CN103507991A - Packaging device of bean curd - Google Patents

Packaging device of bean curd Download PDF

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Publication number
CN103507991A
CN103507991A CN201210223697.XA CN201210223697A CN103507991A CN 103507991 A CN103507991 A CN 103507991A CN 201210223697 A CN201210223697 A CN 201210223697A CN 103507991 A CN103507991 A CN 103507991A
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China
Prior art keywords
bean curd
group
packing container
pair
grip plate
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CN201210223697.XA
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CN103507991B (en
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高井东一郎
武田正秀
本田健治
平田利男
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Takai Tofu and Soymilk Equipment Co
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Takai Tofu and Soymilk Equipment Co
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Priority to CN201210223697.XA priority Critical patent/CN103507991B/en
Publication of CN103507991A publication Critical patent/CN103507991A/en
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Abstract

The invention provides a packaging device of bean curd. The packaging device can not damage a plurality of bean curd sets carried by a carrying conveying belt and conduct packaging in a high acceleration mode. In the packaging motion of moving the bean curd sets (B1 and B2) on the conveying belt (30) to the specific position on a packaging container carrying device (20), and enabling the bean curd sets (B1 and B2) to freely fall in packaging containers (P...), a controlling driving mechanism which synchronously conducts driving and is composed of a pair of controlling plates (1B and 1D) clamps the bean curd sets on the conveying belt, and the clamped bean curd sets by the controlling plates are horizontally moved to the specific positions of the packaging containers (P...) supplied by the packaging container carrying device and are positioned. At the moment, due to the fact that the bean curd sets are clamped by the pair of controlling plates and the bean curd sets can be prevented from deforming and collapsing through the pair of controlling plates, the pair of controlling plates can control the plurality of bean curd sets together, and the bean curd sets can fall in the packaging containers (P1 and P2) together and be contained.

Description

The packing device of bean curd
Technical field
The present invention relates to share the packing device that the bean curd group that is cut into the size of regulation is packaged in to the bean curd of the operation in the packing container of sale form in the automatic production lines of bean curd, relate in particular to the packing device of the bean curd of the packing of implementing by land bean curd.
Background technology
Automatic production lines using soybean as raw-material bean curd is by lane of traffic, functionally to link the huge program control unit of the multiple device of various operation of sharing the bean-curd product of processing the sale form from raw MAT'L to packing.
In the automatic production lines of bean curd, link side by side the device of sharing the different working procedures of contents processing.In addition, the contents processing branch that each device linking is born and the different operation of intractability are mixed mutually.
In the automatic production lines of bean curd, one of operation that intractability is high has the package handling of bean curd.
As the method that bean curd group is packed, in the past, there is the method (" land packing ") that implement in space by land and the method for implementing in water.In Jiu space, implement method package handling, so-called " land packing " (also referred to as mound packing (mound Scold め)), the container conveying belt of the carrying transferring belt of combined traffic bean curd group and supply packing container group on orthogonal directions, utilization is independently installed separately (for example delivery board) bean curd group is moved to gate sheet from the terminal of conveyor belts, after in the packing container group of colliding and being positioned at slipper on container conveying belt, gate sheet is retreated and make the bean curd group of location drop to (with reference to patent documentation 1) in packing container.In addition, utilize delivery board to transport on the slide plate that bean curd group is tilted, with this state, fall obliquely, and be contained in (with reference to patent documentation 3) in the packing container group of carrying out synchronization action.
On the other hand, the method for in water, bean curd group being packed is the method in traditional handwork, is in order not injure bean curd, cuts and be correctly contained in accurately the method in packing container.In addition, to pay close attention to can to make buoyancy in bean curd group and reduce the advantage of processing under the state of weight of bean curd group and the method adopting, container conveying belt is imported in tank, be assigned as suitable with the carrying interval of container of supplying with the bean curd group of cutting in water, utilize the registration device in time alone temporarily each bean curd group of distributing to be positioned to rear relieving bean curd group, utilize packing container group draw this bean curd group and be contained in packing container group, be transported to afterwards tank outside (with reference to patent documentation 2).
Prior art document
Patent documentation 1: No. 3343134 communique of Japanese Patent
Patent documentation 2: Japanese Patent Publication 7-95927 communique
Patent documentation 3: TOHKEMY 2007-006759 communique
But, can produce in a large number in the automatic continuous production line of Tofu, in the packaging process of the quick operation of the automatic production lines as bean curd, land packing method excellent in efficiency, as patent documentation 1 and patent documentation 3.But, by land the bean curd group that is cut into the size of regulation is packaged in the operation in the packing container group of sale form, do not damage bean curd, eliminate loss, it is important improving processing capacity.Especially when the bean curd of ready-made softness being transported to packing container transfer line from lane of traffic, even if need in the occasion with some step differences and gap, not damaging bean curd group yet and move, thereby be correctly contained in packing container group.
In addition, when making bean curd group fall into packing container group and hold, must needs before holding be temporarily correctly positioned at packing container group above.
In addition, in bean curd group and the action of processing whole parts of bean curd group, be in the water in water in manner of packing, owing to being subject to the resistance of water and the turbulent impact of generation, therefore even in utilizing deadweight that bean curd is sunk to fill the packing container of water and hold, or do not damaging the occasion that pushes bean curd and hold, due to the resistance of water on holding spended time, therefore in the processing capacity of packaging process, have boundary, be difficult to make the automatic production lines high speed of bean curd.Discuss the countermeasure (with reference to patent documentation 2) that the problem of the resistance and so on of water solves, but be difficult to fundamentally solve the problem of the automatic production lines high speed and so on that makes bean curd.
On the other hand, owing to bean curd group being carried out to the method (with reference to patent documentation 1) of " land packing ", be not subject to the resistance of water, so can realize high speed.Therefore, the required time of the packaging process of the bean curd group of the linear velocity of the automatic production lines integral body of requirement shortening restriction bean curd, and for not damaging by land bean curd group and being correctly positioned at packing container group and the mechanical development of holding or technology raising.
In the existing packing device of " land packing " mode of employing (with reference to patent documentation 1), specifically, supply with packing container group container conveying belt above, to extend the mode of the belt conveyor of the transfer line belt conveyor of carrying bean curd group, sliding stand is set, the killer that configuration positions bean curd group on sliding stand.In addition, on transfer line belt conveyor, arrange along the delivery board of supplying with the transmission zone face parallel motion of belt conveyor.Bean curd group on belt conveyor utilize delivery board with a line unit by from upstream side thruster downstream, the bean curd group of its a line is slided and is arrived on sliding stand on belt conveyor, with killer collision and stop.Bean curd group is the state that utilizes delivery board and killer temporarily to be sandwiched from fore-and-aft direction at this time point.Afterwards, from the sliding stand of the state of supported underneath bean curd group, in the mode of being drawn by downstream, carry out backward movement, bean curd group drops to below sliding stand by pre-aligned packing container group.In addition, belt conveyor integral body is configured to utilizes lifting mechanism to move up and down freely, and the time point falling in bean curd group, by carrying out vertical motion, shortens the distance that falls of bean curd group.
Above-mentioned existing packing device is difficult to choose the backward movement opportunity of sliding stand, and when utilizing delivery board to push, easily causes position deviation and cannot correctly locate, therefore unstable to holding of packing container.In addition, if only utilize delivery board to carry soft bean curd, can damage bean curd, therefore have to transport lentamente.Therefore, can only be applied to the processing of holding of bean curd Zu a line unit, productive capacity is 2000～3000 every period at most, has boundary.In addition, as mentioned above, have and take the state that bean curd group sandwiches from fore-and-aft direction as being transferred plate and killer, carry out the record of orientating purport as (0026) of bean curd group, but this to sandwich be temporary transient, delivery board does not wait sliding stand to retreat, just return to upstream side, carry out the next one and carry action at once.In addition, killer is fixed, and carries the delivery board that only has of bean curd.
In addition, as patent documentation 3, even if bring up to the processing capacity of 3000～4000 of time per units, too when only utilizing a delivery board to push, Hui Shi position is departed from a little and cannot be carried out correct location, also insufficient to the precision of holding of packing container.
Summary of the invention
Therefore, the object of the present invention is to provide the packing device of bean curd by land, no matter use or do not use existing sliding stand or sliding tray, by being more correctly contained in packing container, not damaging a plurality of bean curd groups of being carried by carrying transferring belt and pack.In addition, the object of the present invention is to provide the packing device of bean curd, as often as possible, together being held in the multirow bean curd group of arranging on the Width of carrying transferring belt, by being contained in together in packing container group, can improve significantly the processing capacity of packing.
The first invention of the present invention, when the packing of common bean curd group, does not need gate sheet substantially.Its reason is, except increasing drive element or parts, because its operation step also needs some time, influential to processing capacity.But, requiring the occasion of more accurate location or needing also the occasion corresponding with the bean curd group of dead-soft matter that is unsuitable for high speed motion, preferably use together gate sheet.In addition, in the present invention because also imagination control multiple row bean curd group and so on simultaneously there is no the high high speed of the difficulty found or an action of high acceleration in the past, so also need to increase in advance the degree of safety as in the action of device.In addition, whether use gate sheet to be determined by the kind (the pudding-like bean curd of kapok bean curd, sliding bean curd or softness etc.) of bean curd group.In addition, by adopting gate sheet, can utilize a pair of grip plate and gate sheet to position bean curd group, realize the opportunity correctly falling, thereby fall together.That is, can improve with respect to the suitability of the kind of bean curd group and control reliability and the safety both sides of the occasion of multiple row bean curd group simultaneously.
