JP5443418B2 - SEALED BODY POSITION CORRECTION DEVICE AND SEAL SYSTEM - Google Patents

Description

  The present invention is used when sealing an opening of a sealed body with a sealing device, and corrects the position of the sealed body for correcting the position of the opening so that the opening is arranged at a predetermined sealing position. The present invention relates to an apparatus and a sealing system.

  In order to seal the opening part of the packaging bag (an example of a to-be-sealed body) of the resin film which accommodated the contents, since it has advantages, such as simplicity and certainty, a heat seal device is often used (for example, (See the impulse heat sealer disclosed in Patent Documents 1 and 2 below).

  Examples of the contents stored in the packaging bag include various foods, medical instruments, foods, machine parts, medicines, and the like.

JP 2007-176598 A JP 2007-022602 A

  In the above, generally, the opening of the sheet member is set at a predetermined sealing position of the sealing device manually or using an automatic gripping device, and the opening is sandwiched between the sealing bars of the sealing device and sealed. is there. However, in general, it is difficult to set the opening of the sheet member at a predetermined seal position with high accuracy manually or using an automatic gripping device.

  In addition, there is a tendency to reduce the size of the object to be sealed because of the demand for cost reduction of the object to be sealed. In such a case, it is difficult to seal the opening of the three-side sealed object in a state where the contents are accommodated so as not to cause a seal failure such as a seal position shift or a seal wrinkle.

  Moreover, the aesthetics of a seal | sticker is also requested | required as product quality, and a seal position shift is a big problem as a seal defect.

  This invention is made | formed in view of the said situation, The subject is providing the to-be-sealed body position correction apparatus which can arrange | position the opening part of a to-be-sealed body to a predetermined sealing position with high precision, and a sealing system. is there.

In order to solve the above-mentioned problem, a sealed body position correcting device according to the present invention is
A sealed body position correcting device that is used when sealing an opening of a sealed body with a sealing device and corrects the position of the opening so that the opening is arranged at a predetermined sealing position. ,
First and second gripping portions respectively disposed on both the left and right sides in the vicinity of the opening and gripping the left and right sides of the opening;
A first drive unit that drives the first gripping unit so as to transport the sealed object held by the first gripping unit in the front-rear direction;
A first control unit for controlling the first drive unit;
A second drive unit that drives the second gripping unit so as to transport the sealed object gripped by the second gripping unit in the front-rear direction;
A second control unit for controlling the second drive unit;
A first tip detection unit that detects a first tip position on the side of the opening to be held in parallel with the predetermined sealing position and that is gripped by the first gripping portion of the opening. When,
A second tip detection unit that detects the second tip position on the side of the opening that is held in front of the transport and parallel to the predetermined sealing position and that is gripped by the second gripping portion of the opening. When,
A gripping part moving mechanism that relatively moves the first and second gripping parts in order to widen the interval between the first and second gripping parts while gripping the opening;
In the state of gripping the opening, the gripper moving mechanism is controlled so as to widen the distance between the first and second grippers, and transported in the front-rear direction under the control of the first controller. The timing at which the first tip position of the sealed object is detected by the first tip detection unit, and the second of the sealed object that is driven and controlled by the second control unit and conveyed in the front-rear direction. The difference between the tip position and the timing at which the tip position is detected by the second tip detector is determined, and the first until the difference disappears or is almost eliminated (which means that the tip position is substantially eliminated). And a main control unit for causing the second control unit to execute the respective drive controls.

  The operation and effect of the sealed body position correcting device having such a configuration will be described. The first gripping part is disposed on the right side near the opening, and the second gripping part is disposed on the left side near the opening. The vicinity of the opening of the sealed object can be gripped by the first gripping portion and the second gripping portion. The first and second gripping portions are preferably gripped so as to avoid the sealing surface of the opening. And the space | interval of a 1st, 2nd holding part is extended, and the looseness of the opening part hold | gripped by the 1st, 2nd holding part is eliminated. Next, the sealed object gripped by the first and second gripping portions is conveyed in the forward direction and the backward direction, which are directions orthogonal to the opening. Then, until the timing at which the first tip position of the opening is detected by the first tip detector and the timing at which the second tip position of the opening is detected by the second tip detector are the same, the sealed object Carry out the transfer. When this timing becomes the same, the tip end line of the opening and the seal position line become parallel, and the sealed position of the opening can be corrected with high accuracy. When the tip end line of the opening and the seal position line are parallel, the object to be sealed is transported to the sealing device side, the opening is stopped at a predetermined sealing position, and the opening is positioned with high accuracy. Can be sealed.

