JP2020083333A - Food bagging apparatus - Google Patents

Abstract

To pack food in a packaging bag without collapsing an attitude of food and impairing an appearance of food.SOLUTION: Provided is a food bagging apparatus 40 that is formed in a polygon in side view, and packs food 60 in a packaging bag 80 in which one side of the polygon is opened, from an opening portion 80a of the packaging bag 80. The food bagging apparatus 40 includes a packaging bag opening unit 43 that holds the packaging bag with the opening portion facing upward.SELECTED DRAWING: Figure 5

Description

The present invention relates to a food bag packing device.

For example, as a food bag filling device, there is known a device that opens an opening of a packaging bag in a horizontal direction and puts a food such as a sandwich held by a holding tool in the packaging bag in the horizontal direction from the opening to fill the bag. Specifically, in the state where the opening of the packaging bag placed on the stage is opened laterally, the food is pinched by the gripping tool of the articulated robot, and the gripping portion is grasped from the lateral opening. Put the food in a bag.
The packaging bag in which the food is packed is pushed out to the carry-out conveyor by the pusher device, thereby separating the food from the gripping tool. The gripping tool from which the food is separated is separated so as to come out from the inside of the packaging bag (for example, refer to Patent Document 1).

JP, 2014-94775, A

However, the food bag packing apparatus of Patent Document 1 opens the opening of the packaging bag sideways, and puts the food horizontally in the packaging bag through the opening with the gripping tool for bagging. For this reason, it is conceivable that the food will not be completely filled in the packaging bag and that the food will stick to the gripper and be brought back when the gripper is returned.
In addition, after the food is packed in a bag, the posture of the food may be collapsed by pushing it out to the carry-out conveyor with the pusher device, and the cut surface of the food may come into strong contact with the packaging bag to impair the appearance of the food as a product. It is possible.

The present invention has been made in view of such circumstances, and an object thereof is to provide a food bag packing device capable of packing food into a packaging bag without disturbing the posture of the food or impairing the appearance. It is to be.

(1) A food bag packing device according to an aspect of the present invention is a food bag packing device that is formed in a polygonal shape in a side view, and fills food into the packaging bag through an opening of the packaging bag having one side of the polygonal opening. In the above, a packaging bag opening unit for holding the packaging bag with the opening facing upward is provided.

According to this structure, the food can be put into the packaging bag from above by holding the packaging bag with the opening facing upward. Therefore, the food can be suitably loaded to the packaging position of the packaging bag by its own weight without forcibly pushing the food into the packaging bag. This makes it possible to pack the food in a packaging bag without disturbing the posture of the food or impairing the appearance.

(2) The packaging bag has a cut facing surface that faces a cut surface where the food is cut in a state where the food is packed from the opening, and the cut facing surface is in the packaging bag. The cut surface may be tilted with respect to the vertical so that the cut surface is separated by its own weight.

For example, the cut facing surface that faces the cut surface is a surface that becomes the front side (the side that can be seen when the consumer purchases) when the product is displayed. The packaging bag is often made of a transparent material, and when the consumer purchases these products, the consumer sees the cut surface of the product through the cut facing surface, for example. Therefore, in consideration of the appearance of the product, it is preferable to keep the cut facing surface clean by separating the cut surface from the cut facing surface. Therefore, the cut facing surface of the packaging bag was inclined with respect to the vertical so that the cut surface of the food was separated by its own weight. This makes it possible to keep the cut surface apart from the cut facing surface in the state where the food is packed from the opening above the packaging bag, and the appearance of the product can be kept good.

(3) The packaging bag opening unit includes an angular transporting section having a plurality of flat surfaces, a first suction section for suctioning the packaging bag is provided along the flat surfaces, and the flat surface is at a set position, A packaging bag conveying mechanism in which the angular conveying unit is rotatably supported so as to be arranged at the open position and the discharge position, and a flat surface side arranged at the open position and held on the flat surface. A second suction portion for sucking the packaging bag is provided, and the opening portion of the packaging bag is directed upward by sucking the packaging bag by the second suction portion and moving in a direction away from the flat surface. And a packaging bag opening mechanism for opening.

In this case, the first suction unit is provided on the flat surface of the angular transportation unit of the packaging bag transportation mechanism, and the angular transportation unit is rotatably supported so that the flat surface is located at the set position, the open position, and the discharge position. did. Therefore, the packaging bag can be detachably supported on the flat surface by adsorbing the packaging bag with the first adsorption portion on the flat surface, and the packaging bag can be arranged at the set position, the open position, and the ejection position.
Further, the packaging bag opening mechanism is arranged on the flat surface side of the opening position, and the packaging bag opening mechanism is provided with the second suction portion. Further, the packaging bag held on the flat surface in the open position is adsorbed by the second adsorption portion, and the second adsorption portion is moved in a direction away from the flat surface so that the opening of the packaging bag is opened upward. . With this, by rotating the angular transport portion of the packaging bag transport mechanism and operating the packaging bag opening mechanism, the opening of the packaging bag can be continuously and efficiently opened upward.

(4) A gripping tool that grips the food, and a multi-joint robot that is provided with the gripping tool and that packs the food gripped by the gripping tool into the packaging bag through the opening portion may be provided.

In this case, the articulated robot is provided with a gripping tool, and the food held by the gripping tool is packed in a packaging bag using the articulated robot. Thereby, in the state where the opening of the packaging bag is arranged upward, the food can be favorably packed in the packaging bag through the opening.

