JP2014129132A - Bag-making filling packer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bag-making filling packer capable of detecting biting-in of a packing object and foreign matter before contacting with a pair of heater blocks for constituting an end sealer, and capable of also enhancing operation efficiency of the packer by executing processing without stopping a packing machine by an alarm.SOLUTION: Control when the heater blocks 31a and 31b execute box motion operation along a revolution track, is feedback control executed based on a count value of a deviation by counting a difference in a feedback pulse from a first servomotor for driving the heater blocks 31a and 31b in the vertical direction by a deviation counter to a command pulse corresponding to the revolution track. When both heater blocks 31a and 31b are in closing operation, when detecting the yield pulse number of a preset value or more by the deviation counter, a determination is made as detecting that the heater blocks contact with the packing object and the foreign matter. The heater blocks execute retreat operation in the separating direction after stopping.

Description

  The present invention relates to a bag making apparatus comprising an end seal device in which a heater block is driven by separate drive sources in the vertical direction and the horizontal direction, and the outputs of both drive sources are combined to cause the heater block to perform box motion operation. The present invention relates to a filling and packaging machine.

  Conventionally, as shown in FIG. 1 which is a side view and FIG. 2 which is a plan view, the bag filling and packaging machine is used as a basic configuration in the example of the horizontal bag making and packaging machine. A film feeding device 2 having a former 22 which is conveyed in the longitudinal direction of the belt-shaped packaging material Fw and is bent into a substantially cylindrical shape by bringing both side edge portions Fe and Fe of the belt-shaped packaging material Fw close to each other. A feeding device 1 that feeds a package (product) P to the formed strip-shaped packaging material Fw at regular intervals, and a cylindrical packaging material by providing center seals on both side edges Fe and Fe of the curved strip-shaped packaging material Fw A center seal device that forms Ft, and an end seal device 3 that performs an end seal in a direction crossing at a position between adjacent packages P, P with respect to a cylindrical packaging material Ft having a package P inside. I have. The end seal device 3 can incorporate a cutter device, which will be described later, for cutting the cylindrical packaging material Ft in the middle of the end seal portion Se. The feeding device 1, the film feeding device 2, and the end seal device 3 are driven separately by a servo motor. The control device 4 operates these devices 1 to 3 with timing. By such drive control, the belt-shaped packaging material Fw is sealed to produce a bag, and a bag packaging body (pillow packaging body) Bp in which the article P to be packaged is stored is produced (see, for example, Patent Document 1). ).

  The film feeding device 2 of the horizontal bag making filling and packaging machine feeds the belt-shaped packaging material Fw from the raw roll Fr by a paper feeding mechanism including a paper feeding roller 21 and a paper drawing roller 23. The paper feed roller 21 is driven by a film feed servomotor SM2A. The paper drawing roller 23 includes left and right rollers 23a and 23b driven by a film feeding servomotor SM2B. The belt-like packaging material Fw is placed on the paper by sandwiching both side edge portions Fe and Fe of the packaging material between the roller peripheral surfaces. Pull. The former 22 is formed into a substantially closed curved shape by bringing both side edge portions Fe and Fe of the belt-shaped packaging material Fw close to each other. The center sealer 24 includes seal rollers 24a and 24b driven by a film feed servomotor SM2C. The sealing rollers 24a and 24b perform center sealing by sandwiching and heating and pressurizing both side edge portions Fe and Fe of the belt-shaped packaging material Fw formed in a curved shape between the circumferential surfaces of the rollers while rotating, and the center sealing portion Sc. The packaging material Ft is transported downstream while forming. The curved packaging material is formed on the cylindrical packaging material Ft by forming the center seal portion Sc.

  The supply device 1 for the packaged product P is a supply conveyor including an endless chain 12 to which pusher attachments 11 that push and convey the rear portion of the packaged product P are attached at predetermined intervals. The endless chain 12 is wound around sprockets 14 and 14 disposed at front and rear ends in the transport direction, and the rotation output of the supply conveyor drive servo motor SM1 is transmitted to the downstream sprocket 14 via a power transmission mechanism. The sprocket 14 is driven to rotate. Since the endless chain 12 meshes with the teeth of the sprocket 14, the endless chain 12 is also driven by the rotation of the sprocket 14 (see, for example, Patent Document 2). In the supply apparatus 1, the pusher attachment 11 conveys the article to be packaged P while pushing it, and sends the article to be packaged P into the former 22. In the former 22, the strip-shaped packaging material Fw is formed in a substantially closed curved shape. Therefore, on the outlet side of the former 22, the package P is sent out together with the packaging material in a state of being placed inside the curved packaging material. It is. The supply device 1 includes a supply origin sensor 10 that detects the pusher attachment 11.

  FIG. 8 is a diagram illustrating an example of the box motion locus of the heater block provided in the end seal device of the horizontal bag making filling and packaging machine. Referring to FIGS. 1 and 8, the end seal device 3 includes a pair of heater blocks 31a and 31b that are vertically opposed to each other with a transfer path for the cylindrical packaging material Ft interposed therebetween, and both the heater blocks 31a and 31b. Is in the position indicated by 31a ′, 31b ′, while the cylindrical packaging material Ft is sandwiched between the cylindrical packaging materials Ft while moving in the transfer direction (horizontal direction) in accordance with the transfer of the cylindrical packaging material Ft. The material Ft is heat sealed to form the end seal portion Se. During the movement, the cutter 33 built in the heater block 31a protrudes toward the heater block 31b to cut the central portion of the end seal portion Se, and thereafter, the cutter 33 is pulled in and separated from each other. The two heater blocks 31a and 31b separated from each other again come into contact with each other again and move horizontally in the next packaging cycle, and repeat the operation of following the above-described revolution trajectory. Such a system of the end seal device in which the heater blocks 31a and 31b move along the revolving trajectories such as the trajectories 32a and 32b is referred to as a box motion system (see, for example, Patent Document 3).

  In the pair of upper and lower heater blocks 31a and 31b, the upper heater block 31a is provided with a through hole 34 for incorporating the cutter 33, and the lower heater block 31b is penetrated to receive the protruding cutter 33. A hole 35 is provided. An actuator such as an air cylinder (not shown) is disposed on the upper part of the upper heater block 31a. The built-in cutter 33 projects by the actuator during heat sealing, and otherwise Operated to be drawn. Moreover, the heater blocks 31a and 31b are provided with a heater for heating in order to heat seal the packaging material.

  The box motion type end seal device 3 includes a servo motor and a cam such as a groove cam that cause the upper and lower heater blocks 31a and 31b to revolve, and a heater block 31a and 31b that does not use a cam. There are provided a plurality of drive motors such as a vertical drive servomotor SM3A for opening and closing in the meshing direction and a horizontal drive servomotor SM3B for moving back and forth in the feed direction of the packaging material. There is a type in which the heater blocks 31a and 31b are revolved by synthesizing vertical movement and horizontal movement by operating the motor at an appropriate timing (see Patent Document 4; see Patent Document 5 for a multiple drive motor system). ).

