Article gripping device and box-making apparatus equipped with the article gripping device

Abstract

[Problem] To provide an article gripping device capable of reliably gripping an article even if the article is composed of a flexible material, an article gripping device capable of reliably gripping even articles having different sizes, an article gripping device obtained by configuring the aforementioned article gripping devices from a simple mechanism, and a box making device including the article gripping device and capable of reliably assembling a box with sufficient gripping force in a well-balanced manner. [Solution] An article gripping device 5 comprises a first arm (first arm base end part 49a, first arm intermediate part 51a, and first arm tip part 57a) and a second arm (second arm base end part 49b, second arm intermediate part 51b, and second arm tip part 57b) rotatably connected around a motor shaft (first shaft) of an arm rotation first drive motor 61, a third arm part 59a rotatably connected to an end part of the first arm in the opposite direction to the first shaft, a pair of first suction parts 83a and 83b provided to the first arm, a pair of second suction parts 85a and 85b provided to the second arm, and a pair of third suction parts 81a and 81b provided to the third arm part 59b.

Description

Technical Field

[0001] The present invention relates to an article gripping device for gripping an article, and a box manufacturing device that uses the article gripping device to three-dimensionally assemble a flat-folded object.

Background Art

[0002] Conventionally, a box manufacturing device that three-dimensionally assembles a flat-folded object is known.

[0003] For example, Patent Document 1 describes a box manufacturing system that uses a hand 31 connected to the tip of a robot 3 to three-dimensionally assemble a flat box material 1 and automatically manufacture a cardboard box or the like.

[0004] The hand 31 described in Patent Document 1 includes a first fixture 361 and a second fixture 362 that are rotatably connected, a plurality of suction pads 34 fixed to the first fixture 361, and a plurality of suction pads 35 fixed to the second fixture 362. The first fixture 361 and the second fixture 362 are expanded, and the flat box material 1 is adsorbed in a state where the plurality of suction pads 34 and the plurality of suction pads 35 are on the same plane. After lifting the box material 1 to a certain height in this state, the first fixture 361 and the second fixture 362 are closed so as to form a 90-degree angle while the plurality of suction pads 34 and the plurality of suction pads 35 are adsorbed to the box material 1, thereby three-dimensionally assembling the box material 1 (see FIG. 3, etc.).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, the box-making system described in Reference 1 had a problem in that the hand 31 adsorbed two sides of the box-making material 1, resulting in insufficient suction force to the box.

[0007] Furthermore, while it is desirable for a box-making system to be able to produce boxes of different sizes, the box-making system described in Reference 1 had the problem of not being able to adequately accommodate this.

[0008] Furthermore, since the boxes to be manufactured are generally made of flexible materials, the box-making system described in Reference 1 had the problem that it could not reliably manufacture the boxes if they were bent.

[0009] Furthermore, in box-making systems, if the mechanism is too complex, the number of parts will increase, so it is desirable to use the simplest possible mechanism.

[0010] The present invention addresses the aforementioned problems of the prior art and aims to provide an article gripping device that can reliably grip articles made of flexible materials, an article gripping device that can reliably grip articles of different sizes, an article gripping device constructed with a simple mechanism, and a box-making device equipped with an article gripping device that can reliably assemble boxes in a balanced manner with sufficient gripping force. [Means for solving the problem]

[0011] To solve the above-mentioned problems, the article gripping device of the first aspect of the present invention is rotatably connected around a first axis, and in the direction opposite to the first axis end A first arm whose distance from the part to the first axis can be changed, and a second arm which is rotatably connected around the first axis, A first drive unit that rotates the first arm and the second arm around the first axis, and It comprises a third arm rotatably connected to the end, a first suction part provided on the first arm, a second suction part provided on the second arm, and a third suction part provided on the third arm. The third arm is rotatable relative to the end of the first arm in conjunction with the rotation of the first drive unit. It is characterized by the following:

[0012] Furthermore, this invention 2 The aspect is, 1 The article gripping device of the embodiment is characterized in that the distance between the first axis and the third suction portion can be changed.

[0013] Furthermore, this invention 3 The aspect is, 2 The article gripping device of the embodiment is characterized in that the distance between the first axis and the first suction part can be changed.

[0014] Furthermore, this invention 4 The aspect is, 2 In the article gripping device of the embodiment, the second arm is equipped with a tenth suction part, and is configured to allow the distance between the first axis and the tenth suction part to be changed.

[0015] Furthermore, this invention 5 The aspect is, 3 In the article gripping device of the embodiment, the second arm is equipped with a tenth suction part, and is configured to allow the distance between the first axis and the tenth suction part to be changed.

[0016] Furthermore, this invention 6 The embodiment is characterized in that, in the article gripping device of the first embodiment, a fourth arm is rotatably connected to the end of the second arm in the direction opposite to the first axis, and a fourth suction part is provided on the fourth arm.

[0017] Furthermore, this invention 7 The aspect is, 6 The article gripping device of the embodiment is characterized by comprising a first drive unit that rotates the first arm and the second arm around a first axis, and the fourth arm is rotatable in conjunction with the rotation of the first drive unit with respect to the end of the second arm opposite to the first axis.

[0018] Furthermore, this invention 8Aspect is the first 6 In the article gripping device of the aspect, it is characterized in that the distance between the first axis and the fourth suction part is configured to be changeable.

[0019] Also, the first 9 Aspect is the first 7 In the article gripping device of the aspect, it is characterized in that the distance between the first axis and the fourth suction part is configured to be changeable.

[0020] Also, the article gripping device of the first 0 aspect of the present invention includes a fifth arm and a sixth arm rotatably connected around a second axis, a sixth arm and a seventh arm rotatably connected around a third axis, an eighth arm rotatably connected to an end of the fifth arm in a direction opposite to the second axis, a ninth arm rotatably connected to an end of the seventh arm in a direction opposite to the third axis, a fifth suction part provided on the fifth arm, a sixth suction part provided on the sixth arm, a seventh suction part provided on the seventh arm, an eighth suction part provided on the eighth arm, and a ninth suction part provided on the ninth arm.

[0021] Also, the first 1 Aspect is the first 0 In the article gripping device of the aspect, it is provided with a second driving part for rotating the fifth arm and the sixth arm around the second axis, and the eighth arm is rotatable with respect to an end of the fifth arm in a direction opposite to the second axis in conjunction with the rotation of the second driving part.

[0022] Also, the first 2 Aspect is the first 0 In the article gripping device of the aspect, it is characterized in that the distance between the second axis and the eighth suction part is configured to be changeable.

[0023] Also, the first 3 Aspect is the first 1The article gripping device of the embodiment is characterized in that the distance between the second axis and the eighth suction portion can be changed.

[0024] Furthermore, the first invention 4 The aspect is the first 0 The article gripping device of the embodiment is characterized by comprising a third drive unit that rotates the sixth arm and the seventh arm around the third axis, and the ninth arm is rotatable in conjunction with the rotation of the third drive unit with respect to the end of the seventh arm opposite to the third axis.

[0025] Furthermore, this invention 15 The aspect is the first 0 The article gripping device of the embodiment is characterized in that the distance between the third axis and the ninth suction portion can be changed.

[0026] Furthermore, this invention 16 The aspect is the first 4 The article gripping device of the embodiment is characterized in that the distance between the third axis and the ninth suction portion can be changed.

[0027] Furthermore, this invention 17 The box-making apparatus of the embodiment comprises a multi-joint robot and the second arm connected to the tip of the multi-joint robot, in the first embodiment to the second embodiment. 9 It is characterized by comprising an article gripping device as described in any of the embodiments.

[0028] Furthermore, the present invention 18 The box-making apparatus of this embodiment includes a multi-joint robot and a first joint robot to which the sixth arm is connected at the tip of the multi-joint robot. 0 Modes or types 16 It is characterized by comprising an article gripping device as described in any of the embodiments. [Effects of the Invention]

[0029] According to the article gripping device of the first aspect of the present invention, a first axis is rotatably connected and is in the opposite direction to the first axis. endA first arm whose distance from the part to the first axis can be changed, and a second arm which is rotatably connected around the first axis, A first drive unit that rotates the first arm and the second arm around the first axis, It comprises a third arm rotatably connected to the end, a first suction part provided on the first arm, a second suction part provided on the second arm, and a third suction part provided on the third arm. The third arm is rotatable relative to the end of the first arm in conjunction with the rotation of the first drive unit. Therefore, even if an article is made of a flexible material, With a simple mechanism It can securely grip objects.

[0030] Furthermore, this invention 2 Depending on the aspect, 1 In the article gripping device of the embodiment, the distance between the first axis and the third suction part is configured to be changeable, 1 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0031] Furthermore, this invention 3 Depending on the aspect, 2 In the article gripping device of the embodiment, the distance between the first axis and the first suction part is configured to be changeable, 2 In addition to the effects of the article gripping device described above, this device can grip articles of different sizes even more securely.

[0032] Furthermore, this invention 4 Depending on the aspect, 2 In the article gripping device of the embodiment, the second arm is equipped with a tenth suction part, and the distance between the first axis and the tenth suction part is configured to be changeable, 2 In addition to the effects of the article gripping device described above, this device can grip articles of different sizes even more securely.

[0033] Furthermore, this invention 5 Depending on the aspect, 3 In the article gripping device of the embodiment, the second arm is equipped with a tenth suction part, and the distance between the first axis and the tenth suction part is configured to be changeable, 3 In addition to the effects of the article gripping device described above, this device can grip articles of different sizes even more securely.

[0034] Furthermore, this invention 6 In one embodiment, the article gripping device of the first embodiment includes a fourth arm rotatably connected to the end of the second arm opposite to the first axis, and a fourth suction part provided on the fourth arm. Therefore, in addition to the effects of the article gripping device of the first embodiment, it is possible to grip articles even more securely, even if the article is made of a flexible material.

[0035] Furthermore, this invention 7 Depending on the aspect, 6 In an article gripping device of the embodiment, a first drive unit is provided to rotate the first arm and the second arm around a first axis, and the fourth arm is rotatable in conjunction with the rotation of the first drive unit with respect to the end of the second arm opposite to the first axis, 6 In addition to the effects of the article gripping device described above, even articles made of flexible materials can be securely gripped with an even simpler mechanism.

[0036] Furthermore, this invention 8 Depending on the aspect, 6 In the article gripping device of the form described above, the distance between the first axis and the fourth suction part is configured to be changeable, 6 Appearance of articles Hold In addition to the effectiveness of the device, it can reliably grip items of different sizes.

[0037] Furthermore, this invention 9 Depending on the aspect, 7 In the article gripping device of the embodiment, the distance between the first axis and the fourth suction part is configured to be changeable, 7 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0038] Furthermore, the first invention 0According to the article gripping device of this embodiment, a fifth arm and a sixth arm are rotatably connected around a second axis; a sixth arm and a seventh arm are rotatably connected around a third axis; an eighth arm is rotatably connected to the end of the fifth arm opposite to the second axis; a ninth arm is rotatably connected to the end of the seventh arm opposite to the third axis; a fifth suction part is provided on the fifth arm; a sixth suction part is provided on the sixth arm; a seventh suction part is provided on the seventh arm; an eighth suction part is provided on the eighth arm; and a ninth suction part is provided on the ninth arm. As such, even articles made of flexible materials can be gripped more securely.

[0039] Furthermore, the first invention 1 Depending on the aspect, the first 0 In the article gripping device of the embodiment, a second drive unit is provided to rotate the fifth arm and the sixth arm around a second axis, and the eighth arm is rotatable in conjunction with the rotation of the second drive unit with respect to the end of the fifth arm opposite to the second axis, so the first 0 In addition to the effects of the article gripping device described above, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0040] Furthermore, the first invention 2 Depending on the aspect, the first 0 In the article gripping device of the embodiment, the distance between the second axis and the eighth suction part is configured to be changeable, so the first 0 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0041] Furthermore, the first invention 3 Depending on the aspect, the first 1 In the article gripping device of the embodiment, the distance between the second axis and the eighth suction part is configured to be changeable, so the first 1 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0042] Furthermore, the first invention 4Depending on the aspect, the first 0 In the article gripping device of the embodiment, a third drive unit is provided that rotates the sixth arm and the seventh arm around the third axis, and the ninth arm is rotatable in conjunction with the rotation of the third drive unit with respect to the end of the seventh arm opposite to the third axis, so the first 0 In addition to the effects of the article gripping device described above, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0043] Furthermore, this invention 15 Depending on the aspect, the first 0 In the article gripping device of the embodiment, the distance between the third axis and the ninth suction part is configured to be changeable, so the first 0 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0044] Furthermore, this invention 16 Depending on the aspect, the first 4 In the article gripping device of the embodiment, the distance between the third axis and the ninth suction part is configured to be changeable, so the first 4 In addition to the effects of the article gripping device described above, it can reliably grip articles of different sizes.

[0045] Furthermore, this invention 17 According to the box-making apparatus of the embodiment, a multi-joint robot and a second arm connected to the tip of the multi-joint robot are provided in the first embodiment to the 9 Since it is equipped with an article gripping device as described in any of the embodiments, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0046] Furthermore, the present invention 18 According to the box-making apparatus of this embodiment, a multi-joint robot and a first joint robot with a sixth arm connected to the tip of the multi-joint robot 0 Modes or types 16 Since it is equipped with an article gripping device as described in any of the embodiments, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force. [Brief explanation of the drawing]

[0047] [Figure 1] This is an overall plan view of a box-making system including a box-making apparatus equipped with an article gripping device according to a first embodiment of the present invention. [Figure 2] This is a perspective view of a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 3] This is a plan view of a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 4] This is a plan view showing a box-making apparatus equipped with the article gripping device of the first embodiment in a state where a box is being gripped. [Figure 5] This is a perspective view showing a box-making apparatus equipped with the article gripping device of the first embodiment gripping a box. [Figure 6] This is a block diagram of a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 7] This is a block diagram of the main controller in a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 8] This is a flowchart of the main program in a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 9] This is a flowchart of the outer flap folding process program in a box-making apparatus equipped with an article gripping device according to the first embodiment. [Figure 10] This is a plan view of the article gripping device of the first embodiment in a state where the spacing between the suction parts has been widened. [Figure 11] This is a front view of the article gripping device of the first embodiment in a state where the spacing between the suction parts has been widened. [Figure 12] This is a bottom view of the article gripping device of the first embodiment in a state where the spacing between the suction parts has been widened. [Figure 13] This is a perspective view showing the initial state in which the article gripping device of the first embodiment grips a box with the spacing between the suction parts widened. [Figure 14] This is a front view showing the final state in which the article gripping device of the first embodiment grips a box with the spacing of the suction parts widened. [Figure 15] This is a plan view of the article gripping device of the first embodiment in a state where the distance between the suction parts has been reduced. [Figure 16] This is a front view of the article gripping device of the first embodiment in a state where the distance between the suction parts has been reduced. [Figure 17] This is a bottom view of the article gripping device of the first embodiment in a state where the spacing between the suction parts has been reduced. [Figure 18] This is a perspective view showing the initial state in which the article gripping device of the first embodiment grips a box with the distance between the suction parts reduced. [Figure 19] This is a front view showing the final state in which the article gripping device of the first embodiment grips a box with the distance between the suction parts reduced. [Figure 20] This is a perspective view of a box-making apparatus equipped with an article gripping device according to a second embodiment. [Figure 21] This is a plan view of a box-making apparatus equipped with an article gripping device according to a second embodiment. [Figure 22] This is a plan view showing a box-making apparatus equipped with the article gripping device of the second embodiment gripping a box. [Figure 23] This is a perspective view showing a box-making apparatus equipped with the article gripping device of the second embodiment gripping a box. [Figure 24] This is a plan view of the article gripping device of the second embodiment in a state where the spacing between the suction parts has been widened. [Figure 25] This is a front view of the article gripping device of the second embodiment, with the spacing between the suction parts widened. [Figure 26] This is a bottom view of the article gripping device of the second embodiment, with the spacing between the suction parts widened. [Figure 27] This is a perspective view showing the initial state in which the article gripping device of the second embodiment grips a box with the spacing between the suction parts widened. [Figure 28] This is a front view showing the final state in which the article gripping device of the second embodiment grips a box with the spacing of the suction parts widened. [Figure 29] This is a plan view of the article gripping device of the second embodiment in a state where the spacing between the suction parts has been reduced. [Figure 30]This is a front view of the article gripping device of the second embodiment in a state where the distance between the suction parts has been reduced. [Figure 31] This is a bottom view of the article gripping device of the second embodiment in a state where the spacing between the suction parts has been reduced. [Figure 32] This is a perspective view showing the initial state in which the article gripping device of the second embodiment grips a box with the distance between the suction parts reduced. [Figure 33] This is a front view showing the final state in which the article gripping device of the second embodiment grips a box with the distance between the suction parts reduced. [Figure 34] This is a bottom view of the article gripping device of the third embodiment in a state where the spacing between the suction parts has been widened. [Figure 35] This is a perspective view showing the initial state in which the article gripping device of the third embodiment grips a box with the spacing of the suction parts widened. [Figure 36] This is a front view showing the final state in which the article gripping device of the third embodiment grips a box with the spacing of the suction parts widened. [Figure 37] This is a bottom view of the article gripping device of the fourth embodiment in a state where the spacing between the suction parts has been widened. [Figure 38] This is a perspective view showing the initial state in which the article gripping device of the fourth embodiment grips a box with the spacing between the suction parts widened. [Figure 39] This is a front view showing the final state in which the article gripping device of the fourth embodiment grips a box with the spacing of the suction parts widened. [Figure 40] This is a bottom view of the article gripping device of the fifth embodiment in a state where the spacing between the suction parts has been widened. [Figure 41] This is a perspective view showing the initial state in which the article gripping device of the fifth embodiment grips a box with the spacing of the suction parts widened. [Figure 42] This is a front view showing the final state in which the article gripping device of the fifth embodiment grips a box with the spacing between the suction parts widened.

[0048] Embodiments of the present invention will be described below with reference to the drawings.

[0049] The article gripping device of the embodiment described later will be explained as a device for gripping a cardboard box as an example of an article, but it is not limited to gripping cardboard boxes and can be applied to any article.

[0050] However, the article gripping device of the embodiment described later is particularly effective for articles that are flexible, such as cardboard boxes, and will have the effects described later.

[0051] Furthermore, although the box-making apparatus of the embodiment described later will be explained using corrugated cardboard boxes as an example of boxes, it can be applied not only to corrugated cardboard boxes but also to any box that is transformed from a flat box into a three-dimensional object.

[0052] However, the box-making apparatus of the embodiment described later is particularly effective for boxes that have flexibility, such as corrugated cardboard boxes, and will be described in more detail later.

[0053] (First Embodiment) First, the article gripping device of the first embodiment and the box-making apparatus equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0054] Figure 1 is an overall plan view of a box-making system including a box-making apparatus equipped with an article gripping device according to the first embodiment of the present invention; Figure 2 is a perspective view of the box-making apparatus equipped with the article gripping device according to the first embodiment; Figure 3 is a plan view of the box-making apparatus; Figure 4 is a plan view showing the box-making apparatus gripping a box; and Figure 5 is a perspective view showing the box-making apparatus gripping a box.

[0055] As shown in Figure 1, the box-making system, which includes the box-making apparatus 1 equipped with the article gripping device 5 of this embodiment, selectively grips flat corrugated cardboard placed according to size to form a three-dimensional shape, folds the inner and outer flaps formed at both the upper and lower ends of the three-dimensional corrugated cardboard, and then applies tape to the ends of the outer flaps to manufacture a corrugated cardboard box.

[0056] The box-making system described here comprises a flat corrugated cardboard placement section 80 on which flat corrugated cardboard is placed before being assembled into a three-dimensional structure; a first box-making section 60 that moves flat corrugated cardboard of a desired size from the flat corrugated cardboard placement section 80 to a second box-making section 50 (described later) and oversees the box-making process; a second box-making section 50 that, in cooperation with the first box-making section 60, transforms the flat corrugated cardboard into a three-dimensional structure and forms a box; and a discharge section 40 that discharges the completed corrugated cardboard boxes.

[0057] As shown in Figure 1, the flat corrugated cardboard mounting section 80 in this embodiment holds three corrugated cardboard boxes W1, W2, and W3 of different sizes in a folded, flat state. In this embodiment, corrugated cardboard box W1 is the largest size, and corrugated cardboard box W3 is the smallest size.

[0058] In this embodiment, the corrugated cardboard box W1 is a standard corrugated cardboard box, equipped with four flaps on the bottom for folding: a front lower inner flap W1DS1, a rear lower inner flap W1DS2, a right lower outer flap W1DL1, and a left lower outer flap W1DL2, and four flaps on the top for folding: a front upper inner flap W1US1, a rear upper inner flap W1US2, a right upper outer flap W1UL1, and a left upper outer flap W1UL2 (see Figure 5).

[0059] On the other hand, the number of cardboard box sizes is not limited to three as in this embodiment, but can be any number as long as it is permissible in relation to the flat cardboard mounting section 80 and the first box-making section 60, which will be described later.

[0060] The first box-making unit 60 selects and grasps a flat corrugated cardboard of a desired size from among the flat corrugated cardboard placed on the flat corrugated cardboard placement unit 80, and works in cooperation with the second box-making unit 50 (described later) to form a three-dimensional shape from the flat corrugated cardboard.

[0061] Furthermore, the first box-making section 60 includes a box-making device 1, a mobile platform 93 on which the box-making device 1 is installed, a long mobile rail 91 for moving the mobile platform 93 in the +H direction and -H direction over the entire length of the flat corrugated cardboard placement section 80, and a robot position drive motor 95 installed on the mobile platform 93 for moving the mobile platform 93 on the mobile rail 91.

[0062] The mobile platform 93 is configured to move along the mobile rail 91 in the +H and -H directions by the rotation of the robot position drive motor 95, and in this embodiment, the articulated robot 3 is configured to be able to grasp the flat corrugated cardboard placed over the entire flat corrugated cardboard placement section 80.

[0063] As shown in Figures 2 and 5, the box-making apparatus 1 consists of an articulated robot 3 and an article gripping device 5 connected to the tip of the articulated robot 3. The articulated robot 3 is a standard 5-axis articulated robot and comprises a first base 31 fixed to a mobile platform 93, a second base 33 that pivots relative to the first base 31, a lower arm 35 that rotates forward and backward relative to the second base 33, a middle arm 37 that rotates and moves up and down relative to the lower arm 35, a rotating part 45 that rotates up and down relative to the middle arm 37, and a rotating part 47 (mounting part 47) that rotates relative to the rotating part 45.

[0064] The item gripping device 5 will be explained in detail later.

[0065] The second box-making unit 50 works in cooperation with the first box-making unit 60, which grasps flat corrugated cardboard of a desired size from among the flat corrugated cardboard placed on the flat corrugated cardboard placement unit 80, to form a three-dimensional box from the flat corrugated cardboard.

[0066] As shown in Figure 1, the second box-making section 50 includes a flat corrugated cardboard mounting base 36, nine article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 installed on the upper surface of the flat corrugated cardboard mounting base 36, a first rail 22 positioned in the upper left center of Figure 1 of the article suction sections V1 to V9 and movable in the +H and -H directions, a pair of second rails 26a and 26b positioned on both sides of the first rail 22 in the +V and -V directions and movable in the +V and -V directions, +H and -H directions, and +Z and -Z directions (see Figure 2, etc.), and a tape application section 34 positioned in the upper left center of Figure 1 of the second rails 26a and 26b for applying tape to the bottom of the box-making corrugated cardboard box.

[0067] In this embodiment, the first rail 22 is a long rod with a circular cross-section, and the second rails 26a and 26b are also long rods with a circular cross-section. However, the cross-sectional shape of each is not limited to a circle; it may be an ellipse, a rectangle, or other shape.

[0068] Furthermore, although the second rails 26a and 26b in this embodiment are long rods, as will be described later, the second rails 26a and 26b may be spherical or other shapes as long as they can bend the right lower outer flap W1DL1 and the left lower outer flap W1DL2.

[0069] However, in order to fold the right lower outer flap W1DL1 and the left lower outer flap W1DL2, which have a suitable length, without damaging them, it is better for the second rail 26a and the second rail 26b to be long rods, as in this embodiment.

[0070] Furthermore, the item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 suck up the item by activating the compressor 8, which will be described later. However, they do not suck up the entire flat corrugated cardboard, but rather only the surfaces that do not move when the flat corrugated cardboard is made into a three-dimensional shape. In this embodiment, as shown in Figure 1, only the surface of the flat corrugated cardboard at the upper left center position in Figure 1 is configured to be sucked up.

[0071] Furthermore, as shown in Figure 1, the second box section 50 includes a first rail forward / backward drive motor 30a (see Figure 6) for moving the first rail 22 in the +H direction and the -H direction, a second rail forward / backward drive motor 30b (see Figure 6) for moving a pair of second rails 26a and 26b in the +H direction and the -H direction, a second rail left / right drive motor 28 for moving a pair of second rails 26a and 26b in the +V direction and the -V direction, and a second rail up / down drive motor 32 for moving a pair of second rails 26a and 26b in the +Z direction and the -Z direction.

[0072] Furthermore, a projection 24 is formed at the base end of the first rail 22 in the -H direction, projecting upward from the surface of the first rail 22. The shape of the projection 24 is not particularly limited, but in this embodiment, it is formed in a curved shape in vertical cross-section to prevent damage to the folding flap.

[0073] The discharge unit 40 discharges the manufactured corrugated cardboard boxes and, as shown in Figure 1, comprises a first discharge platform 41 on which the manufactured corrugated cardboard boxes are placed, and a second discharge platform 42 positioned in front of the first discharge platform 41 in the +H direction. The first discharge platform 41 is equipped with a plurality of first rotating rollers 44 for feeding the manufactured corrugated cardboard boxes in the +H direction, and the second discharge platform 42 is equipped with a plurality of second rotating rollers 46 for feeding the corrugated cardboard boxes in the same +H direction as the first rotating rollers 44, and a plurality of third rotating rollers 48 for feeding the boxes in the +V direction, which is approximately perpendicular to the direction in which the second rotating rollers 46 feed the boxes.

[0074] As shown in Figure 4, the article gripping device 5 of this embodiment grips three of the four sides of a three-dimensional corrugated cardboard box by suction, and can reliably grip corrugated cardboard even if it is made of a flexible material.

[0075] In this embodiment and the embodiments described later, in the plane in which each arm of the article gripping device opens and closes, the horizontal direction is defined as the +X·-X direction, the vertical direction as the +Z·-Z direction, and the direction perpendicular to the +X·-X direction and the +Z·-Z direction is defined as the +Y·-Y direction.

[0076] As shown in Figures 2 to 5, the article gripping device 5 comprises, on the -X side of the drawing from the rotating part 47 (mounting part 47) of the articulated robot 3, a first arm base end 49a, a first arm intermediate part 51a slidably engaged with the first arm base end 49a in the +X and -X directions which are the longitudinal directions of the first arm base end 49a, a first arm tip end 57a slidably engaged with the first arm intermediate part 51a in the +X and -X directions, and a third arm part 59a (corresponding to the "third arm" of the present invention) rotatably connected to the -X direction tip end of the first arm tip end 57a (the end of the first arm opposite to the first axis, which will be described later).

