JP2015020777A - Boxing device - Google Patents

Boxing device Download PDF

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Publication number
JP2015020777A
JP2015020777A JP2013149792A JP2013149792A JP2015020777A JP 2015020777 A JP2015020777 A JP 2015020777A JP 2013149792 A JP2013149792 A JP 2013149792A JP 2013149792 A JP2013149792 A JP 2013149792A JP 2015020777 A JP2015020777 A JP 2015020777A
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box
bag
holding
loading
input
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篤也 余吾
Atsuya Yogo
篤也 余吾
恵美 冨田
Emi Tomita
恵美 冨田
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Fuji Machinery Co Ltd
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Fuji Machinery Co Ltd
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Priority to JP2013149792A priority Critical patent/JP2015020777A/en
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Abstract

PROBLEM TO BE SOLVED: To provide a boxing device with a simple structure that flexibly corresponds to different sizes and accumulation forms.SOLUTION: A boxing device for accommodating a bagged article 1, in which a bag is filled with liquid or powder, into a box 6 includes: bag supplying means 11 having a supply table 20; box holding means 9 for holding the box 6 and letting the opening of the box 6 face the supply table 20; height change means for relatively changing a holding height of the supply table 20 and the box 6; and a robot for placing the bagged article 1 transported by a bag supply conveyor 8 onto the supply table 20 while laying the article down in a predetermined direction. The bag supplying means 11 has driving means for moving the supply table 20 to a substantially horizontal direction toward the opening of the box 6 which is held obliquely by the box holding means 9, allows the supply table 20 to advance toward the opening of the box 6 and move back after reaching inward of the opening, and allows the bagged article 1 to reach the bottom of the box 6 in an oblique posture by releasing the hold of the lower part of the bagged article 1 by the supply table 20.

Description

本発明は、例えば液体を充填したスタンディングパウチなどの自立袋のように形状が定まらず重心が袋の底部に片寄った形態の袋詰品を集積状態で箱詰めする箱詰装置に関するものである。   The present invention relates to a packaging device that packs packed products in a stacked state in a form in which the shape is not fixed and the center of gravity is offset to the bottom of the bag, such as a standing pouch filled with liquid.

液体や紛体など流動性のある内容物を充填したスタンディングパウチを、上部を開口した段ボール箱の中に挿入して箱詰めしようとすると、立った状態の袋の底部の膨らみに合わせて箱のサイズを選定しなければならないので、スタンディングパウチを横に寝かせた状態で集積してこの集積状態のまま箱内に挿入するための箱詰装置が既に提案されている(特許文献1を参照)。特許文献1に記載された発明では、搬送されてくるスタンディングパウチの底部が箱の開口部に対し反対側に位置するように寝かせた状態でスタンディングパウチを段積みして集積した後、その集積品を一括で底部側から押し出して箱内に挿入するようにしている。   If you try to pack a standing pouch filled with fluid content such as liquid or powder into a cardboard box with an opening at the top, the size of the box will be adjusted to match the bulge at the bottom of the standing bag. Since it has to be selected, a boxing device has already been proposed for stacking standing pouches in a lying state and inserting the pouches in the stacked state (see Patent Document 1). In the invention described in Patent Document 1, the standing pouches are stacked and stacked in a state where the bottom part of the standing pouch being conveyed is positioned so as to be located on the opposite side of the opening of the box. Are pushed out from the bottom side in a lump and inserted into the box.

特開2000−229603号公報JP 2000-229603 A

ところが、特許文献1に記載された発明によれば、スタンディングパウチを複数段に集積するための段積み装置を設ける必要があり、異なるサイズのスタンディングパウチに対応させるための調整が煩雑になるといった問題がある。   However, according to the invention described in Patent Document 1, it is necessary to provide a stacking device for stacking standing pouches in a plurality of stages, and there is a problem that adjustment for accommodating standing pouches of different sizes becomes complicated. There is.

この発明は、スタンディングパウチなどの自立袋など、重心が袋の底部に片寄るように形成された袋詰品を集積状態で箱詰めする際に、サイズや集積形態などの箱詰条件が異なる場合に装置を組み換えるなどの手間なく柔軟に対応できる簡単な構成の箱詰装置を提供することを目的としている。   The present invention is an apparatus for packaging a packaged product such as a self-standing bag such as a standing pouch that has a center of gravity that is offset toward the bottom of the bag, when the packaging conditions such as the size and the accumulation form are different. The purpose of the present invention is to provide a boxing device with a simple configuration that can be flexibly handled without the need for recombination.

請求項1の発明に係る箱詰装置は、液体や粉体などが充填されて袋の底部に重心が片寄った袋詰品(1)を箱(6)に収容するものであって、水平方向へ進退可能に設けた投入テーブル(20)を有する袋投入手段(11)と、保持部(17)で保持した箱(6)の開口部を側方に向く斜め上方に傾けて投入テーブル(20)の延出方向前方の投入位置に臨ませる箱保持手段(9)と、投入テーブル(20)の延出高さに対して箱(6)の保持高さを相対的に変える高さ変更手段(15等)と、袋供給コンベア(8)により供給される袋詰品(1)を、前記袋の底部を投入テーブル(20)の延出方向前方に向けて横に寝た状態として投入テーブル(20)に所定の集積状態となるよう載置するロボット(10)とを備えている。前記袋投入手段(11)は、前記投入テーブル(20)の載置面の先端を、前記箱保持手段(9)で保持した箱(6)の開口部より内方位置まで延出して後退し、投入テーブル(20)による袋詰品(1)の下側の支持を解放して、集積状態の袋詰品(1)を投入した箱(6)の底部まで至らせるよう構成した。   The boxing device according to the invention of claim 1 is for storing a bag (1) filled with liquid or powder and having a center of gravity offset at the bottom of the bag in the box (6). The bag loading means (11) having a loading table (20) provided so as to be able to move forward and backward, and the opening of the box (6) held by the holding portion (17) is inclined obliquely upward toward the side, and the loading table (20 ) And a height changing means for changing the holding height of the box (6) relative to the extending height of the loading table (20). (15 etc.) and the bagging product (1) supplied by the bag supply conveyor (8) with the bottom of the bag lying in the front direction in the extending direction of the charging table (20) (20) is provided with a robot (10) to be placed in a predetermined integrated state. The bag throwing means (11) extends backward from the opening of the box (6) held by the box holding means (9) to the inward position of the loading table (20). The lower support of the packaged product (1) by the charging table (20) is released to reach the bottom of the box (6) into which the packaged product (1) in an accumulated state is loaded.

請求項1の発明によれば、袋投入手段において、袋詰品を所定方向に寝かせて載置した投入テーブルを前進させて箱の開口部より内方まで延出させた後に後退させ、投入テーブルによる袋詰品の下面の支持を解放して袋詰品を落下させ、重心が前方となる袋詰品を、箱の開口部より底部が下側となるように傾斜状態で保持された箱の底部まで前傾姿勢で至らせることができる。従って、自立容器などの袋の底部側に重心が設定されている袋詰品を集積状態で箱詰めする際に、袋詰品や箱のサイズ或いは袋詰品の積層段数、その他の集積形態の変更に柔軟に対応することができる簡単な構成の箱詰装置を提供することができる。   According to the first aspect of the present invention, in the bag loading means, the loading table on which the packaged goods are laid in a predetermined direction is moved forward to extend inward from the opening of the box, and then retracted to move the loading table. Release the support of the bottom surface of the packaged product by dropping the packaged product, and the packaged product with the center of gravity at the front of the box held in an inclined state so that the bottom is below the opening of the box It is possible to reach the bottom in a forward leaning posture. Therefore, when packing packed products that have a center of gravity on the bottom side of a bag such as a self-contained container in a packed state, changing the size of the packed product or box, the number of stacked layers of packed products, or other forms of stacking It is possible to provide a boxing device having a simple configuration that can flexibly cope with the above.