  In the above invention, the sealing position set in advance in the sealing device is preferably arranged between the first gripping part and the second gripping part, and the first tip detection part and the second tip detection part. In this case, the sealing device and the sheet body position correcting device can be designed in a compact size, and the transport of the sheet body can be smoothly performed and wasteful transportation can be suppressed. As another embodiment, the sealing position of the sealing device can be arranged in the forward conveyance direction, the left-right direction, or the up-down direction from the first tip detection unit and the second tip detection unit.

  In the above invention, examples of the sealing device include a heat sealing device, an ultrasonic sealing device, and a high frequency sealing device.

  The first control unit, the second control unit, and the main control unit may be configured as a distributed control module that functions independently of each other. The control unit may be configured as the slave module. In addition, the first and second control units and the main control unit may be configured by dedicated circuits, firmware, and computers (including programs). In such a case, the CPU (or MPU) is set separately. Alternatively, it may be composed of a single CPU (or MPU). In the present invention, a distributed system (control) in which the CPU (or MPU) of the first control unit, the second control unit, and the main control unit are set separately and functions independently of each other is independent for each operation unit. Therefore, it is preferable because the position can be corrected quickly.

  The first and second drive units for driving the first and second gripping parts to move the sealed body move the first and second gripping parts themselves while gripping the sealed body. May be. As the driving means, for example, a mechanism for linearly moving the first and second gripping portions, a mechanism for rotating 360 ° with respect to a predetermined center point, and a mechanism for rotating around a predetermined center axis Mechanisms and the like. Examples of the linear movement mechanism include a rack and pinion mechanism, an electric or pneumatic linear motion actuator mechanism, and the like. Further, the first drive unit may rotate the rotatable first gripping unit constituted by a pair of rollers to convey the object to be sealed forward and backward, and the second drive unit similarly Alternatively, the rotatable second gripping part constituted by a pair of rollers may be rotated and conveyed forward and backward while gripping the object to be sealed. In such a case, the first and second drive units perform the motor, the transmission mechanism for transmitting the rotation of the motor to the drive side roller of the gripping unit, and the rotation operation (start and stop, normal rotation and reverse rotation) of the motor. And a control unit that controls the rotational speed. The functions of the control unit may be served by the first and second control units.

  The first and second tip detection units include, for example, photoelectric sensors (transmission type, reflection type), capacitance type sensors, magnetic sensors, ultrasonic sensors, etc. A photoelectric sensor is preferred.

  According to this configuration, even when the object to be sealed is gripped in a state of being slackened in the opening width direction, the opening is obtained by moving either one or both of the first and second gripping sections in the opening width direction. The looseness of the part can be easily eliminated, and not only manual and automatic supply but also the setting for gripping the sheet body can be performed quickly.

  Examples of the gripping portion moving mechanism include a mechanism for moving each gripping portion linearly. Examples of the linear movement mechanism include a rack and pinion mechanism, an electric or pneumatic linear motion actuator mechanism, and the like. Also, as a gripping part moving mechanism, for example, a shaft is formed with a right-hand thread on one half side in the axial direction and a left-hand thread on the other half side, and moves linearly in conjunction with the rotation of the right hand screw. Is attached to the first gripping portion, and a mechanism that moves linearly in conjunction with the rotation of the left screw is attached to the second gripping portion. When the shaft is rotated, the first gripping portion interlocked with the rotation of the right screw moves to the left and right, and the second gripping portion interlocked with the rotation of the left screw moves to the right and left opposite thereto. For example, when the shaft is rotated clockwise around its axis, the first gripping portion moves to the right (shaft right end direction), and the second gripping portion moves to the left (shaft left end direction) to move the first and second gripping portions The distance between them increases. On the other hand, when the shaft is rotated counterclockwise around the axis, the first gripping portion moves to the left (shaft center direction), and the second gripping portion moves to the right (shaft center direction), and the first and second gripping portions The distance between each other is reduced. In addition, when the first and second gripping portions spread to the left and right and the tension in the width direction of the opening reaches a preset tension, the sensors incorporated in the first and second gripping portions react and move. It is preferred to stop and complete the pull. Further, as another embodiment, when the gripping portion is moved by the gripping portion moving mechanism, a tension detection unit that detects the tension may be provided in order to determine whether or not the opening portion is loosened. The tension information detected by the tension detector is transmitted to the main controller, and the main controller determines whether the tension has reached a predetermined value and determines that the tension has reached a predetermined value. A stop signal for stopping the operation of the gripper moving mechanism may be transmitted to the drive controller of the gripper moving mechanism to stop the movement of the gripper.