[0077] Furthermore, the "first arm" of the present invention is composed of the base portion 49a, the intermediate portion 51a, and the tip portion 57a ​​of the first arm in this embodiment.

[0078] Furthermore, the article gripping device 5 is equipped with a total of four sets of suction parts (first suction parts 83a and 83b, second suction parts 85a and 85b, third suction parts 81a and 81b, and tenth suction parts 87a and 87b) in pairs for gripping corrugated cardboard. The first arm, the second arm and the third arm section 59a (described later) are configured to face the same direction when the arm is in a horizontal position, and the suction parts are configured to face the surface of the corrugated cardboard when gripping it as described later.

[0079] Specifically, the article gripping device 5 is equipped with a pair of third suction parts 81a and 81b on the third arm portion 59a, a pair of first suction parts 83a and 83b on the intermediate portion 51a of the first arm, a pair of second suction parts 85a and 85b on the base end portion 49b of the second arm (described later), and a pair of tenth suction parts 87a and 87b on the intermediate portion 51b of the second arm (described later).

[0080] Furthermore, the first suction sections 83a and 83b, the second suction sections 85a and 85b, the third suction sections 81a and 81b, and the tenth suction sections 87a and 87b, as well as all suction sections in the embodiments described later, suck up and grip an article by driving the compressor 8, which will be described later.

[0081] Furthermore, each pair of suction parts (a pair of first suction parts 83a and 83b, a pair of second suction parts 85a and 85b, a pair of third suction parts 81a and 81b, and a pair of tenth suction parts 87a and 87b) is provided with a cylinder (a first cylinder 83 corresponding to the pair of first suction parts 83a and 83b, a second cylinder 85 corresponding to the pair of second suction parts 85a and 85b, a third cylinder 81 corresponding to the pair of third suction parts 81a and 81b, and a tenth cylinder 87 corresponding to the pair of tenth suction parts 87a and 87b).

[0082] Furthermore, by activating these cylinders with a compressor 8 (described later), the lengths of the suction rods (first suction rod 83c, second suction rod 85c, third suction rod 81c, and tenth suction rod 87c) can be extended or retracted, thereby changing the spacing between each suction part in the +Y·-Y direction (the spacing between the first suction part 83a and the first suction part 83b in the +Y·-Y direction, the spacing between the second suction part 85a and the second suction part 85b in the +Y·-Y direction, the spacing between the third suction part 81a and the third suction part 81b in the +Y·-Y direction, and the spacing between the tenth suction part 87a and the fourth suction part 87b in the +Y·-Y direction).

[0083] In this embodiment, the article gripping device 5 allows the spacing between each suction part in the +Y·-Y direction to be changed in order to ensure gripping force against the cardboard box according to the size of the cardboard box. Normally, the device is configured to grip the cardboard box with the spacing between each suction part in the +Y·-Y direction closed, but when the size of the cardboard box increases, the device is configured to widen the spacing between each suction part in the +Y·-Y direction to accommodate this.

[0084] In this embodiment, the article gripping device 5 expands and contracts the distance between each suction part in the +Y·-Y direction by switching each cylinder (first cylinder 83, second cylinder 85, third cylinder 81, and tenth cylinder 87) ON / OFF using a compressor 8, which will be described later. However, the distance between each suction part in the +Y·-Y direction may be continuously expanded and contracted via gears by driving a motor.

[0085] Furthermore, the article gripping device 5 includes an arm rotation first drive motor 61 (corresponding to the "first drive unit" of the present invention) located at the base end 49b of the second arm, which will be described later, for rotating the first arm and the second arm, which will be described later, around a motor shaft (corresponding to the "first shaft" of the present invention); an arm rotation first drive motor gear 63 coaxially connected to the motor shaft (corresponding to the "first shaft" of the present invention) of the arm rotation first drive motor 61; and an arm rotation first drive driven gear 65 located at the base end 49a of the first arm, which meshes with the arm rotation first drive motor gear 63.

[0086] Furthermore, the article gripping device 5 includes a first toothed pulley 67 for the first arm rotation drive, which is positioned on the opposite side of the first arm base end 49a from the driven gear 65 for the first arm rotation drive and is connected coaxially with the driven gear 65 for the first arm rotation drive, a first toothed belt 69 for the first arm rotation drive, with one end engaged with the first toothed pulley 67 for the first arm rotation drive, and a second toothed pulley 71 for the first arm rotation drive, with the other end of the first toothed belt 69 for the first arm rotation drive engaged with the first toothed pulley.

[0087] Furthermore, the article gripping device 5 includes a second toothed belt 73 for first arm rotation drive, one end of which is engaged with the second toothed pulley 71 for first arm rotation drive; a third toothed pulley 75 for first arm rotation drive, engaged with the other end of the second toothed belt 73 for first arm rotation drive; and a third arm portion 59a connected to the rotation axis of the third toothed pulley 75 for first arm rotation drive.

[0088] Furthermore, a first link section 53a for extending and retracting the first arm is connected between the first toothed pulley 67 for first arm rotation drive and the second toothed pulley 71 for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 67 for first arm rotation drive and the second toothed pulley 71 for first arm rotation drive. Similarly, a second link section 55a for extending and retracting the first arm is connected between the second toothed pulley 71 for first arm rotation drive and the third toothed pulley 75 for first arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 71 for first arm rotation drive and the third toothed pulley 75 for first arm rotation drive.

[0089] Furthermore, the first link section 53a for extending and retracting the first arm and the second link section 55a for extending and retracting the first arm are configured to rotate freely with respect to the central axis of the second toothed pulley 71 for the first arm rotation drive, depending on the distance between the driven gear 65 for the first arm rotation drive and the third toothed pulley 75 for the first arm rotation drive.

[0090] When the first arm rotation drive motor 61 rotates, its rotational force is transmitted to the first arm rotation drive motor gear 63, and as described above, the first arm and the second arm, which will be described later, are configured to rotate around the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of this invention).

[0091] In this embodiment, the article gripping device 5 is configured to be rotatable so as to form a 90-degree angle between the first arm and the second arm, which will be described later, in order to securely grip the cardboard box in its assembled state.

[0092] Then, when the first arm and the second arm (described later) rotate to form a 90-degree angle, the first arm and the second arm are locked together, and the rotational force of the first arm rotation drive motor 61 is transmitted to the first arm rotation drive driven gear 65, the first toothed pulley 67 for the first arm rotation drive, the first toothed belt 69 for the first arm rotation drive, the second toothed pulley 71 for the first arm rotation drive, the second toothed belt 73 for the first arm rotation drive, the third toothed pulley 75 for the first arm rotation drive, and the third arm portion 59a. As a result, the third arm portion 59a is configured to rotate relative to the center of the third toothed pulley 75 for the first arm rotation drive (the end of the first arm opposite to the first axis).

[0093] Furthermore, in the article gripping device 5 of this embodiment, the third arm portion 59a is configured to rotate 90 degrees relative to the tip portion 57a ​​of the first arm so that the cardboard box can be securely gripped in its assembled state.

[0094] In this embodiment of the article gripping device 5, the first arm and the second arm (described later) are configured to rotate at a 90-degree angle to ensure that the cardboard box is securely gripped in its assembled state, and the third arm portion 59a is configured to rotate 90 degrees relative to the tip portion 57a ​​of the first arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped. By physically locking the first arm and the second arm together, the rotation can be set to 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0095] Furthermore, the article gripping device 5 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of the present invention) and a pair of first suction parts 83a and 83b, and a pair of third suction parts 81a and 81b, according to the size of the cardboard box. Specifically, it includes a first arm extension motor 11a located at the base end 49a of the first arm, a first toothed pulley 13a for extension of the first arm coaxially connected to the motor shaft of the first arm extension motor 11a, and a first toothed belt 15a for extension of the first arm with one end engaged with the first toothed pulley 13a for extension of the first arm.

[0096] Furthermore, the article gripping device 5 includes a first arm extension second toothed pulley 17a engaged with the other end of the first arm extension first toothed belt 15a, a first arm extension first locking part 19a connected to the first arm intermediate part 51a and connected to the lower side of the first arm extension first toothed belt 15a, a first arm extension third toothed pulley 21a rotatably connected on the first arm intermediate part 51a, and a first arm extension second toothed belt 23a with one end engaged with the first arm extension third toothed pulley 21a.

[0097] Furthermore, the article gripping device 5 includes a fourth toothed pulley 25a for extending and retracting the first arm, which is engaged with the other end of the second toothed belt 23a for extending and retracting the first arm; a second locking part 20a for extending and retracting the first arm, which is connected to the base end 49a of the first arm and connected to the -Y direction side of the second toothed belt 23a for extending and retracting the first arm; and a third locking part 27a for extending and retracting the first arm, which is connected to the tip end 57a of the first arm and connected to the +Y direction side of the second toothed belt 23a for extending and retracting the first arm.

[0098] The method for changing the distance between the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of this invention) and the pair of first suction parts 83a and 83b, as well as the pair of third suction parts 81a and 81b, will be described later.

[0099] Furthermore, as shown in Figures 2 to 5, the article gripping device 5 comprises a second arm base end 49b, a second arm intermediate portion 51b slidably engaged with the second arm base end 49b in the +X and -X directions which are the longitudinal directions of the second arm base end 49b, and a second arm tip end 57b slidably engaged with the second arm intermediate portion 51b in the +X and -X directions.

[0100] Furthermore, the "second arm" of the present invention is composed of the base portion 49b, the intermediate portion 51b, and the tip portion 57b of the second arm in this embodiment.

[0101] Furthermore, the article gripping device 5 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of the present invention) and the tenth suction parts 87a and 87b according to the size of the cardboard box. Specifically, it includes a second arm extension motor 11b located at the base end 49b of the second arm, a second arm extension first toothed pulley 13b (not shown as it is hidden by a cover, but connected to the second arm extension motor 11b in a similar manner to the first arm extension first toothed pulley 13a) coaxially connected to the motor shaft of the second arm extension motor 11b, and a second arm extension first toothed belt 15b (not shown as it is hidden by a cover, but arranged in a similar manner to the first arm extension first toothed belt 15a) with one end engaged with the second arm extension first toothed pulley 13b.

[0102] Furthermore, the article gripping device 5 includes a second toothed pulley 17b for extending the second arm, which is engaged with the other end of the first toothed belt 15b for extending the second arm; a first locking part 19b for extending the second arm, which is connected to the intermediate part 51b of the second arm and connected to the lower side of the first toothed belt 15b for extending the second arm; a third toothed pulley 21b for extending the second arm, which is rotatably connected on the intermediate part 51b of the first arm (it is hidden by a cover and not shown, but is arranged in a similar manner to the third toothed pulley 21a for extending the first arm); and a second toothed belt 23b for extending the second arm, with one end engaged with the third toothed pulley 21b for extending the second arm.

[0103] Furthermore, the article gripping device 5 includes a second toothed pulley 25b for second arm extension engaged with the other end of the second toothed belt 23b for second arm extension, a second locking part 20b for second arm extension (not shown as it is hidden by a cover, but is arranged in a similar manner to the second locking part 20a for first arm extension) connected to the base end 49b of the second arm and connected to the -Y direction side of the second toothed belt 23b for second arm extension, and a third locking part 27b for second arm extension connected to the tip end 57b and connected to the +Y direction side of the second toothed belt 23b for second arm extension.

[0104] The method for changing the distance between the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of this invention) and the tenth suction parts 87a and 87b will be described later.

[0105] Next, a block diagram of the box-making apparatus 1 equipped with the article gripping device of this embodiment will be described.

[0106] Figure 6 is a block diagram of a box-making apparatus equipped with an article gripping device according to the first embodiment, and Figure 7 is a block diagram of the main controller in the box-making apparatus equipped with an article gripping device according to the first embodiment.

[0107] In Figure 6, the box-making apparatus 1 comprises a power supply 4, a main controller 2 electrically connected to the power supply 4, a robot controller 10 electrically connected to the main controller 2 for driving the articulated robot 3, and first suction parts 83a and 83b, second suction parts 85a and 85b, third suction parts 81a and 81b, tenth suction parts 87a and 87b, first cylinder 81, second cylinder 83, third cylinder 85, tenth cylinder 87, and article suction parts V1, V2, V3, electrically connected to the main controller 2. The system includes a compressor 8 for driving V4, V5, V6, V7, V8 and V9, a driver circuit 12 electrically connected to the main controller 2 for driving the first arm rotation drive motor 61, the first arm extension / retraction motor 11a, the second arm extension / retraction motor 11b, the first rail forward / backward drive motor 30a, the second rail forward / backward drive motor 30b, the second rail left / right drive motor 28, the second rail up / down drive motor 32 and the robot position drive motor 95, and an operation panel 6 for receiving input from the user of the device.

[0108] Furthermore, in Figure 7, the main controller 2 includes a CPU (Central Processing Unit) 14, a RAM (Random Access Memory) 16 connected to the CPU 14 for input / output, and a ROM (Read Only Memory) 18 connected to the CPU 14 for input / output.

[0109] RAM16 includes a box placement position data table 16a that stores the placement position of the cardboard boxes and a box information data table 16b that stores information such as the size of the cardboard boxes, and ROM18 includes a main program 18a that controls the operation of the entire box-making apparatus 1 of this embodiment and an outer flap folding processing program 18b for folding the outer flaps of the cardboard boxes.

[0110] Next, the operation of the box-making apparatus 1 with the above-described configuration will be explained. Figure 8 is a flowchart of the main program in the box-making apparatus equipped with the article gripping device of the first embodiment, and Figure 9 is a flowchart of the outer flap folding program in the box-making apparatus equipped with the article gripping device of the first embodiment.

[0111] In Figure 8, first, after the user of the box-making device 1 turns on the power switch of the device, the user inputs the size of the corrugated cardboard box to be processed (size of the corrugated cardboard box = W1) and the number of corrugated cardboard boxes to be processed using the operation buttons on the operation panel 6, and then presses the start button. The box-making device 1 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the device acquires the placement position of the corrugated cardboard box W1 stored in the box placement position data table 16a of RAM 16, and box information such as the size of the corrugated cardboard box W1 stored in the box information data table 16b (S5).

[0112] Initially, the articulated robot 3 of the box-making device 1 is set at the left end position of the upper moving rail 91 in Figure 1.

[0113] When the box-making device 1 obtains the placement position of the flat corrugated cardboard (position of the flat corrugated cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat corrugated cardboard W1, etc.) stored in the box information data table 16b, the box-making device 1 rotates the robot position drive motor 95 to move the mobile platform 93 on which the articulated robot 3 is mounted along the mobile rail 91 to the location where the flat corrugated cardboard W1 of the flat box placement section 80 is stacked.

[0114] Then, the gripping device 5 connected to the tip of the articulated robot 3 is set to a gripping width that matches the size of the flat corrugated cardboard W1, and is opened as shown in Figure 2 (S6). The uppermost layer of the stacked flat corrugated cardboard W1 is then sucked up, lifted, rotated, and moved to the top surface of the flat corrugated cardboard mounting table 36, where it is placed on the top surface of the flat corrugated cardboard mounting table 36 (S7).

[0115] At this time, the article gripping device 5 may use a pair of first suction parts 83a and 83b, a pair of second suction parts 85a and 85b, a pair of third suction parts 81a and 81b, and a pair of tenth suction parts 87a and 87b (all suction parts are in the ON state) to suck up the flat corrugated cardboard W1. However, considering the process of S13 described later, it is also possible to use only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b to suck up the flat corrugated cardboard W1 from this point onward, and not use the pair of first suction parts 83a and 83b and the pair of third suction parts 81a and 81b.

[0116] To put the article gripping device 5 in the open state means, as shown in Figures 2 and 3, widening the angle between the first arm and the second arm to approximately 180 degrees, so that all the suction parts, namely the pair of first suction parts 83a and 83b, the pair of second suction parts 85a and 85b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b face each other on the same plane.

[0117] Here, we will explain how the article gripping device 5 changes the distance between the motor shaft of the first arm rotation drive motor 61 (corresponding to the "first shaft" of this invention) and the pair of first suction parts 83a and 83b and the pair of third suction parts 81a and 81b to match the size of the flat corrugated cardboard.

[0118] First, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b and the pair of third suction parts 81a and 81b is increased.

[0119] When increasing the distance between the motor shaft of the first motor 61 for rotating the arm and the pair of first suction parts 83a and 83b and the pair of third suction parts 85a and 85b, first the first arm extension motor 11a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first locking part 19a for extending the arm, which is connected to the lower side of the first toothed pulley 13a and the first toothed belt 15a for extending the arm, via the first toothed pulley 13a and the first toothed belt 15a for extending the arm.

[0120] As a result, the first locking part 19a for extending and retracting the first arm moves in the -X direction, the intermediate part 51a of the first arm connected to the first locking part 19a for extending and retracting the first arm also moves in the -X direction, and the pair of first suction parts 83a and 83b provided on the intermediate part 51a of the first arm also move in the -X direction, thereby increasing the distance between the motor shaft of the first drive motor 61 for arm rotation and the pair of first suction parts 83a and 83b.

[0121] Furthermore, when the intermediate portion 51a of the first arm moves in the -X direction, the third toothed pulley 21a and the fourth toothed pulley 25a for extending and retracting the first arm, which are rotatably connected to the intermediate portion 51a of the first arm, move in the -X direction. As a result of this movement, the second locking portion 20a for extending and retracting the first arm, which is connected to the base end portion 49a of the first arm and the second toothed belt 23a for extending and retracting the first arm, and the +Y direction of the second toothed belt 23a for extending and retracting the first arm move in the +Y direction. Due to the relationship between the directional side and the third locking part 27a for extending and retracting the first arm connected to the tip of the first arm 57a, when the tip of the first arm 57a moves in the -X direction, the third arm 59a connected to the tip of the first arm 57a and the pair of third suction parts 81a and 81b provided on the third arm 59a also move in the -X direction, and the distance between the motor shaft of the first motor 61 for rotating the arm and the pair of third suction parts 81a and 81b can also be increased.

[0122] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b and the pair of third suction parts 81a and 81b is reduced.

[0123] When reducing the distance between the motor shaft of the first motor 61 for rotating the arm and the pair of first suction parts 83a and 83b and the pair of third suction parts 81a and 81b, first the first arm extension motor 11a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first locking part 19a for extending the arm, which is connected to the lower side of the first toothed pulley 13a and the first toothed belt 15a for extending the arm, via the first toothed pulley 13a and the first toothed belt 15a for extending the arm.

[0124] As a result, the first locking part 19a for extending and retracting the first arm moves in the +X direction, the intermediate part 51a of the first arm connected to the first locking part 19a for extending and retracting the first arm also moves in the +X direction, and the first suction parts 83a and 83b provided on the intermediate part 51a of the first arm also move in the +X direction, thereby reducing the distance between the motor shaft of the first drive motor 61 for arm rotation and the pair of first suction parts 83a and 83b.

[0125] Furthermore, when the intermediate portion 51a of the first arm moves in the +X direction, the third toothed pulley 21a and the fourth toothed pulley 25a for extending and retracting the first arm, which are rotatably connected on the intermediate portion 51a of the first arm, move in the +X direction. As a result of this movement, the second locking portion 20a for extending and retracting the first arm, which is connected to the base end portion 49a of the first arm and the second toothed belt 23a for extending and retracting the first arm, and the +Y direction of the second toothed belt 23a for extending and retracting the first arm move in the +Y direction. Due to the relationship between the directional side and the third locking part 27a for extending and retracting the first arm connected to the tip of the first arm 57a, when the tip of the first arm 57a moves in the +X direction, the third arm 59a connected to the tip of the first arm 57a and the pair of third suction parts 81a and 81b provided on the third arm 59a also move in the +X direction, and the distance between the motor shaft of the first driving motor 61 for arm rotation and the pair of third suction parts 81a and 81b can also be reduced.

[0126] Next, we will explain how the article gripping device 5 changes the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction parts 87a and 87b to match the size of the flat corrugated cardboard box.

[0127] First, we will explain the case where the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction parts 87a and 87b is increased.

[0128] When increasing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction parts 87a and 87b, first the second arm extension motor 11b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 19b connected to the lower side of the second arm extension first toothed pulley 13b and the second arm extension first toothed belt 15b.

[0129] As a result, the first locking part 19b for extending and retracting the second arm moves in the +X direction, the intermediate part 51b of the second arm connected to the first locking part 19b for extending and retracting the second arm also moves in the +X direction, and the pair of tenth suction parts 87a and 87b provided on the intermediate part 51b of the second arm also move in the +X direction, thereby increasing the distance between the motor shaft of the first drive motor 61 for arm rotation and the pair of tenth suction parts 87a and 87b.

[0130] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction parts 87a and 87b is reduced.

[0131] When reducing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction parts 87a and 87b, first the first arm extension motor 11b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 19b, which is connected to the lower side of the second arm extension first toothed pulley 13b and the second arm extension first toothed belt 15b.

[0132] As a result, the first locking part 19b for extending and retracting the second arm moves in the -X direction, the intermediate part 51b of the second arm connected to the first locking part 19b for extending and retracting the second arm also moves in the -X direction, and the pair of tenth suction parts 87a and 87b provided on the intermediate part 51b of the second arm also move in the -X direction, thereby reducing the distance between the motor shaft of the first drive motor 61 for arm rotation and the pair of tenth suction parts 87a and 87b.

[0133] On the other hand, in the article gripping device 5 of this embodiment, since a pair of second suction parts 85a and 85b are provided at the base end 49b of the second arm, the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of second suction parts 85a and 85b cannot be changed.

[0134] Figures 10 to 12 show the plan view, front view, and bottom view of the article gripping device 5 in which the spacing between each suction part in the +Y·-Y direction has been widened, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b has been widened.

[0135] On the other hand, Figures 15 to 17 show a plan view, front view, and bottom view of the article gripping device 5 in which the spacing between each suction part in the +Y·-Y direction has been reduced, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b has been reduced.

[0136] Then, the compressor 8 drives the nine item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9, which are installed on the upper surface of the flat corrugated cardboard mounting table 36, and sucks the flat corrugated cardboard W1 to fix it to the upper surface of the flat corrugated cardboard mounting table 36 (S9).

[0137] As described above, the item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 are designed to suck only the surfaces that do not move when forming a three-dimensional shape from flat corrugated cardboard. As shown in Figure 1, they are configured to suck only the surface of the flat corrugated cardboard W1 located in the upper left center position in Figure 1 (the bottom surface of the flat corrugated cardboard W1).

[0138] Then, the articulated robot 3 is operated to open the article gripping device 5 as shown in Figure 2, and as shown in Figure 1, a pair of second suction parts 85a and 85b and a pair of tenth suction parts 87a and 87b of the article gripping device 5 are placed inside the flat corrugated cardboard W1, while a pair of first suction parts 83a and 83b and a pair of third suction parts 81a and 81b are placed outside the range of the flat corrugated cardboard W1, and the flat corrugated cardboard W1 is sucked up using only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b (S11).

[0139] Subsequently, while the lower surface of the flat corrugated cardboard W1 at the left center position is being sucked in by the article suction parts V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the upper surface of the flat corrugated cardboard W1 that is being sucked in using only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b, thereby making the flat corrugated cardboard W1 three-dimensional (S13), and the article gripping device 5 grips the three-dimensional corrugated cardboard W1 (S14).

[0140] Figure 13 is a perspective view showing the initial state in which the article gripping device 5 grips the three-dimensional corrugated cardboard W1 using only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b, with the spacing between each suction part in the +Y·-Y directions widened, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b widened.

[0141] On the other hand, Figure 18 is a perspective view showing the initial state in which the article gripping device 5 grips a corrugated cardboard box W2 smaller than the three-dimensional corrugated cardboard box W1 using only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b, with the distance between each suction part in the +Y·-Y direction reduced, thereby reducing the distance between the motor shaft of the first motor 61 for driving the arm rotation and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b.

[0142] After the flat corrugated cardboard W1 is transformed into a three-dimensional shape, in order to ensure that the corrugated cardboard box W1 is securely held, the article gripping device 5 is configured such that, as shown in Figures 4, 5, and 14, the first arm and the second arm rotate so that they form a 90-degree angle, and the third arm portion 59a rotates so that it forms a 90-degree angle with respect to the first arm, thereby allowing a pair of second suction portions 85a and 85b and a pair of tenth suction portions 87a and 87b to suction the first of the four sides of the corrugated cardboard box W1, a pair of first suction portions 83a and 83b to suction the second side of the corrugated cardboard box W1, and a pair of third suction portions 81a and 81b to suction the third side of the corrugated cardboard box W1 and grip it.

[0143] Figure 4 is a plan view showing the box-making apparatus 1 equipped with the article gripping device 5 gripping the three-dimensional corrugated cardboard W1 with the spacing between each suction part widened in the +Y·-Y direction; Figure 5 is a perspective view showing the box-making apparatus 1 equipped with the article gripping device 5 gripping the three-dimensional corrugated cardboard W1 with the spacing between each suction part widened in the +Y·-Y direction; and Figure 14 is a front view showing the final state in which the article gripping device 5 grips the three-dimensional corrugated cardboard W1 with the spacing between each suction part widened in the +Y·-Y direction, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b widened.

[0144] On the other hand, Figure 19 is a front view showing the final state in which the article gripping device 5 grips a cardboard box W2 smaller than the three-dimensional cardboard box W1, with the distance between each suction part in the +Y·-Y direction reduced, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction parts 83a and 83b, the pair of third suction parts 81a and 81b, and the pair of tenth suction parts 87a and 87b reduced.

[0145] Then, the motor 30a for driving the first rail forward and backward is rotated to move the first rail 22 to match the size of the cardboard box W1 (S15), and the motor 30b for driving the second rail forward and backward is rotated to move the pair of second rails 26a and 26b (S17).

[0146] In this process, when folding the front inner flap and processing the rear inner flap as described later, it is preferable to move the second rails 26a and 26b so that they are positioned slightly forward (+H direction) or backward (-H direction) of the corrugated cardboard box W1 in the direction of travel relative to the first rail 22, so that the outer flap does not come into contact with the pair of second rails 26a and 26b as much as possible.

[0147] As mentioned above, the corrugated cardboard box W1 is equipped with a front upper inner flap W1US1, a rear upper inner flap W1US2, a right upper outer flap W1UL1, and a left upper outer flap W1UL2 on the upper side, and a front lower inner flap W1DS1, a rear lower inner flap W1DS2, a right lower outer flap W1DL1, and a left lower outer flap W1DL2 on the lower side.

[0148] Subsequently, the articulated robot 3 is operated to lift the three-dimensional cardboard box W1, rotate the cardboard box W1 so that the inner and outer flaps are positioned above and below the cardboard box W1, and fold the front lower inner flap W1DS1 of the cardboard box W1 by bringing it into contact with the protrusion 24 provided at the tip of the first rail 22 (S19).

[0149] Specifically, the rear end of the cardboard box W1 is raised higher than its front end, and with the cardboard box W1 tilted, the front lower inner flap W1DS1 is brought into contact with the protruding part 24, and the cardboard box W1 is then moved diagonally downward and forward to fold the front lower inner flap W1DS1.