  FIG. 9 is a perspective view of the packaging material showing a state in which a part is drawn out from the packaging material wound on the roll. As shown in FIG. 9, a printed pattern M is printed on the belt-shaped packaging material Fw at an interval corresponding to the bag length L, and the side edge portion is a reference point of the bag length L. A registration mark RM is printed. The film feeding apparatus 2 includes a mark sensor 20 (FIGS. 1 and 2) that detects a registration mark RM. The end seal device 3 includes an end sealer origin sensor 30 (FIGS. 1 and 2) that detects a position (horizontal intermediate position) that is farthest away and occupies when the heater blocks 31a and 31b are stopped. ing. Upon receiving signals from the supply origin sensor 10, the mark sensor 20, and the end sealer origin sensor 30, the control device 4 controls the supply conveyor drive servomotor SM1 of the supply device 1 and the paper feed roller 21 of the film feed device 2. Servo motor SM2A for driving the film, SM2B for film feeding for driving the paper drawing roller 23, SM2C for film feeding for driving the center sealer 24, and servo motors for driving the heater blocks 31a and 31b vertically Drive control is performed with the timing of SM3A and servo motor SM3B for horizontal driving, and these devices 1 to 3 are operated while maintaining a predetermined timing.

  The control device 4 has a storage device 5 for storing the operation state (various setting states) of the horizontal bag making filling and packaging machine, and an operation capable of setting the operation state of the packaging machine and displaying the operation state. -It is connected with the display part 6 and the alerting | reporting apparatus 7 which alert | reports to the effect that the operator is inspected and monitored the state of a packaging material at the time of abnormality of the apparatuses 1-3. When the packaging machine is operated, the control device 4 exchanges information with the storage device 5, the operation / display unit 6 or the notification device 7 individually or between each other. When manufacturing a bag package using a horizontal bag-filling and packaging machine, operate the operation / display unit 6 to set basic settings such as the length of the bag to be manufactured in the machine, and then feed the film. It is necessary to adjust the timing (phase difference) among the device 2, the end seal device 3, and the supply device 1. The notification by the notification device 7 can be performed by one or a combination means such as a buzzer, a message, and a warning light.

  In the initial state, the supply device 1, the film feeding device 2, and the end seal device 3 are stopped at their respective reference points. The stop position of the film feeding apparatus 2 is a position where the mark sensor 20 has detected the registration mark RM printed on the belt-shaped packaging material Fw. The stop position of the end seal device 3 is a position where the end sealer origin sensor 30 that detects the heater block 31a when the heater blocks 31a and 31b occupy the horizontal intermediate position is turned on. The stop position of the supply apparatus 1 is a position where the supply origin sensor 10 that detects the pusher attachment 11 is turned on. By using the belt-shaped packaging material Fw shown in FIG. 9 to adjust the predetermined timing of the above-described apparatuses 1 to 3, a bag packaging body Bp in which the article P to be packaged as shown in FIG. Manufactured.

  In horizontal bag making and filling machines, if the bag of packaging material is scattered in the packaging cylinder, or if the packaging object itself slips within the packaging cylinder, the end sealer bites. To do. In addition, when the mechanical rotation speed is high, detection of such biting may be delayed. As a matter of course, it is necessary to exclude the package body in which the end seal portion is bitten as a defective product. When the cutter operates in the state of being bitten, the cutter or the heater block may be contaminated by the packaged items. In order to deal with such an event, various techniques have been proposed for detecting the end sealer by setting the upper and lower end sealers sandwiching the packaging material as a detection section (see, for example, Patent Document 6).

  When the end seal bite is detected, a warning to that effect is issued and the machine is stopped (hereinafter referred to as “alarm stop”). When the cutter is not operated, the bag package is discharged as a bundle. There are cases. In the case of a process that does not perform the cutter operation, there is no problem if the biting is detected before the cutter operation. However, if the biting is detected after the cutter operation, there is a possibility that a defective product that has bite may flow downstream. Therefore, in order to ensure certainty, alarm stop is selected. In addition, when the packaged item is a food product that is sticky or the like, it is necessary to select the alarm stop and check the cutter for contamination after the stop. Further, when the package is a hard article, the heater block or the cutter may be damaged.

  The technology that detects the biting of the end sealer while the upper and lower end sealers are in contact is now able to detect the defective product reliably, and the risk of the defective product flowing downstream has been reliably reduced. . However, if biting occurs and the packaging machine stops alarming, remove all items to be wrapped that have already been sent into the cylindrical packaging material and check the heater block and cutter. A procedure of cleaning and re-adjusting the machine is required, and the production of the bag package is resumed after the procedure. During these operations / procedures, loss of packaged items and packaging materials and loss of time occur. In addition, when the article to be packaged is a hard article as described above, there is a possibility that the heater block or the cutter may be broken at that time even if the biting is detected.

  Thus, in the present situation, in order to detect biting before the upper and lower end sealers sandwich the packaging material in order to end seal the packaging material, it is necessary to select an alarm stop due to overload of the servo motor. On the other hand, in response to such an alarm stop due to overload, if the package is a hard article, the heater block will be seriously damaged.

Japanese Patent Publication No.7-110645 JP 2009-203056 A JP 2006-31470 A JP 2010-105669 A JP 7-291234 A Japanese Patent No. 5068490

  Therefore, in the bag-filling and packaging machine, there is an article to be packaged or foreign matter in the portion of the packaging material to be end-sealed, and as it is, a pair of heater blocks provided in the end sealer bites the article to be packaged or foreign matter. In such a case, there is a problem to be solved in that it is possible to detect the biting of the article to be packaged or foreign matter before the packaging material is sandwiched, and to allow the packaging machine to process without stopping the alarm.

  The object of the present invention is to solve the above-mentioned problem, and before the pair of heater blocks provided in the end sealer come into contact, it is possible to detect the biting of an object to be packaged or foreign matter, and without stopping the packaging machine with an alarm. It is intended to provide a bag-filling and packaging machine that can process and increase the operating efficiency of the packaging machine.

  In order to solve the above problems, a bag-filling-packaging machine according to the present invention has a pair of heater blocks, and sandwiches the cylindrical packaging material between the heater blocks, so that the cylindrical packaging material is crossed in the transverse direction. An end sealer for heat sealing, a first servo motor for driving the end sealer to open and close in a meshing direction, and a second servo motor for driving the end sealer back and forth in the feed direction of the tubular packaging material And combining the outputs of the first servo motor and the second servo motor to move the heater block along the revolution trajectory, the first servo motor and the second servo with respect to the command pulse corresponding to the revolution trajectory. The deviation of the feedback pulse from the servo motor is counted by the deviation counter, and feedback control is performed based on the deviation count value. And the control device uses the number of accumulated pulses with respect to the command pulse as a detection reference in the feedback control for the first servo motor, and the number of accumulated pulses when the deviation counter is in normal operation. In response to detecting the accumulated pulse exceeding a certain value exceeding the above, it is determined that the heater block has come into contact with the package, the output rotation of the first servo motor is stopped, and then the output rotation is reversed in the reverse direction. The retraction operation of the heater block is performed by moving to a position away from the package.

