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WO2025177584A1 - Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article - Google Patents

Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article

Info

Publication number
WO2025177584A1
WO2025177584A1 PCT/JP2024/006672 JP2024006672W WO2025177584A1 WO 2025177584 A1 WO2025177584 A1 WO 2025177584A1 JP 2024006672 W JP2024006672 W JP 2024006672W WO 2025177584 A1 WO2025177584 A1 WO 2025177584A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
suction
pair
retraction
gripping device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/006672
Other languages
English (en)
Japanese (ja)
Inventor
辰巳 菱川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Startechno Co Ltd
Original Assignee
Startechno Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Startechno Co Ltd filed Critical Startechno Co Ltd
Priority to PCT/JP2024/006672 priority Critical patent/WO2025177584A1/fr
Publication of WO2025177584A1 publication Critical patent/WO2025177584A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/74—Auxiliary operations
    • B31B50/76—Opening and distending flattened articles

Definitions

  • the present invention relates to an article gripping device for gripping articles, and a box making device that uses the article gripping device to create and assemble flat folded articles into three-dimensional shapes.
  • box-making machines have been known that assemble flat folded items into three-dimensional shapes.
  • Patent Document 1 describes a box-making system that uses a hand 31 connected to the tip of a robot 3 to turn flat box-making materials 1 into three-dimensional shapes, automatically producing cardboard boxes and the like.
  • Cited Document 1 has the problem of being unable to adequately accommodate this.
  • a fifth aspect of the present invention is characterized in that, in the item gripping device of the third aspect, the distance between the first axis and the first suction portion is configured to be changeable.
  • a ninth aspect of the present invention is characterized in that, in the item gripping device of the fifth aspect, the second arm is equipped with a tenth suction portion, and is configured to be able to change the distance between the first axis and the tenth suction portion.
  • a tenth aspect of the present invention is characterized in that, in the item gripping device of the sixth aspect, the second arm is equipped with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion.
  • An eleventh aspect of the present invention is characterized in that the item gripping device of the first aspect further comprises a fourth arm rotatably connected to the end of the second arm opposite the first axis, and a fourth suction portion provided on the fourth arm.
  • a twelfth aspect of the present invention is characterized in that, in the item gripping device of the eleventh aspect, the fourth arm is rotatable relative to the end of the second arm opposite the first axis in conjunction with the rotation of the first drive unit.
  • a thirteenth aspect of the present invention is characterized in that, in the item gripping device of the eleventh aspect, the distance between the first axis and the fourth suction portion is configured to be changeable.
  • a 14th aspect of the present invention is characterized in that, in the item gripping device of the 12th aspect, the distance between the first axis and the fourth suction portion is configured to be changeable.
  • a fifteenth aspect of the present invention is an item gripping device comprising 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 the second axis, a ninth arm rotatably connected to the end of the seventh arm opposite 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.
  • a 16th aspect of the present invention is characterized in that, in the item gripping 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.
  • a 17th aspect of the present invention is characterized in that, in the item gripping device of the 15th aspect, the distance between the second axis and the eighth suction portion is configured to be changeable.
  • the 18th aspect of the present invention is characterized in that, in the item gripping device of the 16th aspect, the distance between the second axis and the eighth suction portion is configured to be changeable.
  • a 19th aspect of the present invention is characterized in that, in the item gripping 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 ninth 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.
  • a 21st aspect of the present invention is characterized in that, in the item gripping device of the 19th aspect, the distance between the third axis and the ninth suction portion is configured to be changeable.
  • box-making device of the 22nd aspect of the present invention is characterized by including an articulated robot and an item gripping device described in any one of the 1st to 14th aspects, in which the second arm is connected to the tip of the articulated robot.
  • the box-making device of the 23rd aspect of the present invention is characterized by including an articulated robot and an item gripping device described in any of the 15th to 21st aspects, in which the sixth arm is connected to the tip of the articulated robot.
  • the first aspect of the object gripping device of the present invention comprises a first arm and a second arm rotatably connected around a first axis, 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 the object can be securely gripped, even if it is made of a flexible material.
  • the item gripping device of the first aspect is equipped with a first drive unit that rotates the first arm and the second arm around a 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. Therefore, in addition to the effects of the item gripping device of the first aspect, it is possible to reliably grip items with a simple mechanism, even if the items are made of flexible materials.
  • the item gripping device of the first aspect is configured so that the distance between the first axis and the third suction portion can be changed, thereby achieving the effects of the item gripping device of the first aspect and enabling items of different sizes to be gripped reliably.
  • the item gripping device of the second aspect is configured so that the distance between the first axis and the third suction portion can be changed, thereby achieving the effects of the item gripping device of the second aspect and enabling items of different sizes to be gripped reliably.
  • the item gripping device of the third aspect is configured so that the distance between the first axis and the first suction portion can be changed, thereby achieving the effects of the item gripping device of the third aspect and enabling more reliable gripping of items, even for items of different sizes.
  • the item gripping device of the fourth aspect is configured so that the distance between the first axis and the first suction portion can be changed, thereby achieving the effects of the item gripping device of the fourth aspect and enabling more reliable gripping of items, even for items of different sizes.
  • the second arm is equipped with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion, so in addition to the effects of the item gripping device of the third aspect, items can be gripped more reliably, even if they are of different sizes.
  • the second arm is equipped with a tenth suction portion and is configured to be able to change the distance between the first axis and the tenth suction portion, so in addition to the effects of the item gripping device of the fourth aspect, items can be gripped more reliably, even if they are of different sizes.
  • the second arm is equipped with a tenth suction portion and is configured so that the distance between the first axis and the tenth suction portion can be changed. Therefore, in addition to the effects of the item gripping device of the fifth aspect, items can be gripped more reliably, even if they are of different sizes.
  • the fourth arm is rotatable relative to the end of the second arm opposite the first axis in conjunction with the rotation of the first drive unit. Therefore, 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 they are made of flexible materials.
  • the item gripping device of the 12th aspect is configured so that the distance between the first axis and the fourth suction portion can be changed, thereby achieving the same effects as the item gripping device of the 12th aspect and enabling items of different sizes to be gripped reliably.
  • the article gripping device of the 15th aspect is provided with a second drive unit that rotates the fifth arm and 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. Therefore, in addition to the effects of the article gripping device of the 15th aspect, it is possible to reliably grip an article with a simple mechanism, even if the article is made of a flexible material.
  • the item gripping device of the 15th aspect is configured so that the distance between the second axis and the eighth suction portion can be changed, thereby achieving the same effects as the item gripping device of the 15th aspect and enabling items of different sizes to be gripped reliably.
  • the item gripping device of the 16th aspect is configured so that the distance between the second axis and the eighth suction portion can be changed, thereby achieving the same effects as the item gripping device of the 16th aspect and enabling items of different sizes to be gripped reliably.
  • the item gripping device of the 15th aspect is provided with a third drive unit 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. Therefore, in addition to the effects of the item gripping device of the 15th aspect, items can be securely gripped with a simple mechanism, even if they are made of flexible materials.
  • the item gripping device of the 15th aspect is configured so that the distance between the third axis and the ninth suction portion can be changed, thereby achieving the same effects as the item gripping device of the 15th aspect and enabling items of different sizes to be gripped reliably.
  • the box making device is equipped with an articulated robot and an item gripping device described in any of the 1st to 14th aspects, in which a second arm is connected to the tip of the articulated robot. Therefore, even boxes made of flexible materials can be reliably manufactured in a balanced manner with sufficient gripping force.