(5) The gripping tool is movably provided between the pair of hands for gripping the food and the pair of hands, and the pair of hands in which the food is packed in the packaging bag separates from the packaging bag. At this time, a plate that moves relative to the pair of hands so as to prevent the food from moving together with the pair of hands may be provided.

In this case, when the pair of hands separates from the packaging bag, the plate is moved relative to the pair of hands to prevent the food from moving together with the pair of hands. With this, when the pair of hands separates from the packaging bag, the food can be reliably separated from the pair of hands and can be suitably put into the packaging position of the packaging bag.
Further, even when the food does not reach the packaging position of the packaging bag, the food can be suitably accommodated by the plate to the packaging position of the packaging bag.

According to the food bag filling apparatus of one aspect of the present invention, by holding the packaging bag with the opening facing upward, the posture of the food is disturbed and the food is packed in the packaging bag without impairing the appearance. You can

FIG. 1 is a perspective view showing an automatic bagging device including a bagging device (food bagging device) according to an embodiment of the present invention. FIG. 3 is a perspective view of the automatic bagging device in a state where the second articulated robot shown in FIG. 1 is operated on the bagging device side. FIG. 3 is a top view of the automatic bagging device with the top plate shown in FIG. 2 removed. It is the simplified diagram which showed the process until a food work (foodstuff) is packed up by the automatic bagging apparatus shown in FIG. FIG. 2 is a perspective view around a sheet opening unit (packaging bag opening unit) in the bag filling device shown in FIG. 1. In the seat opening unit shown in FIG. 5, (a) is a perspective view of a state where the swinging part is located at the suction position, and (b) is a perspective view of the state where the swinging part is located at the opening position. Is. It is a perspective view which shows the state which inserts in the packaging sheet, holding the cut|disconnected foodstuff work with a holding tool. FIG. 8 is an enlarged perspective view of the gripping tool shown in FIG. 7, showing a state in which the hand plate is located at the plate standby position. FIG. 9 is a perspective view showing a state in which the hand plate is located at a plate pushing position from the state shown in FIG. 8. FIG. 6 is a side view showing a state in which a food work packed in a packaging sheet by the sheet opening unit shown in FIG. 5 is discharged onto a second transport path.

Embodiments according to the present invention will be described below with reference to the drawings. In the present embodiment, an automatic bagging device will be described as an example in which the food is cut in half on the way and then the cut food is packed into bags. In the present embodiment, the food is described as a food work.

As shown in FIGS. 1 to 3, the automatic bagging apparatus 10 includes an apparatus housing (body frame) 11, a first conveyance path 12 for conveying a food work 60 before cutting, and a first conveyance path 12 for conveyance. The transfer device 13 that transfers the food work 60 that has been carried out from the first transport path 12 to the receiving part 24, the cutting device 20 that cuts the food work 60 in half on the receiving part 24, and the cut food work 60 is packaged. A sheet take-out device 30 for taking out the packaging sheet 80, a bagging device 40 (the food bagging device according to the present invention) for bagging the food work 60 cut into the packaging sheet 80, and a bagged food product. The second conveyance path 15 that conveys the work 60 is provided.

In the present embodiment, as the food work 60, a sandwich in which ingredients such as meat and vegetables are sandwiched between rectangular breads as shown in FIG. 4 will be described as an example. In addition, in FIG. 4, the sandwich is illustrated in a simplified manner.
The automatic bagging device 10 cuts the food work 60 into halves by the cutting device 20, and wraps each food work 60 cut in half into a bag-like packaging sheet 80 (the present invention). The packaging bag according to (1) is inserted into the packaging bag.

As shown in FIGS. 1 to 3, the device housing 11 includes a base 51 installed on the floor and four columns (first column 52, second column 53, third column 54, fourth column 55). And a top plate 56, and is formed in a rectangular parallelepiped shape that is long in the transport direction L of the first transport path 12 and the second transport path 15 as a whole.
In the present embodiment, the direction from the base portion 51 along the four pillars toward the top plate 56 side is defined as the upper side, and the opposite side is defined as the lower side.

The base portion 51 includes a base plate 57 that is long in the transport direction L and has a rectangular shape in plan view. Similar to the base plate 57, the top plate 56 is formed in a rectangular shape in plan view that is long in the transport direction L, and is disposed above the base plate 57 so as to face it. The four columns (the first column 52, the second column 53, the third column 54, and the fourth column 55) are formed so as to rise upward from the four corners of the base portion 51.

The first transport path 12 and the second transport path 15 are arranged on the base plate 57 so as to be arranged in a line in the transport direction L at intervals. In the present embodiment, the first transport path 12 side along the transport direction L is referred to as the upstream side, and the second transport path 15 side is referred to as the downstream side.

The 1st conveyance path 12 conveys the food work 60 before cutting to the downstream side, and a belt conveyor etc. are mentioned, for example. However, the first transfer path 12 is not limited to the belt conveyor, and other transfer means may be adopted as long as the food work 60 can be transferred. The transfer device 13 is arranged on the downstream side of the first transport path 12.

The transfer device 13 mainly includes a first articulated robot 62 having a gripping hand 63. The first articulated robot 62 is suspended from the top plate 56 by supporting the base 64 on the top plate 56 of the apparatus housing 11. The gripping hand 63 is attached to the tip end portion of the first articulated robot 62, and is configured to be able to grip the food work 60 transported on the first transport path 12 from both sides.

