System for forming bottom of various types of boxes

Abstract

The present invention relates to a system for forming the bottom of various types of boxes that performs a box-forming process by taping the bottom flaps of boxes and, more particularly, to a system for forming the bottom of various types of boxes that enables simple and rapid formation of boxes of different specifications or sizes, thereby providing excellent compatibility, improving productivity, and reducing manufacturing costs. The system for forming the bottom of various types of boxes according to the present invention may comprise: a loading rack device on which a plurality of box blanks are loaded; a bottom forming device that seals boxes by taping the bottoms of the boxes; a box forming robot that picks up the box blanks loaded on the loading rack device, moves same to the bottom forming device, and performs a box-forming operation; and a box discharge means for discharging the boxes formed by the bottom forming device.

Description

Multi-type box bottom box system

[0001] The present invention relates to a multi-type box bottom-wrapping system that performs a box-wrapping process by taping the bottom of a box, and more specifically, to a multi-type box bottom-wrapping system that enables the simple and rapid packaging of various boxes having various specifications or sizes, thereby enabling excellent compatibility, improved productivity, and reduced manufacturing costs.

[0002]

[0003] In general, boxes are used as storage devices, also called boxes, to store various products.

[0004] Boxes are made by cutting cardboard or the like to create box paper of a set specification or size, performing a box paper formation process, then using this box paper to create square side walls, folding the lower wings, and sealing them through taping (hereinafter referred to as "boxing"). This boxing process, if performed manually by workers, has the disadvantage of very low productivity and requiring a lot of manpower and time, which increases manufacturing costs.

[0005] Accordingly, recently, a box-making device that can automatically perform the box-making process has been developed and is being used.

[0006] However, the box-making device is a method of carrying out the box-making process by storing boxes of a specific specification or size in a loading rack, transporting them to a lower box-making device, and then taping them to the bottom of the box, which makes it difficult to manufacture various boxes of different specifications or sizes (hereinafter referred to as 'multi-type boxes').

[0007] For example, when it is necessary to pack multi-shaped boxes, it takes a lot of preparation time to prepare the corresponding standard boxes each time, replace and load them on the box stacking rack, and align them, so excessive labor costs are incurred, which significantly lowers productivity and workability, increases manufacturing costs, and has the disadvantage of increasing facility investment costs because it is necessary to manufacture and prepare stacking racks to store boxes of different standards.

[0008]

[0009] The present invention has been proposed with the above in mind, and its purpose is to provide a multi-type box lower boxing system that can improve productivity and reduce manufacturing costs and facility investment costs by enabling the simple, rapid, and compatible packaging of various boxes having various specifications or sizes.

[0010]

[0011] The above object can be achieved by a multi-type box lower binding system according to one aspect of the present invention, which comprises: a loading rack device on which a plurality of boxes are loaded; a lower binding device for sealing the bottom of boxes by taping them; a binding robot for picking up the boxes loaded on the loading rack device and moving them to the lower binding device to perform a binding operation; and a box removal means for removing boxes removed from the lower binding device.

[0012] At this time, the loading rack device may include a loading rack frame; a box loading conveyor installed on the loading rack frame and on which the box paper is lifted and transported; a box support means for maintaining the box paper in an upright state; a box side support part installed to support and align the side of the box paper; and a box top support part installed to support and align the upper part of the box paper.

[0013] Here, the box-type loading conveyor may include: a conveyor plate installed on the loading rack frame and having a belt installation hole formed therein; a conveyor belt installed in the belt installation hole; a conveyor drive motor generating driving force for rotating the conveyor belt; and a power transmission unit transmitting the rotational force received from the conveyor drive motor to the conveyor belt.

[0014] Meanwhile, the belt installation holes may be arranged in a plurality of pieces spaced apart at regular intervals, the conveyor belt may be formed in a belt shape and installed in each of the belt installation holes, and the power transmission unit may include a drive pulley installed on an output shaft of the conveyor drive motor, a drive belt having one side connected to the drive pulley, a driven pulley connected to the other side of the drive belt, a first belt drive shaft installed at the center of the driven pulley, a pair of bearing blocks inserted into both ends of the first belt drive shaft, a plurality of first belt pulleys installed on the first belt drive shaft and having one side of the conveyor belt connected, a plurality of second belt pulleys arranged opposite to the first belt pulleys and having the other side of the conveyor belt connected, a second belt drive shaft installed between the second belt pulleys, and a drive shaft support block installed on the bottom surface of the conveyor plate to rotatably support the second belt drive shaft.

[0015] In addition, the box support means may include a moving hole formed parallel to the belt installation hole on the conveyor plate; a box support member movably installed in the moving hole; a box support mounting portion installed on the upper portion of the box support member and supporting the box support; and a moving member driving portion that moves the box support member.