  • FIG. 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.
  • 1 is a perspective view of a box making device equipped with an article gripping device of a first embodiment.
  • 1 is a plan view of a box making device equipped with an article gripping device of a first embodiment.
  • 1 is a plan view showing a state in which a box making device equipped with an article gripping device of a first embodiment grips a box.
  • FIG. 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. 1 is a block diagram of a box making device equipped with an article gripping device of a first embodiment.
  • the present embodiment of the box-making system comprises a flat cardboard loading section 80 on which flat cardboard boxes are placed before being assembled into a three-dimensional shape; a first box-making section 60 which moves flat cardboard boxes of the desired size from the flat cardboard boxes placed on the flat cardboard loading section 80 to the second box-making section 50 described below and manages the box-making process; a second box-making section 50 which works in cooperation with the first box-making section 60 to make the flat cardboard boxes into a three-dimensional shape; and a discharge section 40 which discharges the completed cardboard boxes.
  • the number of cardboard box sizes is not limited to three as in this embodiment, and can be any number as long as it is allowed by the relationship between the flat cardboard loading section 80 and the first box making section 60 described below.
  • the first box making unit 60 selects and grasps flat cardboard boxes of the desired size from the flat cardboard boxes placed on the flat cardboard box placing unit 80, and works in cooperation with the second box making unit 50 (described below) to turn the flat cardboard boxes into a three-dimensional box.
  • the first box making unit 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 and -H directions over the entire length of the flat cardboard loading unit 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.
  • the moving platform 93 is configured to be able to move in the +H and -H directions on the moving 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 placement section 80.
  • the box making device 1 is composed of an articulated robot 3 and an item gripping device 5 connected to the tip of the articulated robot 3.
  • the articulated robot 3 is a normal five-axis articulated 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 35 that rotates back and forth relative to the second base 33, a 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.
  • the item gripping device 5 will be explained in detail later.
  • the second box making unit 50 works in cooperation with the first box making unit 60, which grasps flat cardboard boxes of the desired size from the flat cardboard boxes placed on the flat cardboard box placing unit 80, to make the flat cardboard boxes into three-dimensional boxes.
  • the second box making unit 50 comprises a flat cardboard placing table 36, nine holed item suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 installed on the upper surface of the flat cardboard placing table 36, a first rail 22 located at the center left of the item suction units V1 to V9 in FIG. 1 and movable in the +H and -H directions, a pair of second rails 26a and 26b located 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 FIG. 2, etc.), and a tape applying unit 34 located at the center left of the second rails 26a and 26b in FIG. 1 and applying tape to the bottom of the completed cardboard box.
  • first rail 22 is a long rod with a circular cross section
  • second rail 26a and 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.
  • the second rails 26a and 26b are long rods, but as described below, the second rails 26a and 26b may be spherical or have other shapes as long as they can bend the right lower outer flap W1DL1 and the left lower outer flap W1DL2.
  • the second rail 26a and the second rail 26b are long rods, as in this embodiment.
  • article suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9 suck up articles by activating compressor 8, which will be described later.
  • they do not suck up the entire flat cardboard, but rather only the surfaces that do not move when the flat cardboard is made into a three-dimensional shape. In this embodiment, as shown in Figure 1, only the surface of the flat cardboard at the center left position in the upper left of Figure 1 is sucked up.
  • a protrusion 24 that protrudes upward from the surface of the first rail 22 is formed at the base end of the first rail 22 in the -H direction.
  • the shape of the 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.
  • the item gripping device 5 of this embodiment grips three of the four sides of a three-dimensional cardboard box by suction, and can reliably grip the cardboard box even if it is made of a flexible material.
  • the horizontal direction is defined as the +X and -X directions
  • the vertical direction is defined as the +Z and -Z directions
  • the directions perpendicular to the +X and -X directions and the +Z and -Z directions are defined as the +Y and -Y directions.
  • the item gripping device 5 comprises, on the -X direction side of the rotating unit 47 (mounting unit 47) of the articulated robot 3 in the drawing, a first arm base end 49a, a first arm intermediate portion 51a slidably engaged with the first arm base end 49a in the +X direction and -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 portion 51a in the +X direction and -X direction, and a third arm portion 59a (corresponding to the "third arm” of the present invention) rotatably connected to the -X direction tip end of the first arm tip end 57a (the end of the first arm opposite the first axis described below).
  • first arm of the present invention is composed of the first arm base end portion 49a, the first arm intermediate portion 51a, and the first arm tip portion 57a in this embodiment.
  • the item gripping device 5 is equipped with a total of four pairs of suction sections (first suction sections 83a and 83b, second suction sections 85a and 85b, third suction sections 81a and 81b, and tenth suction sections 87a and 87b) for gripping cardboard boxes.
  • first suction sections 83a and 83b When the first arm, second arm and third arm section 59a (described below) are held horizontally, each suction section faces the same direction, and when the cardboard box is gripped as described below, each suction section faces the surface of the cardboard box.
  • the item gripping 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 below), and a pair of tenth suction portions 87a and 87b on the second arm intermediate portion 51b (described below).
  • 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).
  • These cylinders are activated by the compressor 8 (described below) to extend or retract the lengths of the suction rods (first suction rod 83c, second suction rod 85c, third suction rod 81c, and tenth suction rod 87c), thereby changing the spacing between each suction rod in the +Y and -Y directions (the spacing between the first suction rod 83a and the first suction rod 83b in the +Y and -Y directions, the spacing between the second suction rod 85a and the second suction rod 85b in the +Y and -Y directions, the spacing between the third suction rod 81a and the third suction rod 81b in the +Y and -Y directions, and the spacing between the tenth suction rod 87a and the fourth suction rod 87b in the +Y and -Y directions).
  • the spacing between each suction part in the +Y and -Y directions can be changed in order to ensure a gripping force on the cardboard depending on the size of the cardboard.
  • the device is configured to grip the cardboard with the spacing between each suction part in the +Y and -Y directions 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.
  • the item gripping device 5 also includes an arm rotation first drive first toothed pulley 67, which 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 having 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, the first stage toothed pulley of which is engaged with the other end of the arm rotation first drive first toothed belt 69.
  • the item gripping device 5 is equipped with a second toothed belt 73 for first arm rotation drive, one end of which is engaged with the second-stage toothed pulley of the second toothed pulley 71 for first arm rotation drive, a third toothed pulley 75 for first arm rotation drive engaged with the other end of the second toothed belt 73 for first arm rotation drive, and a third arm portion 59a connected to the rotation axis of the third toothed pulley 75 for first arm rotation drive.
  • 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
  • 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.
  • first arm extension/retraction first link portion 53a and the first arm extension/retraction second link portion 55a are configured to be rotatable about the central axis of the arm rotation first drive second toothed pulley 71, depending on the distance between the arm rotation first drive driven gear 65 and the arm rotation first drive third toothed pulley 75.
  • the first arm and a second arm (described later) rotate through 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, resulting in the third arm portion 59a rotating around the center of the arm rotation first drive third toothed pulley 75 (the end of the first arm opposite the first axis).
  • the third arm portion 59a is configured to rotate 90 degrees relative to the first arm tip portion 57a so that the cardboard can be securely gripped in its boxed state.
  • the first arm and the second arm described below are configured to be rotatable at 90 degrees so that cardboard boxes can be securely gripped in their boxed state, and the third arm portion 59a is configured to rotate 90 degrees relative to the first arm tip portion 57a.