When the food work 60 is conveyed to the downstream side of the first conveyance path 12, the transfer device 13 operates the first articulated robot 62 to arrange the gripping hand 63 above the food work 60. Next, the transfer device 13 lowers the gripping hand 63 to the food work 60, and then grips the food work 60 using the gripping hand 63. Next, the transfer device 13 operates the first articulated robot 62 to move the gripping hand 63 holding the food work 60 to above the receiving portion 24, and then places the food work 60 on the receiving portion 24. ..

As described above, the transfer device 13 can transfer the food work 60, which has been transferred through the first transfer path 12, from the first transfer path 12 to the receiving portion 24.

The cutting device 20 mainly includes a second articulated robot 21 having a gripping tool 22, a receiving portion 24, and a cutter device 26, and is arranged on the downstream side of the transfer device 13. The cutter device 26 is not shown in FIG.

The second multi-joint robot 21 is arranged in a pair so as to face each other in a direction orthogonal to the transport direction L. The second articulated robot 21 is suspended from the top plate 56 by supporting the base 71 on the top plate 56 of the apparatus housing 11. The gripping tool 22 is attached to the tip of the second articulated robot 21 and is configured to be capable of gripping the food work 60 placed on the receiving section 24.

The receiving portion 24 is reciprocally movable and vertically movable in the transport direction L by the transport mechanism 25 between the first transport path 12 and the second transport path 15. After the food work 60 is placed by the transfer device 13, the receiving part 24 is moved to below the cutter device 26 by the transport mechanism 25. Then, after the cut food work 60 is conveyed from above the receiving portion 24, the receiving portion 24 moves so as to return to the downstream side of the first conveying path 12.

In the illustrated example, two receiving portions 24 are provided, and the food work 60 can be alternately and repeatedly conveyed from the first conveying path 12 side to below the cutter device 26. However, the number of the receiving portions 24 is not limited to two and may be one.

The cutter device 26 mainly includes a cutter operating portion 73 and an ultrasonic cutter 74.
The cutter operating unit 73 is suspended from the top plate 56 by being supported by the top plate 56 of the apparatus housing 11. An ultrasonic cutter 74 is attached to the lower end of the cutter operating portion 73. The ultrasonic cutter 74 is arranged above the food workpiece 60 placed on the receiving portion 24 by the operation of the cutter operating portion 73. Then, the ultrasonic cutter 74 is lowered by the operation of the cutter operating portion 73, and can cut the food work 60 placed on the receiving portion 24 so as to be divided into two.

The pair of second articulated robots 21 use the respective gripping tools 22 to grip the food work 60 before cutting by the cutter device 26 and maintain the gripped state even during cutting. After the food work 60 is cut, the pair of second articulated robots 21 convey the food work 60, which is cut in half, to the bag filling device 40 while maintaining the gripped state.

The sheet take-out device 30 includes a stocker 31 that accommodates a plurality of packaging sheets 80 in a stackable manner, a suction unit (not shown) that grips the packaging sheets 80 in the stocker 31 by suction, and a suction unit that moves relative to the stocker 31. And a moving unit for moving the moving unit. The moving unit is provided downstream of the cutter device 26.
The suction unit is arranged below the stocker 31 and is capable of gripping the lowermost packaging sheet 80 of the plurality of packaging sheets 80 accommodated in the stocker 31. Then, by moving the suction unit using the moving unit, it is possible to take out only one sheet from the stocker 31 while separating the lowermost packaging sheet 80 from the remaining packaging sheets 80.

The packaging sheet 80 taken out from the stocker 31 is conveyed to the bag filling device 40 by the third articulated robot 41 of the bag filling device 40.

The bag filling device 40 includes a third articulated robot 41 having a third suction section 42, a sheet opening unit 43 (a packaging bag opening unit according to the present invention), and a pair of second articulated robots 21 having a gripping tool 22. And is arranged on the downstream side of the cutter device 26 and on the upstream side of the sheet take-out device 30.
The pair of second articulated robots 21 are also used as the cutting device 20.
The bag filling device 40 will be described in detail later.

The third articulated robot 41 is suspended from the top plate 56 by supporting the base portion 82 on the top plate 56 of the apparatus housing 11. The third suction unit 42 is attached to the tip of the third articulated robot 41, and is capable of sucking the packaging sheet 80 taken out by the sheet taking-out device 30 from above. Then, the third articulated robot 41 conveys the packaging sheet 80 adsorbed by the third adsorption unit 42 to the sheet opening unit 43.

The sheet opening unit 43 can open the packaging sheet 80 in a bag shape. Then, the cut food work 60 grasped by the grasping tools 22 of the pair of second articulated robots 21 is inserted into the packaging sheet 80 opened in the bag shape by the sheet opening unit 43. Thereby, the food work 60 can be packed in the packaging sheet 80 opened like a bag.

The food work 60 packed in the packaging sheet 80 is transferred onto the second transport path 15 and is carried out from the automatic bag packing device 10 to the next step by the second transport path 15.
The second transport path 15 may be, for example, a belt conveyor or the like. However, the second conveyance path 15 is not limited to the belt conveyor, and other conveyance means may be adopted as long as the food work 60 can be conveyed.