  According to this bag making filling and packaging machine, there is provided an end seal device that performs a box motion operation having an end sealer having a pair of heater blocks, a first servo motor for opening / closing driving, and a second servo motor for front / rear driving. The heater block performs a box motion operation along the revolution orbit by combining the outputs of the first servo motor and the second servo motor. The control performed by the control device is a feedback control performed by counting the difference of the feedback pulses from the first servo motor and the second servo motor with respect to the command pulse corresponding to the revolution trajectory by a deviation counter and based on the deviation count value. It is. In the control of the end sealer, when both the heater blocks of the end sealer are closing along the revolution track while feedback control is being performed, the number of accumulated pulses exceeding the set value is detected by the feedback control deviation counter. Thus, it is determined that the heater block has detected contact with an object to be packaged or a foreign object. When it is determined as “contact detection”, the output rotation of the first servo motor is stopped to stop the closing operation in the meshing direction of the heater block, and then the output of the first servo motor is output in the opposite direction. By rotating and moving the heater block to a position away from the article to be packaged, the heater block is retracted in a direction away from each other. Thereby, the heater block is moved to a position where it does not come into contact with an object to be packaged or a foreign object.

  In this bag making filling and packaging machine, a closing movement operation section in the meshing direction of the heater block is set as a contact detection section, and whether or not the deviation counter detects the accumulated pulse exceeding the predetermined value in the contact detection section. Judgment can be made. The heater block may come into contact with the object to be packaged or a foreign object, and the situation that may cause biting occurs in the closing movement operation section in the meshing direction of the heater block. In this contact detection section, the number of accumulated pulses is detected by the deviation counter.

  In the bag making and filling machine, when the output of the first servo motor is stopped based on the determination that the heater block has come into contact with the article to be packaged, and then rotated in the reverse direction, the second servo motor Can be continued as in normal operation. That is, when the heater block is retracted by stopping the output of the first servo motor and then rotating the output in the reverse direction, the movement of the heater block in the packaging material feeding direction can be continued as it is.

  In this bag making filling and packaging machine, the position at which the heater block is separated from the article to be packaged can be set to the maximum separation position at which the heater block is separated to the maximum in the meshing direction on the revolution track. In this case, since the heater block is located at the most distant position in the meshing direction on the revolution track, the heater block can be surely separated from the article to be packaged or foreign matter. In addition, the heater block that has been retracted to the maximum separation position on the revolution track temporarily moves only in the packaging material feed direction to the most advanced position, and then feeds the packaging material to an intermediate position in the packaging material feed direction. It is possible to wait in preparation for resuming normal operation by only moving in the direction. After retreating to the maximum separation position on the revolution track, the heater block moves to the most advanced position in the packaging material feed direction, which is the reference position of the revolution track, without moving in the opening and closing direction, Thereafter, in preparation for resuming the normal operation, only the movement in the packaging material feed direction is performed, and the machine moves to the intermediate position in the packaging material feed direction, which is the reference position for resuming the operation.

  The bag making filling and packaging machine has an operation / display unit for operating the end seal device, and resumes normal operation from the intermediate position in the packaging material feed direction in response to the operation resumption operation in the operation / display unit. be able to. Since the intermediate position in the packaging material feed direction is a coordinate on the revolution trajectory occupied by the heater block in the next packaging cycle, normal operation around the revolution trajectory of the heater block is resumed from this standby state.

  In this bag making filling and packaging machine, the number of accumulated pulses equal to or more than a certain value can be manually set in the operation / display unit. By manually setting the amount of drooping pulses above a certain level, it is possible to change the threshold value of whether or not biting has occurred when biting is detected.

  In this bag making filling and packaging machine, the number of accumulated pulses equal to or more than the predetermined value can be learned at the time of manufacturing an empty bag. In the process of actually manufacturing a bag, the amount of accumulated pulses equal to or greater than a certain value is determined by learning, so that a threshold value for detecting biting can be set in accordance with the actual operation of the bag making filling and packaging machine.

  This bag making filling and packaging machine manufactures a bag package by forming the cylindrical packaging material while the belt-shaped packaging material is fed in the vertical direction, supplying the packaged material, and applying the end seal. A vertical bag making filling and packaging machine or a bag packaging body which is formed on the cylindrical packaging material while the belt-shaped packaging material is fed in the lateral direction and is supplied with the packaging material, and further subjected to the end seal. It may be a horizontal bag making filling and packaging machine that manufactures. This bag making and filling machine is a vertical type bag making and filling machine, or a horizontal type bag making and filling machine, and the end sealer opens and closes a servo motor for driving the heater block in the meshing direction, and the packaging material feeding direction. As long as it can synthesize a drive by a plurality of servo motors and can move the heater block along the revolution orbit, such as a servo motor for driving back and forth.

  Since the bag making and filling and packaging machine according to the present invention is configured as described above, in the end sealer device that performs the box motion operation, the contact with the packaged object is detected during the closing operation section of the end sealer (in the position control). When the accumulated pulse exceeding the set value is detected), the output rotation of the first servo motor for driving the end sealer to open and close in the meshing direction is stopped, and then the output rotation is reversed in the opposite direction to separate from the package The heater block is retracted by moving it to the position where it is moved. Preferably, with respect to the movement in the meshing direction, it is possible to perform a retreat operation in which the movement is stopped by moving to the maximum separation position on the revolution track. Then, when the next operation resumption operation is performed, an operation for resuming the operation is performed. Since the danger of biting can be detected before the article to be packaged or foreign matter is actually bitten between the pair of end sealers, it is possible to prevent the heater block and the cutter from becoming dirty or damaged. In addition, a plurality of servo motors are provided, such as a servo motor for opening and closing driving for moving the pair of heater blocks forward and backward in the meshing direction and a servo motor for driving back and forth for moving the packing block forward and backward in the feeding direction. As a result, the heater block is separated to a position where it does not come into contact with the packaged object on the revolving track in the above-described retreat operation, and is in a standby state until the next cycle in preparation for the subsequent resumption of operation. Therefore, it is not necessary to stop the alarm for the bag making filling and packaging machine, and it is possible to perform operation control substantially similar to continuous operation, and to improve the operation efficiency of the bag making filling and packaging machine.

FIG. 1 is an overall side view showing an embodiment in which a bag making filling and packaging machine according to the present invention is embodied as a horizontal bag making filling and packaging machine. FIG. 2 is an overall plan view of the horizontal bag making filling and packaging machine shown in FIG. FIG. 3 is a motion mechanism diagram of an end seal device used in the horizontal bag making filling and packaging machine shown in FIGS. 1 and 2. FIG. 4 is an explanatory diagram of box motion operation of the end seal device used in the horizontal bag making filling and packaging machine according to the present invention. FIG. 5 is a block diagram of a control device for controlling the end seal device used in the horizontal bag making filling and packaging machine shown in FIG. FIG. 6 is a flowchart illustrating an example of control by the end seal device control unit regarding the operation of the end seal device illustrated in FIG. 4. FIG. 7 is a control block circuit diagram showing an example of an end seal device control unit of the control device shown in FIG. FIG. 8 is a diagram illustrating an example of a box motion locus of a heater block of an end seal device used in a horizontal bag making filling and packaging machine. FIG. 9 is a perspective view of the packaging material showing a state in which a part is drawn out from the packaging material wound on the roll. FIG. 10 is a perspective view showing an example of a pillow package manufactured by the horizontal bag making and filling machine shown in FIG. 1. FIG. 11 is a perspective view showing an embodiment in which the bag making and filling machine according to the present invention is applied as a vertical bag making and filling machine. FIG. 12 is a perspective view showing an example of an end seal device used in the vertical bag making filling and packaging machine shown in FIG.

