Article gripping device and box making device provided with 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 making device for assembling an article folded into a flat shape into a three-dimensional shape using the article gripping device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a box making device is known that assembles a flat folded object into a three-dimensional object.

[0003] For example, Patent Document 1 describes a box-making system that uses a hand 31 connected to the tip of a robot 3 to make a flat box-making material 1 three-dimensional, automatically producing cardboard boxes, etc.

[0004] The hand 31 described in Patent Document 1 comprises a first fixing device 361 and a second fixing device 362 that are rotatably connected, a plurality of suction pads 34 fixed to the first fixing device 361, and a plurality of suction pads 35 fixed to the second fixing device 362. The hand 31 spreads out the first fixing device 361 and the second fixing device 362, and adsorbs the flat box-making material 1 with the plurality of suction pads 34 and the plurality of suction pads 35 on the same plane. After lifting the box-making material 1 to a certain height in this state, the hand 31 closes the first fixing device 361 and the second fixing device 362 so that they form a 90-degree angle with the plurality of suction pads 34 and the plurality of suction pads 35 adsorbed to the box-making material 1, thereby making the box-making material 1 three-dimensional (see Figure 3, etc.). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-001304 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the box-making system described in the cited document 1 has a problem in that the hand 31 attracts two sides of the box-making material 1 and therefore does not have sufficient suction power for the box.

[0007] Furthermore, it is desirable for a box-making system to be able to make boxes of different sizes, but the box-making system described in Cited Document 1 has the problem that it cannot adequately accommodate this.

[0008] In addition, since the boxes to be made are generally made from flexible materials, the box making system described in Reference 1 has the problem that it cannot reliably make boxes if the boxes are bent.

[0009] Furthermore, if a box-making system is constructed with an overly complicated mechanism, the number of parts will increase, so it is desirable to construct it with as simple a mechanism as possible.

[0010] The present invention has been made in response to the above-mentioned problems of the prior art, and aims to provide an item gripping device that can securely grip an item even if it is made of a flexible material, an item gripping device that can securely grip an item even if it is of a different size, an item gripping device that is configured with a simple mechanism, and a box making device that is equipped with an item gripping device and can securely assemble boxes in a balanced manner with sufficient gripping force. [Means for solving the problem]

[0011] In order to solve the above-mentioned problems, an article handling device according to a first aspect of the present invention is provided. The distance between the end portion opposite to the first axis and the first axis can be changed. First Arm and connected rotatably around the first axis The device is characterized by comprising a second arm, a third arm rotatably connected to the end of the first arm opposite to the first axis, a first suction portion provided on the first arm, a second suction portion provided on the second arm, and a third suction portion provided on the third arm.

[0012] In addition, a second aspect of the present invention is characterized in that, in the item holding device of the first aspect, a first drive unit is provided that rotates the first arm and the second arm around the first axis, and the third arm is rotatable relative to the end of the first arm opposite the first axis in conjunction with the rotation of the first drive unit.

[0013] Furthermore, a third aspect of the present invention is characterized in that, in the article gripping device of the first aspect, the distance between the first axis and the third suction portion is configured to be changeable.

[0014] Furthermore, a fourth aspect of the present invention is characterized in that, in the article gripping device of the second aspect, the distance between the first shaft and the third suction portion is configured to be changeable.

[0015] Furthermore, a fifth aspect of the present invention is characterized in that, in the article gripping device of the third aspect, the distance between the first axis and the first suction part is configured to be changeable.

[0016] Furthermore, a sixth aspect of the present invention is characterized in that, in the article gripping device of the fourth aspect, the distance between the first axis and the first suction part is configured to be changeable.

[0017] Furthermore, a seventh aspect of the present invention is characterized in that, in the item gripping device of the third aspect, the second arm is provided with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion.

[0018] In addition, an eighth aspect of the present invention is characterized in that, in the item holding device of the fourth aspect, the second arm is provided with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion.

[0019] In addition, a ninth aspect of the present invention is characterized in that, in the item holding device of the fifth aspect, the second arm is provided with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion.

[0020] Furthermore, a tenth aspect of the present invention is characterized in that, in the item gripping device of the sixth aspect, the second arm is provided with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion.

[0021] In addition, an 11th aspect of the present invention is characterized in that, in the item holding device of the first aspect, it is provided with a fourth arm rotatably connected to the end of the second arm opposite to the first axis, and a fourth suction portion provided on the fourth arm.

[0022] Furthermore, a 12th aspect of the present invention is characterized in that, in the item holding device of the 11th aspect, the fourth arm is rotatable relative to the end of the second arm opposite to the first axis in conjunction with the rotation of the first drive unit.

[0023] Furthermore, a thirteenth aspect of the present invention is characterized in that, in the article gripping device of the eleventh aspect, the distance between the first shaft and the fourth suction portion is configured to be changeable.

[0024] Furthermore, a fourteenth aspect of the present invention is characterized in that, in the article gripping device of the twelfth aspect, the distance between the first shaft and the fourth suction part is configured to be changeable.

[0025] Furthermore, the 15th aspect of the item holding device of the present invention is characterized in that it comprises 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 the end of the fifth arm opposite to the second axis, a ninth arm rotatably connected to the end of the seventh arm opposite to the third axis, a fifth suction portion provided on the fifth arm, a sixth suction portion provided on the sixth arm, a seventh suction portion provided on the seventh arm, an eighth suction portion provided on the eighth arm, and a ninth suction portion provided on the 9th arm.

[0026] Furthermore, a 16th aspect of the present invention is characterized in that, in the item holding device of the 15th aspect, a second drive unit is provided that rotates the fifth arm and the sixth arm around the second axis, and the eighth arm is rotatable relative to the end of the fifth arm opposite the second axis in conjunction with the rotation of the second drive unit.

[0027] Furthermore, a 17th aspect of the present invention is characterized in that, in the article gripping device of the 15th aspect, the distance between the second shaft and the eighth suction portion is configured to be changeable.

[0028] An eighteenth aspect of the present invention is characterized in that, in the article gripping device of the sixteenth aspect, the distance between the second shaft and the eighth suction portion is changeable.

[0029] Furthermore, a 19th aspect of the present invention is characterized in that, in the item holding device of the 15th aspect, a third drive unit is provided that rotates the sixth arm and the seventh arm around the third axis, and the 9th arm is rotatable relative to the end of the seventh arm opposite the third axis in conjunction with the rotation of the third drive unit.

[0030] Furthermore, a twentieth aspect of the present invention is characterized in that, in the article gripping device of the fifteenth aspect, the distance between the third axis and the ninth suction portion is configured to be changeable.

[0031] Furthermore, a 21st aspect of the present invention is characterized in that, in the article gripping device of the 19th aspect, the distance between the third axis and the ninth suction portion is configured to be changeable.

[0032] In addition, a box-making device according to a 22nd aspect of the present invention is characterized in that it comprises an articulated robot and an item holding device according to any one of the first to 14th aspects, in which the second arm is connected to the tip of the articulated robot.

[0033] Furthermore, a box-making device according to a 23rd aspect of the present invention is characterized in that it comprises an articulated robot and an item holding device according to any one of the 15th to 21st aspects, in which the sixth arm is connected to the tip of the articulated robot. [Effects of the Invention]

[0034] According to the first aspect of the present invention, the article gripping device is connected to be rotatable around the first axis. The distance between the end portion opposite to the first axis and the first axis can be changed. First Arm and connected to be rotatable about a first axis. The device is equipped with a second arm, a third arm rotatably connected to the end of the first arm opposite the first axis, a first suction portion provided on the first arm, a second suction portion provided on the second arm, and a third suction portion provided on the third arm, so that it can securely grasp an object even if it is made of a flexible material.

[0035] In addition, according to the second aspect of the present invention, the item holding device of the first aspect is provided with a first drive unit that rotates the first arm and the second arm around a first axis, and the third arm is capable of rotating relative to the end of the first arm opposite the first axis in conjunction with the rotation of the first drive unit.Therefore, in addition to the effects of the item holding device of the first aspect, items can be securely held with a simple mechanism, even if they are made of a flexible material.

[0036] Furthermore, according to the third aspect of the present invention, the item holding device of the first aspect is configured so that the distance between the first axis and the third suction portion can be changed, so that in addition to the effects of the item holding device of the first aspect, items of different sizes can be securely held.

[0037] Furthermore, according to the fourth aspect of the present invention, the item holding device of the second aspect is configured so that the distance between the first axis and the third suction portion can be changed, so that in addition to the effects of the item holding device of the second aspect, items of different sizes can be securely held.

[0038] Furthermore, according to the fifth aspect of the present invention, the item holding device of the third aspect is configured so that the distance between the first axis and the first suction portion can be changed, so that in addition to the effects of the item holding device of the third aspect, items of different sizes can be held more reliably.

[0039] Furthermore, according to the sixth aspect of the present invention, the item holding device of the fourth aspect is configured so that the distance between the first axis and the first suction portion can be changed, so that in addition to the effects of the item holding device of the fourth aspect, items of different sizes can be held more securely.

[0040] Furthermore, according to the seventh aspect of the present invention, in the item holding device of the third aspect, the second arm is provided with a tenth suction portion and is configured so that the distance between the first axis and the tenth suction portion can be changed, so that in addition to the effects of the item holding device of the third aspect, items of different sizes can be held more securely.

[0041] Furthermore, according to the eighth aspect of the present invention, in the item holding device of the fourth aspect, the second arm is provided with a tenth suction portion and is configured so that the distance between the first axis and the tenth suction portion can be changed, so that in addition to the effects of the item holding device of the fourth aspect, items can be held more securely, even if they are of different sizes.

[0042] Furthermore, according to the ninth aspect of the present invention, in the item holding device of the fifth aspect, the second arm is provided with a tenth suction portion and is configured so that the distance between the first axis and the tenth suction portion can be changed, so that in addition to the effects of the item holding device of the fifth aspect, items of different sizes can be held more securely.

[0043] Furthermore, according to the 10th aspect of the present invention, in the item holding device of the 6th aspect, the second arm is provided with a 10th suction portion and is configured so that the distance between the first axis and the 10th suction portion can be changed, so that in addition to the effects of the item holding device of the 6th aspect, items can be held more securely, even if they are of different sizes.

[0044] Furthermore, according to the 11th aspect of the present invention, the item holding device of the first aspect is provided with a fourth arm rotatably connected to the end of the second arm opposite to the first axis, and a fourth suction portion provided on the fourth arm, so that in addition to the effects of the item holding device of the first aspect, items can be held more securely, even if they are made of a flexible material.

[0045] Furthermore, according to the 12th aspect of the present invention, in the item gripping device of the 11th aspect, the fourth arm can rotate relative to the end of the second arm opposite to the first axis in conjunction with the rotation of the first drive unit, so that in addition to the effects of the item gripping device of the 11th aspect, items can be securely gripped with an even simpler mechanism, even if the item is made of a flexible material.

[0046] Furthermore, according to the 13th aspect of the present invention, in the item gripping device of the 11th aspect, the distance between the first axis and the fourth suction portion is configured to be changeable, so that in addition to the effects of the item gripping device of the 11th aspect, items can be securely gripped even if they are of different sizes.

[0047] Furthermore, according to the 14th aspect of the present invention, the item holding device of the 12th aspect is configured so that the distance between the first axis and the fourth suction portion can be changed, so that in addition to the effects of the item holding device of the 12th aspect, items of different sizes can be securely held.

[0048] In addition, according to the 15th aspect of the item holding device of the present invention, there are provided a fifth arm and a sixth arm rotatably connected around the second axis, a sixth arm and a seventh arm rotatably connected around the third axis, an eighth arm rotatably connected to the end of the fifth arm opposite to the second axis, a ninth arm rotatably connected to the end of the seventh arm opposite to the third axis, a fifth suction portion provided on the fifth arm, a sixth suction portion provided on the sixth arm, a seventh suction portion provided on the seventh arm, an eighth suction portion provided on the eighth arm, and a ninth suction portion provided on the ninth arm, so that items can be held more securely even if they are made of a flexible material.

[0049] Furthermore, according to the 16th aspect of the present invention, the item holding device of the 15th aspect is provided with a second drive unit that rotates the fifth arm and the sixth arm around the second axis, and the eighth arm is capable of rotating relative to the end of the fifth arm opposite the second axis in conjunction with the rotation of the second drive unit.Therefore, in addition to the effects of the item holding device of the 15th aspect, items can be securely held with a simple mechanism, even if they are made of a flexible material.

[0050] Furthermore, according to the 17th aspect of the present invention, in the item holding device of the 15th aspect, the distance between the second axis and the eighth suction portion is configured to be changeable, so that in addition to the effects of the item holding device of the 15th aspect, items can be securely held even if they are of different sizes.

[0051] Furthermore, according to the 18th aspect of the present invention, in the item holding device of the 16th aspect, the distance between the second axis and the eighth suction portion is configured to be changeable, so that in addition to the effects of the item holding device of the 16th aspect, items can be securely held even if they are of different sizes.

[0052] Furthermore, according to the 19th aspect of the present invention, the item holding device of the 15th aspect is provided with a third drive unit that rotates the 6th arm and the 7th arm around the third axis, and the 9th arm can rotate relative to the end of the 7th arm opposite the third axis in conjunction with the rotation of the third drive unit.Therefore, in addition to the effects of the item holding device of the 15th aspect, items can be securely held with a simple mechanism, even if they are made of a flexible material.

[0053] Furthermore, according to the 20th aspect of the present invention, in the item holding device of the 15th aspect, the distance between the third axis and the 9th suction portion is configured to be changeable, so that in addition to the effects of the item holding device of the 15th aspect, items can be securely held even if they are of different sizes.

[0054] Furthermore, according to the 21st aspect of the present invention, in the item holding device of the 19th aspect, the distance between the third axis and the ninth suction portion is configured to be changeable, so that in addition to the effects of the item holding device of the 19th aspect, items can be securely held even if they are of different sizes.

[0055] In addition, according to the 22nd aspect of the box making device of the present invention, it is equipped with an articulated robot and an item holding device described in any of the 1st to 14th aspects in which a second arm is connected to the tip of the articulated robot, so that boxes can be produced reliably and in a balanced manner with sufficient holding force even if they are made of flexible material.

[0056] Furthermore, according to the 23rd aspect of the box-making device of the present invention, it is equipped with an articulated robot and an item holding device described in any of the 15th to 21st aspects in which a sixth arm is connected to the tip of the articulated robot, so that boxes can be produced reliably and in a balanced manner with sufficient holding force even if they are made of flexible materials. [Brief explanation of the drawings]

[0057] [Figure 1] 1 is an overall plan view of a box making system including a box making device equipped with an article gripping device according to a first embodiment of the present invention. [Figure 2] 1 is a perspective view of a box making device equipped with an article gripping device of a first embodiment. [Figure 3] 1 is a plan view of a box making device equipped with an article gripping device of a first embodiment. [Figure 4] 1 is a plan view showing a state in which a box is gripped by a box making device equipped with an article gripping device of the first embodiment. [Figure 5] 1 is a perspective view showing a state in which a box making device equipped with an article gripping device of a first embodiment grips a box. FIG. [Figure 6] 1 is a block diagram of a box making device equipped with an article gripping device of a first embodiment. [Figure 7] 3 is a block diagram of a main controller in a box making machine equipped with an article gripping device of the first embodiment. FIG. [Figure 8] 4 is a flowchart of a main program in a carton making machine equipped with an article gripping device of the first embodiment. [Figure 9] 5 is a flowchart of an outer flap folding processing program in a box making machine equipped with an article gripping device of the first embodiment. [Figure 10] 1 is a plan view of the article gripping device of the first embodiment in a state where the spacing between the suction parts is widened. FIG. [Figure 11] 1 is a front view of an article gripping device according to a first embodiment in a state in which the spacing between suction parts is widened. FIG. [Figure 12] 1 is a bottom view of the article gripping device of the first embodiment in a state where the spacing between the suction parts is expanded. FIG. [Figure 13] 10 is a perspective view showing an initial state in which the article gripping device of the first embodiment grips a box with the spacing between the suction parts expanded. FIG. [Figure 14] 10 is a front view showing the final state in which the article gripping device of the first embodiment grips the box with the spacing between the suction parts widened. FIG. [Figure 15] 2 is a plan view of the article gripping device of the first embodiment in a state where the distance between the suction parts is shortened. FIG. [Figure 16] 1 is a front view of an article gripping device according to a first embodiment in a state in which the distance between the suction parts is shortened. FIG. [Figure 17] 1 is a bottom view of the article gripping device of the first embodiment in a state where the distance between the suction parts is shortened. FIG. [Figure 18] 10 is a perspective view showing an initial state in which the article gripping device of the first embodiment grips a box with the spacing between the suction parts shortened. FIG. [Figure 19] 10 is a front view showing the final state in which the article gripping device of the first embodiment grips the box with the spacing between the suction parts shortened. FIG. [Figure 20] FIG. 10 is a perspective view of a box making device equipped with an article gripping device according to a second embodiment. [Figure 21] FIG. 10 is a plan view of a box making device equipped with an article gripping device according to a second embodiment. [Figure 22] 10 is a plan view showing a state in which a box making device equipped with an article gripping device of a second embodiment grips a box. FIG. [Figure 23] 10 is a perspective view showing a state in which a box making device equipped with an article gripping device of a second embodiment grips a box. FIG. [Figure 24] 10 is a plan view of an article gripping device according to a second embodiment in a state in which the spacing between the suction parts is widened. FIG. [Figure 25] 10 is a front view of an article gripping device according to a second embodiment in a state in which the spacing between the suction parts is widened. FIG. [Figure 26] 10 is a bottom view of an article gripping device according to a second embodiment in a state in which the spacing between the suction parts is widened. FIG. [Figure 27] 10 is a perspective view showing an initial state in which an article gripping device of a second embodiment grips a box with the spacing between suction parts expanded. FIG. [Figure 28] 10 is a front view showing the final state in which the article gripping device of the second embodiment grips the box with the spacing between the suction parts widened. FIG. [Figure 29] 10 is a plan view of an article gripping device according to a second embodiment in a state in which the distance between the suction parts is shortened. FIG. [Figure 30] FIG. 10 is a front view of an article gripping device according to a second embodiment in a state in which the distance between the suction parts is shortened. [Figure 31] 10 is a bottom view of an article gripping device according to a second embodiment in a state in which the distance between the suction parts is shortened. FIG. [Figure 32]10 is a perspective view showing an initial state in which an article gripping device of a second embodiment grips a box with the spacing between suction parts shortened; FIG. [Figure 33] 10 is a front view showing the final state in which the article gripping device of the second embodiment grips the box with the spacing between the suction parts shortened. FIG. [Figure 34] FIG. 10 is a bottom view of an article gripping device according to a third embodiment in a state in which the spacing between the suction parts is widened. [Figure 35] 10 is a perspective view showing an initial state in which an article gripping device of a third embodiment grips a box with the spacing between suction parts expanded. FIG. [Figure 36] 10 is a front view showing the final state in which the article gripping device of the third embodiment grips the box with the spacing between the suction parts widened. FIG. [Figure 37] FIG. 10 is a bottom view of the article gripping device of the fourth embodiment in a state where the spacing between the suction parts is widened. [Figure 38] 10 is a perspective view showing an initial state in which an article gripping device of a fourth embodiment grips a box with the spacing between suction parts expanded. FIG. [Figure 39] 10 is a front view showing the final state in which the article gripping device of the fourth embodiment grips the box with the spacing between the suction parts widened. FIG. [Figure 40] FIG. 10 is a bottom view of an article gripping device according to a fifth embodiment in a state in which the spacing between the suction parts is widened. [Figure 41] 10 is a perspective view showing an initial state in which an article gripping device of a fifth embodiment grips a box with the spacing between the suction parts expanded. FIG. [Figure 42] 10 is a front view showing the final state in which the article gripping device of the fifth embodiment grips the box with the spacing between the suction parts widened. FIG.

[0058] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0059] Note that the item gripping device in the embodiments described below will be described as a device that grips cardboard boxes as an example of an item, but the items that can be gripped are not limited to cardboard boxes and can be applied to any item.

[0060] However, the article gripping device of the embodiment described below has the effect described below in particular for flexible articles such as cardboard boxes.

[0061] Furthermore, the box making device in the embodiments described below will be described as making cardboard boxes as an example of boxes, but it can be applied to any box that can make a flat box into a three-dimensional box, not just cardboard boxes.

[0062] However, the box making device of the embodiment described below has the effect described below in particular for flexible boxes such as cardboard boxes.

[0063] (First embodiment) First, an article gripping device according to a first embodiment and a box making machine equipped with the article gripping device will be described. Note that the drawings used in this embodiment are exaggerated to facilitate understanding, and the dimensions differ from the actual dimensions.

[0064] Figure 1 is an overall plan view of a box making system including a box making device equipped with an item holding device of the first embodiment of the present invention, Figure 2 is an oblique view of a box making device equipped with an item holding device of the first embodiment, Figure 3 is a plan view of the box making device, Figure 4 is a plan view showing the box making device holding a box, and Figure 5 is an oblique view showing the box making device holding a box.

[0065] As shown in Figure 1, a box making system including a box making device 1 equipped with an item gripping device 5 of this embodiment selectively grips and makes three-dimensional flat cardboard placed according to size, folds the inner and outer flaps formed at both the top and bottom ends of the three-dimensional cardboard, and then tapes the ends of the outer flaps to produce a cardboard box.

[0066] The present embodiment of the box making system comprises a flat cardboard placing section 80 on which flat cardboard is placed before being assembled into a three-dimensional shape, a first box making section 60 which moves flat cardboard of the desired size from the flat cardboard placed on the flat cardboard placing section 80 to the second box making section 50 described below and is responsible for the box making work, the second box making section 50 which works in cooperation with the first box making section 60 to make the flat cardboard into a three-dimensional shape and make it into a box, and a discharge section 40 which discharges the completed cardboard boxes.

[0067] 1, the flat cardboard placing section 80 in this embodiment places three different sized cardboard boxes W1, W2, and W3 in a flat folded state. In this embodiment, cardboard box W1 is the largest size cardboard box, and cardboard box W3 is the smallest size cardboard box.

[0068] The cardboard box W1 of this embodiment is a normal cardboard box having 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).

[0069] On the other hand, the number of cardboard box sizes is not limited to three as in this embodiment, and may be any number as long as it is acceptable given the relationship between the flat cardboard placing section 80 and the first box making section 60 described below.

[0070] The first box making unit 60 selects and grasps flat cardboard of the desired size from the flat cardboard placed on the flat cardboard placing unit 80, and works together with the second box making unit 50 described later to make the flat cardboard into a three-dimensional shape.

[0071] The first box making section 60 also includes a box making device 1, a movable table 93 on which the box making device 1 is installed, a long movable rail 91 for moving the movable table 93 in the +H direction and -H direction over the entire length of the flat cardboard loading section 80, and a robot position drive motor 95 installed on the movable table 93 for moving the movable table 93 on the movable rail 91.

[0072] The movable table 93 is configured to be able to move in the +H and -H directions on the movable rail 91 by rotation of the robot position drive motor 95, and in this embodiment, the articulated robot 3 is configured to be able to grasp flat cardboard placed across the entire flat cardboard placing section 80.

[0073] As shown in Figures 2 and 5, the box making device 1 is composed of a multi-joint robot 3 and an item gripping device 5 connected to the tip of the multi-joint robot 3. The multi-joint robot 3 is a normal five-axis multi-joint robot and is equipped with a first base 31 fixed to a movable table 93, a second base 33 that rotates relative to the first base 31, a lower arm (lower arm) 35 that rotates back and forth relative to the second base 33, a middle arm (middle arm) 37 that rotates and rotates 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.

[0074] The article gripping device 5 will be described in detail later.

[0075] The second box making unit 50 works in cooperation with the first box making unit 60, which grasps flat cardboard of the desired size from the flat cardboard placed on the flat cardboard placing unit 80, to make the flat cardboard into a three-dimensional box.

[0076] As shown in Figure 1, the second box making unit 50 comprises a flat cardboard placing table 36, item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36, a first rail 22 arranged in the center left side of the item suction units V1 to V9 in Figure 1 and movable in the +H and -H directions, a pair of second rails 26a and 26b arranged on both sides of the first rail 22 in the +V and -V directions and movable in the +V and -V directions, the +H and -H directions and the +Z and -Z directions (see Figure 2, etc.), and a tape applying unit 34 arranged in the center left side of the second rails 26a and 26b in Figure 1 and applying tape to the bottom of the made cardboard box.

[0077] In this embodiment, the first rail 22 is a long rod with a circular cross section, and the second rail 26a and the second rail 26b are also long rods with circular cross sections, but the cross-sectional shape of each is not limited to circular and may be other shapes such as elliptical or rectangular.

[0078] Furthermore, in this embodiment, the second rail 26a and the second rail 26b are long rods, but as will be described later, the second rail 26a and the second rail 26b may be of other shapes, such as spherical, as long as they are able to bend the right lower outer flap W1DL1 and the left lower outer flap W1DL2.

[0079] However, in order to fold the right lower outer flap W1DL1 and the left lower outer flap W1DL2, which have an appropriate length, without damaging them, it is better for the second rails 26a and 26b to be long rods, as in this embodiment.

[0080] In addition, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 suck up articles by activating the compressor 8 described below, but they do not suck up the entire flat cardboard, but only the surfaces that basically do not move when the flat cardboard is made three-dimensional.In this embodiment, as shown in Figure 1, it is configured so that only the surface of the flat cardboard that is located in the center left position in the upper left of Figure 1 is sucked up.