In bean curd group during to the holding of above-mentioned packing container, can be in packing container Zu Shang position, by controlling of grip plate, remove bean curd group is fallen, even but after bean curd group being inserted in packing container together with a pair of grip plate, by controlling of grip plate, remove and fall, or after be inserted into packing container together with a pair of grip plate at the bottom of, by controlling, remove that to hold bean curd group also passable.Together with a pair of grip plate, bean curd group is being inserted to the occasion in packing container, using and have than the grip plate at packing container inside dimension width Zhai position (also comprising dividing plate described later).
In addition, in the present invention, preferably open wide controlling of a pair of grip plate completely, but can be also the form that keeps not removing the state of controlling and drop in packing container and hold.That is, by preferably weakening hold, or open a little the distance between grip plate, bean curd group landing between a pair of grip plate of controlling.In this occasion, the guide of a pair of grip plate when making bean curd group fall and hold with respect to packing container works, in addition, also as the brake component that suppresses the speed of fall of bean curd group, work, therefore can more correctly make bean curd group fall (or landing is held) in packing container group and hold.
In the present invention, possess as the driver train of controlling that bean curd group is moved to a pair of grip plate of packing container Handling device Shang mechanism from carrying transferring belt and carry bean curd group under the state of for example controlling the bean curd group of a line～multirow of the Width that is arranged in carrying transferring belt (controlling the upstream side of bean curd group and the two sides in downstream from two sides) from front and back.Or, the left and right from each bean curd (controlling the two sides, left and right side of the working direction of bean curd group from two sides), control under the state of a line～multirow bean curd group the Width that is arranged in carrying transferring belt and carry bean curd group.The bean curd group of the state of being controlled by a pair of grip plate is compared with the existing occasion from single direction pushing, distortion and the leeway of position deviation are few, and in addition, what while being difficult to be created in the propelling movement from a side, produce heaves, therefore suppress the distortion of bean curd group, can at full speed drive a pair of grip plate.Owing to being difficult to produce the state that departs from of surface pressure between the bean curd back side and the face of belt conveyor, therefore as lubricant, can utilize the moisture film that is usually located at belt conveyor surface, even if at a high speed carrying, also can not bring damage on belt conveyor, make bean curd group move predetermined distance and be correctly positioned at assigned position on mounting plate or gate sheet.
In addition, above-mentioned moisture film, when utilizing above-mentioned a pair of grip plate to control bean curd group, with the contact of bean curd group or separated impact, prevents the damage of bean curd group when being absorbed in while sandwiching or sandwiching releasing, assists swimmingly contact or separated action.In addition, if seal by moisture film between the surface and above-mentioned a pair of grip plate face of bean curd group, the surface tension effect of water mutually generation attractive force, the auxiliary Clamping force being caused by grip plate, therefore has the effect that prevents that bean curd group from falling.
According to the present invention, the bean curd group of the state of being controlled by a pair of grip plate is compared with the occasion from single direction pushing in the past, even there is step in transfer direction, also can surpass this step, and fall be contained in packing container in time also can keep as far as possible keeping controlling longways the state of bean curd group, therefore can correctly fall (hanging down) in packing container and hold.
In addition, even if state in the use the occasion of gate sheet, maintain and utilize the gripping state of above-mentioned a pair of grip plate until gate sheet is retreated, to utilize its deadweight that bean curd group mode of landing between grip plate is fallen to hold or landing is contained in packing container, or after gate sheet is retreated by discharging controlling and fall and holding of above-mentioned a pair of grip plate, therefore as in the past, that bean curd has warpage or the falling of tendency of tilting held, but in the present invention, can reduce its crooked or inclination as far as possible, with approximate horizontal posture, falling, is falling of the state of hanging down.In addition, according to the present application, preferably in packing container, inject appropriate water.Because hold in the mode hanging down, can be therefore appropriate water, do not need full water.
In the present invention, by least possess a dividing plate between a pair of (relative two) grip plate, control driver train so long as this group number has reduced installation cost.And, can utilize this pair of grip plate with this dividing plate to control together above-mentioned bean curd group with multirow unit and/or multiple row unit.This dividing plate preferably has with the column pitch of bean curd container group of position that is transported to regulation from packing container Handling device from the parts (parts of cornue or cross section コ word, H type etc.) of corresponding width.In addition, packing container Handling device make the carrying direction of container conveying belt and Width or the direct of travel of carrying transferring belt consistent, the identical occasion of direct of travel with the line number N columns M(identical with the line number M columns N of the bean curd group of being controlled by above-mentioned a pair of grip plate or container handling direction and above-mentioned carrying transferring belt, line number M columns N).And, preferably in the consistent mode in interval of packing container of column direction (direct of travel of container conveying belt) of bean curd container group being moved to the position of afore mentioned rules, before bean curd group is controlled by above-mentioned a pair of grip plate, utilize above-mentioned cutting collating unit, the interval that (Width of above-mentioned carrying transferring belt) expands regulation in the row direction.In other words, preferably on carrying transferring belt, have with the line space of bean curd group and from the multiple row at the row interval of corresponding packing container, arrange the packing container Handling device of (also referred to as multi-connection type).On the container conveying belt of the front of packing container Handling device, possess and make overlapping packing container automatically to fall into one by one at a high speed the container supply device in the carrying frame of container conveying belt.In addition, in the present invention, M, N are positive integers, in the container handling direction occasion identical with the Width of above-mentioned carrying transferring belt, M >=2 and N >=1, in addition, in the container handling direction occasion identical with the direct of travel of above-mentioned carrying transferring belt, preferred M >=1 and N >=2.
According to the present invention, owing to making multirow (N is capable) bean curd group drop to together in multiple row (N row) packing container and hold by dividing plate between a pair of grip plate, therefore the occasion of processing with every a row or column is compared, can realize there is its line number M or columns N, be M doubly or the packaging process of N processing capacity processing capacity, higher doubly.
At this, be provided in above-mentioned form of controlling the above-mentioned a pair of grip plate on driver train and be not only the length direction of each plate member along the form of the Width of carrying transferring belt, also can be form ，Ji Yihang unit along the above-mentioned a pair of grip plate of direct of travel configuration of carrying transferring belt from front and back two sides control bean curd group or with the position form that two sides control from left and right of itemizing.In addition, above-mentioned a pair of grip plate can be also more than two groups, and by the form of the many groups of grip plate that form of arranging in parallel or in series on Width (row unit) or direct of travel (position of itemizing).In addition, in order to improve positioning precision, can be also a plate member that bean curd is corresponding with each bean curd group.That is, also can from two sides, control the form of a pair of grip plate with bean curd one block unit, can be also the form from all around four directions is controlled.
As the present invention, preferably by a pair of grip plate is driven with equidistant, the synchronous or people having the same aspiration and interest roughly in direction near each other, thereby control the bean curd group on carrying transferring belt.
According to the present invention, driving method as a pair of grip plate, can only utilize a side grip plate make bean curd group near the opposing party's grip plate and control bean curd group, but by controlling action in the mode of utilizing a pair of grip plate to sandwich bean curd group from left and right simultaneously, can shorten reliably and control the required time.
In the present invention, can possess a pair of grip plate of many groups.Also can be for example not use dividing plate and utilize a pair of grip plate of two groups to control together the bean curd group that multirow (M is capable), multiple row (N row) are arranged.
In the occasion that is multirow (M is capable) or multiple row (N row), the quantity of dividing plate is maximum, is the capable or N-1 row of M-1.
The length direction of each plate towards Width or the carrying direction that can be carrying transferring belt, with the ranks of the capable N of M row, control, and be contained in the form in the packing container of the capable M row of N, M, N can be 1, especially preferably any is all more than 2 positive integer.In addition, in the container handling direction occasion identical with the working direction of above-mentioned carrying transferring belt, can be to control with the ranks of the capable N row of M, and be contained in the packing container of the capable N row of M.
Preferably using the grip plate being formed by a pair of grip plate and dividing plate as a unit, with two row or two form that position controls, holds of itemizing.In addition, preferably control together and fall and hold together.For realizing the high speed of bean curd manufacturing line.But, product condition, positioning precision are improved or the occasion of stability isopreference, can be control successively with fall successively the combination held or together with control fall with successively hold, control successively with together with fall the action form of the combination of holding and so on.In addition, as the present invention, the number of the bean curd of controlling together and holding is together more, more reduce speed or the acceleration/accel of each drive actions, the allowed time of corresponding each action increases, if with controlling, adjust packing the mode of time of concentration in important action, can improve Accuracy of Packaging.
As the present invention, the form hanging over the flange portion of packing container group on the carrying frame of container conveying belt of above-mentioned packing container Handling device is correctly located and holds, be transported under the state of the assigned position below corresponding with above-mentioned bean curd group, be reduced into above-mentioned bean curd Zu bottom surface or support the above-mentioned gate sheet of above-mentioned bean curd Zu bottom surface and degree that the vertical distance of the opening surface of this packing container is approaching, can reduce the damage of the bean curd being caused by the impact that falls generation.
