JP2023182110A - Packaging device - Google Patents

Abstract

To provide a packaging device that can suppress abnormalities during removal of unnecessary film.SOLUTION: A packaging device 1 includes a front gripping part 34, a first motor, and a control part. The front gripping part 34 grips a film SF for wrapping an article P. The first motor moves the front gripping part 34 that grips the film SF, and transports the film SF to a packaging area PA. The control part controls the front grip part 34 and the first motor. When the control part determines to stop based on the received signals while the first motor is moving the front grip part 34, the movement of the front gripping part 34 by the first motor is stopped, and the gripping of the film SF by the front gripping part 34 is released.SELECTED DRAWING: Figure 2

Description

The present invention relates to a packaging device.

BACKGROUND ART Conventionally, a packaging device as shown in Patent Document 1 (Japanese Unexamined Patent Publication No. 2005-96797) has been known. This packaging device wraps an article by holding a film under tension, pressing the article against the film, and folding the peripheral edge of the film into the back side of the article. By moving a clamp that grips the front portion of the film, the film is transported to a packaging area where articles are to be wrapped.

In the above-described packaging apparatus, stop control may be performed to stop the conveyance of the film when the film breaks or the film runs out midway. When the stop control is performed, the conveyance of the film is stopped, and the unnecessary film is removed from the packaging device by the operator.

However, with conventional packaging equipment, sufficient consideration has not been given to the work of removing the film, resulting in problems such as time-consuming work and damage to parts such as clamps when removing the film. is occurring.

An object of the present invention is to provide a packaging device that can suppress problems when removing unnecessary films.

The packaging device according to the first aspect includes a clamp, a conveyance section, and a control section. The clamp grips the film for wrapping the article. The transport unit moves the clamp holding the film and transports the film to the packaging area. The control section controls the clamp and the conveyance section. When the control section determines to stop based on the received signal while the transport section is moving the clamp, the control section stops the movement of the clamp by the transport section and releases the grip of the film by the clamp.

Here, the movement of the clamp by the conveyance unit is stopped, and when it is necessary to remove unnecessary film from the packaging device, the grip of the film by the clamp is released. Therefore, problems occurring when removing unnecessary film are suppressed.

The decision to stop can be made based on, for example, a signal indicating that the supplied film has run out, a signal from a sensor to determine that the film is torn or torn and has deviated from the regular transport path, or This is done based on the received signal, such as the stop signal when the user presses the stop button.

The packaging device according to the second aspect is the packaging device according to the first aspect, and the clamp includes a first member that presses the film and an actuator. The actuator switches between a state in which the first member is pressing the film and a state in which the first member is separated from the film.

Here, the effects of the packaging device of the first aspect can be obtained by controlling the state switching by the actuator.

The packaging device according to the third aspect is the packaging device according to the first aspect or the second aspect, in which the film is a stretch film and further includes a wrapping mechanism. The wrapping mechanism presses the article against the film in the wrapping area and folds the peripheral edge of the film into the back side of the article.

According to the packaging device according to the present invention, problems occurring when removing unnecessary film are suppressed.

FIG. 2 is a perspective view of the packaging device. The figure which shows the structure of a measuring conveyance mechanism and a packaging mechanism. FIG. 3 is a plan view of the gripping mechanism. FIG. 3 is a rear view of the front grip section. A control block diagram of the packaging device. FIG. 3 is a plan view showing a state in which the front grip part has moved to the rear side as a whole. FIG. 7 is a control flow diagram of movement and gripping of the front gripping section in device stop control. FIG. 3 is a diagram showing a state in which a cut film is detected as a foreign object by a foreign object detection sensor.

(1) Overall configuration of packaging device A packaging device 1 according to an embodiment of the present invention shown in FIG. 1 is a device that weighs and then packages articles P such as vegetables and fruits (see FIG. 2). The packaging device 1 also has a function of putting out a label L on which the price of the product and the like according to the weighing results are printed on the front side. In the packaging device 1, a product loaded on a tray can be packaged together with the tray. Moreover, in the packaging device 1, products (articles) can be packaged as they are without being mounted on a tray. Here, regarding the products loaded on the tray, both the tray and the products loaded on the tray are collectively referred to as "articles." In the following description, the front-rear direction, left-right direction, and up-down direction of the packaging device 1 will be referred to as the X direction, Y direction, and Z direction, respectively (see FIG. 1).