[0016] In addition, the box support mounting portion includes a lower support bar connected to the upper portion of the box support moving member, a vertical bar connected at one end to the lower support bar, an upper support bar connected to the other end of the vertical bar, a first angle adjustment bolt installed at a connection portion of the vertical bar and the lower support bar to enable inclination adjustment of the vertical bar, and a second angle adjustment bolt installed at a connection portion of the vertical bar and the upper support bar to enable adjustment of the height and inclination of the upper support bar, and the vertical bar may have a height adjustment hole formed therein to enable adjustment of the height of the upper support bar, and the lower support bar and the upper support bar may have a plurality of position adjustment holes formed therein to enable fastening of the first angle adjustment bolt and the second angle adjustment bolt.

[0017] In addition, the moving member driving unit may include a slider connected to the lower portion of the box-type moving member and moving along the moving direction of the conveyor belt; a linear moving mechanism connected to one end of the slider to provide moving force to the slider; and a guide member arranged along the moving direction of the conveyor belt at the other end of the slider to guide the movement of the slider.

[0018] Meanwhile, the box ground support part comprises a pair of height-adjusting posts installed longitudinally on the loading rack frame so as to be positioned on both sides of the conveyor plate; a vertically movable member horizontally disposed between the height-adjusting posts; a pair of tightening members coupled to both ends of the vertically movable members and fastened to the height-adjusting posts; a left-right position-adjusting member that is fastened to the vertically movable members so as to be movable laterally and adjusts the left-right support position of the upper portion of the box ground; And an upper support member that is connected to the left-right position adjustment member and supports the upper part of the box; the upper support member includes a connecting plate that is connected to the left-right position adjustment member and has a height adjustment hole perforated in the up-and-down direction, a box support rod that is installed orthogonally to the connecting plate, and a height adjustment handle that is inserted into the height adjustment hole and fastened to the left-and-right position adjustment member, and the box support rod has a first inclined surface formed at a free end for the entry of the box, and the connecting plate has a second inclined surface formed at the lower end of a plate-like member that is installed upright so that the box can be pulled out when a pulling force is applied while maintaining the box in a hung state.

[0019] In addition, at least one of the above box-loading conveyors can be installed to be movable via a fastening block on the height-adjusting support according to the size of the box.

[0020] In addition, the box side support part may include a side plate having a viewing window perforated therein for checking the quantity of the box paper, which is installed upright on one side of the conveyor plate.

[0021] Meanwhile, the above-described box-picking robot may further include a control unit that includes a gripper having a plurality of suction cups arranged thereon, determines a TCP (Tool Center Point) of the gripper based on size information of the box paper picked through the gripper, and controls the box-picking operation of the box-picking robot based on the TCP.

[0022] Here, the gripper includes a main gripper and an auxiliary gripper coupled to the main gripper so as to be rotatable about a rotation axis, and the control unit determines a set of suction cups included in a portion of the main gripper corresponding to the size of one body surface of the box from the rotation axis among the entire area of ​​the main gripper, and determines the center of the set of suction cups as the TCP.

[0023] In addition, the control unit can control the box picking operation of the box robot so that the TCP is aligned with a point on the center line of the one body surface perpendicular to the folding line of the box surface corresponding to the boundary line between the one body surface and the adjacent other body surface, and the point is spaced apart from the folding line by the distance between the rotation axis and the TCP.

[0024] In addition, the control unit can control the opening of only the valves of each suction cup belonging to the suction cup set among the plurality of suction cups of the main gripper when picking the box paper through the box-making robot.

[0025]

[0026] According to the multi-shaped box lower case system according to the present invention, box paper can be automatically transported by a box loading conveyor with adjustable height, and a movable box support means with adjustable support form according to the size of the box paper can stably maintain the standing state of box paper of various sizes, and a box upper support part with adjustable height can support box paper of various sizes and enable stable discharge operation, so that multi-shaped boxes can be easily and quickly cased, thereby improving productivity and compatibility and reducing manufacturing costs and facility investment costs.

[0027]

[0028] Figure 1 is a perspective view showing the overall appearance of a polygonal box lower case system according to one embodiment of the present invention;

[0029] FIG. 2a and FIG. 2b are perspective views showing a loading rack device of a multi-type box lower case system according to one embodiment of the present invention. FIG. 2a shows a shape as seen from the front with the outer cover member omitted, and FIG. 2b shows a shape as seen from the rear with the loading rack frame omitted.

[0030] Figure 3 is a perspective view showing the main part of a polygonal box lower case system according to one embodiment of the present invention.

[0031] FIGS. 4a to 4c are perspective views showing a box loading conveyor of a multi-type box lower case system according to one embodiment of the present invention, wherein FIG. 4a shows a shape as seen from the front, FIG. 4b shows a shape as seen from the rear, and FIG. 4c shows an enlarged view of a moving member driving unit.

[0032] FIGS. 5A to 5D are drawings for explaining a box ground support member of a multi-type box lower case system according to one embodiment of the present invention, wherein FIG. 5A illustrates a shape as seen from the front, FIG. 5B illustrates a shape as seen from the rear, FIG. 5C is an exploded perspective view, and FIG. 5D is a side view for explaining the function of the upper support member.

[0033] Figure 6 is a perspective view for explaining the lower box device, the box robot, and the box removal means of the multi-type box lower box system according to one embodiment of the present invention.

[0034] Figure 7 is an enlarged perspective view illustrating a lower box device, a box robot, and a box removal means of a multi-type box lower box system according to one embodiment of the present invention.