請求項1の発明を前提とする請求項2の発明において、前記袋投入手段(11)は、前記投入テーブル(20)における前進時の移動速度より後退時の移動速度を高速で動作可能な駆動手段(21)を備えた。   The invention according to claim 2 premised on the invention of claim 1, wherein the bag throwing means (11) is a drive capable of operating at a higher moving speed when moving backward than the moving speed when moving forward on the loading table (20). Means (21) were provided.

請求項2の発明によれば、投入テーブルは前進時より後退時に高速で移動するので、投入テーブルによる袋詰品の下側の支持を瞬時に解放することができる。
請求項1または請求項2の発明を前提とする請求項3の発明において、前記袋投入手段(11)は、前記投入テーブル(20)の伸長時における延出端位置を、投入テーブル(20)の進退方向に沿う袋詰品(1)の長さに応じて変更可能な駆動手段(21)を備えた。
According to the invention of claim 2, since the charging table moves at a higher speed when moving backward than when moving forward, it is possible to instantaneously release the lower support of the packed product by the charging table.
In the invention of claim 3 premised on the invention of claim 1 or claim 2, the bag throwing means (11) sets the extension end position when the throwing table (20) is extended to the throwing table (20). The drive means (21) which can be changed according to the length of the bag-packed product (1) along the advancing / retreating direction is provided.

請求項3の発明によれば、投入テーブルの伸長時の延出端位置が変更可能に設定されているので、袋詰品のサイズや形態などの性状、その他各種の箱詰め条件に対応して、袋詰品をその集積状態を乱すことなく、傾斜されて保持された箱の底部まで至らせることができる。   According to the invention of claim 3, since the extended end position at the time of extension of the charging table is set to be changeable, in response to the properties such as the size and form of the bag, other various boxing conditions, The packaged product can be brought to the bottom of the inclined and held box without disturbing its accumulation state.

請求項1〜3のうちいずれか一つの発明を前提とする請求項4の発明において、前記ロボット(10)による前記投入テーブル(20)への袋詰品(1)の積層は、上下に重なる袋詰品(1)を千鳥配置とした。   The invention according to claim 4, which presupposes any one of the inventions according to claims 1 to 3, wherein the stacking of the bag (1) on the charging table (20) by the robot (10) overlaps vertically. The bag-packed product (1) was in a staggered arrangement.

請求項4の発明によれば、上下に重なる袋詰品1が千鳥状に配置されて積層されるので、袋詰品1を収容する箱6のサイズを小さくすることができる。
請求項1〜4のうちいずれか一つの発明を前提とする請求項5の発明において、前記箱保持手段(9)は前記高さ変更手段として、アーム(15)の延出端に支持した保持部(17)を有し、前記アーム(15)を箱(6)内の袋詰品(1)の積付け高さに応じて昇降可能に支持した。
According to the invention of claim 4, the packaged products 1 that overlap vertically are stacked and stacked in a zigzag manner, so that the size of the box 6 that houses the packaged products 1 can be reduced.
6. The invention according to claim 5, which is based on any one of claims 1 to 4, wherein the box holding means (9) is supported by the extension end of the arm (15) as the height changing means. The arm (15) was supported so as to be movable up and down according to the stacking height of the packaged product (1) in the box (6).

請求項5の発明によれば、箱保持手段において保持部を延出端で支持するアームを昇降可能にして箱内の袋詰品の積付け高さに応じて変位させる簡単な構成の高さ変更手段とすることができる。   According to invention of Claim 5, the height of the simple structure which makes the arm which supports a holding | maintenance part in an extension end in a box holding | maintenance means can be raised / lowered, and is displaced according to the packing height of the bagging goods in a box. It can be a change means.

請求項1〜5のうちいずれか一つの発明を前提とする請求項6の発明において、前記箱保持手段(9)は、箱(6)を搬送する箱搬送手段(7)における箱保持位置と前記投入位置との間で前記保持部(17)を回動可能に支持した。   The invention according to claim 6, which presupposes any one of the inventions according to claims 1 to 5, wherein the box holding means (9) includes a box holding position in the box transfer means (7) for transferring the box (6). The holding portion (17) was supported so as to be rotatable between the loading position.

請求項6の発明によれば、箱搬送手段の箱保持位置と箱への袋詰品の投入位置との間で回動可能に支持した保持部を備えた簡単な箱保持手段とすることができる。
請求項1〜6のうちいずれか一つの発明を前提とする請求項7の発明において、前記袋投入手段(11)は、投入テーブル(20)が伸長した延出端位置から後退する際に、投入テーブル(20)上に集積した袋詰品(1)を投入テーブル(20)の延出端に向けて押しその投入テーブル(20)から前記袋詰品(1)を集積状態で落下させる押出部材(24)を備えた。
According to invention of Claim 6, it can be set as the simple box holding means provided with the holding | maintenance part supported so that rotation was possible between the box holding position of a box conveyance means, and the injection | throwing-in position of the bagging goods to a box. it can.
In the invention of claim 7, which presupposes any one of the inventions of claims 1 to 6, when the bag loading means (11) is retracted from the extended end position where the loading table (20) is extended, Extrusion that pushes the packed product (1) accumulated on the charging table (20) toward the extending end of the charging table (20) and drops the packed product (1) from the charging table (20) in an accumulated state. A member (24) was provided.

請求項7の発明によれば、押出部材により袋詰品を箱の開口部に向けて強制的に押し入れて確実に箱詰めすることができる。
請求項6の発明を前提とする請求項8の発明において、前記袋投入手段(11)と箱保持手段(9)と高さ変更手段(15等)とを有する複数の投入列(12,13)を備え、それら夫々の投入列(12,13)における前記投入テーブル(20)を前記箱搬送手段(7)に向けて延出するよう並設した。
According to the seventh aspect of the present invention, the packed product can be forcibly pushed into the box opening by the pushing member and the boxed product can be reliably packed.
In the invention of claim 8 premised on the invention of claim 6, a plurality of input rows (12, 13) comprising said bag input means (11), box holding means (9) and height changing means (15 etc.). ), And the loading table (20) in each of the loading rows (12, 13) is arranged side by side so as to extend toward the box conveying means (7).

請求項8の発明によれば、複数の投入列で箱詰め作業を併行処理により効率良く行うことができる。   According to the invention of claim 8, the boxing operation can be efficiently performed by the parallel processing in a plurality of input rows.

本発明に係る箱詰装置は、スタンディングパウチなどの自立袋など、重心が袋の底部に片寄るように形成された袋詰品を集積状態で箱詰めする際に、サイズや集積形態などの箱詰条件が異なる場合に載置状態を組み換えるなどの手間がなく柔軟に対応できる。   The packaging apparatus according to the present invention is a packaging condition such as a size and an accumulation form when packaging a packaged product formed so that the center of gravity is offset toward the bottom of the bag, such as a self-standing bag such as a standing pouch. When there is a difference, it is possible to respond flexibly without the trouble of rearranging the mounting state.