  Embodiments of a bag making and packaging machine according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a side view showing an embodiment in which the bag making and filling machine according to the present invention is embodied as a horizontal bag making and filling machine (hereinafter abbreviated as “packing machine” unless otherwise specified). FIG. 2 is a plan view of the packaging machine shown in FIG. 1. In the present packaging machine, since the basic structure has already been described, detailed description thereof will be omitted except for the control device 4.

  A horizontal bag making and filling and packaging machine according to the present invention has a horizontal type including an end seal device that performs box motion operation in which a heater block is movable in a vertical direction that is a biting direction and a forward and backward direction that is a packaging material feeding direction. As shown in FIG. 1, the control device 4 receives signals from the supply origin sensor 10, the mark sensor 20, and the end sealer origin sensor 30, and drives the supply conveyor of the supply device 1. Servomotor SM1 for film, servomotor SM2A, SM2B, SM2C for feeding film, and heater blocks 31a, 31b for driving the paper feeding roller 21, paper drawing roller 23 and center sealer 24 of the film feeding device 2, respectively, in the vertical direction Servo motor for vertical drive for opening and closing (first servo motor) SM3A, and heater The drive control with the timing of the horizontal drive servo motor (second servo motor) SM3B for moving the racks 31a and 31b back and forth in the horizontal direction is performed, and the devices 1 to 3 are synchronized with each other while maintaining a predetermined timing. Make it work.

  When the packaging machine is operated, the control device 4 exchanges information with the storage device 5, the operation / display unit 6 or the notification device 7 individually or between each other. When trying to manufacture a bag package using the packaging machine, basic setting values such as the length L of the bag to be manufactured by inputting from the operation / display unit 6 are set in the machine, and the film feeding device 2, The timing between the end seal device 3 and the supply device 1 is adjusted. The control device 4 also activates an empty bag prevention function as a function of preventing the manufacture of a bag to which the package P is not supplied in response to the detection of the interruption of the supply of the package. In addition, in the end seal device 3, the upper and lower heater blocks 31 a and 31 b are opened and retracted in response to the detection of the bite of a packaged item or a foreign object, and thereafter, in the end seal device 3. Control of resuming operation of the packaging machine.

  FIG. 3 shows a motion mechanism diagram of the end seal device used in the packaging machine shown in FIGS. 3A is a side view of the end seal device, FIG. 3B is a left front view of FIG. 3A, and FIG. 3C is a right front view of FIG. The end seal device 3 shown in FIG. 3 includes upper and lower heater blocks 31a and 31b arranged to face each other in the vertical direction. The heater blocks 31a and 31b are driven in synchronization with the upper and lower opening and closing directions. When the heater blocks 31a and 31b are closed most, the tubular packaging material is sandwiched in a pressurized state, and the portions of the sandwiched packaging material are heated and welded. End seal portions Se and Se are formed. The upper end sealer 31a incorporates a cutter 33 in a state of being accommodated in the through hole 34, and the lower end sealer 31b is formed with a through hole 35 into which the cutter 33 enters at a position corresponding to the cutter 33. Has been. The upper end sealer 31a is provided with a cutter driving device 36 that projects the cutter 33 toward the lower end sealer 31b. The cutter drive device 36 is composed of, for example, a known air actuator, and operates in accordance with the operation of the upper and lower end sealers 31a and 31b, that is, the closing operation of both the end sealers 31a and 31b. It protrudes toward the side end sealer 31b and cuts the cylindrical packaging material. The cutter 33, the through hole 34, and the cutter driving device 36 constitute a cutter device incorporated in the end seal device 3.

  The end sealers 31 a and 31 b are arranged to be slidable in the vertical direction with respect to the support block 45. That is, the support block 45 holds the slide shafts 46a and 46b so that the slide shafts 46a and 46b can slide in the vertical direction at both ends in the left-right direction. 47a and the lower end block 47b. The upper heater block 31a and the cutter driving device 36 are disposed on the lower side and the upper side, respectively, in the upper end block 47a. An intermediate block 48 is slidably supported on the slide shafts 46 a and 46 b in the intermediate region in the longitudinal direction, and a lower heater block 31 b is attached to the upper side of the intermediate block 48.

  The support block 45 is provided with a vertical drive servomotor SM3A for opening and closing the heater blocks 31a and 31b in the vertical direction. A lever 51 is attached to the output shaft 50 of the vertical drive servomotor SM3A. One end of the lever 51 is slidably connected to the upper bracket 53a via the upper link 52a, and the upper bracket 53a. Are coupled to the intermediate block 48. Further, the other end portion of the lever 51 is pivotably connected to the lower bracket 53b via the lower link 52b, and the lower bracket 53b is connected to the lower end block 47b. Therefore, when the vertical drive servo motor SM3A is driven and the output shaft 50 is rotated, the lower link 52b, the lower end block 47b, the slide shafts 46a and 46b, and the upper end block 47a are moved according to the rotation direction. The upper heater block 31a is opened and closed, and the lower heater block 31b is opened and closed via the upper link 52a and the intermediate block 48. That is, the upper and lower heater blocks 31a and 31b perform an opening / closing operation synchronized with each other with respect to the cylindrical packaging material fed in the horizontal direction by the operation of the vertical driving servo motor SM3A as the opening / closing drive source. .

  In the end seal device 3, the heater blocks 31a and 31b are slidable in the front-rear direction (paper feeding direction of the packaging material) perpendicular to the opening / closing direction. That is, the support block 45 of the end seal device 3 is slidably supported by the front and rear guides 55a and 55b supported by the fixed frame of the machine on the left and right sides thereof. As shown in FIG. 3A, the fixed frame is provided with a horizontal drive servomotor SM3B for moving the heater blocks 31a and 31b back and forth in the horizontal direction, and the output of the horizontal drive servomotor SM3B. An arm 58 is attached to the shaft 57, and the tip of the arm 58 and the bracket 60 of the support block 45 (which may be a vertical drive servomotor SM3A) are connected via a link 59. Therefore, when the horizontal drive servo motor SM3B is driven, the support block 45 is guided by the front and rear guides 55a and 55b via the arm 58, the link 59, and the bracket 60 according to the rotation direction thereof. Driven. That is, the upper and lower heater blocks 31a and 31b perform a horizontal operation parallel to the feeding direction of the cylindrical packaging material by driving the horizontal drive servo motor SM3B.