  • these angles can be changed as desired depending on the shape of the item to be gripped, and by physically engaging the first arm and second arm, it is possible to rotate the arms 30 degrees or 60 degrees to match the shape of the item to be gripped.
  • the item gripping 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, it has 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.
  • the item gripping device 5 includes a fourth toothed pulley 25a for first arm extension/retraction engaged with the other end of the second toothed belt 23a for first arm extension/retraction, a second locking portion 20a for first arm extension/retraction connected to the base end 49a of the first arm and connected to the -Y direction side of the second toothed belt 23a for first arm extension/retraction, and a third locking portion 27a for first arm extension/retraction connected to the tip end 57a of the first arm and connected to the +Y direction side of the second toothed belt 23a for first arm extension/retraction.
  • the item gripping device 5 further comprises, 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 49b, a second arm intermediate part 51b slidably engaged with the second arm base end 49b in the +X direction and -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 -X direction.
  • the "second arm” of the present invention is composed of the second arm base end portion 49b, the second arm intermediate portion 51b, and the second arm tip portion 57b in this embodiment.
  • the mechanism includes 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/retraction 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/retraction first toothed pulley 13b.
  • the item gripping device 5 includes a second arm extension/retraction fourth toothed pulley 25b engaged with the other end of the second arm extension/retraction second toothed belt 23b, a second arm extension/retraction second locking portion 20b (not shown as it is hidden by a cover and is arranged in a similar manner to the first arm extension/retraction second locking portion 20a) connected to the second arm base end 49b and connected to the -Y direction side of the second arm extension/retraction second toothed belt 23b, and a second arm extension/retraction third locking portion 27b connected to the second arm tip end 57b and connected to the +Y direction side of the second arm extension/retraction second toothed belt 23b.
  • Figure 6 is a block diagram of a carton making device equipped with an item gripping device of the first embodiment
  • Figure 7 is a block diagram of the main controller in a carton making device equipped with an item gripping device of the first embodiment.
  • 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 for driving the articulated robot 3, and a robot controller 10 electrically connected to the main controller 2 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, and V3.
  • a driver circuit 12 electrically connected to the main controller 2 and used to drive 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.
  • 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 enable input and output, and a ROM (Read Only Memory) 18 connected to the CPU 14 so as to enable input and output.
  • a CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • 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.
  • 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.
  • Figure 8 is a flowchart of the main program in a carton making device equipped with the item gripping device of the first embodiment
  • Figure 9 is a flowchart of the outer flap folding processing program in a carton making device equipped with the item gripping device of the first embodiment.
  • the articulated robot 3 of the box making device 1 is set at the left end position of the upper moving rail 91 in Figure 1.
  • the carton making device 1 When the carton 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 carton making device 1 rotates the robot position drive motor 95 to move the moving platform 93 on which the articulated robot 3 is installed along the moving rails 91 to the location on the flat box placement section 80 where the flat cardboard W1 is stacked.
  • the item gripping device 5 may use the pair of first suction units 83a and 83b, the pair of second suction units 85a and 85b, the pair of third suction units 81a and 81b, and the pair of tenth suction units 87a and 87b (all suction units are ON), to suck up the flat cardboard box W1.
  • the pair of second suction units 85a and 85b and the pair of tenth suction units 87a and 87b it is also possible to use only the pair of second suction units 85a and 85b and the pair of tenth suction units 87a and 87b to suck up the flat cardboard box W1 from this point on, and not use the pair of first suction units 83a and 83b or the pair of third suction units 81a and 81b.
  • the first arm tip 57a moves in the -X direction
  • the third arm 59a connected to the first arm tip 57a and the pair of third suction portions 81a and 81b provided on the third arm 59a 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 third suction portions 81a and 81b.
  • the first arm extension/retraction first locking portion 19a moves in the +X direction
  • the first arm intermediate portion 51a connected to the first arm extension/retraction first locking portion 19a also moves in the +X direction
  • 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.
  • a pair of second suction portions 85a and 85b are provided at the second arm base end 49b, and therefore 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.
  • Figures 10 to 12 show plan views, front views, and bottom views of the item gripping device 5 when 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.
  • the article suction units V1, V2, V3, V4, V5, V6, V7, V8 and V9 basically only suck in the surfaces that do not move when the flat cardboard is turned into a three-dimensional shape, and as shown in Figure 1, they are configured to suck in only the surface of the flat cardboard W1 at the center left of the top of Figure 1 (the bottom surface of the flat cardboard W1).
  • the item gripping device 5 is configured so that the first arm and the second arm rotate 90 degrees and the third arm portion 59a rotates 90 degrees relative to the first arm, as shown in Figures 4, 5 and 14, so that the pair of second suction portions 85a and 85b and the pair of tenth suction portions 87a and 87b suction the first of the four sides of the cardboard box W1, the pair of first suction portions 83a and 83b suction the second side of the cardboard box W1, and the pair of third suction portions 81a and 81b suction the third side of the cardboard box W1 to grip it.
  • Figure 4 is a plan view showing the state in which a carton making device 1 equipped with an item gripping device 5 grips a three-dimensional cardboard box W1 with the spacing between each suction part increased in the +Y and -Y directions
  • Figure 5 is a perspective view showing the state in which a carton making device 1 equipped with an item gripping device 5 grips a three-dimensional cardboard box W1 with the spacing between each suction part increased in the +Y and -Y directions
  • Figure 14 is a front view showing the final state in which the item gripping device 5 grips a three-dimensional cardboard box W1 with the spacing between each suction part increased in the +Y and -Y directions 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 increased.
  • Figure 19 is a front view showing the final state in which the item gripping device 5 has gripped a cardboard box W2 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 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.
  • the box making device 1 is configured so that before the folding process of the lower inner flaps is fully completed, the pair of second rails 26a and 26b are moved toward the first rail 22 (S23), and the right lower outer flap W1DL1 and the left lower outer flap W1DL2 are folded, thereby completely folding the front lower inner flap W1DS1 and the rear lower inner flap W1DS2.
  • the articulated robot 3 further moves the cardboard box W1 horizontally forward (S51), completing the folding process of the right lower outer flap W1DL1 and the left lower outer flap W1DL2, and the process returns to the main program (S53).
  • 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.
  • the right lower outer flap W1DL1 and the left lower outer flap W1DL2 are closed by a pair of second rails 26a and 26b after the cardboard box W1 is released from the first rail 22.
  • the article gripping device 5 of this embodiment includes a first arm (first arm base end 49a, first arm intermediate portion 51a, and first arm tip end 57a) and a second arm (second arm base end 49b, second arm intermediate portion 51b, and second arm tip end 57b) rotatably connected around the motor shaft (first axis) of the first arm rotation drive motor 61, a third arm portion 59a rotatably connected to the end of the first arm opposite 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. Therefore, even articles made of flexible materials can be securely gripped.
  • the distance between the first axis and the pair of first suction portions 83a and 83b can be changed, so items can be gripped more reliably, even if they are of different sizes.
  • the second arm is equipped 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, allowing items of different sizes to be gripped more reliably.
  • the box making device 1 of this embodiment is equipped with an articulated robot 3 and an item gripping device 5 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.
  • Figure 20 is a perspective view of a box making device equipped with an item gripping 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 gripping a box
  • Figure 23 is a perspective view showing the box making device gripping a box.
  • the item gripping device 105 comprises, on the -X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 in 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 -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 -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 opposite the first axis described below).
