Alignment device

Abstract

To enhance the position precision of a blank sheet supplied to the process of a subsequent stage.SOLUTION: The present invention relates to an alignment device 1 for a wraparound type blank sheet 100, and the alignment device comprises: conveying means (10, 51) for acquiring and conveying the blank sheet 100 from a sheet stack 100x; detecting means (10, 52) for detecting the position and angle of the blank sheet 100 in a plane direction during the conveyance; and correction value calculating means 53 for calculating correction values for a plane-directional conveyance quantity and a rotational angle of the blank sheet 100 for conveying the blank sheet 100 to a predetermined position using the conveying means (10, 51). The conveying means (10, 51) convey the blank sheet 100 to the predetermined position based upon the correction values.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an alignment device, and particularly to an alignment device for improving the positional accuracy of a blank sheet supplied to a carton manufacturing process.

Background Art

[0002] In recent years, in a manufacturing line for product packaging, a carton manufacturing and packaging process has been introduced, in which a half-cartoon is manufactured from a blank sheet of a wraparound carton, the product is packed, and then the carton is sealed. For example, Patent Documents 1 and 2 disclose a supply device for a blank sheet used in this carton manufacturing process.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional supply devices described in Patent Documents 1 and 2, the positional accuracy of the blank sheet is ensured by mechanically restricting the outer shape portion of the blank sheet stacked in the sheet magazine by a guide mechanism. Therefore, there is a problem that the positional variation of the blank sheet supplied to the carton manufacturing unit is large.

[0005] In particular, due to the recent trend of increasing size and precision, when the area of the blank sheet is large with the increase in the size of the carton, or when the warping or undulation of the blank sheet is large, it is difficult to reduce the positional variation of the blank sheet when supplied to the carton manufacturing unit, the forming accuracy of the carton is reduced, and a loss cost due to forming defects may occur.

[0006] This disclosure has been made in view of the above-mentioned problems and aims to provide an alignment device that improves the positional accuracy of blank sheets supplied to subsequent processes. [Means for solving the problem]

[0007] An alignment device according to one aspect of the present disclosure is a wrap-around type blank sheet alignment device comprising: a transport means for acquiring and transporting a blank sheet from a sheet stack; a detection means for detecting the position and angle of the blank sheet in the planar direction during transport; and a correction value calculation means for calculating correction values ​​for the amount of transport in the planar direction and the rotation angle of the blank sheet, based on the detected position and angle, so that the transport means can transport the blank sheet to a predetermined position. The blank sheet is a sheet formed into a half-box carton by folding multiple wall-like portions surrounding the base surface, the transfer means comprises a suction head for adsorbing and holding the blank sheet, an articulated robot for moving and rotating the suction head, and a transfer control unit for controlling the operation of the articulated robot, the detection means comprises an imaging means for capturing an image of the blank sheet in the planar direction, and a position and angle calculation unit for calculating the position of the blank sheet by calculating the position of the measurement target portion in the captured image, and the suction head comprises at least the blank sheet The detection means holds a reference sheet region located within the base surface, measures the positions in the planar direction of two or more measurement target portions of the held blank sheet that are close to the reference sheet region, the reference sheet region and the measurement target portions are substantially the same in the width or depth direction in the planar direction of the blank sheet, the correction value calculation means calculates the amount of deviation between the detected position and angle and the normal position and angle, calculates the correction value based on the amount of deviation, and the transfer control unit corrects the transfer amount and rotation angle of the suction head based on the correction value. The transfer means is characterized by transferring the blank sheet to the predetermined position based on the correction value. [Effects of the Invention]

[0008] According to one aspect of this disclosure, an alignment device can be provided that improves the positional accuracy of a blank sheet supplied to a subsequent process. [Brief explanation of the drawing]

[0009] [Figure 1] (a) is a plan view of a wrap-around carton supplied to the alignment device 1 according to the embodiment, and (b) is a perspective view of a half-box carton. [Figure 2] This is a perspective view showing the configuration of the alignment device 1 according to the embodiment. [Figure 3] This is a front view showing the configuration of the alignment device 1. [Figure 4] This is a plan view showing the configuration of the alignment device 1. [Figure 5] This is a perspective view showing the configuration of the detection unit 20. [Figure 6] This is a functional block diagram of the control unit 50. [Figure 7]This is a plan view showing the configuration of the blank carton held by the detection unit 20. [Figure 8] (a) to (d) are schematic front views illustrating the operation of the alignment device 1. [Modes for carrying out the invention]

[0010] Summary of Embodiments for Carrying Out the Invention The alignment apparatus according to the embodiment of the present disclosure is a wrap-around type blank sheet alignment apparatus comprising: a transport means for acquiring and transporting a blank sheet from a sheet stack; a detection means for detecting the position and angle of the blank sheet in the planar direction during transport; and a correction value calculation means for calculating correction values ​​for the amount of transport in the planar direction and the rotation angle of the blank sheet, based on the detected position and angle, so that the transport means transports the blank sheet to a predetermined position, wherein the transport means transports the blank sheet to the predetermined position based on the correction values.