[0081] As shown in FIG. 1, the second box making unit 50 is equipped with a first rail forward / backward drive motor 30a (see FIG. 6) for moving the first rail 22 in the +H direction and the -H direction, a second rail forward / backward drive motor 30b (see FIG. 6) for moving the 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 the 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 the pair of second rails 26a and 26b in the +Z direction and the -Z direction.

[0082] A protrusion 24 is formed at the base end of first rail 22 in the -H direction, protruding upward from the surface of first rail 22. The shape of protrusion 24 is not particularly limited, but in this embodiment, it is formed in a curved shape in vertical cross section so as not to scratch the flap to be folded.

[0083] The discharge section 40 discharges the assembled cardboard boxes, and as shown in Figure 1, is equipped with a first discharge table 41 on which the assembled cardboard boxes are placed, and a second discharge table 42 arranged in front of the first discharge table 41 in the +H direction.The first discharge table 41 is equipped with a plurality of first rotating rollers 44 for sending the assembled cardboard boxes in the +H direction, and the second discharge table 42 is equipped with a plurality of second rotating rollers 46 for sending the cardboard boxes in the same +H direction as the first rotating rollers 44, and a plurality of third rotating rollers 48 for sending the boxes in the +V direction which is approximately perpendicular to the direction sent by the second rotating rollers 46.

[0084] As shown in Figure 4, the item gripping device 5 of this embodiment adsorbs and grips three of the four sides of a three-dimensional cardboard box, and can securely grip the cardboard box even if it is made of a flexible material.

[0085] In this embodiment and the embodiments described below, in the plane in which each arm of the item gripping device opens and closes, the horizontal direction is defined as the +X·-X direction, the vertical direction is defined 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.

[0086] As shown in Figures 2 to 5, the article gripping device 5 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 in the drawing, a first arm base end 49a, a first arm intermediate part 51a slidably engaged with the first arm base end 49a in the +X direction and the -X direction 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 direction and the -X direction, 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 on the opposite side from a first axis described later).

[0087] The "first arm" of the present invention is made up of first arm base end portion 49a, first arm intermediate portion 51a, and first arm tip portion 57a ​​of this embodiment.

[0088] In addition, the item holding 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), each set consisting of two suction parts, for holding cardboard boxes.When the first arm, second arm and third arm part 59a described below are held horizontally, each suction part is configured to face the same direction, and when the cardboard box is held as described below, each suction part is configured to face the surface of the cardboard box.

[0089] Specifically, the item holding device 5 has a pair of third suction portions 81a and 81b on the third arm portion 59a, a pair of first suction portions 83a and 83b on the first arm intermediate portion 51a, a pair of second suction portions 85a and 85b on the second arm base end portion 49b described later, and a pair of tenth suction portions 87a and 87b on the second arm intermediate portion 51b described later.

[0090] The first suction portions 83a and 83b, the second suction portions 85a and 85b, the third suction portions 81a and 81b, and the tenth suction portions 87a and 87b, as well as all of the suction portions in the embodiments described below, suck and grasp articles by driving the compressor 8 described below.

[0091] In addition, each pair of suction portions (a pair of first suction portions 83a and 83b, a pair of second suction portions 85a and 85b, a pair of third suction portions 81a and 81b, and a pair of tenth suction portions 87a and 87b) is provided with a cylinder (a first cylinder 83 corresponding to the pair of first suction portions 83a and 83b, a second cylinder 85 corresponding to the pair of second suction portions 85a and 85b, a third cylinder 81 corresponding to the pair of third suction portions 81a and 81b, and a tenth cylinder 87 corresponding to the pair of tenth suction portions 87a and 87b).

[0092] By activating these cylinders using the compressor 8 described below, the lengths of the suction portion rods (first suction portion rod 83c, second suction portion rod 85c, third suction portion rod 81c, and tenth suction portion rod 87c) can be extended or contracted, and the spacing between each suction portion in the +Y·-Y direction (the spacing between the first suction portion 83a and the first suction portion 83b in the +Y·-Y direction, the spacing between the second suction portion 85a and the second suction portion 85b in the +Y·-Y direction, the spacing between the third suction portion 81a and the third suction portion 81b in the +Y·-Y direction, and the spacing between the tenth suction portion 87a and the fourth suction portion 87b in the +Y·-Y direction) can be changed.

[0093] In the item holding device 5 of this embodiment, the spacing between each suction part in the +Y and -Y directions can be changed in order to ensure the holding force on the cardboard depending on the size of the cardboard.Normally, the device is configured to hold the cardboard with the spacing between each suction part in the +Y and -Y directions closed, but if the size of the cardboard becomes larger, the spacing between each suction part in the +Y and -Y directions can be widened to accommodate this.

[0094] In the item holding device 5 of this embodiment, the spacing between each suction part in the +Y and -Y directions is expanded and contracted by turning each cylinder (first cylinder 83, second cylinder 85, third cylinder 81, and tenth cylinder 87) on and off using the compressor 8 described later, but it is also possible to continuously expand and contract the spacing between each suction part in the +Y and -Y directions via gears by driving a motor.

[0095] The item holding device 5 also includes an arm rotation first drive motor 61 (corresponding to the "first drive unit" of the present invention) that is arranged at the second arm base end 49b described later and rotates the first arm and the second arm described later around a motor shaft (corresponding to the "first axis" of the present invention), an arm rotation first drive motor gear 63 that is coaxially connected to the motor shaft (corresponding to the "first axis" of the present invention) of the arm rotation first drive motor 61, and an arm rotation first drive driven gear 65 that is arranged at the first arm base end 49a and meshes with the arm rotation first drive motor gear 63.

[0096] The item holding device 5 also includes an arm rotation first drive first toothed pulley 67 that is arranged on the opposite side of the first arm base end 49a from the arm rotation first drive driven gear 65 and is coaxially connected to the arm rotation first drive driven gear 65, an arm rotation first drive first toothed belt 69 that has one end engaged with the arm rotation first drive first toothed pulley 67, and a two-stage arm rotation first drive second toothed pulley 71 that has the first stage toothed pulley engaged with the other end of the arm rotation first drive first toothed belt 69.

[0097] Furthermore, the item holding device 5 is equipped with a second toothed belt 73 for driving the arm rotation first, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 71 for driving the arm rotation first, a third toothed pulley 75 for driving the arm rotation first, which is engaged with the other end of the second toothed belt 73 for driving the arm rotation first, and a third arm portion 59a connected to the rotation axis of the third toothed pulley 75 for driving the arm rotation first.

[0098] In addition, the first arm extension / retraction first link portion 53a is connected between the arm rotation first drive first toothed pulley 67 and the arm rotation first drive second toothed pulley 71, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 67 and the arm rotation first drive second toothed pulley 71, and the first arm extension / retraction second link portion 55a is connected between the arm rotation first drive second toothed pulley 71 and the arm rotation first drive third toothed pulley 75, thereby ensuring the axial distance between the arm rotation first drive second toothed pulley 71 and the arm rotation first drive third toothed pulley 75.

[0099] In addition, the first link portion 53a for extending and retracting the first arm and the second link portion 55a for extending and retracting the first arm are configured to be freely rotatable about the central axis of the second toothed pulley 71 for driving the first arm rotation, depending on the distance between the driven gear 65 for driving the first arm rotation and the third toothed pulley 75 for driving the first arm rotation.

[0100] When the arm rotation first drive motor 61 rotates, the rotational force is transmitted to the arm rotation first drive motor gear 63, and as described above, the first arm and the second arm described below are configured to rotate around the motor shaft of the arm rotation first drive motor 61 (corresponding to the "first shaft" of the present invention).

[0101] In the article gripping device 5 of this embodiment, the first arm and a second arm described later are configured to be rotatable at an angle of 90 degrees so that the cardboard boxes can be securely gripped in their box-like state.

[0102] When the first arm and a second arm described later rotate to form an angle of 90 degrees, the first arm and the second arm are locked together, and the rotational force of the arm rotation first drive motor 61 is then transmitted to the arm rotation first drive driven gear 65, the arm rotation first drive first toothed pulley 67, the arm rotation first drive first toothed belt 69, the arm rotation first drive second toothed pulley 71, the arm rotation first drive second toothed belt 73, the arm rotation first drive third toothed pulley 75 and the third arm portion 59a, and as a result, the third arm portion 59a is configured to rotate around the center of the arm rotation first drive third toothed pulley 75 (the end of the first arm opposite to the first axis).

[0103] Furthermore, in the article gripping device 5 of this embodiment, the third arm portion 59a is configured to rotate 90 degrees relative to the first arm tip portion 57a ​​so that the cardboard box can be securely gripped in its box-shaped state.

[0104] In the item holding device 5 of this embodiment, the first arm and the second arm described later are configured to be rotatable at 90 degrees so that the cardboard can be securely held in its boxed state, and the third arm portion 59a is configured to rotate 90 degrees relative to the first arm tip portion 57a, but these angles can be changed arbitrarily depending on the shape of the item to be held, and by physically engaging the first arm and second arm, it can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be held.

[0105] The item holding device 5 also has a mechanism for changing the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b, as well as the pair of third suction portions 81a and 81b, depending on the size of the cardboard box. Specifically, the mechanism includes a first arm extension / retraction motor 11a arranged at the base end 49a of the first arm, a first arm extension / retraction first toothed pulley 13a coaxially connected to the motor shaft of the first arm extension / retraction motor 11a, and a first arm extension / retraction first toothed belt 15a having one end engaged with the first arm extension / retraction first toothed pulley 13a.

[0106] The item holding device 5 also includes a second toothed pulley 17a for first arm extension / retraction engaged with the other end of the first toothed belt 15a for first arm extension / retraction, a first engaging portion 19a for first arm extension / retraction connected to the first arm intermediate portion 51a and connected to the underside of the first toothed belt 15a for first arm extension / retraction, a third toothed pulley 21a for first arm extension / retraction rotatably connected on the first arm intermediate portion 51a, and a second toothed belt 23a for first arm extension / retraction having one end engaged with the third toothed pulley 21a for first arm extension / retraction.

[0107] Furthermore, the item holding device 5 includes a fourth toothed pulley 25a for extending and retracting the first arm engaged with the other end of the second toothed belt 23a for extending and retracting the first arm, a second locking portion 20a for extending and retracting the first arm connected to the base end portion 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 portion 27a for extending and retracting the first arm connected to the tip end portion 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.

[0108] The manner in which the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the arm rotation first drive motor 61 and the pair of first suction portions 83a and 83b, as well as the pair of third suction portions 81a and 81b, will be changed will be described later.

[0109] 2 to 5, the article gripping device 5 includes, on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a second arm base end 49b, a second arm intermediate part 51b slidably engaged with the second arm base end 49b in the +X direction and the -X direction, 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 part 51b in the +X direction and the -X direction.

[0110] The "second arm" of the present invention is made up of second arm base end portion 49b, second arm intermediate portion 51b, and second arm tip portion 57b of this embodiment.

[0111] The article holding device 5 also has a mechanism for changing the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 61 and the tenth suction parts 87a and 87b depending on the size of the cardboard box, and more specifically, it has a second arm extension / retraction motor 11b arranged at the base end 49b of the second arm, a second arm extension / retraction first toothed pulley 13b coaxially connected to the motor shaft of the second arm extension / retraction motor 11b (not shown as it is hidden by a cover, but is connected to the second arm extension / retraction motor 11b in a similar manner to the first arm extension / retraction first toothed pulley 13a), and a second arm extension first toothed belt 15b (not shown as it is hidden by a cover, but is arranged in a similar manner to the first arm extension / retraction first toothed belt 15a) one end of which is engaged with the second arm extension first toothed pulley 13b.

[0112] The item holding device 5 also includes a second arm extension / retraction second toothed pulley 17b engaged with the other end of the second arm extension / retraction first toothed belt 15b, a second arm extension / retraction first engaging portion 19b connected to the second arm intermediate portion 51b and connected to the underside of the second arm extension / retraction first toothed belt 15b, a second arm extension / retraction third toothed pulley 21b (not shown as it is hidden by a cover, but is arranged in a similar form to the first arm extension / retraction third toothed pulley 21a), which is rotatably connected on the first arm intermediate portion 51b, and a second arm extension / retraction second toothed belt 23b, one end of which is engaged with the second arm extension / retraction third toothed pulley 21b.

[0113] Furthermore, the item holding device 5 is equipped with a fourth toothed pulley 25b for extending and retracting the second arm engaged with the other end of the second toothed belt 23b for extending and retracting the second arm, a second locking portion 20b for extending and retracting the second arm connected to the second arm base end 49b and connected to the -Y direction side of the second toothed belt 23b for extending and retracting the second arm (not shown as it is hidden by a cover, but is arranged in a similar form to the second locking portion 20a for extending and retracting the first arm), and a third locking portion 27b for extending and retracting the second arm connected to the second arm tip end 57b and connected to the +Y direction side of the second toothed belt 23b for extending and retracting the second arm.

[0114] The manner in which the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 61 and the tenth suction portions 87a and 87b is changed will be described later.

[0115] Next, a block diagram of a box making device 1 equipped with an article gripping device of this embodiment will be described.

[0116] FIG. 6 is a block diagram of a carton making apparatus equipped with an article gripping device of the first embodiment, and FIG. 7 is a block diagram of a main controller in the carton making apparatus equipped with an article gripping device of the first embodiment.

[0117] 6, the box making device 1 includes 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 and for driving the articulated robot 3, and a robot controller 10 electrically connected to the main controller 2 and for driving the first suction units 83a and 83b, the second suction units 85a and 85b, the third suction units 81a and 81b, the tenth suction units 87a and 87b, the first cylinder 81, the second cylinder 83, the third cylinder 85, the tenth cylinder 87, and the article suction units V1, V2, V3. , V4, V5, V6, V7, V8 and V9, a driver circuit 12 electrically connected to the main controller 2 and 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.

[0118] Also, 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 so as to be able to input and output, and a ROM (Read Only Memory) 18 connected to the CPU 14 so as to be able to input and output.

[0119] The RAM 16 includes a box placement position data table 16a that stores the placement positions of cardboard boxes, and a box information data table 16b that stores information such as the size of the cardboard box, and the ROM 18 includes a main program 18a that controls the overall operation of the box making device 1 of this embodiment, and an outer flap folding processing program 18b for folding the outer flaps of the cardboard box.

[0120] Next, we will explain the operation of the carton making apparatus 1 configured as described above. Figure 8 is a flowchart of a main program in a carton making apparatus equipped with the item gripping device of the first embodiment, and Figure 9 is a flowchart of an outer flap folding processing program in a carton making apparatus equipped with the item gripping device of the first embodiment.

[0121] In Figure 8, first, the user of the box making device 1 turns on the power switch of the device, then uses the operation buttons on the operation panel 6 to input the size of the cardboard box to be processed (cardboard box size = W1) and the number of cardboard boxes to be processed, and 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 box information such as the placement position of the cardboard box W1 stored in the box placement position data table 16a of the RAM 16 and the size of the cardboard box W1 stored in the box information data table 16b is obtained (S5).

[0122] In the initial state, the articulated robot 3 of the box making device 1 is set at the left end position of the upper moving rail 91 in FIG.

[0123] When the box making device 1 acquires the flat cardboard placement position (position of the flat cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat 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 moving table 93 on which the articulated robot 3 is installed along the moving rails 91 to the location where the flat cardboard W1 is stacked on the flat box placement section 80.

[0124] Then, the article gripping device 5 connected to the tip of the articulated robot 3 is set to a gripping width according to the size of the flat cardboard W1, and is opened as shown in Figure 2 (S6), and the topmost flat cardboard W1 of the stacked flat cardboards W1 is sucked in, lifted up, and rotated, moved to the top surface of the flat cardboard loading table 36, and placed on the top surface of the flat cardboard loading table 36 (S7).

[0125] At this time, the item holding device 5 may use a pair of first suction portions 83a and 83b, a pair of second suction portions 85a and 85b, a pair of third suction portions 81a and 81b, and a pair of tenth suction portions 87a and 87b (all suction portions are in the ON state) to suck up the flat cardboard box W1, but taking into account the processing of S13 described below, it is also possible to use only the pair of second suction portions 85a and 85b and the pair of tenth suction portions 87a and 87b to suck up the flat cardboard box W1 from this point on, and not use the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b.

[0126] In addition, placing the item holding device 5 in an open state means widening the angle between the first arm and the second arm to approximately 180 degrees, as shown in Figures 2 and 3, and arranging all of the suction portions, i.e., the pair of first suction portions 83a and 83b, the pair of second suction portions 85a and 85b, the pair of third suction portions 81a and 81b, and the pair of tenth suction portions 87a and 87b, facing each other in the same plane.

[0127] Here, we will explain how the item holding device 5 changes the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the arm rotation first drive motor 61 and the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b to suit the size of the flat cardboard.

[0128] First, a case where the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b is increased will be described.

[0129] When increasing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b and the pair of third suction portions 85a and 85b, first, the first arm extension / retraction motor 11a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 19a connected to the underside of the first arm extension / retraction first toothed belt 15a via the first arm extension / retraction first toothed pulley 13a and the first arm extension / retraction first toothed belt 15a.

[0130] As a result, the first locking portion 19a for first arm extension / retraction moves in the -X direction, the first arm intermediate portion 51a connected to the first locking portion 19a for first arm extension / retraction also moves in the -X direction, and the pair of first suction portions 83a and 83b provided on the first arm intermediate portion 51a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b.

[0131] Furthermore, when the first arm intermediate portion 51a moves in the -X direction, the first arm extension / retraction third toothed pulley 21a and the first arm extension / retraction fourth toothed pulley 25a, which are rotatably connected to the first arm intermediate portion 51a, move in the -X direction, and along with this movement, the first arm extension / retraction second locking portion 20a, which is connected to the -Y direction side of the first arm base end portion 49a and the first arm extension / retraction second toothed belt 23a, and the first arm extension / retraction second toothed belt 23a move in the +Y direction. Due to the relationship between the first arm extension / retraction third locking portion 27a connected to the first arm tip portion 57a ​​and the direction side, the first arm tip portion 57a ​​moves in the -X direction, and the third arm portion 59a connected to the first arm tip portion 57a ​​and the pair of third suction portions 81a and 81b provided on the third arm portion 59a also move in the -X direction, thereby widening the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of third suction portions 81a and 81b.

[0132] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b is reduced will be described.

[0133] When shortening the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b, first, the first arm extension / retraction motor 11a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 19a connected to the underside of the first arm extension / retraction first toothed belt 15a via the first arm extension / retraction first toothed pulley 13a and the first arm extension / retraction first toothed belt 15a.

[0134] As a result, the first locking portion 19a for first arm extension / retraction moves in the +X direction, the first arm intermediate portion 51a connected to the first locking portion 19a for first arm extension / retraction also moves in the +X direction, and the first suction portions 83a and 83b provided on the first arm intermediate portion 51a also move in the +X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b.

[0135] Furthermore, when the first arm intermediate portion 51a moves in the +X direction, the first arm extension / retraction third toothed pulley 21a and the first arm extension / retraction fourth toothed pulley 25a, which are rotatably connected on the first arm intermediate portion 51a, move in the +X direction, and along with this movement, the first arm extension / retraction second locking portion 20a, which is connected to the first arm base end portion 49a and the -Y direction side of the first arm extension / retraction second toothed belt 23a, and the +Y direction of the first arm extension / retraction second toothed belt 23a, move in the +X direction. Due to the relationship between the +X direction and the third locking portion 27a for first arm extension / retraction connected to the first arm tip portion 57a, the first arm tip portion 57a ​​moves in the +X direction, and the third arm portion 59a connected to the first arm tip portion 57a ​​and the pair of third suction portions 81a and 81b provided on the third arm portion 59a also move in the +X direction, thereby shortening the distance between the motor shaft of the first drive motor 61 for arm rotation and the pair of third suction portions 81a and 81b.

[0136] Next, a method for changing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b in the article gripping device 5 in accordance with the size of the flat cardboard will be described.

[0137] First, a case where the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b is increased will be described.

[0138] When increasing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b, first, the second arm extension / retraction motor 11b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 19b connected to the underside of the second arm extension / retraction first toothed belt 15b via the second arm extension / retraction first toothed pulley 13b and the second arm extension / retraction first toothed belt 15b.

[0139] As a result, the first locking portion 19b for second arm extension / retraction moves in the +X direction, the second arm intermediate portion 51b connected to the first locking portion 19b for second arm extension / retraction also moves in the +X direction, and the pair of tenth suction portions 87a and 87b provided on the second arm intermediate portion 51b also move in the +X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b.

[0140] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth attraction portions 87a and 87b is reduced will be described.

[0141] When shortening the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b, first, the first arm extension / retraction motor 11b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 19b connected to the underside of the second arm extension / retraction first toothed belt 15b via the second arm extension / retraction first toothed pulley 13b and the second arm extension / retraction first toothed belt 15b.

[0142] As a result, the first locking portion 19b for second arm extension / retraction moves in the -X direction, the second arm intermediate portion 51b connected to the first locking portion 19b for second arm extension / retraction also moves in the -X direction, and the pair of tenth suction portions 87a and 87b provided on the second arm intermediate portion 51b also move in the -X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of tenth suction portions 87a and 87b.

[0143] On the other hand, in the item holding device 5 of this embodiment, a pair of second suction portions 85a and 85b are provided at the second arm base end 49b, so the distance between the motor shaft of the arm rotation first drive motor 61 and the pair of second suction portions 85a and 85b cannot be changed.

[0144] 10 to 12 show plan views, front views, and bottom views of the item gripping device 5 in a state in which the spacing between each suction portion in the +Y and -Y directions is increased, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b, the pair of third suction portions 81a and 81b, and the pair of tenth suction portions 87a and 87b is increased.

[0145] On the other hand, Figures 15 to 17 show plan views, front views, and bottom views of the item holding device 5 in which the spacing between each suction portion in the +Y and -Y directions is shortened, and the distance between the motor shaft of the first arm rotation drive motor 61 and the pair of first suction portions 83a and 83b, the pair of third suction portions 81a and 81b, and the pair of tenth suction portions 87a and 87b is shortened.

[0146] Then, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36 are driven by the compressor 8 to suck up the flat cardboard W1, thereby fixing the flat cardboard W1 to the upper surface of the flat cardboard placing table 36 (S9).

[0147] As described above, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 basically only suck up the surfaces that do not move when the flat cardboard is made three-dimensional, and as shown in Figure 1, they are configured to suck up only the surface of the flat cardboard W1 at the center position in the upper left of Figure 1 (the bottom surface of the flat cardboard W1).

[0148] Then, the articulated robot 3 is operated to set the item holding device 5 in the open state as shown in Figure 2, and as shown in Figure 1, the pair of second suction portions 85a and 85b and the pair of tenth suction portions 87a and 87b of the item holding device 5 are positioned within the flat cardboard W1, while the pair of first suction portions 83a and 83b and the pair of third suction portions 81a and 81b are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked up using only the pair of second suction portions 85a and 85b and the pair of tenth suction portions 87a and 87b (S11).

[0149] Then, while the bottom surface of the flat cardboard box W1 at the center left position is being sucked up by the item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift up the top surface of the flat cardboard box W1 that has been sucked up using only the pair of second suction units 85a and 85b and the pair of tenth suction units 87a and 87b, making the flat cardboard box W1 three-dimensional (S13), and the item gripping device 5 grips the three-dimensional cardboard box W1 (S14).

[0150] Note that Figure 13 is an oblique view showing the initial state in which the item holding device 5 holds the three-dimensional cardboard box W1 only with a pair of second suction portions 85a and 85b and a pair of tenth suction portions 87a and 87b, with the spacing between each suction portion in the +Y and -Y directions increased and the distance between the motor shaft of the first arm rotation drive motor 61 and a pair of first suction portions 83a and 83b, a pair of third suction portions 81a and 81b, and a pair of tenth suction portions 87a and 87b increased.

[0151] On the other hand, Figure 18 is an oblique view showing the initial state in which the item holding device 5 holds a cardboard box W2 smaller than the three-dimensional cardboard box W1 using only the pair of second suction parts 85a and 85b and the pair of tenth suction parts 87a and 87b, when the spacing between each suction part in the +Y and -Y directions 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.

[0152] After the flat cardboard W1 has been made three-dimensional, in order to ensure secure gripping of the cardboard box W1, the item gripping device 5 is configured so that the first arm and the second arm rotate at 90 degrees, and the third arm portion 59a rotates at 90 degrees relative to the first arm, as shown in Figures 4, 5 and 14, so that a pair of second suction portions 85a and 85b and a pair of tenth suction portions 87a and 87b adsorb the first of the four sides of the cardboard box W1, a pair of first suction portions 83a and 83b adsorb the second side of the cardboard box W1, and a pair of third suction portions 81a and 81b adsorb and grip the third side of the cardboard box W1.

[0153] Note that Figure 4 is a plan view showing the state in which a box-making device 1 equipped with an item holding device 5 is holding a three-dimensional cardboard box W1 when the spacing between each suction part in the +Y·-Y directions has been increased, Figure 5 is an oblique view showing the state in which a box-making device 1 equipped with an item holding device 5 is holding a three-dimensional cardboard box W1 when the spacing between each suction part in the +Y·-Y directions has been increased, and Figure 14 is a front view showing the final state in which the item holding device 5 is holding a three-dimensional cardboard box W1 when the spacing between each suction part in the +Y·-Y directions has been increased and the distance between the motor shaft of the arm rotation first 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 increased.

[0154] On the other hand, Figure 19 is a front view showing the final state in which the item holding device 5 has held a cardboard box W2 that is smaller than the three-dimensional cardboard box W1, with the spacing between each suction part in the +Y and -Y directions 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.