(a)は箱詰装置の全体を概略的に示す平面図、(b)は複数の袋詰品の積層状態を概略的に示す正面図。(A) is a top view which shows schematically the whole boxing apparatus, (b) is a front view which shows the lamination | stacking state of several bagging goods schematically. 箱詰装置の全体を概略的に示す側面図。The side view which shows the whole packaging apparatus roughly. 箱詰装置の箱詰部において一方の投入列でロボットにより投入テーブルに複数の袋詰品を載置する状態を概略的に示す一部切欠き斜視図。FIG. 5 is a partially cutaway perspective view schematically showing a state in which a plurality of packaged products are placed on the input table by the robot in one input row in the boxing unit of the boxing device. (a)〜(c)は箱詰装置の箱詰部において箱への袋詰品の投入過程を示す概略的に示す側面図。(A)-(c) is a side view which shows roughly the injection | throwing-in process of the bagging goods to a box in the boxing part of a boxing apparatus.

まず、箱詰装置を概説する。
図1(a)及び図2に示す箱詰装置により集積状態で箱詰めされる袋詰品1は、本実施形態ではスタンディングパウチであって、液体や粉体などが袋に充填されて袋を横に寝かせた際にも袋の底部側に重心が片寄るように膨らんだ状態となり、スタンディングパウチ以外の適宜形態からなる袋など、主に自立袋と称されるものに適用することができる。
First, an outline of the boxing device will be given.
A packaged product 1 that is boxed in an integrated state by the boxing device shown in FIGS. 1A and 2 is a standing pouch in the present embodiment, and the bag is filled with liquid, powder, etc. Even when the bag is laid down, the bag swells so that the center of gravity is shifted toward the bottom side of the bag, and the bag can be applied mainly to a so-called self-standing bag such as a bag having an appropriate form other than a standing pouch.

箱詰装置においては、製函手段2と中仕切供給手段3と箱詰部4と封函手段5とに亘って箱6を搬送する箱搬送手段7と、箱詰部4に袋詰品1を供給する袋供給コンベア8とが互いに並設されている。   In the boxing device, the box transporting means 7 for transporting the box 6 across the box making means 2, the partition supply means 3, the boxing section 4, and the sealing means 5, and the boxed section 4 with the packed product 1 And a bag supply conveyor 8 for supplying the same.

製函手段2では、シート貯留部から平らに折畳まれた段ボールシートを一枚ずつ取り出して角筒状に拡げたシートの下向きの底面フラップを折り曲げて封止し、四方から上向きに天面フラップを延出して上方が開口する半製函状態の箱6を成形し、開口状態の箱6の開口部を上方に向けた姿勢で箱6を箱搬送手段7により中仕切供給手段3まで搬送する。   In the box making means 2, the cardboard sheets folded flat from the sheet storage part are taken out one by one, the bottom bottom flaps of the sheet expanded in a rectangular tube shape are folded and sealed, and the top side flaps are upward from four sides. The box 6 is formed in a semi-boxed state in which the upper side is opened, and the box 6 is conveyed to the partition supply means 3 by the box conveying means 7 with the opening of the box 6 in the opened state facing upward. .

中仕切供給手段3では、展開された段ボールシートからなる中仕切りを仕切貯留部から一枚ずつ取り出し、中仕切りの両端を同方向に折り曲げてコ字状とした中仕切りを箱6に開口部から挿入し、中仕切りを組入れた箱6を箱搬送手段7により箱詰部4における箱保持手段9に対向する位置まで搬送して一旦停止する。   In the middle partition supply means 3, the middle partition made of the developed corrugated cardboard sheet is taken out one by one from the partition storage part, and the middle partition made into a U-shape by bending both ends of the middle partition in the same direction from the opening to the box 6. The box 6 into which the partition has been inserted is inserted and transported to the position facing the box holding means 9 in the boxing section 4 by the box transport means 7 and temporarily stopped.

袋供給コンベア8では、ベルトコンベアが採用され、袋詰品1を底部が前方を向くように横に寝かせた姿勢で、該コンベア8の搬送下流端におけるロボット10による移載位置まで搬送する。   In the bag supply conveyor 8, a belt conveyor is adopted, and the bag-packed product 1 is conveyed to the transfer position by the robot 10 at the conveyance downstream end of the conveyor 8 in a posture in which the bottom is directed sideways.

箱詰部4では、投入テーブル20を有する袋投入手段11と、箱搬送手段7における保持位置で箱6を保持して箱6の開口部を投入テーブル20の延出端に向けた投入位置に位置付ける箱保持手段9と、袋供給コンベア8により移載位置まで搬送された袋詰品1を、投入テーブル20の進退方向に沿って寝かせた状態で投入テーブル20に載置するロボット10とを備えている。箱保持手段9は、投入テーブル20と箱6の保持高さとを相対的に変える高さ変更手段を含む。袋投入手段11は、投入テーブル20が箱搬送手段7の搬送方向と交差して延出するように配設され、箱保持手段9の保持部17で傾斜されて保持された箱6の開口部に向けて投入テーブル20の延出端を略水平方向へ伸長する制御モータなどからなる駆動手段21を有し、その延出端を箱6の開口部より内方の所定位置に至るまで伸長した後に後退させ、投入テーブル20による袋詰品1の下側の支持を解放して袋詰品1を斜めの姿勢で箱6の底部まで至らせる。   In the boxing unit 4, the bag charging unit 11 having the charging table 20 and the box 6 are held at the holding position in the box conveying unit 7, and the opening of the box 6 is set to the charging position toward the extending end of the charging table 20. A box holding means 9 for positioning, and a robot 10 for placing the packaged product 1 conveyed to the transfer position by the bag supply conveyor 8 on the charging table 20 while being laid along the advancing and retreating direction of the charging table 20 are provided. ing. The box holding means 9 includes a height changing means for changing the loading table 20 and the holding height of the box 6 relatively. The bag loading means 11 is arranged so that the loading table 20 extends so as to intersect with the conveyance direction of the box conveyance means 7, and the opening of the box 6 held by being inclined by the holding portion 17 of the box holding means 9. And has a driving means 21 composed of a control motor or the like for extending the extending end of the charging table 20 in a substantially horizontal direction, and extending the extending end to a predetermined position inward from the opening of the box 6. Later, it is retracted to release the lower support of the bag 1 by the charging table 20 and bring the bag 1 to the bottom of the box 6 in an oblique posture.

封函手段5では、箱詰部4により箱詰めされて上方が開口された箱6の四方から上方に延出している天面フラップを折り曲げて粘着テープやホットメルトなどにより封緘する。
以下、箱詰装置の箱詰部4を詳述する。
In the sealing means 5, the top surface flaps that are boxed by the boxing portion 4 and that extend upward from the four sides of the box 6 that opens upward are folded and sealed with an adhesive tape, hot melt, or the like.
Hereinafter, the boxing unit 4 of the boxing device will be described in detail.

図1(a)及び図2に示すように、箱詰部4では、箱保持手段9と袋投入手段11とを備えた投入列12,13が袋供給コンベア8による袋詰品1の搬送方向に沿って複数(2列)並設され、各投入列12,13に対して移載可能なロボット10が設置されている。   As shown in FIGS. 1A and 2, in the boxing unit 4, the input rows 12 and 13 including the box holding means 9 and the bag input means 11 are transported in the bag 1 by the bag supply conveyor 8. A plurality of (two rows) are arranged in parallel, and the robots 10 that can be transferred to the input rows 12 and 13 are installed.

