 is inserted into the conveyor 3 from one side of the conveyor 3 through the gap 321. Note that in Fig. 7, each fork 422a of the fork unit 422 is inserted into the conveyor 3 at a stage before the article 1 is transported to the terminal end of the conveyor 3, but this fork insertion operation may be performed after the article 1 is transported to the terminal end of the conveyor 3.

[0036] <Operation of the packing device-3> Next, the control device 7 determines whether or not the article 1 has been conveyed to the terminal end of the conveyor 3, as shown in Fig. 8. This determination is made based on, for example, a detection signal of an optical sensor (not shown) provided at the terminal end of the conveyor 3.

[0037] <Operation of the packing device-4> When the control device 7 determines that the article 1 has been transported to the end of the conveyor 3, it controls the robot arm 41 so that the hand unit 42 rises a predetermined distance upward, as shown in Fig. 9. At this time, each fork 422a of the fork unit 422 provided on the hand unit 42 can pass between the conveyor rollers 31 in the vertical direction, and therefore can lift the article 1 on the conveyor 3 while supporting the bottom surface of the article 1. This makes it possible to lift the article 1 on the conveyor 3 while suppressing deformation of the article 1 and uneven distribution of the contents.

[0038] <Operation of the packing device-5> After the fork part 422 lifts the article 1 in response to the upward movement of the hand part 42, the control device 7 tilts the hand part 42 by a predetermined angle θ based on the movement of the robot arm 41 so that the tip side of the fork part 422 in the article extrusion direction is higher and the base end side in the article extrusion direction is lower, as shown in Fig. 10. This makes it possible to prevent the article 1 on the fork part 422 from dropping from the tip side in the article extrusion direction.

[0039] <Packing device operation-6> 11, the control device 7 controls the robot arm 41 so that the hand unit 42 moves to above the item storage position of the box 2. When the hand unit 42 moves to above the item storage position of the box 2, the control device 7 returns the inclined posture of the hand unit 42 to a horizontal posture.

[0040] <Packing device operation-7> Next, the control device 7 pushes out the article 1 on the fork part 422 and stores it in the box 2, as shown in Fig. 12. At this time, the control device 7 extends the actuator 425 for the push-out member and the actuator 426 for the fork part, and moves the push-out member 424 in the article push-out direction while moving the fork part 422 in the direction opposite to the article push-out direction. This reduces the inertial force in the article push-out direction acting on the article 1 in association with the push-out operation of the push-out member 424 by the retraction operation of the fork part 422, and suppresses disturbance of the posture of the article 1 being pushed out.

[0041] <Operation of the packing device-8> Next, the control device 7 controls the robot arm 41 so that the fork portion 422 smooths (presses downward) the top surfaces of the packed articles 1, as shown in Fig. 13. This makes it possible to further prevent uneven distribution of the contents of the articles 1. Note that this smoothing operation may be performed only once for each box 2 after the topmost article 1 is placed in the box 2, or may be performed multiple times each time an article 1 is placed in the box 2.

[0042] <Operation of the box packing device-9> When a predetermined number of articles 1 have been accommodated in the box 2, the control device 7 closes the lid 21 of the box 2 by cooperative control of the box packing robot 4 and the box supplying robot 6, as shown in Fig. 14. To be more specific, when folding inward the four lids 21a to 21d extending upward from the box 2, the box supplying robot 6 does not perform all of the folding operations, but the fork section 422 of the box packing robot 4 performs the folding operation of the lid 21a on the conveyor 3 side, thereby enabling the lid 21 to be closed quickly and reliably.

[0043] <Packing device operation-10> When the control device 7 finishes closing the lid 21 of the box 2 as shown in Figure 15, it releases the box holding mechanism 52 of the box conveying device 5 as shown in Figure 16, and operates the box discharge mechanism 53 to push the box 2, which has been completely packed, downstream in the conveying direction.

[0044] <Packing Machine Operation-11> When removal of the packed box 2 is completed, the control device 7 controls the box supply robot 6 so that the box supply robot 6 sets the empty box 2 on the box transport device 5. When the box 2 is set on the box transport device 5, the box 2 is held by the box holding mechanism 52 of the box transport device 5, and the next packing operation is started.

[0045] <Effects of the embodiment-1> The effects of the above-described embodiment will be described. The packing device 100 of the embodiment comprises a conveyor 3 that transports items 1, a packing robot 4 that holds the items 1 on the conveyor 3 and stores them in boxes 2, and a control device 7 that controls at least the packing robot 4, the packing robot 4 comprises a robot arm 41 and a hand unit 42 attached to the robot arm 41 and capable of holding and releasing the items 1, the hand unit 42 comprises a comb-shaped fork unit 422 that is arranged along the underside of the items 1 and is capable of lifting the items 1 in response to the robot arm 41 lifting the hand unit 42, and a push-out member 424 that is capable of pushing out the items 1 on the fork unit 422, and the conveyor 3 is arranged to move in a direction in which the items 1 are transported, and the packing robot 4 holds the items 1 in a predetermined direction. and a conveyor frame 32 rotatably supporting the conveyor rollers 31, and the conveyor frame 32 has a gap 321 for allowing each fork 422a of the fork part 422 to pass between the conveyor rollers 31 in the vertical direction at the lifting position of the article 1 by the fork part 422, so that each fork 422a of the fork part 422 passes upward between the conveyor rollers 31 by the vertical movement of the fork part 422 by the robot arm 41, thereby making it possible to lift the article 1 on the conveyor 3 while supporting the lower surface of the article 1. This makes it possible to suppress deformation of the article 1 and uneven distribution of contents compared to the case of lifting the article 1 by vacuum suction.