(1-1)
The packaging device 1 includes a weighing and conveying mechanism 2, a packaging mechanism 3, a label issuing mechanism 4, a touch panel display 5, an operation panel 6, and a control unit 9 that controls these components. . The control unit 9 is realized by a computer housed within the housing 10. The control unit 9 includes a control calculation device and a storage device. A processor such as a CPU or a GPU can be used as the control calculation device. The control arithmetic device reads a program stored in the storage device, and performs predetermined image processing and arithmetic processing according to this program. Furthermore, the control calculation device can write calculation results to the storage device and read information stored in the storage device according to the program.

(1-2) Weighing and Conveying Mechanism The weighing and conveying mechanism 2 weighs the article P while conveying it toward the packaging mechanism 3, which has been input by an operator.

(1-3) Packaging Mechanism The packaging mechanism 3 uses the lift section 30 to lift the article P transported from the weighing and transporting mechanism 2 to the packaging area PA (see FIG. 2). At this time, in the wrapping mechanism 3, the stretch film SF is being supplied to the wrapping area PA. As shown in FIG. 1, the packaging mechanism 3 is provided with a film storage section 31 that stores a film roll FR in which a stretch film SF is wound into a roll. Stretch film SF is supplied. The stretch film SF supplied to the packaging area PA is gripped by gripping mechanisms 301 such as the front gripping part 34 and the rear gripping part 35 of the packaging mechanism 3. Details of the gripping mechanism 301 will be described later.

The packaging mechanism 3 lifts the article P using the lift section 30, pushes the article P up against the stretch film SF arranged in the packaging area PA, and covers the article P with the stretch film SF. Thereafter, the packaging mechanism 3 folds the peripheral edge of the stretch film SF onto the back side (lower side) of the article P covered with the stretch film SF in the packaging area PA. Thereby, the article P is packaged. The article P is discharged toward the discharge table 45 by the pusher 38 of the packaging mechanism 3 or by the folding operation of the stretch film SF. In the case of a packaging device in which the pusher 38 is omitted, the article P is sent to the discharge table 45 by the folding operation of the stretch film SF.

As shown in FIG. 2, the film storage section 31 is provided with a pair of support rollers 51 and 52 that support the film roll FR. Further, the film storage section 31 is provided with guide rollers 53 and 54 that guide the stretch film SF fed out from the film roll FR. A belt (not shown) is wound around the support roller 51 and the guide roller 53, and this belt is rotated by a motor (not shown) controlled by the control section 9. Thereby, the stretch film SF is fed out from the film roll FR.

(1-4) Label issuing mechanism The label issuing mechanism 4 issues a label L when the packaging mechanism 3 discharges the packaged article P toward the discharge table 45 (see FIG. 1). The weight and price of the product are printed on this label L. These weights and prices are determined by the control unit 9 based on the weighing results in the weighing and conveying mechanism 2. The label L is affixed to the packaged article P by an operator.

Note that the detailed configuration and operation of each mechanism are the same or similar to those of Japanese Patent Publication No. 2011-189956 and Japanese Patent Application Laid-open No. 2005-96797.

(2) Detailed configuration of gripping mechanism (2-1) Configuration of gripping mechanism As shown in FIG. It is composed of a portion 36 and a right grip portion 37. The front gripping part 34, the rear gripping part 35, the left gripping part 36, and the right gripping part 37 are clamps that grip the stretch film SF, respectively.

The front grip part 34 and the rear grip part 35 are arranged to face each other in the front-rear direction (Y direction) with the packaging area PA in between. The left grip part 36 and the right grip part 37 are arranged to face each other in the left-right direction (X direction) with the packaging area PA in between.

The front grip part 34 has three front lower grip members 340b arranged in the X direction and a front upper grip member 340a arranged above them. The rear end of each front lower gripping member 340b has a comb-teeth shape. Similarly, the rear end of the front upper gripping member 340a has a comb-teeth shape (see FIGS. 3 and 4).