箱搬送手段7では、夫々の投入列12,13に対応する箱搬送手段7における箱保持位置に到来した箱6の存在を検知するセンサ(不図示)が設置されている。センサが第一の投入列12で空箱6を検知すると、その検知信号に基づき、箱保持手段9は空箱6を吸着保持して袋投入手段11の投入テーブル20に臨ませる。そして、各投入列12,13で、箱搬送手段7は、箱詰めされた後の実箱が箱搬送手段7の箱保持位置まで戻されたことが前記センサで検知されると、袋詰品1を収容した箱6を封函手段5に向けて搬送開始すると共に、中仕切供給手段3で箱6内を二分する中仕切り6aが入れられた空箱6が各投入列12,13に対応する箱保持位置まで搬送される。   In the box transport means 7, sensors (not shown) for detecting the presence of the boxes 6 that have arrived at the box holding position in the box transport means 7 corresponding to the respective input rows 12 and 13 are installed. When the sensor detects the empty box 6 in the first input row 12, the box holding means 9 sucks and holds the empty box 6 on the input table 20 of the bag input means 11 based on the detection signal. Then, in each of the input rows 12 and 13, when the sensor detects that the actual box after being packed is returned to the box holding position of the box transfer means 7, the box transfer means 1 The empty box 6 in which the partition 6a that bisects the inside of the box 6 by the partition supply means 3 is put in correspondence to the input rows 12 and 13 respectively. It is transported to the box holding position.

第一の投入列12において、袋詰品1を収容した実箱6を箱保持手段9から箱搬送手段7まで移送した後に、次の空箱6を箱搬送手段7から箱保持手段9まで移送する間は、第二の投入列13において、ロボット10及び袋投入手段11により箱6への袋詰品1の投入を行って、夫々の投入列12,13において間断なく箱詰めが行われる。   In the first input row 12, after the actual box 6 containing the packaged product 1 is transferred from the box holding means 9 to the box conveying means 7, the next empty box 6 is transferred from the box conveying means 7 to the box holding means 9. During this time, in the second input line 13, the robot 10 and the bag input means 11 input the packaged product 1 into the box 6, and boxing is performed in the respective input lines 12 and 13 without interruption.

図3及び図4(a)に示すように、箱詰部4において箱保持手段9は、箱搬送手段7と袋供給コンベア8の下流側に交差して配設された袋投入手段11との間で近接離間移動可能に設けられ、回動アーム14及び昇降アーム15を有する支持手段16と、昇降アーム15の上端(延出端)に設けられて箱6を吸着保持する保持部17とを備えている。回動アーム14は、サーボモータからなる駆動手段により、箱搬送手段7による箱搬送方向と平行に延びる支軸18を中心に回動し得る。昇降アーム15は、サーボモータからなる駆動手段とベルト・プーリ伝達機構などの駆動伝達手段により回動アーム14の延在方向に沿って移動することで、高さ変更手段として箱詰め時において保持部17に載置される箱6の保持高さを変化させる。保持部17は、箱搬送手段7における箱保持位置に開口部を上方に向けた姿勢で到来した空箱6の側面パネルの外側面を吸着して保持する複数の吸着パッドを有している。   As shown in FIGS. 3 and 4 (a), the box holding means 9 in the boxing unit 4 is formed of a box conveying means 7 and a bag throwing means 11 arranged crossing the downstream side of the bag supply conveyor 8. A support means 16 having a rotating arm 14 and a lifting arm 15 and a holding portion 17 which is provided at the upper end (extending end) of the lifting arm 15 and holds the box 6 by suction. I have. The rotating arm 14 can be rotated around a support shaft 18 extending in parallel with the box conveying direction by the box conveying means 7 by a driving means comprising a servo motor. The elevating arm 15 is moved along the extending direction of the rotating arm 14 by a drive means such as a servo motor and a drive transmission means such as a belt / pulley transmission mechanism. The holding height of the box 6 placed on is changed. The holding unit 17 has a plurality of suction pads that suck and hold the outer side surface of the side panel of the empty box 6 that has arrived at the box holding position in the box transport means 7 with the opening facing upward.

図4(a)に示すように、箱保持手段9における支持手段16が回動されて保持部17が箱搬送手段7側に向く姿勢となって回動アーム14が水平姿勢になった状態で、箱搬送手段7における箱保持位置で待機している箱6の側面パネルの外側面を前記保持部17の吸着パッドによって吸着保持する。その後に、支持手段16における保持部17が箱搬送手段7における箱保持位置から離間するよう回動アーム14が回動されて保持部17で吸着保持された空箱6は、その開口部が投入テーブル20の先端を向く近傍位置に位置付けられ、箱6の側面パネルが下方に位置して箱6の底部が斜め下方に下がった傾斜姿勢となる。この傾斜姿勢において箱6内は予め供給された中仕切り6aによって上下に二分されており、最初の投入箇所となる中仕切り6aより下方の区画における底壁となる側面パネルの高さ位置は、投入テーブル20の袋載置面の高さ位置より若干低い位置となるよう最初の箱6の保持高さが位置合わせされる。   As shown in FIG. 4 (a), the support means 16 in the box holding means 9 is rotated so that the holding portion 17 faces the box conveying means 7 and the rotating arm 14 is in the horizontal position. The outer surface of the side panel of the box 6 waiting at the box holding position in the box transport means 7 is sucked and held by the suction pad of the holding unit 17. Thereafter, the opening of the empty box 6 that is sucked and held by the holding part 17 by turning the turning arm 14 so that the holding part 17 in the support means 16 is separated from the box holding position in the box conveying means 7 is inserted. The table 20 is positioned in the vicinity facing the front end of the table 20, and the side panel of the box 6 is positioned downward, and the bottom of the box 6 is inclined downward. In this inclined posture, the inside of the box 6 is divided into upper and lower parts by a pre-supplied partition 6a, and the height position of the side panel serving as the bottom wall in the section below the partition 6a that is the first input point is The holding height of the first box 6 is aligned so that it is slightly lower than the height position of the bag placement surface of the table 20.

また、箱保持手段9は、投入テーブル20側を向くよう横向きとなった箱6の開口部の天面フラップが外側に開くように折り拡げた状態で維持するガイド手段(不図示)を有している。ここで、横向きで開口した箱6の開口部から延出した天面フラップの延出姿勢の状態によってガイド手段の採用の適否を選択すればよい。   Further, the box holding means 9 has a guide means (not shown) for maintaining the folded state so that the top surface flap of the opening of the box 6 which is turned sideways so as to face the charging table 20 is opened outward. ing. Here, the suitability of the guide means may be selected depending on the state of the extended posture of the top surface flap extended from the opening of the box 6 opened sideways.

図2及び図3に示すように、ロボット10は、高速処理が可能なもの、例えばパラレルリンクロボットなどが採用され、袋供給コンベア8の搬送下流端の移載位置まで搬送された袋詰品1を吸着して投入テーブル20まで移載するハンド19を有している。ハンド19には二個の吸着パッド19aが取り付けられている。   As shown in FIGS. 2 and 3, the robot 10 employs a robot capable of high-speed processing, such as a parallel link robot, and is transported to the transfer position at the transport downstream end of the bag supply conveyor 8. Has a hand 19 that sucks and transfers it to the loading table 20. Two suction pads 19 a are attached to the hand 19.