As described above, the automatic bagging device 10 of the present embodiment includes a plurality of articulated robots (the first articulated robot 62, the pair of second articulated robots 21 and the third articulated robots) in the device housing 11. It is equipped with a robot 41). In particular, the first articulated robot 62, the pair of second articulated robots 21 and the third articulated robot 41 are suspended from the top plate 56. Further, of the plurality of articulated robots, at least the third articulated robot 41 is located above the second transport path 15.

In the automatic bagging apparatus 10, when the food work 60 is conveyed and cut, it is necessary to pay particular attention to hygiene, so it is important to ensure the cleanability of the inside of the apparatus housing 11. In addition, since the automatic bagging device 10 is equipped with a plurality of articulated robots and a large number of complicated mechanisms (for example, the seat opening unit 43), a gap for inserting the user's body is provided between each component. Is difficult to secure. Therefore, it tends to be difficult to ensure the maintainability and cleanability of the automatic bagging device 10.
As a countermeasure, for example, it is conceivable to secure a large gap between a plurality of articulated robots to improve maintainability and cleanability. However, if the gap between the plurality of articulated robots is increased, the automatic bagging device 10 itself becomes large in the transport direction L, which is not preferable.

In this regard, in the present embodiment, the first articulated robot 62, the pair of second articulated robots 21 and the third articulated robot 41 are suspended from the top plate 56. Thereby, the first multi-joint robot 62, the pair of second multi-joint robots 21, and the third multi-joint robot 41 can be moved from the base plate 57 to the top plate 56 side. Therefore, since the base of each robot does not exist on the base plate 57, it is easy to remove dust and the like. Therefore, the sanitary condition of the automatic bagging device 10 can be easily maintained.

Further, the first articulated robot 62, the pair of second articulated robots 21 and the third articulated robot 41 are raised to the side of the top plate 56 at the time of maintenance, for example, as compared with the time of bagging work, so that maintenance or cleaning Workability can be improved.
In addition, since the first articulated robot 62 is disposed above the first transport path 12 and the third articulated robot 41 is disposed above the second transport path 15, the first transport in the apparatus housing 11 is performed. The space portions on both sides sandwiching the path 12 and the second transport path 15 can be effectively used, and the entire automatic bagging device 10 can be made compact.

Further, the second multi-joint robot 21 adjacent to the third multi-joint robot 41 is arranged in a pair so as to face each other in the direction orthogonal to the transport direction L. As a result, the space on the transport direction L side can be reduced, and the entire automatic bagging device 10 can be prevented from increasing in size in the transport direction L.

Next, the bagging device 40 will be described in detail with reference to FIGS.
As shown in FIGS. 1 and 5, the bag filling device 40 includes the third multi-joint robot 41, the third suction unit 42, the sheet opening unit 43, and the pair of second multi-joint robots as described above. 21 and a pair of gripping tools 22.
The second articulated robot 21 and the grasping tool 22 are also members that configure the cutting device 20.

The third articulated robot 41 is suspended from the top plate 56 by supporting the base 82 on the top plate 56 of the housing 11. As the third multi-joint robot 41, for example, a 6-axis robot is used, and it is configured to be able to access any position by taking various postures to avoid obstacles by turning around them. The third suction portion 42 is attached to the tip portion 41 a of the third articulated robot 41.

The third suction unit 42 sucks the pair of packaging sheets 80 taken out by the sheet taking-out device 30 from above. The third suction unit 42 includes a pair of suction plates 92 and a plurality of suction pads 93. The pair of suction plates 92 are formed in a rectangular shape in a plan view, and are arranged in parallel at predetermined intervals so that they can be arranged along the pair of packaging sheets 80 taken out by the sheet taking-out device 30.

Of the suction plate 92, suction pads 93 are attached to the four corners of the surface of the suction plate 92 on the side opposite to the tip portion 41a of the third articulated robot 41. The four corners of the packaging sheet 80 are vacuum-sucked by the plurality of suction pads 93 attached to the suction plate 92. Therefore, the suction pad 93 of the suction plate 92 can vacuum-suck the packaging sheet 80 while holding it flat. The packaging sheet 80 adsorbed by the third adsorption unit 42 is conveyed to the sheet opening unit 43 by the third articulated robot 41.

The sheet opening unit 43 is arranged below the base portion 82 of the third articulated robot 41, and is configured to open the packaging sheet 80 in a bag shape. The sheet opening unit 43 includes a sheet conveying mechanism 95 (a packaging bag conveying mechanism according to the present invention) and a sheet opening mechanism 96 (a packaging bag opening mechanism according to the present invention).

As shown in FIGS. 5 and 6, the sheet transport mechanism 95 includes a rectangular transport unit 98 and a drive unit (not shown). The rectangular conveyance unit 98 is formed in a quadrangular shape in a side view, and includes a plurality of flat surfaces 102 and a plurality of first suction units 103. The flat surface 102 is a flat surface formed in a rectangular shape in plan view. In the present embodiment, the plurality of flat surfaces 102 are arranged at the set position P1, the open position P2, and the discharge position P3 by rotating the angular conveyance unit 98 in the counterclockwise direction by the drive unit.