Each of the three front lower gripping members 340b is individually moved in the vertical direction (Z direction) by being driven by the first solenoids 91a, 91b, and 91c. Specifically, when the first solenoids 91a, 91b, 91c are energized, the front lower gripping member 340b receives an upward force from the first solenoids 91a, 91b, 91c, and the front lower gripping member 340b It is pushed up by the front upper gripping member 340a (see the state of the front lower gripping member 340b indicated by the broken line in FIG. 4). In this state, the end portion (front portion) of the stretch film SF is gripped by the lower front gripping member 340b and the upper front gripping member 340a. On the other hand, when the first solenoids 91a, 91b, and 91c are in the energized state, the front lower gripping member 340b separates from the front upper gripping member 340a (see the state of the front lower gripping member 340b indicated by the solid line in FIG. 4). In this state, a gap is created between the lower front gripping member 340b and the upper front gripping member 340a, and the gripping of the end of the stretch film SF by the front gripping part 34 is released.

Further, the front grip portion 34 is driven by the first motor 96 to move in the front-rear direction (Y direction) via the timing belt. The first motor 96 and the timing belt transport the stretch film SF to the packaging area PA by moving the front gripping section 34 that grips the stretch film SF. That is, the first motor 96 and the timing belt function as a transport section that transports the stretch film SF to the packaging area PA.

The rear grip part 35 has a first grip part 350 and a second grip part 351, as shown in FIG. The first grip part 350 and the second grip part 351 are arranged along the Y direction. A film cutting section 33 is provided between the first gripping section 350 and the second gripping section 351. The film cutting section 33 is driven by the second motor 97 to move in the vertical direction (Z direction).

The first gripping section 350 includes an upper gripping member 350a and a lower gripping member 350b arranged below the upper gripping member 350a. The lower gripping member 350b is driven by the second solenoid 92 to move in the vertical direction (Z direction). When the lower gripping member 350b moves upward, the stretch film SF is gripped by the lower gripping member 350b and the upper gripping member 350a.

The second gripping section 351 includes three lower gripping members 351b lined up in the X direction and an upper gripping member 351a arranged above them. The front end of each lower gripping member 351b has a comb-teeth shape. Similarly, the front end of the upper gripping member 351a has a comb-teeth shape.

Each of the three lower gripping members 351b is individually moved in the vertical direction (Z direction) by being driven by the third solenoids 93a, 93b, and 93c. When the lower gripping member 351b moves upward, the stretch film SF is gripped by the lower gripping member 351b and the upper gripping member 351a.

The left grip portion 36 includes an upper grip member 360 and a lower grip member 361 disposed below the upper grip member 360. The lower gripping member 361 is driven by the fourth solenoid 94 to move in the vertical direction (Z direction). When the lower gripping member 361 moves upward, the end of the stretch film SF is gripped by the upper gripping member 360 and the lower gripping member 361.

The right grip portion 37 includes an upper grip member 370 and a lower grip member 371 disposed below the upper grip member 370. The lower gripping member 371 is driven by the fifth solenoid 95 to move in the vertical direction (Z direction). When the lower gripping member 371 moves upward, the end of the stretch film SF is gripped by the upper gripping member 370 and the lower gripping member 371.

(2-2) Conveyance of stretch film by gripping mechanism When the front gripping part 34 moves rearward from the position shown in FIG. 3 to the position shown in FIG. The tooth-like end portion and the comb-like end portion of the upper gripping member 351a of the second gripping portion 351 of the rear gripping portion 35 fit into each other, and the plurality of front lower gripping members 340b of the front gripping portion 34 fit together. The comb-like end portions of the lower gripping members 351b of the second gripping portion 351 of the rear gripping portion 35 fit into each other. At this time, the front end of the stretch film SF is inserted between the front upper gripping member 340a and the plurality of front lower gripping members 340b in the front gripping section 34. The front upper gripping member 340a and the plurality of front lower gripping members 340b grip the front end of the stretch film SF.

Next, the front grip section 34 moves forward. Then, the stretch film SF is conveyed and supplied between the front gripping part 34 and the rear gripping part 35, that is, the packaging area PA.