[0155] Then, the first rail forward / backward drive motor 30a is rotated to move the first rail 22 according to the size of the cardboard box W1 (S15), and the second rail forward / backward drive motor 30b is rotated to move the pair of second rails 26a and 26b (S17).

[0156] In this case, during the front inner flap folding process and the rear inner flap processing described below, it is preferable to move the second rails 26a and 26b so that the outer flaps do not come into contact with the pair of second rails 26a and 26b as much as possible, so that they are positioned forward (+H direction) or backward (-H direction) in the direction of travel of the cardboard box W1 relative to the first rail 22.

[0157] As mentioned above, the cardboard box W1 has 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.

[0158] Then, the articulated robot 3 is operated to lift the three-dimensional cardboard box W1, rotate it so that the inner and outer flaps of the cardboard box W1 are positioned above and below the cardboard box W1, and fold the front lower inner flap W1DS1 of the cardboard box W1 by abutting it against the protrusion 24 provided at the tip of the first rail 22 (S19).

[0159] Specifically, the rear end of the cardboard box W1 is lifted higher than its front end, and while the cardboard box W1 is tilted, the front lower inner flap W1DS1 is brought into contact with the protrusion 24, and the cardboard box W1 is then moved diagonally downward and forward, thereby folding the front lower inner flap W1DS1.

[0160] Thereafter, 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 so that it does not come into contact with the protrusion 25, and the leading edge 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.

[0161] Then, the inclination angle of the cardboard box W1 is reduced, and the rear lower inner flap W1DS2 is brought into contact with the protrusion 24, and while reducing the inclination accuracy, the leading edge of the cardboard box W1 is brought into contact with the first rail 22 and moved rearward, thereby folding the rear lower inner flap W1DS2 (S21).

[0162] Thereafter, the leading edge of the cardboard box W1 is brought into contact with the first rail 22 and moved forward again, thereby folding the front lower inner flap W1DS1 and the rear lower inner flap W1DS2, 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.

[0163] However, the box making device 1 of this embodiment is configured to move a pair of second rails 26a and 26b toward the first rail 22 (S23) before the folding process of the lower inner flaps is fully completed, and fold the right lower outer flap W1DL1 and the left lower outer flap W1DL2, thereby completely folding the front lower inner flap W1DS1 and the rear lower inner flap W1DS2.

[0164] After the front lower inner flap W1DS1 and the rear lower inner flap W1DS2 are folded, the outer flaps are then folded (S25).

[0165] In the process of folding the outer flaps, first, the cardboard box W1 is moved horizontally forward by the articulated robot 3 (S41), the second rail up / down drive motor 32 is rotated to raise the pair of second rails 26a and 26b, and the second rail left / right drive motor 28 is rotated to gradually reduce the distance between the second rails 26a and 26b (S43).

[0166] Furthermore, the second rail forward / backward drive motor 30b is rotated to move the pair of second rails 26a and 26b forward (S45), and the first rail forward / backward drive motor 30a is rotated to move the first rail 22 backward (S47).

[0167] 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), and 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 processes of S41 to S47 are repeated, and 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 cardboard box W1 is further moved horizontally forward by the articulated robot 3 (S51), the folding process of the right lower outer flap W1DL1 and the left lower outer flap W1DL2 is completed, and the process returns to the main program (S53).

[0168] In this embodiment, the pair of second rails 26a and 26b are moved forward by rotating the second rail forward / backward drive motor 30b, and the first rail 22 is moved backward by rotating the first rail forward / backward drive motor 30a, so that the height of the pair of second rails 26a and 26b is made to match the height of the first rail 22 when the base ends of the pair of second rails 26a and 26b in the -H direction pass the tip ends of the first rail 22 in the +H direction.

[0169] After the cardboard box W1 is released from the first rail 22, the right lower outer flap W1DL1 and the left lower outer flap W1DL2 are closed by the pair of second rails 26a and 26b.

[0170] Then, the tape applying unit 34 applies tape to the bottom surface of the cardboard box W1 (S27), and the cardboard box W1 with the tape applied thereto is discharged to the discharge unit 40 (S29).

[0171] When the cardboard box W1 is discharged to the discharge section 40, it is determined whether or not 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, and if the processing of the cardboard box W1 has been completed (S31: Yes), the process ends (S33).

[0172] According to the item holding device 5 of this embodiment, there are provided a first arm (first arm base end 49a, first arm intermediate portion 51a and first arm tip portion 57a) and a second arm (second arm base end 49b, second arm intermediate portion 51b and second arm tip portion 57b) rotatably connected around the motor shaft (first axis) of the arm rotation first drive motor 61, a third arm portion 59a rotatably connected to the end of the first arm opposite to the first axis, a pair of first suction portions 83a and 83b provided on the first arm, a pair of second suction portions 85a and 85b provided on the second arm, and a pair of third suction portions 81a and 81b provided on the third arm portion 59b, so that even items made of flexible materials can be securely held.

[0173] Furthermore, according to the article holding device 5 of this embodiment, it is equipped with an arm rotation first drive motor 61 that rotates the first arm (first arm base end 49a, first arm intermediate portion 51a and first arm tip portion 57a) and the second arm (second arm base end 49b, second arm intermediate portion 51b and second arm tip portion 57b) around the first axis, and the third arm portion 59a can rotate relative to the end of the first arm opposite to the first axis in conjunction with the rotation of the arm rotation first drive motor 61, so that even if the article is made of a flexible material, the article can be securely held with a simple mechanism.

[0174] Furthermore, according to the item gripping device 5 of this embodiment, the distance between the first axis and the pair of third suction portions 81a and 81b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0175] Furthermore, according to the item gripping device 5 of this embodiment, the distance between the first axis and the pair of first suction portions 83a and 83b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0176] Furthermore, according to the item holding device 5 of this embodiment, the second arm is provided with a pair of tenth suction portions 87a and 87b, and is configured so that the distance between the first axis and the pair of tenth suction portions 87a and 87b can be changed, thereby enabling items of different sizes to be held more securely.

[0177] Furthermore, the box making device 1 of this embodiment is equipped with a multi-joint robot 3 and an item gripping device 5 with a second arm connected to the tip of the multi-joint robot 3, so that boxes can be produced reliably and in a balanced manner with sufficient gripping force even if they are made of flexible materials.

[0178] (Second embodiment) Next, an article gripping device according to a second embodiment of the present invention and a box making machine equipped with the article gripping device will be described. Note that the drawings used in this embodiment are also exaggerated to facilitate understanding, and the dimensions differ from the actual dimensions.

[0179] A second embodiment of the present invention will be described below, but the same members as those in the first embodiment are given the same numbers and descriptions thereof will be omitted.

[0180] Figure 20 is an oblique view of a box making device equipped with an item holding device of the second embodiment, Figure 21 is a plan view of the box making device, Figure 22 is a plan view showing the box making device holding a box, and Figure 23 is an oblique view showing the box making device holding a box.

[0181] The box making system including the box making device 101 equipped with the item gripping device 105 of this embodiment, like the box making device 1, selectively grips and makes three-dimensional flat cardboard placed according to size, folds the inner and outer flaps formed at both the top and bottom ends of the three-dimensional cardboard, and then tapes the ends of the outer flaps to produce a cardboard box.

[0182] The box making device 101 is composed of an articulated robot 3 and an item gripping device 105 connected to the tip of the articulated robot 3. Unlike the item gripping device 5 of the first embodiment, the item gripping device 105 of this embodiment adsorbs and grips four of the four sides of a three-dimensional cardboard box, as shown in Figure 22, and can securely grip the cardboard box even if it is made of a flexible material.

[0183] As shown in Figures 20 to 23, the item gripping device 105 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a fifth arm base end 149a, a fifth arm intermediate part 151a slidably engaged with the fifth arm base end 149a in the +X direction and the -X direction, 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 direction and the -X direction, and an eighth arm part 159a rotatably connected to the -X direction tip end of the fifth arm tip end 157a (the end of the fifth arm on the opposite side from a first axis described later).

[0184] The "fifth arm" of the present invention is made up of fifth arm base end portion 149a, fifth arm intermediate portion 151a, and fifth arm tip portion 157a of this embodiment.

[0185] In addition, the item holding device 105 has a total of six pairs of suction sections (fifth suction sections 181a and 181b, sixth suction sections 183a and 183b, seventh suction sections 187a and 187b, eighth suction sections 180a and 180b, ninth suction sections 189a and 189b, and tenth suction sections 185a and 185b) for holding cardboard boxes, and is configured so that each suction section faces the same direction when the fifth arm, the sixth arm described below, the seventh arm described below, eighth arm section 159a, and ninth arm section 159b described below are held horizontally, and so that each suction section faces the surface of the cardboard box when the cardboard box is held as described below.

[0186] Specifically, the item holding device 105 has a pair of fifth suction portions 181a and 181b at the fifth arm intermediate portion 151a, a pair of sixth suction portions 183a and 183b at the sixth arm base end portion 149c described later, a pair of seventh suction portions 187a and 187b at the seventh arm intermediate portion 151b described later, a pair of eighth suction portions 180a and 180b at the eighth arm portion 159a, a pair of ninth suction portions 189a and 189b at the ninth arm portion 159b described later, and a pair of tenth suction portions 185a and 185b at the sixth arm tip end portion 157c described later.

[0187] Further, each pair of suction portions (a pair of fifth suction portions 181a and 181b, a pair of sixth suction portions 183a and 183b, a pair of seventh suction portions 187a and 187b, a pair of eighth suction portions 180a and 180b, a pair of ninth suction portions 189a and 189b, and a pair of tenth suction portions 185a and 185b) is provided with a cylinder (a fifth cylinder 181a corresponding to the pair of fifth suction portions 181a and 181b, a pair of sixth suction portions 185a and 185b, a pair of eighth suction portions 180a and 180b, a pair of ninth suction portions 189a and 189b, and a pair of tenth suction portions 185a and 185b). A sixth cylinder 183 is provided corresponding to the pair of attachment portions 183a and 183b, a seventh cylinder 187 is provided corresponding to the pair of seventh attachment portions 187a and 187b, an eighth cylinder 180 is provided corresponding to the pair of eighth attachment portions 180a and 180b, a ninth cylinder 189 is provided corresponding to the pair of ninth attachment portions 189a and 189b, and a tenth cylinder 185 is provided corresponding to the pair of tenth attachment portions 185a and 185b.

[0188] By activating these cylinders using a compressor 8 described later, the lengths of the suction portion rods (fifth suction portion rod 181c, sixth suction portion rod 183c, seventh suction portion rod 187c, eighth suction portion rod 180c, ninth suction portion rod 189c, and tenth suction portion rod 185c) are extended or shortened, and the distance between each suction portion in the +Y·−Y direction (the distance between the fifth suction portion 181a and the fifth suction portion 181b in the +Y·−Y direction) is increased or decreased. The configuration is such that the distance in the +Y·−Y directions between the sixth suction portion 183a and the sixth suction portion 183b, the distance in the +Y·−Y directions between the seventh suction portion 187a and the seventh suction portion 187b, the distance in the +Y·−Y directions between the eighth suction portion 180a and the eighth suction portion 180b, the distance in the +Y·−Y directions between the ninth suction portion 189a and the ninth suction portion 189b, and the distance in the +Y·−Y directions between the tenth suction portion 185a and the tenth suction portion 185b are changeable.

[0189] In the item holding device 105 of this embodiment, the spacing between each suction part in the +Y and -Y directions can be changed, in the same way as the item holding device 5 of the first embodiment, in order to ensure the gripping force on the cardboard depending on the size of the cardboard.Normally, the cardboard is gripped with the spacing between each suction part in the +Y and -Y directions closed, but if the size of the cardboard becomes larger, the spacing between each suction part in the +Y and -Y directions can be widened to accommodate this.

[0190] In the item gripping device 105 of this embodiment, the spacing between each suction part in the +Y and -Y directions is expanded and contracted by turning the cylinder on and off using the compressor 8, but it is also possible to continuously expand and contract the spacing between each suction part in the +Y and -Y directions via gears by driving a motor.

[0191] The item holding device 105 also includes an arm rotation first drive motor 161a (corresponding to the "second drive unit" of the present invention) that is arranged at the base end 149c of the sixth arm described later and rotates 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 that is 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 that is arranged at the base end 149a of the fifth arm and meshes with the arm rotation first drive motor gear 163a.

[0192] The item holding device 105 also includes an arm rotation first drive first toothed pulley 167a that is arranged on the opposite side of the fifth arm base end 149a from the arm rotation first drive driven gear 165a and is coaxially connected to the arm rotation first drive driven gear 165a, an arm rotation first drive first toothed belt 169a whose one end is engaged with the arm rotation first drive first toothed pulley 167a, and a two-stage arm rotation first drive second toothed pulley 171a whose first stage toothed pulley is engaged with the other end of the arm rotation first drive first toothed belt 169a.

[0193] Furthermore, the item holding device 105 is equipped with an arm rotation first drive second toothed belt 173a, one end of which is engaged with the second stage toothed pulley of the arm rotation first drive second toothed pulley 171a, an arm rotation first drive third toothed pulley 175a, which is engaged with the other end of the arm rotation first drive second toothed belt 173a, and an eighth arm section 159a (corresponding to the "eighth arm" of the present invention) connected to the rotation axis of the arm rotation first drive third toothed pulley 175a.

[0194] In addition, the fifth arm extension / retraction first link part 153a is connected between the arm rotation first drive first toothed pulley 167a and the arm rotation first drive second toothed pulley 171a, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 167a and the arm rotation first drive second toothed pulley 171a, and the fifth arm extension / retraction second link part 155a is connected between the arm rotation first drive second toothed pulley 171a and the arm rotation first drive third toothed pulley 175a, thereby ensuring the axial distance between the arm rotation first drive second toothed pulley 171a and the arm rotation first drive third toothed pulley 175a.

[0195] In addition, 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 be freely rotatable about the central axis of the second toothed pulley 171a for driving the first arm rotation, depending on the distance between the driven gear 165a for driving the first arm rotation and the third toothed pulley 175a for driving the first arm rotation.

[0196] When the first arm rotation drive motor 161a rotates, the rotational force is transmitted to the first arm rotation drive motor gear 163a, and as described above, the fifth arm and the sixth arm described below are configured to rotate around the motor shaft (corresponding to the "second shaft" of the present invention) of the first arm rotation drive motor 161a.

[0197] In the article gripping device 105 of this embodiment, the fifth arm and a sixth arm described later are also configured to be rotatable at an angle of 90 degrees so that the cardboard boxes can be securely gripped in their box-like state.

[0198] When the fifth arm and a sixth arm described later rotate to form an angle of 90 degrees, the fifth arm and the sixth arm are locked together, and the rotational force of the arm rotation first drive motor 161a is then transmitted to the arm rotation first drive driven gear 165a, the arm rotation first drive first toothed pulley 167a, the arm rotation first drive first toothed belt 169a, the arm rotation first drive second toothed pulley 171a, the arm rotation first drive second toothed belt 173a, the arm rotation first drive third toothed pulley 175a and the eighth arm section 159a, and as a result, the eighth arm section 159a is configured to rotate around the center of the arm rotation first drive third toothed pulley 175a.

[0199] In the article gripping device 105 of this embodiment, the eighth arm portion 159a is configured to rotate 90 degrees relative to the fifth arm tip portion 157a so that the cardboard box can be securely gripped in its box-like state.

[0200] In addition, in the item gripping device 105 of this embodiment, the fifth arm and sixth arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the eighth arm portion 159a is configured to rotate 90 degrees relative to the fifth arm tip portion 157a, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging the fifth arm and sixth arm, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0201] The item holding device 105 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b, as well as the pair of eighth suction portions 180a and 180b, depending on the size of the cardboard box. Specifically, the mechanism includes a fifth arm extension / retraction motor 111a arranged at the fifth arm base end 149a, a fifth arm extension / retraction first toothed pulley 113a coaxially connected to the motor shaft of the fifth arm extension / retraction motor 111a, and a fifth arm extension first toothed belt 115a having one end engaged with the fifth arm extension first toothed pulley 113a.

[0202] The item holding device 105 also includes a fifth arm extension / retraction second toothed pulley 117a engaged with the other end of the fifth arm extension / retraction first toothed belt 115a, a fifth arm extension / retraction first engaging portion 119a connected to the fifth arm intermediate portion 151a and connected to the underside of the fifth arm extension / retraction first toothed belt 115a, a fifth arm extension / retraction third toothed pulley 121a rotatably connected on the fifth arm intermediate portion 151a, and a fifth arm extension / retraction second toothed belt 123a having one end engaged with the fifth arm extension / retraction third toothed pulley 121a.

[0203] Furthermore, the item holding device 105 includes a fourth toothed pulley 125a for extending and retracting the fifth arm engaged with the other end of the second toothed belt 123a for extending and retracting the fifth arm, a second locking part 120a for extending and retracting the fifth arm 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 and retracting the fifth arm, and a third locking part 127a for extending and retracting the fifth arm 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 and retracting the fifth arm.

[0204] The manner in which the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b and the pair of eighth suction portions 180a and 180b is changed will be described later.

[0205] 20 to 23, the article gripping device 105 is provided with, on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a sixth arm base end 149c, a sixth arm intermediate part 151c slidably engaged with the sixth arm base end 149c in the +X direction and the -X direction, which are the longitudinal directions of the sixth arm base end 149c, and a sixth arm tip end 157c slidably engaged with the sixth arm intermediate part 151c in the +X direction and the -X direction.

[0206] The "sixth arm" of the present invention is made up of sixth arm base end portion 149c, sixth arm intermediate portion 151c, and sixth arm tip portion 157c of this embodiment.

[0207] The item holding device 105 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 161a and the tenth suction portions 185a and 185b depending on the size of the cardboard box, and more specifically, has a sixth arm extension / retraction motor 111c arranged at the sixth arm base end 149c, a sixth arm extension / retraction first toothed pulley 113c coaxially connected to the motor shaft of the sixth arm extension / retraction motor 111c, and a sixth arm extension first toothed belt 115c having one end engaged with the sixth arm extension first toothed pulley 113c.

[0208] The item holding device 105 also includes a sixth arm extension / retraction second toothed pulley 117c engaged with the other end of the sixth arm extension / retraction first toothed belt 115c, a sixth arm extension / retraction first engaging portion 119c connected to the sixth arm intermediate portion 151c and connected to the underside of the sixth arm extension / retraction first toothed belt 115c, a sixth arm extension / retraction third toothed pulley 121c rotatably connected on the sixth arm intermediate portion 151c, and a sixth arm extension / retraction second toothed belt 123c having one end engaged with the sixth arm extension / retraction third toothed pulley 121c.

[0209] Furthermore, the item holding device 105 includes a fourth toothed pulley 125c for extending and retracting the sixth arm engaged with the other end of the second toothed belt 123c for extending and retracting the sixth arm, a second locking part 120c for extending and retracting the sixth arm (see Figure 27) connected to the base end part 149c of the sixth arm and connected to the -Y direction side of the second toothed belt 123c for extending and retracting the sixth arm, and a third locking part 127c for extending and retracting the sixth arm connected to the tip end part 157c of the sixth arm and connected to the +Y direction side of the second toothed belt 123c for extending and retracting the sixth arm.

[0210] The manner in which the distance between the motor shaft of the first arm rotation drive motor 161a and the tenth attraction portions 185a and 185b is changed will be described later.

[0211] As shown in Figures 20 to 23, the item gripping device 105 also includes a seventh arm base end 149b that is rotatable relative to the sixth arm tip end 157c at the +X direction end of the sixth arm tip end 157c, a seventh arm intermediate portion 151b that is slidably engaged with the seventh arm base end 149b in the +X direction and -X direction, which are the longitudinal directions of the seventh arm base end 149b, a seventh arm tip end 157b that is slidably engaged with the seventh arm intermediate portion 151b in the +X direction and -X direction, and a ninth arm portion 159b (corresponding to the "ninth arm" of the present invention) that is rotatably connected to the -X direction tip end of the seventh arm tip end 157b (the end of the seventh arm opposite to the third axis described below).

[0212] The "seventh arm" of the present invention is made up of seventh arm base end portion 149b, seventh arm intermediate portion 151b, and seventh arm tip portion 157b of this embodiment.

[0213] The item holding device 105 also includes an arm rotation second drive motor 161b (corresponding to the "third drive unit" of the present invention) arranged at the seventh arm tip 157b 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 163b coaxially connected to the motor shaft (corresponding to the "third axis" of the present invention) of the arm rotation second drive motor 161b, and an arm rotation second drive driven gear 165b arranged at the seventh arm base end 149b and meshing with the arm rotation first drive motor gear 163b.

[0214] The item holding device 105 also includes an arm rotation second drive first toothed pulley 167b, which is arranged on the opposite side of the seventh arm base end 149b from the arm rotation second drive driven gear 165b and is coaxially connected to the arm rotation second drive driven gear 165b, an arm rotation second drive first toothed belt 169b, one end of which is engaged with the arm rotation second drive first toothed pulley 167b, and a two-stage arm rotation second drive second toothed pulley 171b, the first stage toothed pulley of which is engaged with the other end of the arm rotation second drive first toothed belt 169b.

[0215] Furthermore, the item holding device 105 is equipped with a second toothed belt 173b for second arm rotation drive, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 171b for second arm rotation drive, a third toothed pulley 175b for second arm rotation drive engaged with the other end of the second toothed belt 173b for second arm rotation drive, and a ninth arm section 159b connected to the rotation axis of the third toothed pulley 175b for second arm rotation drive.

[0216] In addition, the seventh arm extension / retraction first link part 153b is connected between the arm rotation second drive first toothed pulley 167b and the arm rotation second drive second toothed pulley 171b, thereby ensuring the axial distance between the arm rotation second drive first toothed pulley 167b and the arm rotation second drive second toothed pulley 171b, and the seventh arm extension / retraction second link part 155b is connected between the arm rotation second drive second toothed pulley 171b and the arm rotation second drive third toothed pulley 175b, thereby ensuring the axial distance between the arm rotation second drive second toothed pulley 171b and the arm rotation second drive third toothed pulley 175b.

[0217] In addition, the seventh arm extension / retraction first link portion 153b and the seventh arm extension / retraction second link portion 155b are configured to be freely rotatable about the central axis of the arm rotation second drive second toothed pulley 171b depending on the distance between the arm rotation second drive driven gear 165b and the arm rotation second drive third toothed pulley 175b.

[0218] When the second arm rotation drive motor 161b rotates, the 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 the present invention).

[0219] In the article gripping device 105 of this embodiment, the sixth arm and the seventh arm are also configured to be rotatable at an angle of 90 degrees so that the cardboard box can be securely gripped in its box-like state.

[0220] When the sixth arm and the seventh arm rotate to form an angle of 90 degrees, the sixth arm and the seventh arm are locked together, and the rotational force of the arm rotation second drive motor 161b is then transmitted to the arm rotation second drive driven gear 165b, the arm rotation second drive first toothed pulley 167b, the arm rotation second drive first toothed belt 169b, the arm rotation second drive second toothed pulley 171b, the arm rotation second drive second toothed belt 173b, the arm rotation second drive third toothed pulley 175b and the ninth arm section 159b, and as a result, the ninth arm section 159b is configured to rotate around the center of the arm rotation second drive third toothed pulley 175b.

[0221] In the article gripping device 105 of this embodiment, 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 box-like state.

[0222] In addition, in the item gripping device 105 of this embodiment, the sixth arm and the seventh arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the ninth arm portion 159b is configured to rotate 90 degrees relative to the seventh arm tip portion 157b, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging the sixth arm and the seventh arm, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0223] The item holding device 105 also has a mechanism for changing the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b, as well as the pair of ninth suction portions 189a and 189b, depending on the size of the cardboard box. Specifically, the device is equipped with a seventh arm extension / retraction motor 111b arranged at the seventh arm base end 149b, a seventh arm extension / retraction first toothed pulley 113b coaxially connected to the motor shaft of the seventh arm extension / retraction motor 111b, and a seventh arm extension first toothed belt 115b having one end engaged with the seventh arm extension first toothed pulley 113b.

[0224] The item holding device 105 also includes a seventh arm extension / retraction second toothed pulley 117b engaged with the other end of the seventh arm extension / retraction first toothed belt 115b, a seventh arm extension / retraction first engaging portion 119b connected to the seventh arm intermediate portion 151b and connected to the underside of the seventh arm extension / retraction first toothed belt 115b, a seventh arm extension / retraction third toothed pulley 121b rotatably connected on the seventh arm intermediate portion 151b, and a seventh arm extension / retraction second toothed belt 123b having one end engaged with the seventh arm extension / retraction third toothed pulley 121b.

[0225] Furthermore, the item holding device 105 includes a fourth toothed pulley 125b for extending and retracting the seventh arm engaged with the other end of the second toothed belt 123b for extending and retracting the seventh arm, a second locking part 120b for extending and retracting the seventh arm 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 and retracting the seventh arm, and a third locking part 127b for extending and retracting the seventh arm 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 and retracting the seventh arm.

[0226] The manner in which the distance between the motor shaft of the first arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b and the pair of ninth suction portions 189a and 189b is changed will be described later.

[0227] Next, a block diagram of the box making device 101 of this embodiment will be described.

[0228] The block diagram of the box making device 101 of this embodiment is configured such that, instead of the first suction sections 83a and 83b, the second suction sections 85a and 85b, the third suction sections 81a and 81b, the tenth suction section 87a and 87b, the first cylinder 81, the second cylinder 83, the third cylinder 85, and the fourth cylinder 87, the fifth suction sections 181a and 181b, the sixth suction sections 183a and 183b, the seventh suction sections 187a and 187b, the eighth suction sections 180a and 180b, the ninth suction sections 189a and 189b, the tenth suction sections 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 are connected to the compressor 8 of the block diagram of the first embodiment of Figure 6.