As an embodiment of the invention, the first control unit conveys the sealed body forward, and when the first tip position is detected by the first tip detection unit, the sealed body is moved backward. When the first tip position is no longer detected by the first tip detection unit, the first driving unit is controlled so as to repeatedly carry the sealed body forward, and the first tip position is controlled. Sending first detection information indicating that the first tip position has been detected to the main control unit at a timing when the detection unit changes to a non-detection state;
The second controller transports the sealed body forward, and when the second tip position is detected by the second tip detector, transports the sealed body rearward, and the second tip position is When it is no longer detected by the second tip detection unit, the second driving unit is controlled so as to repeat the forward transfer of the sealed object, and the detection state at the second tip detection unit is not detected. At the timing of the change, the second detection information indicating that the second tip position has been detected is sent to the main control unit,
The control of the first drive unit by the first control unit and the control of the second drive unit by the second control unit are performed independently of each other,
When the main control unit receives the first detection information from the first tip detection unit and the second detection information from the second tip detection unit (at the same timing or substantially the same timing), It is preferable that the first drive unit and the second drive unit are stopped, and then arrangement information for placing the first drive unit and the second drive unit at the predetermined seal position is transmitted to the first control unit and the second control unit.

  According to this configuration, the first control unit and the second control unit control the first drive unit and the second drive unit, respectively, independently of each other. For example, the detection timings by the first and second tip detection units are synchronized, and the first and second tip detection units respectively transmit the first and second detection information (or detection signals) to the main control unit at the same timing. In this case, the main control unit determines that the line connecting the first tip position and the second tip position is parallel to the seal position line, and the main control unit moves the first drive unit and the second drive unit. Arrangement information for stopping and arranging the opening of the object to be sealed at a predetermined sealing position is transmitted to the first control unit and the second control unit. The first and second control units respectively drive the first and second drive units to stop the movement of the sealed body, and then move the sealed body to a predetermined sealing position.

As an embodiment of the invention, the first gripping portion is a pair of first gripping rollers having at least a surface having elasticity, and the first driving portion is at least one of the pair of first gripping rollers. Having a first rotation drive unit for normal rotation and reverse rotation of one roller,
The second gripping unit is a pair of second gripping rollers having at least a surface having elasticity, and the second driving unit is configured to forwardly and reversely rotate at least one of the pair of second gripping rollers. It is preferable to have the 2nd rotation drive part.

  According to this configuration, a large frictional force can be secured by gripping the object to be sealed by the elastic gripping roller, and the object to be sealed can be gripped so that the gripping part does not slip carelessly. The seal body can be reliably conveyed forward and backward. In addition, the object to be sealed can be easily and reliably conveyed forward and backward simply by changing the rotation direction (forward rotation, reverse rotation) of the gripping roller. Of the pair of gripping rollers, either one or both of the rollers driven in conjunction with the rotation driving unit may be used. When one of the rollers functions as a driving roller, the other roller is driven. Functions as a roller. The first and second rotation driving units are configured to transmit a motor, a transmission mechanism for transmitting the rotation of the motor to the driving side roller of the gripping unit, and a rotation operation (start and stop, normal rotation and reverse rotation) of the motor. And a control unit that controls the rotational speed. The functions of the control unit may be served by the first and second control units.