When the flat surface 102 is arranged at the set position P1, the flat surface 102 is arranged, for example, at a position serving as an upper surface. From this state, the square conveyance unit 98 is rotated 90° in the counterclockwise direction as indicated by arrow A, so that the flat surface 102 at the set position P1 is placed at the open position P2. The flat surface 102 is arranged at the open position P2, and thus, for example, is arranged at a vertical plane. The flat surface 102 arranged at the open position P2 is arranged so as to be inclined downward by a predetermined angle θ1 (see FIG. 7) with respect to the vertical.
The reason why the flat surface 102 arranged at the open position P2 is arranged so as to be inclined by the predetermined angle θ1 will be described in detail later.

The flat surface 102 at the open position P2 is arranged at the discharge position P3 by rotating the angular conveyance section 98 by 90° in the counterclockwise direction from the flat surface 102 arranged at the open position P2 as indicated by arrow A. To be done.
The flat surface 102 is disposed at the discharge position P3, and thus is disposed, for example, at the lower surface. A plurality of first suction portions 103 are provided on the plurality of flat surfaces 102.

The first suction unit 103 is, for example, a suction pad that vacuum-sucks the packaging sheet 80. The plurality of first suction parts 103 are arranged so as to vacuum-suck the four corners of the packaging sheet 80. That is, the plurality of first suction portions 103 are arranged to vacuum-suck the opening 80a of the packaging sheet 80 and the sheet end 80b on the opposite side of the opening 80a.
Hereinafter, the opening 80a may be described as the upper end 80a, and the sheet end 80b opposite to the opening 80a may be described as the lower sheet end 80b.

The suction plate 92 is conveyed by the third articulated robot 41 above the flat surface 102 arranged at the set position P1. In this state, the opening 80a of the packaging sheet 80 sucked by the suction pad 93 of the suction plate 92 and the sheet end 80b on the opposite side of the opening 80a are vacuum-sucked by the plurality of first suction units 103. As a result, the pair of packaging sheets 80 are adsorbed in parallel on the flat surface 102 arranged at the set position P1 with a space therebetween.

In the state where the flat surface 102 is arranged at the open position P2, the pair of packaging sheets 80 vacuum-sucked by the plurality of first suction portions 103 are arranged so as to be inclined downward by θ1 with respect to the vertical. In this state, the opening 80a of the packaging sheet 80 is arranged above.
The rectangular conveyance unit 98 is rotatably supported by the drive unit. The drive unit is provided, for example, coaxially with the rectangular conveyance unit 98. By operating the drive unit, the angular conveyance unit 98 is rotated 90° in the counterclockwise direction as indicated by arrow A.
The sheet opening mechanism 96 is arranged on the side of the flat surface 102 arranged at the opening position P2.

The seat opening mechanism 96 includes a swing part 105, a plurality of second suction parts 106, and an opening operation part 107.
The swing unit 105 includes, for example, a pair of arms 112 and a suction bar 113. The pair of arms 112 are arranged on both end sides of the square conveyance unit 98, and the lower ends of the pair of arms 112 rotate via the support shaft 115 in the vicinity of the lower ends of the flat surface 102 arranged at the open position P2. It is supported freely. The upper ends of the pair of arms 112 are connected by a suction bar 113. A plurality of second suction portions 106 are provided on the suction bar 113.

In the present embodiment, an example in which the pair of arms 112 support the suction bar 113 at both ends is described, but the present invention is not limited to this. As another example, for example, the pair of arms 112 may be replaced with one arm and the suction bar 113 may be supported in a cantilever manner.

The opening operation portion 107 is connected to one of the pair of arms 112. As the opening operation portion 107, for example, an electric cylinder is used that operates so that the swinging portion 105 can be arranged at the opening position P4 and the suction position P5 with the support shaft 115 as an axis.
As shown in FIG. 6, the opening position P4 is a position where the swinging part 105 is inclined so as to be separated from the flat surface 102 arranged at the opening position P2 by a predetermined angle. The suction position P5 is a position where the swing unit 105 is arranged in parallel with the flat surface 102 arranged at the open position P2.

The second suction unit 106 is a suction pad that vacuum-sucks the pair of packaging sheets 80 held on the flat surface 102. The plurality of second suction portions 106 are arranged at positions corresponding to the upper end portions 80a of the pair of packaging sheets 80 held on the flat surface 102 when the swinging portion 105 is arranged at the suction position P5. The opening 80a of the packaging sheet 80 for packing the food work 60 is the upper end 80a of the packaging sheet 80.

In the seat opening mechanism 96 according to the present embodiment, as shown in FIG. 6A, the swinging part 105 is moved to the suction position P5 by moving as shown by the arrow B. Thus, in the state where the swinging portion 105 is arranged at the suction position P5, the openings 80a of the pair of packaging sheets 80 held by the flat surface 102 arranged at the open position P2 are covered by the plurality of second suction portions 106. Can be adsorbed.

Further, as shown in FIG. 6B, in a state where the opening portions 80a of the pair of packaging sheets 80 are sucked by the plurality of second suction portions 106, the swinging portion 105 moves away from the flat surface 102 to the opening position P4. Move to arrow C. By moving the swinging part 105 to the opening position P4, the openings 80a of the pair of packaging sheets 80 can be opened upward.