In addition, by adjustment make that grip plate is removed, the falling or the unlimited action of gate sheet, synchronize with the down maneuver of this lift mechanism or the action of people having the same aspiration and interest ground interlock or acceleration-deceleration or the opportunity of respectively moving of lax action, bean curd group, by receiving the action of bean curd group under the state packing container group is declined, can absorb the impact falling, suppress the breakage of bean curd.In addition, preferably use the impact absorbing members such as auxiliary spring members, rubber components, air cushion of the drop impact that absorbs bean curd group together with above-mentioned lift mechanism.
Possess above-mentioned a pair of grip plate and utilize the above-mentioned up-down drive device that driver train carries out down maneuver of controlling, packing container Neng Yi fixed position makes above-mentioned a pair of grip plate approach packing container Zu top (peristome) or the mode that is inscribed within packing container declines.
Above-mentioned carrying transferring belt is temporarily stopped and utilizing above-mentioned a pair of grip plate to control above-mentioned a plurality of bean curd group, and drive this carrying transferring belt, and synchronously make above-mentioned a pair of grip plate move and this bean curd group be moved in the above-mentioned packing container group that is moved to assigned position with the driving of this carrying transferring belt, if or move on above-mentioned gate sheet, because the bean curd group that can not make to control rubs mobile (in the mode of floating on carrying transferring belt on one side on one side on the carrying transferring belt stopping, or the mode of sliding on carrying transferring belt), the damage below of bean curd group can be suppressed for irreducible minimum.
Above-mentioned gate sheet 1A can be a plate in front and back or the round form in left and right, two plates mutually in front and back or the form that opens and closes of left and right, as the shutter of pick up camera with the form of multiple formations.In addition, one, two or four take is on one side axle, at level attitude, close, opening about 30～90° positions, with be positioned at below packing container inner side and, or using the guide of the bean curd that the mode of the peristome that points to packing container P falls as guiding or the form that chute works.
Effect of the present invention is as follows.
According to the present invention, in the mode of utilizing a pair of grip plate to sandwich the bean curd group on belt conveyor, control, the bean curd group of arranging on the belt conveyor of carrying transferring belt is moved in the packing container group of utilizing container conveying belt to supply with and also located, by Gai position, make bean curd group drop in packing container group and hold, can improve significantly capacity packing.In addition, between a pair of grip plate, pass through dividing plate, once control the bean curd group that is arranged as multirow, multiple row, on carrying transferring belt, float, or slide on carrying transferring belt, therefore be once contained in packing container group, compare with the packaging process of each row (2000～3000/h) as in the past, can pack with the ability of twice (5000～8000/h) or several times (10000～36000/h or more than it).In addition, in the mode of utilizing a pair of grip plate to sandwich the bean curd group on belt conveyor, with the power of equalization and irreducible minimum, control, utilize grip plate to suppress, control and control under the state falling of bean curd group, can not damage bean curd group and carry out high, the correct packing of processing capacity of unit time.
Accompanying drawing explanation
Fig. 1 means the block diagram of embodiment of packing device of the bean curd of the first embodiment of the present invention.
Fig. 2 is the action specification figure of the packing device of above-mentioned bean curd.
Fig. 3 is the block diagram of packing container Handling device that forms the packing device of above-mentioned bean curd.
Fig. 4 is the action specification figure of above-mentioned packing container Handling device.
Fig. 5 is the action specification figure of above-mentioned packing container Handling device.
Fig. 6 is the action specification figure of the packing device of above-mentioned bean curd.
Fig. 7 is the action specification figure of the packing device of above-mentioned bean curd.
Fig. 8 is the action specification figure of the packing device of above-mentioned bean curd.
Fig. 9 means the block diagram of another embodiment of bean curd group of the present invention.
Figure 10 is the action specification figure of the second embodiment of the present invention.
Figure 11 (A)～(E) means the 3rd configuration structure of embodiment of the present invention and the figure of its example.
Figure 12 (A)～(C) the mean configuration structure of a pair of grip plate and the figure of its example of foregoing invention.
Figure 13 (A)～(F) the mean configuration structure of a pair of grip plate and the figure of its example of the invention described above.
Figure 14 (A)～(E) means the configuration structure of a pair of grip plate of the present invention and the figure of its example.
Figure 15 (A)～(C) means the configuration structure of a pair of grip plate of the present invention and the figure of its example.
Figure 16 means the figure of an example of the packing of utilizing a pair of grip plate of the present invention.
Figure 17 (A)～(E) means the configuration structure of a pair of grip plate of the present invention and the figure of its example.
Figure 18 (A)～(E) means the configuration structure of a pair of grip plate of the present invention and the figure of its example.
Figure 19 (A)～(B) means the configuration structure of a pair of grip plate of the present invention and the figure of its example
Figure 20 mean each plate of the present invention from packing container top decline and in be inserted into the lateral plan of an example of the form in packing container opening.
In figure: B, B1, B2-bean curd group, P-packing container, P1, P2-packing container group, F1-updrift side, F2-downstream direction, the Width of F3-belt conveyor, the packing device of 1-bean curd, 1A, 35A, 36A, 36B, 37A, 37B-gate sheet, 1B-grip plate, 1C-dividing plate, 1D-grip plate, 1B, 1D-a pair of grip plate (controlling driver train), 1B, 1C, 1D-plate group, 31A, 41A, 41B-mono-side's a pair of grip plate (controlling driver train) of a group, 31B, 42A, 42B-the opposing party's a pair of grip plate (controlling driver train) of a group, 10-carrying transferring belt, 20-packing container Handling device, 21-container conveying belt, 23-lift mechanism, 30, 33, 34-belt conveyor (knive-edge belt conveyor), 40, 31A, 31B-control driver train.
The specific embodiment
Below, quoted figures illustrates the embodiment of the packing device of bean curd of the present invention.
(the first embodiment)
Fig. 1 and Fig. 2 represent the identical packing device 1 that the bean curd group B of any two row is packed, the state that the packing device 1 shown in Fig. 2 presentation graphs 1 is carried out after specific action described later.The packing device 1 of bean curd comprise carrying be cut into the carrying transferring belt 10 of the bean curd group B of given size, to for operate a pair of grip plate 1B, the 1D of bean curd group B and dividing plate 1C drives control control driver train 40, by for holding packing container Handling device 20(Fig. 1 from the packing container group P of the bean curd group B that is cut into given size to wrapping position supply, Fig. 2).
In following embodiment, as shown in Figure 1 or 2, with above-mentioned bean curd group B, it is the kapok bean curd of about 70mm * 70mm * 30mm, and to take together with packing container group P on the Width of carrying transferring belt 10 be two row, in working direction, be 13 row to be arranged as the occasion that a unit packs be in the lump that example describes.It is capable that bean curd group B of the present invention and packing container group P arrange M on the Width of carrying transferring belt 10, in working direction, arrange N row, arbitrarily, preferably 1≤M≤10,1≤N≤100(N, M are integers), but in fact, consider product size, product quality (hardness), carrying transferring belt mechanical dimension, each conditions such as processing capacity of area, expectation are set, preferably 2≤N≤5,2≤M≤60(N, M are integers) etc. the form easily implemented.With regard to bean curd size, Yi Bian be 20～150mm, be highly that cube (regular hexahedron) or the cuboid of 10～100mm is object, Yi Bian be preferably 50～120mm, be highly cube (regular hexahedron) or the cuboid of 20～80mm.In addition, the cutting force of bean curd is 0.2～20N/m 2(about 20～2000gf/cm 2), from conditions such as uniqueness and mouthfeels, 0.4～10N/m preferably 2(about 40～1000gf/cm 2).It is object that the bean curd of the package object of present embodiment also be take general kapok bean curd, sliding bean curd or soft pudding-like bean curd.
Bean curd group B is cut into the packing measurement of regulation through being arranged on cutting collating unit on the upstream side F1 of belt conveyor 30, with the state assignment going up in length and breadth proper alignment, on belt conveyor 30, drive the intermittence by belt conveyor 30 or continuous drive is moved to downstream F2.Carrying transferring belt 10 is arranged near the terminal part of belt conveyor 30, packing container Handling device 20 near the terminal part of belt conveyor 30, be positioned at lower position slightly and be arranged on Width F3, the F4 of belt conveyor 30, with the direction of belt conveyor 30 quadratures on.Not shown, but the front operation that bean curd group B is handled upside down on belt conveyor 30 is by from tank, bean curd group B being taken out and is transported to belt conveyor 30, and therefore water droplet is attached on bean curd group B fully.In addition, upper in order to make sufficient water droplet be attached to bean curd group B, can on belt conveyor 30, configure watering mechanism.
Control the top that driver train 40 is provided in belt conveyor 30, drive a pair of grip plate 1B, 1D and dividing plate 1C, make its length direction towards Width F3, the F4 of belt conveyor 30.And, as shown in Figure 6, be controlling the bean curd group B on belt conveyor 30 and moving on container group P, and discharge after the controlling of a pair of grip plate 1B, 1D, be moved upward and return the mechanism of the circumference action of original position.That is, with the action of reciprocating action and above-below direction on the updrift side F1 at belt conveyor 30 or downstream direction F2, repeatedly carry out the circumference action of quadrangle shape track.Plate member 1B, 1D, 1D any all take as parallel motion cylinder C1, the C2 of cylinder, move up and down cylinder C3, C5, little stroke secondary parallel motion cylinder C4, C6 as drive source driven.