[0011] This configuration provides an alignment device that improves the positional accuracy of blank sheets supplied to subsequent processes and simplifies process equipment.

[0012] Furthermore, it can improve production efficiency by reducing the adjustment work required for the positioning mechanism within the sheet magazine when changing models, which was previously necessary.

[0013] In another aspect, in any of the aspects described above, the transfer means includes a suction head for sucking and holding a blank sheet, an articulated robot for moving and rotating the suction head, and a transfer control unit for controlling the operation of the articulated robot. The detection means includes an imaging means for imaging an image of the blank sheet in the planar direction, and a position and angle calculation unit for calculating the position of the measurement target portion in the imaged image and calculating the position and angle of the blank sheet. The correction value calculation means calculates the deviation amount between the detected position and angle and the normal position and normal angle, and calculates the correction value based on the deviation amount. The transfer control unit may be configured to correct the transfer amount and rotation angle of the suction head based on the correction value.

[0014] By using an articulated robot as the transfer means for the blank sheet in the correction during such alignment, the alignment device and the blank sheet transfer means that were conventionally required separately can be shared, and the process can be simplified.

[0015] In addition, an alignment device conforming to multi-variety mixed production can be provided, which selectively acquires different types of blank sheets, aligns them, and then transfers them to the subsequent process.

[0016] In another aspect, in any of the aspects described above, the transfer means selectively acquires and transfers different types of blank sheets from a plurality of sheet stacks, and the position and angle calculation unit calculates the position of the measurement target portion in the image imaged for the selected blank sheet and calculates the position and angle of the blank sheet. The correction value calculation means may be configured to calculate the deviation amount between the detected position and angle and the normal position and normal angle for the selected blank sheet and calculate the correction value. If With such a configuration, it is possible to calculate the deviation amount between the normal position and normal angle for the type of blank sheet selected corresponding to various products, and it is possible to cope with multi-variety mixed production.

[0017] With such a configuration, it is possible to calculate the deviation amount between the detected position and angle and the normal position and normal angle for the type of blank sheet selected corresponding to various products, and it is possible to cope with multi-variety mixed production.

[0018] In another aspect, in any of the aspects described above, the blank sheet is a sheet that is formed into a half-fold carton by bending a plurality of wall-equivalent portions surrounding the base surface portion, and the suction head holds at least a reference sheet region located within the base surface portion of the blank sheet, and the detection means measures the positions in the planar direction of two or more measurement target portions close to the reference sheet region of the held blank sheet, and the reference sheet region and the measurement target portions may be configured such that their positions in the width direction or the depth direction in the planar direction of the blank sheet are substantially the same.

[0019] With such a configuration, errors in detecting and correcting the position and angle of the blank sheet can be reduced, the influence of warping and undulation of the blank sheet in the transfer to the subsequent process can be mitigated, and the position accuracy of the blank sheet supplied to the subsequent process can be improved.

[0020] ≪Embodiment≫ The configuration of the alignment device 1 according to the embodiment will be described with reference to the drawings. Here, in this specification, the X direction, Y direction, and Z direction in each figure may be the width direction, depth direction, and height direction, respectively, and the positive direction of the height direction may be the "up" direction and the negative direction may be the "down" direction. Also, the scales of the members in each drawing are not necessarily the same as the actual ones. Further, in this specification, the symbol "-" used when indicating a numerical range includes the numerical values at both ends. Also, the materials, numerical values, etc. described in this embodiment are merely examples of preferable ones and are not limited thereto. Also, appropriate changes can be made without departing from the scope of the technical idea of the present disclosure. Also, combinations of some of the configurations with other embodiments are possible as long as there is no contradiction.

[0021] <Configuration of Blank Sheet and Half-Fold Carton> The configuration of the blank sheet 100 supplied to the alignment device 1 according to an embodiment of the present disclosure and the half-fold carton 100' manufactured from the blank sheet 100 will be described.

[0022] Figure 1(a) is a plan view of a wrap-around carton supplied to the alignment device 1 according to the embodiment.

[0023] The blank sheet 100 is folded along the fold lines to form a box shape.

[0024] As shown in Figure 1(a), the blank sheet 100 is mainly composed of a base portion 101, a front wall portion 102, a rear wall portion 103, and a lid portion 104. The base portion 101, front wall portion 102, rear wall portion 103, and lid portion 104 each have left flaps 105L to 108L that form the left wall and right flaps 105R to 108R that form the right wall, respectively, connected across the fold line. In addition, the lid portion 104 has a front flap 109 that overlaps with the outer surface of the front wall portion 102 after box manufacturing and serves as an adhesive area, connected across the fold line.