As an embodiment of the invention described above, a first detection of the opening disposed between the pair of first gripping rollers when the pair of first gripping rollers is open is an open state. An opening detector;
And a second opening detection portion that detects the opening disposed between the pair of second gripping rollers when the pair of second gripping rollers is open. ,
The main control unit drives the pair of first gripping rollers and the pair of second gripping rollers based on a result of the first and second opening detection units detecting the opening, respectively, It is preferable to grip the vicinity of the opening.

  According to this configuration, the opening can be gripped by automatically detecting the opening without using a manual switch or a foot switch. Examples of the first and second opening detection units include a photoelectric sensor (transmission type, reflection type), a capacitance type sensor, a magnetic sensor, and an ultrasonic sensor. Processing that can be sensed by the opening detection unit may be performed at a gripping position that is desired to be gripped by the gripping unit in the sealed body.

  As an embodiment of the invention described above, it is preferable that the sealed body includes a sensing unit that has been subjected to processing for improving the detection sensitivity of the first and second tip detection units.

  According to this configuration, since the sensing unit can be detected with high sensitivity by the first and second tip detection units, highly accurate positioning can be performed in parallel with the seal position line. The process for improving the detection sensitivity differs depending on the specific detection means of the tip detection unit. For example, in the case of a photoelectric sensor, non-transparent marking is exemplified.

  Moreover, the sealing system of another invention is provided with the to-be-sealed body position correction apparatus of the said invention, and a sealing apparatus.

  Further, a sealed body of another invention is a sealed body used in the sealed body position correcting device of the above invention, and is subjected to a process for improving the detection sensitivity of the first and second tip detection units. It has a sensing part.

The perspective view which shows the external appearance structure of a seal system The figure which shows an example of the functional element of a seal system The figure for demonstrating a holding part moving mechanism Diagram for explaining the left grip Diagram for explaining the left grip Flow chart showing gripping operation and position correction operation Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations Schematic diagram showing gripping and position correction operations

  The seal system of an embodiment is a heat seal system provided with a heat seal device and a to-be-sealed body position correction device. An example of the appearance of this heat seal system is shown in FIG. As shown in FIG. 1, the heat seal system 1 includes a heat seal device having a vertically sandwiched seal bar (not shown), a right grip (first grip) 21, and a left grip (second grip). ) 22, a right-side tip detection unit (first tip detection unit) 31, and a left-side tip detection unit (second tip detection unit) 32.

  Each of the right grip 21 and the left grip 22 is composed of two elastic roll pairs (corresponding to a pair of grip rolls) arranged one above the other. The gripping state operation is performed. In FIG. 1, the lower roll is fixed, and the upper roll moves up and down to form an open state and a gripping state. However, the upper roll is fixed and the lower roll is moved up and down. Or both rolls may move up and down. It is preferable to fix the lower roll for easy positioning when setting the object to be sealed, and also to fix and arrange the seal bar (not shown) and the right and left end detection units 31 and 32. The elastic roll pair preferably has at least a surface material made of rubber (whether natural rubber or artificial rubber). In addition, the right grip 21 and the left grip 22 are attached to the apparatus main body so as to be relatively movable so that the gap between the right grip 21 and the left grip 22 can be freely changed. The width of the seal body can be accommodated. Further, the right side gripping part 21 and the left side gripping part 22 are configured to be movable in the opening width direction so as to eliminate the slackness of the gripped sealed body while gripping the vicinity of the opening of the sealed body. This function is realized by a gripper moving mechanism described later.

  Each of the right tip detection unit 31 and the left tip detection unit 32 is a photoelectric sensor that receives light projected from above by the light projecting unit by a light receiving unit below the light sensor. The tip portion of the opening of the sealed body is inserted between the light projecting portion and the light receiving portion, and the timing at which light is blocked at the tip portion is detected. Further, the right tip detector 31 and the left tip detector 32 are attached to and fixed to the apparatus body so that the distance between the right tip detector 31 and the left tip detector 32 can be freely changed. A plurality of types of sealed object width sizes can be accommodated.