The such drive source of each cylinder of the present invention is such as cylinder or the such linear actuator of electric moveable cylinder etc., so long as carry out linear reciprocation driving, the drive source that can locate, does not limit especially.In addition, can enumerate use crank-type, the rotary cylinder type coder equal angles of linear actuator control function, various reductor, with the direct connections such as the motor of controlled reset or servomotor, use belt conveyor or chain motor power load mode, utilize the straight line driving mechanism of rotary cylinder type actuator etc. etc., but be not defined in these.
Parallel motion cylinder C1 is arranged on the not shown fixed parts being erected on belt conveyor 30, and the fixed parts of take moves as basis.On belt conveyor 30, dispose abreast pair of right and left track 11,11 with belt conveyor 30, on track 11,11, be assembled with and on pair of right and left side panel, possess respectively from sandwiching up and down two groups of rotor wheel R of track 11,11 ... hand barrow 12.Parallel motion cylinder C1 is configured to the working direction towards belt conveyor 30, and its end bracket is attached on hand barrow 12.That is, on the updrift side F1 of belt conveyor 30 or downstream direction F2, move back and forth in the scope of mobile hand barrow (parallel motion parts) 12 strokes at parallel motion cylinder C1 in the horizontal direction.
Gate sheet 1A is attached on hand barrow 12 by a pair of underarm 12A, the 12A of hanging.Gate sheet 1A be positioned at the level attitude roughly the same with belt conveyor 30 or slightly below.Gate sheet 1A moves together with hand barrow 12 by hanging underarm 12A, 12A, move back and forth (retreat, homing action), to cover, be supplied to the mode of controlling the packing container P in driver train 40 downstream and contact with carrying transferring belt 10 downstream and move, and the mode of exposing on the opportunity of stipulating with packing container P is carried out backward movement.In addition, as gate sheet 1A being retreated to the mechanism of driving, above-mentioned parallel motion cylinder C1 or other parallel motion cylinders C12 can be attached to gate sheet 1A above, carry out above-mentioned crank motion (with reference to Fig. 6 (c)).
Below hand barrow 12, by pair of tracks 13,13, arrange and be provided with other hand barrows 14 that formed by the structure identical with hand barrow 12, this hand barrow 14 forms the drive division of controlling driver train 40, is configured to utilize parallel motion cylinder C2 to drive in the parallel mode of the hand barrow 12 with being driven by parallel motion cylinder C1.As controlling driver train 40, have a pair of grip plate 1B, 1D and dividing plate 1C, any is all attached on the hand barrow 14 of downside, and the horizontal balance of these three plate group 1B, 1C, 1D utilizes parallel motion cylinder C2 to apply.
Above-mentioned three the plate group 1B, 1C, the 1D that control driver train 40 are not directly attached on hand barrow 14, in a pair of grip plate 1B, 1D, be positioned at grip plate 1B on downstream direction F2 with the secondary parallel motion cylinder C4 by moving up and down cylinder C3 and little stroke the mode from hand barrow 14 hangs install.Between hand barrow 14 and grip plate 1B, in hand barrow 14 sides, erect and be provided with the many pilot bar 14L that cylinder C3 uses that move up and down that form at hand barrow 14 side fixed guide sleeves.Secondary parallel motion cylinder C4 makes throw rod towards the mounting position of updrift side F1.
On the other hand, the opposing party's grip plate 1D with by same formation, control driver train 40 move up and down cylinder C5 and the mode of secondary parallel motion cylinder C6 from hand barrow 14 hangs installed.In addition, dividing plate 1C is directly installed on and moves up and down cylinder C3 above, is the pattern hanging down between a pair of grip plate 1B, 1D.The configuration relation of these three plate group 1B, 1C, 1D is preferably with orthostatism position relationship parallel to each other, even if this relation is at parallel motion cylinder C1, C2 arbitrarily or move up and down the occasion that cylinder C3, C5 move and also can maintain.Secondary parallel motion cylinder C6 makes throw rod towards the mounting position of updrift side F1.In addition, the configuration relation of these three plate group 1B, 1C, 1D is in order to increase the grasp of bean curd group, and the face that can make to contact with bean curd group B tilts a little in the mode narrowing down downwards or decorative pattern shape concavo-convex of the degree of not damaging bean curd is set on the face of bean curd group B contact.
Packing container Handling device 20 comprises container conveying belt 21 and boosts the 23(Fig. 3 of mechanism).
Container conveying belt 21 is to install for keeping the bean curd group packing container P as workpiece keeping certain intervals to be recycled between two chain CH, CH of driving ... multiple top boards 22 ... a kind of top plate type chain conveyor forming.The top board 22 of container conveying belt 21 ... bendability in order to ensure chain CH, CH, being configured to independently multiple metal sheets is arranged on crawler belt, on each top board 22, bending machining has the flange of pair of right and left, and the flange of this pair of right and left can utilize pin parts etc. to be attached on the ring flat-plate of chain CH, CH.On each top board 22, on the Width of container conveying belt 21, be formed with a pair of knock hole 2H, the 2H that make packing container P fall into and position with arranging, be located at top board 22 ... on knock hole 2H ... as a whole for being two row in the working direction of container conveying belt 21 and being the configuration of the regulation of 13 row on Width.
Packing container P has conduct around for the bean curd resin container of the common squared design at the edge (flange part) of the part of smearing paste of deposited lid sealing member, size relationship between the knock hole 2H of packing container P and each top board 22 is set as when making packing container P fall into knock hole 2H from bottom surface side, and the marginal portion of packing container P remains in the size relationship on top board 22.Be arranged on a plurality of packing container P on container conveying belt 21 ... packing container group P1, P2 for vertical two row, horizontal 13 row.
Lift mechanism 23 is arranged in the frame of container conveying belt 21.Lift mechanism 23 comprising the lifter plate 2P that guarantees bending strength by install reinforcing overleaf channel-section steel 2F, making throw rod up be arranged on one or propulsion cylinder C7, C7(Fig. 3 of many of the rear side of lifter plate 2P).The width of lifter plate 2P is to cover the bottom surface that falls into two packing container P, P on each top board 22 simultaneously, the width can be not moving up and down interferingly with the flange of the left and right of top board 22, the length setting of lifter plate 2P is suitable (with the width of belt conveyor 30, the line direction of the bean curd group B controlling, in addition, the width of lifter plate 2P is the column direction of this bean curd group B).In addition, above-mentioned lifter plate 2P is a mode of above-mentioned lift mechanism 23, so long as approximate horizontal lift the form at the end of packing container P, do not limit especially.
Lift mechanism 23, by lifting lifter plate at interior propulsion cylinder C7, the C7 of utilizing of container conveying belt 21, can not mentioned top board 22 ... make to be arranged on two row 13 row (M is capable for N row) on container conveying belt 21 packing container group P1, P2 in the scope of the length of lifter plate, rise (Fig. 4, Fig. 5).If ignore top board 22 ... thickness, each packing container P can utilize this action rising container height left and right.Be applied to the load in lift mechanism 23 because be packing container P ... weight, therefore can ignore.In addition, even if inject the water of the degree that is positioned at packing container P, do not have bigger difference yet.In this application, can be to mention top board 22 ... form, but it is little only to lift the load of a direction chain CH, container conveying belt 21 or packing container Handling device 20 of packing container, is preferred.
Control method by above-mentioned carrying transferring belt 10, packing container Handling device 20, while controlling the packing device running of the bean curd group B that driver train 40 forms, for example the sequence of operation of each functional component or the setting of action moment are various, but substantially in following mode, carry out action control.
With regard to the horizontal balance of a pair of grip plate 1B, 1D and dividing plate 1C, by track 11 or parallel motion cylinder C1(lm guides etc.) with slab integral, in the mode of same phase parallel, move.In addition, in this device, propulsion source as each functional component is used a plurality of cylinders, but in following action specification, with regard to whole cylinders, throw rod is accommodated in to the action of the direction in cylinder referred to as " action ", release is accommodated in to the action of direction of the throw rod in cylinder referred to as "+action ".
On belt conveyor 30, be cut into the bean curd group B of given size ... as to be arranged in Width F3, F4(and working direction F1, the F2 of belt conveyor 30 with regulation number) packing container group P1, the P2 of state ... consistent mode is to keep bean curd group B1, the B2 of the ordered state at certain ranks interval ... be handled upside down successively (Fig. 1, Fig. 6 (A)).Control driver train 40 until be standby action before the terminal part of initial bean curd group B1 arrival belt conveyor 30.
The readiness for action of controlling driver train 40 is following states.
Parallel motion cylinder C1 carries out-moves, and the hand barrow 12 being attached on parallel motion cylinder C1 is travelled on one side by track 11 guiding on one side on updrift side F1.Hang the gate sheet 1A of lower support on hand barrow 12 and move on updrift side F1, the horizontal terminal part at belt conveyor 30 (Fig. 6 (A)).Container conveying belt 21 be positioned at this position gate sheet 1A under, possess packing container group P1, P2.Packing container group P1, the P2 vertical movable cylinder C7 by lift mechanism 23+action rises near gate sheet 1A and standby (Fig. 7 (A)).In each packing container P, injecting appropriate water, can be to make the state that each packing container P is full water.