[0229] Furthermore, the block diagram of the box making device 101 of this embodiment is configured such that, instead of the first arm rotation drive motor 61, the first arm extension / retraction motor 11a, and the second arm extension / retraction motor 11b, a first arm rotation drive motor 161a, a second arm rotation drive motor 161b, a fifth arm extension / retraction motor 111a, a sixth arm extension / retraction motor 111c, and a seventh arm extension / retraction motor 111b are connected to the driver circuit 12 of the block diagram of the first embodiment of FIG. 6.

[0230] Next, the operation of the box making device 101 having the above-described configuration will be described using the main program in FIG.

[0231] In Figure 8, first, the user of the box making device 101 turns on the power switch of the device, then uses the operation buttons on the operation panel 6 to input the size of the cardboard box to be processed (cardboard box size = W1) and the number of cardboard boxes to be processed, and presses the start button.The box making device 101 is set to its initial state (S1), the number of boxes to be processed is set (S3), and the box information such as the placement position of the cardboard box W1 stored in the box placement position data table 16a of the RAM 16 and the size of the cardboard box W1 stored in the box information data table 16b is obtained (S5).

[0232] In the initial state, the articulated robot 3 of the box making device 101 is set at the left end position of the upper moving rail 91 in FIG.

[0233] When the box making device 101 acquires the flat cardboard placement position (position of the flat cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat 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 moving table 93 on which the articulated robot 3 is installed along the moving rails 91 to the location where the flat cardboard W1 is stacked on the flat box placement section 80.

[0234] Then, the item 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 cardboard W1, and is opened as shown in Figures 20 and 21 (S6), and the topmost flat cardboard W1 of the stacked flat cardboards W1 is sucked in, lifted up, and rotated, moved to the top surface of the flat cardboard loading table 36, and placed on the top surface of the flat cardboard loading table 36 (S7).

[0235] At this time, the item gripping device 105 may use a pair of fifth suction portions 181a and 181b, a pair of sixth suction portions 183a and 183b, a pair of seventh suction portions 187a and 187b, a pair of eighth suction portions 180a and 180b, a pair of ninth suction portions 189a and 189b, and a pair of tenth suction portions 185a and 185b (all suction portions are in the ON state) to suck up the flat cardboard box W1, but taking into account the processing of S13 described below, it is also possible to use only the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b to suck up the flat cardboard box W1 from this point on, and not use the other suction portions.

[0236] In addition, placing the item holding device 105 in an open state means widening the angle between the fifth arm and the sixth arm to approximately 180 degrees, as shown in Figures 20 and 21, and making all of the suction portions, i.e., the pair of fifth suction portions 181a and 181b, the pair of sixth suction portions 183a and 183b, 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, face each other in the same plane.

[0237] Here, we will explain how the item holding device 105 changes the distance between the motor shaft (corresponding to the "second shaft" of the present invention) of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b, as well as the pair of eighth suction portions 180a and 180b, to suit the size of the flat cardboard.

[0238] First, a case where the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b and the pair of eighth suction portions 180a and 180b is increased will be described.

[0239] When increasing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b, and the pair of eighth suction portions 180a and 180b, first, the fifth arm extension / retraction motor 111a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension / retraction first locking portion 119a connected to the underside of the fifth arm extension / retraction first toothed belt 115a via the fifth arm extension / retraction first toothed pulley 113a and the fifth arm extension / retraction first toothed belt 115a.

[0240] As a result, the first locking portion 119a for fifth arm extension / retraction moves in the -X direction, the fifth arm intermediate portion 151a connected to the first locking portion 119a for fifth arm extension / retraction also moves in the -X direction, and the pair of fifth suction portions 181a and 181b provided on the fifth arm intermediate portion 151a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b.

[0241] Furthermore, when the fifth arm intermediate part 151a moves in the -X direction, the fifth arm extension / retraction third toothed pulley 121a and the fifth arm extension / retraction fourth toothed pulley 125a, which are rotatably connected to the fifth arm intermediate part 151a, move in the -X direction, and along with this movement, the fifth arm extension / retraction second locking part 120a, which is connected to the -Y direction side of the fifth arm base end part 149a and the fifth arm extension / retraction second toothed belt 123a, and the fifth arm extension / retraction second toothed belt 123a move in the +Y direction. In relation to the third locking portion 127a for extending and retracting the fifth arm connected to the fifth arm tip 157a, the fifth arm tip 157a moves in the -X direction, and the eighth arm portion 159a connected to the fifth arm tip 157a and the pair of eighth suction portions 180a and 180b provided on the eighth arm portion 159a also move in the -X direction, thereby widening the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of eighth suction portions 180a and 180b.

[0242] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth attraction portions 181a and 181b and the pair of eighth attraction portions 180a and 180b is reduced will be described.

[0243] When shortening the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b, and the pair of eighth suction portions 180a and 180b, first, the fifth arm extension / retraction motor 111a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension / retraction first locking portion 119a connected to the underside of the fifth arm extension / retraction first toothed belt 115a via the fifth arm extension / retraction first toothed pulley 113a and the fifth arm extension / retraction first toothed belt 115a.

[0244] As a result, the first locking portion 119a for fifth arm extension / retraction moves in the +X direction, the fifth arm intermediate portion 151a connected to the first locking portion 119a for fifth arm extension / retraction also moves in the +X direction, and the pair of fifth suction portions 181a and 181b provided on the fifth arm intermediate portion 151a also move in the +X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of fifth suction portions 181a and 181b.

[0245] Furthermore, when the fifth arm intermediate part 151a moves in the +X direction, the fifth arm extension / retraction third toothed pulley 121a and the fifth arm extension / retraction fourth toothed pulley 125a, which are rotatably connected to the fifth arm intermediate part 151a, move in the +X direction, and along with this movement, the fifth arm extension / retraction second locking part 120a, which is connected to the fifth arm base end part 149a and the -Y direction side of the fifth arm extension / retraction second toothed belt 123a, and the fifth arm extension / retraction second toothed belt 123a move in the +Y direction. In relation to the third locking portion 127a for extending and retracting the fifth arm connected to the fifth arm tip 157a, the fifth arm tip 157a moves in the +X direction, and the eighth arm portion 159a connected to the fifth arm tip 157a and the pair of eighth suction portions 180a and 180b provided on the eighth arm portion 159a also move in the +X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of eighth suction portions 180a and 180b.

[0246] Next, we will explain how the item holding device 105 changes the distance between the motor shaft (corresponding to the "third shaft" of the present invention) of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b, as well as the pair of ninth suction portions 189a and 189b, to suit the size of the cardboard box.

[0247] First, a case where the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b and the pair of ninth suction portions 189a and 189b is increased will be described.

[0248] When increasing the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b, and the pair of ninth suction portions 189a and 189b, first, the seventh arm extension / retraction motor 111b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension / retraction first locking portion 119b connected to the underside of the seventh arm extension / retraction first toothed belt 115b via the seventh arm extension / retraction first toothed pulley 113b and the seventh arm extension / retraction first toothed belt 115b.

[0249] As a result, the seventh arm extension / retraction first locking portion 119b moves in the +X direction, the seventh arm intermediate portion 151b connected to the seventh arm extension / retraction first locking portion 119b also moves in the +X direction, and the pair of seventh suction portions 187a and 187b provided on the seventh arm intermediate portion 151b also move in the +X direction, thereby increasing the distance between the motor shaft of the arm rotation second drive motor 161b and the pair of seventh suction portions 187a and 187b.

[0250] Furthermore, when the seventh arm intermediate part 151b moves in the +X direction, the seventh arm extension / retraction third toothed pulley 121b and the seventh arm extension / retraction fourth toothed pulley 125b, which are rotatably connected to the seventh arm intermediate part 151b, move in the +X direction, and along with this movement, the seventh arm extension / retraction second locking part 120b, which is connected to the seventh arm base end part 149b and the -Y direction side of the seventh arm extension / retraction second toothed belt 123b, and the seventh arm extension / retraction second toothed belt 123b move in the +Y direction. In relation to the third locking portion 127b for seventh arm extension / retraction connected to the seventh arm tip portion 157b, the seventh arm tip portion 157b moves in the +X direction, and the ninth arm portion 159b connected to the seventh arm tip portion 157b and the pair of ninth suction portions 189a and 189b provided on the ninth arm portion 159b also move in the +X direction, and the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of ninth suction portions 189a and 189b can also be increased.

[0251] Next, a case where the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b and the pair of ninth suction portions 189a and 189b is reduced will be described.

[0252] When shortening the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b, and the pair of ninth suction portions 189a and 189b, first, the seventh arm extension / retraction motor 111b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension / retraction first locking portion 119b connected to the underside of the seventh arm extension / retraction first toothed belt 115b via the seventh arm extension / retraction first toothed pulley 113b and the seventh arm extension / retraction first toothed belt 115b.

[0253] As a result, the seventh arm extension / retraction first locking portion 119b moves in the -X direction, the seventh arm intermediate portion 151b connected to the seventh arm extension / retraction first locking portion 119b also moves in the -X direction, and the pair of seventh suction portions 187a and 187b provided on the seventh arm intermediate portion 151b also move in the -X direction, thereby shortening the distance between the motor shaft of the arm rotation second drive motor 161b and the pair of seventh suction portions 187a and 187b.

[0254] Furthermore, when the seventh arm intermediate part 151b moves in the -X direction, the seventh arm extension / retraction third toothed pulley 121b and the seventh arm extension / retraction fourth toothed pulley 125b, which are rotatably connected to the seventh arm intermediate part 151b, move in the -X direction, and along with this movement, the seventh arm extension / retraction second locking part 120b, which is connected to the -Y direction side of the seventh arm base end part 149b and the seventh arm extension / retraction second toothed belt 123b, and the seventh arm extension / retraction second toothed belt 123b move in the +Y direction. Due to the relationship between the seventh arm tip 157b and the third locking portion 127b for seventh arm extension / retraction connected to the seventh arm tip 157b, the seventh arm tip 157b moves in the -X direction, and the ninth arm portion 159b connected to the seventh arm tip 157b and the pair of ninth suction portions 189a and 189b provided on the ninth arm portion 159b also move in the -X direction, thereby shortening the distance between the motor shaft of the second arm rotation drive motor 161b and the pair of ninth suction portions 189a and 189b.

[0255] Next, we will explain how the item gripping device 105 changes the distance between the motor shaft (corresponding to the "second shaft" of the present invention) of the second arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b to suit the size of the cardboard box.

[0256] First, a case where the distance between the motor shaft of the second arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b is increased will be described.

[0257] When increasing the distance between the motor shaft of the second arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b, first, the sixth arm extension / retraction motor 111c is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension / retraction first locking portion 119c connected to the underside of the sixth arm extension / retraction first toothed belt 115c via the sixth arm extension / retraction first toothed pulley 113c and the sixth arm extension / retraction first toothed belt 115c.

[0258] As a result, the sixth arm extension / retraction first locking portion 119c moves in the +X direction, the sixth arm intermediate portion 151c connected to the sixth arm extension / retraction first locking portion 119c also moves in the +X direction, and the pair of tenth suction portions 185a and 185b provided on the sixth arm intermediate portion 151c also move in the +X direction, thereby increasing the distance between the motor shaft of the arm rotation first drive motor 161a and the pair of tenth suction portions 185a and 185b.

[0259] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 161b and the pair of tenth attraction portions 185a and 185b is reduced will be described.

[0260] When shortening the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b, first, the sixth arm extension / retraction motor 111c is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension / retraction first locking portion 119c connected to the underside of the sixth arm extension / retraction first toothed belt 115c via the sixth arm extension / retraction first toothed pulley 113c and the sixth arm extension / retraction first toothed belt 115c.

[0261] As a result, the sixth arm extension / retraction first locking portion 119c moves in the -X direction, the sixth arm intermediate portion 151c connected to the sixth arm extension / retraction first locking portion 119c also moves in the -X direction, and the pair of tenth suction portions 185a and 185b provided on the sixth arm intermediate portion 151c also move in the -X direction, thereby shortening the distance between the motor shaft of the arm rotation first drive motor 161a and the pair of tenth suction portions 185a and 185b.

[0262] 24 to 26 show plan views, front views, and bottom views of the item gripping device 105 in a state in which the spacing between each suction portion in the +Y and -Y directions is shortened 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, 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 is increased.

[0263] On the other hand, Figures 29 to 31 show plan views, front views, and bottom views of the item gripping device 105 in which the spacing between each suction portion in the +Y and -Y directions is shortened, 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, 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 is shortened.

[0264] Then, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36 are driven by the compressor 8 to suck up the flat cardboard W1, thereby fixing the flat cardboard W1 to the upper surface of the flat cardboard placing table 36 (S9).

[0265] Then, the articulated robot 3 is operated to set the item holding device 105 in the open state as shown in Figures 20 and 21, and a pair of sixth suction portions 183a and 183b and a pair of tenth suction portions 185a and 185b of the item holding device 105 are positioned within the flat cardboard W1, while the other suction portions are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked up using only the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b (S11).

[0266] Then, while the bottom surface of the left center position of the flat cardboard box W1 is being sucked by the item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the top surface of the flat cardboard box W1 using only the pair of sixth suction units 183a and 183b and the pair of tenth suction units 185a and 185b, making the flat cardboard box W1 three-dimensional (S13), and the item gripping device 105 grips the three-dimensional cardboard box W1 (S14).

[0267] Note that Figure 27 is an oblique view showing the initial state in which the item holding device 105 holds the three-dimensional cardboard box W1 only with the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b, with the spacing between each suction portion in the +Y and -Y directions shortened 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, 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 widened.

[0268] On the other hand, Figure 32 is an oblique view showing the initial state in which the item holding device 105 holds the three-dimensional cardboard box W3 only with the pair of sixth suction portions 183a and 183b and the pair of tenth suction portions 185a and 185b, when the spacing between each suction portion in the +Y and -Y directions has been shortened 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, 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 has been shortened.

[0269] After the flat cardboard box W1 is made three-dimensional, in order to securely grip the cardboard box W1, the article gripping device 105 rotates the fifth arm and the sixth arm so that they form an angle of 90 degrees, rotates the sixth arm and the seventh arm so that they form an angle of 90 degrees, rotates the eighth arm portion 159a so that they form an angle of 90 degrees with respect to the fifth arm, and rotates the ninth arm portion 159b so that they form an angle of 90 degrees with respect to the seventh arm, as shown in Figures 22 and 23. The sixth suction portions 183a and 183b and a pair of tenth suction portions 185a and 185b are configured to adsorb the first of the four sides of the cardboard box W1, the fifth suction portion 181a and 181b are configured to adsorb the second side of the cardboard box W1, the seventh suction portion 187a and 187b are configured to adsorb the third side of the cardboard box W1, and the eighth suction portion 180a and 180b and the ninth suction portion 189a and 189b are configured to adsorb the fourth side of the cardboard box W1.

[0270] Therefore, according to the item gripping device 105 of this embodiment, the entire surface of the cardboard box W1 is adsorbed and gripped, so that even an object made of a flexible material (for example, a cardboard box) can be securely gripped.

[0271] Note that Figure 22 is a plan view showing a state in which a box-making device 101 equipped with an item holding device 105 is holding a three-dimensional cardboard box W1 when the spacing between each suction part in the +Y·-Y directions has been increased, and Figure 23 is an oblique view showing a state in which a box-making device 101 equipped with an item holding device 105 is holding a three-dimensional cardboard box W1 when the spacing between each suction part in the +Y·-Y directions has been increased.

[0272] In addition, Figure 28 is a front view showing the final state in which the item holding device 105 has held the three-dimensional cardboard box W1, with the spacing between each suction portion in the +Y and -Y directions shortened 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, 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 widened.

[0273] On the other hand, Figure 33 is a front view showing the final state in which the item holding device 105 has held a cardboard box W3 that is smaller than the three-dimensional cardboard box W1, with the spacing between each suction part reduced in the +Y and -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 reduced.

[0274] Then, the box making device 101 of this embodiment, like the box making device 1 of the first embodiment, executes the processes of S15 to S33 to fold the inner flaps and outer flaps of the cardboard box W1 and complete the cardboard box.

[0275] According to the article gripping device 105 of this embodiment, the device is equipped with a fifth arm (fifth arm base end 149a, fifth arm intermediate portion 151a, and fifth arm tip end 157a) and a sixth arm (sixth arm base end 149c, sixth arm intermediate portion 151c, and sixth arm tip end 157c) rotatably connected around the second axis, an eighth arm portion 159a rotatably connected to the end of the fifth arm opposite the second axis, a pair of fifth suction portions 181a and 181b provided on the fifth arm, a pair of sixth suction portions 183a and 183b provided on the sixth arm, and a pair of eighth suction portions 180a and 180b provided on the eighth arm portion 159a, so that even articles made of flexible materials can be securely gripped.

[0276] Furthermore, according to the article gripping device 105 of this embodiment, there are provided a sixth arm (sixth arm base end 149c, sixth arm intermediate portion 151c, and sixth arm tip end 157c) and a seventh arm (seventh arm base end 149b, seventh arm intermediate portion 151b, and seventh arm tip end 157b) rotatably connected around the third axis, a ninth arm portion 159b rotatably connected to the end of the seventh arm opposite the third axis, a pair of sixth suction portions 183a and 183b provided on the sixth arm, a pair of seventh suction portions 187a and 187b provided on the seventh arm, and a pair of ninth suction portions 189a and 189b provided on the ninth arm portion 159b, so that even articles made of flexible materials can be securely gripped.

[0277] Furthermore, the item gripping device 105 of this embodiment is equipped with a first arm rotation drive motor 161a that rotates the fifth arm and sixth arm around the second axis, and the eighth arm portion 159a can rotate relative to the end of the fifth arm on the opposite side to the second axis in conjunction with the rotation of the first arm rotation drive motor 161a, so that even if the item is made of a flexible material, the item can be securely gripped with a simple mechanism.

[0278] Furthermore, according to the item holding device 105 of this embodiment, it is equipped with a second arm rotation drive motor 161b that rotates the sixth arm and the seventh arm around the third axis, and the ninth arm section 159b can rotate relative to the end of the seventh arm on the opposite side to the third axis in conjunction with the rotation of the second arm rotation drive motor 161b, so that even if the item is made of a flexible material, the item can be securely held with a simple mechanism.

[0279] Furthermore, according to the item gripping device 105 of this embodiment, the distance between the second axis and the pair of eighth suction portions 180a and 180b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0280] Furthermore, according to the item gripping device 105 of this embodiment, the distance between the third axis and the pair of ninth suction portions 189a and 189b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0281] Furthermore, according to the item gripping device 105 of this embodiment, the distance between the second axis and the pair of fifth suction portions 181a and 181b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0282] Furthermore, according to the item gripping device 105 of this embodiment, the distance between the third axis and the pair of seventh suction portions 187a and 187b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0283] Furthermore, according to the item holding device 105 of this embodiment, the sixth arm is provided with a pair of tenth suction portions 185a and 185b, and is configured so that the distance between the second axis and the pair of tenth suction portions 185a and 185b can be changed, thereby enabling items of different sizes to be held more securely.

[0284] Furthermore, according to the article gripping device 105 of this embodiment, there are provided a fifth arm and a sixth arm rotatably connected around the second axis, a sixth arm and a seventh arm rotatably connected around the 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 portions 181a and 181b provided on the fifth arm, a pair of sixth suction portions 183a and 183b provided on the sixth arm, a pair of seventh suction portions 187a and 187b provided on the seventh arm, a pair of eighth suction portions 180a and 180b provided on the eighth arm portion 159a, and a pair of ninth suction portions 189a and 189b provided on the ninth arm portion 159b, so that articles can be gripped more securely even if they are made of a flexible material.

[0285] Furthermore, the box making device 101 of this embodiment is equipped with an articulated robot 3 and an item gripping device 105 having a sixth arm connected to the tip of the articulated robot 3, so that boxes can be produced reliably and in a balanced manner with sufficient gripping force even if they are made of flexible materials.

[0286] (Third embodiment) Next, an article gripping device according to a third embodiment of the present invention and a box making machine equipped with the article gripping device will be described. Note that the drawings used in this embodiment are also exaggerated to facilitate understanding, and the dimensions differ from the actual dimensions.

[0287] A third embodiment of the present invention will be described below, but the same members as those in the first embodiment are given the same numbers and descriptions thereof will be omitted.

[0288] Figure 34 is a bottom view of the item gripping device of the third embodiment in a state in which the spacing between each suction part in the +X and -X directions has been increased, Figure 35 is an oblique view showing the initial state in which the item gripping device of the third embodiment has gripped a box with the spacing between each suction part in the +X and -X directions increased, and Figure 36 is a front view showing the final state in which the item gripping device of the third embodiment has gripped a box with the spacing between each suction part in the +X and -X directions increased.

[0289] The box making system including the box making device 201 equipped with the item gripping device 205 of this embodiment, like the box making device 1 of the first embodiment, selectively grips and makes three-dimensional flat cardboard placed according to size, folds the inner and outer flaps formed at both the top and bottom ends of the three-dimensional cardboard, and then tapes the ends of the outer flaps to produce a cardboard box.

[0290] The box making device 201 is composed of an articulated robot 3 and an item gripping device 205 connected to the tip of the articulated robot 3, and the item gripping device 205 of this embodiment differs from the item gripping device 105 of the second embodiment in that the spacing between the suction parts is fixed.

[0291] As shown in Figures 34 to 36, the item gripping device 205 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a fifth arm base end 249a, a fifth arm intermediate part 251a slidably engaged with the fifth arm base end 249a in the +X direction and the -X direction, 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 direction and the -X direction, and an eighth arm part 259a rotatably connected to the -X direction tip end of the fifth arm tip end 257a (the end of the fifth arm on the opposite side from the first axis described below).

[0292] The "fifth arm" of the present invention is made up of fifth arm base end portion 249a, fifth arm intermediate portion 251a, and fifth arm tip portion 257a of this embodiment.

[0293] In addition, the item gripping device 205 is equipped with a total of six pairs of suction sections (fifth suction sections 281a and 281b, sixth suction sections 283a and 283b, seventh suction sections 287a and 287b, eighth suction sections 280a and 280b, ninth suction sections 289a and 289b, and tenth suction sections 285a and 285b) for gripping cardboard boxes, and is configured so that each suction section faces the same direction when the fifth arm, the sixth arm described below, the seventh arm described below, the eighth arm section 259a, and the ninth arm section 259b described below are held horizontally, and so that each suction section faces the surface of the cardboard box when the cardboard box is gripped as described below.

[0294] Specifically, the item holding device 205 has a pair of fifth suction portions 281a and 281b at the fifth arm intermediate portion 251a, a pair of sixth suction portions 283a and 283b at the sixth arm base end portion 249c described later, a pair of seventh suction portions 287a and 287b at the seventh arm intermediate portion 251b described later, a pair of eighth suction portions 280a and 280b at the eighth arm portion 259a, a pair of ninth suction portions 289a and 289b at the ninth arm portion 259b described later, and a pair of tenth suction portions 285a and 285b at the sixth arm tip portion 257c described later.

[0295] Furthermore, each pair of suction portions (the fifth suction portions 281a and 281b, the sixth suction portions 283a and 283b, the seventh suction portions 287a and 287b, the eighth suction portions 280a and 280b, the ninth suction portions 289a and 289b, and the tenth suction portions 285a and 285b) is housed in one housing (the fifth housing 281 corresponding to the pair of fifth suction portions 281a and 281b, the sixth housing 283 corresponding to the pair of sixth suction portions 283a and 283b, the seventh housing 287 corresponding to the pair of seventh suction portions 287a and 287b, the eighth housing 280 corresponding to the pair of eighth suction portions 280a and 280b, the ninth housing 289 corresponding to the pair of ninth suction portions 289a and 289b, and the tenth housing 285 corresponding to the pair of tenth suction portions 285a and 285b).

[0296] The item holding device 205 also includes an arm rotation first drive motor 261a (corresponding to the "second drive unit" of the present invention) that is arranged at the base end 249c of the sixth arm described below and rotates the fifth arm and the sixth arm described below around a motor shaft (corresponding to the "second shaft" of the present invention), an arm rotation first drive motor gear 263a that is 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 that is arranged at the base end 249a of the fifth arm and meshes with the arm rotation first drive motor gear 263a.

[0297] The item holding device 205 also includes an arm rotation first drive first toothed pulley 267a that is arranged on the opposite side of the fifth arm base end 249a from the arm rotation first drive driven gear 265a and is coaxially connected to the arm rotation first drive driven gear 265a, an arm rotation first drive first toothed belt 269a whose one end is engaged with the arm rotation first drive first toothed pulley 267a, and a two-stage arm rotation first drive second toothed pulley 271a whose first stage toothed pulley is engaged with the other end of the arm rotation first drive first toothed belt 269a.

[0298] Furthermore, the item holding device 205 is equipped with an arm rotation first drive second toothed belt 273a, one end of which is engaged with the second stage toothed pulley of the arm rotation first drive second toothed pulley 271a, an arm rotation first drive third toothed pulley 275a, which is engaged with the other end of the arm rotation first drive second toothed belt 273a, and an eighth arm section 259a connected to the rotation axis of the arm rotation first drive third toothed pulley 275a.