  Further, a right tip detection unit 31 and a left tip detection unit 32 are arranged in parallel with the seal position (10) line of a seal bar (not shown). Moreover, it is preferable that the right grip 21 and the left grip 22 are arranged in parallel with the seal position (10) line.

(Sealed body position correction device)
Hereinafter, functional elements of the sealed body position correcting device will be described with reference to the block diagram of FIG. The right drive unit 41 (first drive unit) has a first rotation drive unit for normal rotation or reverse rotation of the drive roller (lower roller) of the right grip 21 that is a pair of elastic rollers. Further, the left drive unit 42 includes a second rotation drive unit for rotating the drive roller (lower roller) of the left gripping unit 22 that is a pair of elastic rollers in the normal direction or the reverse direction. Each of the first and second rotational drive units includes a motor (not shown) and a transmission mechanism (not shown) for transmitting the rotation of the motor to the drive rollers of the right and left grips 21 and 22.

  The right control unit (first control unit) 51 controls the rotational operation of the motor (operations such as start and stop, normal rotation and reverse rotation), and transmits a command to control the rotational speed to the right drive unit 41, The right drive unit 41 is controlled according to these commands, and the right gripping unit 21 operates (operations such as rotation start and stop, normal rotation and reverse rotation). The left side control unit (second control unit) 52 controls the rotation operation of the motor (operations such as start and stop, normal rotation and reverse rotation), and transmits a command to control the rotation speed to the left side drive unit 42. The left drive unit 42 is controlled in accordance with these commands, and the left gripping unit 22 operates (operations such as rotation start and stop, normal rotation and reverse rotation). In the present embodiment, the right control unit 51 controls the operation of the right grip 21, and the left control unit 52 controls the operation of the left grip 22. Further, the main control unit 50 controls the operations of the right grip 21 and the left grip 22 in the open state and the grip state, controls the operation of the grip moving mechanism 60 described later, and controls the right control 51 and the left The controller 52 controls communication between other components. In the present embodiment, the main control unit 50, the right control unit 51, and the left control unit 52 each have a separate control target, and each is an independent distributed control system.

  The gripper moving mechanism 60 will be described with reference to FIG. The gripper moving mechanism 60 includes a right tension detector 64 provided below the right gripper 21, a right nut 63 fixed to the right tension detector 64, and a left side provided below the left gripper 22. The tension detector 66, the left nut portion 65 fixed to the left tension detector 66, the right nut portion 63, and the left nut portion 65 are inserted into the left nut portion 65 to form a screw groove (right screw groove, left screw groove). The right grip 21 and the left grip 22 are attached so that the screw 61, the motor M1 for rotating the moving screw 61 in the axial direction, and the right grip 21 and the left grip 22 can move in the left and right directions. Rail part 62 to be provided.

  FIG. 4 shows the right grip 21 and the left grip 22. Basically, the right grip 21 and the left grip 22 are composed of similar functional elements. The right grip 21 includes a motor 214, drive side gears 215 and 216 that transmit the rotation of the motor 214, a lower roller 211 that rotates in conjunction with the rotation transmitted by the drive side gears 215 and 216, An upper roller 212 for forming a pair of grip portions together with the roller 211, and an air cylinder portion 213 for gripping the object to be sealed by moving the upper roller 212 in the open position to the lower roller 211. The left grip 22 includes a motor 224, drive side gears 225 and 226 that transmit the rotation of the motor 224, a lower roller 221 that rotates in conjunction with the rotation transmitted by the drive side gears 225 and 226, The upper roller 222 for forming a pair of grip portions together with the roller 221 and the air cylinder portion 223 for moving the upper roller 222 in the open position to the lower roller 221 to grip the object to be sealed.

  FIG. 5 shows a gripping state. The upper roller 212 moves to the lower roller 211 side to form a gripping state, and similarly, the upper roller 222 moves to the lower roller 221 to form a gripping state. The cylinders are driven (piston protrusion) by the air cylinder portions 213 and 223 to move the upper rollers 212 and 222 to the lower rollers 211 and 221, and the driven gear portions 217 and 227 are driven to the drive side gear portions 216 and 226. Mesh with. In this gripping state, when the moving screw portion 61 rotates to the right in conjunction with the rotation of the motor M1, the right gripping portion 21 moves to the right along the rail portion 62, and the left gripping portion 22 moves to the rail portion 62. Move to the left along. On the other hand, when the moving screw part 61 rotates counterclockwise, the right grip 21 moves to the left (center) along the rail 62, and the left grip 22 extends to the right (center) along the rail 62. Move to.