袋供給コンベア8により底部を搬送方向前方に向けて所定間隔毎に搬送されてきた袋詰品1を各吸着パッド19aが吸着保持して、二個の袋詰品1を投入テーブル20の上方まで移送すると共に、投入テーブル20の進退方向前方に袋詰品1の底部が向く姿勢となるよう二個の袋詰品1を投入テーブル20上に寝かせた状態で載置する。   Each suction pad 19a sucks and holds the packed products 1 which are conveyed at predetermined intervals with the bottom portion directed forward in the conveying direction by the bag supply conveyor 8, and the two packed products 1 are placed above the input table 20. While being transported, the two packed products 1 are placed on the charging table 20 in a state where the bottom of the packed product 1 faces in front of the charging table 20 in the forward / backward direction.

各吸着パッド19aで二個の袋詰品1を吸着保持して投入テーブル20に載置した際の袋詰品1相互には所定の隙間Sが設けられる。そして、袋詰品1を図1(b)に示すように投入テーブル20に複数段積層する。ここで、上下に重なって積層される袋詰品1は、隣り合う袋詰品1との隙間Sに合わせて上段に各段毎に左右ずらして重なるよう順次積層される。具体的には、最下段において隣り合う袋詰品1の隙間Sに袋詰品1の胴の中央を対応させて上方から重なるようにして順次積層されるようになっている。なお、隙間Sについては、隙間Sを設けない場合や、隣り合う左右の袋詰品1における袋詰品1の左右に形成されたシール部が相互に重なるように載置して配置する場合など、袋詰品1のサイズその他の性状に対応して適宜対応されるようになっている。袋詰品1の積層段数や、一回の移送でハンド19により保持する袋詰品1の数などの積層方法は限定されない。   A predetermined gap S is provided between the packed products 1 when the two packed products 1 are sucked and held by each suction pad 19a and placed on the loading table 20. Then, the packaged product 1 is stacked in a plurality of stages on the charging table 20 as shown in FIG. Here, the packaged products 1 stacked one above the other are sequentially stacked so as to overlap each other in the upper stage in accordance with the gap S between the adjacent packaged products 1. Specifically, in the lowermost stage, the gap S between the adjacent packaged products 1 is made to correspond to the center of the trunk of the packaged product 1 so as to be stacked sequentially from above. In addition, about the clearance gap S, when not providing the clearance gap S, or when placing and arrange | positioning so that the seal | sticker part formed in the right and left of the packaging goods 1 in the adjacent right and left packaging goods 1 may mutually overlap. Corresponding to the size and other properties of the packaged product 1, it is appropriately handled. The number of stacking methods such as the number of stacking stages of the packaged product 1 and the number of the packaged product 1 held by the hand 19 by one transfer are not limited.

箱詰部4における各投入列12,13の投入テーブル20の左右両側には横向きに寝た状態で載置された袋詰品1の幅方向への移動を規制するサイドガイド22が設けられている。   Side guides 22 are provided on the left and right sides of the loading table 20 of each of the loading rows 12 and 13 in the packing unit 4 to restrict the movement of the packaged product 1 placed in the horizontal direction in the width direction. Yes.

投入テーブル20は、袋供給コンベア8の下方で袋供給コンベア8と直交方向に水平移動するように配設され、袋載置面が略水平に延出している。投入テーブル20の延出端を、箱保持手段9によって開口部を横向きで傾斜させて保持した箱6の開口部より外方に離間した位置から、開口部より箱6の内部へ進入した適宜内方位置となる投入位置まで伸長するよう、進退可能に構成されている。   The charging table 20 is disposed below the bag supply conveyor 8 so as to move horizontally in the direction orthogonal to the bag supply conveyor 8, and the bag placement surface extends substantially horizontally. The extension end of the charging table 20 is appropriately inserted into the inside of the box 6 through the opening from a position spaced outward from the opening of the box 6 held by the box holding means 9 with the opening inclined in the horizontal direction. It is configured to be capable of advancing and retracting so as to extend to the charging position that is the one-way position.

図4(a)に示すように、投入テーブル20に袋詰品1が所定数積層されると、投入テーブル20を箱6の開口部に向けて前進させる。このときの投入テーブル20の前進速度は、袋詰品1が投入テーブル20上の袋載置面を滑ることなく、かつ、積層された袋詰品1が崩れることのない速度となるよう前記駆動手段21が作動制御される。   As shown in FIG. 4A, when a predetermined number of the packed products 1 are stacked on the input table 20, the input table 20 is advanced toward the opening of the box 6. The advancement speed of the charging table 20 at this time is such that the packaged product 1 does not slide on the bag placement surface on the charging table 20 and the stacked packaged product 1 does not collapse. The means 21 is controlled in operation.

投入テーブル20は、その延出端が箱6の開口部より内方の位置まで伸長した後直ちに後退する。投入テーブル20の伸長時の延出端の位置は、好適には箱6の側面パネルから延出する開口部の天面フラップの延出基部から箱6の底部に至る側面パネルの中央部付近までの間であって、箱6内へ順次袋詰品1を投入する際に、少なくとも箱6内に収容された袋詰品1の上部に次に投入された袋詰品1を落下させることができるよう適宜設定されている。箱6の底面から天面までの高さに対して袋詰品1の高さが通常の袋詰品1の高さよりも低い場合は、駆動手段であるサーボモータの回転量を多くして、投入テーブル20を通常よりも内方まで箱6内に伸長させることにより、既に投入された袋詰品1の上部に次の袋詰品1を確実に落下させることが可能となる。投入テーブル20は伸長端に達した後の所定タイミング後に後退するよう駆動手段21を作動制御してもよい。   The charging table 20 moves backward immediately after its extended end extends to a position inward from the opening of the box 6. The position of the extending end when the input table 20 is extended preferably extends from the base of the top flap of the opening extending from the side panel of the box 6 to the vicinity of the center of the side panel extending from the bottom of the box 6 to the bottom of the box 6. When the bag 1 is sequentially put into the box 6, the next bag 1 to be dropped at least on the top of the bag 1 accommodated in the box 6 may be dropped. It is set appropriately so that it can be done. When the height of the bag 1 is lower than the height of the normal bag 1 with respect to the height from the bottom surface of the box 6 to the top surface, the rotation amount of the servo motor as the driving means is increased, By extending the charging table 20 into the box 6 more inward than usual, it becomes possible to reliably drop the next packed product 1 onto the top of the already-packed packed product 1. The input means 20 may control the operation of the driving means 21 so as to move backward after a predetermined timing after reaching the extended end.