[0035] FIG. 8 is a reference diagram for explaining a process in which a control unit of a multi-type box lower box system according to an embodiment of the present invention controls a box picking operation of a box robot.

[0036]

[0037] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings, and identical or similar components will be described with the same reference numbers.

[0038] Meanwhile, detailed descriptions of the configurations, functions, and effects of each drawing, which can be easily understood by those skilled in the art from general techniques, are briefly or omitted. Furthermore, since the present invention is characterized by a polygonal box lower case system, the relevant parts are primarily illustrated and described, and the descriptions of the remaining parts are briefly or omitted.

[0039] FIG. 1 is a perspective view showing the overall appearance of a multi-type box lower case system according to an embodiment of the present invention, FIGS. 2a and 2b are perspective views showing a loading rack device of a multi-type box lower case system according to an embodiment of the present invention, wherein FIG. 2a shows a shape as seen from the front with an external cover member omitted, and FIG. 2b shows a shape as seen from the rear with a loading rack frame omitted. FIG. 3 is a perspective view showing a main part of a multi-type box lower case system according to an embodiment of the present invention, and FIGS. 4a to 4c are perspective views showing a box loading conveyor of a multi-type box lower case system according to an embodiment of the present invention, wherein FIG. 4a shows a shape as seen from the front, FIG. 4b shows a shape as seen from the rear, and FIG. 4c is an enlarged view of a moving member driving unit.

[0040] Referring to FIGS. 1 to 4c, a multi-type box lower box system according to one embodiment of the present invention is provided to enable the simple, quick, and compatible packaging of various boxes having various specifications or sizes, and includes a loading rack device (1), a lower box device (2), a box robot (3), and a box removal means (4).

[0041] The loading rack device (1) is a component in which a plurality of boxes are loaded, and is characterized in that it is configured to load and provide not only boxes of a specific specification, but also boxes of various shapes (hereinafter referred to as “multi-shaped boxes”) having different specifications or sizes so that they can be picked up by the box-loading robot (3).

[0042] The loading rack device (1) is equipped with a loading rack frame (11) forming the overall skeleton, a box loading conveyor (12), a box support means (14), a box side support part (16), a box upper support part (18), a control unit (not shown) that controls the operation of the box loading conveyor (12) and the box support means (14).

[0043] The loading rack device (1) is configured to load and transport box paper in a multi-row, multi-layer manner and provide it to the box-making robot (3). In this embodiment, the loading rack frame (11) is configured with a two-row structure in the horizontal direction and a two-layer structure in the vertical direction, but is not limited thereto and may be configured to have more rows and layers.

[0044] The loading rack frame (11) is a component that serves as a skeleton on which a box loading conveyor (12), box support means (14), etc. are installed, and is composed of a body having a roughly rectangular shape.

[0045] The loading rack frame (11) is provided with a frame support (111) in which a steel member such as a square bar is installed longitudinally, a frame transverse member (112) installed transversely at the top and bottom of the frame support, and a cover member (not shown) installed on the frame support and the frame transverse member and formed into a plane shape. The cover member can be formed into a partially or entirely transparent plane shape so as to allow internal visibility, and the installation of the cover member is omitted in the area where the box is taken out so as not to cause interference during the operation of the box-making robot (3).

[0046] The box loading conveyor (12) is installed on a loading rack frame and is a component on which box paper (b1) is lifted and transported, and is equipped with a conveyor plate (121), a conveyor belt (122), a conveyor drive motor (123), and a power transmission unit (124).

[0047] The conveyor plate (121) is roughly square in shape and has a plurality of belt installation holes (1212) formed along the direction of movement of the box paper and one moving hole (141) described later, and is installed on a height-adjusting support (181) by a fastening block (188) described later. Here, two belt installation holes (1212) are formed on one side of the moving hole and two are spaced apart at regular intervals on the other side.

[0048] The conveyor belt (122) is a belt that transports the box paper (b1) toward the discharge direction, and is formed in a belt shape and installed so that the upper part is exposed in each belt installation hole (122).

[0049] The conveyor drive motor (123) is a component that generates driving force for the rotation of the conveyor belt (122), and is integrally connected to a reducer. This conveyor drive motor (123) is installed at the lower edge of the conveyor plate (121) via a fixed bracket.

[0050] The power transmission unit (124) is a component that transmits the rotational power received from the conveyor drive motor (123) to the conveyor belt (122). It can be configured without any special restrictions as long as it can move the above-described plurality of conveyor belts in a forward and reverse direction. However, in this embodiment, it is connected to the conveyor plate so that it moves together when the upper and lower positions of the conveyor plate (121) are adjusted.