[0299] In addition, the fifth arm extension / retraction first link part 253a is connected between the arm rotation first drive first toothed pulley 267a and the arm rotation first drive second toothed pulley 271a, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 267a and the arm rotation first drive second toothed pulley 271a, and the fifth arm extension / retraction second link part 255a is connected between the arm rotation first drive second toothed pulley 271a and the arm rotation first drive third toothed pulley 275a, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 267a and the arm rotation first drive second toothed pulley 271a.

[0300] In addition, the first link portion 253a for extending and retracting the fifth arm and the second link portion 255a for extending and retracting the fifth arm are configured to be freely rotatable about the central axis of the second toothed pulley 271a for driving the first arm rotation, depending on the distance between the driven gear 265a for driving the first arm rotation and the third toothed pulley 275a for driving the first arm rotation.

[0301] When the first arm rotation drive motor 261a rotates, the rotational force is transmitted to the first arm rotation drive motor gear 263a, and as described above, the fifth arm and the sixth arm described below are configured to rotate around the motor shaft (corresponding to the "second shaft" of the present invention) of the first arm rotation drive motor 261a.

[0302] In the article gripping device 205 of this embodiment, the fifth arm and a sixth arm described later are also configured to be rotatable at an angle of 90 degrees so that the cardboard boxes can be securely gripped in their box-like state.

[0303] When the fifth arm and a sixth arm described later rotate to form an angle of 90 degrees, the fifth arm and the sixth arm are locked together, and the rotational force of the arm rotation first drive motor 261a is then transmitted to the arm rotation first drive driven gear 265a, the arm rotation first drive first toothed pulley 267a, the arm rotation first drive first toothed belt 269a, the arm rotation first drive second toothed pulley 271a, the arm rotation first drive second toothed belt 273a, the arm rotation first drive third toothed pulley 275a and the eighth arm section 259a, and as a result, the eighth arm section 259a is configured to rotate around the center of the arm rotation first drive third toothed pulley 275a.

[0304] In the article gripping device 205 of this embodiment, the eighth arm portion 259a is configured to rotate 90 degrees relative to the fifth arm tip portion 257a so that the cardboard box can be securely gripped in its box-like state.

[0305] In addition, in the item gripping device 205 of this embodiment, the fifth arm and sixth arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the eighth arm portion 259a is configured to rotate 90 degrees relative to the fifth arm tip portion 257a, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging the fifth arm and sixth arm, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0306] The item holding device 205 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b, as well as the pair of eighth suction portions 280a and 280b, depending on the size of the cardboard box. Specifically, the mechanism includes a fifth arm extension / retraction motor 211a arranged at the base end 249a of the fifth arm, a first toothed pulley 213a for fifth arm extension / retraction coaxially connected to the motor shaft of the fifth arm extension / retraction motor 211a, and a first toothed belt 215a for fifth arm extension / retraction having one end engaged with the first toothed pulley 213a for fifth arm extension / retraction.

[0307] The item holding device 205 also includes a fifth arm extension / retraction second toothed pulley 217a engaged with the other end of the fifth arm extension / retraction first toothed belt 215a, a fifth arm extension / retraction first engaging portion 219a connected to the fifth arm intermediate portion 251a and connected to the underside of the fifth arm extension / retraction first toothed belt 215a, a fifth arm extension / retraction third toothed pulley 221a rotatably connected on the fifth arm intermediate portion 251a, and a fifth arm extension / retraction second toothed belt 223a having one end engaged with the fifth arm extension / retraction third toothed pulley 221a.

[0308] Furthermore, the item holding device 205 includes a fourth toothed pulley 225a for extending and retracting the fifth arm engaged with the other end of the second toothed belt 223a for extending and retracting the fifth arm, a second locking part 220a for extending and retracting the fifth arm 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 and retracting the fifth arm, and a third locking part 227a for extending and retracting the fifth arm 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 and retracting the fifth arm.

[0309] The manner in which the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b and the pair of eighth suction portions 280a and 280b is changed will be described later.

[0310] As shown in Figures 34 to 36, the item gripping device 205 is equipped with a sixth arm base end 249c on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 in the drawing, a sixth arm intermediate part 251c slidably engaged with the sixth arm base end 249c in the +X direction and -X direction, which are the longitudinal directions of the sixth arm base end 249c, and a sixth arm tip end 257c slidably engaged with the sixth arm intermediate part 251c in the +X direction and -X direction.

[0311] The "sixth arm" of the present invention is made up of the sixth arm base end portion 249c, the sixth arm intermediate portion 251c, and the sixth arm tip portion 257c of this embodiment.

[0312] The item holding device 205 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b depending on the size of the cardboard box, and specifically has a sixth arm extension / retraction motor 211c arranged at the sixth arm base end 249c, a sixth arm extension / retraction first toothed pulley 213c coaxially connected to the motor shaft of the sixth arm extension / retraction motor 211c, and a sixth arm extension first toothed belt 215c one end of which is engaged with the sixth arm extension first toothed pulley 213c.

[0313] The item holding device 205 also includes a sixth arm extension / retraction second toothed pulley 217c engaged with the other end of the sixth arm extension / retraction first toothed belt 215c, a sixth arm extension / retraction first engaging portion 219c connected to the sixth arm intermediate portion 251c and connected to the underside of the sixth arm extension / retraction first toothed belt 215c, a sixth arm extension / retraction third toothed pulley 221c rotatably connected on the sixth arm intermediate portion 251c, and a sixth arm extension / retraction second toothed belt 223c having one end engaged with the sixth arm extension / retraction third toothed pulley 221c.

[0314] Furthermore, the item holding device 205 includes a fourth toothed pulley 225c for extending and retracting the sixth arm engaged with the other end of the second toothed belt 223c for extending and retracting the sixth arm, a second locking portion 220c for extending and retracting the sixth arm connected to the base end 249c of the sixth arm and connected to the -Y direction side of the second toothed belt 223c for extending and retracting the sixth arm, and a third locking portion 227c for extending and retracting the sixth arm connected to the tip end 257c of the sixth arm and connected to the -Y direction side of the second toothed belt 223c for extending and retracting the sixth arm.

[0315] The manner in which the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of tenth attraction portions 285a and 285b is changed will be described later.

[0316] As shown in Figures 34 to 36, the item gripping device 205 also includes a seventh arm base end 249b that is rotatable relative to the sixth arm tip end 257c at the +X direction end of the sixth arm tip end 257c, a seventh arm intermediate portion 251b that is slidably engaged with the seventh arm base end 249b in the +X direction and -X direction, which are the longitudinal directions of the seventh arm base end 249b, a seventh arm tip end 257b that is slidably engaged with the seventh arm intermediate portion 251b in the +X direction and -X direction, and a ninth arm portion 259b that is rotatably connected to the +X direction tip of the seventh arm tip end 257b (the end of the seventh arm opposite to the third axis described below).

[0317] The "seventh arm" of the present invention is made up of seventh arm base end portion 249b, seventh arm intermediate portion 251b, and seventh arm tip portion 257b of this embodiment.

[0318] The item holding device 205 also includes an arm rotation second drive motor 261b (corresponding to the "third drive unit" of the present invention) arranged at the seventh arm tip 257c 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 arranged at the seventh arm base end 249b and meshing with the arm rotation first drive motor gear 263b.

[0319] The item holding device 205 also includes an arm rotation second drive first toothed pulley 267b, which is arranged on the opposite side of the seventh arm base end 249b from the arm rotation second drive driven gear 265b and is coaxially connected to the arm rotation second drive driven gear 265b, an arm rotation second drive first toothed belt 269b, one end of which is engaged with the arm rotation second drive first toothed pulley 267b, and a two-stage arm rotation second drive second toothed pulley 271b, the first stage toothed pulley of which is engaged with the other end of the arm rotation second drive first toothed belt 269b.

[0320] Furthermore, the item holding device 205 is equipped with a second toothed belt 273b for second arm rotation drive, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 271b for second arm rotation drive, a third toothed pulley 275b for second arm rotation drive engaged with the other end of the second toothed belt 273b for second arm rotation drive, and a ninth arm section 259b connected to the rotation axis of the third toothed pulley 275b for second arm rotation drive.

[0321] In addition, the seventh arm extension / retraction first link part 253b is connected between the arm rotation second drive first toothed pulley 267b and the arm rotation second drive second toothed pulley 271b, thereby ensuring the axial distance between the arm rotation second drive first toothed pulley 267b and the arm rotation second drive second toothed pulley 271b, and the seventh arm extension / retraction second link part 255b is connected between the arm rotation second drive second toothed pulley 271b and the arm rotation second drive third toothed pulley 275b, thereby ensuring the axial distance between the arm rotation second drive second toothed pulley 271b and the arm rotation second drive third toothed pulley 275b.

[0322] In addition, the seventh arm extension / retraction first link portion 253b and the seventh arm extension / retraction second link portion 255b are configured to be freely rotatable about the central axis of the arm rotation second drive second toothed pulley 271b depending on the distance between the arm rotation second drive driven gear 265b and the arm rotation second drive third toothed pulley 275b.

[0323] When the second arm rotation drive motor 261b rotates, the 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 shaft" of the present invention).

[0324] In the article gripping device 205 of this embodiment, the sixth arm and the seventh arm are also configured to be rotatable at an angle of 90 degrees so that the cardboard box can be securely gripped in its box-like state.

[0325] When the sixth arm and the seventh arm rotate to form an angle of 90 degrees, the sixth arm and the seventh arm are locked together, and the rotational force of the arm rotation second drive motor 261b is then transmitted to the arm rotation second drive driven gear 265b, the arm rotation second drive first toothed pulley 267b, the arm rotation second drive first toothed belt 269b, the arm rotation second drive second toothed pulley 271b, the arm rotation second drive second toothed belt 273b, the arm rotation second drive third toothed pulley 275b and the ninth arm section 259b, and as a result, the ninth arm section 259b is configured to rotate around the center of the arm rotation second drive third toothed pulley 275b.

[0326] In the article gripping device 205 of this embodiment, 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 box-like state.

[0327] In addition, in the item gripping device 205 of this embodiment, the sixth arm and the seventh arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the ninth arm portion 259b is configured to rotate 90 degrees relative to the seventh arm tip portion 257b, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging the sixth arm and the seventh arm, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0328] The item holding device 205 also has a mechanism for changing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b, as well as the pair of ninth suction portions 289a and 289b, depending on the size of the cardboard box. Specifically, the device is equipped with a seventh arm extension / retraction motor 211b arranged at the seventh arm base end 249b, a seventh arm extension / retraction first toothed pulley 213b coaxially connected to the motor shaft of the seventh arm extension / retraction motor 211b, and a seventh arm extension first toothed belt 215b having one end engaged with the seventh arm extension first toothed pulley 213b.

[0329] The item holding device 205 also includes a second toothed pulley 217b for extending and retracting the seventh arm engaged with the other end of the first toothed belt 215b for extending and retracting the seventh arm, a first engaging part 219b for extending and retracting the seventh arm connected to the seventh arm intermediate part 251b and connected to the underside of the first toothed belt 215b for extending and retracting the seventh arm, a third toothed pulley 221b for extending and retracting the seventh arm rotatably connected on the seventh arm intermediate part 251b, and a second toothed belt 223b for extending and retracting the seventh arm, one end of which is engaged with the third toothed pulley 221b for extending and retracting the seventh arm.

[0330] Furthermore, the item holding device 205 includes a fourth toothed pulley 225b for extending and retracting the seventh arm engaged with the other end of the second toothed belt 223b for extending and retracting the seventh arm, a second locking part 220b for extending and retracting 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 and retracting the seventh arm, and a third locking part 227b for extending and retracting 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 and retracting the seventh arm.

[0331] The manner in which the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b can be changed will be described later.

[0332] The block diagram of the box making device 201 of this embodiment is similar to the block diagram of the box making device 101 of the second embodiment.

[0333] Next, the operation of the box making device 201 having the above-described configuration will be described using the main program in FIG.

[0334] In Figure 8, first, the user of the box making device 201 turns on the power switch of the device, then uses the operation buttons on the operation panel 6 to input the size of the cardboard box to be processed (cardboard box size = W1) and the number of cardboard boxes to be processed, and presses the start button.The box making device 201 is set to its initial state (S1), the number of boxes to be processed is set (S3), and the placement position of the cardboard box W1 stored in the box placement position data table 16a of the RAM 16 and box information such as the size of the cardboard box W1 stored in the box information data table 16b are acquired (S5).

[0335] In the initial state, the articulated robot 3 of the box making device 201 is set at the left end position of the upper moving rail 91 in FIG.

[0336] When the box making device 201 acquires the flat cardboard placement position (position of the flat cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat 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 moving table 93 on which the articulated robot 3 is installed along the moving rails 91 to the location where the flat cardboard W1 is stacked on the flat box placement section 80.

[0337] Then, the item 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 cardboard W1, and is opened as shown in Figure 34 (S6), and the topmost flat cardboard W1 of the stacked flat cardboards W1 is sucked in, lifted up, and rotated, moved to the top surface of the flat cardboard loading table 36, and placed on the top surface of the flat cardboard loading table 36 (S7).

[0338] At this time, the item gripping device 205 may use the pair of fifth suction portions 281a and 281b, the pair of sixth suction portions 283a and 283b, the pair of seventh suction portions 287a and 287b, the pair of eighth suction portions 280a and 280b, the pair of ninth suction portions 289a and 289b, and the pair of tenth suction portions 285a and 285b (all suction portions are in the ON state) to suck up the flat cardboard box W1, but taking into account the processing of S13 described below, it is also possible to use only the pair of sixth suction portions 283a and 283b and the pair of tenth suction portions 285a and 285b to suck up the flat cardboard box W1 from this point on, and not use the other suction portions.

[0339] In addition, placing the item holding device 205 in an open state means widening the angle between the fifth arm, sixth arm, and seventh arm to approximately 180 degrees, as shown in Figure 34, and making all of the suction portions, i.e., the pair of fifth suction portions 281a and 281b, the pair of sixth suction portions 283a and 283b, the pair of seventh suction portions 287a and 287b, the pair of eighth suction portions 280a and 280b, the pair of ninth suction portions 289a and 289b, and the pair of tenth suction portions 285a and 285b, face each other in the same plane.

[0340] Here, we will explain how the item gripping device 205 changes the distance between the motor shaft (corresponding to the "second shaft" of the present invention) of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b and the pair of eighth suction portions 280a and 280b to suit the size of the flat cardboard.

[0341] First, a case where the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth attraction portions 281a and 281b and the pair of eighth attraction portions 280a and 280b is increased will be described.

[0342] When increasing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b and the pair of eighth suction portions 280a and 280b, first, the fifth arm extension / retraction motor 211a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension / retraction first locking portion 219a connected to the underside of the fifth arm extension / retraction first toothed belt 215a via the fifth arm extension / retraction first toothed pulley 213a and the fifth arm extension / retraction first toothed belt 215a.

[0343] As a result, the first locking portion 219a for fifth arm extension / retraction moves in the -X direction, the fifth arm intermediate portion 251a connected to the first locking portion 219a for fifth arm extension / retraction also moves in the -X direction, and the pair of fifth suction portions 281a and 281b provided on the fifth arm intermediate portion 251a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b.

[0344] Furthermore, when the fifth arm intermediate part 251a moves in the -X direction, the fifth arm extension / retraction third toothed pulley 221a and the fifth arm extension / retraction fourth toothed pulley 225a, which are rotatably connected on the fifth arm intermediate part 251a, move in the -X direction, and along with this movement, the fifth arm extension / retraction second locking part 220a, which is connected to the -Y direction side of the fifth arm base end part 249a and the fifth arm extension / retraction second toothed belt 223a, and the fifth arm extension / retraction second toothed belt 223a move in the +Y direction. In relation to the third locking portion 227a for extending and retracting the fifth arm connected to the fifth arm tip 257a, the fifth arm tip 257a moves in the -X direction, and the eighth arm portion 259a connected to the fifth arm tip 257a and the pair of eighth suction portions 280a and 280b provided on the eighth arm portion 259a also move in the -X direction, thereby widening the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of eighth suction portions 280a and 280b.

[0345] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth attraction portions 281a and 281b and the pair of eighth attraction portions 280a and 280b is reduced will be described.

[0346] When shortening the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b and the pair of eighth suction portions 280a and 280b, first, the fifth arm extension / retraction motor 211a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the fifth arm extension / retraction first locking portion 219a connected to the underside of the fifth arm extension / retraction first toothed belt 215a via the fifth arm extension / retraction first toothed pulley 213a and the fifth arm extension / retraction first toothed belt 215a.

[0347] As a result, the first locking portion 219a for fifth arm extension / retraction moves in the +X direction, the fifth arm intermediate portion 251a connected to the first locking portion 219a for fifth arm extension / retraction also moves in the +X direction, and the pair of fifth suction portions 281a and 281b provided on the fifth arm intermediate portion 251a also move in the +X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b.

[0348] Furthermore, when the fifth arm intermediate part 251a moves in the +X direction, the fifth arm extension / retraction third toothed pulley 221a and the fifth arm extension / retraction fourth toothed pulley 225a, which are rotatably connected on the fifth arm intermediate part 251a, move in the +X direction, and along with this movement, the fifth arm extension / retraction second locking part 220a, which is connected to the -Y direction side of the fifth arm base end part 249a and the fifth arm extension / retraction second toothed belt 223a, and the fifth arm extension / retraction second toothed belt 223a move in the +Y direction. In relation to the third locking portion 227a for extending and retracting the fifth arm connected to the fifth arm tip 257a, the fifth arm tip 257a moves in the +X direction, and the eighth arm portion 259a connected to the fifth arm tip 257a and the pair of eighth suction portions 280a and 280b provided on the eighth arm portion 259a also move in the +X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of eighth suction portions 280a and 280b.

[0349] Next, we will explain how the item holding device 205 changes the distance between the motor shaft (corresponding to the "third axis" of the present invention) of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b to suit the size of the flat cardboard.

[0350] First, a case where the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b is increased will be described.

[0351] When increasing the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b, first, the seventh arm extension / retraction motor 211b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension / retraction first locking portion 219b connected to the underside of the seventh arm extension / retraction first toothed belt 215b via the seventh arm extension / retraction first toothed pulley 213b and the seventh arm extension / retraction first toothed belt 215b.

[0352] As a result, the seventh arm extension / retraction first locking portion 219b moves in the +X direction, the seventh arm intermediate portion 251b connected to the seventh arm extension / retraction first locking portion 219b also moves in the +X direction, and the pair of seventh suction portions 287a and 287b provided on the seventh arm intermediate portion 251b also move in the +X direction, thereby increasing the distance between the motor shaft of the arm rotation second drive motor 261b and the pair of seventh suction portions 287a and 287b.

[0353] Furthermore, when the seventh arm intermediate part 251b moves in the +X direction, the seventh arm extension / retraction third toothed pulley 221b and the seventh arm extension / retraction fourth toothed pulley 225b, which are rotatably connected on the seventh arm intermediate part 251b, move in the +X direction, and along with this movement, the seventh arm extension / retraction second locking part 220b, which is connected to the seventh arm base end part 249b and the -Y direction side of the seventh arm extension / retraction second toothed belt 223b, and the seventh arm extension / retraction second toothed belt 223b move in the +Y direction. In relation to the third locking portion 227b for seventh arm extension / retraction connected to the seventh arm tip portion 257b, the seventh arm tip portion 257b moves in the +X direction, and the ninth arm portion 259b connected to the seventh arm tip portion 257b and the pair of ninth suction portions 289a and 289b provided on the ninth arm portion 259b also move in the +X direction, and the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of ninth suction portions 289a and 289b can also be increased.

[0354] Next, a case where the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b is reduced will be described.

[0355] When shortening the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b and the pair of ninth suction portions 289a and 289b, first, the seventh arm extension / retraction motor 211b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the seventh arm extension / retraction first locking portion 219b connected to the underside of the seventh arm extension / retraction first toothed belt 215b via the seventh arm extension / retraction first toothed pulley 213b and the seventh arm extension / retraction first toothed belt 215b.

[0356] As a result, the seventh arm extension / retraction first locking portion 219b moves in the -X direction, the seventh arm intermediate portion 251b connected to the seventh arm extension / retraction first locking portion 219b also moves in the -X direction, and the pair of seventh suction portions 287a and 287b provided on the seventh arm intermediate portion 251b also move in the -X direction, thereby shortening the distance between the motor shaft of the arm rotation second drive motor 261b and the pair of seventh suction portions 287a and 287b.

[0357] Furthermore, when the seventh arm intermediate part 251b moves in the -X direction, the seventh arm extension / retraction third toothed pulley 221b and the seventh arm extension / retraction fourth toothed pulley 225b, which are rotatably connected on the seventh arm intermediate part 251b, move in the -X direction, and along with this movement, the seventh arm extension / retraction second locking part 220b, which is connected to the -Y direction side of the seventh arm base end part 249b and the seventh arm extension / retraction second toothed belt 223b, and the seventh arm extension / retraction second toothed belt 223b move in the +Y direction. Due to the relationship between the seventh arm tip 257b and the third locking portion 227b for seventh arm extension / retraction connected to the seventh arm tip 257b, the seventh arm tip 257b moves in the -X direction, and the ninth arm portion 259b connected to the seventh arm tip 257b and the pair of ninth suction portions 289a and 289b provided on the ninth arm portion 259b also move in the -X direction, and the distance between the motor shaft of the second arm rotation drive motor 261b and the pair of ninth suction portions 289a and 289b can also be shortened.

[0358] Next, we will explain how the item gripping device 205 changes the distance between the motor shaft (corresponding to the ``second shaft'' of the present invention) of the second arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b to match the size of the flat cardboard.

[0359] First, a case where the distance between the motor shaft of the second arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b is increased will be described.

[0360] When increasing the distance between the motor shaft of the second arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b, first, the sixth arm extension / retraction motor 211c is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension / retraction first locking portion 219c connected to the underside of the sixth arm extension / retraction first toothed belt 215c via the sixth arm extension / retraction first toothed pulley 213c and the sixth arm extension / retraction first toothed belt 215c.

[0361] As a result, the sixth arm extension / retraction first locking portion 219c moves in the +X direction, the sixth arm intermediate portion 251c connected to the sixth arm extension / retraction first locking portion 219c also moves in the +X direction, and the pair of tenth suction portions 285a and 285b provided on the sixth arm intermediate portion 251c also move in the +X direction, thereby increasing the distance between the motor shaft of the arm rotation first drive motor 261a and the pair of tenth suction portions 285a and 285b.

[0362] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 261b and the pair of tenth attraction portions 285a and 285b is reduced will be described.

[0363] When shortening the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b, first, the sixth arm extension / retraction motor 211c is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the sixth arm extension / retraction first locking portion 219c connected to the underside of the sixth arm extension / retraction first toothed belt 215c via the sixth arm extension / retraction first toothed pulley 213c and the sixth arm extension / retraction first toothed belt 215c.

[0364] As a result, the sixth arm extension / retraction first locking portion 219c moves in the -X direction, the sixth arm intermediate portion 251c connected to the sixth arm extension / retraction first locking portion 219c also moves in the -X direction, and the pair of tenth suction portions 285a and 285b provided on the sixth arm intermediate portion 251c also move in the -X direction, thereby shortening the distance between the motor shaft of the arm rotation first drive motor 261a and the pair of tenth suction portions 285a and 285b.

[0365] Then, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36 are driven by the compressor 8 to suck up the flat cardboard W1, thereby fixing the flat cardboard W1 to the upper surface of the flat cardboard placing table 36 (S9).

[0366] Then, the articulated robot 3 is operated to place the item gripping device 205 in the open state as shown in Figure 34, and the pair of sixth suction portions 283a and 283b and the pair of tenth suction portions 285a and 285b of the item gripping device 205 are positioned within the flat cardboard W1, while the other suction portions are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked up using only the pair of sixth suction portions 283a and 283b and the pair of tenth suction portions 285a and 285b (S11).

[0367] Then, while the bottom surface of the flat cardboard box W1 at the left center position is being sucked by the item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the top surface of the flat cardboard box W1 using only the pair of sixth suction units 283a and 283b and the pair of tenth suction units 285a and 285b, making the flat cardboard box W1 three-dimensional (S13), and the item gripping device 205 grips the three-dimensional cardboard box W1 (S14).

[0368] Note that Figure 35 is an oblique view showing the initial state in which the item holding device 205 holds the three-dimensional cardboard box W1 only with the pair of sixth suction portions 283a and 283b and the pair of tenth suction portions 285a and 285b, with the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b, the pair of seventh suction portions 287a and 287b, the pair of eighth suction portions 280a and 280b, the pair of ninth suction portions 289a and 289b, and the pair of tenth suction portions 285a and 285b increased.

[0369] After the flat cardboard box W1 has been made three-dimensional, in order to securely grip the cardboard box W1, the article gripping device 205 rotates the fifth arm and the sixth arm so that they form an angle of 90 degrees, rotates the sixth arm and the seventh arm so that they form an angle of 90 degrees, rotates the eighth arm portion 259a so that it forms an angle of 90 degrees with respect to the fifth arm, and rotates the ninth arm portion 259b so that it forms an angle of 90 degrees with respect to the seventh arm, thereby aligning the pair of sixth suction portions 259a and 259b. 283a and 283b, and a pair of tenth suction portions 285a and 285b are configured to adsorb the first of the four sides of the cardboard box W1, a pair of fifth suction portions 281a and 281b are configured to adsorb the second side of the cardboard box W1, a pair of seventh suction portions 287a and 287b are configured to adsorb the third side of the cardboard box W1, and a pair of eighth suction portions 280a and 280b, and a pair of ninth suction portions 289a and 289b are configured to adsorb the fourth side of the cardboard box W1.