[0025] Figure 1(b) is a perspective view of a half-box carton 100' made from a blank sheet 100. As shown in Figure 1(b), the half-box carton 100' is a half-box carton with a lid, formed by folding the front wall portion 102, rear wall portion 103, left flaps 105L~107L, and right flaps 105R~107R of the blank sheet 100 upward along their respective base bending lines, with the base surface portion 101 serving as the bottom surface. The base surface portion 101 of the blank sheet 100 serves as the reference surface in the carton making process. Alternatively, the left flaps 106L and 107L may be positioned inside 105L, and the right flaps 106R and 107R may be positioned inside 105R during the carton making process.

[0026] <About the configuration of alignment device 1> The configuration of the alignment device 1 will be explained using drawings. Figure 2 is a perspective view showing the configuration of the alignment device 1 according to an embodiment, Figure 3 is a front view, and Figure 4 is a plan view.

[0027] (Overall structure) The alignment device 1 comprises a sheet stack 100x made up of multiple blank sheets 100 stacked flat, a transfer unit 10 that transports the blank sheets 100 and corrects their position and angle in the planar direction, a detection unit 20 that detects the position and angle of the blank sheets in the planar direction, a mounting table 30 on which the blank sheets 100 are placed, and a control unit 50 that controls these units. A box-making device 40 that forms half-box cartons 100' from the blank sheets 100 is installed downstream of the alignment device 1.

[0028] (Composition of each unit) The configuration of each part of the alignment device 1 will be described below.

[0029] The alignment device 1 is equipped with multiple types of blank sheets 101 and 102 (sometimes collectively referred to as "blank sheet 100") that differ in size, shape, material, etc. In this embodiment, as an example, the state in which the blank sheets 101 and 102 are prepared in the alignment device 1 as sheet stacks 101x and 102x (sometimes collectively referred to as "sheet stack 100x"), which are stacked flat on the mounting tables 101y and 102y, respectively.

[0030] [Transfer Unit 10] The transfer unit 10 is a multi-joint robot mechanism that takes blank sheets 100 one by one from a sheet stack 100x, which consists of multiple blank sheets 100 stacked flat, corrects the position and angle of the blank sheets 100 in the planar direction, and supplies them to a subsequent process.

[0031] Here, the planar direction of the blank sheet 100 refers to the direction parallel to the sheet surface of the blank sheet 100. In this embodiment, since the blank sheet 100 is transported while placed horizontally, the planar direction means the direction parallel to the XY plane in Figures 2, 3, and 4.

[0032] As shown in Figures 2, 3, and 4, the transfer unit 10 has a multi-joint robot consisting of a robot hand 12, a robot arm 13, and a robot body base 14, and a suction head 11.

[0033] The robot arm 13 is, for example, a ceiling-mounted robot arm, suspended from a member located above the robot arm itself, such as a robot body base 14 installed on the ceiling of the facility.

[0034] The robot arm 13 can use a mechanism that allows the suction head 11 to move to a predetermined position in three-dimensional space by rotatably supporting the suction head 11 via the robot hand 12.

[0035] Furthermore, the robot arm 13 includes a drive mechanism (e.g., a motor) and is driven based on a control signal issued from the control unit 50, allowing it to change the position of the robot hand 12 in three-dimensional space.

[0036] The robot hand 12 is a holding means that is connected to the tip of the robot arm 13, enabling rotation in the YX plane, and holds the suction head 11.

[0037] The suction head 11 is a mechanism that is rotatably held by a robot hand 12 connected to the tip of a robot arm 13 and moves in three-dimensional space to transfer the blank sheets 100. The suction head 11 has a plurality of intake holes 11a on its downward-facing head surface. The intake holes 11a are connected to a vacuum pump or the like (not shown). By applying negative pressure to the intake holes 11a while the head surface of the suction head 11 is in contact with the upper surface of the sheet stack 100x, a single blank sheet 100 can be held by suction.

[0038] According to this transfer unit 10, by selecting either blank sheet 101 or 102 and holding it with the suction head 11, the robot arm 13 is pulled up to lift the top sheet of the sheet stack 100x and transfer it to above the mounting table 30. Furthermore, by lowering the blank sheet 100 to the mounting table 30 and releasing the negative pressure, the selected blank sheet 100 is placed on the mounting table 30.

[0039] At this time, the transfer unit 10 may rotate the blank sheet 100 by 90 degrees in the XY plane simultaneously with the transfer. For example, in this embodiment, as shown in Figure 4, the orientation of the blank sheet 100 is changed by rotating it by 90 degrees in the XY plane during the transfer from the imaging position by the detection unit 20 to the mounting table 30.

[0040] The correction of the position and angle of the blank sheet 100 will be described later.