At this time point, parallel motion cylinder C2 also utilizes-moves and makes the hand barrow 14 of subordinate move to the updrift side F1 in action, moves up and down plate group 1B, 1C, the 1D that cylinder C3, C5 be arranged on hand barrow 14 also to upstream side and the top, move by two.At this level attitude, the grip plate 1B of preferred a pair of grip plate 1B, 1D middle and lower reaches direction F2 utilize as required move up and down cylinder C3+action near gate sheet 1A position, front, be that the terminal part of belt conveyor 30 carries out down maneuver (Fig. 6 (A)).Now, between the secondary parallel motion cylinder C4 moving up and down between cylinder C3 and grip plate 1B, also maintain-move.In addition, the cylinder C5 utilization-action that moves up and down of supporting clapboard 1C and the opposing party's grip plate 1D is supported for the state (Fig. 6 (A)) of pull-up by these.Now, between the secondary parallel motion cylinder C6 moving up and down between cylinder C5 and grip plate 1D, be that utilize+action is by the state of grip plate 1D upstream direction F1 release.That is, any makes standby under the secondary parallel motion cylinder C4 of two that throw rod arranges towards updrift side F1, state that C6 oppositely moves mutually at a pair of grip plate 1B, 1D.
At this, as mentioned above, the grip plate 1B of downstream direction F2 declines and the row of the front end of the bean curd group B being carried by belt conveyor 30 is supported in standby Shi Cong downstream, prevents that a line B1 of front end of bean curd group B is just in case the object of running.If the speed of carrying transferring belt is also little, the worry of not running, does not need the prior decline of this grip plate 1B, can carry out the action of synchronizeing with other grip plate 1D or dividing plate 1C.In addition, especially the bean curd group B on belt conveyor 30 has front and back a little, the occasion of the position deviations such as rotation a little, owing to also thering is the consistent meaning of confusion a little of the ranks that make bean curd group B, therefore can be consistent with the bean curd group B1, the B2 that are come by belt conveyor 30 carryings according to the order of grip plate 1B, dividing plate 1C, grip plate 1D, and decline successively.To control the slightly wide occasion in interval be actv. for this bean curd group B formed before Billy controls with grip plate 1B, 1D or dividing plate 1C in the ranks.But, also can not need the action of this grip plate 1B decline in advance or the action that each plate declines successively, can be the action of synchronizeing with other grip plate 1D or dividing plate 1C.
Follow the running of belt conveyor 30, at the bean curd group B1, the B2 that utilize not shown sensor system senses to be positioned at downstream direction F2, arrive and decline and the time point of the grip plate 1B of standby, belt conveyor 30 temporarily stops.Then, move up and down cylinder C5 and carry out+move, the grip plate 1D of dividing plate 1C and upstream side carries out down maneuver (Fig. 6 (B)) simultaneously.Now, dividing plate 1C declines in the between-line spacing being set between the bean curd group B1 of initial the first row and the bean curd group B2 of the second row, and grip plate 1D drops to the upstream side F1 of the second row bean curd group B2.The sensor system, so long as reflection-type displacement pickup or through mode opto-electronic pickup, optical fiber transducer etc. can be identified sensor or the instrumentation mechanism of the existence of workpiece, is not particularly limited.
At dividing plate 1C and grip plate 1D, drop to (Fig. 6 (C)) behind above-mentioned position completely, secondary parallel motion cylinder C4 carries out+moves, and secondary parallel motion cylinder C6 carries out-moves simultaneously.Utilize secondary parallel motion cylinder C4+action, the grip plate 1B in downstream is to push back the bean curd group B1 of first row the mode parallel motion of dividing plate 1C side, on the other hand, utilize secondary parallel motion cylinder C6-action, the grip plate 1D of upstream side releases dividing plate 1C side by the bean curd group B2 of secondary series.; secondary parallel motion cylinder C4, the C6 of two that utilization is moved independently from parallel motion cylinder C3; make a pair of grip plate 1B, 1D synchronously carry out interlock driving towards direction near each other, can control at short notice bean curd group B1, the B2 of two row 13 row simultaneously.
At this, each of bean curd group B1, B2 is square or rectangular shape, and above-mentioned plate group 1B, 1C, 1D contact with face with the face of the front and back of its carrying direction with more than 1/3rd area of contact of the area of bean curd side, in addition, by moisture film, contact.This moisture film can be the water (whey) oozing out from bean curd group, can be the water scattering, but in the present embodiment, bean curd group B1, B2 takes out from tank, under the state that has adhered to some water, are handled upside down, and can with face, contact by the water of watering.
Controlling after release of the bean curd group being listed as at two row 13, parallel motion cylinder C2 carries out+moves, and hand barrow 14 is travelled on downstream direction F2.A pair of grip plate 1B, 1D and dividing plate 1C follow the parallel motion of hand barrow 14 and under the state of gripping state of bean curd group that maintains two row on downstream direction F2 parallel motion, be moved horizontally the stroke limitation of cylinder C2 and be positioned in (Fig. 7 (A)) on gate sheet 1A.In addition, parallel motion cylinder C2+opportunity of front and back of action, making to move up and down cylinder C5 carries out-moves, bean curd group B is floated from the carrying face of carrying transferring belt 10, on opportunity stopping at the position (the roughly terminal location of parallel motion cylinder C2) above packing container, make to move up and down cylinder C5 and carry out+move and bean curd group B is dropped on gate sheet 1A.In addition, after dividing plate 1A opens wide, make to move up and down cylinder C5 and further carry out+move and approach packing container, or the form inside inserting is being preferred aspect the meaning of raising Accuracy of Packaging.If observe this action of controlling driver train 40 about bean curd group B1, B2, by bean curd group B1, B2, by a pair of grip plate 1B, 1D and dividing plate 1C, from fore-and-aft direction, sandwiched, at the row or mobile arrive the distance of gate sheet 1A from belt conveyor 30 aloft of sliding in state that suppresses the distortion of bean curd group B1, B2.Its result, in carrying, especially can reduce the avalanche that is deformed into cause with bean curd group B 1, B2 when belt conveyor 30 is cross over gate sheet 1A, damage, position deviation etc. significantly.
Therebetween, the lift mechanism 23 of packing container Handling device 20 make propulsion cylinder C7 carry out+move and the packing container group P1, the P2 that make to be positioned at two row 13 row under gate sheet 1A rise to gate sheet 1A under and standby (Fig. 5, Fig. 7 (A)).
Then, parallel motion cylinder C1 carries out+moves, and the gate sheet 1A that loads bean curd group B1, the B2 of two row 13 row is pulled to downstream direction F2 upper (Fig. 7 (B)).Carrying out backward movement roughly the same opportunity with gate sheet 1A, secondary parallel motion cylinder C4, the C6 of two carry out respectively-move and+action, a pair of grip plate 1B, 1D respectively downstream F2, updrift side F1 open, and decontrol bean curd group B1, B2(Fig. 2, Fig. 7 (C) of controlling).Bean curd group B1, the B2 of 2 row 13 row falls in packing container group P1, the P2 of 13 corresponding row two row under gate sheet 1A that put in place simultaneously under approximate horizontal state.Because packing container group P1, P2 utilize lift mechanism 23, be positioned at approaching position, therefore hold the auxiliary of state.; the state of clamping bean curd group B 1, B2 is remained to the top that is positioned at packing container group P1, P2; wherein, so-called " holding " refers to, after gate sheet 1A retreats; the state expanding to the direction of opening from the state clamping at a pair of grip plate 1B, 1D; bean curd group B1, B2 are dropped in packing container group, and before gate sheet 1A retreats, remove unclamp a little clamping state or after; gate sheet 1A retreats, and makes bean curd group B fall in packing container group P and hold.In addition, what is called " is held and " is referred to, even if also comprise and not existing under the form of gate sheet 1A, also the state of clamping bean curd group B1, B2 is remained to the top that is positioned at packing container group P1, P2, afterwards, the state clamping by releasing, or unclamp a little the state of clamping, the occasion of utilizing deadweight to fall.
Before at once will bean curd group B1, B2 being contained in packing container group or simultaneously or afterwards, lift mechanism 23 makes propulsion cylinder C7 carry out-move, make the packing container group P1 floating, the original position (Fig. 8 (A)) that P2 resets to container conveying belt 21.In addition, a pair of grip plate 1B, the 1D that hold action of the bean curd group that is through with B1, B2 and dividing plate 1C utilize two move up and down cylinder C3, C4-action rises simultaneously, again enters the warming-up exercise (Fig. 6 (A)) for resetting to above-mentioned readiness for action.Down maneuver as lift mechanism 23, from starting to retreat simultaneously, synchronously move afterwards or before with gate sheet 1A, the bean curd group B falling in declining, packing container group P is contained in packing container group, in addition, its down maneuver also suitably regulates acceleration and deceleration, as the track of the ball of football, impact when buffering bean curd group B falls and be contained in packing container group P, can prevent that bean curd is damaged more reliably.