[0051] The power transmission unit (124) is composed of a drive pulley (1241) installed on the output shaft of the conveyor drive motor (123), a drive belt (1242) connected to one side of the drive pulley (1241), a driven pulley (1243) connected to the other side of the drive belt (1241), a first belt drive shaft (1244) installed at the center of the driven pulley (1243), a pair of bearing blocks (1245) inserted into both ends of the first belt drive shaft (1244), a first belt pulley (1246) installed on the first belt drive shaft (1244) and connected to one side of the conveyor belt, a plurality of first belt pulleys (1246) spaced apart from each other and installed under the conveyor plate (121), a plurality of second belt pulleys (1247) arranged opposite to the first belt pulley (1246) and connected to the other side of the conveyor belt, and a second A second belt drive shaft (1248) installed between belt pulleys (1247) and a drive shaft support block (1249) installed on the bottom surface of the conveyor plate (121) to rotatably support the second belt drive shaft (1248) are provided.

[0052] Preferably, the drive belt (1242) and the conveyor belt (122) are configured as timing belts so that the movement of the box is performed accurately, and the drive pulley (1241), the driven pulley (1243), and the first and second belt pulleys (1246, 1247) are configured as timing pulleys so that the power is stably provided.

[0053] The bearing block (1245) is inserted into a hollow hole of a body having a roughly square plate shape into the first belt drive shaft (1244) and has a bearing (not shown) installed therein to guide the rotational motion.

[0054] The drive shaft support block (1249) is formed in the shape of a roughly square bar with a hollow hole formed therein, and a bearing (not shown) is installed inside the hollow hole to guide the rotational motion of the second belt drive shaft (1248).

[0055] And, since the box loading conveyor (12) is assembled so that the conveyor plate (121) can move on the height-adjusting support (181) via a fastening block (188), it has the advantage of being able to adjust the height of the assembly position according to the size of the box (b1).

[0056] Meanwhile, the box support means (14) is a component that maintains the upright state of the box (b1), and includes a moving hole (141) formed parallel to the belt installation holes (1212) of the conveyor plate (121), a box support moving member (142) installed in the moving hole (141) and formed in a roughly rod shape, a box support fixing member (143) installed on the upper portion of the box support moving member (142) and supporting the box, and a moving member driving member (144) that moves the box support moving member (142).

[0057] The box support mounting portion (143) is configured to support the rear surface of the box support (b1), and includes a lower support transverse bar (1431), a longitudinal bar (1432), an upper support transverse bar (1433), a first angle adjustment bolt (1434), and a second angle adjustment bolt (1435).

[0058] The lower support crossbar (1431) is configured to be connected to the upper portion of the box-type moving member (142), and a plurality of position adjustment holes (1434a) are formed spaced apart to allow the first angle adjustment bolt (1434) to be fastened to the body having a roughly bar-shaped shape.

[0059] The longitudinal bar (1432) is configured to be connected to the lower support transverse bar (1431) at one end via a first angle adjustment bolt (1434), and a height adjustment hole (1432a) is formed on the body having a shape of a roughly bar plate so that the height can be adjusted by adjusting the fastening position of the upper support transverse bar (1433).

[0060] The upper support crossbar (1433) is configured to be connected to the other end of the longitudinal bar, and a plurality of position adjustment holes (1433a) are formed spaced apart so that a second angle adjustment bolt (1435) is fastened to the body having a shape of a roughly bar plate.

[0061] The first angle adjustment bolt (1434) is installed at the connection part of the longitudinal bar and the lower support transverse bar (1431) to enable adjustment of the inclination of the longitudinal bar (1432), and has a structure in which the fastening bolt is connected to the handle.

[0062] The second angle adjustment bolt (1435) is installed at the connection part of the vertical bar (1432) and the upper support horizontal bar (1433) to enable adjustment of the height and inclination of the upper support horizontal bar (1433), and has a structure in which the fastening bolt is connected to the handle.

[0063] The above moving member driving unit (144) is connected to the lower portion of the box moving member (142) and has a slider (1442) that moves along the moving direction of the conveyor belt, a linear moving mechanism (1444) configured to move the slider (1442), and a guide member (1446).

[0064] The linear movement mechanism (1444) is a configuration that is connected to one end of the slider to provide a moving force to the slider (1442), and various translational movement mechanisms such as pneumatic cylinders can be selected without limitation to be configured, but in this embodiment, it is configured as a magnetic rodless cylinder. As is well known, the magnetic rodless cylinder is configured to have a cylinder with a piston built in that moves linearly when compressed air is supplied to the body, a guide rod, etc. are installed, and a shuttle (1444a), etc., is installed on the outside of the cylinder so that it moves by magnetic force when the piston moves, and this shuttle is connected to the slider (1442).

[0065] The guide member (1446) is configured to be arranged along the direction of movement of the conveyor belt on the bottom surface of the conveyor plate (121) to guide the movement of the slider (1442), and the other end of the slider (1442) is connected. Here, the guide member (14446) is composed of a guide block to which the slider (14442) is coupled and a guide rail along which the guide block slides, and is commonly referred to as an LM guide.

[0066] Meanwhile, the box side support member (14) is a component that supports the side of the box (b1), and is composed of a side plate with a viewing window (162) perforated on a plate-shaped body that is installed upright on one side of the conveyor plate (121) to check the quantity of box paper.

[0067] The box-side support member (16) is composed of only a side plate in this embodiment, but may be provided with a side plate drive member (not shown) so that it can be moved depending on the size of the box. For example, the side plate drive member may be configured with a structure including a screw rod (not shown) that is connected at one end to the side plate, and a screw rod drive means (not shown) that rotates the screw rod.