[0150] Subsequently, the articulated robot 3 is operated to tilt the front lower inner flap W1DS1 so that it is folded and the rear lower inner flap W1DS2 does not come into contact with the protrusion 25, and the front end of the cardboard box W1 is moved forward while keeping it in contact with the first rail 23 until the rear lower inner flap W1DS2 passes the protrusion 25.

[0151] Subsequently, the tilt angle of the cardboard box W1 is reduced, the rear lower inner flap W1DS2 is brought into contact with the protrusion 24, and the front end of the cardboard box W1 is brought into contact with the first rail 22 and moved backward while reducing the tilt angle, thereby bending the rear lower inner flap W1DS2 (S21).

[0152] Subsequently, by bringing the front end of the cardboard box W1 into contact with the first rail 22 and moving it forward again, the front lower inner flap W1DS1 and the rear lower inner flap W1DS2 are folded, and the folding process of the lower inner flaps is completed when the bottom surface of the cardboard box W1 is parallel to the first rail 22.

[0153] However, the box-making apparatus 1 of this embodiment is configured such that, before the folding process of the lower inner flaps is completely finished, the pair of second rails 26a and 26b are moved toward the first rail 22 (S23), and the right lower outer flap W1DL1 and the left lower outer flap W1DL2 are folded so that the front lower inner flap W1DS1 and the rear lower inner flap W1DS2 are completely folded.

[0154] Once the front lower inner flap W1DS1 and the rear lower inner flap W1DS2 are folded, the outer flap folding process is then performed (S25).

[0155] In the process of folding the outer flap, first, the cardboard box W1 is moved horizontally forward by the articulated robot 3 (S41), the motor 32 for driving the second rail up and down is rotated to raise the pair of second rails 26a and 26b, and the motor 28 for driving the second rail left and right is rotated to gradually reduce the distance between the second rails 26a and 26b (S43).

[0156] Furthermore, the motor 30b for driving the second rail forward and backward is rotated to move the pair of second rails 26a and 26b forward (S45), and the motor 30a for driving the first rail forward and backward is rotated to move the first rail 22 backward (S47).

[0157] Then, it is determined whether the height of the pair of second rails 26a and 26b is the same as the height of the first rail 22 (S49). If it is determined that the height of the pair of second rails 26a and 26b is not the same as the height of the first rail 22 (S49: No), the process from S41 to S47 is repeated. If it is determined that the height of the pair of second rails 26a and 26b is the same as the height of the first rail 22 (S49: Yes), the articulated robot 3 then moves the cardboard box W1 horizontally forward (S51), completing the folding process of the right lower outer flap W1DL1 and the left lower outer flap W1DL2, and the program returns to the main program (S53).

[0158] In this embodiment, the pair of second rails 26a and 26b are moved forward by rotating the motor 30b for driving the second rails forward and backward, and the first rail 22 is moved backward by rotating the motor 30a for driving the first rail forward and backward. The configuration is such that when the base ends of the pair of second rails 26a and 26b in the -H direction exceed the tip of the first rail 22 in the +H direction, the height of the pair of second rails 26a and 26b is made to match the height of the first rail 22.

[0159] The right lower outer flap W1DL1 and the left lower outer flap W1DL2 are closed by a pair of second rails 26a and 26b after the cardboard box W1 has detached from the first rail 22.

[0160] Then, the tape application unit 34 applies tape to the bottom surface of the cardboard box W1 (S27), and the cardboard box W1 with the tape applied is discharged to the discharge unit 40 (S29).

[0161] When a cardboard box W1 is discharged to the discharge unit 40, it is determined whether the processing of the cardboard box W1 has been completed (S31). If the processing of the cardboard box W1 has not been completed (S31: No), the process returns to S6. If the processing of the cardboard box W1 has been completed (S31: Yes), the process ends (S33).

[0162] According to the article gripping device 5 of this embodiment, a first arm (base end 49a, intermediate part 51a, and tip end 57a) and a second arm (base end 49b, intermediate part 51b, and tip end 57b) are rotatably connected around the motor shaft (first axis) of the first motor 61 for arm rotation, a third arm portion 59a is rotatably connected to the end of the first arm opposite to the first axis, a pair of first suction parts 83a and 83b are provided on the first arm, a pair of second suction parts 85a and 85b are provided on the second arm, and a pair of third suction parts 81a and 81b are provided on the third arm portion 59b, so that even articles made of flexible materials can be reliably gripped.

[0163] Furthermore, according to the article gripping device 5 of this embodiment, the device is equipped with a first arm rotation drive motor 61 that rotates the first arm (base end 49a, intermediate part 51a, and tip end 57a) and the second arm (base end 49b, intermediate part 51b, and tip end 57b) around a first axis, and the third arm portion 59a is rotatable in conjunction with the rotation of the first arm rotation drive motor 61 with respect to the end of the first arm opposite to the first axis, so that even articles made of flexible materials can be securely gripped with a simple mechanism.

[0164] Furthermore, in the article gripping device 5 of this embodiment, the distance between the first axis and the pair of third suction parts 81a and 81b can be changed, so articles of different sizes can be gripped reliably.

[0165] Furthermore, since the article gripping device 5 of this embodiment is configured to allow the distance between the first axis and the pair of first suction parts 83a and 83b to be changed, articles of different sizes can be gripped even more securely.

[0166] Furthermore, according to the article gripping device 5 of this embodiment, the second arm is equipped with a pair of 10th suction parts 87a and 87b, and the distance between the first axis and the pair of 10th suction parts 87a and 87b can be changed, so that articles of different sizes can be gripped even more reliably.

[0167] Furthermore, the box-making apparatus 1 of this embodiment includes an articulated robot 3 and an article gripping device 5 to which a second arm is connected at the tip of the articulated robot 3. Therefore, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0168] (Second Embodiment) Next, a second embodiment of the present invention, an article gripping device, and a box-making apparatus equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0169] The following describes a second embodiment of the present invention, in which the same components as in the first embodiment are given the same numbers and their descriptions are omitted.

[0170] Figure 20 is a perspective view of a box-making apparatus equipped with an article gripping device according to the second embodiment, Figure 21 is a plan view of the box-making apparatus, Figure 22 is a plan view showing the box-making apparatus gripping a box, and Figure 23 is a perspective view showing the box-making apparatus gripping a box.

[0171] The box-making system of this embodiment, which includes a box-making apparatus 101 equipped with an article gripping device 105, similar to the box-making apparatus 1, selectively grips flat corrugated cardboard placed according to size to form a three-dimensional shape, folds the inner and outer flaps formed at both the upper and lower ends of the three-dimensional corrugated cardboard, and then applies tape to the ends of the outer flaps to manufacture a corrugated cardboard box.

[0172] The box-making apparatus 101 consists of an articulated robot 3 and an article gripping device 105 connected to the tip of the articulated robot 3. Unlike the article gripping device 5 of the first embodiment, the article gripping device 105 of this embodiment grips four of the four sides of the three-dimensional corrugated cardboard by suction, as shown in Figure 22, and can reliably grip corrugated cardboard even if it is made of a flexible material.

[0173] As shown in Figures 20 to 23, the article gripping device 105 comprises, on the -X side of the drawing from the rotating part 47 (mounting part 47) of the articulated robot 3, a fifth arm base end 149a, a fifth arm intermediate part 151a slidably engaged with the fifth arm base end 149a in the +X and -X directions which are the longitudinal directions of the fifth arm base end 149a, a fifth arm tip end 157a slidably engaged with the fifth arm intermediate part 151a in the +X and -X directions, and an eighth arm part 159a rotatably connected to the -X direction tip of the fifth arm tip end 157a (the end of the fifth arm opposite to the first axis, which will be described later).

[0174] Furthermore, the "fifth arm" of the present invention is composed of the base portion 149a, the intermediate portion 151a, and the tip portion 157a of the fifth arm in this embodiment.

[0175] Furthermore, the article gripping device 105 is equipped with a total of six sets of suction parts (5th suction part 181a and 181b, 6th suction part 183a and 183b, 7th suction part 187a and 187b, 8th suction part 180a and 180b, 9th suction part 189a and 189b, and 10th suction part 185a and 185b) in pairs for gripping corrugated cardboard. The 5th arm, the 6th arm (described later), the 7th arm (described later), the 8th arm part 159a, and the 9th arm part 159b (described later) are configured to face the same direction when the 5th arm is in a horizontal position, and the 9th arm part 159b is configured to face the same direction when gripping corrugated cardboard as described later.

[0176] Specifically, the article gripping device 105 is equipped with a pair of fifth suction parts 181a and 181b on the intermediate part 151a of the fifth arm, a pair of sixth suction parts 183a and 183b on the base end 149c of the sixth arm (described later), a pair of seventh suction parts 187a and 187b on the intermediate part 151b of the seventh arm (described later), a pair of eighth suction parts 180a and 180b on the eighth arm part 159a, a pair of ninth suction parts 189a and 189b on the ninth arm part 159b (described later), and a pair of tenth suction parts 185a and 185b on the tip end 157c of the sixth arm (described later).

[0177] Furthermore, each pair of adsorption sections (a pair of fifth adsorption sections 181a and 181b, a pair of sixth adsorption sections 183a and 183b, a pair of seventh adsorption sections 187a and 187b, a pair of eighth adsorption sections 180a and 180b, a pair of ninth adsorption sections 189a and 189b, and a pair of tenth adsorption sections 185a and 185b) has a cylinder (a fifth cylinder 181 corresponding to the pair of fifth adsorption sections 181a and 181b, and a pair of sixth adsorption sections) The device is equipped with a sixth cylinder 183 corresponding to attachment parts 183a and 183b, a seventh cylinder 187 corresponding to a pair of seventh suction parts 187a and 187b, an eighth cylinder 180 corresponding to a pair of eighth suction parts 180a and 180b, a ninth cylinder 189 corresponding to a pair of ninth suction parts 189a and 189b, and a tenth cylinder 185 corresponding to a pair of tenth suction parts 185a and 185b.

[0178] Then, by activating these cylinders with the compressor 8 described later, the lengths of the suction rods (the 5th suction rod 181c, the 6th suction rod 183c, the 7th suction rod 187c, the 8th suction rod 180c, the 9th suction rod 189c, and the 10th suction rod 185c) are extended and retracted, and the spacing between each suction part in the +Y·-Y direction (the spacing between the 5th suction part 181a and the 5th suction part 181b in the +Y·-Y direction) is extended and retracted. The configuration allows for changes to the spacing between the adsorption parts in the direction, the spacing between the sixth adsorption part 183a and the sixth adsorption part 183b in the +Y·-Y direction, the spacing between the seventh adsorption part 187a and the seventh adsorption part 187b in the +Y·-Y direction, the spacing between the eighth adsorption part 180a and the eighth adsorption part 180b in the +Y·-Y direction, the spacing between the ninth adsorption part 189a and the ninth adsorption part 189b in the +Y·-Y direction, and the spacing between the tenth adsorption part 185a and the tenth adsorption part 185b in the +Y·-Y direction.

[0179] In this embodiment, the article gripping device 105 allows the spacing between each suction part in the +Y·-Y direction to be changed. This is similar to the article gripping device 5 of the first embodiment, in order to ensure gripping force against the corrugated cardboard according to the size of the cardboard. Normally, the device is configured to grip the cardboard with the spacing between each suction part in the +Y·-Y direction closed, but when the size of the cardboard increases, the device is configured to widen the spacing between each suction part in the +Y·-Y direction to accommodate this.

[0180] In this embodiment, the article gripping device 105 also expands and contracts the distance between each suction part in the +Y·-Y direction by turning the cylinder ON / OFF with the compressor 8. However, it is also possible to continuously expand and contract the distance between each suction part in the +Y·-Y direction via gears by driving a motor.

[0181] Furthermore, the article gripping device 105 includes an arm rotation first drive motor 161a (corresponding to the "second drive unit" of the present invention) located at the base end 149c of the sixth arm (described later) for rotating the fifth arm and the sixth arm (described later) around a motor shaft (corresponding to the "second shaft" of the present invention), an arm rotation first drive motor gear 163a coaxially connected to the motor shaft (corresponding to the "second shaft" of the present invention) of the arm rotation first drive motor 161a, and an arm rotation first drive driven gear 165a located at the base end 149a of the fifth arm and meshing with the arm rotation first drive motor gear 163a.

[0182] Furthermore, the article gripping device 105 includes a first toothed pulley 167a for the first arm rotation drive, which is positioned on the opposite side of the fifth arm base end 149a from the driven gear 165a for the first arm rotation drive and is connected coaxially with the driven gear 165a for the first arm rotation drive, a first toothed belt 169a for the first arm rotation drive with one end engaged with the first toothed pulley 167a for the first arm rotation drive, and a second toothed pulley 171a for the second arm rotation drive with a first toothed pulley engaged with the other end of the first toothed belt 169a for the first arm rotation drive.

[0183] Furthermore, the article gripping device 105 includes a second toothed belt 173a for first arm rotation drive, one end of which is engaged with the second toothed pulley 171a for first arm rotation drive; a third toothed pulley 175a for first arm rotation drive, engaged with the other end of the second toothed belt 173a for first arm rotation drive; and an eighth arm portion 159a (corresponding to the "eighth arm" of the present invention) connected to the rotation axis of the third toothed pulley 175a for first arm rotation drive.

[0184] Furthermore, a first link section 153a for extending and retracting the fifth arm is connected between the first toothed pulley 167a for first arm rotation drive and the second toothed pulley 171a for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 167a for first arm rotation drive and the second toothed pulley 171a for first arm rotation drive. Similarly, a second link section 155a for extending and retracting the fifth arm is connected between the second toothed pulley 171a for first arm rotation drive and the third toothed pulley 175a for first arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 171a for first arm rotation drive and the third toothed pulley 175a for first arm rotation drive.

[0185] Furthermore, the first link portion 153a for extending and retracting the fifth arm and the second link portion 155a for extending and retracting the fifth arm are configured to rotate freely with respect to the central axis of the second toothed pulley 171a for the first arm rotation drive, depending on the distance between the driven gear 165a for the first arm rotation drive and the third toothed pulley 175a for the first arm rotation drive.

[0186] When the first arm rotation drive motor 161a rotates, its rotational force is transmitted to the first arm rotation drive motor gear 163a, and as described above, the fifth arm and the sixth arm, which will be described later, are configured to rotate around the motor shaft of the first arm rotation drive motor 161a (corresponding to the "second shaft" of this invention).

[0187] In addition, in the article gripping device 105 of this embodiment, the fifth arm and the sixth arm, which will be described later, are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0188] Then, when the fifth arm and the sixth arm (described later) rotate to form a 90-degree angle, the fifth arm and the sixth arm are locked together, and the rotational force of the first arm rotation drive motor 161a is transmitted to the first arm rotation drive driven gear 165a, the first toothed pulley 167a for the first arm rotation drive, the first toothed belt 169a for the first arm rotation drive, the second toothed pulley 171a for the first arm rotation drive, the second toothed belt 173a for the first arm rotation drive, the third toothed pulley 175a for the first arm rotation drive, and the eighth arm section 159a. As a result, the eighth arm section 159a is configured to rotate relative to the center of the third toothed pulley 175a for the first arm rotation drive.

[0189] In this embodiment of the article gripping device 105, the eighth arm portion 159a is configured to rotate 90 degrees relative to the tip portion 157a of the fifth arm so that the cardboard box can be securely gripped in its assembled state.

[0190] Furthermore, in the article gripping device 105 of this embodiment, the fifth arm and the sixth arm are configured to rotate at a 90-degree angle so that the corrugated cardboard can be securely gripped in its assembled state, and the eighth arm portion 159a is configured to rotate 90 degrees relative to the tip portion 157a of the fifth arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking the fifth arm and the sixth arm together, it is also possible to rotate them by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0191] Furthermore, the article gripping device 105 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 161a and a pair of fifth suction parts 181a and 181b, and a pair of eighth suction parts 180a and 180b, according to the size of the cardboard box. Specifically, it includes a fifth arm extension motor 111a located at the base end 149a of the fifth arm, a fifth arm extension first toothed pulley 113a coaxially connected to the motor shaft of the fifth arm extension motor 111a, and a fifth arm extension first toothed belt 115a with one end engaged with the fifth arm extension first toothed pulley 113a.

[0192] Furthermore, the article gripping device 105 includes a second toothed pulley 117a for extending the fifth arm that is engaged with the other end of the first toothed belt 115a for extending the fifth arm, a first locking part 119a for extending the fifth arm that is connected to the intermediate part 151a of the fifth arm and connected to the lower side of the first toothed belt 115a for extending the fifth arm, a third toothed pulley 121a for extending the fifth arm that is rotatably connected on the intermediate part 151a of the fifth arm, and a second toothed belt 123a for extending the fifth arm that has one end engaged with the third toothed pulley 121a for extending the fifth arm.

[0193] Furthermore, the article gripping device 105 includes a fourth toothed pulley 125a for extending the fifth arm that is engaged with the other end of the second toothed belt 123a for extending the fifth arm, a second locking part 120a for extending the fifth arm that is connected to the base end 149a of the fifth arm and connected to the -Y direction side of the second toothed belt 123a for extending the fifth arm, and a third locking part 127a for extending the fifth arm that is connected to the tip end 157a of the fifth arm and connected to the +Y direction side of the second toothed belt 123a for extending the fifth arm.

[0194] The method for changing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, and the pair of eighth suction parts 180a and 180b will be described later.

[0195] Furthermore, as shown in Figures 20 to 23, the article gripping device 105 comprises a sixth arm base end 149c, a sixth arm intermediate portion 151c that is slidably engaged with the sixth arm base end 149c in the +X and -X directions which are the longitudinal directions of the sixth arm base end 149c, and a sixth arm tip end 157c that is slidably engaged with the sixth arm intermediate portion 151c in the +X and -X directions.

[0196] Furthermore, the "sixth arm" of the present invention is composed of the base portion 149c, the intermediate portion 151c, and the tip portion 157c of the sixth arm in this embodiment.

[0197] Furthermore, the article gripping device 105 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 161a and the tenth suction parts 185a and 185b according to the size of the cardboard box. Specifically, it includes a sixth arm extension motor 111c located at the base end 149c of the sixth arm, a sixth arm extension first toothed pulley 113c coaxially connected to the motor shaft of the sixth arm extension motor 111c, and a sixth arm extension first toothed belt 115c with one end engaged with the sixth arm extension first toothed pulley 113c.

[0198] Furthermore, the article gripping device 105 includes a second toothed pulley 117c for extending the sixth arm that is engaged with the other end of the first toothed belt 115c for extending the sixth arm, a first locking part 119c for extending the sixth arm that is connected to the intermediate part 151c of the sixth arm and connected to the lower side of the first toothed belt 115c for extending the sixth arm, a third toothed pulley 121c for extending the sixth arm that is rotatably connected on the intermediate part 151c of the sixth arm, and a second toothed belt 123c for extending the sixth arm that has one end engaged with the third toothed pulley 121c for extending the sixth arm.

[0199] Furthermore, the article gripping device 105 includes a fourth toothed pulley 125c for extending the sixth arm that is engaged with the other end of the second toothed belt 123c for extending the sixth arm, a second locking part 120c for extending the sixth arm (see Figure 27) connected to the base end 149c of the sixth arm and connected to the -Y direction side of the second toothed belt 123c for extending the sixth arm, and a third locking part 127c for extending the sixth arm that is connected to the tip end 157c of the sixth arm and connected to the +Y direction side of the second toothed belt 123c for extending the sixth arm.

[0200] The method for changing the distance between the motor shaft of the first arm rotation drive motor 161a and the tenth suction parts 185a and 185b will be described later.

[0201] Furthermore, as shown in Figures 20 to 23, the article gripping device 105 includes a seventh arm base end 149b rotatable relative to the sixth arm tip 157c at the +X direction end of the sixth arm tip 157c, a seventh arm intermediate portion 151b slidably engaged with the seventh arm base end 149b in the +X and -X directions which are the longitudinal directions of the seventh arm base end 149b, a seventh arm tip 157b slidably engaged with the seventh arm intermediate portion 151b in the +X and -X directions, and a ninth arm portion 159b (corresponding to the "ninth arm" of the present invention) rotatably connected to the -X direction tip of the seventh arm tip 157b (the end of the seventh arm opposite to the third axis, which will be described later).

[0202] Furthermore, the "seventh arm" of the present invention is composed of the base portion 149b, the intermediate portion 151b, and the tip portion 157b of the seventh arm in this embodiment.

[0203] Furthermore, the article gripping device 105 includes an arm rotation second drive motor 161b (corresponding to the "third drive unit" of the present invention) located at the tip 157b of the seventh arm for rotating the sixth arm and the seventh arm around the motor shaft (corresponding to the "third shaft" of the present invention), an arm rotation second drive motor gear 163b coaxially connected to the motor shaft (corresponding to the "third shaft" of the present invention) of the arm rotation second drive motor 161b, and an arm rotation second drive driven gear 165b located at the base end 149b of the seventh arm and meshing with the arm rotation first drive motor gear 163b.

[0204] Furthermore, the article gripping device 105 includes a first toothed pulley 167b for driving the second arm rotation, which is positioned on the opposite side of the seventh arm base end 149b from the driven gear 165b for driving the second arm rotation and is connected coaxially to the driven gear 165b for driving the second arm rotation; a first toothed belt 169b for driving the second arm rotation, with one end engaged with the first toothed pulley 167b for driving the second arm rotation; and a second toothed pulley 171b for driving the second arm rotation, with the other end of the first toothed belt 169b for driving the second arm rotation engaged with the first toothed pulley.

[0205] Furthermore, the article gripping device 105 includes a second toothed belt 173b for driving the second arm rotation, one end of which is engaged with the second toothed pulley of the second toothed pulley 171b for driving the second arm rotation, a third toothed pulley 175b for driving the second arm rotation, the other end of which is engaged with the second toothed belt 173b for driving the second arm rotation, and a ninth arm portion 159b connected to the rotation axis of the third toothed pulley 175b for driving the second arm rotation.

[0206] Furthermore, the first link section 153b for extending and retracting the seventh arm is connected between the first toothed pulley 167b for driving the second arm rotation and the second toothed pulley 171b for driving the second arm rotation, thereby ensuring the axial distance between the first toothed pulley 167b for driving the second arm rotation and the second toothed pulley 171b for driving the second arm rotation, and the second link section 155b for extending and retracting the seventh arm is connected between the second toothed pulley 171b for driving the second arm rotation and the third toothed pulley 175b for driving the second arm rotation, thereby ensuring the axial distance between the second toothed pulley 171b for driving the second arm rotation and the third toothed pulley 175b for driving the second arm rotation.

[0207] Furthermore, the first link portion 153b for extending and retracting the seventh arm and the second link portion 155b for extending and retracting the seventh arm are configured to rotate freely with respect to the central axis of the second toothed pulley 171b for driving the second arm rotation, depending on the distance between the driven gear 165b for driving the second arm rotation and the third toothed pulley 175b for driving the second arm rotation.

[0208] When the second arm rotation drive motor 161b rotates, its rotational force is transmitted to the second arm rotation drive motor gear 163b, and as described above, the sixth arm and the seventh arm are configured to rotate around the motor shaft of the second arm rotation drive motor 161b (corresponding to the "third shaft" of this invention).

[0209] In addition, in the article gripping device 105 of this embodiment, the sixth arm and the seventh arm are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0210] Then, when the sixth arm and the seventh arm rotate to form a 90-degree angle, the sixth arm and the seventh arm are locked together, and the rotational force of the second arm rotation drive motor 161b is transmitted to the second arm rotation drive driven gear 165b, the first toothed pulley 167b for the second arm rotation drive, the first toothed belt 169b for the second arm rotation drive, the second toothed pulley 171b for the second arm rotation drive, the second toothed belt 173b for the second arm rotation drive, the third toothed pulley 175b for the second arm rotation drive, and the ninth arm section 159b. As a result, the ninth arm section 159b is configured to rotate relative to the center of the third toothed pulley 175b for the second arm rotation drive.

[0211] In this embodiment of the article gripping device 105, the ninth arm portion 159b is configured to rotate 90 degrees relative to the seventh arm tip portion 157b so that the cardboard box can be securely gripped in its assembled state.

[0212] Furthermore, in the article gripping device 105 of this embodiment, the sixth arm and the seventh arm are configured to rotate at a 90-degree angle so that the corrugated cardboard can be securely gripped in its assembled state, and the ninth arm portion 159b is configured to rotate 90 degrees relative to the tip portion 157b of the seventh arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped. By physically locking the sixth arm and the seventh arm together, the rotation can be set to 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0213] Furthermore, the article gripping device 105 is equipped with a mechanism for changing the distance between the motor shaft of the second arm rotation drive motor 161b and a pair of seventh suction parts 187a and 187b, and a pair of ninth suction parts 189a and 189b, according to the size of the cardboard box. Specifically, it includes a seventh arm extension motor 111b located at the base end 149b of the seventh arm, a seventh arm extension first toothed pulley 113b coaxially connected to the motor shaft of the seventh arm extension motor 111b, and a seventh arm extension first toothed belt 115b with one end engaged with the seventh arm extension first toothed pulley 113b.

[0214] Furthermore, the article gripping device 105 includes a second toothed pulley 117b for extending the seventh arm, which is engaged with the other end of the first toothed belt 115b for extending the seventh arm; a first locking part 119b for extending the seventh arm, which is connected to the intermediate part 151b of the seventh arm and connected to the lower side of the first toothed belt 115b for extending the seventh arm; a third toothed pulley 121b for extending the seventh arm, which is rotatably connected on the intermediate part 151b of the seventh arm; and a second toothed belt 123b for extending the seventh arm, which has one end engaged with the third toothed pulley 121b for extending the seventh arm.

[0215] Furthermore, the article gripping device 105 includes a fourth toothed pulley 125b for extending the seventh arm that is engaged with the other end of the second toothed belt 123b for extending the seventh arm, a second locking part 120b for extending the seventh arm that is connected to the base end 149b of the seventh arm and connected to the -Y direction side of the second toothed belt 123b for extending the seventh arm, and a third locking part 127b for extending the seventh arm that is connected to the tip end 157b of the seventh arm and connected to the +Y direction side of the second toothed belt 123b for extending the seventh arm.

[0216] The method for changing the distance between the motor shaft of the first arm rotation drive motor 161b and the pair of seventh suction parts 187a and 187b, and the pair of ninth suction parts 189a and 189b will be described later.

[0217] Next, a block diagram of the box-making apparatus 101 of this embodiment will be described.

[0218] The block diagram of the box-making apparatus 101 of this embodiment shows that, in addition to the compressor 8 of the first embodiment shown in Figure 6, the following components are connected: the first suction parts 83a and 83b, the second suction parts 85a and 85b, the third suction parts 81a and 81b, the tenth suction part 87a and 87b, the first cylinder 81, the second cylinder 83, the third cylinder 85, and the fourth cylinder 87, and the fifth suction parts 181a and 181b, the sixth suction parts 183a and 183b, the seventh suction parts 187a and 187b, the eighth suction parts 180a and 180b, the ninth suction parts 189a and 189b, the tenth suction part 185a and 185b, the fifth cylinder 181, the sixth cylinder 183, the seventh cylinder 187, the eighth cylinder 180, the ninth cylinder 189, and the tenth cylinder 185.