[0041] [Detection Unit 20] The detection unit 20 is an image acquisition means for detecting the position and angle of the supplied blank sheet 100 in the XY plane. Figure 5 is a perspective view showing the configuration of the detection unit 20. Sheet regions 111 and 112 of the blank sheet 100 are regions that are adsorbed and held by the intake holes 11a of the adsorption head 11, and sheet regions 110L and 110R represent regions that are imaged by the imaging means 21.

[0042] As shown in Figures 2-5, the detection unit 20 includes an imaging means 21 and a light source 22.

[0043] The imaging means 21 is an image acquisition means for capturing images of the outer shape portion in the Y direction of the blank sheets 100, which are arranged in multiple locations in the Y direction in the section from the mounting table 100y to the mounting table 30 in the X direction and are transported by the transport unit 10. The imaging means 21 may be, for example, a CCD camera equipped with an optical lens in its barrel.

[0044] The light source 22 is an illumination light source positioned opposite the imaging means 21 in the Z direction. The light source 22 may be a surface light source consisting of, for example, a white LED or an organic EL.

[0045] In this embodiment, as shown in Figure 5, the imaging means 21 is positioned downwards and is configured to image sheet regions 110L and 110R (see Figure 5) located on the outer edge in the Y direction of the blank sheet 100 being transported by the transport unit 10, using transmitted light from the light source 22. Details of the sheet regions 111 and 112 and the measurement target portion MP will be described later.

[0046] [Control Unit 50] The control unit 50 is electrically connected to the transport unit 10 and the detection unit 20, and outputs control signals to control the operation of each unit.

[0047] The control unit 50 is implemented as a computer, for example, that includes a general CPU (Central Processing Unit), RAM (Random Access Memory), and a program that runs on them. The control unit 50 reads a control program for the alignment device 1 from a storage device or the like into RAM and executes it, thereby controlling each unit constituting the alignment device 1 to operate in conjunction with each other, and realizing the functions of the alignment device 1.

[0048] Figure 6 is a functional block diagram of the control unit 50. The control unit 50 comprises a transport control unit 51, a position angle calculation unit 52, and a correction value calculation unit 53 (correction value calculation means).

[0049] The transfer control unit 51 is a circuit that outputs a control signal to the transfer unit 10 for transferring the suction head 11 to a predetermined position. Thus, the functions of the transfer unit 10 and the transfer control unit 51 in the control unit 50 work together to realize the function of a transfer means.

[0050] The position and angle calculation unit 52 is a circuit that calculates the position of the measurement target part MP based on images of the sheet area 110L and 110R, which include the outer shape of the blank sheet 100 in the Y direction, captured by the detection unit 20, and calculates the position and angle of the blank sheet 100. The functions of the detection unit 20 and the position and angle calculation unit 52 in the control unit 50 work together to realize the function of a detection means.

[0051] The correction value calculation unit 53 is a circuit that calculates the amount of deviation between the detected position and angle and the normal position and angle, calculates a correction value for moving the blank sheet 100 to a predetermined position based on the amount of deviation, and outputs it to the transfer control unit 51, thereby realizing the function of a correction value calculation means.

[0052] [others] A box-making device 40 is located downstream of the alignment device 1.

[0053] The box-making apparatus 40 is a box-making mechanism that removes a blank sheet 100, whose position and angle in the planar direction have been adjusted to a normal range, from the mounting table 30, presses a mandrel (male mold) into the base surface portion 101 of the blank sheet 100, and folds the multiple wall-like portions 102, 103, 105L, and 105R surrounding the base surface portion 101 to form a half-box carton 100'.

[0054] Furthermore, the device may be equipped with a transfer mechanism (not shown) that, for example, uses a multi-joint robot to transfer the blank sheet 100 from the mounting table 30 to the box-making device 40.

[0055] (Regarding the reference sheet area 111 during transport within 100 blank sheets) Next, the reference sheet area 111 during the transport of the blank sheet 100 will be explained using a diagram.

[0056] Figure 7 is a plan view showing the configuration of the blank carton 100 held by the detection unit 20. As shown in Figure 7, in the box-making apparatus 40, the positions of the mandrels in the X and Y directions are set so that four mandrels arranged in a 2x2 matrix on the X and Y planes are positioned at the corner portion PA of the base surface portion 101 of the blank sheet 100 during box-making. In the box-making apparatus 40, the corner portion PA of the base surface portion 101 of the blank sheet 100 is pushed downward using the mandrel as a male mold, and the multiple wall-like portions around the base surface portion 101, namely the front wall portion 102, the rear wall portion 103, the left flap 105L (left side wall), and the right flap 105R (right side wall), are folded to form a half-box carton 100'. Therefore, the base surface portion 101 of the blank sheet 100 becomes the reference surface during box-making (hereinafter sometimes referred to as the "box-making reference surface").