As concrete homing action, the gate sheet 1A that carries out backward movement on downstream direction F2 utilizes parallel motion cylinder C1's-action becomes the posture of the horizontal terminal part at belt conveyor 30, a pair of grip plate 1B, 1D and dividing plate 1C utilize parallel motion cylinder C2-action turns back to updrift side F1(Fig. 8 (B)).Therebetween, belt conveyor 30 moves on downstream direction F2 bean curd group B3, the B4 of the third line, fourth line, the container conveying belt 21 of packing container Handling device 20 is taken out of packing container group P1, the P2 that accommodates bean curd group B1, B2, successively empty packing container group P1, P2 is supplied to belt conveyor 30 the place ahead.
Then, control driver train 40 utilization move up and down cylinder C3+action drops to gate sheet 1AZheng front position by the grip plate 1B in downstream and waits for the arrival (Fig. 8 (C)) of the third line bean curd group B3.Thus, the homing action to readiness for action finishes (with reference to Fig. 6 (A)).
(the second embodiment)
Present embodiment is to utilize the drive condition of plate group 1B, 1C, 1D and do not use gate sheet 1A, to carry out at a high speed the device that holds action (Fig. 9, Figure 10) of bean curd group.
Do not possess gate sheet 1A occasion control driver train 40 with there is gate sheet 1A control driver train 40(Fig. 1) compare, except gate sheet 1A, can be for omitting the simple structure of the whole parts that driven by the parallel motion cylinder C1 for driving headed by the parallel motion cylinder C1 of gate sheet 1A.
Present embodiment is the embodiment that does not possess gate sheet 1A, with high acceleration or high deceleration/decel, drive in the horizontal direction a pair of grip plate 1B, 1D and the dividing plate 1C of the state of controlling lightly bean curd group B1, B2, that to bean curd group B1, B2, does not give time of falling more than needed is positioned at the assigned position on corresponding packing container group P1, P2.At this, at the time point of controlling a pair of grip plate 1B of driver train 40 and 1D and dividing plate 1C and stopping, bean curd group B1, B2 drop in packing container group P1, P2 by the release of gripping state.In addition, also can under gripping state, utilize deadweight to be slipped in packing container group P1, P2, now, to unclamp the mode of gripping state and a pair of grip plate 1B, 1D and dividing plate 1C, stop simultaneously, by a pair of secondary parallel motion cylinder C4, C6, in the direction of opening grip plate 1B, 1D, move (Fig. 9).
In controlling driver train 40, can be to control tightly under the state of bean curd group B1, B2, beyond high acceleration or the driving of high deceleration/decel, the velocity form of determining speed drive (acceleration/accel zero) to comprise moves this pair of grip plate 1B, 1D and dividing plate 1C in the horizontal direction, bean curd group B1, B2 is positioned to the form of the assigned position on corresponding packing container group P1, P2.
Can not use gate sheet 1A to carry out action as described above and be determined by the kind of bean curd and gripping state (hold or control distance), the kapok bean curd of suitable hardness can carry out fully.In experiment, can be common kapok bean curd or sliding bean curd (cutting force 0.5～0.9N/m 2about 50～the 90gf/cm of ≈ 2).That is, a pair of grip plate 1B, 1D and dividing plate 1C be take and controlled as the crooked state of the elastic force due to bean curd, in the scope of not breaking at bean curd B, keep under the state of certain power all synchronously or the people having the same aspiration and interest by interlock, driven as prerequisite.By adding and subtracting the hold of this bean curd B, or the form of controlling of controlling from four directions, even without gate sheet 1A, even soft bean curd also can not fall and aloft control.In addition, also possess by weakening hold and under gripping state, bean curd B landing on grip plate 1B, 1D,, is utilizing the occasion of deadweight landing to suppress the braking function of speed of fall, and is being directed to the guide function in packing container.Controlling the synchronous or people having the same aspiration and interest of the preferred a pair of grip plate 1B of driver train 40,1D and dividing plate 1C is driven by interlock.Otherwise, can make bean curd group B fall or damage, or load be applied on other plates, become the load with respect to bean curd group B1, B2.In addition, as required, can correctly adjust the mechanism of controlling interval and maybe can control the mechanism of hold controlling to set on driver train 40, preferably always by being applied to hold on bean curd group B, remain certain above (and power) below the cutting intensity of bean curd.Like this, even without gate sheet 1A, also can utilize grip plate group 1B, 1C, 1D strengthen the gripping state of bean curd group B1, B2 or drive and control driver train 40 etc. with high acceleration, easily be contained in packing container group P1, P2.
According to present embodiment, in controlling driver train 40, by enhancing, utilize the gripping state of a pair of grip plate 1B, 1D and dividing plate 1C, can not make bean curd group B fall, in addition, even the gripping state unclamping a little, by driving with high acceleration on the belt conveyor 30 of carrying transferring belt 10 and aerial along continuous straight runs move, can not make bean curd group B fall ground moment on the way and be positioned at the assigned position on packing container Handling device 20.; suitably suppress to be applied to the hold in bean curd group; by making surface tension and acting on the confining force of the total that force of inertia on the bean curd group B being carried by acceleration and deceleration is added; always overcome the gravity of effect and remain on and do not make the state that bean curd group B controls with falling and move; if when stopping a little less than force of inertia or disappear; cannot overcome the gravity of effect, if there is no from sliding stand of supported underneath bean curd group B etc., bean curd group B landing falling in grip plate.But if be applied to bean curd group B from grip plate than the large power of direction of the resistance that stops bean curd group B to fall, bean curd group B can not fall.And bean curd group B is the state with impartial power clamping by a pair of grip plate 1B, 1D and dividing plate 1C, in addition, also for utilizing the surface tension by water to be adsorbed on the state on a pair of grip plate 1C.In addition, because the high acceleration (high deceleration/decel) of the horizontal direction of a pair of grip plate 1B, 1D and dividing plate 1C is mobile, larger static effect of inertia is on bean curd group B.; in utilization, control the occasion that driver train 40 drives (high speed or high acceleration slide) a pair of grip plate 1B, 1D and dividing plate 1C together; by acting on the composite value of each power between bean curd group 1B, a pair of grip plate 1B, 1D, dividing plate 1C and bean curd group B, surpass and to act on the power (being mainly gravity) making in direction that bean curd group B falls, can not make bean curd group B fall the position that is transported to packing container P.Preferably stop at the bean curd group B of assigned position a little less than contributing to the force of inertia of hold or while disappearing, become the suitable weak hold falling, preferably do one's utmost to suppress by the stronger damage to bean curd causing of controlling.In addition, if harder bean curd, under the state of controlling tightly carrying or utilize gripping state open wide fall that to hold be easy.
In addition, not from the occasion of the sliding stand of supported underneath bean curd group B etc., even do not bear any resistance ground and freely fall with respect to falling at once, need only and before bean curd group B comes off between a pair of grip plate, be positioned at packing container P and finish, bean curd group B can drop in packing container P.That is, with high acceleration, making a pair of grip plate parallel motion is more than needed the meaning that is transported to the position of packing container P of time of bean curd group B not being fallen.This action is formed a pair of grip plate 1B, 1D and can be realized by the driver train that is accelerated, slowed down by any.In addition, stop the belt conveyor 30 of above-mentioned carrying transferring belt 10 and utilize above-mentioned a pair of grip plate to control bean curd group B, even if drive belt conveyor 30 and make above-mentioned a pair of grip plate move (high acceleration), also can reduce and bean curd bottom surface that belt conveyor 30 is controlled between friction drag or distortion, defect, be therefore preferred.
Above-mentioned carrying transferring belt 10 is by having the distribution function of carrying the bean curd group B that spreads to above-mentioned carrying transferring belt 10 from bean curd group B and the Jiang Shui of tank taking-up, can utilize a pair of grip plate 1B, the 1D that control driver train 40 to control the bean curd group B that has adhered to water, easily mobile predetermined distance.Water plays as the auxiliary effect that utilizes the moisture film that sandwiches and sandwich releasing of above-mentioned a pair of grip plate 1B, 1D swimmingly.In addition, for the friction force between the surface of bean curd group and grip plate is suppressed lowlyer, prevent the damage of bean curd group B, above-mentioned a pair of grip plate group 1B, 1D and bean curd group B preferably mutual face sandwich by moisture film.
In controlling driver train 40, if controlling a pair of grip plate group 1B, the 1D of bean curd group B moves with the acceleration/accel (and speed) of stipulating, from carrying, start to stopping at assigned position, the larger static or motion inertia force of horizontal direction acts on bean curd group B.Stop bean curd group B the horizontal direction falling acceleration or by the mobile force of inertia causing that slows down, weakened or disappear after, bean curd group B utilizes gravity from landing between a pair of grip plate group 1B, 1D or drops to the packing container P below being positioned at.At this, on one side can maintain gripping state, Yi Bian make energetically a pair of grip plate group 1B, 1D move in the mode of opening a little.Occasion in landing, owing to suppressing speed of fall by the plus-minus that weakens of hold, therefore can suppress by the damage etc. that falls the bean curd causing, can eliminate the discrete error having on the opportunity that falls of each bean curd group B of occasion generation naturally falling, can improve the precision of packing.