[0219] Furthermore, the block diagram of the box-making apparatus 101 in this embodiment shows that, in addition to the driver circuit 12 of the block diagram of the first embodiment in Figure 6, the first arm rotation drive motor 61, the first arm extension motor 11a, and the second arm extension motor 11b are replaced with the following: the first arm rotation drive motor 161a, the second arm rotation drive motor 161b, the fifth arm extension motor 111a, the sixth arm extension motor 111c, and the seventh arm extension motor 111b.

[0220] Next, the operation of the box-making apparatus 101 with the above configuration will be explained using the main program shown in Figure 8.

[0221] In Figure 8, first, the user of the box-making device 101 turns on the power switch of the device, then inputs the size of the corrugated cardboard box to be processed (size of the corrugated cardboard box = W1) and the number of corrugated cardboard boxes to be processed using the operation buttons on the operation panel 6, and presses the start button. The box-making device 101 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the device acquires the placement position of the corrugated cardboard box W1 stored in the box placement position data table 16a of RAM 16, and box information such as the size of the corrugated cardboard box W1 stored in the box information data table 16b (S5).

[0222] Initially, the articulated robot 3 of the box-making device 101 is set at the left end position of the upper moving rail 91 in Figure 1.

[0223] When the box-making device 101 obtains the placement position of the flat corrugated cardboard (position of the flat corrugated cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat corrugated cardboard W1, etc.) stored in the box information data table 16b, the box-making device 101 rotates the robot position drive motor 95 to move the mobile platform 93 on which the articulated robot 3 is mounted along the mobile rail 91 to the location where the flat corrugated cardboard W1 of the flat box placement section 80 is stacked.

[0224] Then, the gripping device 105 connected to the tip of the articulated robot 3 is set to a gripping width that matches the size of the flat corrugated cardboard W1, and is opened as shown in Figures 20 and 21 (S6). The uppermost layer of the stacked flat corrugated cardboard W1 is then sucked up, lifted, rotated, and moved to the top surface of the flat corrugated cardboard mounting table 36, where it is placed on the top surface of the flat corrugated cardboard mounting table 36 (S7).

[0225] In this case, the article gripping device 105 may use a pair of fifth suction parts 181a and 181b, a pair of sixth suction parts 183a and 183b, a pair of seventh suction parts 187a and 187b, a pair of eighth suction parts 180a and 180b, a pair of ninth suction parts 189a and 189b, and a pair of tenth suction parts 185a and 185b (all suction parts are in the ON state) to suck up the flat corrugated cardboard W1. However, considering the process in S13 described later, it is also possible to use only the pair of sixth suction parts 183a and 183b and the pair of tenth suction parts 185a and 185b to suck up the flat corrugated cardboard W1 from this point onward, and not use the other suction parts.

[0226] To open the article gripping device 105 means to widen the angle between the fifth arm and the sixth arm to approximately 180 degrees, as shown in Figures 20 and 21, so that all the suction parts, namely the pair of fifth suction parts 181a and 181b, the pair of sixth suction parts 183a and 183b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b face each other on the same plane.

[0227] Here, we will explain how the article gripping device 105 changes the distance between the motor shaft of the first arm rotation drive motor 161a (corresponding to the "second shaft" in this invention), the pair of fifth suction parts 181a and 181b, and the pair of eighth suction parts 180a and 180b to match the size of the flat corrugated cardboard.

[0228] First, we will explain the case where the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, and the pair of eighth suction parts 180a and 180b is increased.

[0229] When increasing the distance between the motor shaft of the first motor 161a for arm rotation and the pair of fifth suction parts 181a and 181b, and the pair of eighth suction parts 180a and 180b, first the fifth arm extension motor 111a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension first locking part 119a, which is connected to the lower side of the fifth arm extension first toothed pulley 113a and the fifth arm extension first toothed belt 115a, via the fifth arm extension first toothed belt 115a.

[0230] As a result, the first locking part 119a for extending and retracting the fifth arm moves in the -X direction, the intermediate part 151a of the fifth arm connected to the first locking part 119a for extending and retracting the fifth arm also moves in the -X direction, and the pair of fifth suction parts 181a and 181b provided on the intermediate part 151a of the fifth arm also move in the -X direction, thereby increasing the distance between the motor shaft of the first drive motor 161a for arm rotation and the pair of fifth suction parts 181a and 181b.

[0231] Furthermore, when the intermediate portion 151a of the fifth arm moves in the -X direction, the third toothed pulley 121a and the fourth toothed pulley 125a for extending and retracting the fifth arm, which are rotatably connected on the intermediate portion 151a of the fifth arm, move in the -X direction. As a result of this movement, the second locking portion 120a for extending and retracting the fifth arm, which is connected to the base end portion 149a of the fifth arm and the second toothed belt 123a for extending and retracting the fifth arm, and the second toothed belt 123a for extending and retracting the fifth arm move in the +Y direction. Due to the relationship between the side and the third locking part 127a for extending and retracting the fifth arm connected to the tip of the fifth arm 157a, the tip of the fifth arm 157a moves in the -X direction, and the eighth arm 159a connected to the tip of the fifth arm 157a and the pair of eighth suction parts 180a and 180b provided on the eighth arm 159a also move in the -X direction, thereby increasing the distance between the motor shaft of the first motor for driving the arm rotation 161a and the pair of eighth suction parts 180a and 180b.

[0232] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, and the pair of eighth suction parts 180a and 180b is reduced.

[0233] When reducing the distances between the motor shaft of the first arm rotation drive motor 161a, the pair of fifth suction portions 181a and 181b, and the pair of eighth suction portions 180a and 180b, first, rotate the fifth arm expansion and contraction motor 111a counterclockwise toward the tip of the motor shaft, and transmit the rotational force thereof to the first locking portion 119a for fifth arm expansion and contraction connected to the lower side of the first toothed belt 115a for fifth arm expansion and contraction via the first toothed pulley 113a for fifth arm expansion and contraction and the first toothed belt 115a for fifth arm expansion and contraction.

[0234] As a result, the first locking portion 119a for fifth arm expansion and contraction moves in the +X direction, and the intermediate portion 151a of the fifth arm connected to the first locking portion 119a for fifth arm expansion and contraction also moves in the +X direction, and the pair of fifth suction portions 181a and 181b provided in the intermediate portion 151a of the fifth arm also move in the +X direction, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b can be reduced.

[0235] Further, when the intermediate portion 151a of the fifth arm moves in the +X direction, the third toothed pulley 121a for fifth arm expansion and contraction and the fourth toothed pulley 125a for fifth arm expansion and contraction rotatably connected on the intermediate portion 151a of the fifth arm move in the +X direction. Along with this movement, from the relationship between the second locking portion 120a for fifth arm expansion and contraction connected to the -Y direction side of the base end portion 149a of the fifth arm and the second toothed belt 123a for fifth arm expansion and contraction, and the third locking portion 127a for fifth arm expansion and contraction connected to the +Y direction side of the second toothed belt 123a for fifth arm expansion and contraction and the tip portion 157a of the fifth arm, the tip portion 157a of the fifth arm moves in the +X direction, and the eighth arm portion 159a connected to the tip portion 157a of the fifth arm and the pair of eighth suction portions 180a and 180b provided in the eighth arm portion 159a also move in the +X direction, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of eighth suction portions 180a and 180b can also be reduced.

[0236] Next, a method for changing the distances between the motor shaft of the arm rotation second drive motor 161b (corresponding to the "third axis" of the present invention), the pair of seventh suction portions 187a and 187b, and the pair of ninth suction portions 189a and 189b according to the size of the cardboard will be described.

[0237] First, a case where the distances between the motor shaft of the arm rotation second drive motor 161b, the pair of seventh suction portions 187a and 187b, and the pair of ninth suction portions 189a and 189b are increased will be described.

[0238] When increasing the distances between the motor shaft of the arm rotation second drive motor 161b, the pair of seventh suction portions 187a and 187b, and the pair of ninth suction portions 189a and 189b, first, the seventh arm expansion and contraction motor 111b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted via the first toothed pulley 113b for the seventh arm expansion and contraction and the first toothed belt 115b for the seventh arm expansion and contraction to the first locking portion 119b for the seventh arm expansion and contraction connected to the lower side of the first toothed belt 115b for the seventh arm expansion and contraction.

[0239] Thereby, the first locking portion 119b for the seventh arm expansion and contraction moves in the +X direction, and the intermediate portion 151b of the seventh arm connected to the first locking portion 119b for the seventh arm expansion and contraction also moves in the +X direction. At the same time, the pair of seventh suction portions 187a and 187b provided on the intermediate portion 151b of the seventh arm also move in the +X direction, and the distance between the motor shaft of the arm rotation second drive motor 161b and the pair of seventh suction portions 187a and 187b can be increased.

[0240] Furthermore, when the intermediate portion 151b of the seventh arm moves in the +X direction, the third toothed pulley 121b and the fourth toothed pulley 125b for extending and retracting the seventh arm, which are rotatably connected on the intermediate portion 151b of the seventh arm, move in the +X direction. As a result of this movement, the second locking portion 120b for extending and retracting the seventh arm, which is connected to the base end portion 149b of the seventh arm and the second toothed belt 123b for extending and retracting the seventh arm, and the second toothed belt 123b for extending and retracting the seventh arm move in the +Y direction. Due to the relationship between the side and the third locking part 127b for extending and retracting the seventh arm, which is connected to the tip of the seventh arm 157b, the tip of the seventh arm 157b moves in the +X direction, and the ninth arm 159b connected to the tip of the seventh arm 157b and the pair of ninth suction parts 189a and 189b provided on the ninth arm 159b also move in the +X direction, thereby increasing the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of ninth suction parts 189a and 189b.

[0241] Next, we will explain the case in which the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction parts 187a and 187b, and the pair of ninth suction parts 189a and 189b is reduced.

[0242] When reducing the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction parts 187a and 187b, and the pair of ninth suction parts 189a and 189b, first the seventh arm extension motor 111b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension first locking part 119b, which is connected to the lower side of the seventh arm extension first toothed pulley 113b and the seventh arm extension first toothed belt 115b.

[0243] As a result, the first locking part 119b for extending and retracting the seventh arm moves in the -X direction, the intermediate part 151b of the seventh arm connected to the first locking part 119b for extending and retracting the seventh arm also moves in the -X direction, and the pair of seventh suction parts 187a and 187b provided on the intermediate part 151b of the seventh arm also move in the -X direction, thereby reducing the distance between the motor shaft of the second motor 161b for rotating the arm and the pair of seventh suction parts 187a and 187b.

[0244] Furthermore, when the intermediate portion 151b of the seventh arm moves in the -X direction, the third toothed pulley 121b and the fourth toothed pulley 125b for extending and retracting the seventh arm, which are rotatably connected on the intermediate portion 151b of the seventh arm, move in the -X direction. As a result of this movement, the second locking portion 120b for extending and retracting the seventh arm, which is connected to the base end portion 149b of the seventh arm and the second toothed belt 123b for extending and retracting the seventh arm, and the second toothed belt 123b for extending and retracting the seventh arm move in the +Y direction. Due to the relationship between the side and the third locking part 127b for extending and retracting the seventh arm, which is connected to the tip of the seventh arm 157b, the tip of the seventh arm 157b moves in the -X direction, and the ninth arm 159b connected to the tip of the seventh arm 157b and the pair of ninth suction parts 189a and 189b provided on the ninth arm 159b also move in the -X direction, thereby reducing the distance between the motor shaft of the second motor 161b for arm rotation and the pair of ninth suction parts 189a and 189b.

[0245] Next, we will explain how the article gripping device 105 changes the distance between the motor shaft of the second arm rotation drive motor 161a (corresponding to the "second shaft" in this invention) and the pair of tenth suction parts 185a and 185b to match the size of the cardboard box.

[0246] First, we will explain the case where the distance between the motor shaft of the second arm rotation drive motor 161a and the pair of tenth suction parts 185a and 185b is increased.

[0247] When increasing the distance between the motor shaft of the second arm rotation drive motor 161a and the pair of tenth suction parts 185a and 185b, first the sixth arm extension motor 111c is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension first locking part 119c, which is connected to the lower side of the sixth arm extension first toothed pulley 113c and the sixth arm extension first toothed belt 115c.

[0248] As a result, the first locking part 119c for extending and retracting the sixth arm moves in the +X direction, the intermediate part 151c of the sixth arm connected to the first locking part 119c for extending and retracting the sixth arm also moves in the +X direction, and the pair of tenth suction parts 185a and 185b provided on the intermediate part 151c of the sixth arm also move in the +X direction, thereby increasing the distance between the motor shaft of the first drive motor 161a for arm rotation and the pair of tenth suction parts 185a and 185b.

[0249] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 161b and the pair of tenth suction parts 185a and 185b is reduced.

[0250] When reducing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of tenth suction parts 185a and 185b, first the sixth arm extension motor 111c is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension first locking part 119c, which is connected to the lower side of the sixth arm extension first toothed pulley 113c and the sixth arm extension first toothed belt 115c.

[0251] As a result, the first locking part 119c for extending and retracting the sixth arm moves in the -X direction, the intermediate part 151c of the sixth arm connected to the first locking part 119c for extending and retracting the sixth arm also moves in the -X direction, and the pair of tenth suction parts 185a and 185b provided on the intermediate part 151c of the sixth arm also move in the -X direction, thereby reducing the distance between the motor shaft of the first drive motor 161a for arm rotation and the pair of tenth suction parts 185a and 185b.

[0252] Figures 24 to 26 show the plan view, front view, and bottom view of the article gripping device 105 in which the spacing between each suction part in the +Y·-Y direction has been reduced, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b has been increased.

[0253] On the other hand, Figures 29 to 31 show a plan view, front view, and bottom view of the article gripping device 105 in which the spacing between each suction part in the +Y·-Y direction has been reduced, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b has been reduced.

[0254] Then, the compressor 8 drives the nine item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9, which are installed on the upper surface of the flat corrugated cardboard mounting table 36, and sucks the flat corrugated cardboard W1 to fix it to the upper surface of the flat corrugated cardboard mounting table 36 (S9).

[0255] Then, the articulated robot 3 is operated to open the article gripping device 105 as shown in Figures 20 and 21, and a pair of sixth suction parts 183a and 183b, and a pair of tenth suction parts 185a and 185b of the article gripping device 105 are placed inside the flat corrugated cardboard W1, while the other suction parts are placed outside the area of ​​the flat corrugated cardboard W1, and the flat corrugated cardboard W1 is sucked up using only the pair of sixth suction parts 183a and 183b and the pair of tenth suction parts 185a and 185b (S11).

[0256] Subsequently, while the lower surface of the flat corrugated cardboard W1 at the left center position is being sucked in by the article suction parts V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the upper surface of the flat corrugated cardboard W1 using only the pair of sixth suction parts 183a and 183b and the pair of tenth suction parts 185a and 185b, thereby making the flat corrugated cardboard W1 three-dimensional (S13), and the article gripping device 105 grips the three-dimensional corrugated cardboard W1 (S14).

[0257] Figure 27 is a perspective view showing the initial state in which the article gripping device 105 grips the three-dimensional corrugated cardboard W1 using only the pair of sixth suction parts 183a and 183b and the pair of tenth suction parts 185a and 185b, with the spacing between each suction part in the +Y·-Y direction reduced and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b, in which the spacing between each suction part in the +Y·-Y direction has been reduced and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b has been increased.

[0258] On the other hand, FIG. 32 shows a perspective view of an initial state in which the article gripping device 105 grips the three-dimensional cardboard W3 with only the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b in a state where the intervals in the +Y and -Y directions of each suction portion are reduced, and the distances between the motor shaft of the arm rotation first drive motor 161a, the pair of fifth suction portions 181a and 181b, the pair of seventh suction portions 187a and 187b, the pair of eighth suction portions 180a and 180b, the pair of ninth suction portions 189a and 189b, and the pair of tenth suction portions 185a and 185b are reduced.

[0259] After the flat cardboard W1 is three-dimensionally formed, in order to ensure the gripping of the cardboard box W1, as shown in FIGS. 22 and 23, the article gripping device 105 rotates such that the fifth arm and the sixth arm form a 90-degree angle, the sixth arm and the seventh arm form a 90-degree angle, the eighth arm portion 159a rotates to form a 90-degree angle with respect to the fifth arm, and the ninth arm portion 159b rotates to form a 90-degree angle with respect to the seventh arm. As a result, the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b adsorb the first surface among the four surfaces of the cardboard box W1, the pair of fifth suction portions 181a and 181b adsorb the second surface of the cardboard box W1, the pair of seventh suction portions 187a and 187b adsorb the third surface of the cardboard box W1, and the pair of eighth suction portions 180a and 180b and the ninth suction portions 189a and 189b are configured to adsorb the fourth surface of the cardboard box W1.

[0260] Therefore, according to the article gripping device 105 of the present embodiment, since the entire surface of the cardboard box W1 is adsorbed and gripped, even an object made of a flexible material (for example, a cardboard box) can be surely gripped.

[0261] Figure 22 is a plan view showing the box-making apparatus 101 equipped with the article gripping device 105 gripping the three-dimensional corrugated cardboard W1 with the spacing of each suction part widened in the +Y·-Y directions, and Figure 23 is a perspective view showing the box-making apparatus 101 equipped with the article gripping device 105 gripping the three-dimensional corrugated cardboard W1 with the spacing of each suction part widened in the +Y·-Y directions.

[0262] Figure 28 is a front view showing the final state in which the article gripping device 105 grips the three-dimensional corrugated cardboard W1, with the spacing between each suction part reduced in the +Y·-Y directions, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b increased.

[0263] On the other hand, Figure 33 is a front view showing the final state in which the article gripping device 105 grips a corrugated cardboard box W3 that is smaller than the three-dimensional corrugated cardboard box W1, with the spacing between each suction part in the +Y·-Y direction reduced, and the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction parts 181a and 181b, the pair of seventh suction parts 187a and 187b, the pair of eighth suction parts 180a and 180b, the pair of ninth suction parts 189a and 189b, and the pair of tenth suction parts 185a and 185b reduced.

[0264] Then, the box-making apparatus 101 of this embodiment, similar to the box-making apparatus 1 of the first embodiment, performs the processes S15 to S33 to fold the inner and outer flaps of the corrugated cardboard box W1 and complete the corrugated cardboard box.

[0265] According to the article gripping device 105 of this embodiment, a fifth arm (base end 149a, middle part 151a, and tip end 157a) and a sixth arm (base end 149c, middle part 151c, and tip end 157c) are rotatably connected around a second axis, an eighth arm portion 159a is rotatably connected to the end of the fifth arm opposite to the second axis, and a pair of fifth suction parts 181a and 181b are provided on the fifth arm, a pair of sixth suction parts 183a and 183b are provided on the sixth arm, and a pair of eighth suction parts 180a and 180b are provided on the eighth arm portion 159a is provided. Therefore, even articles made of flexible materials can be reliably gripped.

[0266] Furthermore, according to the article gripping device 105 of this embodiment, a sixth arm (sixth arm base portion 149c, sixth arm intermediate portion 151c, and sixth arm tip portion 157c) and a seventh arm (seventh arm base portion 149b, seventh arm intermediate portion 151b, and seventh arm tip portion 157b) are rotatably connected around the third axis, a ninth arm portion 159b is rotatably connected to the end of the seventh arm opposite to the third axis, and a pair of sixth suction portions 183a and 183b are provided on the sixth arm, a pair of seventh suction portions 187a and 187b are provided on the seventh arm, and a pair of ninth suction portions 189a and 189b are provided on the ninth arm portion 159b. Therefore, even articles made of flexible materials can be securely gripped.

[0267] Furthermore, according to the article gripping device 105 of this embodiment, the device is equipped with a first arm rotation drive motor 161a that rotates the fifth arm and the sixth arm around the second axis, and the eighth arm portion 159a is rotatable in conjunction with the rotation of the first arm rotation drive motor 161a with respect to the end of the fifth arm opposite to the second axis. Therefore, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0268] Furthermore, according to the article gripping device 105 of this embodiment, the device is equipped with a second arm rotation drive motor 161b that rotates the sixth and seventh arms around the third axis, and the ninth arm portion 159b is rotatable in conjunction with the rotation of the second arm rotation drive motor 161b, relative to the end of the seventh arm opposite to the third axis. Therefore, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0269] Furthermore, in the article gripping device 105 of this embodiment, the distance between the second axis and the pair of eighth suction parts 180a and 180b can be changed, so articles of different sizes can be gripped reliably.

[0270] Furthermore, in the article gripping device 105 of this embodiment, the distance between the third axis and the pair of ninth suction parts 189a and 189b can be changed, so articles of different sizes can be gripped reliably.

[0271] Furthermore, since the article gripping device 105 of this embodiment is configured to allow the distance between the second axis and the pair of fifth suction parts 181a and 181b to be changed, articles of different sizes can be gripped even more securely.

[0272] Furthermore, in the article gripping device 105 of this embodiment, the distance between the third axis and the pair of seventh suction parts 187a and 187b can be changed, so articles of different sizes can be gripped even more securely.

[0273] Furthermore, according to the article gripping device 105 of this embodiment, the sixth arm is equipped with a pair of tenth suction parts 185a and 185b, and the distance between the second axis and the pair of tenth suction parts 185a and 185b can be changed, so that articles of different sizes can be gripped even more reliably.

[0274] Furthermore, according to the article gripping device 105 of this embodiment, since it includes a fifth arm and a sixth arm rotatably connected around a second axis, a sixth arm and a seventh arm rotatably connected around a third axis, an eighth arm portion 159a rotatably connected to the end of the fifth arm opposite to the second axis, a ninth arm portion 159b rotatably connected to the end of the seventh arm opposite to the third axis, a pair of fifth suction parts 181a and 181b provided on the fifth arm, a pair of sixth suction parts 183a and 183b provided on the sixth arm, a pair of seventh suction parts 187a and 187b provided on the seventh arm, a pair of eighth suction parts 180a and 180b provided on the eighth arm portion 159a, and a pair of ninth suction parts 189a and 189b provided on the ninth arm portion 159b, it can grip articles made of flexible materials even more securely.

[0275] Furthermore, the box-making apparatus 101 of this embodiment includes an articulated robot 3 and an article gripping device 105 to which a sixth arm is connected at the tip of the articulated robot 3. Therefore, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0276] (Third embodiment) Next, a third embodiment of the present invention, an article gripping device, and a box-making apparatus equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0277] A third embodiment of the present invention will be described below, but the same number will be used for components identical to those in the first embodiment, and their descriptions will be omitted.

[0278] Figure 34 is a bottom view of the article gripping device of the third embodiment with the spacing between each suction part in the +X·-X direction widened; Figure 35 is a perspective view showing the initial state in which the article gripping device of the third embodiment grips a box with the spacing between each suction part widened in the +X·-X direction; and Figure 36 is a front view showing the final state in which the article gripping device of the third embodiment grips a box with the spacing between each suction part widened in the +X·-X direction.

[0279] The box-making system, including the box-making apparatus 201 equipped with the article gripping device 205 of this embodiment, similar to the box-making apparatus 1 of the first embodiment, selectively grips flat corrugated cardboard placed according to size to form a three-dimensional shape, folds the inner and outer flaps formed at both the upper and lower ends of the three-dimensional corrugated cardboard, and then applies tape to the ends of the outer flaps to manufacture a corrugated cardboard box.

[0280] The box-making apparatus 201 consists of an articulated robot 3 and an article gripping device 205 connected to the tip of the articulated robot 3. Unlike the article gripping device 105 of the second embodiment, the article gripping device 205 of this embodiment has a fixed spacing between the suction parts.

[0281] As shown in Figures 34 to 36, the article gripping device 205 comprises, on the -X side of the drawing from the rotating part 47 (mounting part 47) of the articulated robot 3, a fifth arm base end 249a, a fifth arm intermediate part 251a slidably engaged with the fifth arm base end 249a in the +X and -X directions which are the longitudinal directions of the fifth arm base end 249a, a fifth arm tip end 257a slidably engaged with the fifth arm intermediate part 251a in the +X and -X directions, and an eighth arm part 259a rotatably connected to the -X direction tip of the fifth arm tip end 257a (the end of the fifth arm opposite to the first axis, which will be described later).

[0282] Furthermore, the "fifth arm" of the present invention is composed of the base portion 249a, the intermediate portion 251a, and the tip portion 257a of the fifth arm in this embodiment.

[0283] Furthermore, the article gripping device 205 is equipped with a total of six sets of suction parts (5th suction part 281a and 281b, 6th suction part 283a and 283b, 7th suction part 287a and 287b, 8th suction part 280a and 280b, 9th suction part 289a and 289b, and 10th suction part 285a and 285b) in pairs for gripping corrugated cardboard. The 5th arm, the 6th arm (described later), the 7th arm (described later), the 8th arm part 259a, and the 9th arm part 259b (described later) are configured to face the same direction when the 5th arm is horizontal, and the 9th arm part 259b is configured to face the same direction when gripping corrugated cardboard as described later.

[0284] Specifically, the article gripping device 205 is equipped with a pair of fifth suction parts 281a and 281b on the intermediate part 251a of the fifth arm, a pair of sixth suction parts 283a and 283b on the base end 249c of the sixth arm (described later), a pair of seventh suction parts 287a and 287b on the intermediate part 251b of the seventh arm (described later), a pair of eighth suction parts 280a and 280b on the eighth arm part 259a, a pair of ninth suction parts 289a and 289b on the ninth arm part 259b (described later), and a pair of tenth suction parts 285a and 285b on the tip end 257c of the sixth arm (described later).

[0285] Furthermore, each pair of suction parts (the fifth suction parts 281a and 281b, the sixth suction parts 283a and 283b, the seventh suction parts 287a and 287b, the eighth suction parts 280a and 280b, the ninth suction parts 289a and 289b, and the tenth suction parts 285a and 285b) is housed within a single housing (the fifth housing 281 corresponding to the pair of fifth suction parts 281a and 281b, the sixth housing 283 corresponding to the pair of sixth suction parts 283a and 283b, the seventh housing 287 corresponding to the pair of seventh suction parts 287a and 287b, the eighth housing 280 corresponding to the pair of eighth suction parts 280a and 280b, the ninth housing 289 corresponding to the pair of ninth suction parts 289a and 289b, and the tenth housing 285 corresponding to the pair of tenth suction parts 285a and 285b).

[0286] Furthermore, the article gripping device 205 includes an arm rotation first drive motor 261a (corresponding to the "second drive unit" of the present invention) located at the base end 249c of the sixth arm (described later) for rotating the fifth arm and the sixth arm (described later) around a motor shaft (corresponding to the "second shaft" of the present invention), an arm rotation first drive motor gear 263a coaxially connected to the motor shaft (corresponding to the "second shaft" of the present invention) of the arm rotation first drive motor 261a, and an arm rotation first drive driven gear 265a located at the base end 249a of the fifth arm and meshing with the arm rotation first drive motor gear 263a.