図4(b)に示すように伸長した投入テーブル20を後退することで、投入テーブル20上で積層された、液体充填物のように比較的重量のある袋詰品1は、投入テーブル20の伸長時の慣性力を受けて前進すると共に、投入テーブル20による下面側の支持が解放されて箱6内へ落下して箱6の底部に位置する側面パネルに沿って滑落する。そして、袋詰品1は積層状態のまま箱6の底部に至る。投入テーブル20の後退速度は瞬時に袋詰品1の支持を解除するよう高速に設定することが好ましい。前進時には袋詰品1を投入テーブル20上で積層された集積状態を乱すことがない程度の後退速度より低速に設定された速度で前進した後に、後退する際に積層された袋詰品1の底面の支持を一気に解放して集積状態を乱すことがなく、袋詰品1が箱6の底部まで達するよう確実に箱詰めすることができる。袋詰品1は、重心が袋の底部に片寄っている形態であって、袋の底部側が投入テーブル20の延出方向前方を向けて該投入テーブル20に横向きに寝た姿勢で集積される。そして、その集積された袋詰品1は前方の重量が重い袋の底部側から箱6内に落下するよう投入されるので、袋詰品1の集積状態を乱すことなく複数の袋詰品1は良好に箱6の底部まで至る。   By retracting the extended charging table 20 as shown in FIG. 4 (b), the packaged product 1 having a relatively heavy weight, such as a liquid filling, stacked on the charging table 20 is While moving forward under the inertial force at the time of extension, the support on the lower surface side by the input table 20 is released, falls into the box 6 and slides along the side panel located at the bottom of the box 6. The packaged product 1 reaches the bottom of the box 6 in a laminated state. It is preferable to set the retraction speed of the charging table 20 at a high speed so as to release the support of the bag 1 immediately. When the bag 1 is moved forward, the bag 1 is moved forward at a speed set lower than the reverse speed that does not disturb the stacking state stacked on the input table 20, and then the bag 1 stacked when the reverse is moved. The support of the bottom surface is released all at once and the packed state is not disturbed, and the packaged product 1 can be reliably packed so as to reach the bottom of the box 6. The bag-packed product 1 has a form in which the center of gravity is offset from the bottom of the bag, and the bag is stacked in a posture lying sideways on the charging table 20 with the bottom side of the bag facing forward in the extending direction of the charging table 20. And since the accumulated bag products 1 are thrown into the box 6 from the bottom side of the bag having a heavy weight in the front, a plurality of bag products 1 are not disturbed. Reaches the bottom of the box 6 well.

このようにして第一の投入列12で箱6内への一回目の投入が終わると、箱保持手段9は支持手段16の昇降アーム15を縮退して中仕切り6aより下の区画の次の積層高さに対応して箱6の保持高さを降下させる。   When the first insertion into the box 6 is completed in the first input row 12 in this way, the box holding means 9 retracts the elevating arm 15 of the support means 16 and the next of the section below the partition 6a. The holding height of the box 6 is lowered corresponding to the stacking height.

袋投入手段11は、投入テーブル20に積層された次に投入される袋詰品1を、先に箱6内に積付け済みの袋詰品1の上に前述したように上下に重なる千鳥状の配置となる集積状態となるように投入される。底面側の支持が解放されて投入される袋詰品1は集積状態で箱6内へ積付け済みの袋詰品1の上面を滑って箱6の底部に至る。そして、本実施形態では中仕切り6aの高さまで投入が終わると、図4(c)に示すように次の積層状態の袋詰品1をこの中仕切り6aの上に投入すべく前述したように箱6の保持位置を降下させる動作と、集積した袋詰品1の投入動作を所定回数繰り返して第一の投入列12で袋詰品1の箱詰めを完了する。   The bag loading means 11 is a zigzag pattern in which the bagging product 1 to be loaded next stacked on the loading table 20 is stacked on the bagging product 1 previously stacked in the box 6 as described above. It is thrown so that it may become the integration state which becomes arrangement | positioning. The bag 1 to be loaded with the support on the bottom side released is slid on the upper surface of the bag 1 already stacked in the box 6 in the accumulated state and reaches the bottom of the box 6. In the present embodiment, when the filling up to the height of the partition 6a is completed, as shown in FIG. 4C, the next stacked bag 1 is put on the partition 6a as described above. The operation of lowering the holding position of the box 6 and the operation of loading the accumulated bag 1 are repeated a predetermined number of times, and the packing of the bag 1 is completed in the first loading row 12.

次に、箱保持手段9は、支持手段16の昇降アーム15を伸長すると共に回動アーム14を回動して、袋投入手段11に対し箱保持手段9を挟んで反対側にある箱搬送手段7における箱保持位置まで移載した箱6をその開口部を上にした状態で載置して保持部17による吸着保持を解除する。   Next, the box holding means 9 extends the raising / lowering arm 15 of the support means 16 and rotates the rotating arm 14 so that the box conveying means on the opposite side of the bag holding means 9 with the box holding means 9 interposed therebetween. The box 6 transferred to the box holding position in FIG. 7 is placed with its opening facing upward, and the suction holding by the holding part 17 is released.

第二の投入列13でも、第一の投入列12での箱詰め処理と同様の動作がタイミングをずらして併行して実施される。なお、本実施形態のように二列の投入列12,13の場合は第一または第二のうち一方の投入列による袋詰品1の投入動作中は他方の投入列では投入テーブル20への袋詰品1の載置動作が行われるようになっている。   In the second input column 13, the same operation as the boxing process in the first input column 12 is also performed in parallel at different timings. In the case of two input rows 12 and 13 as in the present embodiment, during the input operation of the packed product 1 by one of the first or second input rows, the input table 20 is input to the other input row. The placing operation of the packaged product 1 is performed.

本実施形態は下記の効果を有する。
(1) 袋投入手段11においては、サーボモータなどの駆動手段21により、袋詰品1を所定方向に寝かせて載置した投入テーブル20を前進させて箱6の開口部より内方まで延出させた後に後退させ、投入テーブル20による袋詰品1の下面の支持を解放して袋詰品1を落下させ、重心が前方となる袋詰品1を、箱6の開口部より底部が下側となるように傾斜状態で保持された箱6の底部まで前傾姿勢で至らせることができる。従って、自立容器などの袋の底部側に重心が設定されている袋詰品1を集積状態で箱詰めする際に、袋詰品1や箱6のサイズ或いは袋詰品1の積層段数その他の集積形態の変更に柔軟に対応することができる簡単な構成の箱詰装置を提供することができる。
This embodiment has the following effects.
(1) In the bag loading means 11, the loading table 20 on which the packaged product 1 is laid in a predetermined direction is advanced by a driving means 21 such as a servo motor, and is extended inward from the opening of the box 6. And then retracted to release the support of the lower surface of the bag 1 by the input table 20 and drop the bag 1 so that the bottom of the bag 1 is lower than the opening of the box 6. The bottom of the box 6 held in an inclined state so as to be on the side can be brought in a forward inclined posture. Therefore, when packing the packed product 1 having the center of gravity set on the bottom side of the bag, such as a self-supporting container, in a packed state, the size of the packed product 1 or the box 6 or the number of stacking stages of the packed product 1 or other accumulations. It is possible to provide a boxing device having a simple configuration that can flexibly cope with a change in form.

(2) 袋投入手段11では、サーボモータなどの駆動手段21により、投入テーブル20における後退時の移動速度が高速になるよう設定できるので、投入テーブル20による袋詰品1の下側の支持を瞬時に解放することができる。サーボモータは、その前進時の移動速度や後退時の移動速度を容易に調節することができるので、集積状態の袋詰品1を乱れなく箱6内に安定して投入することができる。   (2) In the bag loading means 11, the driving means 21 such as a servo motor can be set so that the moving speed when the loading table 20 moves backward is high. It can be released instantly. Since the servo motor can easily adjust the moving speed at the time of forward movement and the moving speed at the time of backward movement, it is possible to stably put the packed bag 1 in the box 6 without being disturbed.