As shown in FIG. 5, in the sheet transport mechanism 95, the plurality of first suction portions 103 are provided on the plurality of flat surfaces 102 of the rectangular transport portion 98. The rectangular conveyance unit 98 is rotatably supported so that the flat surface 102 is arranged at the set position P1, the open position P2, and the discharge position P3. Further, the sheet opening mechanism 96 is arranged on the side of the flat surface 102 arranged at the opening position P2, and the sheet opening mechanism 96 is provided with a plurality of second suction portions 106.
By sucking the packaging sheet 80 by the first suction portion 103 of the flat surface 102, the packaging sheet 80 can be detachably supported on the flat surface 102. Further, by disposing the rotating flat surface 102 at the open position P2, the packaging sheet 80 supported by the flat surface 102 is disposed so as to be inclined downward by a predetermined angle θ1 (see FIG. 7) with respect to the vertical.

Here, the sheet opening mechanism 96 is arranged on the side of the flat surface 102 arranged at the opening position P2, and the sheet opening mechanism 96 is provided with a plurality of second suction portions 106. Therefore, the packaging sheet 80 arranged on the flat surface 102 at the open position P2 is adsorbed by the plurality of second adsorption portions 106, moved in a direction away from the flat surface 102, and the opening 80a of the packaging sheet 80 is directed upward. I opened it. As a result, by rotating the rectangular conveying section 98 of the sheet conveying mechanism 95 and operating the sheet opening mechanism 96, the opening 80a of the packaging sheet 80 can be continuously and efficiently opened upward.

That is, the sheet opening unit 43 can hold the packaging sheet 80 in a state where the opening 80a of the packaging sheet 80 is opened upward. The reason why the sheet opening unit 43 holds the packaging sheet 80 with the opening 80a open upward will be described in detail later.

The packaging sheet 80 has an opening 80a formed in a polygonal shape in a side view, for example, in the shape of, for example, a triangle, and one side of the triangle is opened when the opening 80a is opened. The food work 60 is packed in the packaging sheet 80 from the opening 80a. The food work 60 is divided into two triangles by being cut by the ultrasonic cutter 74 in the cutting device 20, for example.
Next, the second articulated robot 21 and the gripping tool 22 for bagging the food work 60 from the opening 80a of the packaging sheet 80 will be described.

As shown in FIG. 7, the food workpiece 60 is bag-filled into the pair of packaging sheets 80 by the pair of second articulated robots 21 from the openings 80 a of the pair of packaging sheets 80. The second articulated robot 21 is, for example, a 6-axis robot, and is configured to be able to access any position by taking various postures to avoid obstacles by turning around them. The grasping tool 22 is attached to the tip portion 21 a of the second articulated robot 21.

As shown in FIGS. 8 and 9, the gripping tool 22 is configured to grip the food work 60. The food work 60 is cut into two triangles by being cut by the ultrasonic cutter 74 in the cutting device 20. The gripping tool 22 includes a hand base 121, a pair of hands 122 and 123, a hand operating unit 124, a hand plate (plate according to the present invention) 125, and a plate operating unit 126.

The hand base 121 is attached to the tip portion 21 a of the second articulated robot 21. The hand base 121 is provided with a pair of hands 122 and 123. The pair of hands 122 and 123 is composed of a first hand 122 and a second hand 123 that grip the food work 60.
The first hand 122 extends from the hand base 121 to the opposite side of the second articulated robot 21. The second hand 123 is movably supported by the hand base 121 via the hand operating unit 124, and is arranged in parallel with the first hand 122.

The hand operating unit 124 is, for example, an electric cylinder attached to the hand base 121. By expanding and contracting the hand operating unit 124, the second hand 123 moves in a direction approaching the first hand 122 and a direction separating from the first hand 122.
Each of the first hand 122 and the second hand 123 is formed, for example, by a plurality of projecting pieces so that each outer frame can hold the entire side surfaces of the triangular food work 60. By operating the second hand 123 with the hand operating unit 124, the food workpiece 60 can be stably gripped by being sandwiched by the second hand 123 and the first hand 122.

The hand plate 125 is arranged between the first hand 122 and the second hand 123 so as to face a direction orthogonal (intersecting) to the first hand 122 and the second hand 123. The hand plate 125 is movably supported by the hand base 121 via a plate operating unit 126. The plate operating unit 126 is, for example, an electric cylinder attached to the hand base 121. By expanding and contracting the plate operating unit 126, the hand plate 125 moves to the plate standby position P6 and the plate pushing position P7.

The plate standby position P6 is located at the base end portions 122a, 123a of the first and second hands 122, 123 so as to avoid the hand plate 125 from the food work 60 gripped by the first and second hands 122, 123. This is the position where the hand plate 125 is placed.
The plate push-out position P7 is located at the tip end portions 122b, 123b of the respective hands 122, 123 so as to hold the food work 60 gripped by the first and second hands 122, 123 in a packaging sheet 80. This is the position where the hand plate 125 is arranged.

As described above, the hand plate 125 is movably provided between the first hand 122 and the second hand 123. In addition, the hand plate 125 holds the food work 60 inside the packaging sheet 80 when the first hand 122 and the second hand 123 in which the food work 60 is packed in the packaging sheet 80 separates from the packaging sheet 80.
That is, the hand plate 125 moves to the plate pushing position P7 relative to the first and second hands 122 and 123 when the first hand 122 and the second hand 123 separate from the packaging sheet 80. Thus, the hand plate 125 can prevent the food work 60 from moving (returning) together with the first and second hands 122 and 123.