  Further, the right tension detector 64 is fixed so that one end thereof follows the movement of the right nut 63, and a spring part (not shown) fixed so that the other end follows the movement of the right grip 21. A sensor for detecting the tension of the spring portion. When the right nut portion 63 moves in the right direction, the right tension detector 64 determines whether or not the leftward tension (result of detecting the tension applied to the spring portion by the sensor) opposite to the right direction is equal to or greater than a set value. When the tension reaches a set value or more, information to that effect is transmitted to the main control unit 50, and the main control unit 50 performs control for stopping the rotation of the motor M1. Similarly to the right tension detector 64, the left tension detector 66 is fixed so that one end follows the movement of the left nut 65 and the other end follows the movement of the left grip 22. And a sensor for detecting the tension of the spring portion. When the left nut portion 65 moves leftward, the left tension detector 66 determines whether or not the rightward pull (the result of detecting the tension applied to the spring portion by the sensor) opposite to the leftward movement is greater than or equal to a set value. When the tension reaches a set value or more, information indicating that is transmitted to the main control unit 50, and the main control unit 50 may perform control for stopping the rotation of the motor M1. . Alternatively, the main control unit 50 may control the rotation of the motor M1 based on both information transmitted from the right tension detection unit 64 and the left tension detection unit 66 or one of the information. As described above, the gripping part moving mechanism 60 can move the right gripping part 21 and the left gripping part 22 to eliminate slack in the opening width direction of the sealed body.

(Gripping operation and position correction operation)
The operation will be described with reference to the operation flowchart of FIG. 6 and the operation schematic diagrams of FIGS. First, the object to be sealed is set at a gripping position where the right gripping part 21 and the left gripping part 22 can grip (FIG. 7A). After the sheet body is set at the gripping position, a signal indicating that the sheet body is set is transmitted to the main control unit 50 from a detection unit such as a manual switch, a foot switch, or a photoelectric sensor. The main control unit 50 receives this signal (step S1). In response to the signal, the main controller 50 controls the gripping operations of the right grip 21 and the left grip 22 (step S2). Specifically, the air cylinder of each gripping portion is driven, the upper roll is moved to the lower roll, and the vicinity of the opening of the sealed body is gripped by the left and right gripping portions (see FIG. 5). FIG. 7B shows a state in which the object to be sealed is gripped by the right grip 21 and the left grip 22. FIG. 7B shows a gripping state that is greatly distorted, but this is for ease of explanation, and in fact, it may be larger or smaller than this figure.

  After gripping the object to be sealed with the left and right gripping units, the main control unit 50 controls the gripping unit moving mechanism 60 (step S3, FIG. 7C). The motor M1 is driven to move the right grip 21 to the right side and the left grip 22 to the left to widen the opening and eliminate the slack in the width direction. The sensors built in each gripping part react when the tension reaches a set value (tension) in the movement of each gripping part, and transmit the fact to the main control part 50 (step S4). In response to the signal, the main control unit 50 stops the rotation of the motor M1 and ends the movement of each gripping unit.

  Next, the main control unit 50 instructs the right control unit 51 and the left control unit 52 to align the tip position of the opening to be sealed with the seal position 10 of the seal bar. The right control unit 51 receives this command (step S21). In response to this command, the right control unit 51 controls the right drive unit 41. In the following, the control operation of the right control unit 51 will be mainly described, but the control operation of the left control unit 52 is the same.