(3) ロボット10は、投入テーブル20に並べる袋詰品1の間隔を互いに隣り合う袋詰品1間に隙間Sを空けてその隙間Sに対応して次に積層する袋詰品1を載置したり、隙間Sを空けずに袋詰品1を並べたり、横並びの袋詰品1を部分的に重なるよう集積したりするなど、所望の集積状態に柔軟に対応することができる。また、袋詰品1のサイズや袋形態などに応じて投入テーブル20上の袋詰品1の積層段数と箱6内への投入回数とを適宜設定することができる。   (3) The robot 10 places a gap S between the adjacent ones 1 on the charging table 20 and places the next one to be stacked corresponding to the gap S. It is possible to flexibly cope with a desired accumulation state, such as placing them, arranging the packed products 1 without leaving the gap S, or stacking the side-by-side packed products 1 so as to partially overlap. Further, the number of stacking stages of the bag 1 on the input table 20 and the number of times of charging into the box 6 can be appropriately set according to the size of the bag 1 and the bag form.

(4) 箱保持手段9は、袋詰品1を投入する際、箱6の底部が斜め下方に下がった傾斜姿勢で箱6を保持しているので、投入テーブル20を箱6の底部近傍まで延出させることなく、箱6内に投入された、前側に重心を持つ袋詰品1が、前傾姿勢となって落下位置から傾斜面上を滑って箱6の底部に至らせるようにして袋詰品1の集積状態を乱すことなく良好に箱詰めすることができる。   (4) Since the box holding means 9 holds the box 6 in an inclined posture in which the bottom of the box 6 is lowered obliquely when the packaged product 1 is charged, the charging table 20 is moved to the vicinity of the bottom of the box 6. Without extending, the packed product 1 having the front center of gravity put into the box 6 is inclined forward so that it slides on the inclined surface from the falling position to the bottom of the box 6. The boxed product 1 can be satisfactorily packed without disturbing the accumulation state.

(5) 投入テーブル20の伸長時の延出端位置が変更可能に設定されているので、袋詰品1のサイズや形態などの性状、その他各種の箱詰め条件に対応して、袋詰品1をその集積状態を乱すことなく、傾斜されて保持された箱6の底部まで至らせることができる。   (5) Since the extension end position when the input table 20 is extended is set to be changeable, the packaged product 1 corresponds to the properties such as the size and form of the packaged product 1 and other various packaging conditions. Can be brought to the bottom of the tilted and held box 6 without disturbing its accumulation state.

(6) ロボット10が投入列12,13に袋詰品1を載置して積層する際に、上下に重なる袋詰品1が千鳥状に配置されるので、積層された袋詰品1を収容する箱6のサイズを小さくすることができる。   (6) When the robot 10 places and stacks the packed products 1 in the input rows 12 and 13, the stacked packed products 1 that are stacked one above the other are arranged in a staggered manner. The size of the box 6 to be accommodated can be reduced.

(7) 箱搬送手段7と投入テーブル20との間で回動可能に支持した保持部17の回動支点から保持部17までの位置は、昇降アーム15を昇降して箱6の保持高さを変位する構成とすることで、箱搬送手段7から受け取った箱6を箱詰めして箱搬送手段7に戻すまで複数の機構を介さずに簡単な構成とすることができ、また、箱搬送手段7の保持位置で保持した箱6は箱詰めが完了するまで保持状態となるので、他への受渡しによる箱6の位置決めのガイド等も設ける必要もない。   (7) The position from the rotation fulcrum of the holding part 17 supported rotatably between the box conveying means 7 and the loading table 20 to the holding part 17 is as follows. , The box 6 received from the box conveying means 7 can be packed in a simple manner without going through a plurality of mechanisms until the box 6 is returned to the box conveying means 7, and the box conveying means Since the box 6 held at the holding position 7 is in a holding state until the boxing is completed, it is not necessary to provide a guide or the like for positioning the box 6 by delivery to another.

(8) 投入列12,13を複数設けることで、いずれかの投入列の箱詰め完了後箱6の交換をしている間に、他の投入列の投入位置まで位置付けられている箱6内に袋詰品1を投入することができるので、箱詰め作業を併行処理により効率良く行うことができる。   (8) By providing a plurality of input rows 12 and 13, while the box 6 is being replaced after completion of boxing in any of the input rows, the box 6 positioned up to the input position of the other input row Since the packaged product 1 can be loaded, the boxing operation can be efficiently performed by the parallel processing.

本発明の趣旨に反しない範囲で前記実施形態や実施形態中の別例以外にも適宜変更可能であり、例えば下記のような構成を採用することができる。
・ 比較的軽量な袋詰品1においては、図4(c)に示すように、袋投入手段11にはエアシリンダなどの駆動手段23により投入テーブル20の進退方向に向けて往復動する押出部材24が配設されることが好ましい。投入テーブル20上に載置された袋詰品1を投入位置で保持されている箱6の開口部に向けて後方側に配置された袋の上部側を押出部材24で押すよう構成されている。そして、押出部材24により袋詰品1を箱6の開口部に向けて強制的に押しつつ投入テーブル20を後退する。なお、押出部材24は投入テーブル20が後退する際に押出部材24のみ袋詰品1の後方で停止状態となって袋詰品1をかき出すよう動作するようにしてもよい。このようにして投入テーブル20上の袋詰品1が投入テーブル20の後退に伴って投入テーブル20に引かれて後退し、落下投入時に袋詰品1の集積状態が乱れてしまうといった事態が生じるのを未然に防止でき、確実に箱詰めすることができる。
The present invention can be modified as appropriate in addition to the above-described embodiments and other examples in the embodiments without departing from the spirit of the present invention. For example, the following configurations can be adopted.
As shown in FIG. 4 (c), in the relatively light bag-packed product 1, a push-in member that reciprocates in the advancing and retreating direction of the charging table 20 by a driving unit 23 such as an air cylinder. 24 is preferably disposed. The bag 1 placed on the loading table 20 is configured to push the upper side of the bag disposed on the rear side toward the opening of the box 6 held at the loading position by the pushing member 24. . Then, while the bagging product 1 is forcibly pushed toward the opening of the box 6 by the pushing member 24, the charging table 20 is moved backward. The pushing member 24 may be operated so that only the pushing member 24 is stopped behind the packaged product 1 and the packaged product 1 is scraped out when the charging table 20 is retracted. In this way, the bagged product 1 on the loading table 20 is pulled back by the loading table 20 as the loading table 20 is retracted, and the state of accumulation of the bagged product 1 is disturbed when dropped. Can be prevented in advance and can be securely packed in a box.

・ 投入テーブル20に対する箱6の保持高さを支持手段16の昇降アーム15を昇降することにより変位させるようにしたが、投入テーブル20をクランク機構やラックピニオン機構などの適宜駆動伝達手段と連繋するサーボモータなどの駆動手段によって、昇降させるなどにより投入テーブル20と投入位置にある箱6の保持高さとを相対的に変位させるようになっていればよい。   Although the holding height of the box 6 with respect to the charging table 20 is displaced by moving the lifting arm 15 of the support means 16 up and down, the charging table 20 is linked to appropriate drive transmission means such as a crank mechanism and a rack and pinion mechanism. It is only necessary that the loading table 20 and the holding height of the box 6 at the loading position are relatively displaced by raising and lowering by a driving means such as a servo motor.