  The vertical drive servomotor SM3A that opens and closes the upper and lower heater blocks 31a and 31b and the horizontal drive servomotor SM3B that drives the end seal device 3 together with the support block 45 in the front-rear direction are the cylinders of the upper and lower heater blocks 31a and 31b. In order to perform the opening / closing operation to the wrapping material and the horizontal operation parallel to the feeding direction of the tubular wrapping material, they can be controlled separately (independently) by the control device 4 of the wrapping machine. Specifically, a section in which the upper and lower heater blocks 31a and 31b move horizontally with the cylindrical packaging material at a constant speed can be set by control of the horizontal drive servomotor SM3B. It is possible to set a section in which the heater blocks 31a, 31b start to approach each other and stop halfway until they are completely closed.

  FIG. 4 shows the operation of the end seal device used in the packaging machine according to the present invention as the operation of the heater block. (A) of FIG. 4 has shown the mode of operation | movement of the heater block of an end seal device when a packaging machine carries out normal operation | movement. FIG. 4B shows the behavior of the upper and lower heater blocks 31a and 31b when contact is detected with an object to be packaged or a foreign object. 4 (c) and 4 (d) show an operation of “horizontal movement only 1” in the first half and an operation of “horizontal movement only 2” in the latter half when the packaging machine that has been stopped resumes operation. Show. Further, (e) of FIG. 4 shows the resumption of normal operation after the horizontal movement shown in (d).

  FIG. 4A shows the operation of the upper and lower heater blocks 31a and 31b provided in the end seal device 3 when the packaging machine is operating normally. In the figure, V1 to V3 indicate characteristic height positions occupied in the vertical direction when the upper heater block 31a revolves. Although the height position of the lower heater block 31b in the vertical direction is not clearly shown, it is clear that it occupies positions V1 to V3 symmetrical in the vertical direction (the same applies to (b) to (e) in FIG. 4). ). That is, with respect to the upper and lower heater blocks 31a and 31b, V1 is an open height position farthest from the mutual meshing position (a position where the upper and lower heater blocks 31a and 31b sandwich and pressurize the packaging material), V2. Indicates the height position when the vehicle is at the maximum forward / reverse position in the forward / backward direction, and V3 indicates the height position when they are at the meshing position.

  In the figure, H1 to H5 indicate characteristic horizontal positions that occupy the forward / backward direction when the upper and lower heater blocks 31a and 31b revolve. For the upper and lower heater blocks 31a and 31b, H1 is the horizontal position when it is at the maximum reverse position in the forward / reverse direction, H2 is the horizontal position when meshing starts, and H3 is the most vertically open from the meshed state. H4 represents the horizontal position when the meshing is finished and the opening starts, and H5 represents the horizontal position when it is at the maximum forward position in the forward / backward direction. In this example, the position (H3, V1) corresponds to the center position (horizontal intermediate position) in the forward / backward direction, and is the reference position at the start of operation.

  The upper and lower heater blocks 31a and 31b are located at the maximum reverse position and at intermediate height positions (H1 and V2) as shown by arrows from the most opened operation start position (H3 and V1). The first horizontal intermediate after passing through the positions (H2, V3) where the meshing has started, the positions where the upper and lower heater blocks have been meshed (H4, V3), and the intermediate position (H5, V2) at the maximum forward position. The box motion operation (circulation operation) is performed by the revolving movement of returning to the position (H3, V1).

  As shown in FIG. 4 (b), when the upper and lower heater blocks 31a, 31b of the packaging machine are revolving from the position (H3, V1), the packaged material and foreign objects It is assumed that “contact detection” (details will be described later) is performed. At this time, the heater blocks 31 a and 31 b continue to move normally as controlled by the control device 4, but the vertical movement is temporarily stopped and then reversed in a direction away from the vertical. That is, the control device 4 keeps driving the horizontal drive servo motor SM3B as it is, but instructs the vertical drive servo motor SM3A (FIG. 3) to reverse the drive so that the upper and lower heater blocks 31a and 31b move up and down. Move to the retracted position opened in the direction. In this case, the retracted position is (H2, V1), but may be any position on the revolution orbit of the box motion as long as the heater blocks 31a and 31b do not contact the packaging tube Ft. Thereafter, the heater blocks 31a and 31b are moved horizontally under the control of the control device 4 while stopping the vertical movement from the retracted position (H2, V1) as shown in “horizontal movement only 1” in FIG. To reach the maximum forward position and the most open position (H5, V1) on the box motion trajectory. The position (H5, V1) is a reference position for the revolution track occupied by the heater blocks 31a and 31b when the packaging machine is stopped and started.

  Thereafter, the heater blocks 31a and 31b are moved horizontally from the reference position (H5, V1) as shown in “horizontal movement only 2” in FIG. It reaches the center and the most open “horizontal intermediate position” (H3, V1). The “horizontal intermediate position” is a reference position when the heater blocks 31a and 31b resume operation. For example, when a command for restarting operation is issued from the operation / display unit 6, the control device 4 sets the horizontal intermediate position (H3, V1) as “normal operation restart” as shown in FIG. The operations of the vertical drive servomotor SM3A and the horizontal drive servomotor SM3B are restarted. Alternatively, when the heater blocks 31a and 31b are moved horizontally by the operation of the horizontal drive servo motor SM3B, and then reached the position (H3, V1) on the locus of the box motion where the vertical movement can be resumed for calculation, The operation of the vertical drive servomotor SM3A is resumed. The upper and lower heater blocks 31a and 31b are combined with each other by driving the vertical drive servo motor SM3A and the horizontal drive servo motor SM3B, and the packaging machine performs normal operation in FIG. The normal operation is performed as shown in FIG. Although it has been described that the operation control of the horizontal drive servomotor SM3B is continued and the vertical drive servomotor SM3A is stopped and then reversed after the determination that it is “contact detection”. Accordingly, the operation of the horizontal drive servomotor SM3B may be stopped, and only the stop / reverse operation of the vertical drive servomotor SM3A may be performed to cause the heater blocks 31a and 31b to perform a retreat operation that opens up and down.

  FIG. 5 is a block diagram of a control device for controlling the end seal device used in the horizontal bag making and filling machine according to the present invention. In FIG. 5, signal lines in the control device 4 are for explaining the main connection relationship (control signal flow) in the present invention, and do not show a strict connection relationship. The control device 4 includes a supply origin sensor 10 for the supply device 1, a mark sensor 20 for the registration mark RM of the packaging material, an end sealer origin sensor 30 for the end seal device 3, and detection signals from the operation / display unit 6. In response to the input of the command signal, the supply conveyor drive servomotor SM1 for the supply device 1, the film feed servomotors SM2A, SM2B, SM2C, and the end seal for the film feed device 2 For the device 3, control signals are output to the vertical drive servomotor SM3A and the horizontal drive servomotor SM3B. Further, the control device 4 is connected to a storage device 5 that stores and reads out data necessary for controlling the operation of the packaging machine. And a signal for reporting a warning or the like is output to the notification device 7.