[0370] Therefore, according to the item gripping device 205 of this embodiment, the entire surface of the cardboard box W1 is adsorbed and gripped, so that even an object made of a flexible material (for example, a cardboard box) can be securely gripped.

[0371] Figure 36 is a front view showing the final state in which the item holding device 205 has held the three-dimensional cardboard box W1, with the distance between the motor shaft of the first arm rotation drive motor 261a and the pair of fifth suction portions 281a and 281b, the pair of seventh suction portions 287a and 287b, the pair of eighth suction portions 280a and 280b, the pair of ninth suction portions 289a and 289b, and the pair of tenth suction portions 285a and 285b increased.

[0372] Then, the box making device 201 of this embodiment, like the box making device 1 of the first embodiment, executes the processes of S15 to S33 to fold the inner flaps and outer flaps of the cardboard box W1 and complete the cardboard box.

[0373] According to the article gripping device 205 of this embodiment, there is provided a fifth arm (fifth arm base end 249a, fifth arm intermediate portion 251a and fifth arm tip end 257a) and a sixth arm (sixth arm base end 249c, sixth arm intermediate portion 251c and sixth arm tip end 257c) rotatably connected around the second axis, an eighth arm portion 259a rotatably connected to the end of the fifth arm opposite the second axis, a pair of fifth suction portions 281a and 281b provided on the fifth arm, a pair of sixth suction portions 283a and 283b provided on the sixth arm, and a pair of eighth suction portions 280a and 280b provided on the eighth arm portion 259a, so that even articles made of flexible materials can be securely gripped.

[0374] Furthermore, according to the article gripping device 205 of this embodiment, there are provided a sixth arm (sixth arm base end 249c, sixth arm intermediate portion 251c, and sixth arm tip end 257c) and a seventh arm (seventh arm base end 249b, seventh arm intermediate portion 251b, and seventh arm tip end 257b) rotatably connected around the third axis, a ninth arm portion 259b rotatably connected to the end of the seventh arm opposite the third axis, a pair of sixth suction portions 283a and 283b provided on the sixth arm, a pair of seventh suction portions 287a and 287b provided on the seventh arm, and a pair of ninth suction portions 289a and 289b provided on the ninth arm portion 259b, so that even articles made of flexible materials can be securely gripped.

[0375] Furthermore, according to the item holding device 205 of this embodiment, it is equipped with an arm rotation first drive motor 261a that rotates the fifth arm and sixth arm around the second axis, and the eighth arm portion 259a can rotate relative to the end of the fifth arm on the opposite side to the second axis in conjunction with the rotation of the arm rotation first drive motor 261a, so that even if the item is made of a flexible material, the item can be securely held with a simple mechanism.

[0376] Furthermore, according to the item gripping device 205 of this embodiment, it is equipped with a second arm rotation drive motor 261b that rotates the sixth arm and the seventh arm around the third axis, and the ninth arm section 259b can rotate relative to the end of the seventh arm on the opposite side to the third axis in conjunction with the rotation of the second arm rotation drive motor 261b, so that even if the item is made of a flexible material, the item can be securely gripped with a simple mechanism.

[0377] Furthermore, according to the item gripping device 205 of this embodiment, the distance between the second axis and the pair of eighth suction portions 280a and 280b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0378] Furthermore, according to the item gripping device 205 of this embodiment, the distance between the third axis and the pair of ninth suction portions 289a and 289b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0379] Furthermore, according to the item gripping device 205 of this embodiment, the distance between the second axis and the pair of fifth suction portions 281a and 281b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0380] Furthermore, according to the item gripping device 205 of this embodiment, the distance between the third axis and the pair of seventh suction portions 287a and 287b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0381] Furthermore, according to the item gripping device 205 of this embodiment, the sixth arm is provided with a pair of tenth suction portions 285a and 285b, and is configured so that the distance between the second axis and the pair of tenth suction portions 285a and 285b can be changed, thereby enabling items of different sizes to be gripped more securely.

[0382] Furthermore, according to the article gripping device 205 of this embodiment, there are provided a fifth arm and a sixth arm rotatably connected around the second axis, a sixth arm and a seventh arm rotatably connected around the 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 portions 281a and 281b provided on the fifth arm, a pair of sixth suction portions 283a and 283b provided on the sixth arm, a pair of seventh suction portions 287a and 287b provided on the seventh arm, a pair of eighth suction portions 280a and 280b provided on the eighth arm portion 259a, and a pair of ninth suction portions 289a and 289b provided on the ninth arm portion 259b, so that articles can be gripped more reliably even if they are made of a flexible material.

[0383] Furthermore, the box making device 201 of this embodiment is equipped with an articulated robot 3 and an item gripping device 205 with a sixth arm connected to the tip of the articulated robot 3, so that boxes can be produced reliably and in a balanced manner with sufficient gripping force even if they are made of flexible materials.

[0384] (Fourth embodiment) Next, an article gripping device according to a fourth embodiment of the present invention and a box making machine equipped with the article gripping device will be described. Note that the drawings used in this embodiment are also exaggerated to facilitate understanding, and the dimensions differ from the actual dimensions.

[0385] A fourth embodiment of the present invention will be described below, but the same members as those in the first embodiment are given the same numbers and descriptions thereof will be omitted.

[0386] Figure 37 is a bottom view of the fourth embodiment of the item gripping device in a state where the spacing between each suction part in the +X and -X directions has been increased, Figure 38 is an oblique view showing the initial state in which the fourth embodiment of the item gripping device has gripped a box with the spacing between each suction part in the +X and -X directions increased, and Figure 39 is a front view showing the final state in which the fourth embodiment of the item gripping device has gripped a box with the spacing between each suction part in the +X and -X directions increased.

[0387] The box making system including the box making device 301 equipped with the item gripping device 305 of this embodiment, like the box making device 1 of the first embodiment, selectively grips and makes three-dimensional flat cardboard placed according to size, folds the inner and outer flaps formed at both the top and bottom ends of the three-dimensional cardboard, and then tape is applied to the ends of the outer flaps to produce a cardboard box.

[0388] The box making device 301 is composed of an articulated robot 3 and an item gripping device 305 connected to the tip of the articulated robot 3. Unlike the item gripping device 5 of the first embodiment, the item gripping device 305 of this embodiment adsorbs and grips four of the four sides of a three-dimensional cardboard box, and can securely grip the cardboard box even if it is made of a flexible material.

[0389] As shown in Figures 37 to 39, the item gripping device 305 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a first arm base end 349a, a first arm intermediate part 351a slidably engaged with the first arm base end 349a in the +X direction and the -X direction 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 direction and the -X direction, and a third arm part 359a rotatably connected to the -X direction tip end of the first arm tip end 357a (the end of the first arm on the opposite side from a first axis described later).

[0390] The "first arm" of the present invention is made up of first arm base end portion 349a, first arm intermediate portion 351a, and first arm tip portion 357a of this embodiment.

[0391] In addition, the item gripping device 305 is equipped with a total of five pairs of suction sections (first suction sections 383a and 383b, second suction sections 385a and 385b, third suction sections 381a and 381b, fourth suction sections 389a and 389b, and tenth suction sections 387a and 387b) for gripping cardboard boxes, and is configured so that each suction section faces the same direction when the first arm, the second arm described below, the third arm section 359a, and the fourth arm section 359b described below are held horizontal, and so that each suction section faces the surface of the cardboard box when the cardboard box is gripped as described below.

[0392] Specifically, the item holding device 305 has a pair of first suction portions 383a and 383b at the first arm intermediate portion 351a, a pair of second suction portions 385a and 385b at the second arm base end portion 349b described later, a pair of third suction portions 381a and 381b at the third arm portion 359a, a pair of fourth suction portions 389a and 389b at the fourth arm portion 359b described later, and a pair of tenth suction portions 387a and 387b at the second arm tip portion 357b described later.

[0393] In addition, each pair of suction portions (a pair of first suction portions 383a and 383b, a pair of second suction portions 385a and 385b, a pair of third suction portions 381a and 381b, a pair of fourth suction portions 389a and 389b, and a pair of tenth suction portions 387 and 387b) is provided with a cylinder (a first cylinder 383 corresponding to the pair of first suction portions 383a and 383b, a second cylinder 385 corresponding to the pair of second suction portions 385a and 385b, a third cylinder 381 corresponding to the pair of third suction portions 381a and 381b, a fourth cylinder 389 corresponding to the pair of fourth suction portions 389a and 389b, and a fifth cylinder 387 corresponding to the pair of tenth suction portions 387 and 387b).

[0394] By activating these cylinders using the compressor 8 described below, the lengths of the suction portion rods (first suction portion rod 383c, second suction portion rod 385c, third suction portion rod 381c, fourth suction portion rod 389c, and fifth suction portion rod 387c) can be extended or contracted, and the spacing between each suction portion in the +Y and -Y directions (the spacing between the first suction portion 383a and the first suction portion 383b, the spacing between the second suction portion 385a and the second suction portion 385b, the spacing between the third suction portion 381a and the first suction portion 381b, the spacing between the fourth suction portion 389a and the fourth suction portion 389b, and the spacing between the tenth suction portion 387a and the fifth suction portion 387b) can be changed.

[0395] In the item holding device 305 of this embodiment, the spacing between each suction part in the +Y and -Y directions can be changed, in the same way as the item holding device 5 of the first embodiment, in order to ensure the gripping force on the cardboard depending on the size of the cardboard.Normally, the cardboard is gripped with the spacing between the suction parts closed, but if the size of the cardboard increases, the spacing between each suction part in the +Y and -Y directions can be widened to accommodate this.

[0396] In the item gripping device 305 of this embodiment, the spacing between each suction part in the +Y and -Y directions is expanded and contracted by turning the cylinder on and off using the compressor 8, but it is also possible to continuously expand and contract the spacing between each suction part in the +Y and -Y directions via gears by driving a motor.

[0397] The item holding device 305 also includes an arm rotation first drive motor 361 (corresponding to the "first drive unit" of the present invention) that is arranged at the second arm base end 349b described later and rotates the first arm and the second arm described later around a motor shaft (corresponding to the "first axis" of the present invention), an arm rotation first drive motor gear 363a that is coaxially connected to the motor shaft (corresponding to the "first axis" of the present invention) of the arm rotation first drive motor 361, and an arm rotation first drive driven gear 365a that is arranged at the first arm base end 349a and meshes with the arm rotation first drive motor gear 363a.

[0398] The item holding device 305 also includes an arm rotation first drive first toothed pulley 367a that is arranged on the opposite side of the first arm base end 349a from the arm rotation first drive driven gear 365a and is coaxially connected to the arm rotation first drive driven gear 365a, an arm rotation first drive first toothed belt 369a whose one end is engaged with the arm rotation first drive first toothed pulley 367a, and a two-stage arm rotation first drive second toothed pulley 371a whose first stage toothed pulley is engaged with the other end of the arm rotation first drive first toothed belt 369a.

[0399] Furthermore, the item holding device 305 is equipped with a second toothed belt 373a for driving the arm rotation first, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 371a for driving the arm rotation first, a third toothed pulley 375a for driving the arm rotation first, which is engaged with the other end of the second toothed belt 373a for driving the arm rotation first, and a third arm section 359a connected to the rotation axis of the third toothed pulley 375a for driving the arm rotation first.

[0400] Furthermore, a first arm extension / retraction first link portion 353a is connected between the arm rotation first drive first toothed pulley 367a and the arm rotation first drive second toothed pulley 371a, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 367a and the arm rotation first drive second toothed pulley 371a, and a first arm extension / retraction second link portion 355a is connected between the arm rotation first drive second toothed pulley 371a and the arm rotation first drive third toothed pulley 375a, thereby ensuring the axial distance between the arm rotation first drive second toothed pulley 371a and the arm rotation first drive third toothed pulley 375a.

[0401] In addition, 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 be freely rotatable about the central axis of the second toothed pulley 371a for driving the first arm rotation, depending on the distance between the driven gear 365a for driving the first arm rotation and the third toothed pulley 375a for driving the first arm rotation.

[0402] When the arm rotation first drive motor 361 rotates, the rotational force is transmitted to the arm rotation first drive motor gear 363a, and as described above, the first arm and the second arm described below are configured to rotate around the motor shaft of the arm rotation first drive motor 361 (corresponding to the "first shaft" of the present invention).

[0403] In addition, in the article gripping device 305 of this embodiment, the first arm and the second arm described below are configured to be rotatable at an angle of 90 degrees so that the cardboard box can be securely gripped in its box-like state.

[0404] When the first arm and a first arm described later rotate to form an angle of 90 degrees, the first arm and the second arm are locked together, and the rotational force of the arm rotation first drive motor 361 is then transmitted to the arm rotation first drive driven gear 365a, the arm rotation first drive first toothed pulley 367a, the arm rotation first drive first toothed belt 369a, the arm rotation first drive second toothed pulley 371a, the arm rotation first drive second toothed belt 373a, the arm rotation first drive third toothed pulley 375a and the third arm portion 359a, and as a result, the third arm portion 359a is configured to rotate around the center of the arm rotation first drive third toothed pulley 375a.

[0405] In the article gripping device 305 of this embodiment, the third arm portion 359a is configured to rotate 90 degrees relative to the first arm tip portion 357a so that the cardboard box can be securely gripped in its box-like state.

[0406] In addition, in the item gripping device 305 of this embodiment, the first arm and second arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the third arm portion 359a is configured to rotate 90 degrees relative to the first arm tip portion 357a, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging them, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0407] The item holding device 305 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b, as well as the pair of third suction portions 381a and 381b, depending on the size of the cardboard box. Specifically, the mechanism includes a first arm extension / retraction motor 311a arranged at the base end 349a of the first arm, a first arm extension / retraction first toothed pulley 313a coaxially connected to the motor shaft of the first arm extension / retraction motor 311a, and a first arm extension / retraction first toothed belt 315a having one end engaged with the first arm extension / retraction first toothed pulley 313a.

[0408] The item holding device 305 also includes a second toothed pulley 317a for first arm extension / retraction engaged with the other end of the first toothed belt 315a for first arm extension / retraction, a first engaging portion 319a for first arm extension / retraction connected to the first arm intermediate portion 351a and connected to the underside of the first toothed belt 315a for first arm extension / retraction, a third toothed pulley 321a for first arm extension / retraction rotatably connected on the first arm intermediate portion 351a, and a second toothed belt 323a for first arm extension / retraction having one end engaged with the third toothed pulley 321a for first arm extension / retraction.

[0409] Furthermore, the item holding device 305 includes a fourth toothed pulley 325a for extending and retracting the first arm engaged with the other end of the second toothed belt 323a for extending and retracting the first arm, a second locking portion 320a for extending and retracting the first arm 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 portion 327a for extending and retracting the first arm 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.

[0410] The manner in which the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b and the pair of third suction portions 381a and 381b can be changed will be described later.

[0411] 37 to 39, the article gripping device 305 is provided with, on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 in the drawing, a second arm base end 349b that is rotatable relative to the first arm, a second arm intermediate part 351b that is slidably engaged with the second arm base end 349b in the +X direction and the -X direction, which are the longitudinal directions of the second arm base end 349b, a second arm tip end 357b that is slidably engaged with the second arm intermediate part 351b in the +X direction and the -X direction, and a fourth arm part 359b (corresponding to the "fourth arm" of the present invention) that is rotatably connected to the +X direction tip end of the second arm tip end 357b (the end opposite to the first axis of the second arm).

[0412] The "second arm" of the present invention is made up of second arm base end portion 349b, second arm intermediate portion 351b, and second arm tip portion 357b of this embodiment.

[0413] The item holding device 305 also includes an arm rotation second drive motor gear 363b 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 second drive driven gear 365b arranged at the second arm base end 349b and meshing with the arm rotation second drive motor gear 363b.

[0414] The item holding device 305 also includes a first toothed pulley 367b for second arm rotation drive that is coaxially connected to the second arm rotation drive driven gear 365b, a first toothed belt 369b for second arm rotation drive that has one end engaged with the first toothed pulley 367b for second arm rotation drive, and a two-stage second arm rotation drive toothed pulley 371b in which the first stage toothed pulley is engaged with the other end of the first toothed belt 369b for second arm rotation drive.

[0415] Furthermore, the item holding device 305 is equipped with a second toothed belt 373b for second arm rotation drive, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 371b for second arm rotation drive, a third toothed pulley 375b for second arm rotation drive engaged with the other end of the second toothed belt 373b for second arm rotation drive, and a fourth arm section 359b connected to the rotation axis of the third toothed pulley 375b for second arm rotation drive.

[0416] In addition, a second arm extension / retraction first link part 353b is connected between the arm rotation second drive first toothed pulley 367b and the arm rotation second drive second toothed pulley 371b, thereby ensuring the axial distance between the arm rotation second drive first toothed pulley 367b and the arm rotation second drive second toothed pulley 371b, and a second arm extension / retraction second link part 355b is connected between the arm rotation second drive second toothed pulley 371b and the arm rotation second drive third toothed pulley 375b, thereby ensuring the axial distance between the arm rotation second drive second toothed pulley 371b and the arm rotation second drive third toothed pulley 375b.

[0417] In addition, 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 be freely rotatable about 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.

[0418] When the arm rotation first drive motor 361 rotates, the rotation is transmitted to the arm rotation second drive motor gear 363b, the arm rotation second drive driven gear 365b, the arm rotation second drive first toothed pulley 367b, the arm rotation second drive first toothed belt 369b, the arm rotation second drive second toothed pulley 371b, the arm rotation second drive second toothed belt 373b, the arm rotation second drive third toothed pulley 375b and the fourth arm section 359b, and as a result, the fourth arm section 359b is configured to rotate around the center of the arm rotation second drive third toothed pulley 375b.

[0419] In the article gripping device 305 of this embodiment, the fourth arm portion 359b is configured to rotate 90 degrees relative to the second arm tip portion 357b so that the cardboard box can be securely gripped in its box-like state.

[0420] In addition, in the item gripping device 305 of this embodiment, the fourth arm portion 359b is configured to rotate 90 degrees relative to the second arm tip portion 357b so that the cardboard can be securely gripped in its boxed state, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging it, it can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0421] The item holding device 305 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction portions 387a and 387b, as well as the pair of fourth suction portions 389a and 389b, depending on the size of the cardboard box. Specifically, the device is equipped with a second arm extension / retraction motor 311b arranged at the second arm base end 349b, a second arm extension / retraction first toothed pulley 313b (not shown as it is hidden by the second arm base end 349b and is arranged in a similar form to the first arm extension / retraction first toothed pulley 313a) coaxially connected to the motor shaft of the second arm extension / retraction motor 311b, and a third arm extension first toothed belt 315b having one end engaged with the second arm extension first toothed pulley 313b.

[0422] The item holding device 305 also includes a second arm extension / retraction second toothed pulley 317b engaged with the other end of the second arm extension / retraction first toothed belt 315b, a second arm extension / retraction first engaging portion 319b connected to the second arm intermediate portion 351b and connected to the underside of the second arm extension / retraction first toothed belt 315b, a second arm extension / retraction third toothed pulley 321b rotatably connected on the second arm intermediate portion 351b, and a second arm extension / retraction second toothed belt 323b having one end engaged with the second arm extension / retraction third toothed pulley 321b.

[0423] Furthermore, the item holding device 305 includes a fourth toothed pulley 325b for extending and retracting the second arm engaged with the other end of the second toothed belt 323b for extending and retracting the second arm, a second locking portion 320b for extending and retracting the second arm connected to the base end 349b of the second arm and connected to the -Y direction side of the second toothed belt 323b for extending and retracting the second arm, and a third locking portion 327b for extending and retracting the second arm connected to the tip end 357b of the second arm and connected to the +Y direction side of the second toothed belt 323b for extending and retracting the second arm.

[0424] The manner in which the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth attraction portions 387a and 387b and the pair of fourth attraction portions 389a and 389b is changed will be described later.

[0425] Next, a block diagram of the box making device 301 of this embodiment will be described.

[0426] The block diagram of the box making device 101 of this embodiment is configured such that, instead of the first suction sections 83a and 83b, the second suction sections 85a and 85b, the third suction sections 81a and 81b, the fourth suction sections 87a and 87b, the first cylinder 81, the second cylinder 83, the third cylinder 85, and the fourth cylinder 87, the first suction sections 383a and 383b, the second suction sections 385a and 385b, the third suction sections 381a and 381b, the fourth suction sections 389a and 389b, the tenth suction sections 387a and 387b, the first cylinder 383, the second cylinder 385, the third cylinder 381, the fourth cylinder 389, and the tenth cylinder 387 are connected to the compressor 8 of the block diagram of the first embodiment of Figure 6.

[0427] Furthermore, the block diagram of the box making device 301 of this embodiment is configured such that a first arm rotation drive motor 361, a first arm extension / retraction motor 311a, and a second arm extension / retraction motor 311b are connected to the driver circuit 12 in the block diagram of the first embodiment of FIG. 6, instead of the first arm rotation drive motor 61, the first arm extension / retraction motor 11a, and the second arm extension / retraction motor 11b.

[0428] Next, the operation of the box making device 301 having the above-described configuration will be described using the main program in FIG.

[0429] In Figure 8, first, the user of the box making device 301 turns on the power switch of the device, then uses the operation buttons on the operation panel 6 to input the size of the cardboard box to be processed (cardboard box size = W1) and the number of cardboard boxes to be processed, and presses the start button.The box making device 301 is set to its initial state (S1), the number of boxes to be processed is set (S3), and the box information such as the placement position of the cardboard box W1 stored in the box placement position data table 16a of the RAM 16 and the size of the cardboard box W1 stored in the box information data table 16b is obtained (S5).

[0430] In the initial state, the articulated robot 3 of the box making device 301 is set at the left end position of the upper moving rail 91 in FIG.

[0431] When the box making device 301 acquires the flat cardboard placement position (position of the flat cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat 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 moving table 93 on which the articulated robot 3 is installed along the moving rails 91 to the location where the flat cardboard W1 is stacked on the flat box placement section 80.

[0432] Then, the item 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 cardboard W1, and is opened as shown in Figure 37 (S6), and the topmost flat cardboard W1 of the stacked flat cardboards W1 is sucked in, lifted up, and rotated, moved to the top surface of the flat cardboard loading table 36, and placed on the top surface of the flat cardboard loading table 36 (S7).

[0433] At this time, the item gripping device 305 may use a pair of first suction portions 383a and 383b, a pair of second suction portions 385a and 385b, a pair of third suction portions 381a and 381b, a pair of fourth suction portions 389a and 389b, and a pair of tenth suction portions 387a and 387b (all suction portions are in the ON state) to suck up the flat cardboard box W1, but taking into account the processing of S13 described below, it is also possible to use only the pair of second suction portions 385a and 385b and the pair of tenth suction portions 387a and 387b to suck up the flat cardboard box W1 from this point on, and not use the other suction portions.

[0434] In addition, placing the item gripping device 305 in an open state means widening the angle between the first arm and the second arm to approximately 180 degrees, as shown in Figure 37, so that all of the suction portions, i.e., the pair of first suction portions 383a and 383b, the pair of second suction portions 385a and 385b, the pair of third suction portions 381a and 381b, the pair of fourth suction portions 389a and 389b, and the pair of tenth suction portions 387a and 387b, face each other in the same plane.

[0435] Here, we will explain how the item gripping device 305 changes the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b and the pair of third suction portions 381a and 381b to suit the size of the flat cardboard.

[0436] First, a case where the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b and the pair of third suction portions 381a and 381b is increased will be described.

[0437] When increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b and the pair of third suction portions 381a and 381b, first, the first arm extension / retraction motor 311a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 319a connected to the underside of the first arm extension / retraction first toothed belt 315a via the first arm extension / retraction first toothed pulley 313a and the first arm extension / retraction first toothed belt 315a.

[0438] As a result, the first arm extension / retraction first locking portion 319a moves in the -X direction, the first arm intermediate portion 351a connected to the first arm extension / retraction first locking portion 319a also moves in the -X direction, and the pair of first suction portions 383a and 383b provided on the first arm intermediate portion 351a also move in the -X direction, thereby increasing the distance between the motor shaft of the arm rotation first drive motor 361 and the pair of first suction portions 383a and 383b.

[0439] Furthermore, when the first arm intermediate part 351a moves in the -X direction, the first arm extension / retraction third toothed pulley 321a and the first arm extension / retraction fourth toothed pulley 325a, which are rotatably connected on the first arm intermediate part 351a, move in the -X direction, and along with this movement, the first arm extension / retraction second locking part 320a, which is connected to the -Y direction side of the first arm base end part 349a and the first arm extension / retraction second toothed belt 323a, and the first arm extension / retraction second toothed belt 323a move in the +Y direction. In relation to the opposite side and the third locking portion 327a for first arm extension / retraction connected to 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, and the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of third suction portions 381a and 381b can also be increased.

[0440] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b and the pair of third suction portions 381a and 381b is reduced will be described.

[0441] When shortening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b, and the pair of third suction portions 381a and 381b, first, the first arm extension / retraction motor 311a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 319a connected to the underside of the first arm extension / retraction first toothed belt 315a via the first arm extension / retraction first toothed pulley 313a and the first arm extension / retraction first toothed belt 315a.

[0442] As a result, the first arm extension / retraction first locking portion 319a moves in the +X direction, the first arm intermediate portion 351a connected to the first arm extension / retraction first locking portion 319a also moves in the +X direction, and the pair of first suction portions 383a and 383b provided on the first arm intermediate portion 351a also move in the +X direction, thereby shortening the distance between the motor shaft of the arm rotation first drive motor 361 and the pair of first suction portions 383a and 383b.