・ 箱6の開口部を投入テーブル20の延出端に臨ませて保持した箱6の投入位置における傾斜角度は、袋詰品1の形態やサイズや重量などの各種性状に応じては箱保持手段9による箱6の保持角度を変更調節し得るよう構成される。なお、投入位置で保持される箱6の傾斜角度に合わせて、投入テーブル20の伸長時における延出端位置が変更されるように駆動手段であるサーボモータの回転量を変更調節するなどにより対応できる。   -The inclination angle at the loading position of the box 6 held with the opening of the box 6 facing the extended end of the loading table 20 depends on various properties such as the form, size and weight of the bag 1 The holding angle of the box 6 by the means 9 can be changed and adjusted. It should be noted that the rotation amount of the servo motor, which is a driving means, is changed and adjusted so that the extended end position when the input table 20 is extended is changed in accordance with the inclination angle of the box 6 held at the input position. it can.

1…袋詰品、6…箱、7…箱搬送手段、8…袋供給コンベア、9…箱保持手段、10…ロボット、11…袋投入手段、12,13…投入列、15…昇降アーム(高さ変更手段)、17…箱保持手段の保持部、20…投入テーブル、21…駆動手段、24…押出部材。   DESCRIPTION OF SYMBOLS 1 ... Bagging goods, 6 ... Box, 7 ... Box conveyance means, 8 ... Bag supply conveyor, 9 ... Box holding means, 10 ... Robot, 11 ... Bag throwing means, 12, 13 ... Loading row, 15 ... Lifting arm ( Height changing means), 17 ... holding part of the box holding means, 20 ... loading table, 21 ... driving means, 24 ... pushing member.

Claims (8)

液体や粉体などが充填されて袋の底部に重心が片寄った袋詰品を箱に収容する箱詰装置であって、水平方向へ進退可能に設けた投入テーブルを有する袋投入手段と、保持部で保持した箱の開口部を側方に向く斜め上方に傾けて投入テーブルの延出方向前方の投入位置に臨ませる箱保持手段と、投入テーブルの延出高さに対して箱の保持高さを相対的に変える高さ変更手段と、袋供給コンベアにより供給される袋詰品を、前記袋の底部を投入テーブルの延出方向前方を向けて横に寝た状態として投入テーブルに所定の集積状態となるよう載置するロボットとを備え、前記袋投入手段は、前記投入テーブルの載置面の先端を、前記箱保持手段で保持した箱の開口部より内方位置まで延出して後退し、投入テーブルによる袋詰品の下側の支持を解放して、集積状態の袋詰品を投入した箱の底部まで至らせるよう構成したことを特徴とする箱詰装置。   A packaging device for storing a packaged product filled with liquid, powder, etc. and having a center of gravity shifted to the bottom of the bag in a box, and a bag loading means having a loading table provided so as to be able to advance and retreat horizontally. The box holding means for tilting the opening of the box held by the section obliquely upward toward the side and facing the loading position forward in the extending direction of the loading table, and the holding height of the box relative to the extending height of the loading table The height changing means for changing the relative height and the bag-filled product supplied by the bag supply conveyor are placed on the input table in a state where the bottom of the bag is laid sideways with the front of the input table extending in the extending direction. And a bag placement means, wherein the bag loading means extends backward from the opening of the box held by the box holding means to an inward position. And release the underside support of the bag by the dosing table Te, case packer, characterized by being configured so as to bring to the bottom of the box was charged with bags packed goods stacked state. 前記袋投入手段は、前記投入テーブルにおける前進時の移動速度より後退時の移動速度を高速で動作可能な駆動手段を備えたことを特徴とする請求項1に記載の箱詰装置。   The boxing device according to claim 1, wherein the bag loading means includes a driving means capable of operating at a higher moving speed when moving backward than a moving speed when moving forward on the loading table. 前記袋投入手段は、前記投入テーブルの伸長時における延出端位置を、投入テーブルの進退方向に沿う袋詰品の長さに応じて変更可能な駆動手段を備えたことを特徴とする請求項1または請求項2に記載の箱詰装置。   The bag feeding means includes a driving means capable of changing an extended end position when the charging table is extended according to a length of a packed product along the advancing / retreating direction of the charging table. The boxing apparatus according to claim 1 or 2. 前記ロボットによる前記投入テーブルへの袋詰品の積層は、上下に重なる袋詰品を千鳥配置としたことを特徴とする請求項1〜3のうちいずれか一つに記載の箱詰装置。   The packaging device according to any one of claims 1 to 3, wherein the robot stacks the stacked products on the input table in a staggered manner. 前記箱保持手段は前記高さ変更手段として、アームの延出端に支持した保持部を有し、前記アームを箱内の袋詰品の積付け高さに応じて昇降可能に支持したことを特徴とする請求項1〜4のうちいずれか一つに記載の箱詰装置。   The box holding means has a holding portion supported at the extended end of the arm as the height changing means, and the arm is supported so as to be movable up and down in accordance with the stacking height of the packed product in the box. The boxing device according to any one of claims 1 to 4. 前記箱保持手段は、箱を搬送する箱搬送手段における箱保持位置と前記投入位置との間で前記保持部を回動可能に支持したことを特徴とする請求項1〜5のうちいずれか一つに記載の箱詰装置。   The said box holding means supported the said holding | maintenance part so that rotation was possible between the box holding position in the box conveyance means which conveys a box, and the said input position. Boxing device according to one. 前記袋投入手段は、投入テーブルが伸長した延出端位置から後退する際に、投入テーブル上に集積した袋詰品を投入テーブルの延出端に向けて押しその投入テーブルから前記袋詰品を集積状態で落下させる押出部材を備えたことを特徴とする請求項1〜6のうちいずれか一つに記載の箱詰装置。   The bag loading means pushes the packed products accumulated on the loading table toward the extending end of the loading table when the loading table moves backward from the extended extended end position, and pushes the packed products from the loading table. The boxing device according to any one of claims 1 to 6, further comprising an extrusion member that drops in a stacked state. 前記袋投入手段と箱保持手段と高さ変更手段とを有する複数の投入列を備え、それら夫々の投入列における投入テーブルを前記箱搬送手段に向けて延出するよう並設したことを特徴とする請求項6に記載の箱詰装置。   A plurality of input rows having the bag input means, box holding means, and height changing means are provided, and an input table in each of the input rows is arranged side by side so as to extend toward the box transport means. The boxing device according to claim 6.
JP2013149792A 2013-07-18 2013-07-18 Boxing device Pending JP2015020777A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101666775B1 (en) * 2016-07-26 2016-10-14 (주)유한엔씨아이 Auto packing machine of a pouch
JP2017024757A (en) * 2015-07-23 2017-02-02 株式会社フジキカイ Boxing device
CN109606837A (en) * 2019-01-29 2019-04-12 瑞安市天成包装机械有限公司 Classification recrater
JP2019094112A (en) * 2017-11-25 2019-06-20 花王株式会社 Robot hand
CN111470093A (en) * 2020-05-26 2020-07-31 山东新华医疗器械股份有限公司 Vertical placing type boxing system for soft infusion bag

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017024757A (en) * 2015-07-23 2017-02-02 株式会社フジキカイ Boxing device
KR101666775B1 (en) * 2016-07-26 2016-10-14 (주)유한엔씨아이 Auto packing machine of a pouch
JP2019094112A (en) * 2017-11-25 2019-06-20 花王株式会社 Robot hand
JP7110585B2 (en) 2017-11-25 2022-08-02 花王株式会社 robot hand
CN109606837A (en) * 2019-01-29 2019-04-12 瑞安市天成包装机械有限公司 Classification recrater
CN111470093A (en) * 2020-05-26 2020-07-31 山东新华医疗器械股份有限公司 Vertical placing type boxing system for soft infusion bag

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