In the bag filling device 40 according to the present embodiment, as shown in FIG. 7, a gripping tool 22 is provided at a tip end 21a of a second articulated robot 21, and a food work 60 gripped by the gripping tool 22 is transferred to a second articulated robot. 21 was used for bagging in the packaging sheet 80. Thereby, in the state where the opening 80a of the packaging sheet 80 is arranged upward, the food work 60 can be satisfactorily packed in the packaging sheet 80 through the opening 80a.

Further, when the first hand 122 and the second hand 123 are separated from the inside of the packaging sheet 80 by the second articulated robot 21, the hand plate 125 moves relatively to the first and second hands 122, 123. can do. Therefore, it is possible to prevent the food work 60, together with the first hand 122 and the second hand 123, from moving in a direction away from the inside of the packaging sheet 80. Thereby, when the first hand 122 and the second hand 123 are separated from the packaging sheet 80, the food work 60 is surely separated from the first and second hands 122 and 123 to the bag packing position of the packaging sheet 80. Can be put in.
Further, even when the food work 60 does not reach the bagging position of the packaging sheet 80, the food work 60 can be suitably inserted to the bagging position of the packaging sheet 80 by the hand plate 125.

Next, the reason why the opening 80a of the packaging sheet 80 is held upward by the sheet opening unit 43 and the flat surface 102 arranged at the opening position P2 is inclined downward by a predetermined angle θ1 with respect to the vertical Will be explained.
As shown in FIG. 7, by holding the opening 80a of the packaging sheet 80 facing upward, the food work 60 can be put into the packaging sheet 80 from above. Therefore, the food work 60 can be suitably put to the bag packing position in the packaging sheet 80 by its own weight without forcibly pushing the food work 60 into the packaging sheet 80. As a result, the food work 60 can be packed in the packaging sheet 80 without disturbing the posture of the food work 60 or impairing the appearance.

Here, the food work 60 is divided into two triangles by being cut by the ultrasonic cutter 74 (see FIG. 1), and the cut surface 60a cut by the ultrasonic cutter 74 is formed in an inclined shape. The cut food work 60 has ingredients such as meat and vegetables sandwiched between, for example, triangular breads. Therefore, ingredients such as meat and vegetables are exposed on the cut surface 60a of the food workpiece 60.

Further, the packaging sheet 80 has a cut facing surface 80c that faces the cut surface 60a where the food work 60 is cut in the state where the food work 60 is packed in the opening 80a. The cut facing surface 80c, which faces the cut surface 60a, is the surface on the front side of the product. Therefore, in consideration of the appearance of the product, it is preferable to keep the cut facing surface 80c clean by separating the cut surface 60a from the cut facing surface 80c.
Therefore, when the food workpiece 60 is packed in the cut facing surface 80c of the packaging sheet 80, the cut surface 60a of the food workpiece 60 is prevented from coming into contact with the cut facing surface 80c of the packaging sheet 80, and the cut facing surface 80c is clean. It is desired to keep it.

Therefore, the cut facing surface 80c is arranged so as to incline downward by θ1 with respect to the vertical so that the cut surface 60a of the food workpiece 60 is separated by its own weight. Accordingly, when the packaging sheet 80 is packed into the packaging sheet 80 through the opening 80a, the food work 60 can be packaged such that the cut surface 60a is separated from the cut facing surface 80c by its own weight.
The inclination angle θ1 is preferably set within 30° with respect to the vertical.

By bagging in this way, it becomes possible to keep the cut surface 60a in a state of being separated from the cut facing surface 80c in a state where the food work 60 is bagged from the opening 80a above the packaging sheet 80, Good appearance of the product can be maintained.

Next, an example will be described in which the foodstuff work 60 is packed in the packaging sheet 80 by the bagging device 40.
As shown in FIG. 5, the pair of packaging sheets 80 taken out by the sheet take-out device 30 is adsorbed by the third adsorption section 42 of the third articulated robot 41. The pair of adsorbed packaging sheets 80 is adsorbed on the flat surface 102 arranged at the setting position P1 among the plurality of flat surfaces 102 of the square conveyance unit 98.
Next, the flat surface 102 arranged at the set position P1 is arranged at the open position P2 by rotating the rectangular conveyance unit 98 in the counterclockwise direction by 90° as indicated by the arrow A. On the flat surface 102, the pair of packaging sheets 80 adsorbed by the plurality of first adsorbing portions 103 are arranged so as to be inclined downward by an inclination angle θ1 with respect to the vertical. The pair of packaging sheets 80 has an opening 80a formed above.

As shown in FIG. 6A, the swinging portion 105 of the sheet opening mechanism 96 moves to the suction position P5 as indicated by arrow B. In the state in which the swinging part 105 is arranged at the suction position P5, the plurality of second suction parts 106 of the swinging part 105 suck the openings 80a of the pair of packaging sheets 80 from the flat surface 102 at the open position P2.

As shown in FIG. 6B, in a state where the opening 80a of the pair of packaging sheets 80 is sucked by the second suction portion 106 of the swinging portion 105, the swinging portion 105 is separated from the flat surface 102 to the opening position P4. Move in the direction indicated by arrow C. As a result, the pair of packaging sheets 80 are opened in a bag shape with the opening 80a facing upward.
In this state, the cut facing surfaces 80c of the pair of packaging sheets 80 are arranged so as to be inclined downward with respect to the vertical by an inclination angle θ1 (see FIG. 7).