[0046] <Effect of the embodiment-2> Further, since fall prevention guides 423 are provided on both sides of the fork portion 422, the article 1 on the fork portion 422 can be prevented from falling sideways.

[0047] <Effect of the embodiment-3> In addition, after the fork portion 422 lifts the article in response to the ascending motion of the hand portion 42, the control device 7 controls the posture of the hand portion 42 so that the tip side of the fork portion 422 in the article extrusion direction is higher and the base end side in the article extrusion direction is lower, thereby preventing the article 1 on the fork portion 422 from falling from the tip side in the article extrusion direction.

[0048] <Effect of the embodiment-4> The hand unit 42 further includes a push-out member actuator 425 for operating the push-out member 424 in the article push-out direction, and a fork unit actuator 426 for operating the fork unit 422 in the opposite direction to the article push-out direction, and the control device 7 can control the push-out member actuator 425 and the fork unit actuator 426, and when pushing out the article 1 on the fork unit 422, the control device 7 operates the push-out member 424 in the article push-out direction while operating the fork unit 422 in the opposite direction to the article push-out direction, so that the inertial force in the article push-out direction acting on the article 1 accompanying the push-out operation of the push-out member 424 is reduced by the retraction operation of the fork unit 422, and disturbance of the posture of the pushed out article 1 can be suppressed. In addition, the push-out operation stroke of the push-out member 424 can be shortened by the retraction operation stroke of the fork unit 422, which not only enables the hand unit 42 to be made smaller, but also shortens the time required to push out the article 1.

[0049] <Effect of the embodiment-5> In addition, after the packing robot 4 places the item 1 in the box 2, the control device 7 operates the robot arm 41 so that the fork portion 422 smooths the top surface of the placed item 1, thereby further preventing uneven distribution of the contents of the item 1.

[0050] <Effect of the embodiment-6> In addition, a conveying path for boxes 2 containing items 1 is arranged in a straight line on an extension of the conveyor 3, and a box supply robot 6 for supplying empty boxes 2 to the conveying path is arranged to the side of the starting end of the conveying path, thereby unifying the flow of items 1 and boxes 2 and enabling efficient layout of the line.

[0051] Although the present invention has been described above using the embodiments, it goes without saying that the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications or improvements can be made to the above embodiments. In addition, it is clear from the description of the claims that forms with such modifications or improvements can also be included in the technical scope of the present invention. [Explanation of symbols]

[0052] 1 article 2 boxes 21, 21a~21d lid 100 Packing equipment 3. Conveyor 31 Conveyor roller 32 Conveyor Frame 321 Gap 322, 323 Side frame part 33 Conveyor drive motor 4. Packing robot 41 Robot Arm 42 Hand section 421 Base 421a Robot connector 421b First actuator fixing part 421c Second actuator fixing part 422 Fork 422a Fork 422b Rising part 423 Fall Prevention Guide 424 Extrusion parts 424a Convex 425 Actuator for extrusion components 426 Fork actuator 5 Box conveyor 51 Placement surface 52 Box holding mechanism 53 Box unloading mechanism 6 Box supply robot 61 Robot Arm 62 Box operation hand part 7 Control device

Claims

1. A box packing device for packing articles into boxes, comprising: A conveyor for transporting articles; a box-packing robot that holds the items on the conveyor and places them in boxes; A control device that controls at least the packing robot, The packing robot comprises: A robot arm; a hand unit attached to the robot arm and capable of holding and releasing an object; The hand unit includes: a comb-shaped fork portion that is disposed along a bottom surface of an article and is capable of lifting the article in response to an upward movement of the hand portion by the robot arm; A push-out member capable of pushing out an item on the fork portion, The conveyor includes a plurality of conveyor rollers arranged in parallel at a predetermined pitch in a conveying direction of the article; a conveyor frame that rotatably supports the plurality of conveyor rollers; the conveyor frame has a gap for allowing the fork portion to pass between the conveyor rollers in a vertical direction when the fork portion is at a lifting position of the article, the control device performs control to return the inclined posture of the hand unit to a horizontal posture when the hand unit moves to above an item storage position of the box, The hand unit includes: a push-out member actuator that operates the push-out member in an article push-out direction; and a fork actuator for operating the fork in a direction opposite to the article pushing direction, The control device is capable of controlling the actuator for the push-out member and the actuator for the fork section, and when pushing out an item on the fork section, moves the push-out member in an item pushing direction while moving the fork section in a direction opposite to the item pushing direction, in a boxing device.

2. 2. The boxing device according to claim 1, wherein fall prevention guides are provided on both sides of said fork portions to prevent articles from falling sideways.

3. The packing device according to claim 1 or 2, wherein the control device controls the posture of the hand unit so that after the fork unit lifts an item in response to the rising motion of the hand unit, the tip side of the fork unit in the item extrusion direction is higher and the base end side in the item extrusion direction is lower.

4. The packing device according to any one of claims 1 to 3, wherein the control device operates the robot arm so that the fork portion smooths an upper surface of the packed items after the packing robot packs the items into a box.

5. The packing device according to any one of claims 1 to 4, further comprising a conveying path for boxes containing items arranged in a straight line on an extension of the conveyor, and a box supply robot for supplying empty boxes to the conveying path arranged to the side of a starting end of the conveying path.

6. The boxing device according to claim 5 , wherein the control device performs an operation of closing a lid by cooperative control of the boxing robot and the box supply robot after storing the articles.

7. A packing method using the packing device according to any one of claims 1 to 6, lifting an article on the conveyor by passing the fork portion upward between the conveyor rollers; moving the fork portion to above an item storage position of the box; and a step of pushing the articles on the fork portions with a pushing member and storing them in a box.

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