[0057] As described above, the transfer unit 10 holds the blank sheet 100 by adsorption to the lower surface side of the suction head 11 using the negative pressure from the intake holes 11a provided in the suction head 11. At this time, the blank sheet 100 is held with the intake holes 11a of the suction head 11 located within the base surface portion 101 of the blank sheet 100. The range of the intake holes 11a located within this base surface portion 101 is defined as the reference sheet area 111.

[0058] In this embodiment, as shown in Figure 6, the reference sheet areas 111 are arranged in a row in the Y direction in multiple locations (two locations) within the base surface portion 101. Alternatively, in addition to the reference sheet areas 111, a configuration may be used to adsorb spare sheet areas 112 other than the base surface portion 101. In this embodiment, the lid portion 104 and the front wall portion 102 are each provided with two spare sheet areas 112 in the Y direction.

[0059] The reference sheet region 111, where the blank sheet 100 is held by the intake hole 11a, serves as the operating point when the detection unit 20 corrects the position and angle of the blank sheet 100. Furthermore, the reference sheet region 111 serves as the operating point when the blank sheet 100 is transferred to the box-making device 40. Therefore, it is desirable that the reference sheet region 111 be located within the base surface portion 101, which is the box-making reference surface of the blank sheet 100.

[0060] (Regarding the position of the measurement target part MP within 100 blank sheets) Next, the location of the measurement target portion MP on the blank sheet 100 will be explained in detail using a diagram.

[0061] The imaging means 21 of the detection unit 20 measures the position in the planar direction of the measurement target portion MP that is adjacent to any of the reference sheet regions 111 in the outer shape portion of the blank sheet 100 in the Y direction.

[0062] In this embodiment, as shown in Figure 7, the measurement target portion MP is selected from the four corner positions of the base surface portion 101, and may be selected from the valley between the cuts (edges) between the left flaps 105L and 106L and the valley between the cuts (edges) between the right flaps 105R and 106R, which are close to either of the reference sheet areas 111 and suitable for position measurement by transmitted light based on the outline of the blank sheet 100. In this embodiment, the measurement target portion MP is selected from two points with equivalent positions in the X direction.

[0063] Here, "proximity" means that the reference sheet area 111 and the measurement target portion MP are approximately the same in the width direction (X direction) or depth direction (Y direction) of the blank sheet 100 in the planar direction. For example, it means that the distance between the two in the width direction (X direction) or depth direction (Y direction) is 1 / 3 or less of the width of the base surface portion 101 in the width direction (X direction) or depth direction (Y direction).

[0064] By bringing the reference sheet area 111, which is the range of the intake holes 11a located within the base surface portion 101, and the measurement target portion MP into close proximity as described above, errors in detecting and correcting the position and angle of the blank sheet 100 can be reduced.

[0065] Furthermore, the effects of warping and undulation of the blank sheet 100 during transfer to the box-making apparatus 40 can be reduced, thereby improving the positional accuracy of the blank sheet 100 supplied to the box-making apparatus 40. As a result, the molding accuracy of the carton can be improved, and molding defects can be reduced.

[0066] (Regarding the correction of the position and angle of blank sheet 100) The alignment device 1 detects and corrects the position and angle in the planar direction of the measurement target portion MP of the blank sheet 100 in the image, based on the images of the sheet regions 110L and 110R, which include the outer shape portion of the blank sheet 100 in the Y direction, acquired by the imaging means 21.

[0067] Specifically, images of sheet regions 110L and 110R, including the outer shape of the blank sheet 100 in the Y direction, acquired by the imaging means 21 arranged in multiple locations in the Y direction, are output to the control unit 50. The position and angle calculation unit 52 of the control unit 50 calculates the position and angle of the measurement target portion MP of the blank sheet 100 in the XY plane direction based on the acquired images.

[0068] The correction value calculation unit 53 of the control unit 50 calculates the deviation of the detected position and angle from the normal position and angle, and calculates correction values ​​for the amount of transfer in the planar direction and the rotation angle relative to the blank sheet 100 so that the transfer unit 10 can transfer the blank sheet 100 to a predetermined position, and outputs these to the transfer control unit 51. The correction values ​​include the distance in the X direction to be corrected (X direction correction value), the distance in the Y direction to be corrected (Y direction correction value), and the rotation angle to be corrected (angle correction value) so that the detected blank sheet 100 can be returned to the normal position and angle.

[0069] The correction value calculation unit 53 has pre-stored the normal position and normal angle for detecting multiple different types of blank sheets 100, and the correction value calculation unit 53 can calculate the amount of deviation from the normal position and normal angle for the selected type of blank sheet 100.

[0070] The transfer control unit 51 corrects the amount of movement and rotation angle of the suction head based on the correction value, outputs a control signal to the transfer unit 10 for transferring the blank sheet 100 to a predetermined position, and the transfer unit 10 transfers the blank sheet 100, which is held by the suction head 11, to the predetermined position.