  The right control unit 51 controls the right drive unit 41. The motor is rotated forward at high speed, the gripping roller is rotated, and the opening of the sheet member is moved forward (upward in the drawing) (step S22, FIG. 7D). Similarly, the left control unit 52 controls the left drive unit 42. Next, it is determined whether or not the right tip position has been detected by the right tip detector 31 (step S23). When the right tip detection unit 31 detects the right tip position, the signal is transmitted to the right control unit 51. In response to the signal, the right control unit 51 reversely rotates the motor to move the sheet member backward (downward in the drawing) (step S24, FIGS. 7E and 7F). The moving direction is indicated by an arrow. In FIG. 7E, the left tip position is not detected by the left tip detector 32, and therefore the left side (left grip portion side) of the sheet body is moved forward.

  Next, when the right end detection unit 31 no longer detects the position of the right end (when the sheet member moves rearward and changes from the detection state to the detection state (out of the detection range)), the signal is sent to the right control unit 51. Send. In response to the signal, the right control unit 51 transmits right detection information (first detection information) indicating that the right tip position has been detected to the main control unit 50 (step S26). Further, the right control unit 51 rotates the motor at a low speed and moves the sheet member forward (upward in the drawing) (step S27, FIG. 7G). Then, it is determined whether or not the right tip position has been detected by the right tip detector 31 (step S28). On the other hand, as shown in FIGS. 7F and 7G, when the left tip detection unit 32 detects the left tip position, the signal is transmitted to the left control unit 51. In response to the signal, the left control unit 52 rotates the motor at a low speed in the reverse direction to move the sheet member backward (downward in the drawing). When the left end detection unit 32 no longer detects the left end position (when the sheet member moves rearward and changes from the detection state to the detection state (out of detection range)), the signal is transmitted to the left control unit 52. . In response to the signal, the left control unit 52 transmits left detection information (second detection information) indicating that the left tip position has been detected to the main control unit 50 (FIG. 7G).

  The main control unit 50 determines whether or not detection information indicating that the respective tip positions have been detected has been received from both the right control unit 51 and the left control unit 52 (step S6). The right and left sides of the sheet are moved independently forward and backward. When the main control unit 50 receives a detection signal indicating that the tip position has been detected from both the right control unit 51 and the left control unit 52, the main control unit 50 instructs the right control device 51 and the left control device 52 to stop at the detection position. Send. When this command is received, the right control unit 51 and the left control unit 52 stop at the detection position, and transmit a message indicating the stop to the main control unit 50. After moving to the detection unit at a high speed, fine adjustment is performed at a low speed, so if the accuracy is not so required, a detection signal indicating that the tip position has been detected from both the right control unit 51 and the left control unit 52 is sent. It may be assumed that the positions are parallel when received.

  When the main control unit 50 receives detection information indicating that the respective tip positions have been detected from both the control units 51 and 52, the main control unit 50 issues a command (arrangement information) for moving the opening to the seal position 10 of the seal bar. It transmits to the parts 51 and 52 (step S7). The tip position line of the opening is corrected in parallel with the seal position (10) line of the seal bar. Each control unit 51, 52 determines whether or not a command (arrangement information) for moving the opening to the seal position 10 is received from the main control unit 50 after the tip position is detected in step S28. (Step S29). If this command (placement information) is not received, the process returns to step S24 and the operation is repeated. When this command (arrangement information) is received, each control unit 51, 52 rotates the motor in the reverse direction to move the sheet member to the seal position 10 of the rear seal bar (step S30, FIG. 7I). Note that the amount of movement may be controlled based on the distance from each tip detector to the seal position 10 of the seal bar, or the amount of movement may be controlled by detecting the amount of rotation with an encoder or the like. The movement operation may be controlled by detecting with a photoelectric sensor installed at the seal position 10. Both the control parts 51 and 52 transmit the completion notification to the effect that the opening part has been moved to the seal position 10 to the main control part 50 (step S8, FIG. 7I). The main control unit 50 controls the sealing operation of the sealing device in response to this notification (step S9).

When the sealing end signal is received from the sealing device after sealing the opening, the main control unit 50 transmits a command to each of the control units 51 and 52. When receiving this command, each of the control units 51 and 52 rotates the motor in the reverse direction to move the sheet member from the seal position 10 of the seal bar to the rear (FIG. 7J). After moving to a predetermined position, the motor is stopped. Both the control units 51 and 52 transmit a completion notification indicating the movement to the main control unit 50. The main control unit 50 drives the air cylinder to return the upper roller to the origin, thereby releasing the sheet member from the gripping state.