  Detection signals from the supply origin sensor 10, the mark sensor 20, and the end sealer origin sensor 30 are input to the initial phase difference adjustment unit 70 and the normal operation control unit 71. The initial phase difference adjustment unit 70 outputs operation control signals to the supply device control unit 75 and the film feeding device control unit 76, and the normal operation control unit 71 outputs operation control signals to the end seal device control unit 77 in addition to both control units 75 and 76. Then, each control unit 75 to 77 outputs a drive control signal to the corresponding servo motor. The end seal device control unit 77 includes a vertical drive servo motor control unit 78 and a horizontal drive servo motor control unit 79. The vertical drive servomotor controller 78 includes a accumulated pulse number counter 8 that counts the accumulated pulse number in the pulse control of the vertical drive servomotor SM3A. In the present embodiment, in the pulse control of the end seal device 3, the heater blocks 31 a and 31 b of the end seal device 3 respond to the fact that the accumulated pulse number counted by the accumulated pulse number counter 8 exceeds a predetermined count number. Control that the supply device 1 and the film feeding device 2 for the packaged product P continue to operate and the end seal device 3 performs a retreat operation, assuming that contact with a packaged item or a foreign object has been detected. Is done. For this purpose, the “contact detection” determination unit 72 receives the number of accumulated pulses sent from the accumulated pulse number counter 8 and performs “contact detection” with an object to be packaged or a foreign object in the heater blocks 31a and 31b. It is determined whether or not there was. The evacuation operation control unit 73 receives the determination result that “contact detection” has been received from the “contact detection” determination unit 72, and notifies the end seal device control unit 77 based on FIGS. 4B to 4D. The evacuation operation as described is performed.

  The evacuation operation control unit 73 is connected to the end seal device control unit 77, and outputs control signals to the vertical drive servo motor control unit 78 and the horizontal drive servo motor control unit 79 of the end seal device control unit 77, respectively. To do. In response to the determination that the contact detection determination unit 73 is “contact detection”, the operation control of the horizontal drive servomotor SM3B is continued, and the vertical drive servomotor control unit 78 is switched to the vertical drive servomotor SM3A. A control signal is output to perform a retreat operation control in which the heater blocks 31a and 31b are opened up and down to move to the retreat position as shown in FIG. 4 (b). Further, FIGS. In response to horizontal movements 1 and 2, the vertical drive servo motor control unit 78 stops the vertical drive servo motor SM3A and the horizontal drive servo motor control unit 79 corresponds to the horizontal drive servo motor SM3B. A control signal for horizontal driving is output to When the operation restart command signal is received from the operation / display unit 6, the operation restart control unit 74 controls the end seal device control unit 77 to restart the operation of the end seal device. That is, both servo motor controllers 78 and 79 output control signals for vertical drive and horizontal drive to both servo motors SM3A and SM3B, respectively, so that normal operation is resumed as shown in FIG. After that, under normal control of the normal operation control unit 71, normal operation control for outputting control signals for driving to the corresponding servo motors is performed on the control units 75 to 77.

FIG. 6 is a flowchart showing an example of the end seal operation control shown in FIG. 4 by the end seal device controller shown in FIG. First, it is determined whether or not the vehicle is in operation (S1). If not in operation, exit the processing routine. If the vehicle is in operation, the “evacuation processing flag” is checked (S2). If the save process flag is 1, the process proceeds to S9 (S9 will be described later), and if the flag is 0, the process proceeds to S3. In S3, it is checked whether or not the heater blocks 31a and 31b are located in the detection section. If the heater blocks 31a and 31b are not located in the detection section, the normal operation process (S4) is performed and the process routine is exited. If it is located in the detection section, contact detection is performed (S5). In the present embodiment, the detection block is such that the heater blocks 31a and 31b start moving from the horizontal intermediate position (H3, V1) toward the meshing position, and the moving block, that is, the vertical drive servomotor SM3A is operated. This is a section in which the heater blocks 31a and 31b are closed. More preferably, the heater block 31a, 31b is a section from the position (H3, V1) to the maximum reverse position and the intermediate height position (H1, V2). If determination of S5 is No, a normal driving | running process (S4) will be performed and it will escape from a processing routine. If the determination in the contact detection (S5) is Yes, the retreat process flag is set to 1 (S6), only the vertical drive servomotor 3A is reversed, and the heater block 31a is not shifted to the actual sealing operation. , 31b is moved up and down to move to the retracted height (in this case, the height indicated by V1), and the movement is stopped at this position (S7). At this time, the horizontal movement continues the normal operation pattern (S8) and escapes from the processing routine.
Next, the process of S9 will be described. S9 is a process of checking the timing of normal operation resumption, and determines whether or not the horizontal movement of the heater blocks 31a and 31b has reached the horizontal movement center H3 via the maximum advance position H5. When the horizontal movement reaches the horizontal movement center H3 via the maximum forward position H5, that is, when the horizontal movement reaches the horizontal intermediate position (H3, V1) that is the return position on the revolution orbit of the box motion, the flag during the evacuation process is reset. (S10) The normal operation of the vertical drive servomotor 3A is resumed (S11).

  FIG. 7 is a control circuit diagram illustrating the pulse control of the servo motor regarding the counting of the number of accumulated pulses. In general, control of the machine position or the like by a servo motor is performed based on a command pulse from the control side. The rotation amount of the motor shaft is determined by the amount (number) of command pulses, and the rotation speed is determined by the frequency of the command pulses. The servo motor rotates following the command pulse from the control side. At this time, since there is inertia on the machine side, there is a slight delay with respect to the command due to the inertia. Therefore, in the control block circuit 80, the motor 87 is driven from the encoder 87 built in the servo motor 83 in response to a command pulse input to the servo driver 82 which is a control unit for driving the servo motor 83 from the servo control unit 81. Since the feedback pulse output in accordance with the amount of rotation is delayed, there is a difference between both pulses. The difference between the pulses is accumulated in the deviation counter 84 and remains as a deviation pulse called a pulse.

  The servo motor 83 is generally controlled by the following motor rotation operation. That is, when a pulse train is output from the servo control unit 81, pulses input to the deviation counter 84 in the servo driver 82 are integrated, and the integrated pulse value (accumulated pulse) is converted to an analog voltage by the D / A converter 85. This is a command to the servo motor 83. The servo motor 83 starts to rotate in response to a command from the servo amplifier 86, and a pulse generated in proportion to the rotation speed by the encoder 87 is fed back to the servo driver 82, and the accumulated pulse of the deviation counter 84 is subtracted. Therefore, the deviation counter 84 keeps rotating the motor while maintaining a certain accumulated pulse. The rotation angle of the servo motor 83 is proportional to the number of command pulses output. By defining the amount of movement per pulse, it is possible to move to a position proportional to the number of pulses in the pulse train. When the output of the command pulse from the servo control unit 81 is stopped, the accumulated pulse of the deviation counter 84 is decreased, and when the accumulated pulse of the deviation counter 84 finally becomes 0, the machine is positioned at the designated position. Further, when rotating at a constant speed, this is achieved by giving a command pulse at a constant frequency.