[0068] FIGS. 5A to 5D are drawings for explaining the box ground support part of the multi-type box lower case system according to one embodiment of the present invention, wherein FIG. 5A shows the shape as seen from the front, FIG. 5B shows the shape as seen from the rear, FIG. 5C is an exploded perspective view, and FIG. 5D is a side view for explaining the function of the upper support member (185).

[0069] Referring to FIG. 3 and FIG. 5a to FIG. 5d, the box ground support member (18) is a component that supports the upper part of the box ground, and includes a height-adjusting support member (181), a vertical movement member (182), a tightening member (183), a left-right position-adjusting member (184), and an upper support member (185).

[0070] The height-adjusting supports (181) are a plurality of supports installed longitudinally on the loading rack frame (11) so as to be positioned on both sides of the conveyor plate (121), and are composed of round bars or pipes.

[0071] The upper and lower support members (182) are configured in the shape of a bar plate and are arranged horizontally between the height-adjusting posts (181).

[0072] The tightening member (183) is connected to both ends of the vertical movement member (182), and has a tightening block (1831) formed with a support insertion hole inserted into a height-adjusting support (181) and a slit (1831b) communicating with the support insertion hole, and a tightening handle (1832) fastened to the assembly block (1831).

[0073] The left-right position adjustment member (184) is a component that is connected to the vertical movement member (182) so as to be movable laterally and adjusts the upper support position of the box, and is formed as a plate-shaped block (1841) having a cross-sectional structure in the shape of the letter 'ㄷ', and is provided with a fixed handle (1842) that is connected to the vertical movement member (182). Here, the fixed handle (1842) is configured with a fastening bolt as a handle.

[0074] The upper support member (185) is a component that is connected to the left and right position adjustment member (184) and supports the upper part of the box, and includes a connecting plate (1851) and a box support rod (1852).

[0075] The connecting plate (1851) is a member that is connected to the left-right position adjusting member (184) and has a vertically perforated height adjusting hole (1851a) formed therein, and is configured to maintain the box paper in a hooked state at the pulling position and to enable external pulling when a pulling force is applied from the gripper (not shown) of the box-making robot (3). The connecting plate (1851) has a second inclined surface (1851b) formed at the bottom of the plate-shaped member that is installed upright. The second inclined surface (1851b) is formed to be inclined downward so that the upper end of the box paper is kept in a hooked state when there is no load and can be pulled out when a pulling force is applied.

[0076] The box support bar (1852) is installed perpendicular to the connecting plate (1851), and has a first inclined surface (1852b) formed at the free end of the body having the shape of a bar plate for the entry of the box paper. This first inclined surface is formed to gradually slope downward along the entry direction of the box paper, and when the box paper moves in the discharge direction according to the forward movement of the conveyor belt (122), it performs the function of supporting and aligning the upper end thereof by pressing on it.

[0077] In addition, the connecting plate (1851) is provided with a height adjustment handle (1853) that is inserted into the height adjustment hole (1851a) and fastened to the left and right position adjustment member (184). The height adjustment handle (1853) moves the connecting plate (1851) up and down to adjust the position at which it is fastened to the height adjustment hole (1851a), thereby finely adjusting the position of the box support bar (1852) in the up and down direction according to the height of the box.

[0078] The attached drawing, Fig. 6, is a perspective view illustrating a lower box device, a box robot, and a box removal means of a multi-type box lower box system according to one embodiment of the present invention, with the cover member omitted. Fig. 7 is an enlarged perspective view illustrating a lower box device, a box robot, and a box removal means of a multi-type box lower box system according to one embodiment of the present invention.

[0079] Referring to the attached drawings, FIG. 1, FIG. 6 and FIG. 7, the lower box-sealing device (2) is a component that seals the bottom of a box by taping it, is placed adjacent to the box-sealing robot (3), and is a device that folds an unfolded box while being gripped by the box-sealing robot (3) and tapes the lower part. As long as it is a device capable of sealing a box (b), it can be configured without any special restrictions on shape or structure.

[0080] The lower body device (2) has a base part (21) installed in the longitudinal direction, a sliding part (22) installed in the base part (21), a folding part (23) installed in the base part (21), and a taping part (24) installed in the base part (21) to perform a taping action.

[0081] The above sliding part (22) is arranged vertically on the base part (21), and a plane is formed on which the box moves, and the function of folding the front and rear wings of the lower part of the box is performed.

[0082] The above folding part (23) is arranged at the bottom of the sliding part (22) and is a component that folds the left and right wings of the box. It has two rod-shaped members that are arranged to spread apart so that the left and right wings of the box entering the sliding part (22) are folded.

[0083] The above taping section (24) is arranged at the bottom of the folding section (23) and is equipped with a pressing roller (242) to take out the tape wound on a tape roll (not shown) built into the taping box (241) and tap it to the bottom surface of the box moving downward.