[0071] By detecting the position and angle using an image, even when changing the blank sheet to be manufactured to a different size, it is possible to easily adapt it to a blank sheet of any size simply by changing the set values ​​of the normal position and angle of the measurement target part MP in the control unit 50.

[0072] In this case, the X-direction correction value may be, for example, the average of the X-direction correction values ​​in the sheet areas 110L and 110R and the respective measurement target portion MP, and the Y-direction correction value may be the average of the Y-direction correction values ​​in the sheet areas 110L and 110R and the respective measurement target portion MP.

[0073] Furthermore, the angle correction value may be calculated based on, for example, the ratio of the difference in the Y-direction correction value to the difference in the X-direction correction value in the sheet area 110L, 110R, and the measurement target portion MP, respectively.

[0074] <Regarding the operation of alignment device 1> Next, the operation of the alignment device 1 of this embodiment will be described.

[0075] Figures 8(a) to 8(d) are schematic front views illustrating the operation of the alignment device 1.

[0076] In the operation of the alignment device 1, the first step is to supply the blank sheet 100.

[0077] In the blank sheet 100 supply process, first, the transfer unit 10 applies negative pressure to the intake hole 11a while the head surface of the suction head 11 is in contact with the upper surface of the sheet stack 100x, thereby adsorbing and holding the reference sheet area 111 and the reserve sheet area 112 of a single blank sheet 100.

[0078] Next, with the blank sheet 100 held in suction by the suction head 11, the transfer unit 10 lifts the robot arm 13 to lift the top blank sheet 100 of the sheet stack 100x (F1: Figure 8(a)), and transfers it to the imaging position below the detection unit 20 and stops there (M1: Figure 8(b)). In this state, the blank sheet 100 is stopped in a position where the imaging means 21 can image the imaging sheet regions 110L and 110R, which include the outer shape of the blank sheet 100 in the Y direction.

[0079] Next, the position and angle of the blank sheet 100 are detected, and the amount of deviation from the correct position and angle is corrected to move the blank sheet 100 to the predetermined position.

[0080] In this process, first, the detection unit 20 uses the imaging means 21 to image the sheet regions 110L and 110R, including the measurement target portion MP near the outer shape portion in the Y direction of the blank sheet 100 held by the transfer unit 10, using transmitted light from the light source 22.

[0081] The control unit 50 then measures the position and angle in the planar direction of the measurement target portion MP of the blank sheet 100 in the image based on this image, calculates the amount of deviation from the normal position and normal angle based on the detected position and angle, and calculates correction values ​​for the amount of transfer in the planar direction and the rotation angle of the blank sheet 100 relative to the blank sheet 100 so that the transfer unit 10 can transfer the blank sheet 100 to a predetermined position, and outputs these to the transfer unit 10.

[0082] The transfer unit 10 then moves the blank sheet 100 to a predetermined position (M2: Figure 8(c)), releases the negative pressure, and places the blank sheet 100 on the mounting table 30 (F2: Figure 8(c)). In this embodiment, the angle of the blank sheet 100 is changed by rotating it 90 degrees in the XY plane during the transfer from the imaging position by the detection unit 20 to the mounting table 30.

[0083] Next, the transfer unit 10 stops the suction head 11 above the sheet stack 100x, ending the operation of the alignment device 1 (Figure 8(d)). The blank sheets 100 on the mounting table 30 are then transferred from the mounting table 30 to the subsequent box-making device 40 by another transfer means (not shown).

[0084] Through the above process, the alignment device 1 supplies blank sheets 100 from the sheet stack 100x, corrects the position and angle of the blank sheets 100 in the planar direction, and the subsequent box-making device 40 performs a box-making operation to form half-box cartons 100'.

[0085] <Summary> As described above, the alignment device 1 according to the embodiment is an alignment device 1 for a wrap-around type blank sheet 100, comprising: a transfer means (10, 51) for acquiring and transferring a blank sheet 100 from a sheet stack 100x; a detection means (10, 52) for detecting the position and angle of the blank sheet 100 in the planar direction during transfer; and a correction value calculation means 53 for calculating correction values ​​for the amount of transfer and rotation angle of the blank sheet 100 in the planar direction, based on the detected position and angle, so that the transfer means (10, 51) can transfer the blank sheet 100 to a predetermined position, characterized in that the transfer means (10, 51) transfers the blank sheet 100 to a predetermined position based on the correction values.

[0086] This configuration provides an alignment device that improves the positional accuracy of blank sheets supplied to the subsequent box-making process and simplifies the process equipment.

[0087] In particular, it can respond to the recent trend towards larger and more precise products. When the blank sheet area is large due to the increase in carton size, or when the blank sheet has significant warping or undulation, it can reduce the variation in the position of the blank sheet when it is supplied to the box-making unit, thereby improving the molding accuracy of the carton and providing an alignment device that can reduce molding defects.

[0088] Furthermore, it reduces the need for adjustments to the positioning mechanism within the sheet magazine during model changes (model replacements), which was previously required, thereby improving production efficiency.

[0089] In another embodiment, in any of the embodiments described above, the transfer means (10, 51) includes a suction head 11 that holds the blank sheet 100 by suction, articulated robots (12, 13, 14) that move and rotate the suction head 11, and a transfer control unit 51 that controls the operation of the articulated robots (12, 13, 14); the detection means (20, 52) includes an imaging means 21 that captures an image of the blank sheet 100 in the planar direction, and a position and angle calculation unit 52 that calculates the position of the measurement target portion MP in the captured image and calculates the position and angle of the blank sheet 100; the correction value calculation means 53 calculates the amount of deviation between the detected position and angle and the normal position and angle, calculates a correction value based on the amount of deviation, and the transfer control unit 51 corrects the amount of transfer and rotation angle of the suction head 11 based on the correction value.

[0090] By using a multi-joint robot as a means of transporting the blank sheet during alignment correction, the alignment device and the blank sheet transport means, which were previously required separately, can be shared, thereby simplifying the process.

[0091] Furthermore, we can provide an alignment device that selectively acquires different types of blank sheets 101 and 102, aligns them, and then transfers them to a subsequent process, making it suitable for multi-product mixed production.

[0092] Furthermore, by avoiding the concentration of machinery and equipment on the manufacturing line, the equipment can be simplified, improving work efficiency during equipment maintenance, and production efficiency can be improved by reducing the replacement and adjustment work of process equipment that was previously required when changing models.

[0093] Furthermore, based on the image of the blank sheet 100 acquired by the imaging means 21, the position and angle of the measurement target portion MP of the blank sheet 100 in the image can be detected in the planar direction, and corrections can be performed to return them to their normal position and angle.

[0094] Furthermore, the blank sheet 100 supplied from the transfer unit 10 has its position in the Y direction, position in the X direction, and angle in the XY plane simultaneously corrected by the transfer unit 10, thereby simplifying control while maintaining the degree of freedom of alignment.

[0095] In another embodiment, in any of the embodiments described above, the transfer means (10, 51) selectively acquires and transfers different types of blank sheets 101, 102 from a plurality of sheet stacks 101y, 102y, and the position angle calculation unit 52 calculates the position angle of the selected blank sheet 100. If The position of the measurement target portion MP in the simultaneously captured image is calculated, and the position and angle of the blank sheet 100 are calculated. The correction value calculation means 53 may be configured to calculate the correction value by calculating the amount of deviation between the detected position and angle and the normal position and angle of the selected blank sheet 100.

[0096] With this configuration, it is possible to calculate the deviation amount from the correct position and angle for blank sheets 100 of a selected type to correspond to various products, and thus it can handle mixed production of multiple products.

[0097] In another embodiment, in any of the embodiments described above, the blank sheet 100 is a sheet formed by folding a plurality of wall-like portions (102, 103, 106, 107) surrounding the base surface portion 101 to form a half-box carton 100', the suction head 11 holds a reference sheet region 111 located at least within the base surface portion 101 of the blank sheet 100, the detection means (20, 52) measures the positions in the planar direction of two or more measurement target portions MP adjacent to the reference sheet region 111 of the held blank sheet 100, and the reference sheet region 111 and the measurement target portions MP may be configured to have substantially the same position in the width direction or depth direction in the planar direction of the blank sheet 100.

[0098] This configuration reduces errors in detecting and correcting the position and angle of the blank sheet 100, mitigates the effects of warping and undulation of the blank sheet 100 during transfer to the box-making device 40, and improves the positional accuracy of the blank sheet 100 supplied to the box-making device 40.

[0099] ≪Variations≫ Although an alignment device according to an embodiment has been described, this disclosure is not limited in any way to the above-described embodiment, except for its essential characteristic components. For example, forms obtained by applying various modifications to the embodiment that a person skilled in the art can conceive of, and forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present invention are also included in this disclosure. Below, a modification will be described as an example of such a form.

[0100] In the above embodiment, the alignment device 1 is configured to include a transfer unit 10 for supplying blank sheets 100, a detection unit 20 for adjusting the position and angle of the blank sheets 100 in the planar direction, and a box-making device 40 for forming half-box cartons 100' from the adjusted blank sheets 100.

[0101] In the alignment device 1 according to the above embodiment, the imaging means 21 is configured to be arranged in two in the Y direction in the section from the mounting table 100y to the mounting table 30 in the X direction, but the number and position of the imaging means 21 are not limited to the above. For example, in order to selectively handle different types of blank sheets, a configuration may be used in which two imaging means are arranged in the Y direction for each blank sheet size.

[0102] Furthermore, although the alignment device 1 according to the above embodiment is configured with sheet stacks 101x and 102x that store two different types of blank sheets 101 and 102, the number of sheet stacks 100x may be increased according to the number of blank sheets to be selectively acquired. Also, the sheet stacks 100x may not be stacked flat, but rather the blank sheets may be stacked horizontally or diagonally.