  With respect to the vertical drive servo motor SM3A that opens and closes the heater blocks 31a and 31b up and down, while commanding the up and down operation, if a situation occurs in which the delay of the feedback pulse increases with respect to the command pulse, It can be determined that the amount of rotation of the motor has not increased to an expected level, and that the closing operation of the heater blocks 31a and 31b has suffered some trouble. It is estimated that such a failure is caused by the heater blocks 31a and 31b biting a packaged item or a foreign object via the packaging material. The present invention pays attention to the number of pulses remaining as accumulated pulses in the deviation counter in the control of the vertical drive servomotor, and detects that the number of accumulated pulses is greater than a predetermined number, whereby the heater blocks 31a, 31b. It is determined that the contact with the packaged item or foreign object has been detected.

  FIG. 11 is a perspective view showing an example in which the bag making and filling machine according to the present invention is embodied as a vertical bag making and filling machine. The bag-making filling and packaging machine 100 shown in FIG. 11 feeds the belt-shaped packaging material Fw from the raw roll Fr wound with the web-shaped packaging material by the feeding mechanism 101, and holds the belt-shaped packaging material Fw in an appropriate storage unit as appropriate. Is applied to the former 104. An attachment device 102 such as a printing device is disposed at an appropriate position in the supply process, and the attachment device 102 prints contents related to packaging. Further, the registration mark sensor 103 detects the registration mark RM printed on the strip-shaped packaging material Fw, and gives information to the control device regarding the feeding of the strip-shaped packaging material Fw. The band-shaped packaging material Fw is bent by the former 104 into a substantially cylindrical shape with the side edge portions Fe and Fe approaching each other. A filling cylinder 105 is fitted in the former 104, and the bent packaging material passes through the gap between the two. Above the filling cylinder 105, a hopper 106 for placing an article to be packaged P such as food such as confectionery is disposed. The packaging material sent so as to surround the outer periphery of the filling cylinder 105 penetrating through the former 104 is provided with a center seal portion between the side edge portions Fe and Fe by the vertical seal means 107 having two heater bars 108 and 108 facing each other. Sc is given and formed in the cylindrical packaging material Ft.

  A belt-type paper feeding means 109 is disposed on the side of the filling cylinder 105 with the tubular packaging material Ft interposed therebetween, and the cylindrical packaging material is provided between the outer peripheral surface of the filling cylinder 105 and the belts 110 and 110. By sandwiching Ft, the cylindrical packaging material Ft is fed downward by the travel of the belts 110 and 110. The article P to be packaged that is introduced from the hopper 106 and falls through the filling cylinder 105 is dropped and filled into a bag formed of the cylindrical packaging material Ft. The horizontal sealing means 111 applies the end seal portion Se in the transverse direction to the cylindrical packaging material Ft to seal the upper opening of the bag formed in advance and form the bottom of the subsequent bag. The horizontal sealing means 111 includes a front heater block 112 and a rear heater block 113, and the heater blocks 112 and 113 are sandwiched close to the cylindrical packaging material Ft as indicated by arrows in the drawing. The end seal portion Se is applied while being pressurized and heated while moving together with the cylindrical packaging material Ft, and after the seal is formed, they move in the direction away from each other in the front-rear direction, and then return to the reverse feeding direction of the cylindrical packaging material Ft. The revolving operation of approaching the cylindrical packaging material Ft again in the next packaging cycle is repeated. In this manner, the bag packaging body Bp is continuously manufactured by repeating each operation of dropping and filling the food into the bag through the filling cylinder 105 in synchronization with the formation and timing of the bag, and sealing with the end seal portion Se. can do. A cutter mechanism is incorporated in the horizontal sealing means 111, and when the end seal portion Se is applied to the cylindrical packaging material Ft, the cylindrical packaging material Ft can be cut and separated between successive bags.

  FIG. 12 is a perspective view showing an example of the horizontal sealing means in the vertical bag making filling and packaging machine shown in FIG. As shown in FIG. 12, the horizontal sealing means includes a horizontal sealer opening / closing unit 118, which is arranged with a space above and below the frame bottom 120, and the frame bottom 120 includes a plurality of horizontal sealer lifting guide rods 122, The stay 121 is connected to the stay 121 connected by the port 123. A lateral sealer opening / closing left block 124 is guided to be lifted by the left lateral sealer lifting guide rod 122, and a lateral sealer opening / closing left block 125 is guided to be lifted / lowered by the right lateral sealer lifting guide rod 123. Connecting rods 126 and 127 extending in the horizontal direction and parallel to each other are attached to the left and right horizontal sealer open / close left blocks 124 and 125, respectively, inside the horizontal sealer lifting guide rods 122 and 122, respectively. A front side sealer mounting block 128 is connected to the front ends of the connecting rods 126 and 127, and a rear side sealer mounting block 129 is connected to the rear ends. A front heater block 130 is attached to the rear side of the front side sealer attachment block 128. A rear side sealer mounting block 132 is connected to the rear side sealer mounting block 129 via a lateral sealer opening / closing toggle mechanism 131, and a rear heater block 133 is disposed on the front side of the rear side sealer mounting block 132. It is attached. The rear side sealer mounting block 132 is slidably guided to the connecting rods 126 and 127 through slide sleeves 134 and 135 at both left and right ends.

  An open / close drive servomotor 137 as a first servomotor that moves horizontally in the meshing direction is attached to the lower side of the left / right open / close block connecting plate 136 that connects the left and right horizontal sealer open / close left blocks 124, 125. The motor shaft 138 of the drive servomotor 137 extends upward through the left / right opening / closing block connecting plate 136 and is connected at the center position of the lateral sealer opening / closing toggle mechanism 131. The front side sealer mounting block 128 and the rear side sealer mounting block 132 are driven toward and away from each other in accordance with the rotational direction of the motor shaft 138 of the opening / closing drive servomotor 137. The front heater block 130 and the rear heater block 133 face each other, and when approaching each other, the front heater block 130 and the rear heater block 133 sandwich the tubular packaging material Ft so that the end seal portion Se is Apply. A cutter mechanism is incorporated in both heater blocks 130 and 133, and the packaging material can be cut at the end seal portion Se to separate the bag packaging body.

  The stay 121 is attached with a lift driving servo motor 140 as a second servo motor that moves up and down in the packaging material feed direction via a bracket 141. The motor shaft 142 of the lift driving servo motor 140 is a horizontal sealer. It is connected to a horizontal sealer open / close left block 124 via an elevating crank mechanism 143. The entire horizontal sealer opening / closing unit 118 moves up and down along the horizontal sealer lifting guide rods 122 and 123 in accordance with the rotational direction C of the motor shaft 142 of the lifting drive servomotor 140.

  As described above, the opening / closing and raising / lowering operations of the front heater block 130 and the rear heater block 133 are synthesized by combining the driving of the opening / closing driving servo motor 137 and the raising / lowering servo motor 140 while taking timing. , Box motion is realized. The prior detection of the biting of an article to be packaged or a foreign object focusing on the accumulated pulse of the deviation counter in the control of the bag making filling and packaging machine according to the present invention is applied to the opening / closing drive servomotor 137 of the vertical bag making filling and packaging machine. It is possible to prevent the biting between the heater blocks 130 and 133.

