JP5133554B2 - Packaging method and packaging device - Google Patents

Description

The present invention is, for example, disorganized sites livestock meat or fish meat (hereinafter simply referred to as site.), Both when separated into a plurality of types depending on its size, each part was their fractions, the size of the adaptive The present invention relates to a packaging method and a packaging apparatus for filling a packaging bag.

Among the livestock meat, for example, the dismantling part of pigs is basically divided into five types: shoulder, shoulder loin, loin, rose, peach, and beef is further divided into many types, but from the definition of size, It can be divided into thick and thin ones by separating the specified numerical values, and they can be further divided into longer and shorter, so by selecting them with an image sensor, recording electronic separation information of the part based on size And mechanical separation work is possible.

Conventionally, as an example of a packaging device of a part distributed from the slaughterhouse to the market, as described in Patent Document 1 below, a mechanism for opening and opening the uppermost package to be loaded with a suction cup; It is composed of a mechanism for expanding the mouth of the wrapping bag into a tense shape by piercing the bag toward the wrapping bag, and a mechanism for pushing the part into the wrapping bag through the heel opening mechanism. As described above, since each part has a different size, the apparatus fills one kind of sachet with various kinds of parts having different sizes. Therefore, particularly in a small part, a large area with an allowance for the area is expected. Bags have the disadvantage of large losses and uneconomical costs. In addition, when the opening portion of the sachet in which the portion is packaged as described above is hermetically sealed in a vacuum packaging machine, in order not to leave a flaw that impairs hermeticity in the sealed portion, as disclosed in Patent Document 1 In addition, it is necessary to perform an operation of tensioning the opening with a pair of spatula objects in advance, and there is a problem in that the operation of removing the wrinkles causes a reduction in efficiency.

On the other hand, in the following Patent Document 2, the parts are classified into a plurality of types according to their sizes, and each part is divided and transported by a plurality of separate transport lines, and a packaging mechanism installed in each of these lines. Discloses a device for packaging. However, this separation method is a planar configuration in which the carry-out direction of the part that has entered the circular turntable at the separation base point is set by forward and reverse rotation of the turntable, so the installation area of each divided line is large, and There is an uneconomical aspect, such as requiring a packaging machine for each of the divided conveying lines, and in addition, the configuration in which the parts are temporarily stopped on the rotating plate inevitably increases the interval between the parts. Therefore, there is a drawback that the efficiency of the ratio of the number of packaging machines to be installed is poor.

JP 2004-106937 A JP 2003-252306 A Japanese Patent Publication No.53-46147

The present invention is an apparatus that solves the above-mentioned problems, and each part that is transporting the trunk road in tandem is sequentially sorted by a measurement sensor based on its size, and each sorted electronic information is recorded in a central processing unit. A mechanism for sequentially selecting each container loading unit based on the recorded information of the portion fed to the longitudinal conveyor, and the swivel arm, the selected container loading unit and the installation sucker position. rotate swung between, a mechanism for the wrapper selected with movable sucker bring in the mounting sucker position of the, the wrapper that Hakobikon the mounting sucker position, the size of the site based on the site record information Based on the length of the wrapping bag of the selected container loading unit, while the opening and closing bar is inserted into the opened wrapping bag, the mechanism that lifts and opens the movable sucker by the amount to be adapted , Back and forth conveyor A mechanism for moving the part close to the bottom surface of the wrapping bag; a mechanism for detaching the longitudinally moving conveyor from the wrapping bag; and a mechanism for tensioning an opening edge of the wrapping bag by opening the opening and closing bar; A mechanism that clamps the opening edge of the wrapping bag with a temporary seal bar, a mechanism that separates the bag from the installation suction cup installation position by rotating the carry-out conveyor while clamping, and the pair of temporary seal bars are opened. In this state, the movable sucker is brought to the installation sucker position, and is configured to return to the upper and lower sides of the opening edge of the subsequent wrapping bag.

The recording mechanism according to the present invention sequentially sorts each part that is transporting the trunk road in tandem into multiple types based on the size. For example, the classification species in the case of medium-sized fish are 2 to 4, but the number increases for large fish, and each of the classification electronic information is recorded in the central processing unit. On the other hand, each said part is sent to the longitudinally moving conveyor from the said trunk road, stops at the front-end | tip of the said conveyor, and waits for the timing of carrying in to a bag. In addition, although the said back-and-forth motion conveyor is a type which reciprocates along the said trunk path, the conveyor also contains the thing of the structure extended and contracted along a trunk path.

The central processing unit selects various container loading units according to the type of length or width of the sachet that wraps it based on the recorded information of the part sent to the longitudinally moving conveyor. . Then, the swivel arm is rotated and swung between the selected container loading unit and the installation sucker position, and the selected packing bag is carried out of the installation sucker position with a horizontally long movable suction cup supported by the swivel arm. Along with carrying on the conveyor, based on the above part record information, the movable suction cup is raised by an amount corresponding to the size of the part, and the enclosed bag carried in is opened so as to adapt to the size of the part to be carried in. To do.