[0287] Furthermore, the article gripping device 205 includes a first toothed pulley 267a for the first arm rotation drive, which is positioned on the opposite side of the fifth arm base end 249a from the driven gear 265a for the first arm rotation drive and is connected coaxially with the driven gear 265a for the first arm rotation drive, a first toothed belt 269a for the first arm rotation drive with one end engaged with the first toothed pulley 267a for the first arm rotation drive, and a second toothed pulley 271a for the first arm rotation drive with a first toothed pulley engaged with the other end of the first toothed belt 269a for the first arm rotation drive.

[0288] Furthermore, the article gripping device 205 includes a second toothed belt 273a for first arm rotation drive, one end of which is engaged with the second toothed pulley 271a for first arm rotation drive; a third toothed pulley 275a for first arm rotation drive, engaged with the other end of the second toothed belt 273a for first arm rotation drive; and an eighth arm portion 259a connected to the rotation axis of the third toothed pulley 275a for first arm rotation drive.

[0289] Furthermore, a first link section 253a for extending and retracting the fifth arm is connected between the first toothed pulley 267a for first arm rotation drive and the second toothed pulley 271a for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 267a for first arm rotation drive and the second toothed pulley 271a for first arm rotation drive. Similarly, a second link section 255a for extending and retracting the fifth arm is connected between the second toothed pulley 271a for first arm rotation drive and the third toothed pulley 275a for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 267a for first arm rotation drive and the second toothed pulley 271a for first arm rotation drive.

[0290] Furthermore, the first link section 253a for extending and retracting the fifth arm and the second link section 255a for extending and retracting the fifth arm are configured to rotate freely with respect to the central axis of the second toothed pulley 271a for the first arm rotation drive, depending on the distance between the driven gear 265a for the first arm rotation drive and the third toothed pulley 275a for the first arm rotation drive.

[0291] When the first arm rotation drive motor 261a rotates, its rotational force is transmitted to the first arm rotation drive motor gear 263a, and as described above, the fifth arm and the sixth arm, which will be described later, are configured to rotate around the motor shaft of the first arm rotation drive motor 261a (corresponding to the "second shaft" of this invention).

[0292] In addition, in the article gripping device 205 of this embodiment, the fifth arm and the sixth arm, which will be described later, are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0293] Then, when the fifth arm and the sixth arm (described later) rotate to form a 90-degree angle, the fifth arm and the sixth arm are locked together, and the rotational force of the first arm rotation drive motor 261a is transmitted to the first arm rotation drive driven gear 265a, the first toothed pulley 267a for the first arm rotation drive, the first toothed belt 269a for the first arm rotation drive, the second toothed pulley 271a for the first arm rotation drive, the second toothed belt 273a for the first arm rotation drive, the third toothed pulley 275a for the first arm rotation drive, and the eighth arm section 259a. As a result, the eighth arm section 259a is configured to rotate relative to the center of the third toothed pulley 275a for the first arm rotation drive.

[0294] In this embodiment of the article gripping device 205, the eighth arm portion 259a is configured to rotate 90 degrees relative to the tip portion 257a of the fifth arm so that the cardboard box can be securely gripped in its assembled state.

[0295] Furthermore, in the article gripping device 205 of this embodiment, the fifth arm and the sixth arm are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state, and the eighth arm portion 259a is configured to rotate 90 degrees relative to the tip portion 257a of the fifth arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking the fifth arm and the sixth arm, it is also possible to rotate them by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0296] Furthermore, the article gripping device 205 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 261a and a pair of fifth suction parts 281a and 281b, and a pair of eighth suction parts 280a and 280b, according to the size of the cardboard box. Specifically, it includes a fifth arm extension motor 211a located at the base end 249a of the fifth arm, a fifth arm extension first toothed pulley 213a coaxially connected to the motor shaft of the fifth arm extension motor 211a, and a fifth arm extension first toothed belt 215a with one end engaged with the fifth arm extension first toothed pulley 213a.

[0297] Furthermore, the article gripping device 205 includes a second toothed pulley 217a for extending the fifth arm that is engaged with the other end of the first toothed belt 215a for extending the fifth arm, a first locking part 219a for extending the fifth arm that is connected to the intermediate part 251a of the fifth arm and connected to the lower side of the first toothed belt 215a for extending the fifth arm, a third toothed pulley 221a for extending the fifth arm that is rotatably connected on the intermediate part 251a of the fifth arm, and a second toothed belt 223a for extending the fifth arm that has one end engaged with the third toothed pulley 221a for extending the fifth arm.

[0298] Furthermore, the article gripping device 205 includes a fourth toothed pulley 225a for extending the fifth arm that is engaged with the other end of the second toothed belt 223a for extending the fifth arm, a second locking part 220a for extending the fifth arm that is connected to the base end 249a of the fifth arm and connected to the -Y direction side of the second toothed belt 223a for extending the fifth arm, and a third locking part 227a for extending the fifth arm that is connected to the tip end 257a of the fifth arm and connected to the +Y direction side of the second toothed belt 223a for extending the fifth arm.

[0299] The method for changing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b, as well as the pair of eighth suction parts 280a and 280b, will be described later.

[0300] Furthermore, as shown in Figures 34 to 36, the article gripping device 205 comprises a sixth arm base end 249c, a sixth arm intermediate portion 251c that is slidably engaged with the sixth arm base end 249c in the +X and -X directions which are the longitudinal directions of the sixth arm base end 249c, and a sixth arm tip end 257c that is slidably engaged with the sixth arm intermediate portion 251c in the +X and -X directions.

[0301] Furthermore, the "sixth arm" of the present invention is composed of the base portion 249c, the intermediate portion 251c, and the tip portion 257c of the sixth arm in this embodiment.

[0302] Furthermore, the article gripping device 205 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 261a and a pair of tenth suction parts 285a and 285b according to the size of the cardboard box. Specifically, it includes a sixth arm extension motor 211c located at the base end 249c of the sixth arm, a sixth arm extension first toothed pulley 213c coaxially connected to the motor shaft of the sixth arm extension motor 211c, and a sixth arm extension first toothed belt 215c with one end engaged with the sixth arm extension first toothed pulley 213c.

[0303] Furthermore, the article gripping device 205 includes a second toothed pulley 217c for extending the sixth arm engaged with the other end of the first toothed belt 215c for extending the sixth arm, a first locking part 219c for extending the sixth arm connected to the intermediate part 251c of the sixth arm and connected to the lower side of the first toothed belt 215c for extending the sixth arm, a third toothed pulley 221c for extending the sixth arm rotatably connected on the intermediate part 251c of the sixth arm, and a second toothed belt 223c for extending the sixth arm, with one end engaged with the third toothed pulley 221c for extending the sixth arm.

[0304] Furthermore, the article gripping device 205 includes a fourth toothed pulley 225c for extending the sixth arm engaged with the other end of the second toothed belt 223c for extending the sixth arm, a second locking part 220c for extending the sixth arm connected to the base end 249c of the sixth arm and connected to the -Y side of the second toothed belt 223c for extending the sixth arm, and a third locking part 227c for extending the sixth arm connected to the tip end 257c of the sixth arm and connected to the -Y side of the second toothed belt 223c for extending the sixth arm.

[0305] The method for changing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of tenth suction parts 285a and 285b will be described later.

[0306] Furthermore, as shown in Figures 34 to 36, the article gripping device 205 includes a seventh arm base portion 249b rotatable relative to the sixth arm base portion 257c at the +X direction end of the sixth arm tip portion 257c, a seventh arm intermediate portion 251b slidably engaged with the seventh arm base portion 249b in the +X and -X directions which are the longitudinal directions of the seventh arm base portion 249b, a seventh arm tip portion 257b slidably engaged with the seventh arm intermediate portion 251b in the +X and -X directions, and a ninth arm portion 259b rotatably connected to the +X direction tip of the seventh arm tip portion 257b (the end of the seventh arm opposite to the third axis, which will be described later).

[0307] Furthermore, the "seventh arm" of the present invention is composed of the base portion 249b, the intermediate portion 251b, and the tip portion 257b of the seventh arm in this embodiment.

[0308] Furthermore, the article gripping device 205 includes an arm rotation second drive motor 261b (corresponding to the "third drive unit" of the present invention) positioned at the tip 257c of the seventh arm for rotating the sixth arm and the seventh arm around a motor shaft (corresponding to the "third axis" of the present invention), an arm rotation second drive motor gear 263b coaxially connected to the motor shaft (corresponding to the "third axis" of the present invention) of the arm rotation second drive motor 261b, and an arm rotation second drive driven gear 265b positioned at the base end 249b of the seventh arm and meshing with the arm rotation first drive motor gear 263b.

[0309] Furthermore, the article gripping device 205 includes a first toothed pulley 267b for driving the second arm rotation, which is positioned on the opposite side of the seventh arm base end 249b from the driven gear 265b for driving the second arm rotation and is connected coaxially with the driven gear 265b for driving the second arm rotation; a first toothed belt 269b for driving the second arm rotation, with one end engaged with the first toothed pulley 267b for driving the second arm rotation; and a second toothed pulley 271b for driving the second arm rotation, with the other end of the first toothed belt 269b for driving the second arm rotation engaged with the first toothed pulley.

[0310] Furthermore, the article gripping device 205 includes a second toothed belt 273b for driving the second arm rotation, one end of which is engaged with the second toothed pulley 271b for driving the second arm rotation; a third toothed pulley 275b for driving the second arm rotation, engaged with the other end of the second toothed belt 273b for driving the second arm rotation; and a ninth arm portion 259b connected to the rotation axis of the third toothed pulley 275b for driving the second arm rotation.

[0311] Furthermore, the first link section 253b for extending and retracting the seventh arm is connected between the first toothed pulley 267b for driving the second arm rotation and the second toothed pulley 271b for driving the second arm rotation, thereby ensuring the axial distance between the first toothed pulley 267b for driving the second arm rotation and the second toothed pulley 271b for driving the second arm rotation, and the second link section 255b for extending and retracting the seventh arm is connected between the second toothed pulley 271b for driving the second arm rotation and the third toothed pulley 275b for driving the second arm rotation, thereby ensuring the axial distance between the second toothed pulley 271b for driving the second arm rotation and the third toothed pulley 275b for driving the second arm rotation.

[0312] Furthermore, the first link section 253b for extending and retracting the seventh arm and the second link section 255b for extending and retracting the seventh arm are configured to rotate freely with respect to the central axis of the second toothed pulley 271b for driving the second arm rotation, depending on the distance between the driven gear 265b for driving the second arm rotation and the third toothed pulley 275b for driving the second arm rotation.

[0313] When the second arm rotation drive motor 261b rotates, its rotational force is transmitted to the second arm rotation drive motor gear 263b, and as described above, the sixth arm and the seventh arm are configured to rotate around the motor shaft of the second arm rotation drive motor 261b (corresponding to the "third axis" of this invention).

[0314] In addition, in the article gripping device 205 of this embodiment, the sixth arm and the seventh arm are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0315] Then, when the sixth arm and the seventh arm rotate to form a 90-degree angle, the sixth arm and the seventh arm are locked together, and the rotational force of the second arm rotation drive motor 261b is transmitted to the second arm rotation drive driven gear 265b, the first toothed pulley 267b for the second arm rotation drive, the first toothed belt 269b for the second arm rotation drive, the second toothed pulley 271b for the second arm rotation drive, the second toothed belt 273b for the second arm rotation drive, the third toothed pulley 275b for the second arm rotation drive, and the ninth arm section 259b. As a result, the ninth arm section 259b is configured to rotate relative to the center of the third toothed pulley 275b for the second arm rotation drive.

[0316] In this embodiment of the article gripping device 205, the ninth arm portion 259b is configured to rotate 90 degrees relative to the seventh arm tip portion 257b so that the cardboard box can be securely gripped in its assembled state.

[0317] Furthermore, in the article gripping device 205 of this embodiment, the sixth arm and the seventh arm are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state, and the ninth arm portion 259b is configured to rotate 90 degrees relative to the tip portion 257b of the seventh arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking the sixth arm and the seventh arm, it is also possible to rotate them by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0318] Furthermore, the article gripping device 205 is equipped with a mechanism for changing the distance between the motor shaft of the second arm rotation drive motor 261b and a pair of seventh suction parts 287a and 287b, and a pair of ninth suction parts 289a and 289b, according to the size of the cardboard box. Specifically, it includes a seventh arm extension motor 211b located at the base end 249b of the seventh arm, a seventh arm extension first toothed pulley 213b coaxially connected to the motor shaft of the seventh arm extension motor 211b, and a seventh arm extension first toothed belt 215b with one end engaged with the seventh arm extension first toothed pulley 213b.

[0319] Furthermore, the article gripping device 205 includes a second toothed pulley 217b for extending the seventh arm, which is engaged with the other end of the first toothed belt 215b for extending the seventh arm; a first locking part 219b for extending the seventh arm, which is connected to the intermediate part 251b of the seventh arm and connected to the lower side of the first toothed belt 215b for extending the seventh arm; a third toothed pulley 221b for extending the seventh arm, which is rotatably connected on the intermediate part 251b of the seventh arm; and a second toothed belt 223b for extending the seventh arm, which has one end engaged with the third toothed pulley 221b for extending the seventh arm.

[0320] Furthermore, the article gripping device 205 includes a fourth toothed pulley 225b for extending the seventh arm engaged with the other end of the second toothed belt 223b for extending the seventh arm, a second locking part 220b for extending the seventh arm connected to the base end 249b of the seventh arm and connected to the -Y direction side of the second toothed belt 223b for extending the seventh arm, and a third locking part 227b for extending the seventh arm connected to the tip end 257b of the seventh arm and connected to the +Y direction side of the second toothed belt 223b for extending the seventh arm.

[0321] The method for changing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction parts 287a and 287b, and the pair of ninth suction parts 289a and 289b will be described later.

[0322] The block diagram of the box-making apparatus 201 in this embodiment is the same as the block diagram of the box-making apparatus 101 in the second embodiment.

[0323] Next, the operation of the box-making apparatus 201 with the above configuration will be explained using the main program shown in Figure 8.

[0324] In Figure 8, first, the user of the box-making device 201 turns on the power switch of the device, then inputs the size of the corrugated cardboard box to be processed (size of the corrugated cardboard box = W1) and the number of corrugated cardboard boxes to be processed using the operation buttons on the operation panel 6, and presses the start button. The box-making device 201 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the device acquires the placement position of the corrugated cardboard box W1 stored in the box placement position data table 16a of RAM 16, and box information such as the size of the corrugated cardboard box W1 stored in the box information data table 16b (S5).

[0325] Initially, the articulated robot 3 of the box-making device 201 is set at the left end position of the upper moving rail 91 in Figure 1.

[0326] When the box-making device 201 obtains the placement position of the flat corrugated cardboard (position of the flat corrugated cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat corrugated cardboard W1, etc.) stored in the box information data table 16b, the box-making device 101 rotates the robot position drive motor 95 to move the mobile platform 93 on which the articulated robot 3 is mounted along the mobile rail 91 to the location where the flat corrugated cardboard W1 of the flat box placement section 80 is stacked.

[0327] Then, the gripping device 205 connected to the tip of the articulated robot 3 is set to a gripping width that matches the size of the flat corrugated cardboard W1, and is opened as shown in Figure 34 (S6). The uppermost layer of the stacked flat corrugated cardboard W1 is then sucked up, lifted, rotated, and moved to the top surface of the flat corrugated cardboard mounting table 36, where it is placed on the top surface of the flat corrugated cardboard mounting table 36 (S7).

[0328] In this case, the article gripping device 205 may use a pair of fifth suction parts 281a and 281b, a pair of sixth suction parts 283a and 283b, a pair of seventh suction parts 287a and 287b, a pair of eighth suction parts 280a and 280b, a pair of ninth suction parts 289a and 289b, and a pair of tenth suction parts 285a and 285b (all suction parts are in the ON state) to suck up the flat corrugated cardboard W1. However, considering the process in S13 described later, it is also possible to use only the pair of sixth suction parts 283a and 283b and the pair of tenth suction parts 285a and 285b to suck up the flat corrugated cardboard W1 from this point onward, and not use the other suction parts.

[0329] To open the article gripping device 205 means, as shown in Figure 34, widening the angle with the fifth arm, sixth arm, and seventh arm to approximately 180 degrees, so that all the suction parts, namely the pair of fifth suction parts 281a and 281b, the pair of sixth suction parts 283a and 283b, the pair of seventh suction parts 287a and 287b, the pair of eighth suction parts 280a and 280b, the pair of ninth suction parts 289a and 289b, and the pair of tenth suction parts 285a and 285b face each other on the same plane.

[0330] Here, we will explain how the article gripping device 205 changes the distance between the motor shaft of the first arm rotation drive motor 261a (corresponding to the "second axis" in this invention) and the pair of fifth suction parts 281a and 281b and the pair of eighth suction parts 280a and 280b to match the size of the flat corrugated cardboard.

[0331] First, we will explain the case where the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b and the pair of eighth suction parts 280a and 280b is increased.

[0332] When increasing the distance between the motor shaft of the first motor 261a for arm rotation and the pair of fifth suction parts 281a and 281b and the pair of eighth suction parts 280a and 280b, first the fifth arm extension motor 211a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension first locking part 219a, which is connected to the lower side of the fifth arm extension first toothed pulley 213a and the fifth arm extension first toothed belt 215a, via the fifth arm extension first toothed belt 215a.

[0333] As a result, the first locking part 219a for extending and retracting the fifth arm moves in the -X direction, the intermediate part 251a of the fifth arm connected to the first locking part 219a for extending and retracting the fifth arm also moves in the -X direction, and the pair of fifth suction parts 281a and 281b provided on the intermediate part 251a of the fifth arm also move in the -X direction, thereby increasing the distance between the motor shaft of the first drive motor 261a for arm rotation and the pair of fifth suction parts 281a and 281b.

[0334] Furthermore, when the intermediate portion 251a of the fifth arm moves in the -X direction, the third toothed pulley 221a and the fourth toothed pulley 225a for extending and retracting the fifth arm, which are rotatably connected on the intermediate portion 251a of the fifth arm, move in the -X direction. As a result of this movement, the second locking portion 220a for extending and retracting the fifth arm, which is connected to the base end portion 249a of the fifth arm and the second toothed belt 223a for extending and retracting the fifth arm, and the second toothed belt 223a for extending and retracting the fifth arm move in the +Y direction. Due to the relationship between the side and the third locking part 227a for extending and retracting the fifth arm connected to the tip of the fifth arm 257a, the tip of the fifth arm 257a moves in the -X direction, and the eighth arm 259a connected to the tip of the fifth arm 257a and the pair of eighth suction parts 280a and 280b provided on the eighth arm 259a also move in the -X direction, thereby increasing the distance between the motor shaft of the first motor 261a for arm rotation and the pair of eighth suction parts 280a and 280b.

[0335] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b and the pair of eighth suction parts 280a and 280b is reduced.

[0336] When reducing the distance between the motor shaft of the first motor 261a for arm rotation and the pair of fifth suction parts 281a and 281b and the pair of eighth suction parts 280a and 280b, first the fifth arm extension motor 211a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension first locking part 219a, which is connected to the lower side of the fifth arm extension first toothed pulley 213a and the fifth arm extension first toothed belt 215a, via the fifth arm extension first toothed belt 215a.

[0337] As a result, the first locking part 219a for extending and retracting the fifth arm moves in the +X direction, the intermediate part 251a of the fifth arm connected to the first locking part 219a for extending and retracting the fifth arm also moves in the +X direction, and the pair of fifth suction parts 281a and 281b provided on the intermediate part 251a of the fifth arm also move in the +X direction, thereby reducing the distance between the motor shaft of the first drive motor 261a for arm rotation and the pair of fifth suction parts 281a and 281b.

[0338] Furthermore, when the intermediate portion 251a of the fifth arm moves in the +X direction, the third toothed pulley 221a and the fourth toothed pulley 225a for extending and retracting the fifth arm, which are rotatably connected on the intermediate portion 251a of the fifth arm, move in the +X direction. As a result of this movement, the second locking portion 220a for extending and retracting the fifth arm, which is connected to the base end portion 249a of the fifth arm and the second toothed belt 223a for extending and retracting the fifth arm, and the second toothed belt 223a for extending and retracting the fifth arm move in the +Y direction. Due to the relationship between the side and the third locking part 227a for extending and retracting the fifth arm connected to the tip of the fifth arm 257a, when the tip of the fifth arm 257a moves in the +X direction, the eighth arm 259a connected to the tip of the fifth arm 257a and the pair of eighth suction parts 280a and 280b provided on the eighth arm 259a also move in the +X direction, and the distance between the motor shaft of the first motor for driving the arm rotation 261a and the pair of eighth suction parts 280a and 280b can also be reduced.

[0339] Next, we will explain how the article gripping device 205 changes the distance between the motor shaft of the second arm rotation drive motor 261b (corresponding to the "third axis" in this invention) and the pair of seventh suction parts 287a and 287b and the pair of ninth suction parts 289a and 289b to match the size of the flat corrugated cardboard box.

[0340] First, we will explain the case where the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction parts 287a and 287b and the pair of ninth suction parts 289a and 289b is increased.

[0341] When increasing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction parts 287a and 287b and the pair of ninth suction parts 289a and 289b, first the seventh arm extension motor 211b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension first locking part 219b, which is connected to the lower side of the seventh arm extension first toothed pulley 213b and the seventh arm extension first toothed belt 215b.

[0342] As a result, the first locking part 219b for extending and retracting the seventh arm moves in the +X direction, the intermediate part 251b of the seventh arm connected to the first locking part 219b for extending and retracting the seventh arm also moves in the +X direction, and the pair of seventh suction parts 287a and 287b provided on the intermediate part 251b of the seventh arm also move in the +X direction, thereby increasing the distance between the motor shaft of the second motor 261b for rotating the arm and the pair of seventh suction parts 287a and 287b.

[0343] Furthermore, when the intermediate portion 251b of the seventh arm moves in the +X direction, the third toothed pulley 221b and the fourth toothed pulley 225b for extending and retracting the seventh arm, which are rotatably connected on the intermediate portion 251b of the seventh arm, move in the +X direction, and as a result of this movement, the second locking portion 220b for extending and retracting the seventh arm, which is connected to the base end portion 249b of the seventh arm and the second toothed belt 223b for extending and retracting the seventh arm, and the second toothed belt 223b for extending and retracting the seventh arm move in the +Y direction Due to the relationship between the side and the third locking part 227b for extending and retracting the seventh arm, which is connected to the tip of the seventh arm 257b, the tip of the seventh arm 257b moves in the +X direction, and the ninth arm 259b connected to the tip of the seventh arm 257b and the pair of ninth suction parts 289a and 289b provided on the ninth arm 259b also move in the +X direction, thereby increasing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of ninth suction parts 289a and 289b.

[0344] Next, we will explain the case in which the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction parts 287a and 287b and the pair of ninth suction parts 289a and 289b is reduced.

[0345] When reducing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction parts 287a and 287b and the pair of ninth suction parts 289a and 289b, first the seventh arm extension motor 211b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension first locking part 219b, which is connected to the lower side of the seventh arm extension first toothed pulley 213b and the seventh arm extension first toothed belt 215b.

[0346] As a result, the first locking part 219b for extending and retracting the seventh arm moves in the -X direction, the intermediate part 251b of the seventh arm connected to the first locking part 219b for extending and retracting the seventh arm also moves in the -X direction, and the pair of seventh suction parts 287a and 287b provided on the intermediate part 251b of the seventh arm also move in the -X direction, thereby reducing the distance between the motor shaft of the second motor 261b for rotating the arm and the pair of seventh suction parts 287a and 287b.

[0347] Furthermore, when the intermediate portion 251b of the seventh arm moves in the -X direction, the third toothed pulley 221b and the fourth toothed pulley 225b for extending and retracting the seventh arm, which are rotatably connected to the intermediate portion 251b of the seventh arm, move in the -X direction. As a result of this movement, the second locking portion 220b for extending and retracting the seventh arm, which is connected to the base portion 249b of the seventh arm and the second toothed belt 223b for extending and retracting the seventh arm, and the second toothed belt 223b for extending and retracting the seventh arm move in the +Y direction. Due to the relationship between the side and the third locking part 227b for extending and retracting the seventh arm connected to the seventh arm tip 257b, the seventh arm tip 257b moves in the -X direction, and the ninth arm 259b connected to the seventh arm tip 257b and the pair of ninth suction parts 289a and 289b provided on the ninth arm 259b also move in the -X direction, thereby reducing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of ninth suction parts 289a and 289b.

[0348] Next, we will explain how the article gripping device 205 changes the distance between the motor shaft of the second arm rotation drive motor 261a (corresponding to the "second shaft" in this invention) and the pair of tenth suction parts 285a and 285b to match the size of the flat corrugated cardboard box.

[0349] First, we will explain the case where the distance between the motor shaft of the second arm rotation drive motor 261a and the pair of tenth suction parts 285a and 285b is increased.

[0350] When increasing the distance between the motor shaft of the second arm rotation drive motor 261a and the pair of tenth suction parts 285a and 285b, first the sixth arm extension motor 211c is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension first locking part 219c, which is connected to the lower side of the sixth arm extension first toothed pulley 213c and the sixth arm extension first toothed belt 215c, via the sixth arm extension first toothed belt 215c.

[0351] As a result, the first locking part 219c for extending and retracting the sixth arm moves in the +X direction, the intermediate part 251c of the sixth arm connected to the first locking part 219c for extending and retracting the sixth arm also moves in the +X direction, and the pair of tenth suction parts 285a and 285b provided on the intermediate part 251c of the sixth arm also move in the +X direction, thereby increasing the distance between the motor shaft of the first drive motor 261a for arm rotation and the pair of tenth suction parts 285a and 285b.

[0352] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 261b and the pair of tenth suction parts 285a and 285b is reduced.

[0353] When reducing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of tenth suction parts 285a and 285b, first the sixth arm extension motor 211c is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension first locking part 219c, which is connected to the lower side of the sixth arm extension first toothed pulley 213c and the sixth arm extension first toothed belt 215c, via the sixth arm extension first toothed belt 215c.

[0354] As a result, the first locking part 219c for extending and retracting the sixth arm moves in the -X direction, the intermediate part 251c of the sixth arm connected to the first locking part 219c for extending and retracting the sixth arm also moves in the -X direction, and the pair of tenth suction parts 285a and 285b provided on the intermediate part 251c of the sixth arm also move in the -X direction, thereby reducing the distance between the motor shaft of the first drive motor 261a for arm rotation and the pair of tenth suction parts 285a and 285b.

[0355] Then, the compressor 8 drives the nine item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9, which are installed on the upper surface of the flat corrugated cardboard mounting table 36, and sucks the flat corrugated cardboard W1 to fix it to the upper surface of the flat corrugated cardboard mounting table 36 (S9).

[0356] Then, the articulated robot 3 is operated to open the article gripping device 205 as shown in Figure 34, and a pair of sixth suction parts 283a and 283b and a pair of tenth suction parts 285a and 285b of the article gripping device 205 are placed inside the flat corrugated cardboard W1, while the other suction parts are placed outside the area of ​​the flat corrugated cardboard W1, and the flat corrugated cardboard W1 is sucked up using only the pair of sixth suction parts 283a and 283b and the pair of tenth suction parts 285a and 285b (S11).