  In this bag making filling and packaging machine, the number of accumulated pulses equal to or greater than a certain value can be manually set in the operation / display unit 6. By manually setting the amount of drooping pulses above a certain level, it is possible to change the threshold value of whether or not biting has occurred when biting is detected. Furthermore, the number of accumulated pulses equal to or greater than a certain value can be learned at the time of manufacturing an empty bag for manufacturing a bag in which the article to be packaged P is not supplied and the contents are not contained. In the process of actually manufacturing a bag, the threshold for detecting biting can be set in accordance with the actual operation of the bag making and filling and packaging machine by determining the amount of droop pulses above a certain level by learning. .

DESCRIPTION OF SYMBOLS 1 Supply apparatus 2 Film feeding apparatus 3 End seal apparatus 4 Control apparatus 5 Storage apparatus 6 Operation / display part 7 Notification apparatus 8 Missing part sensor 9 Product restraint belt apparatus 10 Supply origin sensor 11 Pusher attachment 12 Endless chain 14 Sprocket 20 Mark sensor 21 Paper feed roller 22 Former 23 Paper drawing roller 23a, 23b Roller 24 Center sealer 24a, 24b Seal roller 30 End sealer origin sensor 31a Upper heater block 31b Lower heater block 32a, 32b Trajectory 33 Cutter 34 Through hole 35 Through hole 36 For cutter Drive unit 45 Support block 46a, 46b Slide shaft 47a Upper end block 47b Lower end block 48 Intermediate block 50 Output shaft 51 Lever 52a Upper link 52b Lower link 53a Upper bracket 53b Lower bracket 55a, 55b Front / rear guide 57 Output shaft 58 Arm 59 Link 60 Bracket 70 Initial phase difference adjustment unit 71 Normal operation control unit 72 Stop (pause) determination unit 73 Heater block stop position determination unit 74 Operation restart determination unit 75 Feed device control unit 76 Film feed device control unit 77 End seal device control unit 78 Vertical drive servo motor control unit 79 Front / rear drive servo motor control unit 80 Control block circuit 81 Servo control unit 82 Servo driver 83 Servo motor 84 Deviation counter 85 D / A converter 86 Amplifier 87 Encoder

DESCRIPTION OF SYMBOLS 100 Bag making filling packaging machine 101 Feeding mechanism 102 Attachment apparatus 103 Registration mark sensor 104 Former 105 Filling cylinder 106 Hopper 107 Vertical seal means 108,108 Heater bar 109 Paper feed means 110 Belt 111 Horizontal seal means 112 Front heater block 113 Rear heater block 118 Horizontal sealer opening / closing unit 120 Frame bottom 121 Stay 122, 123 Horizontal sealer lifting guide rod 124 Horizontal sealer opening left block 125 Horizontal sealer opening left block 126, 127 Connecting rod 128 Front side sealer mounting block 129 Rear side sealer mounting block 130 Front side Heater block 131 Horizontal sealer opening / closing toggle mechanism 132 Rear side sealer mounting block 133 Rear heater block 134, 135 Slide sleeve 136 Left and right Closed block connecting plate 137 Opening / closing drive servo motor (first servo motor) 138 Motor shaft 140 Lifting drive servo motor (second servo motor) 141 Bracket 142 Motor shaft 143 Horizontal sealer lifting crank mechanism SM1 Supply conveyor drive servo motor SM2A, SM2B, SM2C Film feed servo motor SM3A Vertical drive servo motor (first servo motor)
SM3B Horizontal drive servo motor (second servo motor)
Fr Original fabric roll Fw Band-shaped packaging material Ft Cylindrical packaging material RM Registration mark Fe, Fe Side edge part Se End seal part Sc Center seal part L Bag length P Packaged goods Bp Bag package (pillow package)

Claims (9)

An end sealer that has a pair of heater blocks and heats the cylindrical packaging material in a transverse direction by sandwiching the cylindrical packaging material between the heater blocks, and opens and closes the end sealer in a meshing direction. A first servo motor for driving, a second servo motor for driving the end sealer back and forth in the feed direction of the cylindrical packaging material, and combining the outputs of the first servo motor and the second servo motor In order to move the heater block along the revolution track, a difference between the feedback pulses from the first servo motor and the second servo motor with respect to the command pulse corresponding to the revolution track is counted by a deviation counter, and the deviation is calculated. And a control device that performs feedback control based on the count value,
In the feedback control for the first servomotor, the control device uses a number of accumulated pulses with respect to the command pulse as a detection reference, and sets a number of accumulated pulses that exceeds a certain number of accumulated pulses when the deviation counter is in a normal operation. In response to the detection, it is determined that the heater block has come into contact with the object to be packaged, the output rotation of the first servo motor is stopped, and then the output rotation is performed in the reverse direction to move away from the object to be packaged. The bag making filling and packaging machine is configured to cause the heater block to be retracted by moving the heater block.   The closing movement operation section in the meshing direction of the heater block is set as a contact detection section, and in the contact detection section, it is determined whether or not the deviation counter detects the accumulated pulse greater than or equal to the predetermined value. The bag making filling and packaging machine according to claim 1.   In the bag making and filling machine, when the output of the first servo motor is stopped based on the determination that the heater block has come into contact with the article to be packaged, and then rotated in the reverse direction, the second servo motor The bag-making filling and packaging machine according to claim 1 or 2, wherein the driving is continued as in a normal operation.   The bag-filling according to any one of claims 1 to 3, wherein the position away from the packaged object is a maximum separation position that is the maximum separation in the meshing direction on the revolution track. Packaging machine.   The heater block that has performed the retraction operation to the maximum separation position on the revolution trajectory temporarily moves only in the packaging material feeding direction to the most advanced position, and then the packaging material feeding direction to the intermediate position in the packaging material feeding direction. 5. The bag making and filling and packaging machine according to claim 4, wherein the bag making and packaging is carried out and only waiting for resumption of normal operation.   The bag making and filling machine includes an operation / display unit for operation, and resumes normal operation from the intermediate position in the packaging material feeding direction in response to the operation resumption operation performed in the operation / display unit. The bag making filling and packaging machine according to claim 5.   The said bag making filling packaging machine is provided with the operation / display part for a driving | operation, The said more than fixed pulse number is set manually in the said operation / display part. The bag making filling and packaging machine according to any one of the above.   The number of accumulated pulses equal to or greater than a certain value is set by learning when manufacturing an empty bag in which the bag making and filling and packaging machine is operated without supply of an article to be packaged. The bag making filling and packaging machine according to item.   The bag making and packaging machine is formed on the cylindrical packaging material while the belt-shaped packaging material is fed in the vertical direction, and the packaged material is supplied, and the end seal is applied to produce a bag packaging body. A vertical bag making filling and packaging machine or a bag packaging body which is formed on the cylindrical packaging material while the belt-shaped packaging material is fed in the lateral direction and is supplied with the packaging material, and further subjected to the end seal. It is a horizontal type bag making filling packaging machine which manufactures, The bag making filling packaging machine as described in any one of Claims 1-8 characterized by the above-mentioned.

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