Subsequently, when the wrapping bag is opened as described above, the forward / backward moving conveyor having the open / close bar and the part mounted therein is inserted into the opening, and the forward / backward moving conveyor is rotated and retracted based on the part record information. In order to reduce the internal space of the wrapping bag, the part is carried near the bottom surface of the wrapping bag. Subsequently, the wrapping bag is released from the movable suction cup, and at the same time, the opening edge of the wrapping bag is tensioned by opening the opening / closing bar, and the opening edge of the wrapping bag thus tensioned is pinched with a temporary seal bar to make a point on the opening edge. Seal. The opening edge is closed flat by the plurality of point seals to prevent the formation of wrinkles when the entire area is later sealed.

Then, after opening the pair of temporary sealing bars from the opening edge of the bag, the temporary sealing bar is opened, and the movable suction cup is returned to the upper and lower opening edges of the subsequent packing bag carried to the installed suction cup position. Repeat to continue the work of the street.

The part is fed from the main road to the longitudinally moving conveyor at substantially equal intervals, while the swivel arm supplies the wrapping bag toward the longitudinally moving conveyor in a cycle that coincides with the conveying interval of the part.

As shown in a plan view in FIG. 1, on a trunk road corresponding to a part 10 conveyance track, a longitudinal conveyor 20 that reciprocates along the trunk path, and an unloading conveyor 40 that faces the longitudinal conveyor 20 with a stationary suction cup 30 therebetween. Install. On the other hand, a swivel arm 50 that rotates forward and backward with the main shaft 11 is disposed beside the stationary sucker 30, and a plurality of types of containers having different sizes are provided on the forward and reverse trajectory 39 of the movable sucker 12 provided at the tip of the swivel arm 50. The loading unit 60 is disposed.

The container mounting unit is formed by repeatedly folding a tape back 15 formed by affixing the opening edges of a large number of wrapping bags 14 on the two armor layers on the two pressure-sensitive adhesive tapes 13 shown in FIG. the cardboard box made of 16 to accommodate comprising as in FIG. In the same unit 60, the tape 13 is wound by inching rotation of the winding shaft and the reel shaft 17 driven by the motor 18, and the armor-stacked wrapping bags 14 are transferred one by one by inching, The movable suction cup 12 provided on the swivel arm 50 can adsorb the wrapping bag 14 and peel it from the tape 13 one by one . FIG. 4 is a plan view of the unit in which each packing bag 14 affixed to the tape 13 is mounted on the belt conveyor 19 rotated by the power of the motor 18 and transferred by inching.

FIG. 5 shows a forward / reverse apparatus for the revolving arm 50 , and the structure thereof is such that a longitudinal bearing 22 is supported on a vertical bearing 22 on a machine base 21 via a ball bearing 23. The main shaft 11 described above is supported via a sliding key or a vertical slide bearing 25. The slide bearing 25 enables the main shaft 11 arranged in the sleeve 24 to move up and down, but the rotation of the main shaft 11 is restricted, so that the arm 26 is fixed to the gear 26 fixed to the lower end of the sleeve 24 . By applying a rotational force from the turning angle control motor 27 via the pinion 28, the sleeve 24 and the main shaft 11 can rotate together, and the turning arm 50 at the upper end of the main shaft 11 can be rotated. The tip of the swivel arm 50 is capable of circular motion of the forward / reverse trajectory 39 with the main road installation sucker 30 as a base point.

In FIG. 5, a pulley 32 is supported on the lower part of the cup 31 that covers the lower end of the main shaft 11 via a ball bearing, while a slot 35 in a lever 35 that moves up and down about a pin 34 by rotation of a groove cam 33 is formed. Since the ring groove around the pulley 32 is slidably engaged, and the lever 35 allows the swing arm 50 to move up and down together with the main shaft 11, the wrapping bag 14 from the tape 13 by the movable suction cup 12 already described. Can be peeled off. In this case, the amount of vertical movement of the movable suction cup 12 is controlled by the axis of the movable suction cup vertical movement control motor 37 that controls the rotation angle of the cam 33, and the details will be described later.

In the same figure, a lower end of a mandrel 41 arranged so as to vertically penetrate the hollow portion of the main shaft 11 is fixed to the bottom surface of the cup 31, while a wheel 42 fixed to the upper end of the concentric rod 41, and a movable suction cup. The wheel 44 fixed to the shaft 43 of the twelve is set to have the same diameter, and the two wheels are connected via the endless belt 45, so that the movable sucker 12 always has the same direction in the forward and reverse rotation track 39 shown in FIG. Therefore, the container mounting units 60 can be arranged in parallel.

However, when each container mounting unit 60 is arranged on radiation centered on the main shaft 11, as shown in FIG. 6, a servo motor 47 fixed to the tip of the swivel arm 50 and the shaft 43 are directly connected, and According to the rotation angle of the swivel arm 50, the rotation angle of the shaft 43 is servo-controlled so that the horizontally movable sucker 12 is kept parallel to the wrapping lip of each non-parallel container loading unit 60. Do.