[0443] Furthermore, when the first arm intermediate part 351a moves in the +X direction, the first arm extension / retraction third toothed pulley 321a and the first arm extension / retraction fourth toothed pulley 325a, which are rotatably connected on the first arm intermediate part 351a, move in the +X direction, and along with this movement, the first arm extension / retraction second locking part 320a, which is connected to the first arm base end part 349a and the -Y direction side of the first arm extension / retraction second toothed belt 323a, and the first arm extension / retraction second toothed belt 323a move in the +Y direction. Due to the relationship with the opposite side and the third locking portion 327a for first arm extension / retraction connected to 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 shortening the distance between the motor shaft of the first drive motor 361 for arm rotation and the pair of third suction portions 381a and 381b.

[0444] Next, we will explain how the item gripping device 305 changes the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 361 and the pair of tenth suction portions 387a and 387b, as well as the pair of fourth suction portions 389a and 389b, to suit the size of the flat cardboard.

[0445] First, a case where the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth attraction portions 387a and 387b and the pair of fourth attraction portions 389a and 389b is increased will be described.

[0446] When increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction portions 387a and 387b, and the pair of fourth suction portions 389a and 389b, first, the second arm extension / retraction motor 311b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 319b connected to the underside of the second arm extension / retraction first toothed belt 315b via the second arm extension / retraction first toothed pulley 313b and the second arm extension / retraction first toothed belt 315b.

[0447] As a result, the first locking portion 319b for second arm extension / retraction moves in the +X direction, the second arm intermediate portion 351b connected to the first locking portion 319b for second arm extension / retraction also moves in the +X direction, and the pair of tenth suction portions 387a and 387b provided on the second arm intermediate portion 351b 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 tenth suction portions 387a and 387b.

[0448] Furthermore, when the second arm intermediate part 351b moves in the +X direction, the second arm extension / retraction third toothed pulley 321b and the second arm extension / retraction fourth toothed pulley 325b, which are rotatably connected on the second arm intermediate part 351b, move in the +X direction, and along with this movement, the second arm extension / retraction second locking part 320b, which is connected to the +Y direction side of the second arm base end part 349b and the second arm extension / retraction second toothed belt 323b, and the second arm extension / retraction second toothed belt 323b move in the +Y direction. In relation to the opposite side and the third locking portion 327b for second arm extension / retraction connected to the second arm tip portion 357b, the second arm tip portion 357b moves in the +X direction, and the fourth arm portion 359b connected to the second arm tip portion 357b and the pair of fourth suction portions 389a and 389b provided on the fourth arm portion 359b also move in the +X direction, thereby widening the distance between the motor shaft of the first arm rotation drive motor 316 and the pair of fourth suction portions 389a and 389b.

[0449] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth attraction portions 387a and 387b and the pair of fourth attraction portions 389a and 389b is reduced will be described.

[0450] When shortening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction portions 387a and 387b, and the pair of fourth suction portions 389a and 389b, first, the second arm extension / retraction motor 311b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 319b connected to the underside of the second arm extension / retraction first toothed belt 315b via the second arm extension / retraction first toothed pulley 313b and the second arm extension / retraction first toothed belt 315b.

[0451] As a result, the first locking portion 319b for second arm extension / retraction moves in the -X direction, the second arm intermediate portion 351b connected to the first locking portion 319b for second arm extension / retraction also moves in the -X direction, and the pair of tenth suction portions 387a and 387b provided on the second arm intermediate portion 351b also move in the -X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of tenth suction portions 387a and 387b.

[0452] Furthermore, when the second arm intermediate part 351b moves in the -X direction, the second arm extension / retraction third toothed pulley 321b and the second arm extension / retraction fourth toothed pulley 325b, which are rotatably connected on the second arm intermediate part 351b, move in the -X direction, and along with this movement, the second arm extension / retraction second locking part 320b, which is connected to the -Y direction side of the second arm base end part 349b and the second arm extension / retraction second toothed belt 323b, and the second arm extension / retraction second toothed belt 323b move in the +Y direction. Due to the relationship with the opposite side and the third locking portion 327b for second arm extension / retraction connected to the second arm tip portion 357b, the second arm tip portion 357b moves in the -X direction, and the fourth arm portion 359b connected to the second arm tip portion 357b and the pair of fourth suction portions 389a and 389b provided on the fourth arm portion 359b also move in the -X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of fourth suction portions 389a and 389b.

[0453] Then, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36 are driven by the compressor 8 to suck up the flat cardboard W1, thereby fixing the flat cardboard W1 to the upper surface of the flat cardboard placing table 36 (S9).

[0454] Then, the articulated robot 3 is operated to set the item gripping device 305 in the open state as shown in Figure 37, and a pair of second suction portions 385a and 385b and a pair of tenth suction portions 387a and 387b of the item gripping device 305 are positioned within the flat cardboard W1, while the other suction portions are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked up using only the pair of second suction portions 385a and 385b and the pair of tenth suction portions 387a and 387b (S11).

[0455] Then, while the bottom surface of the flat cardboard box W1 at the center left position is being sucked by the item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the top surface of the flat cardboard box W1 using only the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b, making the flat cardboard box W1 three-dimensional (S13), and the item gripping device 305 grips the three-dimensional cardboard box W1 (S14).

[0456] Figure 38 is an oblique view showing the initial state in which the item holding device 305 holds the three-dimensional cardboard box W1 only with a pair of second suction portions 385a and 385b and a pair of tenth suction portions 387a and 387b, with the spacing between each suction portion in the +Y and -Y directions shortened and the distance between the motor shaft of the first arm rotation drive motor 361 and a pair of first suction portions 383a and 383b, a pair of third suction portions 381a and 381b, a pair of fourth suction portions 389a and 389b, and a pair of tenth suction portions 387a and 387b widened.

[0457] After the flat cardboard box W1 has been made three-dimensional, in order to securely grip the cardboard box W1, the item gripping device 305 is configured so that the first arm and the second arm rotate at 90 degrees, the third arm portion 359a rotates at 90 degrees relative to the first arm, and the fourth arm portion 359b rotates at 90 degrees relative to the second arm, as shown in Figure 39, so that a pair of second suction portions 385a and 385b and a pair of tenth suction portions 387a and 387b suction the first of the four sides of the cardboard box W1, a pair of first suction portions 383a and 383b suction the second side of the cardboard box W1, a pair of third suction portions 381a and 381b suction the third side of the cardboard box W1, and a pair of fourth suction portions 389a and 389b suction the fourth side of the cardboard box W1.

[0458] Therefore, according to the article gripping device 305 of this embodiment, the entire surface of the cardboard box W1 is sucked and gripped, so that even an object made of a flexible material (for example, a cardboard box) can be gripped reliably.

[0459] Figure 39 is a plan view showing the state in which the item holding device 305 is holding a three-dimensional cardboard box W1 when the spacing between the suction portions in the +Y and -Y directions is shortened and the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction portions 383a and 383b, the pair of third suction portions 381a and 381b, the pair of tenth suction portions 387a and 387b, and the pair of fourth suction portions 389a and 389b is increased.

[0460] Then, the box making device 301 of this embodiment, like the box making device 1 of the first embodiment, executes the processes of S15 to S33 to fold the inner flaps and outer flaps of the cardboard box W1 and complete the cardboard box.

[0461] According to the article gripping device 305 of this embodiment, there are provided a first arm (first arm base end 349a, first arm intermediate portion 351a and first arm tip end 357a) and a second arm (second arm base end 349b, second arm intermediate portion 351b and second arm tip end 357b) rotatably connected around the motor shaft (first axis) of the arm rotation first drive motor 361, a third arm 359a rotatably connected to the end of the first arm opposite to the first axis, a pair of first suction portions 383a and 383b provided on the first arm, a pair of second suction portions 385a and 385b provided on the second arm, and a pair of third suction portions 381a and 381b provided on the third arm 359b, so that even articles made of flexible materials can be securely gripped.

[0462] Furthermore, according to the article gripping device 305 of this embodiment, it is provided with an arm rotation first drive motor 361 that rotates the first arm (first arm base end 349a, first arm intermediate portion 351a and first arm tip end 357a) and the second arm (second arm base end 349b, second arm intermediate portion 351b and second arm tip end 357b) around the first axis, and the third arm 359a can rotate relative to the end of the first arm opposite to the first axis in conjunction with the rotation of the arm rotation first drive motor 361, so that even if the article is made of a flexible material, the article can be securely gripped with a simple mechanism.

[0463] Furthermore, according to the item gripping device 305 of this embodiment, the distance between the first axis and the pair of third suction portions 381a and 381b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0464] Furthermore, according to the item gripping device 305 of this embodiment, the distance between the first axis and the pair of first suction portions 383a and 383b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0465] Furthermore, according to the item gripping device 305 of this embodiment, the second arm is provided with a pair of tenth suction portions 387a and 387b, and is configured so that the distance between the first axis and the pair of tenth suction portions 387a and 387b can be changed, thereby enabling items of different sizes to be gripped more securely.

[0466] Furthermore, the item gripping device 305 of this embodiment is equipped with a fourth arm portion 359b rotatably connected to the end of the second arm opposite the first axis, and a pair of fourth suction portions 389a and 389b provided on the fourth arm portion 359b, so that items can be gripped more securely, even if they are made of a flexible material.

[0467] Furthermore, according to the item gripping device 305 of this embodiment, the fourth arm portion 359a can rotate relative to the end opposite to the first axis of the second arm in conjunction with the rotation of the first arm rotation drive motor 361, so that even if the item is made of a flexible material, the item can be gripped reliably with an even simpler mechanism.

[0468] Furthermore, according to the item gripping device 305 of this embodiment, the distance between the first axis and the pair of fourth suction portions 389a and 389b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0469] Furthermore, the box making device 301 of this embodiment is equipped with a multi-joint robot 3 and an item gripping device 305 with a second arm connected to the tip of the multi-joint robot 3, so that boxes can be produced reliably and in a balanced manner with sufficient gripping force even if they are made of flexible materials.

[0470] (Fifth embodiment) Next, an article gripping device according to a fifth embodiment of the present invention and a box making machine equipped with the article gripping device will be described. Note that the drawings used in this embodiment are also exaggerated to facilitate understanding, and the dimensions differ from the actual dimensions.

[0471] A fifth embodiment of the present invention will be described below, but the same members as those in the first embodiment are given the same numbers and descriptions thereof will be omitted.

[0472] Figure 40 is a bottom view of the fifth embodiment of the item gripping device in a state where the spacing between each suction part in the +X and -X directions has been increased, Figure 41 is an oblique view showing the initial state in which the fifth embodiment of the item gripping device has gripped a box with the spacing between each suction part in the +X and -X directions increased, and Figure 42 is a front view showing the final state in which the fifth embodiment of the item gripping device has gripped a box with the spacing between each suction part in the +X and -X directions increased.

[0473] The box making system including the box making device 401 equipped with the item gripping device 405 of this embodiment, like the box making device 1 of the first embodiment, selectively grips and makes three-dimensional flat cardboard placed according to size, folds the inner and outer flaps formed at both the top and bottom ends of the three-dimensional cardboard, and then tape is applied to the ends of the outer flaps to produce a cardboard box.

[0474] The box making device 401 is composed of an articulated robot 3 and an item gripping device 405 connected to the tip of the articulated robot 3, and the item gripping device 405 of this embodiment differs from the item gripping device 305 of the fourth embodiment in that the spacing between the suction parts is fixed.

[0475] As shown in Figures 40 to 42, the item gripping device 405 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a first arm base end 449a, a first arm intermediate part 451a slidably engaged with the first arm base end 449a in the +X direction and the -X direction, 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 direction and the -X direction, and a third arm part 459a rotatably connected to the -X direction tip end of the first arm tip end 457a (the end of the first arm on the opposite side from a first axis described later).

[0476] The "first arm" of the present invention is made up of first arm base end portion 449a, first arm intermediate portion 451a, and first arm tip portion 457a of this embodiment.

[0477] In addition, the item gripping device 405 is equipped with a total of five pairs of suction sections (first suction sections 483a and 483b, second suction sections 485a and 485b, third suction sections 481a and 481b, fourth suction sections 489a and 489b, and tenth suction sections 487a and 487b) for gripping cardboard boxes, and is configured so that each suction section faces the same direction when the first arm, the second arm described below, the third arm section 459a, and the fourth arm section 459b described below are held horizontal, and so that each suction section faces the surface of the cardboard box when the cardboard box is gripped as described below.

[0478] Specifically, the item holding device 405 has a pair of first suction portions 483a and 483b at the first arm intermediate portion 451a, a pair of second suction portions 485a and 485b at the second arm base end portion 449b described later, a pair of third suction portions 481a and 481b at the third arm portion 459a, a pair of tenth suction portions 487a and 487b at the second arm tip portion 457b described later, and a pair of fourth suction portions 489a and 489b at the fourth arm portion 459b described later.

[0479] Furthermore, each pair of suction portions (a pair of first suction portions 483a and 483b, a pair of second suction portions 485a and 485b, a pair of third suction portions 481a and 481b, a pair of fourth suction portions 489a and 489b, and a pair of tenth suction portions 487a and 487b) is housed in one housing (a first housing 483 corresponding to the pair of first suction portions 483a and 483b, a second housing 485 corresponding to the pair of second suction portions 485a and 485b, a third housing 481 corresponding to the pair of third suction portions 481a and 481b, a fourth housing 489 corresponding to the pair of fourth suction portions 489a and 489b, and a tenth housing 487 corresponding to the pair of tenth suction portions 487a and 487b).

[0480] The item holding device 405 also includes an arm rotation first drive motor 461 (corresponding to the "first drive unit" of the present invention) that is arranged at the second arm base end 449b described later and rotates the first arm and the second arm described later around a motor shaft (corresponding to the "first axis" of the present invention), an arm rotation first drive motor gear 463a that is coaxially connected to the motor shaft (corresponding to the "first axis" of the present invention) of the arm rotation first drive motor 461, and an arm rotation first drive driven gear 465a that is arranged at the first arm base end 449a and meshes with the arm rotation first drive motor gear 463a.

[0481] The item holding device 405 also includes an arm rotation first drive first toothed pulley 467a that is arranged on the opposite side of the first arm base end 449a from the arm rotation first drive driven gear 365a and is coaxially connected to the arm rotation first drive driven gear 365a, an arm rotation first drive first toothed belt 469a whose one end is engaged with the arm rotation first drive first toothed pulley 467a, and a two-stage arm rotation first drive second toothed pulley 471a whose first stage toothed pulley is engaged with the other end of the arm rotation first drive first toothed belt 469a.

[0482] Furthermore, the item holding device 405 is equipped with a second toothed belt 473a for driving the arm rotation first, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 471a for driving the arm rotation first, a third toothed pulley 475a for driving the arm rotation first, which is engaged with the other end of the second toothed belt 473a for driving the arm rotation first, and a third arm section 459a connected to the rotation axis of the third toothed pulley 475a for driving the arm rotation first.

[0483] In addition, a first link part 453a for first arm extension / retraction is connected between the first toothed pulley 467a for arm rotation first drive and the second toothed pulley 471a for arm rotation first drive, thereby ensuring the axial distance between the first toothed pulley 467a for arm rotation first drive and the second toothed pulley 471a for arm rotation first drive, and a second link part 455a for first arm extension / retraction is connected between the second toothed pulley 471a for arm rotation first drive and the third toothed pulley 475a for arm rotation first drive, thereby ensuring the axial distance between the second toothed pulley 471a for arm rotation first drive and the third toothed pulley 475a for arm rotation first drive.

[0484] In addition, the first link portion 453a for extending and retracting the first arm and the second link portion 455a for extending and retracting the first arm are configured to be freely rotatable about the central axis of the second toothed pulley 471a for driving the first arm rotation, depending on the distance between the driven gear 465a for driving the first arm rotation and the third toothed pulley 475a for driving the first arm rotation.

[0485] When the arm rotation first drive motor 461 rotates, the rotational force is transmitted to the arm rotation first drive motor gear 463a, and as described above, the first arm and the second arm described below are configured to rotate around the motor shaft of the arm rotation first drive motor 461 (corresponding to the "first shaft" of the present invention).

[0486] In addition, in the article gripping device 405 of this embodiment, the first arm and the second arm described below are configured to be rotatable at an angle of 90 degrees so that the cardboard can be securely gripped in its box-like state.

[0487] When the first arm and a second arm described later rotate to form an angle of 90 degrees, the first arm and the second arm are locked together, and the rotational force of the arm rotation first drive motor 461 is then transmitted to the arm rotation first drive driven gear 465a, the arm rotation first drive first toothed pulley 467a, the arm rotation first drive first toothed belt 469a, the arm rotation first drive second toothed pulley 471a, the arm rotation first drive second toothed belt 473a, the arm rotation first drive third toothed pulley 475a and the third arm portion 459a, and as a result, the third arm portion 459a is configured to rotate around the center of the arm rotation first drive third toothed pulley 475a.

[0488] In the article gripping device 405 of this embodiment, the third arm portion 459a is configured to rotate 90 degrees relative to the first arm tip portion 457a so that the cardboard box can be securely gripped in its box-like state.

[0489] In addition, in the item gripping device 405 of this embodiment, the first arm and the second arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state, and the third arm portion 459a is configured to rotate 90 degrees relative to the first arm tip portion 457a, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging them, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0490] The item holding device 405 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, as well as the pair of third suction portions 481a and 481b, depending on the size of the cardboard box. Specifically, the mechanism includes a first arm extension / retraction motor 411a arranged at the base end 449a of the first arm, a first toothed pulley 413a for first arm extension / retraction coaxially connected to the motor shaft of the first arm extension / retraction motor 411a, and a first toothed belt 415a for first arm extension / retraction having one end engaged with the first toothed pulley 413a for first arm extension / retraction.

[0491] The item holding device 405 also includes a second toothed pulley 417a for first arm extension / retraction engaged with the other end of the first toothed belt 415a for first arm extension / retraction, a first engaging portion 419a for first arm extension / retraction connected to the first arm intermediate portion 451a and connected to the underside of the first toothed belt 415a for first arm extension / retraction, a third toothed pulley 421a for first arm extension / retraction rotatably connected on the first arm intermediate portion 451a, and a second toothed belt 423a for first arm extension / retraction having one end engaged with the third toothed pulley 421a for first arm extension / retraction.

[0492] Furthermore, the item holding device 405 includes a fourth toothed pulley 425a for extending and retracting the first arm engaged with the other end of the second toothed belt 423a for extending and retracting the first arm, a second locking portion 420a for extending and retracting the first arm 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 portion 427a for extending and retracting the first arm 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.

[0493] The manner in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b and the pair of third suction portions 481a and 481b can be changed will be described later.

[0494] 40 to 42, the article gripping device 405 is provided with, on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 on the drawing, a second arm base end 449b that is rotatable relative to the first arm, a second arm intermediate part 451b that is slidably engaged with the second arm base end 449b in the +X direction and the -X direction, which are the longitudinal directions of the second arm base end 449b, a second arm tip end 457b that is slidably engaged with the second arm intermediate part 451b in the +X direction and the -X direction, and a fourth arm part 459b that is rotatably connected to the -X direction tip end of the second arm tip end 457b (the end opposite to the first axis of the second arm).

[0495] The "second arm" of the present invention is made up of second arm base end portion 449b, second arm intermediate portion 451b, and second arm tip portion 457b of this embodiment.

[0496] The item gripping device 405 also includes an arm rotation second drive motor gear 463b 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 second drive driven gear 465b arranged at the second arm base end 449b and meshing with the arm rotation second drive motor gear 463b.

[0497] The item holding device 405 also includes a first toothed pulley 467b for second arm rotation drive that is coaxially connected to the second arm rotation drive driven gear 465b, a first toothed belt 469b for second arm rotation drive that has one end engaged with the first toothed pulley 467b for second arm rotation drive, and a two-stage second arm rotation drive toothed pulley 471b in which the first stage toothed pulley is engaged with the other end of the first toothed belt 469b for second arm rotation drive.

[0498] Furthermore, the item holding device 405 is equipped with a second toothed belt 473b for second arm rotation drive, one end of which is engaged with the second stage toothed pulley of the second toothed pulley 471b for second arm rotation drive, a third toothed pulley 475b for second arm rotation drive engaged with the other end of the second toothed belt 473b for second arm rotation drive, and a fourth arm section 459b connected to the rotation axis of the third toothed pulley 475b for second arm rotation drive.

[0499] In addition, a second arm extension / retraction first link part 453b is connected between the arm rotation second drive first toothed pulley 467b and the arm rotation second drive second toothed pulley 471b, thereby ensuring the axial distance between the arm rotation second drive first toothed pulley 467b and the arm rotation second drive second toothed pulley 471b, and a second arm extension / retraction second link part 455b is connected between the arm rotation second drive second toothed pulley 471b and the arm rotation second drive third toothed pulley 475b, thereby ensuring the axial distance between the arm rotation second drive second toothed pulley 471b and the arm rotation second drive third toothed pulley 475b.

[0500] In addition, the first link portion 453b for extending and retracting the second arm and the second link portion 455b for extending and retracting the second arm are configured to be freely rotatable about 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.

[0501] When the arm rotation first drive motor 461 rotates, its rotational force is transmitted to the arm rotation second drive motor gear 463b, the arm rotation second drive driven gear 465b, the arm rotation second drive first toothed pulley 467b, the arm rotation second drive first toothed belt 469b, the arm rotation second drive second toothed pulley 471b, the arm rotation second drive second toothed belt 473b, the arm rotation second drive third toothed pulley 475b and the fourth arm section 459b, and as a result, the fourth arm section 459b is configured to rotate around the center of the arm rotation second drive third toothed pulley 475b.

[0502] In the article gripping device 405 of this embodiment, the fourth arm portion 459b is configured to rotate 90 degrees relative to the second arm tip portion 457b so that the cardboard box can be securely gripped in its box-like state.

[0503] In addition, in the item gripping device 405 of this embodiment, the fourth arm portion 459b is configured to rotate 90 degrees relative to the second arm tip portion 457b so that the cardboard can be securely gripped in its boxed state, but these angles can be changed arbitrarily depending on the shape of the item to be gripped, and by physically engaging it, it can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.

[0504] The item holding device 405 also has a mechanism for changing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b, as well as the pair of fourth suction portions 489a and 489b, depending on the size of the cardboard box. Specifically, the device is equipped with a second arm extension / retraction motor 411b arranged at the second arm base end 449b, a second arm extension / retraction first toothed pulley 413b (not shown as it is hidden by the second arm base end 449b and is arranged in a similar form to the first arm extension / retraction first toothed pulley 413a) coaxially connected to the motor shaft of the second arm extension / retraction motor 411b, and a third arm extension first toothed belt 415b having one end engaged with the second arm extension first toothed pulley 413b.

[0505] The item holding device 405 also includes a second arm extension / retraction second toothed pulley 417b engaged with the other end of the second arm extension / retraction first toothed belt 415b, a second arm extension / retraction first engaging portion 419b connected to the second arm intermediate portion 451b and connected to the underside of the second arm extension / retraction first toothed belt 415b, a second arm extension / retraction third toothed pulley 421b rotatably connected on the second arm intermediate portion 451b, and a second arm extension / retraction second toothed belt 423b having one end engaged with the second arm extension / retraction third toothed pulley 421b.

[0506] Furthermore, the item holding device 405 includes a fourth toothed pulley 425b for extending and retracting the second arm engaged with the other end of the second toothed belt 423b for extending and retracting the second arm, a second locking portion 420b for extending and retracting the second arm connected to the base end 449b of the second arm and connected to the -Y direction side of the second toothed belt 423b for extending and retracting the second arm, and a third locking portion 427b for extending and retracting the second arm connected to the tip end 457b of the second arm and connected to the +Y direction side of the second toothed belt 423b for extending and retracting the second arm.

[0507] The manner in which the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth attraction portions 487a and 487b and the pair of fourth attraction portions 489a and 489b is changed will be described later.

[0508] The block diagram of the box making device 401 of this embodiment is similar to the block diagram of the box making device 301 of the fourth embodiment.

[0509] Next, the operation of the box making device 401 having the above-described configuration will be described using the main program in FIG.

[0510] In Figure 8, first, the user of the box making device 401 turns on the power switch of the device, then uses the operation buttons on the operation panel 6 to input the size of the cardboard box to be processed (cardboard box size = W1) and the number of cardboard boxes to be processed, and presses the start button.The box making device 401 is set to its initial state (S1), the number of boxes to be processed is set (S3), and the box information such as the placement position of the cardboard box W1 stored in the box placement position data table 16a of the RAM 16 and the size of the cardboard box W1 stored in the box information data table 16b is obtained (S5).

[0511] In the initial state, the articulated robot 3 of the box making device 401 is set at the left end position of the upper moving rail 91 in FIG.

[0512] When the box making device 401 acquires the flat cardboard placement position (position of the flat cardboard W1) stored in the box placement position data table 16a and the box information (size of the flat 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 moving table 93 on which the articulated robot 3 is installed along the moving rails 91 to the location where the flat cardboard W1 is stacked on the flat box placement section 80.

[0513] Then, the item 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 cardboard W1, and is opened as shown in Figure 40 (S6), and the topmost flat cardboard W1 of the stacked flat cardboards W1 is sucked in, lifted up, and rotated, moved to the top surface of the flat cardboard loading table 36, and placed on the top surface of the flat cardboard loading table 36 (S7).