[0357] Subsequently, while the lower surface of the flat corrugated cardboard W1 at the left center position is being sucked in by the article suction parts V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the upper surface of the flat corrugated cardboard W1 using only the pair of sixth suction parts 283a and 283b and the pair of tenth suction parts 285a and 285b, thereby making the flat corrugated cardboard W1 three-dimensional (S13), and the article gripping device 205 grips the three-dimensional corrugated cardboard W1 (S14).

[0358] Figure 35 is a perspective view showing the initial state in which the article gripping device 205 grips the three-dimensional corrugated cardboard W1 using only the pair of sixth suction parts 283a and 283b and the pair of tenth suction parts 285a and 285b, with the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b, the pair of seventh suction parts 287a and 287b, the pair of eighth suction parts 280a and 280b, the pair of ninth suction parts 289a and 289b, and the pair of tenth suction parts 285a and 285b, in a state where the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b, the pair of seventh suction parts 287a and 287b, the pair of eighth suction parts 280a and 280b, the pair of ninth suction parts 289a and 289b, and the pair of tenth suction parts 285a and 285b has been increased.

[0359] After the flat corrugated cardboard W1 is transformed into a three-dimensional shape, in order to securely grip the cardboard box W1, the article gripping device 205 rotates so that the fifth arm and the sixth arm form a 90-degree angle, the sixth arm and the seventh arm form a 90-degree angle, the eighth arm portion 259a rotates so that it forms a 90-degree angle with respect to the fifth arm, and the ninth arm portion 259b rotates so that it forms a 90-degree angle with respect to the seventh arm, thereby securing the pair of sixth suction parts 283a and 283b, and a pair of 10th suction parts 285a and 285b are configured to adsorb the first of the four sides of the corrugated cardboard box W1, a pair of 5th suction parts 281a and 281b adsorb the second side of the corrugated cardboard box W1, a pair of 7th suction parts 287a and 287b adsorb the third side of the corrugated cardboard box W1, and a pair of 8th suction parts 280a and 280b, and a pair of 9th suction parts 289a and 289b are configured to adsorb the fourth side of the corrugated cardboard box W1.

[0360] Therefore, according to the article gripping device 205 of this embodiment, since the entire surface of the corrugated cardboard box W1 is gripped by suction, even objects made of flexible materials (for example, corrugated cardboard boxes) can be gripped reliably.

[0361] Figure 36 is a front view showing the final state in which the article gripping device 205 grips a three-dimensional corrugated cardboard box W1, with the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction parts 281a and 281b, the pair of seventh suction parts 287a and 287b, the pair of eighth suction parts 280a and 280b, the pair of ninth suction parts 289a and 289b, and the pair of tenth suction parts 285a and 285b increased.

[0362] Then, the box-making apparatus 201 of this embodiment, similar to the box-making apparatus 1 of the first embodiment, performs the processes S15 to S33 to fold the inner and outer flaps of the corrugated cardboard box W1 and complete the corrugated cardboard box.

[0363] According to the article gripping device 205 of this embodiment, a fifth arm (base end 249a, middle part 251a, and tip end 257a) and a sixth arm (base end 249c, middle part 251c, and tip end 257c) are rotatably connected around a second axis, an eighth arm portion 259a is rotatably connected to the end of the fifth arm opposite to the second axis, and a pair of fifth suction parts 281a and 281b are provided on the fifth arm, a pair of sixth suction parts 283a and 283b are provided on the sixth arm, and a pair of eighth suction parts 280a and 280b are provided on the eighth arm portion 259a is provided. As such, even articles made of flexible materials can be reliably gripped.

[0364] Furthermore, according to the article gripping device 205 of this embodiment, a sixth arm (sixth arm base end 249c, sixth arm middle part 251c, and sixth arm tip end 257c) and a seventh arm (seventh arm base end 249b, seventh arm middle part 251b, and seventh arm tip end 257b) are rotatably connected around the third axis, a ninth arm portion 259b is rotatably connected to the end of the seventh arm opposite to the third axis, a pair of sixth suction parts 283a and 283b are provided on the sixth arm, a pair of seventh suction parts 287a and 287b are provided on the seventh arm, and a pair of ninth suction parts 289a and 289b are provided on the ninth arm portion 259b, so that even articles made of flexible materials can be reliably gripped.

[0365] Furthermore, according to the article gripping device 205 of this embodiment, the fifth arm and the sixth arm are equipped with a first arm rotation drive motor 261a that rotates them around the second axis, and the eighth arm portion 259a is rotatable in conjunction with the rotation of the first arm rotation drive motor 261a with respect to the end of the fifth arm opposite to the second axis. Therefore, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0366] Furthermore, according to the article gripping device 205 of this embodiment, the sixth and seventh arms are equipped with a second arm rotation drive motor 261b that rotates them around the third axis, and the ninth arm portion 259b is rotatable in conjunction with the rotation of the second arm rotation drive motor 261b, relative to the end of the seventh arm opposite to the third axis. Therefore, even articles made of flexible materials can be securely gripped with a simple mechanism.

[0367] Furthermore, in the article gripping device 205 of this embodiment, the distance between the second axis and the pair of eighth suction parts 280a and 280b can be changed, so articles of different sizes can be gripped reliably.

[0368] Furthermore, in the article gripping device 205 of this embodiment, the distance between the third axis and the pair of ninth suction parts 289a and 289b can be changed, so articles of different sizes can be gripped reliably.

[0369] Furthermore, in the article gripping device 205 of this embodiment, the distance between the second axis and the pair of fifth suction parts 281a and 281b can be changed, so articles of different sizes can be gripped reliably.

[0370] Furthermore, since the article gripping device 205 of this embodiment is configured to allow the distance between the third axis and the pair of seventh suction parts 287a and 287b to be changed, articles of different sizes can be gripped even more securely.

[0371] Furthermore, according to the article gripping device 205 of this embodiment, the sixth arm is equipped with a pair of tenth suction parts 285a and 285b, and the distance between the second axis and the pair of tenth suction parts 285a and 285b can be changed, so that articles of different sizes can be gripped even more reliably.

[0372] Furthermore, according to the article gripping device 205 of this embodiment, since it includes a fifth arm and a sixth arm rotatably connected around a second axis, a sixth arm and a seventh arm rotatably connected around a third axis, an eighth arm portion 259a rotatably connected to the end of the fifth arm opposite to the second axis, a ninth arm portion 259b rotatably connected to the end of the seventh arm opposite to the third axis, a pair of fifth suction parts 281a and 281b provided on the fifth arm, a pair of sixth suction parts 283a and 283b provided on the sixth arm, a pair of seventh suction parts 287a and 287b provided on the seventh arm, a pair of eighth suction parts 280a and 280b provided on the eighth arm portion 259a, and a pair of ninth suction parts 289a and 289b provided on the ninth arm portion 259b, it can grip articles made of flexible materials even more securely.

[0373] Furthermore, the box-making apparatus 201 of this embodiment includes an articulated robot 3 and an article gripping device 205 to which a sixth arm is connected at the tip of the articulated robot 3. Therefore, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0374] (Fourth Embodiment) Next, a fourth embodiment of the present invention, an article gripping device, and a box-making apparatus equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0375] A fourth embodiment of the present invention will be described below, but the same numbers will be used for components identical to those in the first embodiment, and their descriptions will be omitted.

[0376] Figure 37 is a bottom view of the article gripping device of the fourth embodiment with the spacing between each suction part in the +X·-X direction widened; Figure 38 is a perspective view showing the initial state in which the article gripping device of the fourth embodiment grips a box with the spacing between each suction part widened in the +X·-X direction; and Figure 39 is a front view showing the final state in which the article gripping device of the fourth embodiment grips a box with the spacing between each suction part widened in the +X·-X direction.

[0377] The box-making system of this embodiment, which includes a box-making apparatus 301 equipped with an article gripping device 305, similar to the box-making apparatus 1 of the first embodiment, selectively grips flat corrugated cardboard placed according to size to form a three-dimensional shape, folds the inner and outer flaps formed at both the upper and lower ends of the formed corrugated cardboard, and then applies tape to the ends of the outer flaps to manufacture a corrugated cardboard box.

[0378] The box-making apparatus 301 consists of an articulated robot 3 and an article gripping device 305 connected to the tip of the articulated robot 3. Unlike the article gripping device 5 of the first embodiment, the article gripping device 305 of this embodiment grips four of the four sides of the three-dimensional corrugated cardboard by suction, and can reliably grip corrugated cardboard even if it is made of a flexible material.

[0379] As shown in Figures 37 to 39, the article gripping device 305 comprises, on the -X side of the drawing from the rotating part 47 (mounting part 47) of the articulated robot 3, a first arm base end 349a, a first arm intermediate part 351a slidably engaged with the first arm base end 349a in the +X and -X directions which are the longitudinal directions of the first arm base end 349a, a first arm tip end 357a slidably engaged with the first arm intermediate part 351a in the +X and -X directions, and a third arm part 359a rotatably connected to the -X direction tip of the first arm tip end 357a (the end of the first arm opposite to the first axis, which will be described later).

[0380] The "first arm" of the present invention is composed of the base portion 349a, the intermediate portion 351a, and the tip portion 357a of the first arm in this embodiment.

[0381] Furthermore, the article gripping device 305 is equipped with a total of five sets of suction parts (first suction parts 383a and 383b, second suction parts 385a and 385b, third suction parts 381a and 381b, fourth suction parts 389a and 389b, and tenth suction parts 387a and 387) in pairs for gripping corrugated cardboard. The device is configured such that each suction part faces the same direction when the first arm, the second arm (described later), the third arm section 359a, and the fourth arm section 359b (described later) are in a horizontal position, and when gripping corrugated cardboard as described later, each suction part faces the surface of the corrugated cardboard.

[0382] Specifically, the article gripping device 305 is equipped with a pair of first suction parts 383a and 383b on the intermediate part 351a of the first arm, a pair of second suction parts 385a and 385b on the base end 349b of the second arm (described later), a pair of third suction parts 381a and 381b on the third arm part 359a, a pair of fourth suction parts 389a and 389b on the fourth arm part 359b (described later), and a pair of tenth suction parts 387a and 387b on the tip end 357b of the second arm (described later).

[0383] Furthermore, each pair of suction parts (a pair of first suction parts 383a and 383b, a pair of second suction parts 385a and 385b, a pair of third suction parts 381a and 381b, a pair of fourth suction parts 389a and 389b, and a pair of tenth suction parts 387 and 387b) is provided with a cylinder (a first cylinder 383 corresponding to the pair of first suction parts 383a and 383b, a second cylinder 385 corresponding to the pair of second suction parts 385a and 385b, a third cylinder 381 corresponding to the pair of third suction parts 381a and 381b, a fourth cylinder 389 corresponding to the pair of fourth suction parts 389a and 389b, and a fifth cylinder 387 corresponding to the pair of tenth suction parts 387 and 387b).

[0384] Furthermore, by activating these cylinders with a compressor 8 (described later), the lengths of the suction rods (first suction rod 383c, second suction rod 385c, third suction rod 381c, fourth suction rod 389c, and fifth suction rod 387c) can be extended or retracted, thereby changing the spacing between each suction part in the +Y·-Y direction (the spacing between the first suction part 383a and the first suction part 383b, the spacing between the second suction part 385a and the second suction part 385b, the spacing between the third suction part 381a and the first suction part 381b, the spacing between the fourth suction part 389a and the fourth suction part 389b, and the spacing between the tenth suction part 387a and the fifth suction part 387b).

[0385] In this embodiment, the article gripping device 305 allows the spacing between each suction part in the +Y·-Y direction to be changed. This is similar to the article gripping device 5 of the first embodiment, in order to ensure gripping force against the corrugated cardboard according to the size of the cardboard. Normally, the device is configured to grip the cardboard with the spacing between the suction parts closed, but when the size of the cardboard increases, the device is configured to widen the spacing between each suction part in the +Y·-Y direction to accommodate this.

[0386] In this embodiment, the article gripping device 305 also expands and contracts the distance between each suction part in the +Y·-Y direction by switching the cylinder ON / OFF with the compressor 8. However, it is also possible to continuously expand and contract the distance between each suction part in the +Y·-Y direction via gears by driving a motor.

[0387] Furthermore, the article gripping device 305 includes an arm rotation first drive motor 361 (corresponding to the "first drive unit" of the present invention) located at the base end 349b of the second arm, which will be described later, for rotating the first arm and the second arm, which will be described later, around a motor shaft (corresponding to the "first shaft" of the present invention); an arm rotation first drive motor gear 363a coaxially connected to the motor shaft (corresponding to the "first shaft" of the present invention) of the arm rotation first drive motor 361; and an arm rotation first drive driven gear 365a located at the base end 349a of the first arm and meshing with the arm rotation first drive motor gear 363a.

[0388] Furthermore, the article gripping device 305 includes a first toothed pulley 367a for first arm rotation, which is positioned on the opposite side of the first arm rotation drive driven gear 365a with the first arm base end 349a in between and connected coaxially with the first arm rotation drive driven gear 365a; a first toothed belt 369a for first arm rotation, with one end engaged with the first toothed pulley 367a for first arm rotation; and a second toothed pulley 371a for first arm rotation, with the other end of the first toothed belt 369a for first arm rotation engaged with the first toothed pulley.

[0389] Furthermore, the article gripping device 305 includes a second toothed belt 373a for first arm rotation drive, one end of which is engaged with the second toothed pulley of the second toothed pulley 371a for first arm rotation drive; a third toothed pulley 375a for first arm rotation drive, engaged with the other end of the second toothed belt 373a for first arm rotation drive; and a third arm portion 359a connected to the rotation axis of the third toothed pulley 375a for first arm rotation drive.

[0390] Furthermore, a first link section 353a for extending and retracting the first arm is connected between the first toothed pulley 367a for first arm rotation drive and the second toothed pulley 371a for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 367a for first arm rotation drive and the second toothed pulley 371a for first arm rotation drive. Similarly, a second link section 355a for extending and retracting the first arm is connected between the second toothed pulley 371a for first arm rotation drive and the third toothed pulley 375a for first arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 371a for first arm rotation drive and the third toothed pulley 375a for first arm rotation drive.

[0391] Furthermore, the first link portion 353a for extending and retracting the first arm and the second link portion 355a for extending and retracting the first arm are configured to rotate freely with respect to the central axis of the second toothed pulley 371a for the first arm rotation drive, depending on the distance between the driven gear 365a for the first arm rotation drive and the third toothed pulley 375a for the first arm rotation drive.

[0392] When the first arm rotation drive motor 361 rotates, its rotational force is transmitted to the first arm rotation drive motor gear 363a, and as described above, the first arm and the second arm, which will be described later, are configured to rotate around the motor shaft of the first arm rotation drive motor 361 (corresponding to the "first shaft" of this invention).

[0393] In addition, in the article gripping device 305 of this embodiment, the first arm and the second arm, which will be described later, are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0394] Then, when the first arm and the first arm described later rotate to form a 90-degree angle, the first arm and the second arm are locked together, and the rotational force of the first arm rotation drive motor 361 is transmitted to the first arm rotation drive driven gear 365a, the first toothed pulley 367a for the first arm rotation drive, the first toothed belt 369a for the first arm rotation drive, the second toothed pulley 371a for the first arm rotation drive, the second toothed belt 373a for the first arm rotation drive, the third toothed pulley 375a for the first arm rotation drive, and the third arm section 359a. As a result, the third arm section 359a is configured to rotate relative to the center of the third toothed pulley 375a for the first arm rotation drive.

[0395] In this embodiment, the article gripping device 305 is configured such that the third arm portion 359a rotates 90 degrees relative to the tip portion 357a of the first arm in order to securely grip the cardboard box in its assembled state.

[0396] Furthermore, in the article gripping device 305 of this embodiment, the first arm and the second arm are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state, and the third arm portion 359a is configured to rotate 90 degrees relative to the tip portion 357a of the first arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking them in place, they can be rotated by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0397] Furthermore, the article gripping device 305 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 361 and a pair of first suction parts 383a and 383b, and a pair of third suction parts 381a and 381b, according to the size of the cardboard box. Specifically, it includes a first arm extension motor 311a located at the base end 349a of the first arm, a first toothed pulley 313a for extension of the first arm coaxially connected to the motor shaft of the first arm extension motor 311a, and a first toothed belt 315a for extension of the first arm with one end engaged with the first toothed pulley 313a for extension of the first arm.

[0398] Furthermore, the article gripping device 305 includes a first arm extension second toothed pulley 317a engaged with the other end of the first arm extension first toothed belt 315a, a first arm extension first locking part 319a connected to the first arm intermediate part 351a and connected to the lower side of the first arm extension first toothed belt 315a, a first arm extension third toothed pulley 321a rotatably connected on the first arm intermediate part 351a, and a first arm extension second toothed belt 323a with one end engaged with the first arm extension third toothed pulley 321a.

[0399] Furthermore, the article gripping device 305 includes a fourth toothed pulley 325a for extending and retracting the first arm, which is engaged with the other end of the second toothed belt 323a for extending and retracting the first arm; a second locking part 320a for extending and retracting the first arm, which is connected to the base end 349a of the first arm and connected to the -Y direction side of the second toothed belt 323a for extending and retracting the first arm; and a third locking part 327a for extending and retracting the first arm, which is connected to the tip end 357a of the first arm and connected to the +Y direction side of the second toothed belt 323a for extending and retracting the first arm.

[0400] The method for changing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, as well as the pair of third suction parts 381a and 381b, will be described later.

[0401] Furthermore, as shown in Figures 37 to 39, the article gripping device 305 includes, extending from the rotating part 47 (mounting part 47) of the articulated robot 3 toward the +X direction in the drawing, a second arm base end 349b rotatable with respect to the first arm, a second arm intermediate part 351b slidably engaged with the second arm base end 349b in the +X and -X directions which are the longitudinal directions of the second arm base end 349b, a second arm tip end 357b slidably engaged with the second arm intermediate part 351b in the +X and -X directions, and a fourth arm part 359b (corresponding to the "fourth arm" of the present invention) rotatably connected to the +X direction tip of the second arm tip end 357b (the end opposite to the first axis of the second arm).

[0402] Furthermore, the "second arm" of the present invention is composed of the base portion 349b, the intermediate portion 351b, and the tip portion 357b of the second arm in this embodiment.

[0403] Furthermore, the article gripping device 305 includes a second arm rotation drive motor gear 363b coaxially connected to the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 361, and a second arm rotation drive driven gear 365b positioned at the base end 349b of the second arm and meshing with the second arm rotation drive motor gear 363b.

[0404] Furthermore, the article gripping device 305 includes a first toothed pulley 367b for driving the second arm rotation, which is connected coaxially with the driven gear 365b for driving the second arm rotation; a first toothed belt 369b for driving the second arm rotation, with one end engaged with the first toothed pulley 367b for driving the second arm rotation; and a second toothed pulley 371b for driving the second arm rotation, with the other end of the first toothed belt 369b for driving the second arm rotation engaged with the first toothed pulley.

[0405] Furthermore, the article gripping device 305 includes a second toothed belt 373b for driving the second arm rotation, one end of which is engaged with the second toothed pulley of the second toothed pulley 371b for driving the second arm rotation, a third toothed pulley 375b for driving the second arm rotation, the other end of which is engaged with the second toothed belt 373b for driving the second arm rotation, and a fourth arm portion 359b connected to the rotation axis of the third toothed pulley 375b for driving the second arm rotation.

[0406] Furthermore, a first link section 353b for second arm extension is connected between the first toothed pulley 367b for second arm rotation drive and the second toothed pulley 371b for second arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 367b for second arm rotation drive and the second toothed pulley 371b for second arm rotation drive. Similarly, a second link section 355b for second arm extension is connected between the second toothed pulley 371b for second arm rotation drive and the third toothed pulley 375b for second arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 371b for second arm rotation drive and the third toothed pulley 375b for second arm rotation drive.

[0407] Furthermore, the first link portion 353b for extending and retracting the second arm and the second link portion 355b for extending and retracting the second arm are configured to rotate freely with respect to the central axis of the second toothed pulley 371b for driving the second arm rotation, depending on the distance between the driven gear 365b for driving the second arm rotation and the third toothed pulley 375b for driving the second arm rotation.

[0408] When the first arm rotation drive motor 361 rotates, the rotation is transmitted to the second arm rotation drive motor gear 363b, the second arm rotation drive driven gear 365b, the first toothed pulley 367b for the second arm rotation drive, the first toothed belt 369b for the second arm rotation drive, the second toothed pulley 371b for the second arm rotation drive, the second toothed belt 373b for the second arm rotation drive, the third toothed pulley 375b for the second arm rotation drive, and the fourth arm section 359b. As a result, the fourth arm section 359b is configured to rotate relative to the center of the third toothed pulley 375b for the second arm rotation drive.

[0409] In this embodiment of the article gripping device 305, the fourth arm portion 359b is configured to rotate 90 degrees relative to the tip portion 357b of the second arm so that the cardboard box can be securely gripped in its assembled state.

[0410] Furthermore, in the article gripping device 305 of this embodiment, the fourth arm portion 359b is configured to rotate 90 degrees relative to the tip portion 357b of the second arm so that the corrugated cardboard can be securely gripped in its assembled state. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking it in place, it can be rotated by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0411] Furthermore, the article gripping device 305 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 361 and a pair of 10th suction parts 387a and 387b, and a pair of 4th suction parts 389a and 389b, according to the size of the cardboard box. Specifically, it includes a second arm extension motor 311b located at the base end 349b of the second arm, a second arm extension first toothed pulley 313b (which is hidden by the base end 349b and not shown, but is arranged in the same manner as the first arm extension first toothed pulley 313a) coaxially connected to the motor shaft of the second arm extension motor 311b, and a third arm extension first toothed belt 315b with one end engaged with the second arm extension first toothed pulley 313b.

[0412] Furthermore, the article gripping device 305 includes a second toothed pulley 317b for extending the second arm, which is engaged with the other end of the first toothed belt 315b for extending the second arm; a first locking part 319b for extending the second arm, which is connected to the intermediate part 351b of the second arm and connected to the lower side of the first toothed belt 315b for extending the second arm; a third toothed pulley 321b for extending the second arm, which is rotatably connected on the intermediate part 351b of the second arm; and a second toothed belt 323b for extending the second arm, with one end engaged with the third toothed pulley 321b for extending the second arm.

[0413] Furthermore, the article gripping device 305 includes a second arm extension / retraction fourth toothed pulley 325b engaged with the other end of the second arm extension / retraction second toothed belt 323b, a second arm extension / retraction second locking part 320b connected to the base end 349b of the second arm and connected to the -Y direction side of the second arm extension / retraction second toothed belt 323b, and a third arm extension / retraction third locking part 327b connected to the tip end 357b of the second arm and connected to the +Y direction side of the second arm extension / retraction second toothed belt 323b.

[0414] The method for changing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b will be described later.

[0415] Next, a block diagram of the box-making apparatus 301 of this embodiment will be described.

[0416] The block diagram of the box-making apparatus 101 of this embodiment shows that, in addition to the compressor 8 of the first embodiment shown in Figure 6, the first suction parts 83a and 83b, the second suction parts 85a and 85b, the third suction parts 81a and 81b, the fourth suction parts 87a and 87b, the first cylinder 81, the second cylinder 83, the third cylinder 85, and the fourth cylinder 87 are replaced by the first suction parts 383a and 383b, the second suction parts 385a and 385b, the third suction parts 381a and 381b, the fourth suction parts 389a and 389b, the tenth suction parts 387a and 387b, the first cylinder 383, the second cylinder 385, the third cylinder 381, the fourth cylinder 389, and the tenth cylinder 387.

[0417] Furthermore, the block diagram of the box-making apparatus 301 in this embodiment shows that, in the driver circuit 12 of the block diagram of the first embodiment in Figure 6, the first arm rotation drive motor 361, the first arm extension motor 311a, and the second arm extension motor 311b are connected in place of the first arm rotation drive motor 61, the first arm extension motor 11a, and the second arm extension motor 11b.

[0418] Next, the operation of the box-making apparatus 301 with the above configuration will be explained using the main program shown in Figure 8.

[0419] In Figure 8, first, the user of the box-making device 301 turns on the power switch of the device, then inputs the size of the corrugated cardboard box to be processed (size of the corrugated cardboard box = W1) and the number of corrugated cardboard boxes to be processed using the operation buttons on the operation panel 6, and presses the start button. The box-making device 301 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the placement position of the corrugated cardboard box W1 stored in the box placement position data table 16a of RAM 16 and box information such as the size of the corrugated cardboard box W1 stored in the box information data table 16b are acquired (S5).

[0420] Initially, the articulated robot 3 of the box-making device 301 is set at the left end position of the upper moving rail 91 in Figure 1.

[0421] When the box-making device 301 obtains the placement position of the flat corrugated cardboard (position of the flat corrugated cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat corrugated cardboard W1, etc.) stored in the box information data table 16b, the box-making device 301 rotates the robot position drive motor 95 to move the mobile platform 93 on which the articulated robot 3 is mounted along the mobile rail 91 to the location where the flat corrugated cardboard W1 of the flat box placement section 80 is stacked.

[0422] Then, the gripping device 305 connected to the tip of the articulated robot 3 is set to a gripping width that matches the size of the flat corrugated cardboard W1, and is opened as shown in Figure 37 (S6). The uppermost layer of the stacked flat corrugated cardboard W1 is then sucked up, lifted, rotated, and moved to the top surface of the flat corrugated cardboard mounting table 36, where it is placed on the top surface of the flat corrugated cardboard mounting table 36 (S7).

[0423] In this case, the article gripping device 305 may use a pair of first suction parts 383a and 383b, a pair of second suction parts 385a and 385b, a pair of third suction parts 381a and 381b, a pair of fourth suction parts 389a and 389b, and a pair of tenth suction parts 387a and 387b (all suction parts are in the ON state) to suck up the flat corrugated cardboard W1. However, considering the process in S13 described later, it is also possible to use only the pair of second suction parts 385a and 385b and the pair of tenth suction parts 387a and 387b to suck up the flat corrugated cardboard W1 from this point onward, and not use the other suction parts.

[0424] To open the article gripping device 305 means, as shown in Figure 37, widening the angle between the first arm and the second arm to approximately 180 degrees, so that all the suction parts, namely the pair of first suction parts 383a and 383b, the pair of second suction parts 385a and 385b, the pair of third suction parts 381a and 381b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b, face each other on the same plane.

[0425] Here, we will explain how the article gripping device 305 changes the distance between the motor shaft of the first arm rotation drive motor 361 (corresponding to the "first shaft" of this invention) and the pair of first suction parts 383a and 383b and the pair of third suction parts 381a and 381b to match the size of the flat corrugated cardboard.

[0426] First, we will explain the case where the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b and the pair of third suction parts 381a and 381b is increased.

[0427] When increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b and the pair of third suction parts 381a and 381b, first the first arm extension motor 311a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension locking part 319a connected to the lower side of the first arm extension toothed pulley 313a and the first arm extension toothed belt 315a.