In this embodiment, due to the weight of the installed servo motor 47, an eccentric load acts on the main shaft 11, and a large amount of power is required for the vertical movement of the coaxial shaft 11. Therefore, in order to improve this point, the swing arm 50 is improved. tip was vertically slidably supported on the base portion of the rotation of the gear 37 b that connects to the shaft of the motor for vertical movement, the tell rack teeth 48 the distal end portion side vertically be moved as indicated by the arrow it can. In this case, since the main shaft 11 does not need to move up and down, the coaxial is fixed and the rotational power of the pinion 28 of the turning angle control motor 27 of the arm is transmitted to the annular gear 28b.

FIG. 7 is an enlarged cross-sectional view showing the specific structure of the movable suction cup 12 already described. A horizontally long bar 51 is installed on the lower surface so as to connect a predetermined number of honeycomb-shaped adsorbent bodies 52 to the intake passage 53. A clamp 54 that opens and closes toward the lower surface of the adsorbent 52 is supported via a pin 55. Since the clamp 54 is supported by the bar 51 via the link 58, the fluid cylinder 57 that supports another pin 56 as a shaft does not cause the clamp 54 to be an obstacle for carrying the part into the bag 14. to a large pulling away to configure as the virtual line from the adsorbent 52.

In short, in FIG. 3, when the movable sucker 12 peels the wrapping bag 14 from the tape 13, the wrapping bag 14 naturally opens and expands like a balloon, making it difficult to accurately supply the stationary sucker 30 of FIG. 1. In order to prevent this, the clamp 54 in FIG. 7 sandwiches the lip of the sachet 14 and peels the sachet from the tape 13 so that the opening is prevented. Then, just before the rim of the package bag is pressed against the installation sucker 30 of FIG. 1, the opening of the package bag 14 becomes possible between the movable suction cup 12 and the installation suction cup 30 by opening the clamp 54. .

1, the frame 61 is supported by the lower guide rail 62 as shown in FIG. 8, and the frame 61 supporting the belt 63 reciprocates the guide rail 62 by the rotation of the endless chain 64. Move. The belt 63 is rotated by a servo motor connected to the conveyor shaft 100 for controlling the rotation angle of the forward / backward moving conveyor, so that each of the parts 10 that are sequentially conveyed to the infrared rays of the first sensor 66 and the second sensor 67. When the interference occurs sequentially, the belt 63 is decelerated and stopped, and the same portion 10 is stopped at the tip of the belt 63 . In this way, the portion 10 that is transferred at substantially equal intervals is temporarily stopped at the tip of the belt 63 and prepared for the timing of carrying it into the wrapping bag, the operation of which will be described again.

8 supports the opening / closing bar 71 for tension of the bag opening via the frame 69. As shown in FIG. 9, which is a plan view, the bars 71 are supported by a pair of pins 72 fixed to the horizontally long frame 69, and these bars are connected to each other so as to be opened and closed by rotation of a pair of sector gears 73. The pneumatic cylinder 73V fixed to the frame and the both gears 73 are connected via a V-shaped link 74.

The specific structure of the carry-out conveyor 40 in FIG. 1 is shown only partially in FIG. The pulleys 76 that support both ends of the pillars 75 arranged at predetermined intervals on both sides support a plurality of parallel endless cord belts 77, and are temporarily sealed by bar guides 78 fixed to the pillars 75 on both sides. both the ends of 70 slidably support a temporary sealing bars 70 of the, support plate 81 is placed on the Bekko slide bridging material 79, the same supporting plate 81 below the belt 77 To place. The mounting sucker 30 fixed to the both column members 75 is located inside the pulley 76. However, as shown in FIG. 1, the installation sucker 30 is installed outside the carry-out conveyor 40. Rather, both implementations are free to choose.

As shown in FIG. 11, the seal stand 80 provided between the belts 77 on the upper surface of the temporary seal bar 70 in the previous figure has a point seal 91 at the opening edge of the package 14 after filling the portion 10. although used to perform, this point seal of FIG. 10, a sealer in wrapper fixed on the piston rod 82 for temporarily sealing bar 70 slides at both ends, put the seal could stand 80 Do it. That is, in the side view of FIG. 12, the sealer 84 installed and fixed to the two piston rods 82 of the fluid cylinder 83 fixed to the lower surfaces of both ends of the temporary seal bar 70 is directed toward the temporary seal bar 70. The bag 14 can be point-sealed by lowering and pressing.

The first belt conveyor 85 arranged on the trunk road shown in FIG. 13 conveys the part 10 in a tandem manner along the side wall 86, but the photoelectric measurement sensor 87 installed in the passage area of the part has While measuring the thickness from the cross section of each passing part 10 with a large number of infrared rays arranged on the top surface, the length of the part 10 is measured from the passing time of the part 10 and the detection signal is sent to the controller. 90, the computing unit in the controller 90 separates each part from the measurement data into A and B on the basis of thickness as shown in the table below (see S2 in FIG. 24). Further, four types of classification information are recorded by classification into A1, A2 and B1, B2 on the basis of length (see S1 in FIG. 24). In this case, when the thickness classification represents a numerical value at the midpoint between A and B, it is classified into one of AB by the difference in length between the parts (see S3 and S5 in FIG. 24), and The number of fractions is further increased by setting the unit of length to three types of large, medium and small.