Note that when the stretch film SF is transported to the packaging area PA, the left grip part 36 and the right grip part 37 do not grip the stretch film SF, and the fourth solenoid 94 and the fifth solenoid 95 are in the energized off state. It has become.

(3) Contents of operation control of the front gripping part of the gripping mechanism when determining a stop As described above, the control unit 9 implemented by a computer controls the weighing and conveying mechanism 2, the packaging mechanism 3, the label issuing mechanism 4, etc. according to the program. Control.

As shown in FIG. 5, the control unit 9 is connected to the weighing and conveying mechanism 2, the packaging mechanism 3, the label issuing mechanism 4, the display 5, the operation panel 6, the emergency stop button 99, the foreign object detection sensor 98, and the like. The control of the operation of the front gripping section 34 of the gripping mechanism 301 of the packaging mechanism 3 by the control section 9 will be described in detail below.

As shown in FIG. 5, the control unit 9 controls each actuator of the gripping mechanism 301 of the packaging mechanism 3 in addition to controlling the motor responsible for vertical movement of the lift unit 30 of the packaging mechanism 3. Here, the control unit 9 needs to perform stop control by receiving a signal indicating that the emergency stop button 99 shown in FIG. The control of the first motor 96 and the first solenoids 91a, 91b, and 91c of the gripping mechanism 301 when it is determined that there is an error will be explained.

Note that, as shown in FIG. 2, the foreign object detection sensor 98 is a sensor that monitors a predetermined point located at a height position in the middle of the moving path of the article P where the article P is lifted by the lift section 30. Specifically, the foreign object detection sensor 98 is a photoelectric sensor that includes an irradiation section that irradiates light in the horizontal direction (X direction) and a light detection section that detects the irradiation light. When the foreign object detection sensor 98 detects the interruption of the irradiation light during a time period other than the time period when the article P is being lifted by the lift section 30 and the light is blocked, the control section 9 determines whether the light is blocked by some foreign object. It determines that it is blocked and makes a decision to stop. For example, as shown in FIG. 8, when the stretch film SF is torn to pieces while being conveyed while being gripped by the front gripping part 34, and the stretch film SF hangs down from the front gripping part 34, the foreign object detection sensor 98 detects that the irradiation light is blocked by the stretch film SF. When the control unit 9 receives a signal from the foreign object detection sensor 98 indicating that the interruption of the irradiation light has been detected by a foreign object such as a stretch film SF, the control section 9 determines to stop based on the received signal.

As shown in FIG. 7, when it is determined in step S11 that the emergency stop button 99 has been pressed or that the foreign object detection sensor 98 has detected a foreign object, the control section 9 determines to stop and performs the stop control. conduct. Regarding the front grip section 34, the control section 9 determines in step S12 whether or not the front grip section 34 is in the middle of moving in the front-rear direction (Y direction). If it is determined in step S12 that the front grip part 34 is moving, the control part 9 stops the first motor 96 in step S13 to stop the movement of the front grip part 34, and proceeds to step S14. If it is determined in step S12 that the front grip part 34 is stopped, the process moves to step S14. In step S14, when the first solenoids 91a, 91b, 91c are energized and the stretch film SF is held by the front gripping section 34, the control section 9 turns off the energization of the first solenoids 91a, 91b, 91c. do. Thereby, the grip of the stretch film SF by the front grip part 34 is released. Subsequently, in step S15, the control unit 9 displays an error on the display 5 to inform the user that the packaging device 1 has stopped. Thereafter, the user performs operations such as removing the stretch film SF from the packaging area PA, as necessary.