[0428] As a result, the first locking part 319a for extending and retracting the first arm moves in the -X direction, the intermediate part 351a of the first arm connected to the first locking part 319a for extending and retracting the first arm also moves in the -X direction, and the pair of first suction parts 383a and 383b provided on the intermediate part 351a of the first arm also move in the -X direction, thereby increasing the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of first suction parts 383a and 383b.

[0429] Furthermore, when the intermediate portion 351a of the first arm moves in the -X direction, the third toothed pulley 321a and the fourth toothed pulley 325a for extending and retracting the first arm, which are rotatably connected to the intermediate portion 351a of the first arm, move in the -X direction. As a result of this movement, the second locking portion 320a for extending and retracting the first arm, which is connected to the base end portion 349a of the first arm and the second toothed belt 323a for extending and retracting the first arm, and the second toothed belt 323a for extending and retracting the first arm move in the +Y direction. Due to its relationship with the third locking portion 327a for extending and retracting the first arm, which is connected to the opposite side and the first arm tip portion 357a, the first arm tip portion 357a moves in the -X direction, and the third arm portion 359a connected to the first arm tip portion 357a and the pair of third suction portions 381a and 381b provided on the third arm portion 359a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of third suction portions 381a and 381b.

[0430] Next, we will describe the case in which the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, and the pair of third suction parts 381a and 381b is reduced.

[0431] When reducing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, and the pair of third suction parts 381a and 381b, first the first arm extension motor 311a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension locking part 319a connected to the lower side of the first arm extension toothed pulley 313a and the first arm extension toothed belt 315a.

[0432] As a result, the first locking part 319a for extending and retracting the first arm moves in the +X direction, the intermediate part 351a of the first arm connected to the first locking part 319a for extending and retracting the first arm also moves in the +X direction, and the pair of first suction parts 383a and 383b provided on the intermediate part 351a of the first arm also move in the +X direction, thereby reducing the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of first suction parts 383a and 383b.

[0433] Furthermore, when the intermediate portion 351a of the first arm moves in the +X direction, the third toothed pulley 321a and the fourth toothed pulley 325a for extending and retracting the first arm, which are rotatably connected to the intermediate portion 351a of the first arm, move in the +X direction. As a result of this movement, the second locking portion 320a for extending and retracting the first arm, which is connected to the base end portion 349a of the first arm and the second toothed belt 323a for extending and retracting the first arm, and the second toothed belt 323a for extending and retracting the first arm move in the +Y direction. Due to its relationship with the third locking portion 327a for extending and retracting the first arm, which is connected to the opposite side and the first arm tip portion 357a, the first arm tip portion 357a moves in the +X direction, and the third arm portion 359a connected to the first arm tip portion 357a and the pair of third suction portions 381a and 381b provided on the third arm portion 359a also move in the +X direction, thereby reducing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of third suction portions 381a and 381b.

[0434] Next, we will explain how the article gripping device 305 changes the distance between the motor shaft of the first arm rotation drive motor 361 (corresponding to the "first shaft" in this invention), the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b to match the size of the flat corrugated cardboard.

[0435] First, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b is increased.

[0436] When increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b, first the second arm extension motor 311b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 319b, which is connected to the lower side of the second arm extension first toothed pulley 313b and the second arm extension first toothed belt 315b, via the second arm extension first toothed belt 315b.

[0437] As a result, the first locking part 319b for extending and retracting the second arm moves in the +X direction, the intermediate part 351b of the second arm connected to the first locking part 319b also moves in the +X direction, and the pair of tenth suction parts 387a and 387b provided on the intermediate part 351b of the second arm also move in the +X direction, thereby increasing the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of tenth suction parts 387a and 387b.

[0438] Furthermore, when the intermediate portion 351b of the second arm moves in the +X direction, the third toothed pulley 321b and the fourth toothed pulley 325b for the extension and retraction of the second arm, which are rotatably connected on the intermediate portion 351b of the second arm, move in the +X direction. As a result of this movement, the second locking portion 320b for the extension and retraction of the second arm, which is connected to the base end portion 349b of the second arm and the second toothed belt 323b for the extension and retraction of the second arm, moves in the +Y direction. Due to its relationship with the third locking part 327b for extending and retracting the second arm, which is connected to the opposite side and the second arm tip 357b, the second arm tip 357b moves in the +X direction, and the fourth arm portion 359b connected to the second arm tip 357b and the pair of fourth suction parts 389a and 389b provided on the fourth arm portion 359b also move in the +X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 316 and the pair of fourth suction parts 389a and 389b.

[0439] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b is reduced.

[0440] When reducing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b, first the second arm extension motor 311b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 319b, which is connected to the lower side of the second arm extension first toothed pulley 313b and the second arm extension first toothed belt 315b, via the second arm extension first toothed belt 315b.

[0441] As a result, the first locking part 319b for extending and retracting the second arm moves in the -X direction, the intermediate part 351b of the second arm connected to the first locking part 319b also moves in the -X direction, and the pair of tenth suction parts 387a and 387b provided on the intermediate part 351b of the second arm also move in the -X direction, thereby reducing the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of tenth suction parts 387a and 387b.

[0442] Furthermore, when the intermediate portion 351b of the second arm moves in the -X direction, the third toothed pulley 321b and the fourth toothed pulley 325b for extending and retracting the second arm, which are rotatably connected to the intermediate portion 351b of the second arm, move in the -X direction. As a result of this movement, the second locking portion 320b for extending and retracting the second arm, which is connected to the base end portion 349b of the second arm and the second toothed belt 323b for extending and retracting the second arm, and the second toothed belt 323b for extending and retracting the second arm move in the +Y direction. Due to its relationship with the third locking part 327b for extending and retracting the second arm, which is connected to the opposite side and the second arm tip 357b, the second arm tip 357b moves in the -X direction, and the fourth arm portion 359b connected to the second arm tip 357b and the pair of fourth suction parts 389a and 389b provided on the fourth arm portion 359b also move in the -X direction, thereby reducing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of fourth suction parts 389a and 389b.

[0443] Then, the compressor 8 drives the nine item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9, which are installed on the upper surface of the flat corrugated cardboard mounting table 36, and sucks the flat corrugated cardboard W1 to fix it to the upper surface of the flat corrugated cardboard mounting table 36 (S9).

[0444] Then, the articulated robot 3 is operated to open the article gripping device 305 as shown in Figure 37, and a pair of second suction parts 385a and 385b and a pair of tenth suction parts 387a and 387b of the article gripping device 305 are placed inside the flat corrugated cardboard W1, while the other suction parts are placed outside the area of ​​the flat corrugated cardboard W1, and the flat corrugated cardboard W1 is sucked up using only the pair of second suction parts 385a and 385b and the pair of tenth suction parts 387a and 387b (S11).

[0445] Subsequently, while the lower surface of the flat corrugated cardboard W1 at the left center position is being sucked in by the article suction parts V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the upper surface of the flat corrugated cardboard W1 using only the pair of second suction parts 385a and 385b and the pair of tenth suction parts 387a and 387b, thereby making the flat corrugated cardboard W1 three-dimensional (S13), and the article gripping device 305 grips the three-dimensional corrugated cardboard W1 (S14).

[0446] Figure 38 is a perspective view showing the initial state in which the article gripping device 305 grips the three-dimensional corrugated cardboard W1 using only the pair of second suction parts 385a and 385b and the pair of tenth suction parts 387a and 387b, with the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, the pair of third suction parts 381a and 381b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b, by narrowing the spacing between each suction part in the +Y·-Y direction and widening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, the pair of third suction parts 381a and 381b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b, respectively, by narrowing the spacing between each suction part in the +Y·-Y direction and widening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, the pair of third suction parts 381a and 381b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b.

[0447] After the flat corrugated cardboard W1 is transformed into a three-dimensional shape, in order to ensure that the corrugated cardboard box W1 is securely held, the article gripping device 305 is configured as shown in Figure 39 so that the first arm and the second arm rotate at a 90-degree angle, the third arm portion 359a rotates at a 90-degree angle to the first arm, and the fourth arm portion 359b rotates at a 90-degree angle to the second arm, thereby allowing a pair of second suction portions 385a and 385b and a pair of tenth suction portions 387a and 387b to suction the first of the four sides of the corrugated cardboard box W1, a pair of first suction portions 383a and 383b to suction the second side of the corrugated cardboard box W1, a pair of third suction portions 381a and 381b to suction the third side of the corrugated cardboard box W1, and a pair of fourth suction portions 389a and 389b to suction the fourth side of the corrugated cardboard box W1.

[0448] Therefore, according to the article gripping device 305 of this embodiment, since the entire surface of the corrugated cardboard box W1 is gripped by suction, it can reliably grip objects made of flexible materials (for example, even corrugated cardboard boxes).

[0449] Figure 39 is a plan view showing the state in which the article gripping device 305 grips a three-dimensional corrugated cardboard box W1, with the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, the pair of third suction parts 381a and 381b, the pair of tenth suction parts 387a and 387b, and the pair of fourth suction parts 389a and 389b increased by reducing the spacing of the suction parts in the +Y·-Y directions.

[0450] Then, the box-making apparatus 301 of this embodiment, similar to the box-making apparatus 1 of the first embodiment, performs the processes S15 to S33 to fold the inner and outer flaps of the corrugated cardboard box W1 and complete the corrugated cardboard box.

[0451] According to the article gripping device 305 of this embodiment, a first arm (base end 349a, intermediate part 351a, and tip end 357a) and a second arm (base end 349b, intermediate part 351b, and tip end 357b) are rotatably connected around the motor shaft (first axis) of the first arm rotation drive motor 361, a third arm 359a is rotatably connected to the end of the first arm opposite to the first axis, a pair of first suction parts 383a and 383b are provided on the first arm, a pair of second suction parts 385a and 385b are provided on the second arm, and a pair of third suction parts 381a and 381b are provided on the third arm 359b, so that even articles made of flexible materials can be reliably gripped.

[0452] Furthermore, according to the article gripping device 305 of this embodiment, the first arm rotation first drive motor 361 is provided to rotate the first arm (base end 349a, intermediate part 351a, and tip end 357a) and the second arm (base end 349b, intermediate part 351b, and tip end 357b) around the first axis, and the third arm 359a is rotatable in conjunction with the rotation of the first arm rotation first drive motor 361 with respect to the end of the first arm opposite to the first axis, so that even articles made of flexible materials can be gripped reliably with a simple mechanism.

[0453] Furthermore, in the article gripping device 305 of this embodiment, the distance between the first axis and the pair of third suction parts 381a and 381b can be changed, so articles of different sizes can be gripped reliably.

[0454] Furthermore, since the article gripping device 305 of this embodiment is configured to allow the distance between the first axis and the pair of first suction parts 383a and 383b to be changed, articles of different sizes can be gripped even more securely.

[0455] Furthermore, according to the article gripping device 305 of this embodiment, the second arm is equipped with a pair of 10th suction parts 387a and 87b, and the distance between the first axis and the pair of 10th suction parts 387a and 387b can be changed, so that articles of different sizes can be gripped even more reliably.

[0456] Furthermore, according to the article gripping device 305 of this embodiment, since it includes a fourth arm portion 359b rotatably connected to the end of the second arm in the direction opposite to the first axis, and a pair of fourth suction portions 389a and 389b provided on the fourth arm portion 359b, it can grip articles even if they are made of flexible material more securely.

[0457] Furthermore, according to the article gripping device 305 of this embodiment, the fourth arm portion 359a is rotatable in conjunction with the rotation of the first arm rotation drive motor 361, relative to the end of the second arm opposite to the first axis. Therefore, even articles made of flexible materials can be securely gripped with an even simpler mechanism.

[0458] Furthermore, in the article gripping device 305 of this embodiment, the distance between the first axis and the pair of fourth suction parts 389a and 389b can be changed, so articles of different sizes can be gripped reliably.

[0459] Furthermore, the box-making apparatus 301 of this embodiment includes an articulated robot 3 and an article gripping device 305 to which a second arm is connected at the tip of the articulated robot 3. Therefore, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0460] (Fifth embodiment) Next, a fifth embodiment of the present invention, an article gripping device, and a box-making apparatus equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0461] The fifth embodiment of the present invention will be described below, but the same numbers will be used for components identical to those in the first embodiment, and their descriptions will be omitted.

[0462] Figure 40 is a bottom view of the article gripping device of the fifth embodiment with the spacing between each suction part in the +X·-X direction widened; Figure 41 is a perspective view showing the initial state in which the article gripping device of the fifth embodiment grips a box with the spacing between each suction part widened in the +X·-X direction; and Figure 42 is a front view showing the final state in which the article gripping device of the fifth embodiment grips a box with the spacing between each suction part widened in the +X·-X direction.

[0463] The box-making system of this embodiment, which includes a box-making apparatus 401 equipped with an article gripping device 405, similar to the box-making apparatus 1 of the first embodiment, selectively grips flat corrugated cardboard placed according to size to form a three-dimensional shape, folds the inner and outer flaps formed at both the upper and lower ends of the three-dimensional corrugated cardboard, and then applies tape to the ends of the outer flaps to manufacture a corrugated cardboard box.

[0464] The box-making apparatus 401 consists of an articulated robot 3 and an article gripping device 405 connected to the tip of the articulated robot 3. Unlike the article gripping device 305 of the fourth embodiment, the article gripping device 405 of this embodiment has a fixed spacing between the suction parts.

[0465] As shown in Figures 40 to 42, the article gripping device 405 comprises, on the -X side of the drawing from the rotating part 47 (mounting part 47) of the articulated robot 3, a first arm base end 449a, a first arm intermediate part 451a slidably engaged with the first arm base end 449a in the +X and -X directions which are the longitudinal directions of the first arm base end 449a, a first arm tip end 457a slidably engaged with the first arm intermediate part 451a in the +X and -X directions, and a third arm part 459a rotatably connected to the -X direction tip of the first arm tip end 457a (the end of the first arm opposite to the first axis, which will be described later).

[0466] Furthermore, the "first arm" of the present invention is composed of the base portion 449a, the intermediate portion 451a, and the tip portion 457a of the first arm in this embodiment.

[0467] Furthermore, the article gripping device 405 is equipped with a total of five sets of suction parts (first suction parts 483a and 483b, second suction parts 485a and 485b, third suction parts 481a and 481b, fourth suction parts 489a and 489b, and tenth suction parts 487a and 487b) in pairs for gripping corrugated cardboard. The device is configured such that each suction part faces the same direction when the first arm, the second arm (described later), the third arm part 459a, and the fourth arm part 459b (described later) are in a horizontal position, and when gripping corrugated cardboard as described later, each suction part faces the surface of the corrugated cardboard.

[0468] Specifically, the article gripping device 405 is equipped with a pair of first suction parts 483a and 483b on the intermediate part 451a of the first arm, a pair of second suction parts 485a and 485b on the base end 449b of the second arm (described later), a pair of third suction parts 481a and 481b on the third arm part 459a, a pair of tenth suction parts 487a and 487b on the tip end 457b of the second arm (described later), and a pair of fourth suction parts 489a and 489b on the fourth arm part 459b (described later).

[0469] Furthermore, each pair of suction parts (a pair of first suction parts 483a and 483b, a pair of second suction parts 485a and 485b, a pair of third suction parts 481a and 481b, a pair of fourth suction parts 489a and 489b, and a pair of tenth suction parts 487a and 487b) is housed in a single housing (a first housing 483 corresponding to the pair of first suction parts 483a and 483b, a second housing 485 corresponding to the pair of second suction parts 485a and 485b, a third housing 481 corresponding to the pair of third suction parts 481a and 481b, a fourth housing 489 corresponding to the pair of fourth suction parts 489a and 489b, and a tenth housing 487 corresponding to the pair of tenth suction parts 487a and 487b).

[0470] Furthermore, the article gripping device 405 includes an arm rotation first drive motor 461 (corresponding to the "first drive unit" of the present invention) located at the base end 449b of the second arm, which will be described later, for rotating the first arm and the second arm, which will be described later, around a motor shaft (corresponding to the "first shaft" of the present invention); an arm rotation first drive motor gear 463a coaxially connected to the motor shaft (corresponding to the "first shaft" of the present invention) of the arm rotation first drive motor 461; and an arm rotation first drive driven gear 465a located at the base end 449a of the first arm and meshing with the arm rotation first drive motor gear 463a.

[0471] Furthermore, the article gripping device 405 includes a first toothed pulley 467a for the first arm rotation drive, which is positioned on the opposite side of the first arm base end 449a from the driven gear 365a for the first arm rotation drive and is connected coaxially with the driven gear 365a for the first arm rotation drive, a first toothed belt 469a for the first arm rotation drive with one end engaged with the first toothed pulley 467a for the first arm rotation drive, and a second toothed pulley 471a for the first arm rotation drive with a first toothed pulley engaged with the other end of the first toothed belt 469a for the first arm rotation drive.

[0472] Furthermore, the article gripping device 405 includes a second toothed belt 473a for first arm rotation drive, one end of which is engaged with the second toothed pulley 471a for first arm rotation drive; a third toothed pulley 475a for first arm rotation drive, engaged with the other end of the second toothed belt 473a for first arm rotation drive; and a third arm portion 459a connected to the rotation axis of the third toothed pulley 475a for first arm rotation drive.

[0473] Furthermore, a first link section 453a for extending and retracting the first arm is connected between the first toothed pulley 467a for first arm rotation drive and the second toothed pulley 471a for first arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 467a for first arm rotation drive and the second toothed pulley 471a for first arm rotation drive. Similarly, a second link section 455a for extending and retracting the first arm is connected between the second toothed pulley 471a for first arm rotation drive and the third toothed pulley 475a for first arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 471a for first arm rotation drive and the third toothed pulley 475a for first arm rotation drive.

[0474] Furthermore, the first link section 453a for extending and retracting the first arm and the second link section 455a for extending and retracting the first arm are configured to rotate freely with respect to the central axis of the second toothed pulley 471a for the first arm rotation drive, depending on the distance between the driven gear 465a for the first arm rotation drive and the third toothed pulley 475a for the first arm rotation drive.

[0475] When the first arm rotation drive motor 461 rotates, its rotational force is transmitted to the first arm rotation drive motor gear 463a, and as described above, the first arm and the second arm, which will be described later, are configured to rotate around the motor shaft of the first arm rotation drive motor 461 (corresponding to the "first shaft" of this invention).

[0476] In addition, in the article gripping device 405 of this embodiment, the first arm and the second arm, which will be described later, are configured to rotate at a 90-degree angle so that the cardboard box can be securely gripped in its assembled state.

[0477] Then, when the first arm and the second arm (described later) rotate to form a 90-degree angle, the first arm and the second arm are locked together, and the rotational force of the first arm rotation drive motor 461 is transmitted to the first arm rotation drive driven gear 465a, the first toothed pulley 467a for the first arm rotation drive, the first toothed belt 469a for the first arm rotation drive, the second toothed pulley 471a for the first arm rotation drive, the second toothed belt 473a for the first arm rotation drive, the third toothed pulley 475a for the first arm rotation drive, and the third arm section 459a. As a result, the third arm section 459a is configured to rotate relative to the center of the third toothed pulley 475a for the first arm rotation drive.

[0478] In this embodiment, the article gripping device 405 is configured such that the third arm portion 459a rotates 90 degrees relative to the tip portion 457a of the first arm in order to securely grip the cardboard box in its assembled state.

[0479] Furthermore, in the article gripping device 405 of this embodiment, the first arm and the second arm are configured to rotate at a 90-degree angle so that the corrugated cardboard can be securely gripped in its assembled state, and the third arm portion 459a is configured to rotate 90 degrees relative to the tip portion 457a of the first arm. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking them in place, they can be rotated by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0480] Furthermore, the article gripping device 405 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 461 and a pair of first suction parts 483a and 483b, and a pair of third suction parts 481a and 481b, according to the size of the cardboard box. Specifically, it includes a first arm extension motor 411a located at the base end 449a of the first arm, a first toothed pulley 413a for the first arm extension coaxially connected to the motor shaft of the first arm extension motor 411a, and a first toothed belt 415a for the first arm extension with one end engaged with the first toothed pulley 413a for the first arm extension.

[0481] Furthermore, the article gripping device 405 includes a first arm extension second toothed pulley 417a engaged with the other end of the first arm extension first toothed belt 415a, a first arm extension first locking part 419a connected to the first arm intermediate part 451a and connected to the lower side of the first arm extension first toothed belt 415a, a first arm extension third toothed pulley 421a rotatably connected on the first arm intermediate part 451a, and a first arm extension second toothed belt 423a with one end engaged with the first arm extension third toothed pulley 421a.

[0482] Furthermore, the article gripping device 405 includes a fourth toothed pulley 425a for extending and retracting the first arm, which is engaged with the other end of the second toothed belt 423a for extending and retracting the first arm; a second locking part 420a for extending and retracting the first arm, which is connected to the base end 449a of the first arm and connected to the -Y direction side of the second toothed belt 423a for extending and retracting the first arm; and a third locking part 427a for extending and retracting the first arm, which is connected to the tip end 457a of the first arm and connected to the +Y direction side of the second toothed belt 423a for extending and retracting the first arm.

[0483] The method for changing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b will be described later.

[0484] Furthermore, as shown in Figures 40 to 42, the article gripping device 405 includes, extending from the rotating part 47 (mounting part 47) of the articulated robot 3 toward the +X direction in the drawing, a second arm base end 449b rotatable with respect to the first arm, a second arm intermediate part 451b slidably engaged with the second arm base end 449b in the +X and -X directions which are the longitudinal directions of the second arm base end 449b, a second arm tip end 457b slidably engaged with the second arm intermediate part 451b in the +X and -X directions, and a fourth arm part 459b rotatably connected to the -X direction tip of the second arm tip end 457b (the end opposite to the first axis of the second arm).

[0485] Furthermore, the "second arm" of the present invention is composed of the base portion 449b, the intermediate portion 451b, and the tip portion 457b of the second arm in this embodiment.

[0486] Furthermore, the article gripping device 405 includes a second arm rotation drive motor gear 463b coaxially connected to the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 461, and a second arm rotation drive driven gear 465b positioned at the base end 449b of the second arm and meshing with the second arm rotation drive motor gear 463b.

[0487] Furthermore, the article gripping device 405 includes a first toothed pulley 467b for driving the second arm rotation, which is connected coaxially with the driven gear 465b for driving the second arm rotation; a first toothed belt 469b for driving the second arm rotation, with one end engaged with the first toothed pulley 467b for driving the second arm rotation; and a second toothed pulley 471b for driving the second arm rotation, with the other end of the first toothed belt 469b for driving the second arm rotation engaged with the first toothed pulley.

[0488] Furthermore, the article gripping device 405 includes a second toothed belt 473b for driving the second arm rotation, one end of which is engaged with the second toothed pulley of the second toothed pulley 471b for driving the second arm rotation, a third toothed pulley 475b for driving the second arm rotation, the other end of which is engaged with the second toothed belt 473b for driving the second arm rotation, and a fourth arm portion 459b connected to the rotation axis of the third toothed pulley 475b for driving the second arm rotation.

[0489] Furthermore, a first link section 453b for second arm extension is connected between the first toothed pulley 467b for second arm rotation drive and the second toothed pulley 471b for second arm rotation drive, thereby ensuring the axial distance between the first toothed pulley 467b for second arm rotation drive and the second toothed pulley 471b for second arm rotation drive. Similarly, a second link section 455b for second arm extension is connected between the second toothed pulley 471b for second arm rotation drive and the third toothed pulley 475b for second arm rotation drive, thereby ensuring the axial distance between the second toothed pulley 471b for second arm rotation drive and the third toothed pulley 475b for second arm rotation drive.

[0490] Furthermore, the first link section 453b for extending and retracting the second arm and the second link section 455b for extending and retracting the second arm are configured to rotate freely with respect to the central axis of the second toothed pulley 471b for driving the second arm rotation, depending on the distance between the driven gear 465b for driving the second arm rotation and the third toothed pulley 475b for driving the second arm rotation.

[0491] When the first arm rotation drive motor 461 rotates, its rotational force is transmitted to the second arm rotation drive motor gear 463b, the second arm rotation drive driven gear 465b, the first toothed pulley 467b for the second arm rotation drive, the first toothed belt 469b for the second arm rotation drive, the second toothed pulley 471b for the second arm rotation drive, the second toothed belt 473b for the second arm rotation drive, the third toothed pulley 475b for the second arm rotation drive, and the fourth arm section 459b. As a result, the fourth arm section 459b is configured to rotate relative to the center of the third toothed pulley 475b for the second arm rotation drive.

[0492] In this embodiment, the article gripping device 405 is configured such that the fourth arm portion 459b rotates 90 degrees relative to the tip portion 457b of the second arm in order to securely grip the cardboard box in its assembled state.

[0493] Furthermore, in the article gripping device 405 of this embodiment, the fourth arm portion 459b is configured to rotate 90 degrees relative to the tip portion 457b of the second arm so that the corrugated cardboard can be securely gripped in its assembled state. However, these angles can be arbitrarily changed depending on the shape of the article to be gripped, and by physically locking it in place, it can be rotated by 30 degrees or 60 degrees to match the shape of the article to be gripped.

[0494] Furthermore, the article gripping device 405 is equipped with a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 461 and a pair of 10th suction parts 487a and 487b, and a pair of 4th suction parts 489a and 489b, according to the size of the cardboard box. Specifically, it includes a second arm extension motor 411b located at the base end 449b of the second arm, a second arm extension first toothed pulley 413b (which is hidden by the base end 449b and not shown, but is arranged in a similar manner to the first arm extension first toothed pulley 413a) coaxially connected to the motor shaft of the second arm extension motor 411b, and a third arm extension first toothed belt 415b with one end engaged with the second arm extension first toothed pulley 413b.

[0495] Furthermore, the article gripping device 405 includes a second toothed pulley 417b for extending the second arm that is engaged with the other end of the first toothed belt 415b for extending the second arm, a first locking part 419b for extending the second arm that is connected to the intermediate part 451b of the second arm and connected to the lower side of the first toothed belt 415b for extending the second arm, a third toothed pulley 421b for extending the second arm that is rotatably connected on the intermediate part 451b of the second arm, and a second toothed belt 423b for extending the second arm that has one end engaged with the third toothed pulley 421b for extending the second arm.

[0496] Furthermore, the article gripping device 405 includes a second arm extension / retraction fourth toothed pulley 425b engaged with the other end of the second arm extension / retraction second toothed belt 423b, a second arm extension / retraction second locking part 420b connected to the base end 449b of the second arm and connected to the -Y direction side of the second arm extension / retraction second toothed belt 423b, and a third arm extension / retraction third locking part 427b connected to the tip end 457b of the second arm and connected to the +Y direction side of the second arm extension / retraction second toothed belt 423b.

[0497] The method for changing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b will be described later.

[0498] The block diagram of the box-making apparatus 401 in this embodiment is the same as the block diagram of the box-making apparatus 301 in the fourth embodiment.

[0499] Next, the operation of the box-making apparatus 401 with the above configuration will be explained using the main program shown in Figure 8.