The classification electronic information of the part recorded by the controller is first sequentially transmitted to the turning angle control motor 27 of the arm shown in FIG. 5, and the turning angle control motor 27 of the arm is based on the separation information. The rotation angle is controlled (refer to S7 in FIG. 24), and with the movable suction cup 12 of the revolving arm 50, the packaging bag suitable for the size of the head portion is taken out and carried to the installation suction cup position. Then, as shown in FIG. 14, the wrapping bag 14 whose lower surface is supported by the stationary suction cup 30 is opened by raising the movable suction cup 12. In this case, the sachet 14 having a size suitable for the part to be accommodated is selected, and when the part 10 shown in FIG. 15 is carried into the sachet 14, the opening area of the sachet 14 corresponds to the size of the part. because there is a need to open up and down movement of the movable suction cup 12, the axis of the movable suction cup vertical movement control motor 37 in FIG. 5, or the servo motor shaft to move up and down the arm end portion in FIG. 6, the rotation of either The angle is controlled (see S8 in FIG. 24).

On the other hand, the first belt conveyor 85 in FIG. 13 is the sensor 95 in FIG. 8 in the front area of the sensor installation position or the rear area in FIG. Equally matching adjustment device is provided. When the heads of the respective parts 10 arranged at substantially equal intervals in this way are transferred from the conveyor 96 to the longitudinally moving conveyor 20, the feeding motor of the conveyor conveys the part 10 to the sensing position of the second sensor 67. The belt 63 is stopped. As shown in FIG. 9, the two elastic opening / closing bars 71 that start moving forward and backward together with the frame 69 are inserted about 5 cm to 10 cm at the front end into the opening of the bag 14. After stopping, the part 10 on which the longitudinal conveyor 20 is mounted is inserted into the bag 14 (see FIG. 15).

Since the controller uses a keyboard to input and record the vertical and horizontal area values of each packing bag for each container loading unit, the length of the transfer portion 10 and the length of the packing bag 14 in FIG. 9 are also controlled. Is under the control of the vessel. Therefore, the computing device controls the amount of insertion of the longitudinally moving conveyor 20 into the wrapping bag 14 and the rotation angle of the conveyor 20 (see S9 in FIG. 24), and carries the portion 10 near the bottom of the wrapping bag 14. Thereafter, the longitudinally moving conveyor 20 can be retracted from the inside of the wrapping bag 14 to complete the site filling. That is, the reciprocating control conveyor shaft 65 of the longitudinal conveyor shown in FIG. 8 is servo-controlled in the same manner as the conveyor shaft 100 for controlling the rotational angle of other longitudinal conveyors, and the length of the part 10 is adjusted from the front end of the longitudinal conveyor 20. When 30% protrudes and the tip of the part comes into contact with the bottom of the bag, the belt 63 is rotated so that the longitudinally moving conveyor 20 is retracted so as to leave the part in the bag.

In short Figure 18 is a block diagram of the control device, by entering the size of the portion carrying the central processing unit 90 b of the measurement to the controller in the measurement sensor 87, the sorting information is recorded in the sorting information memory device 102 On the other hand, according to the sizes of various wrapping bags inputted in advance from the keyboard 101, the wrapping bag selecting device 103 selects the wrapping bags corresponding to the sizes of the respective parts to be conveyed in tandem, and the mechanism 27b selects both by controlling the motor to pivot the arm to the mounting position of the packaging bag, mechanism 37 c is while Hakobidashi and opening control to the wrapper of the motor so as to move vertically movable sucker, mechanism 65 b is perform back-and-forth movement control of the conveyor according to the length of the wrapper corresponding to the site, at the same time mechanism 100 b is to control the rotation angle of the conveyor.

When the back and forth conveyor 20 is retracted from the packaging bag 14, the movable suction cup releases the packaging bag, and the swivel arm starts to rotate toward the container loading unit that is selected based on the sorting record information, At the same time, in FIG. 9, the pair of opening / closing bars 71 are opened on both sides like an imaginary line on the outside thereof, and the opening edge of the bag 14 is tensioned. Then, the sealer 84 in FIG. 12 is lowered, the opening edge of the wrapping bag 14 is clamped by the temporary seal bar 70 in the lower region, and immediately thereafter, the support plate 81 along the rod-shaped guide 78 is driven by a power body (not shown). and sliding in the direction of the arrow 92, occurs with movement of the belt 77 is integrally subjected to wrapper 14 two points seal during movement is of Ru was then returning again to the original position of the bar 71 by measuring the timing .

The package body shown in FIG. 16 having a point seal 91 on the opening edge is accommodated in a vacuum pressure-resistant chamber disclosed in Patent Document 3 after the temporary seal, and the imaginary line 93 is placed in the chamber. A hermetic seal is performed, and at the same time, cutting is performed along the same line 93. However, since the sealing material is enhanced by the point seal 91 by overlapping two constituent materials of the wrapping bag at the opening edge, the hermetic seal When carrying out the procedure, it is no longer necessary to perform a bag mouth tension operation using a separate mechanical device. In short, since the temporary seal is carried out while the part and the packaging bag are taken out from the installation suction cup installation position, it is possible to immediately bring the subsequent packaging bag into the installation suction cup without waiting and is efficient. hits the perform sealing seal so does not require the operation of the mechanical device for bag mouth tension, it is possible to eliminate mistakes tensioning operation which may occur rarely for multiple bag mouth.