[0084] The box-making robot (3) picks up the box paper (b1) loaded on the loading rack device (1) under the control of the control unit (9) and moves to the lower box-making device (2) to perform the box-making operation. The box-making robot (3) is configured as a multi-joint robot, and a gripper (not shown) is installed as an end effector at the end of the arm. The gripper has a plurality of suction cups (not shown) installed on the gripper body of a roughly plate-shaped structure to attach the box paper (b1) by negative pressure. In addition, a valve (not shown) for fluid control is provided corresponding to each suction cup. Since the configuration and operating principle of a pneumatic gripper that basically operates with compressed air are well-known technologies, a detailed description of the gripper will be omitted for simplicity.

[0085] The control unit (9) determines the TCP (Tool Center Point) of the gripper based on the size information of the box (b1) picked by the gripper, and controls the box picking operation of the box robot (3) based on the TCP. The control unit (9) can be implemented as a computing device including a processor.

[0086] FIG. 8 is a reference diagram for explaining the process in which the control unit (9) of the multi-type box lower box system according to an embodiment of the present invention controls the box paper picking operation of the box robot (3). Hereinafter, with reference to FIG. 8, the box paper picking operation by the box robot (3) will be explained.

[0087] Referring to FIG. 8, the gripper (31) includes a main gripper (311) and an auxiliary gripper (313). The auxiliary gripper (313) is hinge-connected to the main gripper (311) so as to be rotatable with respect to the main gripper (311) about a rotation axis (33L). A plurality of suction cups (315, 317) are arranged on the main gripper (311) and the auxiliary gripper (313) for sucking and picking up the box paper (b1). For reference, FIG. 8 shows an example in which 12 suction cups (315) are arranged on the main gripper (311) and 4 suction cups (317) are arranged on the auxiliary gripper (313), but this is only an example, and the number and arrangement of the suction cups (315, 317) can be designed in various ways.

[0088] The box (b1) picked up through the gripper (31) is composed of a plurality of wing surfaces (b11) that form the lower and upper portions of the box and a plurality of body surfaces (b12) that form the body (body) of the box. The control unit (9) determines a set of suction cups (S) included in a portion of the main gripper (311) corresponding to the size (area) of one body surface (b12a) of the box. At this time, the rotation axis (33L) is applied as a reference line from which the portion of the main gripper (311) is calculated. That is, the control unit (9) determines a set of suction cups (S) included in a portion of the main gripper (311) corresponding to the size of one body surface (b12a) from the rotation axis (33L) among the entire area of ​​the main gripper (311). The suction cup set (S) means a group consisting of one or more suction cups (315) of the main gripper (311) that is actually used to suck up the box paper (b1) when picking the box paper (b1).

[0089] In this way, the number of suction cups (315) included in the suction cup set (S) is determined based on the size of one body surface (b12a) of the box, and the position of the suction cup set (S) is determined based on the rotation axis (33L).

[0090] The control unit (9) determines the center of the determined suction cup set (S) as the TCP, and controls the box picking operation of the box-making robot (3) based on the TCP. The control unit (9) controls the box picking operation of the box-making robot (3) so that the TCP and a point (P) on the center line of one body surface (b12a) of the box, which is perpendicular to the fold line (b12L) of the box (b1), which corresponds to the boundary line between two adjacent body surfaces (b12a, b12b) of the box (b1), and which is spaced apart from the fold line (b12L) by the distance (d) between the rotation axis (33L) and the TCP are aligned. At this time, the control unit (9) controls so that only the valves of each suction cup (315) belonging to the suction cup set (S) are opened and the valves of the remaining suction cups (315) are closed so that the box (b1) is sucked only by the suction cups (315) included in the suction cup set (S).

[0091] With one body surface (b12a) of the box adsorbed by the main gripper (311), the auxiliary gripper (313) rotates to form an angle of approximately 90 degrees with respect to the main gripper (315), thereby adsorbing and supporting the other body surface of the box adjacent to the body surface (b12a) adsorbed by the main gripper (311), thereby allowing the body of the box to be transported to the lower support device (2) while maintaining a roughly square pillar shape.

[0092] The box removal means (4) is a component that removes boxes from the lower box removal device (2). Any device capable of removing boxes can be applied without special restrictions, but in this embodiment, it is configured as a roller conveyor.

[0093] As is well known, a roller conveyor is equipped with a roller conveyor frame, a number of rollers installed on the roller conveyor frame, and a roller driving means for rotating the rollers.

[0094] Meanwhile, the unexplained reference numeral 81 of the attached drawing 6 is a box support for forming the frame of the box room in which the lower box device (2), the box robot (3) and the box removal means (4) are built in, and the unexplained reference numeral 82 is a box crossbar for forming the frame of the box room, and a cover member can be installed on the box support (81) and the box crossbar (82).

[0095] Hereinafter, the operation of a polygonal box lower case system according to one embodiment of the present invention will be briefly described.

[0096] In the process of using a multi-type box lower box system according to one embodiment of the present invention, as shown in FIGS. 2a and 2b, a plurality of pre-fabricated box sheets (b1) are first placed upright on the upper surface of a conveyor plate (121) and aligned by pushing so that one side of the box sheets is in close contact with the box sheet side support member (14).