Under above-mentioned prerequisite, if use Figure 10 to describe, if plate group 1B, 1C, 1D are with acceleration A 2driven on downstream direction F2, with respect to each bean curd group B, the B that become the mass M of bean curd group B1, B2 ,-A 2the static force of inertia of M acts in updrift side F1 direction.In addition, downward gravity GM always acts on each bean curd group B.Therefore,, when being handled upside down along downstream direction F2, the power on bean curd group B, B of being applied to is by static force of inertia-A 2m and gravity GM rationally-F representative.In addition, should make a concerted effort-F, static force of inertia-A 2m is larger with respect to gravity GM, i.e. the acceleration A downstream of plate group 1B, 1C, 1D 2larger, more become the direction of the flat-hand position that approaches updrift side F1 direction.
Owing to thering is the make a concerted effort-F of the composition of updrift side F1 direction, become the surface pressure between the grip plate 1D of upstream side and bean curd group B and between dividing plate 1C and bean curd group B with respect to bean curd group B, B and become large, and become with respect to bean curd group B, B in the surface pressure decline between the grip plate 1B in downstream and bean curd group B and between dividing plate 1C and bean curd group B or there is no pressure.At this, even if being converted to, the surface pressure between bean curd group B and specific plate there is no pressure, this specific grip plate face is important with respect to hold (Clamping force) disappearance of the downstream side of bean curd group B.Between bean curd group B and each plate, also there is the adsorption affinity (this effect is also the also rule of thumb effects of understanding such as adsorption phenomena of the bean curd of the kitchen knife while utilizing with respect to conditioning bean curd) by the surface tension generation of the moisture (whey) oozing out from bean curd group B.That is, if the driving acceleration/accel of plate group 1B, 1C, 1D (also comprising deceleration/decel) A 2always move, even without gate sheet 1A, bean curd group B, B can not fall (action of " stack of dish fourth " and so on) yet.
Phenomenon same as described above also produces when plate group 1B, 1C, 1D stop.If plate group 1B, 1C, 1D stop, motion inertia force A 2m temporarily acts in downstream direction F2 direction, gravity GM and moving force of inertia A 2the F that makes a concerted effort of M acts on each bean curd group B.Therefore, with respect to bean curd group B, B, at grip plate 1B, the dividing plate 1C in downstream and the surface pressure between bean curd B, B, rise, and the grip plate 1D, the dividing plate 1C that with respect to bean curd group B, B, are positioned at upstream side are with the minimizing of the surface pressure between bean curd group B, B or be converted to and there is no pressure.But bean curd group B, the reason of B based on same as described above can not fall (Figure 10).
In utilization, control driver train 40 and above-mentioned plate group 1B, 1C, 1D are positioned at after assigned position static end, moving force of inertia A 2m disappears.Its result, remaining gravity GM only, bean curd group B1, B2 landing drop in packing container group P1, P2.Or, by the gripping state unclamping or decontrol grip plate, fall and hold.In holding in action of this bean curd group B1, B2, the opening time or the wait time that do not need gate sheet 1A, and also shorten the level carrying required time with respect to bean curd group B1, B2, therefore can shorten significantly the packaging process of bean curd group B, and can improve the processing capacity of manufacturing line.
At this, even in above-mentioned any embodiment, represent to process bean curd group B1, the B2 of two row simultaneously, but also can control the dividing plate 1C of driver train 40 with the structure of a line processed in units bean curd group B for omitting.In addition, even if having the occasion of aforementioned barriers 1C between a pair of grip plate, also the example of bean curd group is only controlled in consideration therein between a side plate and dividing plate 1C.And, also can set up dividing plate 1C, or configure many group a pair of grip plate 1B, 1D to control the mode of multirow (more than three row) or multiple row (more than three row).
(the 3rd embodiment)
Present embodiment possesses many group above-mentioned a pair of grip plate 1B, 1D, is the example of a plurality of packing container group P1, P2 being packed in the identical mode of the first or second embodiment with having aforementioned barriers 1C.
Figure 11 (A)～(E) mean that above-mentioned a pair of grip plate 1B, 1D consist of two groups of 31A, 31B, the figure of the process sequence of the embodiment of arranging in parallel or in series in Width (the direction F3-F4 of row unit) or working direction (a direction F1-F2 itemizes).Downstream end at carrying transferring belt 10 disposes the blade knive-edge baby conveyor 35A of the shape of point like that.Utilize the step between knive-edge baby conveyor 35A elimination and carrying transferring belt 10, if and move in the mode of sliding on container P1, P2, make bean curd group B1, B2 float and be transported to packing container P1, P2 (symbol 39 of Figure 11 (B) represents Fu Shangshi gaps) from above-mentioned belt conveyor 35A, the bean curd group B1 that makes to control between a pair of grip plate 1B, 1D, B2 moves and fall and hold.In addition, in the downstream end of above-mentioned carrying transferring belt 10, replace above-mentioned belt conveyor 35A, dispose level or on the slide plate that has a down dip, automatic rotary transfer roller, the slide mechanisms such as rotating roller that move about can be mediate.Like this, if control driver train 40(31A, 31B what control bean curd group B1, B2) rise a little upward, the mode of leaving with the transmission zone face from carrying transferring belt 10 is moved bean curd group B1, B2 with floating, can and reduce friction between above-mentioned carrying transferring belt 10 or above-mentioned belt conveyor 35A or the fault of carrier.
Figure 12 (A)～(C) represent that above-mentioned a pair of grip plate 1B, 1D are two groups of 31A, 31B, configures above-mentioned knive-edge baby conveyor 35A, and uses in the mode contacting with this belt conveyor 35A and move and the operation of the occasion of the above-mentioned gate sheet 1A that retreats.Utilize the step difference between knive-edge baby conveyor 35A elimination and gate sheet 1A, and in the mode of sliding on container P1, P2, the bean curd group B1, the B2 that between a pair of grip plate 1B, 1D, are controlled are moved on gate sheet 1A.And, by making gate sheet 1A carry out backward movement, make the bean curd group B1, the B2 that between a pair of grip plate 31A, the 31B of two groups, control drop in each container P1, P2 and hold.
Figure 13 (A)～(F) means the figure of the operation of the occasion of packing by guide Ga when packing.Guide Ga is located at each packing container P1, P2Shang，Qi upper end is identical with the carrying face of above-mentioned belt conveyor 35A, or is positioned at slightly below, or is positioned at the gate sheet 1A back side, and is fixed on pedestal.When packing container P1, P2 utilize above-mentioned lift mechanism 23 to rise, can be that this guide Ga approaches packing container peristome, or in becoming, be inserted in the form of the relation of P1, P2.In addition, move with together with the on-off action of gate sheet 1A, or utilize other actuating devices, be suitably positioned on packing container P1, P2.In addition, as Figure 11 (D) (E) as shown in, can be that grip plate 1B, 1D self have guide function concurrently and decline and approach packing container peristome, or become the form of the relation of interpolation.And, if the bean curd group B1, the B2 that control between a pair of grip plate 1B, 1D fall on each container P, along guide Ga, pack.From above-mentioned belt conveyor 35A, bean curd B is floated and be transported to packing container P1, P2 that (symbol 39 of Figure 13 (B) represents to float Shi gap.), eliminate thus and guide Ga between step difference and pack.
Figure 14 (A)～(E) mean except fixed above-mentioned knive-edge baby conveyor 36A, utilizes the figure of the operation of the occasion that the gate sheet 36B of drive-type packs each container P1, P2 of two row.Gate sheet 36A, the 36B of two groups opens wide after two groups of bean curd group B1, B2 having loaded carrying direction, bean curd fallen and hold.; drive-type gate sheet 36B plays the function identical with above-mentioned gate sheet 1A; can approach the baby conveyor 35A of carrying transferring belt 10 sides; and can with carrying transferring belt 10 opposite senses on carry out backward movement, but gate sheet 36A, the 36B of two groups carry out on-off action downwards under the state contacting with above-mentioned fixed type belt conveyor 36A.The gate sheet 31A of drive-type opens and closes to the left and right from central authorities, if open downwards, the opening/closing portion of left and right is divided into guiding parts, does not damage bean curd B1, B2 and packs.The gate sheet 31A of this drive-type is the mechanism that carries out the reciprocating action of general straight line, and the peristome of top of packing container P1, P2 that makes to be positioned at the below of bean curd group B1, B2 exposes or is closed.
In addition, gate sheet can be the on-off shutter plate consisting of a plurality of plates, can be that for example the revolvingly driven type on-off shutter plate 37A(shown in Figure 15 (A)～(C), with respect to a packing container, is two or four).Especially as shown in Figure 15 (C), also there is unlimited gate sheet 37A to have the feature of guiding or chute function concurrently.The release of controlling of gate sheet 37A, the 37B of open and close type and above-mentioned a pair of grip plate 1B, 1D is synchronously contained in bean curd group B1, B2 in packing container P1, P2.