The temporary seal bar 70 in FIG. 17 reciprocates 92 for a certain distance, while the sealer 84 performs block motion movement along the arrow 94, and the reciprocating movement and the block motion movement are brought into the stationary suction cup 30 by the swivel arm. When both the sealing mechanisms are returned to the upper and lower sides of the succeeding wrapping bag and the succeeding wrapping bag is opened and the succeeding portion is accommodated therein, the sealer 84 descends again and the wrapping bag is temporarily attached to the temporary sealing bar. The operation of pinching with 70 and carrying the packaging bag backward is repeated.

In short, as shown in Table 2 below, the temporary seal bar 70 and the sealer 84 start the clamping seal and the movement at the same time, and at the same time, the carry-out conveyor 40 starts rotating to carry out the bag and then stop. To do. The state of the subsequent portion is measured, and the temporary seal bar 70 and the sealer 84 start to retract to the original fixed position after releasing the front wrapping bag.

In the following embodiments, the components or components indicated by the same reference numerals as those used in the first embodiment are defined as being the same or performing the same function.

In FIG. 19, a pair of swivel arms 110 and 111 are installed on both sides of the stationary suction cup 30, and the movable suction cups 113 and 114 at the tips of these arms are alternately rotated on the rotation tracks 115 and 116, so that the separate record information Based on the above, the wrapping bag 14 of any of the plurality of types of container mounting units 60 installed on the rotating track is alternately sent out to the stationary suction cup 30 by the movable suction cups 113 and 114. In the main road, the parts can be transported in tandem at relatively small time intervals, whereas the swivel arm is used to take out the wrapping bag from the container loading unit, open the wrapping bag, and further to the part. Since the work of returning to the container loading unit is performed after waiting for filling of the packaging bag, only one swivel arm is inefficient, so this embodiment improves this point with two swivel arms. It is the structure to do. Each of the two swivel arms 110 and 111 has the same structure as that of the swivel arm forward / reverse apparatus described in FIG. 5, and the controller classifies the parts and records the classification information. The functions of the mechanisms described in the first embodiment, such as the rotation angle control of the two swivel arms 110 and 111, are provided.

For example demolition site of pigs, made from one side of at least five sizes things, cattle to become a greater number of sites, construction of FIG 19, located on opposite sides of the mounting sucker 30 more variety of wrapper In order to fulfill the purpose of packaging various types of parts. That is, when the movable sucker 114 on one side sends the packaging bag 14 to the stationary suction cup 30 and performs the packaging operation on the part, the movable sucker 113 on the other side performs the preparation work to take out the packaging bag suitable for the subsequent part, Both swivel arms satisfy the effect of improving efficiency without time loss. Accordingly, as shown in FIG. 20, a separation conveyor 121 that divides the part that transports the main road into two groups based on the size in the rear area of the first belt conveyor 85 including the measurement sensor 87 described in FIG. and a 122. In addition, there is provided a mechanism for recording, in the central processing unit, electronic information obtained by sorting each meat part being transported in cascade on the trunk road into two groups based on the size.

Further, merging conveyors 123 and 124 are provided for alternately transferring the two groups of parts to the one-line conveyor 96 again based on the recorded information of the two groups of parts. By such merging, portions corresponding to the bag size on one side and the bag size on the other side can be alternately fed into the packaging part, and the purpose of improving efficiency can be achieved by effectively using the two swivel arms 110 and 111. Is achieved.

The container loading unit 60 can be used by changing the one shown in FIG. 3 to the one shown in FIG. 21, and this was placed on a board 145 as shown in Japanese Patent Laid-Open No. 61-81923. The height level of the wrapping bag 14 is monitored by a sensor 146, and the board 145 is raised by rack teeth 148 meshing with the pinion 147 so that the upper surface of the wrapping bag 14 removed by the movable suction cup 12 is always kept at a constant level. It is the structure to make. However, the maximum length of the wrapping bag 14 that wraps the part is about 850 mm, and when it is transported by the movable suction cup 12, it is highly likely to contain a large amount of air inside, so the following means are required. It may be.

That is, the overall structure of the movable suction cup in FIG. 22 is almost the same as the configuration described in FIG. 7 and thus the detailed configuration is omitted. However, the clamp 54 is hollow inside, and the suction hole 150 is formed on the lower surface thereof. The vacuum suction force acts on the hole through the tube 151. After inserting the clamp 54 into the opening formed when the upper surface of the wrapping bag 14 is sucked up by the adsorbent body 52 and sandwiching the upper film of the wrapping bag with the adsorbent body 52, In this configuration, the film 14b is adsorbed to the adsorption hole 150 and conveyed.