  • a sixth cylinder 183 corresponds to the pair of attachment portions 183a and 183b
  • a seventh cylinder 187 corresponds to the pair of seventh attachment portions 187a and 187b
  • an eighth cylinder 180 corresponds to the pair of eighth attachment portions 180a and 180b
  • a ninth cylinder 189 corresponds to the pair of ninth attachment portions 189a and 189b
  • a tenth cylinder 185 corresponds to the pair of tenth attachment portions 185a and 185b.
  • the item gripping device 105 also includes an arm rotation first drive motor 161a (corresponding to the "second drive unit” in this invention) that is arranged at the base end 149c 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” in this invention), an arm rotation first drive motor gear 163a that is coaxially connected to the motor shaft (corresponding to the "second shaft” in this 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.
  • an arm rotation first drive motor 161a (corresponding to the "second drive unit” in this invention) that is arranged at the base end 149c 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” in this invention)
  • the fifth arm extension/retraction first link portion 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
  • the fifth arm extension/retraction second link portion 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.
  • the rotational force is transmitted to the first arm rotation drive motor gear 163a, and as mentioned above, the fifth arm and the sixth arm (described below) are configured to rotate around the motor shaft of the first arm rotation drive motor 161a (equivalent to the "second shaft” in this invention).
  • the item gripping device 105 also includes a seventh arm base end 149b that is rotatable relative to the sixth arm tip end 157c and is located 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 the third axis described below).
  • the item gripping device 105 also includes an arm rotation second drive motor 161b (corresponding to the "third drive unit” in this invention) located at the seventh arm tip 157b for rotating the sixth arm and seventh arm around a motor shaft (corresponding to the "third axis” in this invention), an arm rotation second drive motor gear 163b coaxially connected to the motor shaft (corresponding to the "third axis” in this invention) of the arm rotation second drive motor 161b, and an arm rotation second drive driven gear 165b located at the seventh arm base end 149b and meshing with the arm rotation first drive motor gear 163b.
  • an arm rotation second drive motor 161b (corresponding to the "third drive unit” in this invention) located at the seventh arm tip 157b for rotating the sixth arm and seventh arm around a motor shaft (corresponding to the "third axis” in this invention)
  • an arm rotation second drive motor gear 163b coaxially connected to the motor shaft (corresponding to the "third axis” in this invention) of the arm rotation second drive motor 161b
  • 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
  • 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.
  • the sixth arm and seventh arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state.
  • 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 section 181a and 181b, the sixth suction section 183a and 183b, the seventh suction section 187a and 187b, the eighth suction section 180a and 180b, the ninth suction section 189a and 189b, the tenth suction section 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.
  • the articulated robot 3 of the box making device 101 is set at the left end position of the upper moving rail 91 in Figure 1.
  • 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).
  • the topmost flat cardboard W1 of the stacked flat cardboards W1 is then sucked in, lifted, and rotated, moving it to the top surface of the flat cardboard loading table 36 and placing it on the top surface of the flat cardboard loading table 36 (S7).
  • opening the item gripping device 105 means widening the angle between the fifth arm and the sixth arm to approximately 180 degrees, as shown in Figures 20 and 21, and arranging 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, facing each other on the same plane.
  • the item gripping device 105 changes the distance between the motor shaft (corresponding to the "second shaft” in this 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.
  • 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 portion 151a, move in the -X direction, and as a result of this movement, the fifth arm extension/retraction second engaging portion 120a, which is connected to the -Y direction side of the fifth arm base end portion 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.
  • the fifth arm tip portion 157a moves in the -X direction
  • the eighth arm portion 159a connected to the fifth arm tip portion 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 increasing the distance between the motor shaft of the first arm rotation drive motor 161a and the pair of eighth suction portions 180a and 180b.
  • the fifth arm extension/retraction first locking portion 119a moves in the +X direction
  • the fifth arm intermediate portion 151a connected to the fifth arm extension/retraction first locking portion 119a also moves in the +X direction
  • 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.
  • 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 portion 151a, move in the +X direction, and as a result of this movement, the fifth arm extension/retraction second engaging portion 120a, which is connected to the -Y direction side of the fifth arm base end portion 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.
  • the fifth arm tip portion 157a moves in the +X direction
  • the eighth arm portion 159a connected to the fifth arm tip portion 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.
  • 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
  • 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 second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b.
  • 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 portion 151b, move in the +X direction, and as a result of this movement, the seventh arm extension/retraction second engaging portion 120b, which is connected to the seventh arm base end portion 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.
  • 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
  • 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 second arm rotation drive motor 161b and the pair of seventh suction portions 187a and 187b.
  • 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 portion 151b, move in the -X direction, and as a result of this movement, the seventh arm extension/retraction second engaging portion 120b, which is connected to the -Y direction side of the seventh arm base end portion 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.
  • the item gripping device 105 changes the distance between the motor shaft (corresponding to the "second shaft” in this 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.
  • 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
  • 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 first arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b.
  • 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
  • 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 first arm rotation drive motor 161a and the pair of tenth suction portions 185a and 185b.
  • Figures 24 to 26 show plan views, front views, and bottom views of the item gripping device 105 in a state where the spacing between each suction portion in the +Y and -Y directions has been reduced 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 increased.
  • Figures 29 to 31 show plan views, front views, and bottom views of the item gripping device 105 when the spacing between each suction portion in the +Y and -Y directions is reduced, 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 reduced.
  • the compressor 8 drives the nine hole suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 installed on the top surface of the flat cardboard placing table 36 to suck in the flat cardboard W1, thereby fixing the flat cardboard W1 to the top surface of the flat cardboard placing table 36 (S9).
  • the item grasping device 105 rotates the fifth arm and sixth arm so that they form a 90-degree angle, rotates the sixth arm and seventh arm so that they form a 90-degree angle, rotates the eighth arm portion 159a so that it forms a 90-degree angle with respect to the fifth arm, and rotates the ninth arm portion 159b so that it forms a 90-degree angle with respect to the seventh arm, as shown in Figures 22 and 23.
  • the item gripping device 205 further comprises, on the +X direction side of the rotating part 47 (mounting part 47) of the articulated robot 3 in the drawing, a sixth arm base end 249c, 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.
  • the "sixth arm” of the present invention is composed of the sixth arm base end portion 249c, the sixth arm intermediate portion 251c, and the sixth arm tip portion 257c in this embodiment.
  • the item gripping 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 units 285a and 285b depending on the size of the cardboard box. Specifically, it 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/retraction first toothed belt 215c one end of which is engaged with the sixth arm extension/retraction first toothed pulley 213c.
  • the item gripping device 205 includes a sixth arm extension/retraction fourth toothed pulley 225c engaged with the other end of the sixth arm extension/retraction second toothed belt 223c, a sixth arm extension/retraction second locking part 220c connected to the sixth arm base end 249c and connected to the -Y direction side of the sixth arm extension/retraction second toothed belt 223c, and a sixth arm extension/retraction third locking part 227c connected to the sixth arm tip end 257c and connected to the -Y direction side of the sixth arm extension/retraction second toothed belt 223c.
  • the item gripping device 205 also includes a seventh arm base end 249b that is rotatable relative to the sixth arm tip end 257c and is located 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 the third axis described below).
  • the "seventh arm” of the present invention is composed of the seventh arm base end portion 249b, the seventh arm intermediate portion 251b, and the seventh arm tip portion 257b in this embodiment.
  • the item gripping device 205 also includes an arm rotation second drive motor 261b (corresponding to the "third drive unit” in this invention) arranged at the seventh arm tip 257c for rotating the sixth arm and seventh arm around a motor shaft (corresponding to the "third axis” in this invention), an arm rotation second drive motor gear 263b coaxially connected to the motor shaft (corresponding to the "third axis” in this 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.
  • an arm rotation second drive motor 261b (corresponding to the "third drive unit” in this invention) arranged at the seventh arm tip 257c for rotating the sixth arm and seventh arm around a motor shaft (corresponding to the "third axis” in this invention)
  • an arm rotation second drive motor gear 263b coaxially connected to the motor shaft (corresponding to the "third axis” in this invention) of the arm rotation second drive motor 261b
  • the item gripping 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.
  • 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
  • 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.
  • the seventh arm extension/retraction first link portion 253b and the seventh arm extension/retraction second link portion 255b are configured to be 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.
  • the rotational force is transmitted to the second arm rotation drive motor gear 263b, and as described above, the sixth arm and seventh arm are configured to rotate around the motor shaft of the second arm rotation drive motor 261b (equivalent to the "third shaft” of the present invention).
  • the sixth arm and seventh arm are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its boxed state.
  • the sixth arm and the seventh arm rotate 90 degrees, the sixth arm and the seventh arm are locked together, and the rotational force of the second arm rotation drive motor 261b is then transmitted to the second arm rotation drive driven gear 265b, the first second arm rotation drive toothed pulley 267b, the first second arm rotation drive toothed belt 269b, the second second arm rotation drive toothed pulley 271b, the second second arm rotation drive toothed belt 273b, the third second arm rotation drive toothed pulley 275b, and the ninth arm portion 259b, resulting in the ninth arm portion 259b rotating around the center of the third second arm rotation drive toothed pulley 275b.
  • the ninth arm portion 259b is configured to rotate 90 degrees relative to the seventh arm tip portion 257b so that the cardboard can be securely gripped in its boxed state.
  • the sixth arm and seventh arm are configured to be rotatable at 90 degrees so that cardboard boxes can be securely gripped in their boxed state
  • 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 as desired depending on the shape of the item to be gripped, and by physically engaging the sixth arm and seventh arm, they can be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.
  • the item gripping 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, it has a seventh arm extension/retraction motor 211b arranged at the base end 249b of the seventh arm, 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/retraction first toothed belt 215b having one end engaged with the seventh arm extension/retraction first toothed pulley 213b.
  • the item gripping device 205 also includes a seventh arm extension/retraction second toothed pulley 217b engaged with the other end of the seventh arm extension/retraction first toothed belt 215b, a seventh arm extension/retraction first engaging portion 219b connected to the seventh arm intermediate portion 251b and connected to the underside of the seventh arm extension/retraction first toothed belt 215b, a seventh arm extension/retraction third toothed pulley 221b rotatably connected on the seventh arm intermediate portion 251b, and a seventh arm extension/retraction second toothed belt 223b having one end engaged with the seventh arm extension/retraction third toothed pulley 221b.
  • the item gripping device 205 includes a seventh arm extension/retraction fourth toothed pulley 225b engaged with the other end of the seventh arm extension/retraction second toothed belt 223b, a seventh arm extension/retraction second locking part 220b connected to the seventh arm base end 249b and connected to the -Y direction side of the seventh arm extension/retraction second toothed belt 223b, and a seventh arm extension/retraction third locking part 227b connected to the seventh arm tip end 257b and connected to the +Y direction side of the seventh arm extension/retraction second toothed belt 223b.
  • the box making device 201 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the placement position of the cardboard box W1 stored in the box placement position data table 16a in 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).
  • the articulated robot 3 of the box making device 201 is set at the left end position of the upper moving rail 91 in Figure 1.
  • the box making device 101 When the box making device 201 acquires the flat cardboard placement position (position of flat cardboard W1) stored in the box placement position data table 16a and the box information (size of 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 platform 93 on which the articulated robot 3 is installed along the moving rails 91 to the location on the flat box placement section 80 where the flat cardboard W1 is stacked.
  • 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, 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).
  • the item gripping device 205 may use the pair of fifth suction units 281a and 281b, the pair of sixth suction units 283a and 283b, the pair of seventh suction units 287a and 287b, the pair of eighth suction units 280a and 280b, the pair of ninth suction units 289a and 289b, and the pair of tenth suction units 285a and 285b (all suction units are ON), to suck up the flat cardboard box W1.
  • opening the item gripping device 205 means widening the angle between the fifth arm, sixth arm, and seventh arm to approximately 180 degrees, as shown in Figure 34, and arranging 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, facing each other on the same plane.
  • the item gripping device 205 changes the distance between the motor shaft (corresponding to the "second shaft” in this 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.
  • the fifth arm extension/retraction first locking portion 219a moves in the -X direction
  • the fifth arm intermediate portion 251a connected to the fifth arm extension/retraction first locking portion 219a also moves in the -X direction
  • the pair of fifth suction portions 281a and 281b provided on the fifth arm intermediate portion 251a also move in the -X direction, 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.
  • the fifth arm extension/retraction first locking portion 219a moves in the +X direction
  • the fifth arm intermediate portion 251a connected to the fifth arm extension/retraction first locking portion 219a also moves in the +X direction
  • 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.
  • the fifth arm extension/retraction third toothed pulley 221a and the fifth arm extension/retraction fourth toothed pulley 225a which are rotatably connected to the fifth arm intermediate portion 251a, move in the +X direction, and as a result of this movement, the fifth arm extension/retraction second engaging portion 220a, which is connected to the -Y direction side of the fifth arm base end portion 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.
  • the fifth arm tip portion 257a moves in the +X direction
  • the eighth arm portion 259a connected to the fifth arm tip portion 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.
  • 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
  • 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 second arm rotation drive motor 261b and the pair of seventh suction portions 287a and 287b.
  • the seventh arm extension/retraction third toothed pulley 221b and the seventh arm extension/retraction fourth toothed pulley 225b which are rotatably connected to the seventh arm intermediate portion 251b, move in the -X direction, and as a result of this movement, the seventh arm extension/retraction second engaging portion 220b, which is connected to the -Y direction side of the seventh arm base end portion 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.
  • the item gripping device 205 changes the distance between the motor shaft (corresponding to the "second shaft” in this 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.
  • 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
  • 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 first arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b.
  • 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
  • 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 first arm rotation drive motor 261a and the pair of tenth suction portions 285a and 285b.
  • the compressor 8 drives the nine hole suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 installed on the top surface of the flat cardboard placing table 36 to suck in the flat cardboard W1, thereby fixing the flat cardboard W1 to the top surface of the flat cardboard placing table 36 (S9).
  • 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 units 283a and 283b and the pair of tenth suction units 285a and 285b of the item gripping device 205 are positioned within the flat cardboard W1, while the other suction units 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 units 283a and 283b and the pair of tenth suction units 285a and 285b (S11).
  • 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).
  • Figure 35 is a perspective view showing the initial state in which the item gripping device 205 grips 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.
  • the item gripping device 205 rotates the fifth arm and sixth arm so that they form a 90-degree angle, rotates the sixth arm and seventh arm so that they form a 90-degree angle, and rotates the eighth arm portion 259a so that it forms a 90-degree angle with respect to the fifth arm, and rotates the ninth arm portion 259b so that it forms a 90-degree angle with respect to the seventh arm, as shown in FIG. 36, thereby aligning the pair of sixth suction portions.
  • 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
  • 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.
  • the item gripping device 205 of this embodiment adsorbs and grips the entire surface of the cardboard box W1, so it can reliably grip even objects made of flexible materials (e.g., cardboard boxes).
  • Figure 36 is a front view showing the final state in which the item gripping device 205 has gripped 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.
  • the box making device 201 of this embodiment executes the processes of S15 to S33 to fold the inner and outer flaps of the cardboard box W1 and complete the cardboard box.
  • the item gripping device 205 of this embodiment is equipped with 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 items made of flexible materials can be securely gripped.
  • the article gripping device 205 of this embodiment is equipped with 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.
  • the item gripping device 205 of this embodiment is equipped with a first arm rotation 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 first arm rotation drive motor 261a, so that even items made of flexible materials can be securely gripped with a simple mechanism.
  • the item gripping device 205 of this embodiment is equipped with a second arm rotation drive motor 261b that rotates the sixth arm and 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 from the third axis in conjunction with the rotation of the second arm rotation drive motor 261b, so that even items made of flexible materials can be securely gripped with a simple mechanism.
  • the distance between the second axis and the pair of eighth suction portions 280a and 280b is adjustable, so that items of different sizes can be securely gripped.
  • the distance between the third axis and the pair of ninth suction portions 289a and 289b can be changed, so items can be securely gripped even if they are of different sizes.
  • the distance between the second axis and the pair of fifth suction portions 281a and 281b is adjustable, so that items of different sizes can be gripped reliably.
  • the distance between the third axis and the pair of seventh suction portions 287a and 287b is adjustable, so items of different sizes can be gripped more reliably.
  • the sixth arm is equipped 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 reliably.
  • Figure 37 is a bottom view of the item gripping device of the fourth embodiment with the spacing between each suction part increased in the +X and -X directions
  • Figure 38 is a perspective view showing the initial state in which the item gripping device of the fourth embodiment has gripped a box with the spacing between each suction part increased in the +X and -X directions
  • Figure 39 is a front view showing the final state in which the item gripping device of the fourth embodiment has gripped a box with the spacing between each suction part increased in the +X and -X directions.
  • 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 forms flat cardboard boxes placed according to size into three-dimensional shapes, folds the inner and outer flaps formed on the top and bottom ends of the three-dimensional cardboard boxes, and then applies tape to the ends of the outer flaps to produce a cardboard box.
  • 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 grips four of the four sides of a three-dimensional cardboard box by suction, and can reliably grip the cardboard box even if it is made of a flexible material.
  • the item gripping device 305 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 349a, a first arm intermediate part 351a slidably engaged with the first arm base end 349a in the +X direction and -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 -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 opposite the first axis described below).
  • first arm of the present invention is composed of the first arm base end portion 349a, the first arm intermediate portion 351a, and the first arm tip portion 357a in this embodiment.
  • 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 387), for gripping cardboard boxes.
  • first suction sections 383a and 383b second suction sections 385a and 385b
  • third suction sections 381a and 381b fourth suction sections 389a and 389b
  • tenth suction sections 387a and 387 for gripping cardboard boxes.
  • the item gripping device 305 has a pair of first suction portions 383a and 383b on the first arm intermediate portion 351a, a pair of second suction portions 385a and 385b on the second arm base end portion 349b (described later), a pair of third suction portions 381a and 381b on the third arm portion 359a, a pair of fourth suction portions 389a and 389b on the fourth arm portion 359b (described later), and a pair of tenth suction portions 387a and 387b on the second arm tip end portion 357b (described later).
  • the item gripping device 305 also includes an arm rotation first drive motor 361 (corresponding to the "first drive unit” in this 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 shaft” in this invention), an arm rotation first drive motor gear 363a that is coaxially connected to the motor shaft (corresponding to the "first shaft” in this 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.
  • an arm rotation first drive motor 361 (corresponding to the "first drive unit” in this 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 shaft” in this invention)
  • an arm rotation first drive motor gear 363a that is coaxially connected to the
  • first arm extension/retraction first link portion 353a and the first arm extension/retraction second link portion 355a are configured to be rotatable about the central axis of the arm rotation first drive second toothed pulley 371a, depending on the distance between the arm rotation first drive driven gear 365a and the arm rotation first drive third toothed pulley 375a.
  • the third arm portion 359a is configured to rotate 90 degrees relative to the first arm tip portion 357a so that the cardboard can be securely gripped in its boxed state.
  • the item gripping device 305 further comprises, on the +X direction side of the rotating unit 47 (mounting unit 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 portion 351b that is slidably engaged with the second arm base end 349b in the +X direction and -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 portion 351b in the +X direction and -X direction, and a fourth arm portion 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 the first axis of the second arm).
  • a fourth arm portion 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
  • the "second arm” of the present invention is composed of the second arm base end portion 349b, the second arm intermediate portion 351b, and the second arm tip portion 357b in this embodiment.
  • the item gripping 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, the first stage toothed pulley of which is engaged with the other end of the first toothed belt 369b for second arm rotation drive.
  • the item gripping 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 portion 359b connected to the rotation axis of the third toothed pulley 375b for second arm rotation drive.
  • the fourth arm portion 359b is configured to rotate around the center of the arm rotation second drive third toothed pulley 375b.
  • a second arm extension/retraction motor 311b arranged at the second arm base end 349b
  • a second arm extension/retraction first toothed pulley 313b coaxially connected to the motor shaft of the second arm extension/retraction motor 311b (although hidden by the second arm base end 349b and not shown, it is arranged in a similar manner to the first arm extension/retraction first toothed pulley 313a), and a third arm extension first toothed belt 315b, one end of which is engaged with the second arm extension first toothed pulley 313b.
  • the item gripping device 305 is equipped with a fourth toothed pulley 325b for second arm extension/retraction engaged with the other end of the second toothed belt 323b for second arm extension/retraction, a second locking part 320b for second arm extension/retraction connected to the second arm base end 349b and connected to the -Y direction side of the second toothed belt 323b for second arm extension/retraction, and a third locking part 327b for second arm extension/retraction connected to the second arm tip end 357b and connected to the +Y direction side of the second toothed belt 323b for second arm extension/retraction.
  • the block diagram of the box making device 101 of this embodiment is configured such that, instead of the first suction units 83a and 83b, second suction units 85a and 85b, third suction units 81a and 81b, fourth suction units 87a and 87b, first cylinder 81, second cylinder 83, third cylinder 85, and fourth cylinder 87, the compressor 8 is connected to the first suction units 383a and 383b, second suction units 385a and 385b, third suction units 381a and 381b, fourth suction units 389a and 389b, tenth suction units 387a and 387b, first cylinder 383, second cylinder 385, third cylinder 381, fourth cylinder 389, and tenth cylinder 387.
  • the block diagram of the box making device 301 of this embodiment is configured such that, instead of the first arm rotation drive motor 61, first arm extension/retraction motor 11a, and second arm extension/retraction motor 11b, 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 of the block diagram of the first embodiment in Figure 6.
  • 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, 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).
  • the item gripping device 305 may use the pair of first suction units 383a and 383b, the pair of second suction units 385a and 385b, the pair of third suction units 381a and 381b, the pair of fourth suction units 389a and 389b, and the pair of tenth suction units 387a and 387b (all suction units are ON), to suck up the flat cardboard box W1.
  • the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b it is also possible to use only the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b to suck up the flat cardboard box W1 from this point on, and not use the other suction units.
  • opening the item gripping device 305 means widening the angle between the first arm and the second arm to approximately 180 degrees, as shown in Figure 37, and arranging 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, facing each other on the same plane.
  • the item gripping device 305 changes the distance between the motor shaft (corresponding to the "first shaft” in this 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.
  • 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
  • the pair of first suction portions 383a and 383b provided on the first arm intermediate portion 351a also move in the -X direction, 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.
  • the third toothed pulley 321a for first arm extension and the fourth toothed pulley 325a for first arm extension which are rotatably connected to the first arm intermediate portion 351a, move in the -X direction, and as a result of this movement, the second engaging portion 320a for first arm extension and retraction, which is connected to the -Y direction side of the first arm base end portion 349a and the second toothed belt 323a for first arm extension and retraction, and the +Y direction side of the second toothed belt 323a for first arm extension and retraction, move in the -X direction.
  • the first arm tip portion 357a moves in the -X direction
  • the third arm portion 359a connected to the first arm tip portion 357a and the pair of third suction portions 381a and 381b provided on the third arm portion 359a also move in the -X direction, thereby increasing the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of third suction portions 381a and 381b.
  • the third toothed pulley 321a for first arm extension and the fourth toothed pulley 325a for first arm extension which are rotatably connected to the first arm intermediate portion 351a, move in the +X direction, and as a result of this movement, the second engaging portion 320a for first arm extension and retraction, which is connected to the -Y direction side of the first arm base end portion 349a and the second toothed belt 323a for first arm extension and retraction, and the +Y direction side of the second toothed belt 323a for first arm extension and retraction, move in the +X direction.
  • the first arm tip portion 357a moves in the +X direction
  • 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 arm rotation drive motor 361 and the pair of third suction portions 381a and 381b.
  • the item gripping device 305 changes the distance between the motor shaft (corresponding to the "first shaft” in this 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.
  • the second arm extension/retraction first locking portion 319b moves in the +X direction
  • the second arm intermediate portion 351b connected to the second arm extension/retraction first locking portion 319b also moves in the +X direction
  • 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.
  • the second arm extension/retraction third toothed pulley 321b and the second arm extension/retraction fourth toothed pulley 325b which are rotatably connected to the second arm intermediate portion 351b, move in the +X direction, and along with this movement, the second arm extension/retraction second locking portion 320b, which is connected to the +Y direction side of the second arm base end portion 349b and the second arm extension/retraction second toothed belt 323b, and the +Y direction side of the second arm extension/retraction second toothed belt 323b, Due to the relationship with the opposite side and the second arm extension/retraction third locking portion 327b 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,
  • the second arm extension/retraction first locking portion 319b moves in the -X direction
  • the second arm intermediate portion 351b connected to the second arm extension/retraction first locking portion 319b also moves in the -X direction
  • 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.
  • the second arm extension/retraction third toothed pulley 321b and the second arm extension/retraction fourth toothed pulley 325b which are rotatably connected to the second arm intermediate portion 351b, move in the -X direction, and as a result of this movement, the second arm extension/retraction second locking portion 320b, which is connected to the -Y direction side of the second arm base end portion 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.
  • the second arm tip portion 357b moves in the -X direction
  • 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.
  • the compressor 8 drives the nine hole suction units V1, V2, V3, V4, V5, V6, V7, V8, and V9 installed on the top surface of the flat cardboard placing table 36 to suck in the flat cardboard W1, thereby fixing the flat cardboard W1 to the top surface of the flat cardboard placing table 36 (S9).
  • the articulated robot 3 is operated to place the item gripping device 305 in the open state as shown in Figure 37, and the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b of the item gripping device 305 are positioned within the flat cardboard W1, while the other suction units are positioned outside the range of the flat cardboard W1, and the flat cardboard W1 is sucked in using only the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b (S11).
  • 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).
  • Figure 38 is a perspective view showing the initial state in which the item gripping device 305 grips the three-dimensional cardboard box W1 only with the pair of second suction parts 385a and 385b and the pair of tenth suction parts 387a and 387b, with the spacing between each suction part in the +Y and -Y directions shortened and the distance between the motor shaft of the first arm rotation drive motor 361 and the pair of first suction parts 383a and 383b, the pair of third suction parts 381a and 381b, the pair of fourth suction parts 389a and 389b, and the pair of tenth suction parts 387a and 387b increased.
  • the item gripping device 305 is configured so that the first arm and second arm rotate 90 degrees, the third arm 359a rotates 90 degrees relative to the first arm, and the fourth arm 359b rotates 90 degrees relative to the second arm, as shown in FIG. 39.
  • Figure 39 is a plan view showing the item gripping device 305 gripping a three-dimensional cardboard box W1 with the spacing between the suction portions reduced in the +Y and -Y directions, 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 increased.
  • the article gripping device 305 of this embodiment includes 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 first arm rotation drive motor 361, a third arm 359a rotatably connected to the end of the first arm opposite 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. Therefore, even articles made of flexible materials can be securely gripped.
  • Figure 40 is a bottom view of the fifth embodiment of the item gripping device with the spacing between each suction part increased in the +X and -X directions
  • Figure 41 is a perspective 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 increased in the +X and -X directions
  • 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 increased in the +X and -X directions.
  • 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. Unlike the item gripping device 305 of the fourth embodiment, the item gripping device 405 of this embodiment has a fixed spacing between the suction parts.
  • 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 a single housing (the first housing 483 corresponding to the pair of first suction portions 483a and 483b, the second housing 485 corresponding to the pair of second suction portions 485a and 485b, the third housing 481 corresponding to the pair of third suction portions 481a and 481b, the fourth housing 489 corresponding to the pair of fourth suction portions 489a and 489b, and the tenth housing 487 corresponding to the pair of tenth suction portions 487a and 487b).
  • a first arm extension/retraction first link portion 453a is connected between the arm rotation first drive first toothed pulley 467a and the arm rotation first drive second toothed pulley 471a, thereby ensuring the axial distance between the arm rotation first drive first toothed pulley 467a and the arm rotation first drive second toothed pulley 471a
  • a first arm extension/retraction second link portion 455a is connected between the arm rotation first drive second toothed pulley 471a and the arm rotation first drive third toothed pulley 475a, thereby ensuring the axial distance between the arm rotation first drive second toothed pulley 471a and the arm rotation first drive third toothed pulley 475a.
  • first arm extension/retraction first link portion 453a and the first arm extension/retraction second link portion 455a are configured to be rotatable about the central axis of the arm rotation first drive second toothed pulley 471a, depending on the distance between the arm rotation first drive driven gear 465a and the arm rotation first drive third toothed pulley 475a.
  • the first arm rotation drive motor 461 rotates, the rotational force is transmitted to the first arm rotation 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 first arm rotation drive motor 461 (corresponding to the "first shaft” of the present invention).
  • the first arm and the second arm described below are configured to be rotatable at 90 degrees so that the cardboard can be securely gripped in its box-like state.
  • the first arm and the second arm described below rotate 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, resulting in the third arm portion 459a rotating around the center of the arm rotation first drive third toothed pulley 475a.
  • the third arm portion 459a is configured to rotate 90 degrees relative to the first arm tip portion 457a so that the cardboard can be securely gripped in its boxed state.
  • the first arm and second arm are configured to be rotatable at 90 degrees so that cardboard boxes can be securely gripped in their boxed state
  • 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 as desired depending on the shape of the item to be gripped, and by physically engaging them, they can also be configured to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.
  • the item gripping 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, it has a first arm extension/retraction motor 411a arranged at the base end 449a of the first arm, a first arm extension/retraction first toothed pulley 413a coaxially connected to the motor shaft of the first arm extension/retraction motor 411a, and a first arm extension/retraction first toothed belt 415a having one end engaged with the first arm extension/retraction first toothed pulley 413a.
  • the item gripping device 405 also includes a first arm extension/retraction second toothed pulley 417a engaged with the other end of the first arm extension/retraction first toothed belt 415a, a first arm extension/retraction first engaging portion 419a connected to the first arm intermediate portion 451a and connected to the underside of the first arm extension/retraction first toothed belt 415a, a first arm extension/retraction third toothed pulley 421a rotatably connected on the first arm intermediate portion 451a, and a first arm extension/retraction second toothed belt 423a one end of which is engaged with the first arm extension/retraction third toothed pulley 421a.
  • the item gripping device 405 includes a fourth toothed pulley 425a for first arm extension/retraction engaged with the other end of the second toothed belt 423a for first arm extension/retraction, a second locking portion 420a for first arm extension/retraction connected to the base end 449a of the first arm and connected to the -Y direction side of the second toothed belt 423a for first arm extension/retraction, and a third locking portion 427a for first arm extension/retraction connected to the tip end 457a of the first arm and connected to the +Y direction side of the second toothed belt 423a for first arm extension/retraction.
  • the "second arm” of the present invention is composed of the second arm base end portion 449b, the second arm intermediate portion 451b, and the second arm tip portion 457b in 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.
  • the fourth arm portion 459b is configured to rotate 90 degrees relative to the second arm tip portion 457b so that cardboard can be securely gripped in its boxed state, but these angles can be changed as desired depending on the shape of the item to be gripped, and by physically engaging it, it can also be made to rotate 30 degrees or 60 degrees to match the shape of the item to be gripped.
  • the item gripping 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.
  • a second arm extension/retraction motor 411b arranged at the second arm base end 449b
  • a second arm extension/retraction first toothed pulley 413b coaxially connected to the motor shaft of the second arm extension/retraction motor 411b (although hidden by the second arm base end 449b and not shown, it is arranged in a similar manner to the first arm extension/retraction first toothed pulley 413a), and a third arm extension first toothed belt 415b, one end of which is engaged with the second arm extension first toothed pulley 413b.
  • the item gripping 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.
  • the item gripping device 405 includes a fourth toothed pulley 425b for second arm extension/retraction engaged with the other end of the second toothed belt 423b for second arm extension/retraction, a second locking part 420b for second arm extension/retraction connected to the second arm base end 449b and connected to the -Y direction side of the second toothed belt 423b for second arm extension/retraction, and a third locking part 427b for second arm extension/retraction connected to the second arm tip end 457b and connected to the +Y direction side of the second toothed belt 423b for second arm extension/retraction.
  • the box making device 401 is then set to its initial state (S1), the number of boxes to be processed is set (S3), and the placement position of the cardboard box W1 stored in the box placement position data table 16a in 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).
  • the articulated robot 3 of the box making device 401 is set at the left end position of the upper moving rail 91 in Figure 1.
  • the box making device 401 When the box making device 401 acquires the flat cardboard placement position (position of flat cardboard W1) stored in the box placement position data table 16a and the box information (size of 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 platform 93 on which the articulated robot 3 is installed along the moving rails 91 to the location on the flat box placement section 80 where the flat cardboard W1 is stacked.
  • 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, 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).
  • the item gripping device 405 may use the pair of first suction units 483a and 483b, the pair of second suction units 485a and 485b, the pair of third suction units 481a and 481b, the pair of fourth suction units 489a and 489b, and the pair of tenth suction units 487a and 487b (all suction units are ON), to suck up the flat cardboard box W1.
  • the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b it is also possible to use only the pair of second suction units 385a and 385b and the pair of tenth suction units 387a and 387b to suck up the flat cardboard box W1 from this point on, and not use the other suction units.
  • opening the item gripping device 405 means widening the angle between the first arm and the second arm to approximately 180 degrees, as shown in Figure 40, and arranging 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, facing each other on the same plane.
  • the item gripping device 405 changes the distance between the motor shaft (corresponding to the "first shaft” in this 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.
  • Robot controller 11a 311a, 411a... First arm extension/retraction motor 11b, 311b, 411b... Second arm extension/retraction motor 12... Driver circuit 13a, 313a, 413a... First arm extension/retraction first toothed pulley 13b, 313b, 413b... Second arm extension/retraction first toothed pulley 14... CPU 15a, 315a, 415a...

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de préhension d'article permettant de saisir de manière fiable un article même si l'article est composé d'un matériau souple, un dispositif de préhension d'article permettant de saisir de manière fiable même des articles ayant des tailles différentes, un dispositif de préhension d'article obtenu par configuration des dispositifs de préhension d'article susmentionnés à partir d'un mécanisme simple, et un dispositif de fabrication de boîte comprenant le dispositif de préhension d'article et permettant d'assembler de manière fiable une boîte avec une force de préhension suffisante d'une manière bien équilibrée. La solution selon l'invention porte sur un dispositif de préhension d'article (5) qui comprend un premier bras (première partie d'extrémité de base de bras (49a), première partie intermédiaire de bras (51a), et première partie de pointe de bras (57a)) et un deuxième bras (deuxième partie d'extrémité de base de bras (49b), deuxième partie intermédiaire de bras (51b), et deuxième partie de pointe de bras (57b)) reliés de manière rotative autour d'un arbre de moteur (premier arbre) d'un premier moteur d'entraînement de rotation de bras (61), une troisième partie de bras (59a) reliée de manière rotative à une partie d'extrémité du premier bras dans la direction opposée au premier arbre, une paire de premières parties d'aspiration (83a) et (83b) disposées sur le premier bras, une paire de deuxièmes parties d'aspiration (85a) et (85b) disposées sur le deuxième bras, et une paire de troisièmes parties d'aspiration (81a) et (81b) disposées sur la troisième partie de bras (59b).
PCT/JP2024/006672 2024-02-23 2024-02-23 Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article Pending WO2025177584A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/006672 WO2025177584A1 (fr) 2024-02-23 2024-02-23 Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/006672 WO2025177584A1 (fr) 2024-02-23 2024-02-23 Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article

Publications (1)

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WO2025177584A1 true WO2025177584A1 (fr) 2025-08-28

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PCT/JP2024/006672 Pending WO2025177584A1 (fr) 2024-02-23 2024-02-23 Dispositif de préhension d'article et dispositif de fabrication de boîte pourvu d'un dispositif de préhension d'article

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Country Link
WO (1) WO2025177584A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6017983U (ja) * 1983-07-15 1985-02-06 株式会社日立製作所 把持機構付吸着ハンド
JP2014124798A (ja) * 2012-12-25 2014-07-07 Yaskawa Electric Corp ロボットシステムおよびロボット
CN204453064U (zh) * 2015-03-06 2015-07-08 珠海市边锋自动化技术有限公司 开箱套箱机器人
US20180126683A1 (en) * 2016-09-25 2018-05-10 R.A. Pearson Company Tool for Use in Robotic Case Erecting
JP7366465B1 (ja) * 2021-11-25 2023-10-23 スターテクノ株式会社 製函装置及び製函方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6017983U (ja) * 1983-07-15 1985-02-06 株式会社日立製作所 把持機構付吸着ハンド
JP2014124798A (ja) * 2012-12-25 2014-07-07 Yaskawa Electric Corp ロボットシステムおよびロボット
CN204453064U (zh) * 2015-03-06 2015-07-08 珠海市边锋自动化技术有限公司 开箱套箱机器人
US20180126683A1 (en) * 2016-09-25 2018-05-10 R.A. Pearson Company Tool for Use in Robotic Case Erecting
JP7366465B1 (ja) * 2021-11-25 2023-10-23 スターテクノ株式会社 製函装置及び製函方法

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