[0097] In this state, when the moving member driving unit (144) is driven to move the box paper moving member (142), the box paper settling unit (143) coupled thereto is pressed against the back of the box paper, thereby maintaining the upright state of the box paper. More specifically, when the shuttle (1444a) of the linear moving mechanism (1444) composed of a magnetic rodless cylinder moves in the discharge direction of the box paper, the slider (1442) coupled to the shuttle is guided by the guide unit (1446) and moves, so that the box paper moving member (142) coupled to the slider moves in the same direction, and the box paper settling unit (143) coupled to the box paper moving member (142) is linked to push the back of the box paper and then position it, thereby maintaining the upright state of the box paper.

[0098] In addition, the multi-type box lower box system according to one embodiment of the present invention is configured with a box loading conveyor (12), a box support means (14), a box side support member (16), and a box upper support member (18) to form multiple layers between four height-adjusting posts (181), so that the box loading process can be performed while boxes of different specifications suitable for various products are loaded and stored.

[0099] At this time, the box mounting portion (143) can be used in a state where the second angle adjustment bolt (1435) is released when the box size is small, the upper support transverse bar (1433) is lowered along the height adjustment hole (1432a) of the vertical bar (1432), and the second angle adjustment bolt (1435) is tightened again to fix it, and in the case of a box with a large width, the first angle adjustment bolt (1434) is released, the vertical bar (1432) is adjusted inclination, and the first angle adjustment bolt (1434) is tightened to fix it, etc. By adjusting the position of each component, box papers of various specifications can be stably supported and stored interchangeably.

[0100] As described above, when the box paper (b1) is loaded in an upright state on the upper surface of the conveyor plate (121), the gripper of the box-making robot (3) under the control of the control unit picks up the box paper located in the discharge direction and moves it to the lower box-making device (2) to pass through the sliding unit (22), folding unit (23), and taping unit (24) to fold the box paper and perform taping work on the lower part, thereby performing the box-making process.

[0101] In this way, when the box loading robot (3) extracts the box paper located in the discharge direction of the loading rack device (1) and a free space is formed, the box loading conveyor (12) is operated under the control of the control unit based on a signal received from a detection means (not shown, can be configured by installing a proximity sensor limit switch, etc.) that detects this, and the conveyor belt (122) moves in the discharge direction to move the box papers and at the same time, the moving member driving unit (144) is driven to move the box paper settling unit (143), thereby maintaining the box paper in an upright state.

[0102] And, the box sheets conveyed by the conveying force of the conveyor belt (122) enter the first inclined surface (1852b) of the box support bar (1852) in the process of moving toward the discharge direction. At this time, since the first inclined surface (1852b) is formed to gradually slope downward, the upper ends of the box sheets are evenly aligned. Afterwards, the box sheets conveyed to the discharge position maintain a state in which the upper ends are caught on the second inclined surface (1851b) of the connecting plate (1851), and in this state, when a pulling force is applied from the gripper of the box-making robot (3), the box sheets are pulled out.

[0103] In this way, the box paper picked by the gripper of the box-making robot (3) is moved to the lower box-making device (2), and then the box paper is folded and taped at the bottom by passing through the sliding part (22), folding part (23), and taping part (24) in a set order, thereby performing the box-making process.

[0104] The terms "include," "comprise," or "have" described above, unless otherwise specifically stated, imply that the corresponding component may be present, and therefore should be interpreted to include other components rather than excluding them. All terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains, unless otherwise defined. Commonly used terms, such as terms defined in dictionaries, should be interpreted to be consistent with the contextual meaning of the relevant technology, and shall not be interpreted in an ideal or overly formal sense, unless explicitly defined herein.

[0105] Although the configuration and operation of the polygonal box lower case system according to one embodiment of the present invention has been described above, this is exemplary, and it will be understood by those skilled in the art that some of the above-described embodiments can be substituted and modified without departing from the technical spirit of the present invention.

[0106] Therefore, it should be understood that the scope of protection of the present invention extends to the invention described in the patent claims and equivalents thereof.

Claims

1. A loading rack device in which multiple boxes are loaded; A lower sealing device that seals the bottom of a box by taping it; A box robot that picks up the box paper loaded on the loading rack device and moves to the lower box device to perform a boxing operation; and A multi-type box lower box system characterized by including a box removal means for removing a box removed from the lower box device.

2. In paragraph 1, The above loading rack device, Loading rack frame; A box loading conveyor installed on the above loading rack frame and transporting the box paper by lifting it; A box support means for maintaining the above box in an upright state; A box side support member installed to support and align the side of the box; and A multi-type box lower case system characterized by including a box upper support member installed to support and align the upper portion of the box.

3. In paragraph 2, The above box loading conveyor is, A conveyor plate installed on the above loading rack frame and having a belt installation hole formed therein; A conveyor belt installed in the above belt installation facility; A conveyor drive motor that generates driving force for rotation of the conveyor belt; and A multi-type box lower box system characterized by including a power transmission unit that transmits the rotational power received from the conveyor drive motor to the conveyor belt.