[0514] At this time, the item gripping device 405 may use a pair of first suction portions 483a and 483b, a pair of second suction portions 485a and 485b, a pair of third suction portions 481a and 481b, a pair of fourth suction portions 489a and 489b, and a pair of tenth suction portions 487a and 487b (all suction portions are in the ON state) to suck up the flat cardboard box W1, but taking into account the processing of S13 described below, it is also possible to use only the pair of second suction portions 385a and 385b and the pair of tenth suction portions 387a and 387b to suck up the flat cardboard box W1 from this point on, and not use the other suction portions.

[0515] In addition, placing the item gripping device 405 in an open state means widening the angle between the first arm and the second arm to approximately 180 degrees, as shown in Figure 40, so that all of the suction portions, i.e., the pair of first suction portions 483a and 483b, the pair of second suction portions 485a and 485b, the pair of third suction portions 481a and 481b, the pair of fourth suction portions 389a and 389b, and the pair of tenth suction portions 387a and 387b, face each other in the same plane.

[0516] Here, we will explain how the item gripping device 405 changes the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, as well as the pair of third suction portions 481a and 481b, to suit the size of the flat cardboard.

[0517] First, a case where the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b and the pair of third suction portions 481a and 481b is increased will be described.

[0518] When increasing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, and the pair of third suction portions 481a and 481b, first, the first arm extension / retraction motor 411a is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 419a connected to the underside of the first arm extension / retraction first toothed belt 415a via the first arm extension / retraction first toothed pulley 413a and the first arm extension / retraction first toothed belt 415a.

[0519] As a result, the first arm extension / retraction first locking portion 419a moves in the -X direction, the first arm intermediate portion 451a connected to the first arm extension / retraction first locking portion 419a also moves in the -X direction, and the pair of first suction portions 483a and 483b provided on the first arm intermediate portion 451a also move in the -X direction, thereby increasing the distance between the motor shaft of the arm rotation first drive motor 461 and the pair of first suction portions 483a and 483b.

[0520] Furthermore, when the first arm intermediate part 451a moves in the -X direction, the first arm extension / retraction third toothed pulley 421a and the first arm extension / retraction fourth toothed pulley 425a, which are rotatably connected on the first arm intermediate part 451a, move in the -X direction, and along with this movement, the first arm extension / retraction second locking part 420a, which is connected to the -Y direction side of the first arm base end part 449a and the first arm extension / retraction second toothed belt 423a, and the first arm extension / retraction second toothed belt 423a move in the +Y direction. Due to the relationship with the opposite side and the third locking portion 427a for first arm extension / retraction connected to 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, and the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of third suction portions 481a and 481b can also be increased.

[0521] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b and the pair of third suction portions 481a and 481b is reduced will be described.

[0522] When shortening the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, and the pair of third suction portions 481a and 481b, first, the first arm extension / retraction motor 411a is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the first arm extension / retraction first locking portion 419a connected to the underside of the first arm extension / retraction first toothed belt 415a via the first arm extension / retraction first toothed pulley 413a and the first arm extension / retraction first toothed belt 415a.

[0523] As a result, the first arm extension / retraction first locking portion 419a moves in the +X direction, the first arm intermediate portion 451a connected to the first arm extension / retraction first locking portion 419a also moves in the +X direction, and the pair of first suction portions 483a and 483b provided on the first arm intermediate portion 451a also move in the +X direction, thereby shortening the distance between the motor shaft of the arm rotation first drive motor 461 and the pair of first suction portions 483a and 483b.

[0524] Furthermore, when the first arm intermediate part 451a moves in the +X direction, the first arm extension / retraction third toothed pulley 421a and the first arm extension / retraction fourth toothed pulley 425a, which are rotatably connected on the first arm intermediate part 451a, move in the +X direction, and along with this movement, the first arm extension / retraction second locking part 420a, which is connected to the first arm base end part 449a and the -Y direction side of the first arm extension / retraction second toothed belt 423a, and the first arm extension / retraction second toothed belt 423a move in the +Y direction. Due to the relationship with the opposite side and the third locking portion 427a for first arm extension / retraction connected to 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 shortening the distance between the motor shaft of the first drive motor 461 for arm rotation and the pair of third suction portions 481a and 481b.

[0525] Next, we will explain how the item gripping device 405 changes the distance between the motor shaft (corresponding to the "first shaft" of the present invention) of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b, as well as the pair of fourth suction portions 489a and 489b, to suit the size of the flat cardboard.

[0526] First, a case where the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b and the pair of fourth suction portions 489a and 489b is increased will be described.

[0527] When increasing the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b, and the pair of fourth suction portions 489a and 489b, first, the second arm extension / retraction motor 411b is rotated counterclockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 419b connected to the underside of the second arm extension / retraction first toothed belt 415b via the second arm extension / retraction first toothed pulley 413b and the second arm extension / retraction first toothed belt 415b.

[0528] As a result, the first locking portion 419b for second arm extension / retraction moves in the +X direction, the second arm intermediate portion 451b connected to the first locking portion 419b for second arm extension / retraction also moves in the +X direction, and the pair of tenth suction portions 487a and 487b provided on the second arm intermediate portion 451b 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 fourth suction portions 487a and 487b.

[0529] Furthermore, when the second arm intermediate part 451b moves in the +X direction, the second arm extension / retraction third toothed pulley 421b and the second arm extension / retraction fourth toothed pulley 425b, which are rotatably connected on the second arm intermediate part 451b, move in the +X direction, and along with this movement, the second arm extension / retraction second locking part 420b, which is connected to the +Y direction side of the second arm base end part 449b and the second arm extension / retraction second toothed belt 423b, and the second arm extension / retraction second toothed belt 423b move in the +Y direction. In relation to the opposite side and the third locking portion 427b for second arm extension / retraction connected to the second arm tip portion 457b, the second arm tip portion 457b moves in the +X direction, and the fourth arm portion 459b connected to the second arm tip portion 457b and the pair of fourth suction portions 489a and 489b provided on the fourth arm portion 459b also move in the +X direction, thereby widening the distance between the motor shaft of the first arm rotation drive motor 416 and the pair of fourth suction portions 489a and 489b.

[0530] Next, a case where the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth attraction portions 487a and 487b and the pair of fourth attraction portions 489a and 489b is reduced will be described.

[0531] When shortening the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b, and the pair of fourth suction portions 489a and 489b, first, the second arm extension / retraction motor 411b is rotated clockwise toward the tip of the motor shaft, and the rotational force is transmitted to the second arm extension / retraction first locking portion 419b connected to the underside of the second arm extension / retraction first toothed belt 415b via the second arm extension / retraction first toothed pulley 413b and the second arm extension / retraction first toothed belt 415b.

[0532] As a result, the first locking portion 419b for second arm extension / retraction moves in the -X direction, the second arm intermediate portion 451b connected to the first locking portion 419b for second arm extension / retraction also moves in the -X direction, and the pair of tenth suction portions 487a and 487b provided on the second arm intermediate portion 451b also move in the -X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of tenth suction portions 487a and 487b.

[0533] Furthermore, when the second arm intermediate part 451b moves in the -X direction, the second arm extension / retraction third toothed pulley 421b and the second arm extension / retraction fourth toothed pulley 425b, which are rotatably connected on the second arm intermediate part 451b, move in the -X direction, and along with this movement, the second arm extension / retraction second locking part 420b, which is connected to the -Y direction side of the second arm base end part 449b and the second arm extension / retraction second toothed belt 423b, and the second arm extension / retraction second toothed belt 423b move in the +Y direction. Due to the relationship with the opposite side and the third locking portion 427b for second arm extension / retraction connected to the second arm tip portion 457b, the second arm tip portion 457b moves in the -X direction, and the fourth arm portion 459b connected to the second arm tip portion 457b and the pair of fourth suction portions 489a and 489b provided on the fourth arm portion 459b also move in the -X direction, thereby shortening the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of fourth suction portions 489a and 489b.

[0534] Then, the article suction sections V1, V2, V3, V4, V5, V6, V7, V8 and V9 consisting of nine holes installed on the upper surface of the flat cardboard placing table 36 are driven by the compressor 8 to suck up the flat cardboard W1, thereby fixing the flat cardboard W1 to the upper surface of the flat cardboard placing table 36 (S9).

[0535] Then, the articulated robot 3 is operated to set the item gripping device 405 in the open state as shown in Figure 40, and a pair of second suction portions 485a and 485b and a pair of tenth suction portions 487a and 487b of the item gripping device 405 are positioned within the flat cardboard W1, while the other suction portions are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked up using only the pair of second suction portions 485a and 485b and the pair of tenth suction portions 487a and 487b (S11).

[0536] Then, while the bottom surface of the flat cardboard box W1 at the center left position is being sucked by the item suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9, the articulated robot 3 is operated to lift the top surface of the flat cardboard box W1 using only the pair of second suction units 485a and 485b and the pair of tenth suction units 487a and 487b, making the flat cardboard box W1 three-dimensional (S13), and the item gripping device 405 grips the three-dimensional cardboard box W1 (S14).

[0537] Note that Figure 41 is an oblique view showing the initial state in which the item holding device 405 holds the three-dimensional cardboard box W1 only with the pair of second suction portions 485a and 485b and the pair of tenth suction portions 487a and 487b, with the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, the pair of third suction portions 481a and 481b, the pair of fourth suction portions 489a and 489b, and the pair of tenth suction portions 487a and 487b increased.

[0538] After the flat cardboard box W1 has been made three-dimensional, in order to securely grip the cardboard box W1, the item gripping device 405 is configured so that the first arm and the second arm rotate at 90 degrees, the third arm portion 459a rotates at 90 degrees relative to the first arm, and the fourth arm portion 459b rotates at 90 degrees relative to the second arm, as shown in Figure 42, so that a pair of second suction portions 485a and 485b and a pair of tenth suction portions 487a and 487b suction the first of the four sides of the cardboard box W1, a pair of first suction portions 483a and 483b suction the second side of the cardboard box W1, a pair of third suction portions 481a and 481b suction the third side of the cardboard box W1, and a pair of fourth suction portions 489a and 489b suction the fourth side of the cardboard box W1.

[0539] Therefore, according to the article gripping device 405 of this embodiment, the entire surface of the cardboard box W1 is sucked and gripped, so that even an object made of a flexible material (for example, a cardboard box) can be gripped reliably.

[0540] Note that Figure 42 is a plan view showing the state in which the item holding device 405 is holding a three-dimensional cardboard box W1 when the distance between the motor shaft of the first arm rotation drive motor 461 and the pair of first suction portions 483a and 483b, the pair of third suction portions 481a and 481b, the pair of fourth suction portions 489a and 489b, and the pair of tenth suction portions 387a and 387b is increased.

[0541] Then, the box making device 401 of this embodiment, like the box making device 1 of the first embodiment, executes the processes of S15 to S33 to fold the inner flaps and outer flaps of the cardboard box W1 and complete the cardboard box.

[0542] According to the article gripping device 405 of this embodiment, there is provided a first arm (first arm base end 449a, first arm intermediate portion 451a and first arm tip portion 457a) and a second arm (second arm base end 449b, second arm intermediate portion 451b and second arm tip portion 457b) rotatably connected around the motor shaft (first axis) of the arm rotation first drive motor 461, a third arm portion 459a rotatably connected to the end of the first arm opposite to the first axis, a pair of first suction portions 483a and 483b provided on the first arm, a pair of second suction portions 485a and 485b provided on the second arm, and a pair of third suction portions 481a and 481b provided on the third arm portion 459b, so that even articles made of flexible materials can be securely gripped.

[0543] Furthermore, according to the item gripping device 405 of this embodiment, it is equipped with an arm rotation first drive motor 461 that rotates the first arm (first arm base end 449a, first arm intermediate portion 451a and first arm tip end 457a) and the second arm (second arm base end 449b, second arm intermediate portion 451b and second arm tip end 457b) around the first axis, and the third arm 459a can rotate relative to the end of the first arm opposite to the first axis in conjunction with the rotation of the arm rotation first drive motor 461, so that even if the item is made of a flexible material, the item can be securely gripped with a simple mechanism.

[0544] Furthermore, according to the item gripping device 405 of this embodiment, the distance between the first axis and the pair of third suction portions 481a and 481b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0545] Furthermore, according to the item gripping device 405 of this embodiment, the distance between the first axis and the pair of first suction portions 483a and 483b is configured to be changeable, so that items of different sizes can be gripped more reliably.

[0546] Furthermore, according to the item gripping device 405 of this embodiment, the second arm is provided with a pair of tenth suction portions 487a and 487b, and is configured so that the distance between the first axis and the pair of tenth suction portions 487a and 487b can be changed, thereby enabling items of different sizes to be gripped more securely.

[0547] Furthermore, the item gripping device 405 of this embodiment is equipped with a fourth arm portion 459b rotatably connected to the end of the second arm opposite the first axis, and a pair of fourth suction portions 489a and 489b provided on the fourth arm portion 459b, so that the item can be gripped more securely, even if the item is made of a flexible material.

[0548] Furthermore, according to the item gripping device 405 of this embodiment, the fourth arm portion 459a can rotate relative to the end of the second arm opposite to the first axis in conjunction with the rotation of the first arm rotation drive motor 461, so that even if the item is made of a flexible material, the item can be gripped reliably with an even simpler mechanism.

[0549] Furthermore, according to the item gripping device 405 of this embodiment, the distance between the first axis and the pair of fourth suction portions 489a and 489b is configured to be changeable, so that items can be securely gripped even if they are of different sizes.

[0550] Furthermore, the box making device 401 of this embodiment is equipped with an articulated robot 3 and an item gripping device 405 with a second arm connected to the tip of the articulated robot 3, so that boxes can be produced reliably and in a balanced manner with sufficient gripping force even if they are made of flexible materials.

[0551] The above has described an embodiment of the item gripping device of the present invention and a box-making device equipped with the item gripping device, but the present invention is not limited to the above embodiment and can be implemented with various modifications within the scope that does not deviate from the gist of the present invention.

[0552] For example, in the above-described embodiment of the item holding device, the third arm section, fourth arm section, eighth arm section, and ninth arm section have been described as being rotatable in conjunction with their corresponding arm rotation drive motors, but these arm sections may also be rotated by individual drive motors provided on each arm section without being linked to the arm rotation drive motors.

[0553] However, as in the above-described embodiment, making the third arm section, fourth arm section, eighth arm section, and ninth arm section rotatable in conjunction with their corresponding arm rotation drive motors simplifies the mechanism and makes the device itself more compact.

[0554] Furthermore, in the above-described embodiments, most of the suction parts have been described as being capable of changing the distance from the first axis, the second axis, or the third axis, but these suction parts may also be fixed to the arm so that the distance from the first axis, the second axis, or the third axis does not change.

[0555] However, if each suction portion is configured so that the distance from the first axis, the second axis, or the third axis can be changed, the gripping force can be improved according to the size of the article.

[0556] Furthermore, in the above-described embodiment of the item gripping device, all of the suction parts provided on the arm have been described as consisting of two suction parts (a pair of suction parts), but the number of suction parts provided on the arm is arbitrary and can be any number depending on the size and shape of the item. [Explanation of symbols]

[0557] 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. Operation panel 8. Compressor 10. Robot controller 11a, 311a, 411a···First arm extension motor 11b, 311b, 411b...Second arm extension motor 12 Driver circuit 13a, 313a, 413a···First arm extension / retraction first toothed pulley 13b, 313b, 413b... 1st toothed pulley for 2nd arm extension 14 CPU 15a, 315a, 415a···First arm extension / retraction first toothed belt 15b, 315b, 415b···First toothed belt for second arm extension 16 RAM 17a, 317a, 417a···Second toothed pulley for first arm extension 17b, 317b, 417b... 2nd arm extension / retraction 2nd toothed pulley 18···ROM 19a, 319a, 419a... First locking portion for extending and retracting the first arm 19b, 319b, 419b... First locking portion for second arm extension 20a, 320a, 420a... Second locking portion for extending and retracting the first arm 20b, 320b, 420b...Second locking portion for extending and retracting the second arm 21a, 321a, 421a···Third toothed pulley for first arm extension 21b, 321b, 421b... 2nd arm extension / retraction 3rd toothed pulley 22 First rail (first bent member) 23a, 323a, 423a···Second toothed belt for first arm extension 23b, 323b, 423b... Second toothed belt for second arm extension 24....Protrusion (first bent member) 25a, 325a, 425a... 4th toothed pulley for first arm extension 25b, 325b, 425b... 4th toothed pulley for second arm extension 26a, 26b... Second rail (second bent member) 27a, 327a, 427a···Third locking portion for first arm extension 27b, 327b, 427b...Third locking part for second arm extension 28···Second rail left / right drive motor 30a···First rail forward / backward drive motor 30b···Second rail forward / backward drive motor 31. First Foundation 32 Second rail vertical drive motor 33. Second Foundation 34 Tape attachment section 35...lower arm 36 Flat cardboard stand 37...middle arm 40...Discharge section 45 Rotating part 47 Rotating part (mounting part) 49a, 349a, 449a... Base end of first arm 49b, 349b, 449b... Base end of second arm 50...2nd box making department 51a, 351a, 451a···First arm intermediate section 51b, 351b, 451b...Second arm intermediate section 53a, 353a, 453a···First link part for extending and retracting the first arm 55a, 355a, 455a···Second link for first arm extension 57a, 357a, 457a···Tip of first arm 57b, 357b, 457b...Tip of second arm 59a, 359a, 459a···Third arm section (third arm) 60...No. 1 box making department 61, 161a, 261a, 361, 461···First arm rotation drive motor (first drive unit, second drive unit) 63, 163a, 263a, 363a, 463a···Arm rotation 1st drive motor gear 65, 165a, 265a, 365a, 465a···Arm rotation 1st drive driven gear 67, 167a, 267a, 367a, 467a···First toothed pulley for first arm rotation drive 69, 169a, 269a, 369a, 469a···First toothed belt for first arm rotation drive 71, 171a, 271a, 371a, 471a···Second toothed pulley for first arm rotation drive 73, 173a, 273a, 373a, 473a···Second toothed belt for first arm rotation drive 75, 175a, 275a, 375a, 475a···3rd toothed pulley for arm rotation 1st drive 80···Flat cardboard loading area 81,381···Third cylinder 81a, 81b, 381a, 381b, 481a, 481b...Third suction part 81c, 381c···Third suction rod 83,383···No. 1 cylinder 83a,83b,383a,383b,483a,483b...First suction part 83c, 383c···First suction rod 85,385... No. 2 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···Robot position drive motor 111a, 211a···5th arm extension motor 111b, 211b...7th arm extension motor 111c, 211c... 6th arm extension motor 113a, 213a···1st toothed pulley for 5th arm extension 113b, 213b···No. 7 arm extension / retraction first toothed pulley 113c, 213c···6th arm extension / retraction pulley with first tooth 115a, 215a···First toothed belt for fifth arm extension 115b, 215b···7th arm extension / retraction 1st toothed belt 115c, 215c···6th arm extension 1st toothed belt 117a, 217a···2nd toothed pulley for 5th arm extension 117b, 217b... 7th arm extension / retraction pulley with 2nd tooth 117c, 217c... 6th arm extension / retraction pulley with 2nd tooth 119a, 219a... 5th arm extension first locking portion 119b, 219b... First locking portion for seventh arm extension 119c, 219c···First locking part for 6th arm extension 120a, 220a... Second locking portion for extending and retracting the fifth arm 120b, 220b... Second locking portion for seventh arm extension 120c, 220c... 6th arm extension second locking part 121a, 221a···3rd toothed pulley for 5th arm extension 121b, 221b... 7th arm extension / retraction pulley with 3rd tooth 121c, 221c... 6th arm extension / retraction pulley with 3rd tooth 123a, 223a···Second toothed belt for fifth arm extension 123b, 223b... 7th arm extension / retraction second toothed belt 123c, 223c... 6th arm extension / retraction belt No. 2 with teeth 125a, 225a···4th toothed pulley for 5th arm extension 125b, 225b... 4th toothed pulley for 7th arm extension 125c, 225c... 6th arm extension 4th toothed pulley 127a, 227a···Third locking portion for fifth arm extension 127b, 227b... Third locking part for 7th arm extension 127c, 227c···Third locking part for 6th arm extension 149a, 249a···Base end of fifth arm 149b, 249b... Base end of 7th arm 149c, 249c... Base end of 6th arm 151a, 251a···Intermediate part of 5th arm 151b, 251b...7th arm intermediate section 151c, 251c···Intermediate part of 6th arm 153a, 253a···First link part for extending and retracting the fifth arm 153b, 253b... 7th arm extension first link 155a, 255a···Second link for fifth arm extension 155b, 255b... 7th arm extension / retraction second link 157a, 257a···Tip of 5th arm 157b, 257b...7th arm tip 157c, 257c···Tip of 6th arm 159a, 259a···8th arm section (8th arm) 159b, 259b···9th arm section (9th arm) 161b, 261b... Arm rotation second drive motor (third drive unit) 163b, 263b, 363b, 463b... Arm rotation second drive motor gear 165b, 265b, 365b, 465b... Second arm rotation drive driven gear 167b, 267b, 367b, 467b···Arm rotation second drive first toothed pulley 169b, 269b, 369b, 469b... First toothed belt for second arm rotation drive 171b, 271b, 371b, 471b... Second toothed pulley for second arm rotation drive 173b, 273b, 373b, 473b... Second toothed belt for second arm rotation drive 175b, 275b, 375b, 475b... 3rd toothed pulley for second arm rotation drive 180···8th cylinder 180a,180b,280a,280b...8th adsorption section 180c···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... 1st link part for 2nd arm extension 355b, 455b...Second link part for second arm extension 359b, 459b···Fourth arm section (fourth arm) 389···Fourth cylinder 389a,389b...4th suction part 389c···Fourth suction rod V1,V2,V3,V4,V5,V6,V7,V8,V9...Article adsorption section W1, W2, W3... Cardboard box (box)

Claims

1. a first arm connected to be rotatable around a first axis, and capable of changing a distance between an end portion opposite to the first axis and the first axis; a second arm rotatably connected about the first axis; a third arm rotatably connected to the end of the first arm opposite to the first axis; a first suction portion provided on the first arm; a second suction portion provided on the second arm; a third suction portion provided on the third arm; An article gripping device comprising:

2. a first drive unit that rotates the first arm and the second arm around the first axis; 2. The article gripping device according to claim 1, wherein the third arm is rotatable relative to the end of the first arm opposite to the first axis in conjunction with the rotation of the first drive unit.

3. 2. The article gripping device according to claim 1, wherein the distance between the first shaft and the third suction portion is changeable.

4. 3. The article gripping device according to claim 2, wherein the distance between the first shaft and the third suction portion is changeable.

5. 4. The article gripping device according to claim 3, wherein the distance between the first shaft and the first suction portion is changeable.

6. 5. The article gripping device according to claim 4, wherein the distance between the first shaft and the first suction portion is changeable.

7. the second arm includes a tenth suction portion, 4. The article gripping device according to claim 3, wherein the distance between the first shaft and the tenth suction portion is changeable.

8. the second arm includes a tenth suction portion, 5. The article gripping device according to claim 4, wherein the distance between the first axis and the tenth suction unit is changeable.

9. the second arm includes a tenth suction portion, 6. The article gripping device according to claim 5, wherein the distance between the first axis and the tenth suction portion is changeable.

10. the second arm includes a tenth suction portion, 7. The article gripping device according to claim 6, wherein the distance between the first shaft and the tenth suction portion is changeable.

11. a fourth arm rotatably connected to an end of the second arm opposite to the first shaft; a fourth suction portion provided on the fourth arm; The article holding device according to claim 1, further comprising:

12. 12. The article gripping device according to claim 11, wherein the fourth arm is rotatable relative to the end of the second arm opposite to the first axis in conjunction with the rotation of the first drive unit.

13. 12. The article gripping device according to claim 11, wherein the distance between the first shaft and the fourth suction portion is changeable.

14. 13. The article gripping device according to claim 12, wherein the distance between the first shaft and the fourth suction portion is changeable.

15. a fifth arm and a sixth arm rotatably connected about 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 on the opposite side to the second shaft; a ninth arm rotatably connected to an end of the seventh arm opposite to the third shaft; a fifth suction portion provided on the fifth arm; a sixth suction portion provided on the sixth arm; a seventh suction portion provided on the seventh arm; an eighth suction portion provided on the eighth arm; a ninth suction portion provided on the ninth arm; An article gripping device comprising:

16. a second drive unit that rotates the fifth arm and the sixth arm around the second axis; 16. The article gripping device according to claim 15, wherein the eighth arm is rotatable relative to the end of the fifth arm opposite to the second axis in conjunction with the rotation of the second drive unit.

17. 16. The article gripping device according to claim 15, wherein the distance between the second shaft and the eighth suction portion is changeable.

18. 17. The article gripping device according to claim 16, wherein the distance between the second shaft and the eighth suction portion is changeable.

19. a third drive unit that rotates the sixth arm and the seventh arm around the third axis; 16. The article gripping device according to claim 15, wherein the ninth arm is rotatable relative to the end of the seventh arm opposite to the third axis in conjunction with the rotation of the third drive unit.

20. 16. The article gripping device according to claim 15, wherein the distance between the third shaft and the ninth suction portion is changeable.

21. 20. The article gripping device according to claim 19, wherein the distance between the third shaft and the ninth suction portion is changeable.

22. Articulated robots and The article gripping device according to any one of claims 1 to 14, wherein the second arm is connected to a tip of the articulated robot; A box making device comprising:

23. Articulated robots and an article gripping device according to any one of claims 15 to 21, wherein the sixth arm is connected to a tip of the articulated robot; A box making device comprising: