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US 9,027,315 B2Granted
Packing device
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsRyosuke Tsutsumi, Kenichi Motonaga
Life of this patent
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Abstract
A packing device according to an embodiment includes a supply station, a right end effector, a left end effector, a right arm unit, a left arm unit, and a forming station. A cardboard box in a flat state is placed on the supply station. The cardboard box developed three-dimensionally is placed on the forming station. The right arm unit includes the right end effector provided with a suction unit. The left arm unit includes the left end effector provided with a suction unit. The packing device performs an operation of developing the cardboard box and an operation of moving the cardboard box to the forming station by using the right arm unit and the left arm unit while sucking both side surfaces of the cardboard box placed on the supply station by using the suction units.
Claims23
A packing device comprising:
- a first work station on which a packing material in a flat state is placed;
- a second work station on which the packing material developed three-dimensionally is placed;
- and
- a robot that performs an operation of developing the packing material and an operation of moving the packing material, wherein
- the robot comprises:
- a first end effector and a second end effector each including a suction unit that sucks an object;
- and
- a first arm unit that includes the first end effector and a second arm unit that includes the second end effector;
- wherein
- the robot performs the operation of developing the packing material and the operation of moving the packing material to the second work station by using the first arm unit and the second arm unit while both side surfaces of the flat-state packing material placed on the first work station are being sucked by using the suction unit included in the first end effector and the suction unit included in the second end effector, the both side surfaces being opposite to each other when the packing material is developed three-dimensionally, and
- the robot moves at least one of the first arm unit and the second arm unit in a direction that is at an oblique angle to the side surfaces of the flat-state packing material to perform the operation of developing the packing material after sucking the both side surfaces of the flat-sate packing material.
8 more elements
A packing device comprising:
- a first work station on which a packing material in a flat state is placed;
- a first end effector and a second end effector including a suction unit that sucks an object;
- a first arm unit that includes the first end effector and a second arm unit that includes the second end effector;
- and
- a second work station on which the packing material developed three-dimensionally is placed, wherein
- an operation of developing the packing material and an operation of moving the packing material to the second work station are performed by using the first arm unit and the second arm unit while both side surfaces of the packing material placed on the first work station are being sucked by using the suction unit included in the first end effector and the suction unit included in the second end effector, wherein
- the first end effect includes a first holding unit and the second end effector includes a second holding unit, and
- the second arm unit holds both of the side surfaces of the flat-state packing material by using the second holding unit, and takes out the packing material thus held from the first work station, and wherein
- the first end effector includes an applying unit that applies a predetermined adhesive member, and
- the second arm unit holds and extracts the adhesive member of the applying unit included in the first end effector with the second holding unit, and applies the adhesive member thus extracted to the packing material.
7 more elements
A packing device comprising:
- a first placing unit on which a packing material in a flat state is placed;
- a second placing unit on which the packing material developed three-dimensionally is placed;
- and
- a robot that performs an operation of developing the packing material and an operation of moving the packing material, wherein
- a robot comprises:
- a first suction unit and a second suction unit that each suck an object;
- and
- a first arm unit that includes the first suction unit and a second arm unit that includes the second suction unit;
- wherein
- the robot performs the operation of developing the packing material and the operation of moving the packing material to the second placing unit by using the first arm unit and the second arm unit while both side surfaces of the flat-state packing material placed on the first placing unit are being sucked by using the first suction unit and the second suction unit, the both side surfaces being opposite to each other when the packing material is developed three-dimensionally, and
- the robot moves at least one of the first arm unit and the second arm unit in a direction that is at an oblique angle to the side surfaces of the flat-state packing material to perform the operation of developing the packing material after sucking the both side surfaces of the flat-state packing material.
8 more elements
Dependencies are inferred from the claim text.