4. In paragraph 3, The above belt installation holes are arranged in multiple pieces at regular intervals, The above conveyor belt is formed in a belt shape and installed in each of the above belt installation holes, A multi-type box lower case system, characterized in that the power transmission unit includes a drive pulley installed on the output shaft of the conveyor drive motor, a drive belt connected to one side of the drive pulley, a driven pulley connected to the other side of the drive belt, a first belt drive shaft installed at the center of the driven pulley, a pair of bearing blocks inserted into both ends of the first belt drive shaft, a plurality of first belt pulleys installed on the first belt drive shaft and connected to one side of the conveyor belt, a plurality of second belt pulleys arranged opposite to the first belt pulleys and connected to the other side of the conveyor belt, a second belt drive shaft installed between the second belt pulleys, and a drive shaft support block installed on the bottom surface of the conveyor plate to rotatably support the second belt drive shaft.

5. In paragraph 3, The above box-standing means is, A moving hole formed parallel to the belt installation hole on the conveyor plate; A box-shaped moving member that is movably installed in the above-mentioned moving platform; A box mounting member installed on the upper part of the above box moving member and supporting the box; and A multi-type box lower case system characterized by including a moving member driving unit that moves the above box moving member.

6. In paragraph 5, The box support mounting portion includes a lower support transverse bar connected to the upper portion of the box support moving member, a vertical bar connected at one end to the lower support transverse bar, an upper support transverse bar connected to the other end of the vertical bar, a first angle adjustment bolt installed at a connection portion of the vertical bar and the lower support transverse bar to enable adjustment of the inclination of the vertical bar, and a second angle adjustment bolt installed at a connection portion of the vertical bar and the upper support transverse bar to enable adjustment of the height and inclination of the upper support transverse bar. The above-mentioned vertical bar is formed with a height adjustment hole to enable height adjustment of the upper support horizontal bar. A multi-type box lower frame system, characterized in that the lower support crossbar and the upper support crossbar have a plurality of position adjustment holes formed therein so that the first angle adjustment bolt and the second angle adjustment bolt are fastened.

7. In paragraph 5, The above moving member driving unit is, A slider connected to the lower portion of the above box moving member and moved along the moving direction of the conveyor belt; A linear movement mechanism connected to one end of the slider to provide movement force to the slider; and A multi-type box lower case system characterized by including a guide member arranged along the movement direction of the conveyor belt at the other end of the slider to guide the movement of the slider.

8. In paragraph 2, The above box ground support part is, A pair of height-adjusting posts installed longitudinally on the loading rack frame so as to be positioned on both sides of the conveyor plate; A vertically movable member arranged horizontally between the above height-adjusting posts; A pair of tightening members connected to both ends of the above-mentioned vertical and horizontal member and fastened to the above-mentioned height-adjusting support; A left-right position adjusting member that is connected to the upper and lower moving member so as to be movable laterally and adjusts the left-right support position of the upper part of the box; and An upper support member that is connected to the left and right position adjustment member and supports the upper part of the box; The above upper support member is provided with a connecting plate that is connected to the left and right position adjustment member and has a height adjustment hole perforated in the up and down direction, a box support rod installed perpendicular to the connecting plate, and a height adjustment handle that is inserted into the height adjustment hole and fastened to the left and right position adjustment member, and the box support rod has a first inclined surface formed at a free end for the box paper to enter, and the connecting plate is a multi-type box lower case system characterized in that a second inclined surface is formed at the bottom of a plate-shaped member that is installed upright so that the box paper can be pulled out when a pulling force is applied while maintaining the box paper in a hung state.

9. In paragraph 8, The above box loading conveyor is a multi-type box lower box system characterized in that at least one of the above box loading conveyors is installed to be movable via a fastening block on the height-adjusting support according to the size of the above box.

10. In paragraph 3, A multi-type box lower box system characterized in that the box side support part includes a side plate having a viewing window perforated therein for checking the quantity of the box paper, and is installed upright on one side of the conveyor plate.

11. In paragraph 1, The above-mentioned robot includes a gripper having a plurality of suction cups arranged thereon, A multi-type box lower box system characterized by further including a control unit that determines the TCP (Tool Center Point) of the gripper based on the size information of the box paper picked through the gripper and controls the box paper picking operation of the box robot based on the TCP.

12. In paragraph 11, The above gripper includes a main gripper and an auxiliary gripper coupled to the main gripper so as to be rotatable about a rotation axis, A multi-type box lower case system characterized in that the control unit determines a set of suction cups included in a portion of the main gripper corresponding to the size of one body surface of the box from the rotation axis among the entire area of ​​the main gripper, and determines the center of the set of suction cups as the TCP.

13. In paragraph 12, The above control unit, A multi-type box lower box system characterized in that the box picking operation of the box robot is controlled so that the TCP is aligned with a point on the center line of the one body surface perpendicular to the folding line of the box surface corresponding to the boundary line between the one body surface and the adjacent other body surface, and the point is spaced apart from the folding line by the distance between the rotation axis and the TCP.

14. In paragraph 12, A multi-type box lower box system characterized in that the control unit controls the opening of only the valves of each suction cup belonging to the suction cup set among the plurality of suction cups of the main gripper when picking the box paper through the box-making robot.

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