(4) Features (4-1)
In the packaging apparatus 1 according to the above embodiment, as shown in FIG. 7, based on the received signal from the emergency stop button 99 or the foreign object detection sensor 98, the When determining that it has been detected, the control unit 9 determines to stop and performs stop control. For example, when the front grip part 34 that grips the front end of the stretch film SF is moving forward from the position shown in FIG. 6 to the position shown in FIG. When determining that it is necessary to stop based on the received signal from 98, the control section 9 stops the first motor 96 and stops the movement of the front grip section 34, as shown in step S13 and step S14 in FIG. is stopped, and the first solenoids 91a, 91b, and 91c are turned off. As a result, the movement of the front gripping part 34 is stopped, and the gripping of the stretch film SF by the front gripping part 34 is released. As a result, when it is necessary to remove unnecessary stretch film SF from the packaging device 1, it may be difficult to remove the stretch film SF, or when the stretch film SF is pulled by hand, parts of the front grip part 34 may be damaged. becomes less.

(4-2)
In the packaging device 1 according to the above embodiment, the front gripping section 34 of the gripping mechanism 301 includes a lower front gripping member 340b and an upper front gripping member 340a. The front lower gripping member 340b moves in the vertical direction by being driven by the first solenoids 91a, 91b, and 91c. Specifically, when the first solenoids 91a, 91b, 91c are energized, the front lower gripping member 340b receives an upward force from the first solenoids 91a, 91b, 91c, and the front lower gripping member 340b The stretch film SF is pushed up by the front upper gripping member 340a and is gripped by the front gripping portion 34. On the other hand, when the first solenoids 91a, 91b, and 91c are in the energized state, the lower front gripping member 340b separates from the upper front gripping member 340a, and the gripping of the stretch film SF by the front gripping part 34 is released.

With this configuration, depending on whether the first solenoids 91a, 91b, and 91c, which are actuators, are energized or turned on, the state in which the front lower gripping member 340b is holding the stretch film SF and the state in which the front lower gripping member 340b is holding the stretch film SF can be changed. There is a switch between a state in which the film is separated from the stretch film SF.

(5) Modification example (5-1)
In the packaging apparatus 1 according to the above embodiment, when it is determined in step S11 in FIG. 7 that the emergency stop button 99 has been pressed or that the foreign object detection sensor 98 has detected a foreign object, the control unit 9 makes a stop judgment. do. That is, the control unit 9 makes a determination to stop based on the received signal from the emergency stop button 99 and the received signal from the foreign object detection sensor 98.

This determination of stopping by the control unit 9 may also be made based on signals received from other sensors. For example, the determination to stop may be made based on a received signal from another photoelectric sensor placed at a position where it can detect that the stretch film SF has broken, or it may be decided to This may be performed based on a received signal from a sensor that detects that the stretched stretch film SF is gone.

(5-2)
In the above embodiment, the control flow regarding stopping the movement of the front grip part 34 and releasing the grip in the stop control was explained with reference to FIG. Even when the stretch film SF is being gripped by the rear gripping part 36 and the right gripping part 37, when it is determined that the emergency stop button 99 is pressed or the foreign object detection sensor 98 detects a foreign object, the rear gripping part 35, It is preferable to release the grip of the stretch film SF by the left grip part 36 and the right grip part 37. By releasing the hold on the stretch film SF, the operator can easily remove unnecessary stretch film SF after the packaging device 1 has stopped.

1 Packaging device 3 Packaging mechanism 9 Control section 34 Front gripping section (clamp)
91a, 91b, 91c 1st solenoid (actuator)
96 1st motor (transport unit)
98 Foreign object detection sensor 99 Emergency stop button 340a Front upper gripping member 340b Front lower gripping member (first member of clamp)
P Article PA1 Packaging area SF Stretch film (film)

Japanese Patent Application Publication No. 2005-96797

Claims (3)

a clamp for gripping a film for wrapping an article;
a conveyance unit that moves the clamp holding the film and conveys the film to a packaging area;
a control unit that controls the clamp and the conveyance unit;
Equipped with
When the control unit determines to stop based on the received signal while the transport unit is moving the clamp, the control unit stops the movement of the clamp by the transport unit and releases the grip of the film by the clamp. do,
packaging equipment. The clamp is
a first member that presses the film;
an actuator that switches between a state in which the first member presses the film and a state in which the first member is separated from the film;
have,
The packaging device according to claim 1. The film is a stretch film,
Further comprising a packaging mechanism that presses the article against the film in the packaging area and folds the peripheral edge of the film onto the back side of the article.
The packaging device according to claim 1 or 2.

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