Referring to FIG. 10, the carry-out conveyor 40 is formed by the string belts 77 arranged in parallel, and the sealer is lowered from above on the stepping stone-like seal stand 80 of the temporary seal bar arranged between the string belts 77. Although it has been described that the opening edge is point-sealed, as shown in FIG. 23, the belt 77 of the carry-out conveyor 40 is formed by a flat belt without gaps, and the temporary seal bar 70 below the belt 77 and the lower surface of the upper sealer 84 are formed. It is also possible to perform point sealing by pinching the opening of the bag 14 via the belt 77 with the stepping stone-shaped protrusion 151 b formed in the above.

The concern in FIG. 5 is a mistake in sucking the bag 14 by the movable suction cup 12. On average, such a phenomenon is obtained with data occurring at a frequency of about 1% per number of wrapped bags. Therefore, as shown in FIG. 25, a vacuum gauge 157 is placed on the vacuum line 156 connecting the movable suction cup 12 and the vacuum pump 155, when the file wrapper 14 is not completely adsorbed to the movable suction cups 12, by the vacuum gauge 157 When the vacuum measurement value of the vacuum line 156 does not increase, the controller 90 operates the movable suction cup vertical movement control motor 37 to control the movable suction cup 12 so as to lower again and try to suck the packaging bag 14. It is.

That is, the “OK” symbol in step P1 in FIG. 26 corresponds to an electronic signal that informs that the movable suction cup 12 has reached the upper region of the package to take out the selected package 14, and corresponds to this signal. Then, as in step P2, a command to descend toward the bag is issued to the movable suction cup. Immediately after this, after the vacuum action to the movable suction cup 12 is performed in step P3, a command to carry out the bag by the movable suction cup 12 in step P4 and a vacuum suction measurement of the suction cup 12 in step P5 are instructed. If the vacuum measurement value is normal in the determination in step P6, a command is given to carry the bag toward the carry-out conveyor as in step P7, but if the vacuum measurement value is abnormal In Step P8, the standby command for the forward / backward moving (loading) conveyor 20 is issued, while the movable sucker 12 is lowered again in Step P9, and the bag is carried out by the movable sucker 12 in Step P4.

In addition, at the same percentage as the mistake, there is a possibility that the part to be pushed into the open sachet is caught in the bag mouth of the sachet, thereby causing a mistake in carrying the part into the sachet. The following measures are taken.

The controller 90, as shown in FIG. 25, connects the timer 160及BiHiraku閉器161. As described above, when the suction of the movable suction cup 12 to the bag 14 is successful and the measured value of the vacuum gauge 157 increases, the signal 162 is input to the controller 90, and the bag is directed to the opening section. To be carried away. At the same time, the controller 90 sends a signal to the relay 163 to close the switch 161, and at the same time, starts to accumulate the timer 160. Reference numeral 130 in FIG. 27, which represents that the vacuum value of the movable sucker with sucking wrapper is the signal from the vacuum gauge reaches the set value is transmitted to the controller, step P10 is a timer by the signal 130 It is shown to prompt the start of integration. With this integration start signal, integration is started and the integration time is measured as shown in step P11. Meanwhile, the measured value with the vacuum gauge is monitored as in step P12.

Oite symbol C in FIG. 28 shows the cycle of the packaging operation, one cycle C is suction cup consists vacuum time V that is attached sucking bandage, and time Z the wrapper is away from the suction cup, Fig. 27, if the measurement value at the vacuum gauge in step P12 is kept at a high level during the time calculation shown in step P11, the operation proceeds as in the prescribed program as in step P13. Utosuru site by carried into wrapper 14 is, the plucked forced from the movable suction cup 12 which sticks hooking the wrapper 14, to reach the timer setting time V in FIG. 28, a vacuum gauge 157 is large Since the atmospheric pressure is sensed, as described in Step P14, the controller transmits a signal for placing the corresponding part incompletely packaged on the recycling line. The required disengages the same site from the rear of the discharge conveyor 40 in FIG. 29, it become possible to recycle to the conveyor line in the front region of the measuring sensor 87 with the reverse feed line 170.

Simplified plan view of the device Explanation of tape back Side view of container loading unit Top view of the previous figure Side view of arm swivel device Partial side view of swivel arm Enlarged view of the movable suction cup Side view of a longitudinal conveyor Top view of bag mouth tension bar Partial plan view of carry-out conveyor Explanatory drawing of tension effect Side view of temporary sealing device Perspective view of the first conveyor Explanatory drawing of opening device for packing bag Illustration of part delivery to the package Perspective view of the package Explanation of movement of temporary seal bar and sealer Servo control configuration diagram Plan view of the main road according to another embodiment Illustration of conveyor Another embodiment of the container loading unit Explanatory drawing of the movable suction cup by other examples Different embodiment diagram of carry-out conveyor Illustration of servo control Control explanatory diagram to improve mistakes Action diagram with block diagram Action diagram with block diagram Action diagram with block diagram Plan view of main road by conveyor