[0500] In Figure 8, first, the user of the box-making device 401 turns on the power switch of the device, then inputs the size of the corrugated cardboard box to be processed (size of the corrugated cardboard box = W1) and the number of corrugated cardboard boxes to be processed using the operation buttons on the operation panel 6, and presses the start button. The box-making device 401 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the placement position of the corrugated cardboard box W1 stored in the box placement position data table 16a of RAM 16 and box information such as the size of the corrugated cardboard box W1 stored in the box information data table 16b are acquired (S5).

[0501] Initially, the articulated robot 3 of the box-making device 401 is set at the left end of the upper moving rail 91 in Figure 1.

[0502] When the box-making device 401 obtains the placement position of the flat corrugated cardboard (position of the flat corrugated cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat corrugated cardboard W1, etc.) stored in the box information data table 16b, the box-making device 401 rotates the robot position drive motor 95 to move the mobile platform 93 on which the articulated robot 3 is mounted along the mobile rail 91 to the location where the flat corrugated cardboard W1 of the flat box placement section 80 is stacked.

[0503] Then, the gripping device 405 connected to the tip of the articulated robot 3 is set to a gripping width that matches the size of the flat corrugated cardboard W1, and is opened as shown in Figure 40 (S6). The uppermost layer of the stacked flat corrugated cardboard W1 is then sucked up, lifted, rotated, and moved to the top surface of the flat corrugated cardboard mounting table 36, where it is placed on the top surface of the flat corrugated cardboard mounting table 36 (S7).

[0504] At this time, the article gripping device 405 may use a pair of first suction parts 483a and 483b, a pair of second suction parts 485a and 485b, a pair of third suction parts 481a and 481b, a pair of fourth suction parts 489a and 489b, and a pair of tenth suction parts 487a and 487b (all suction parts are in the ON state) to suck up the flat corrugated cardboard W1. However, considering the process of S13 described later, it is also possible to use only a pair of second suction parts 385a and 385b and a pair of tenth suction parts 387a and 387b to suck up the flat corrugated cardboard W1 from this point onward, and not use the other suction parts.

[0505] To open the article gripping device 405 means, as shown in Figure 40, widening the angle between the first arm and the second arm to approximately 180 degrees, so that all the suction parts, namely the pair of first suction parts 483a and 483b, the pair of second suction parts 485a and 485b, the pair of third suction parts 481a and 481b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b, face each other on the same plane.

[0506] Here, we will explain how the article gripping device 405 changes the distance between the motor shaft of the first arm rotation drive motor 461 (corresponding to the "first shaft" of this invention), the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b to match the size of the flat corrugated cardboard.

[0507] First, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b is increased.

[0508] When increasing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b, first the first arm extension motor 411a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension locking part 419a connected to the lower side of the first arm extension toothed pulley 413a and the first arm extension toothed belt 415a.

[0509] As a result, the first locking part 419a for extending and retracting the first arm moves in the -X direction, the intermediate part 451a of the first arm connected to the first locking part 419a for extending and retracting the first arm also moves in the -X direction, and the pair of first suction parts 483a and 483b provided on the intermediate part 451a of the first arm also move in the -X direction, thereby increasing the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of first suction parts 483a and 483b.

[0510] Furthermore, when the intermediate portion 451a of the first arm moves in the -X direction, the third toothed pulley 421a and the fourth toothed pulley 425a for extending and retracting the first arm, which are rotatably connected to the intermediate portion 451a of the first arm, move in the -X direction. As a result of this movement, the second locking portion 420a for extending and retracting the first arm, which is connected to the base end portion 449a of the first arm and the second toothed belt 423a for extending and retracting the first arm, and the second toothed belt 423a for extending and retracting the first arm move in the +Y direction. Due to the relationship between the opposite side and the third locking part 427a for extending and retracting the first arm connected to the first arm tip 457a, the first arm tip 457a moves in the -X direction, and the third arm portion 459a connected to the first arm tip 457a and the pair of third suction parts 481a and 481b provided on the third arm portion 459a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of third suction parts 481a and 481b.

[0511] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b is reduced.

[0512] When reducing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, and the pair of third suction parts 481a and 481b, first the first arm extension motor 411a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension locking part 419a connected to the lower side of the first arm extension toothed pulley 413a and the first arm extension toothed belt 415a.

[0513] As a result, the first locking part 419a for extending and retracting the first arm moves in the +X direction, the intermediate part 451a of the first arm connected to the first locking part 419a for extending and retracting the first arm also moves in the +X direction, and the pair of first suction parts 483a and 483b provided on the intermediate part 451a of the first arm also move in the +X direction, thereby reducing the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of first suction parts 483a and 483b.

[0514] Furthermore, when the intermediate portion 451a of the first arm moves in the +X direction, the third toothed pulley 421a and the fourth toothed pulley 425a for extending and retracting the first arm, which are rotatably connected to the intermediate portion 451a of the first arm, move in the +X direction. As a result of this movement, the second locking portion 420a for extending and retracting the first arm, which is connected to the base end portion 449a of the first arm and the second toothed belt 423a for extending and retracting the first arm, and the second toothed belt 423a for extending and retracting the first arm move in the +Y direction. Due to its relationship with the third locking portion 427a for extending and retracting the first arm, which is connected to the opposite side and the first arm tip portion 457a, the first arm tip portion 457a moves in the +X direction, and the third arm portion 459a connected to the first arm tip portion 457a and the pair of third suction portions 481a and 481b provided on the third arm portion 459a also move in the +X direction, thereby reducing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of third suction portions 481a and 481b.

[0515] Next, a method will be described for changing the distance between the motor shaft of the first arm rotation drive motor 461 (corresponding to the "first shaft" in this invention), the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b in accordance with the size of the flat corrugated cardboard box in the article gripping device 405.

[0516] First, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b is increased.

[0517] When increasing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b, first the second arm extension motor 411b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 419b, which is connected to the lower side of the second arm extension first toothed pulley 413b and the second arm extension first toothed belt 415b, via the second arm extension first toothed belt 415b.

[0518] As a result, the first locking part 419b for extending and retracting the second arm moves in the +X direction, the intermediate part 451b of the second arm connected to the first locking part 419b for extending and retracting the second arm also moves in the +X direction, and the pair of tenth suction parts 487a and 487b provided on the intermediate part 451b of the second arm also move in the +X direction, thereby increasing the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of fourth suction parts 487a and 487b.

[0519] Furthermore, when the intermediate portion 451b of the second arm moves in the +X direction, the third toothed pulley 421b and the fourth toothed pulley 425b for extending and retracting the second arm, which are rotatably connected to the intermediate portion 451b of the second arm, move in the +X direction. As a result of this movement, the second locking portion 420b for extending and retracting the second arm, which is connected to the base portion 449b of the second arm and the second toothed belt 423b for extending and retracting the second arm, and the second toothed belt 423b for extending and retracting the second arm move in the +Y direction. Due to its relationship with the third locking part 427b for extending and retracting the second arm, which is connected to the opposite side and the second arm tip 457b, the second arm tip 457b moves in the +X direction, and the fourth arm portion 459b connected to the second arm tip 457b and the pair of fourth suction parts 489a and 489b provided on the fourth arm portion 459b also move in the +X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 416 and the pair of fourth suction parts 489a and 489b.

[0520] Next, we will explain the case in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b is reduced.

[0521] When reducing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction parts 487a and 487b, and the pair of fourth suction parts 489a and 489b, first the second arm extension motor 411b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension first locking part 419b, which is connected to the lower side of the second arm extension first toothed pulley 413b and the second arm extension first toothed belt 415b.

[0522] As a result, the first locking part 419b for extending and retracting the second arm moves in the -X direction, the intermediate part 451b of the second arm connected to the first locking part 419b for extending and retracting the second arm also moves in the -X direction, and the pair of tenth suction parts 487a and 487b provided on the intermediate part 451b of the second arm also move in the -X direction, thereby reducing the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of tenth suction parts 487a and 487b.

[0523] Furthermore, when the intermediate portion 451b of the second arm moves in the -X direction, the third toothed pulley 421b and the fourth toothed pulley 425b for extending and retracting the second arm, which are rotatably connected on the intermediate portion 451b of the second arm, move in the -X direction. As a result of this movement, the second locking portion 420b for extending and retracting the second arm, which is connected to the -Y direction side of the base portion 449b of the second arm and the second toothed belt 423b for extending and retracting the second arm, and the second toothed belt 423b for extending and retracting the second arm move in the +Y direction. Due to its relationship with the third locking part 427b for extending and retracting the second arm, which is connected to the opposite side and the second arm tip 457b, the second arm tip 457b moves in the -X direction, and the fourth arm portion 459b connected to the second arm tip 457b and the pair of fourth suction parts 489a and 489b provided on the fourth arm portion 459b also move in the -X direction, thereby reducing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of fourth suction parts 489a and 489b.

[0524] Then, the compressor 8 drives the nine item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9, which are installed on the upper surface of the flat corrugated cardboard mounting table 36, and sucks the flat corrugated cardboard W1 to fix it to the upper surface of the flat corrugated cardboard mounting table 36 (S9).

[0525] Then, the articulated robot 3 is operated to open the article gripping device 405 as shown in Figure 40, and a pair of second suction parts 485a and 485b and a pair of tenth suction parts 487a and 487b of the article gripping device 405 are placed inside the flat corrugated cardboard W1, while the other suction parts are placed outside the area of ​​the flat corrugated cardboard W1, and the flat corrugated cardboard W1 is sucked up using only the pair of second suction parts 485a and 485b and the pair of tenth suction parts 487a and 487b (S11).

[0526] Subsequently, while the lower surface of the flat corrugated cardboard W1 at the left center position is being sucked in by the article suction parts V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the upper surface of the flat corrugated cardboard W1 using only the pair of second suction parts 485a and 485b and the pair of tenth suction parts 487a and 487b, thereby making the flat corrugated cardboard W1 three-dimensional (S13), and the article gripping device 405 grips the three-dimensional corrugated cardboard W1 (S14).

[0527] Figure 41 is a perspective view showing the initial state in which the article gripping device 405 grips the three-dimensional corrugated cardboard W1 using only the pair of second suction parts 485a and 485b and the pair of tenth suction parts 487a and 487b, with the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, the pair of third suction parts 481a and 481b, the pair of fourth suction parts 489a and 489b, and the pair of tenth suction parts 487a and 487b increased.

[0528] After the flat corrugated cardboard W1 is transformed into a three-dimensional shape, in order to ensure that the corrugated cardboard box W1 is securely held, the article gripping device 405 is configured as shown in Figure 42, with the first arm and the second arm rotating at a 90-degree angle, the third arm portion 459a rotating at a 90-degree angle to the first arm, and the fourth arm portion 459b rotating at a 90-degree angle to the second arm, so that a pair of second suction portions 485a and 485b and a pair of tenth suction portions 487a and 487b suction onto the first of the four sides of the corrugated cardboard box W1, a pair of first suction portions 483a and 483b suction onto the second side of the corrugated cardboard box W1, a pair of third suction portions 481a and 481b suction onto the third side of the corrugated cardboard box W1, and a pair of fourth suction portions 489a and 489b suction onto the fourth side of the corrugated cardboard box W1.

[0529] Therefore, according to the article gripping device 405 of this embodiment, since the entire surface of the corrugated cardboard box W1 is gripped by suction, it can reliably grip objects made of flexible materials (for example, even corrugated cardboard boxes).

[0530] Figure 42 is a plan view showing the state in which the article gripping device 405 grips a three-dimensional corrugated cardboard box W1, with the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction parts 483a and 483b, the pair of third suction parts 481a and 481b, the pair of fourth suction parts 489a and 489b, and the pair of tenth suction parts 387a and 387b increased.

[0531] Then, the box-making apparatus 401 of this embodiment, similar to the box-making apparatus 1 of the first embodiment, performs the processes S15 to S33 to fold the inner and outer flaps of the corrugated cardboard box W1 and complete the corrugated cardboard box.

[0532] According to the article gripping device 405 of this embodiment, a first arm (base end portion 449a, intermediate portion 451a, and tip portion 457a) and a second arm (base end portion 449b, intermediate portion 451b, and tip portion 457b) are rotatably connected around the motor shaft (first axis) of the first arm rotation drive motor 461, a third arm portion 459a is rotatably connected to the end of the first arm in the direction opposite to the first axis, a pair of first suction portions 483a and 483b are provided on the first arm, a pair of second suction portions 485a and 485b are provided on the second arm, and a pair of third suction portions 481a and 481b are provided on the third arm portion 459b, so that even articles made of flexible materials can be reliably gripped.

[0533] Furthermore, according to the article gripping device 405 of this embodiment, the first arm rotation first drive motor 461 is provided to rotate the first arm (base end 449a, middle part 451a, and tip end 457a) and the second arm (base end 449b, middle part 451b, and tip end 457b) around the first axis, and the third arm 459a is rotatable in conjunction with the rotation of the first arm rotation first drive motor 461 with respect to the end of the first arm opposite to the first axis, so that even articles made of flexible materials can be gripped reliably with a simple mechanism.

[0534] Furthermore, in the article gripping device 405 of this embodiment, the distance between the first axis and the pair of third suction parts 481a and 481b can be changed, so articles of different sizes can be gripped reliably.

[0535] Furthermore, since the article gripping device 405 of this embodiment is configured to allow the distance between the first axis and the pair of first suction parts 483a and 483b to be changed, articles of different sizes can be gripped even more securely.

[0536] Furthermore, according to the article gripping device 405 of this embodiment, the second arm is equipped with a pair of 10th suction parts 487a and 487b, and the distance between the first axis and the pair of 10th suction parts 487a and 487b can be changed, so that articles of different sizes can be gripped even more reliably.

[0537] Furthermore, the article gripping device 405 of this embodiment includes a fourth arm portion 459b rotatably connected to the end of the second arm opposite to the first axis, and a pair of fourth suction portions 489a and 489b provided on the fourth arm portion 459b. Therefore, even articles made of flexible materials can be gripped more securely.

[0538] Furthermore, according to the article gripping device 405 of this embodiment, the fourth arm portion 459a is rotatable in conjunction with the rotation of the first arm rotation drive motor 461, relative to the end of the second arm opposite to the first axis. Therefore, even articles made of flexible materials can be securely gripped with an even simpler mechanism.

[0539] Furthermore, in the article gripping device 405 of this embodiment, the distance between the first axis and the pair of fourth suction parts 489a and 489b can be changed, so articles of different sizes can be gripped reliably.

[0540] Furthermore, the box-making apparatus 401 of this embodiment includes an articulated robot 3 and an article gripping device 405 to which a second arm is connected at the tip of the articulated robot 3. Therefore, even if the box is made of a flexible material, it can be manufactured reliably and in a balanced manner with sufficient gripping force.

[0541] Although the article gripping device and the box-making device equipped with the article gripping device according to embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and can be implemented with various modifications without departing from the spirit of the invention.

[0542] For example, in the article gripping device of the above-described embodiment, the third arm, fourth arm, eighth arm, and ninth arm have been described as being rotatable in conjunction with their respective arm rotation drive motors. However, these arm parts may also be rotated by individual drive motors provided on each arm, without being linked to the arm rotation drive motor.

[0543] However, as in the embodiment described above, making the third arm, fourth arm, eighth arm, and ninth arm rotatable in conjunction with their respective arm rotation drive motors simplifies the mechanism and allows the device itself to be made more compact.

[0544] Furthermore, although in the embodiments described above, most of the suction parts have been described as being able to change their distance from the first axis, second axis, or third axis, these suction parts may also be fixed to the arm so as not to change their distance from the first axis, second axis, or third axis.

[0545] However, configuring each suction part to be able to change its distance from the first, second, or third axis would allow for improved gripping force according to the size of the object.

[0546] Furthermore, in the article gripping device of the above embodiment, the suction parts provided on the arm have all been described as consisting of two suction parts (a pair of suction parts). However, the number of suction parts provided on the arm is arbitrary and may be any number depending on the size and shape of the article. [Explanation of symbols]

[0547] 1,101,201,301,401...Box making equipment 2. Main Controller 3. Articulated robot (robot) 4...Power supply 5,105,205,305,405...article gripping device 6. Control Panel 8. Compressor 10. Robot Controller 11a, 311a, 411a... Motor for extending / retracting the first arm 11b, 311b, 411b... Motor for extending / retracting the second arm 12. Driver Circuit 13a, 313a, 413a... First toothed pulley for extension of the first arm 13b, 313b, 413b... First toothed pulley for extension of the second arm 14..CPU 15a, 315a, 415a... First toothed belt for extension of the first arm 15b, 315b, 415b... First toothed belt for extension of the second arm 16...RAM 17a, 317a, 417a... Second toothed pulley for extension of the first arm 17b, 317b, 417b... Second toothed pulley for extension of the second arm 18···ROM 19a, 319a, 419a... First locking part for extending and retracting the first arm 19b, 319b, 419b... First locking part for extension / retraction of the second arm 20a, 320a, 420a...Second locking part for extending / retracting the first arm 20b, 320b, 420b...Second locking part for extension / retraction of the second arm 21a, 321a, 421a... Third tooth pulley for extension of the first arm 21b, 321b, 421b... Third toothed pulley for extension of the second arm 22...First rail (first bending member) 23a, 323a, 423a... Second toothed belt for extension of the first arm 23b, 323b, 423b... Second toothed belt for extension of the second arm 24. Protruding part (first bending member) 25a, 325a, 425a... Pulley with 4 teeth for extension of the 1st arm 25b, 325b, 425b... Pulley with 4 teeth for extension of the 2nd arm 26a, 26b... Second rail (second bending member) 27a, 327a, 427a... Third locking part for extending and retracting the first arm 27b, 327b, 427b...Third locking part for extension / retraction of the second arm 28. Motor for driving the left and right sides of the second rail. 30a... Motor for front and rear drive of the first rail 30b... Motor for front and rear drive of the second rail 31...First base 32. Motor for driving the second rail up and down. 33...Second base 34. Tape application area 35...lower arm 36... Flat cardboard display stand 37...middle arm 40...Discharge section 45...Rotating part 47. Rotating part (mounting part) 49a, 349a, 449a... Base end of the first arm 49b, 349b, 449b... Second arm base 50...2nd box making department 51a, 351a, 451a... First arm intermediate section 51b, 351b, 451b... Second arm intermediate section 53a, 353a, 453a... First link section for extending / retracting the first arm 55a, 355a, 455a... Second link section for extension of the first arm 57a, 357a, 457a... First arm tip 57b, 357b, 457b... Second arm tip 59a, 359a, 459a... Third arm section (third arm) 60...No. 1 box making department 61,161a,261a,361,461...First drive motor for arm rotation (first drive unit, second drive unit) 63,163a,263a,363a,463a...Motor gear for the first drive of arm rotation 65, 165a, 265a, 365a, 465a... Driven gear for the first drive of arm rotation 67,167a,267a,367a,467a...First toothed pulley for first drive of arm rotation 69,169a,269a,369a,469a...First toothed belt for first drive of arm rotation 71,171a,271a,371a,471a... Second toothed pulley for first drive of arm rotation 73,173a,273a,373a,473a...Second toothed belt for first drive of arm rotation 75, 175a, 275a, 375a, 475a... Third toothed pulley for first drive of arm rotation 80...Flat corrugated cardboard mounting section 81,381... Third cylinder 81a, 81b, 381a, 381b, 481a, 481b... Third adsorption section 81c, 381c... Third suction rod 83,383... Cylinder 1 83a,83b,383a,383b,483a,483b...First suction part 83c, 383c... First suction rod 85,385... Second cylinder 85a, 85b, 385a, 385b, 485a, 485b...Second adsorption section 85c, 385c... Second suction rod 87,185,387...10th cylinder 87a,87b,185a,185b,285a,285b,387a,387b,487a,487b...10th adsorption section 87c, 185c, 387c... 10th suction rod 91...Moving rail 93... Mobile stand 95...Motor for robot position drive 111a, 211a... Motor for extending / retracting the 5th arm 111b, 211b... Motor for extending / retracting the 7th arm 111c, 211c... Motor for extending / retracting the 6th arm 113a, 213a... 5th arm extension pulley with 1st tooth 113b, 213b... 1st tooth pulley for extension of the 7th arm 113c, 213c... 1st tooth pulley for extension of the 6th arm 115a, 215a... First toothed belt for extension of the 5th arm 115b, 215b... First toothed belt for extension of the 7th arm 115c, 215c... 1st toothed belt for extension of the 6th arm 117a, 217a... Second toothed pulley for extension of the 5th arm 117b, 217b... Second toothed pulley for extension of the 7th arm 117c, 217c... 6th arm extension pulley with 2nd tooth 119a, 219a... First locking part for extension / retraction of the fifth arm 119b, 219b... First locking part for extension of the 7th arm 119c, 219c... First locking part for extending / retracting the 6th arm 120a, 220a...Second locking part for extension / retraction of the fifth arm 120b, 220b... Second locking part for extension of the 7th arm 120c, 220c...Second locking part for extending / retracting the 6th arm 121a, 221a... Third tooth pulley for extension of the 5th arm 121b, 221b... Third tooth pulley for extension of the 7th arm 121c, 221c... Third tooth pulley for extension of the 6th arm 123a, 223a... Second toothed belt for extension of the fifth arm 123b, 223b... Second toothed belt for extension of the 7th arm 123c, 223c... Second toothed belt for extension of the 6th arm 125a, 225a... 4th tooth pulley for extension of 5th arm 125b, 225b... Pulley with 4 teeth for extension of the 7th arm 125c, 225c... 4th tooth pulley for 6th arm extension 127a, 227a... Third locking part for extension of fifth arm 127b, 227b... Third locking part for extension of the 7th arm 127c, 227c... Third locking part for extension of the 6th arm 149a, 249a... Base of the fifth arm 149b, 249b... Base of the 7th arm 149c, 249c... Base of the 6th arm 151a, 251a... Middle section of the 5th arm 151b, 251b... Intermediate section of the 7th arm 151c, 251c...6th arm intermediate section 153a, 253a... First link section for extension of the fifth arm 153b, 253b... First link section for extension of the 7th arm 155a, 255a...Second link section for extension of the fifth arm 155b, 255b... Second link section for extension of the 7th arm 157a, 257a... Tip of the fifth arm 157b, 257b... Tip of the 7th arm 157c, 257c... Tip of the 6th arm 159a, 259a...8th arm section (8th arm) 159b, 259b... 9th arm section (9th arm) 161b, 261b... Second drive motor for arm rotation (third drive unit) 163b, 263b, 363b, 463b... Motor gear for second drive of arm rotation 165b, 265b, 365b, 465b... Driven gear for second drive of arm rotation 167b, 267b, 367b, 467b... First toothed pulley for second drive of arm rotation 169b, 269b, 369b, 469b... First toothed belt for second drive of arm rotation 171b, 271b, 371b, 471b... Second toothed pulley for second drive of arm rotation 173b, 273b, 373b, 473b... Second toothed belt for second drive of arm rotation 175b, 275b, 375b, 475b... Third toothed pulley for second drive of arm rotation 180...8th cylinder 180a,180b,280a,280b...8th adsorption section 180°C...8th suction rod 181...5th cylinder 181a,181b,281a,281b...5th adsorption section 181c...5th suction rod 183...6th cylinder 183a,183b,283a,283b...6th adsorption section 183c...6th suction rod 187...7th cylinder 187a,187b,287a,287b...7th adsorption section 187c...7th suction rod 189...9th cylinder 189a,189b,289a,289b...9th adsorption section 189c...9th suction rod 353b, 453b... First link section for extension of the second arm 355b, 455b...Second link section for extension of the second arm 359b, 459b... Fourth arm section (fourth arm) 389...4th cylinder 389a,389b...4th suction part 389c...4th suction rod V1,V2,V3,V4,V5,V6,V7,V8,V9...Article adsorption section W1, W2, W3... Cardboard boxes (boxes)

Claims

1. A first arm is rotatably connected around a first axis, and the distance between the end opposite to the first axis and the first axis can be changed. A second arm rotatably connected around the first axis, A first drive unit that rotates the first arm and the second arm around the first axis, A third arm rotatably connected to the aforementioned end, The first suction part provided on the first arm, The second suction part provided on the second arm, The third suction part provided on the third arm, Equipped with, The article gripping device is characterized in that the third arm is rotatable relative to the end of the first arm in conjunction with the rotation of the first drive unit.

2. The article gripping device according to claim 1, characterized in that the distance between the first axis and the third suction portion can be changed.

3. The article gripping device according to claim 2, characterized in that the distance between the first axis and the first suction portion can be changed.

4. The second arm is equipped with a tenth suction section, The article gripping device according to claim 2, characterized in that the distance between the first axis and the tenth suction portion can be changed.

5. The second arm is equipped with a tenth suction section, The article gripping device according to claim 3, characterized in that the distance between the first axis and the tenth suction portion can be changed.

6. A fourth arm is rotatably connected to the end of the second arm opposite to the first axis, The fourth suction part is provided on the fourth arm, The article gripping device according to claim 1, characterized by comprising the following:

7. The system includes a first drive unit that rotates the first arm and the second arm around a first axis, The article gripping device according to claim 6, characterized in that the fourth arm is rotatable in conjunction with the rotation of the first drive unit with respect to the end of the second arm opposite to the first axis.

8. The article gripping device according to claim 6, characterized in that the distance between the first axis and the fourth suction portion can be changed.

9. The article gripping device according to claim 7, characterized in that the distance between the first axis and the fourth suction portion can be changed.

10. Fifth and sixth arms rotatably connected around the second axis, Sixth and seventh arms rotatably connected around the third axis, An eighth arm is rotatably connected to the end of the fifth arm opposite to the second axis, A ninth arm is rotatably connected to the end of the seventh arm opposite to the third axis, The fifth suction part provided on the fifth arm, The sixth suction part provided on the sixth arm, The seventh suction part provided on the seventh arm, The eighth suction part provided on the eighth arm, The ninth suction part provided on the ninth arm, An article gripping device characterized by being equipped with the following features.

11. The system includes a second drive unit that rotates the fifth arm and the sixth arm around the second axis, The article gripping device according to claim 10, characterized in that the eighth arm is rotatable in conjunction with the rotation of the second drive unit with respect to the end of the fifth arm opposite to the second axis.

12. The article gripping device according to claim 10, characterized in that the distance between the second axis and the eighth suction portion can be changed.

13. The article gripping device according to claim 11, characterized in that the distance between the second axis and the eighth suction portion can be changed.

14. The system includes a third drive unit that rotates the sixth arm and the seventh arm around the third axis, The article gripping device according to claim 10, characterized in that the ninth arm is rotatable in conjunction with the rotation of the third drive unit with respect to the end of the seventh arm opposite to the third axis.

15. The article gripping device according to claim 10, characterized in that the distance between the third axis and the ninth suction portion can be changed.

16. The article gripping device according to claim 14, characterized in that the distance between the third axis and the ninth suction portion can be changed.

17. Articulated robots and An article gripping device according to any one of claims 1 to 9, wherein the second arm is connected to the tip of the articulated robot, A box-making apparatus characterized by being equipped with the following features.

18. Articulated robots and An article gripping device according to any one of claims 10 to 16, wherein the sixth arm is connected to the tip of the articulated robot, A box-making apparatus characterized by being equipped with the following features.

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