As shown in FIG. 7, the food workpiece 60 gripped by the gripping tool 22 is packed in the pair of packaging sheets 80 from the openings 80a of the pair of packaging sheets 80 by the second articulated robot 21.
Here, the openings 80a of the pair of packaging sheets 80 are arranged above. Therefore, the food work 60 can be suitably put into the packaging sheet 80 to the bag-filling position in the packaging sheet 80 without forcibly pushing the food work 60 into the packaging sheet 80 by the second articulated robot 21.
Further, the cut facing surfaces 80c of the pair of packaging sheets 80 are arranged so as to be inclined downward by an inclination angle θ with respect to the vertical. Therefore, when the second articulated robot 21 is used to bag the packaging sheet 80 through the opening 80a of the packaging sheet 80, the food work 60 can be packaged so that the cut surface 60a is separated from the cut facing surface 80c by its own weight.

Next, in a state where the food work 60 is packed in the packaging sheet 80 opened like a bag, the suction of the openings 80a of the pair of packaging sheets 80 by the plurality of second suction sections 106 of the swinging unit 105 is released. .. Further, the suction of the lower sheet end portions 80b of the pair of packaging sheets 80, which are sucked by the plurality of first suction portions 103 on the flat surface 102 at the open position P2, is released. That is, the pair of packaging sheets 80 is kept in a state in which only the upper end portions (that is, the opening portions) 80a are adsorbed by the plurality of first adsorption portions 103 on the flat surface 102 at the open position P2.

In this state, the rectangular conveyance unit 98 is rotated 90° in the counterclockwise direction as indicated by arrow A. As a result, as shown in FIG. 10, the flat surface 102 at the open position P2 is arranged at the discharge position P3. At this time, the openings 80a of the pair of packaging sheets 80 whose suction has been released by the plurality of second suction portions 106 and the lower sheet ends of the pair of packaging sheets 80 whose suction has been released by the plurality of first suction portions 103. The portion 80b descends along the guide plate 128 as indicated by arrow D.

By disposing the flat surface 102 at the discharge position P3, the sheet lower surfaces 80d of the pair of packaging sheets 80 are placed on the second transport path 15. In this state, the suction of the upper end portions (that is, the opening portions) 80a of the pair of packaging sheets 80 sucked by the plurality of first suction portions 103 is released. As a result, the pair of packaging sheets 80 is separated from the flat surface 102 at the discharge position P3, and is carried out from the automatic bag filling device 10 to the next step in the second transport path 15 as indicated by arrow E.

Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. The embodiments and the modifications thereof include, for example, those that can be easily conceived by those skilled in the art, those that are substantially the same, those that are within the equivalent range, and the like.

For example, in the above embodiment, an example in which the packaging sheet 80 is formed in a triangular shape in a side view has been described, but the present invention is not limited to this case, and the packaging sheet 80 may be formed in another polygonal shape.

21... Second articulated robot (articulated robot)
22... Grasping tool 40... Bag packing device (food bag packing device)
43... Sheet opening unit (packaging bag opening unit)
60... Food work (food)
60a... Cut surface 80... Packaging sheet (packaging bag)
Reference numeral 80a... Opening portion 80c... Cut facing surface 95... Sheet conveying mechanism (packaging bag conveying mechanism)
96... Sheet opening mechanism (packaging bag opening mechanism)
Reference numeral 98... Square transfer section 102... Flat surface 103... First suction section 105... Swing section 106... Second suction section 122... First hand (hand)
123... Second hand (hand)
125... Hand plate (plate)
P1...Set position P2...Open position P3...Discharge position

Claims (5)

In a food bag packing device which is formed in a polygonal shape in a side view, and which packs food in the packaging bag through an opening of the packaging bag in which one side of the polygon is open
A food bag packing device comprising a packaging bag opening unit for holding the packaging bag with the opening facing upward. The food bag packing apparatus according to claim 1,
The packaging bag, in a state where the food is packed from the opening, has a cut facing surface that faces the cut surface where the food is cut,
The food bag packing apparatus, wherein the cut-opposing surface is inclined with respect to the vertical so that the cut surface is separated by its own weight of the food packed in the packaging bag. The food bag packing apparatus according to claim 1 or 2, wherein the packaging bag opening unit is
A first transporting unit that has a plurality of flat transporting surfaces and that transports the packaging bag along the flat surface is provided, and the flat surface is located at a set position, an open position, and a discharge position. A packaging bag transport mechanism in which the angular transport unit is rotatably supported,
A second suction unit is provided which is disposed on the flat surface side that is disposed at the open position and that suctions the packaging bag held on the flat surface, and the second suction unit suctions the packaging bag to flatten the packaging bag. And a packaging bag opening mechanism that opens the opening of the packaging bag upward by moving in a direction away from the surface. The food bag packing apparatus according to any one of claims 1 to 3, and a gripping tool that grips the food product,
A multi-joint robot that is provided with the gripping tool, and that packs the food held by the gripping tool into the packaging bag from the opening portion. The food bag packing apparatus according to claim 4, wherein the gripping tool is
A pair of hands to hold the food,
It is provided movably between the pair of hands, and when the pair of hands in which the packaging bag is filled with the food is separated from the packaging bag, to suppress the movement of the food together with the pair of hands. And a plate that moves relative to the pair of hands, the food bag packing apparatus.

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