10 ‥‥ site 11 ‥‥ spindle 12 ‥‥ movable suction cup 14 ‥‥ wrapper 20 ‥‥ before and after the movement conveyor 27 ‥‥ arm swing angle control motor 30 ‥‥ mounting sucker 37 ‥‥ movable sucker vertical movement control motor 40 ‥ ‥ out conveyor 42, 44 ‥‥ wheel 43 ‥‥ shaft 45 ‥‥ endless band 47 ‥‥ servo motor 50 ‥‥ pivot arm 54 ‥‥ clamp 60 ‥‥ container Noseki unit 65 ‥‥ reciprocation control conveyor of the back-and-forth movement conveyor Shaft 70 ... Temporary seal bar 71 ... Open / close bar 84 ... Sealer
87 ... Measuring sensor 90 ... Controller 100 ... Conveyor shaft 150 for controlling the rotation angle of the longitudinally moving conveyor ... Suction hole
156 ... Vacuum line 157 ... Vacuum gauge 160 ... Timer 161 ... Switch 170 ... Reverse feed line

Claims (10)

A first conveyor provided with a measurement sensor that measures at least the size of the part to be transported from the upstream side to the main road corresponding to the transport path of the part, and reciprocates along the main path to carry the part into the envelope. Arrange the front and rear moving conveyor and the carry-out conveyor to carry out the temporarily sealed wrapping bag.
A pair of opening and closing bars are arranged on both sides of the longitudinal conveyor,
Place a suction cup on the main road at the rear of the longitudinal conveyor,
A pair of temporary seal bars are provided above and below the part mounting surface of the carry-out conveyor,
Provided with a plurality of types of container loading units of different sizes on the sides of the trunk road,
In a packaging apparatus comprising a swivel arm provided with a movable sucker that swivels between the container mounting unit and a stationary sucker position, a packaging method,
1. Each part currently transported in tandem on the trunk road is sequentially sorted by the measurement sensor of the first conveyor based on its size, and a packaging bag for storing the sorted part is sent to the forward / backward moving conveyor. Sequentially selected from the plurality of types of container loading units based on the classification of the parts to be
2. Rotating the swivel arm between the selected container loading unit and the stationary suction cup, and adjusting the direction of the movable suction cup with the movable suction cup so as to correspond to the part. After carrying the bag onto the stationary suction cup and carry-out conveyor,
3, based on the fractionation, by an amount to accommodate the size of the site to accommodate rising the movable suction cups open the wrapper, followed while inserting the closing bar into the opening of the packaging bag, the Based on the length of the packaging bag of the selected container loading unit, the part was fed to the vicinity of the bottom surface of the packaging bag by controlling the amount of rotation and the rotation angle of the front and rear conveyor. after,
4. The front and rear moving conveyor is detached from the wrapping bag, and then the opening edge of the wrapping bag is tensioned by opening the opening and closing bar, and the opening edge of the wrapping bag is clamped by the temporary seal bar .
A packaging method characterized by the above . A longitudinally moving conveyor that carries parts of the main road at equal intervals in a column;
A stationary suction cup to be arranged on the trunk road at the rear of the longitudinal conveyor;
A carry-out conveyor behind the stationary suction cup;
A pair of opening and closing bars arranged on both sides of the longitudinal conveyor;
A pair of temporary seal bars provided above and below the part mounting surface of the carry-out conveyor;
A pair of swivel arms located on both sides of the main road and supporting the movable suction cups;
A swivel angle control motor of an arm that alternately turns the swivel arms forward and backward with the stationary suction cup as a base point;
Two groups of container loading units of different sizes respectively arranged on the rotation trajectories of the two movable suction cups,
1. Each part that is transporting the trunk road in tandem is divided into two groups based on the size, and the two groups of parts are divided and transferred by a plurality of conveyor lines, while the two groups of parts are separated. Based on the above, the two groups of parts are alternately transferred again to the one-line conveyor, and the container loading units are sequentially selected based on the separation of the parts,
2. Both the swivel arms are alternately rotated between the selected container loading unit and the stationary sucker, and the movable sucker is adjusted to adjust the directionality of the movable sucker. Immediately after carrying the corresponding bag on the stationary suction cup and the carry-out conveyor alternately,
3. Based on the sorting, the movable sucker on one side is raised by an amount corresponding to the size of the portion to be accommodated to open the wrapping bag, and then the opening / closing bar is inserted into the opening of the wrapping bag. Based on the length of the packaging of the selected container loading unit, the portion is brought close to the bottom surface of the packaging by controlling the amount of insertion and the rotation angle of the longitudinal conveyor. After sending
4. The front and rear moving conveyor is detached from the wrapping bag, and then the opening edge of the wrapping bag is tensioned by opening the opening and closing bar, and the opening edge of the wrapping bag is clamped by the temporary seal bar .
A packaging method characterized by the above . After clamping the opening edge of the bag with the temporary seal bar, the bag is unloaded from the installation sucker installation position by rotation of the carry-out conveyor that moves together with the temporary seal bar, and then the movable suction cup is moved to the position of the installation sucker. The packaging method according to claim 1 or 2, wherein the pair of temporary seal bars are returned above and below the opening edge of the subsequent wrapping bag carried into the bag. A first conveyor provided with a measurement sensor that measures at least the size of the part to be transported from the upstream side to the main road corresponding to the transport path of the part, and a longitudinally moving conveyor that reciprocates along the main path and carries the part , Arrange the carry-out conveyor for carrying out the temporarily sealed bag,
A pair of opening and closing bars are arranged on both sides of the longitudinal conveyor,