In above-mentioned occasion arbitrarily, at bean curd group B1, B2 during to the holding of above-mentioned packing container P1, P2, in packing container group P1 ,P2Shang position, by the releasing of controlling of a pair of grip plate 1B, 1D, bean curd group B1, B2 are fallen, or after bean curd group B1, B2 being inserted in packing container P together with a pair of grip plate 1B, 1D, utilize controlling of grip plate 1B, 1D to remove and fall.In addition, decline together with a pair of grip plate 1B, 1D and approach the peristome of packing container P1, P2, or behind the inner side (or on earth) of inserting packing container, utilizing to control to remove and hold bean curd group B 1, B2(Figure 11 (E), Figure 16).Therefore can reduce the bean curd group B1 being caused by drop impact, the damage of B2.In this occasion, use and have than grip plate 1B, the 1D at the inside dimension width Zhai position of packing container P.Aforementioned barriers 1C is also identical.In addition, can be concavo-convex plate member by Yi Zhangban lower end cutting processing.Be that the grip plate 1B, the 1D that grow crosswise or dividing plate 1C are to be concaveconvex shape from each plate below of transverse observation, from packing container top, decline, even if its protuberance is inserted in packing container opening in a little, also can fall reliably the form (Figure 20) that is contained in packing container.In this occasion, grip plate 1B, 1D or dividing plate 1C have the such guide function of above-mentioned guide Ga concurrently.
Then, the method for packing is described.
The form of above-mentioned a pair of grip plate 1B, 1D is that the length direction of each plate member 1B, 1D configures the form of above-mentioned a pair of grip plate 1B, 1D along the Width (F3-F4 direction) of carrying transferring belt 10, and Figure 17 (D) is (E) form along the above-mentioned a pair of grip plate of direct of travel (F1-F2) configuration of carrying transferring belt 10.In occasion arbitrarily, even if bean curd group B1, B2 that sawtooth is arranged also can control and pack under the state of this arrangement.In addition, be between above-mentioned a pair of grip plate 1B, 1D, to there is the occasion of dividing plate 1C.
At this, along the structure of a plurality of the opposing party's of working direction (F1-F2) the direction configuration of carrying transferring belt 10 a pair of grip plate 42A, the 42B of one group, be the structure identical with the device 1 illustrating in above-mentioned the first and second embodiments, it is towards differing 90 °.In addition, the go-cart 12 by assembling moving direction in above-mentioned upper side operation, guarantees that it moves.
Figure 18 (A)～(E) is between a pair of grip plate 1B, 1D, not have the occasion of dividing plate 1C, even if bean curd group B1, B2 that sawtooth is arranged also can control and pack under the state of this arrangement.
Figure 19 (A)～(B) mean the occasion in each packing container P that each bean curd B is packaged in to sale form, utilizes a pair of grip plate 41A, the 41B of two groups from four directions to the figure that controls the form of each bean curd B.Each plate member 1B, the 1D of one side's a pair of grip plate 41A, the 41A of one group is a plurality of along Width (F3-F4) the direction configuration of carrying transferring belt 10.The opposing party's a pair of grip plate 42A, the 42B of one group configures a plurality of along the working direction (F1-F2) of carrying transferring belt 10.Therefore, in the mode of surrounding from surrounding, control each bean curd B.

Claims (7)

1. a packing device for bean curd, is the packing of carrying out by land, a plurality of bean curd groups is packaged in each container of sale form, and the packing device of this bean curd is characterised in that,
Possess and carry the carrying transferring belt of a plurality of bean curd groups that are cut into the size of regulation and arrange with predetermined distance and a pair of grip plate driving in direction near each other, by controlling, be cut into the size of regulation the bean curd group of discharging, move to the assigned position in packing container group, and discharge controlling of a pair of grip plate, make this bean curd group drop in this packing container group and hold, or, at least maintain a pair of grip plate gripping state make this bean curd group drop in this packing container group and hold.
2. the packing device of bean curd according to claim 1, is characterized in that,
Possesses the dividing plate being configured between above-mentioned a pair of grip plate.
3. a packing device for bean curd, is the packing of carrying out by land, a plurality of bean curd groups is packaged in each container of sale form, and the packing device of this bean curd is characterised in that,
Possess that carrying is cut into the size of regulation and the carrying transferring belt of a plurality of bean curd groups of arranging with predetermined distance, packing container group is transported to this carrying transferring belt downstream end position packing container Handling device and carry out the driver train of controlling that possesses a pair of grip plate of driven for opening and closing
The driver train of controlling that possesses above-mentioned a pair of grip plate by utilization is controlled this bean curd group on this carrying transferring belt, and move to and utilize above-mentioned packing container Handling device to be transported to the assigned position in this packing container group of assigned position, discharge afterwards controlling of above-mentioned a pair of grip plate, make this bean curd group drop in this packing container group and hold, or, at least maintain this pair of grip plate gripping state make this bean curd group drop in this packing container group and hold.
4. a packing device for bean curd, is the packing of carrying out by land, a plurality of bean curd groups is packaged in each container of sale form, and the packing device of this bean curd is characterised in that,
Possess that carrying is cut into the size of regulation and position and making that the carrying transferring belt of a plurality of bean curd groups of arranging with predetermined distance, the packing container Handling device that packing container group is transported to the downstream end position of this carrying transferring belt, the mode of controlling driver train and being positioned to extend carrying face that possesses a pair of grip plate of carrying out driven for opening and closing approach the downstream end of this carrying transferring belt is positioned at than this carrying face this packing container group on the lower and exposes or the gate sheet of crested
The driver train of controlling that possesses above-mentioned a pair of grip plate by utilization is controlled this bean curd group on this carrying transferring belt, this bean curd group is transported to above-mentioned gate sheet from this carrying transferring belt, by means of this gate sheet, be positioned at by this packing container Handling device and be transported in this packing container group of assigned position, discharge linkedly controlling of this pair of grip plate with the unlimited action from packing container of this gate sheet afterwards, make this bean curd group drop in this packing container group and hold, or, at least maintain this pair of grip plate gripping state make this bean curd group drop in this packing container group and hold.
5. according to the packing device of the bean curd described in claim 1～4 any one, it is characterized in that,
The above-mentioned packing container group utilization carrying direction above-mentioned packing container Handling device vertical with above-mentioned carrying transferring belt is moved to assigned position with the arrangement of multirow N and/or multiple row M,
Above-mentioned bean curd group utilizes above-mentioned grip plate in the consistent mode of the arrangement with this packing container group and to be controlled in the Width that is arranged in this carrying transferring belt of multirow M and/or multiple row N and carrying direction, and is moved to the assigned position of the top of this packing container group.
6. according to the packing device of the bean curd described in claim 1～4 any one, it is characterized in that,
Possess the above-mentioned a pair of grip plate of many groups, or configure multiple and be configured in the dividing plate between above-mentioned a pair of grip plate, with multirow M unit and/or multiple row N unit, control the above-mentioned bean curd group that carrying comes.
7. the packing device of bean curd according to claim 1 and 2, is characterized in that,
Possess that carrying is cut into the size of regulation and position and making that mode that the carrying transferring belt of a plurality of bean curd groups of arranging with predetermined distance, the packing container Handling device and being positioned at that packing container group is transported to the downstream end position of this carrying transferring belt extend carrying face approaches the downstream end of this carrying transferring belt is positioned at than this carrying face this packing container group on the lower and exposes or the gate sheet of crested
By utilizing above-mentioned a pair of grip plate or a pair of grip plate and dividing plate, control this bean curd group on this carrying transferring belt, this bean curd group is transported to above-mentioned gate sheet from this carrying transferring belt, by means of this gate sheet, be positioned at by this packing container Handling device and be transported in this packing container group of assigned position, discharge linkedly controlling of this pair of grip plate with the unlimited action from packing container of this gate sheet afterwards, make this bean curd group drop in this packing container group and hold, or, at least maintain this pair of grip plate gripping state make this bean curd group drop in this packing container group and hold.
CN201210223697.XA 2012-06-29 2012-06-29 The packing device of bean curd Active CN103507991B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03143366A (en) * 1989-10-31 1991-06-18 ▲マス▼岡　正文 Packing machine for bean curd
JPH0551012A (en) * 1991-08-29 1993-03-02 Sooee Mach:Kk Packing apparatus for tofu etc.
JPH0795927B2 (en) * 1991-12-16 1995-10-18 栗原鉄工株式会社 Method and device for cutting tofu lumps and storing in packs
JP2007006759A (en) * 2005-06-29 2007-01-18 Takai Seisakusho:Kk Device and method for automatically and continuously packaging bean curd
JP2010213592A (en) * 2009-03-13 2010-09-30 R corp Bean curd producing device and holding device
CN102152864A (en) * 2010-12-15 2011-08-17 肇庆市京欧机械制造有限公司 Preserved bean curd bottling machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03143366A (en) * 1989-10-31 1991-06-18 ▲マス▼岡　正文 Packing machine for bean curd
JPH0551012A (en) * 1991-08-29 1993-03-02 Sooee Mach:Kk Packing apparatus for tofu etc.
JPH0795927B2 (en) * 1991-12-16 1995-10-18 栗原鉄工株式会社 Method and device for cutting tofu lumps and storing in packs
JP2007006759A (en) * 2005-06-29 2007-01-18 Takai Seisakusho:Kk Device and method for automatically and continuously packaging bean curd
JP2010213592A (en) * 2009-03-13 2010-09-30 R corp Bean curd producing device and holding device
CN102152864A (en) * 2010-12-15 2011-08-17 肇庆市京欧机械制造有限公司 Preserved bean curd bottling machine

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