[0103] Furthermore, in the alignment device 1 according to the above embodiment, the blank sheet 100 is rotated 90 degrees in the XY plane during the transfer from the imaging position to the mounting table 30 by the detection unit 20, and the blank sheet 100 with the changed angle is transferred to the mounting table 30. However, the method of transfer from the imaging position to the mounting table 30 by the detection unit 20 is not limited to the above, and the rotation angle, rotation direction, and whether or not the blank sheet 100 is rotated may be changed as appropriate.

[0104] ≪Additional Information≫ The embodiments described above all represent preferred specific examples of the present invention. The numerical values, shapes, materials, components, arrangement and connection configurations of components, processes, and order of processes shown in the embodiments are examples only and are not intended to limit the present invention. Furthermore, components in the embodiments that are not described in the independent claims representing the highest-level concept of the present invention are described as any components that constitute a more preferred form.

[0105] Furthermore, the order in which the above methods are performed is illustrative for the purpose of specifically illustrating the present invention, and may be performed in a different order. Also, some of the above methods may be performed simultaneously (in parallel) with other methods.

[0106] Furthermore, for the sake of easier understanding of the invention, the scale of the components in the figures shown in each of the above embodiments may differ from that of the actual components. Also, the present invention is not limited by the descriptions of the above embodiments. This invention is not a construct and can be modified as appropriate without departing from the spirit of the present invention.

[0107] Furthermore, at least some of the functions of each embodiment and its modified form may be combined. [Industrial applicability]

[0108] An alignment device according to one aspect of this disclosure can be used as an alignment device when transferring articles such as products, parts, workpieces, packaging, and various containers in a manufacturing line. It can also be suitably used as an alignment device when transferring packaged goods and packaging materials in various logistics operations. [Explanation of Symbols]

[0109] 1. Alignment device 10 Transfer unit (transfer means) 11 Suction heads 12. Robot Hand (Articulated Robot) 13. Robotic Arm (Articulated Robot) 14. Robot body base (articulated robot) 20 Detection unit (detection means) 21 Imaging means 22 Light source 30 Mounting platform 40 Box making equipment 50 Control Unit 51 Transfer control unit (transfer means) 52 Position angle calculation unit (detection means) 53 Correction Value Calculation Unit (Calculation Means) 100 Blank Sheets 100' Half Box Carton 100x Sheet Stack

Claims

1. A wrap-around type blank sheet alignment device, A transport means for retrieving and transporting blank sheets from a sheet stack, A detection means for detecting the position and angle of the blank sheet in the planar direction during transport, The system includes a correction value calculation means that calculates correction values ​​for the amount of transfer of the blank sheet in the planar direction and the rotation angle for the transfer means to transfer the blank sheet to a predetermined position, based on the detected position and angle. A blank sheet is a sheet formed by folding multiple wall-like portions that surround the base surface to create a half-box carton. The transfer means includes a suction head for adsorbing and holding a blank sheet, an articulated robot for moving and rotating the suction head, and a transfer control unit for controlling the operation of the articulated robot. The detection means includes an imaging means for capturing an image of the blank sheet in a planar direction, and a position and angle calculation unit for calculating the position of the measurement target portion in the captured image and calculating the position and angle of the blank sheet. The suction head holds a reference sheet region located at least within the base surface portion of the blank sheet, The detection means measures the positions in the planar direction of two or more measurement target portions of the held blank sheet that are close to the reference sheet region, and the reference sheet region and the measurement target portions are substantially the same in the width direction or depth direction in the planar direction of the blank sheet. The correction value calculation means calculates the amount of deviation between the detected position and angle and the normal position and angle, and calculates the correction value based on the amount of deviation. The transfer control unit corrects the transfer amount and rotation angle of the suction head based on the correction value. The transfer means transfers the blank sheet to the predetermined position based on the correction value. Alignment device.

2. The transfer means selectively acquires and transfers different types of blank sheets from multiple sheet stacks. The position and angle calculation unit calculates the position of the measurement target portion in the image captured in accordance with the selected blank sheet, and calculates the position and angle of the blank sheet. The correction value calculation means calculates the correction value by determining the amount of deviation between the detected position and angle and the normal position and angle with respect to the selected blank sheet. The alignment device according to claim 1.

3. The reference sheet area and the measurement target area are in the planar direction of the blank sheet, The distance between the position in the width direction of the reference sheet area and the position in the width direction of the measurement target portion is 1 / 3 or less of the width of the base surface portion in the width direction of the base surface portion, The distance between the position of the reference sheet area in the depth direction and the position of the measurement target portion in the depth direction is either 1 / 3 or less of the width of the base surface portion in the depth direction, or either one of the two. The alignment device according to claim 1.

Images