Place a suction cup on the main road at the rear of the longitudinal conveyor,
A pair of temporary seal bars are provided above and below the part mounting surface of the carry-out conveyor,
Provided with a plurality of types of container loading units of different sizes on the sides of the trunk road,
A packaging device comprising a swivel arm provided with a movable sucker that swivels between the container mounting unit and a stationary sucker position,
A mechanism that sequentially sorts each part being transported in tandem on the first conveyor of the trunk road on the basis of its size, and records each sorted electronic information in a central processing unit;
Based on the recorded information, a mechanism for selecting a container loading unit that is adapted to a portion fed to the forward and backward moving conveyor,
The swivel arm is rotated between the selected container stacking unit and the stationary suction cup position, and the packaging bag selected by adjusting the direction of the movable suction cup is supported by the movable suction cup. A mechanism to carry it to the installation suction cup position,
A mechanism that raises the movable suction cup by an amount corresponding to the size of the part to be stored based on the part record information and opens the wrapping bag;
While the opening / closing bar is inserted into the opened wrapping bag, the insertion amount and the rotation angle of the anteroposterior conveyor on the basis of the length of the wrapping bag of the selected container loading unit And a mechanism for sending the part to near the bottom of the sachet,
A mechanism for tensioning the opening edge of the wrapping bag by opening the opening / closing bar after the longitudinally moving conveyor is detached from the wrapping bag;
A mechanism for clamping the opening edge of the tensioned bag with the temporary seal bar ;
A packaging device comprising: A longitudinally moving conveyor that carries parts of the main road at equal intervals in a column;
A stationary suction cup to be arranged on the trunk road at the rear of the longitudinal conveyor;
A carry-out conveyor behind the stationary suction cup;
A pair of opening and closing bars arranged on both sides of the longitudinal conveyor;
A pair of temporary seal bars provided above and below the part mounting surface of the carry-out conveyor;
A pair of swivel arms located on both sides of the main road and supporting the movable suction cups;
A swivel angle control motor of an arm that alternately turns the swivel arms forward and backward with the stationary suction cup as a base point;
Two groups of container loading units of different sizes respectively arranged on the rotation trajectories of the two movable suction cups,
1, each meat sites in tandem conveying the backbone path, their size as well as separated into two groups based on, while dividing transferring the 2 group site by a plurality of conveyor lines, central the separation of electronic information A mechanism for recording in the calculation unit and, based on the recording information of the two groups of parts, alternately transferring the parts of the two groups to the one-line conveyor again;
2. Based on the record information of each part on the one-line conveyor, the container loading units are sequentially selected, and the swivel arms are placed between the selected container loading unit and the stationary suction cup. And a mechanism for alternately carrying the wrapping bag corresponding to the part to the position of the stationary suction cup with the movable suction cup while adjusting the direction of the movable suction cup while alternately rotating with
3. One side of the movable suction cup is lifted by an amount corresponding to the size of the portion accommodated based on the recorded information to open the wrapping bag, and then the opening / closing bar is inserted into the opening of the wrapping bag. Based on the length of the packaging of the selected container loading unit, the portion is brought close to the bottom surface of the packaging by controlling the amount of insertion and the rotation angle of the longitudinal conveyor. A feeding mechanism;
4.A mechanism for detaching the longitudinally moving conveyor from the wrapping bag, subsequently tensioning the opening edge of the wrapping bag by opening the opening and closing bar, and clamping the opening edge of the wrapping bag by the temporary seal bar ;
A packaging device comprising: After clamping the opening edge of the bag with the temporary seal bar, a mechanism that unloads the bag from the installation sucker installation position by the rotation of the carry-out conveyor that moves together with the temporary seal bar, and the movable suction cup carries it to the installation sucker position. The packaging device according to claim 4 or 5, comprising a mechanism for returning the pair of temporary seal bars above and below the opening edge of the subsequent wrapping bag. The packaging apparatus according to claim 4 or 5, wherein the movable suction cup includes a clamp that clamps the packaging bag by operation of a fluid cylinder between the movable suction cup and an adsorbent provided on the packaging suction surface. 8. The packaging according to claim 7, wherein the clamp has a suction hole on a lower surface thereof, and sucks the lower film of the wrapping bag to the suction hole with a vacuum suction force acting on the suction hole through an inner hollow area of the clamp. apparatus. In order to carry the packaging bag of the container loading unit toward the installation sucker, the working vacuum value of the vacuum line connected to the movable suction cup that sucks the packaging bag is measured with a vacuum gauge, and the opening edge of the packaging bag is The moment the movable sucker lifts and opens, a signal from the vacuum gauge that the measured vacuum value is equal to or less than a set value controls the movable sucker to move downward again toward the opening. 4. The packaging device according to 4 or 5. At the same time that the vacuum gauge detects that the working vacuum value of the movable suction cup that has been sucked onto the packaging bag has reached the set value, integration by a timer is started, and within the set retention time of the packaging bag by the movable suction cup, 6. When the measurement vacuum value by a vacuum gauge falls, the part which pushed in with respect to the said sachet is carried out in the reverse feed line different from a trunk road, and is recycled again to the said trunk road. The packaging device described in 1.