<Another embodiment>
The heat seal system of this embodiment has a design philosophy in which the seal bar is arranged between each gripping part and each tip detection part and the compact design of the seal system and the size of the object to be sealed are taken into account. The invention is not limited to this, and for example, the seal bar may be disposed in front of the tip detection unit.

  In the case where each tip detection unit is constituted by a photoelectric sensor, it is preferable to have a sensing unit having a non-transparent treatment or a non-transparent material at the tip position of the opening of the sealed object in order to improve detection sensitivity. When the object to be sealed is a transparent film material, each tip position of the opening may be printed with a non-transparent ink or a non-transparent material may be pasted.

DESCRIPTION OF SYMBOLS 10 Sealing position of seal bar 21 Right side grip part 22 Left side grip part 31 Right side tip detection part 32 Left side tip detection part 41 Right side drive part 42 Left side drive part 50 Main control part 51 Right side control part 52 Left side control part 60 Grip movement mechanism part

Claims (7)

A sealed body position correcting device that is used when sealing an opening of a sealed body with a sealing device and corrects the position of the opening so that the opening is arranged at a predetermined sealing position. ,
First and second gripping portions respectively disposed on both the left and right sides in the vicinity of the opening and gripping the right and left sides of the opening;
A first drive unit that drives the first gripping part so as to be able to transport the sealed object gripped by the first gripping part in the front-rear direction;
A first control unit for controlling the first drive unit;
A second drive unit that drives the second gripping part so that the sealed object held by the second gripping part can be conveyed in the front-rear direction;
A second control unit for controlling the second drive unit;
A first tip detection unit that detects a first tip position on the side of the opening to be held in parallel with the predetermined sealing position and that is gripped by the first gripping portion of the opening. When,
A second tip detection unit that detects the second tip position on the side of the opening that is held in front of the transport and parallel to the predetermined sealing position and that is gripped by the second gripping portion of the opening. When,
A gripping part moving mechanism that relatively moves the first and second gripping parts in order to widen the interval between the first and second gripping parts while gripping the opening;
In the state of gripping the opening, the gripper moving mechanism is controlled so as to widen the distance between the first and second grippers, and transported in the front-rear direction under the control of the first controller. The timing at which the first tip position of the sealed object is detected by the first tip detection unit, and the second of the sealed object that is driven and controlled by the second control unit and conveyed in the front-rear direction. A difference from the timing at which the tip position is detected by the second tip detection unit is determined, and each drive control by the first and second control units is executed until the difference is eliminated or almost eliminated by the judgment result. And a main body control part for sealing. The first control unit conveys the sealed object forward, and when the first tip position is detected by the first tip detection unit, conveys the sealed object backward, and the first tip position is When it is no longer detected by the first tip detection unit, the first drive unit is controlled so as to repeat transporting the sealed object forward, and the detection state at the first tip detection unit is not detected. At the timing of the change, the first detection information indicating that the first tip position has been detected is sent to the main control unit,
The second controller transports the sealed body forward, and when the second tip position is detected by the second tip detector, transports the sealed body rearward, and the second tip position is When it is no longer detected by the second tip detection unit, the second driving unit is controlled so as to repeat the forward transfer of the sealed object, and the detection state at the second tip detection unit is not detected. At the timing of the change, the second detection information indicating that the second tip position has been detected is sent to the main control unit,
The control of the first drive unit by the first control unit and the control of the second drive unit by the second control unit are performed independently of each other,
When the main control unit receives the first detection information from the first tip detection unit and the second detection information from the second tip detection unit, the first drive unit and the second drive unit 2 is transmitted to the first control unit and the second control unit, the arrangement information for arranging at a predetermined seal position is transmitted to the first control unit and the second control unit. The first gripping unit is a pair of first gripping rollers having at least a surface having elasticity, and the first driving unit is configured to forwardly and reversely rotate at least one of the pair of first gripping rollers. The first rotation drive unit
The second gripping unit is a pair of second gripping rollers having at least a surface having elasticity, and the second driving unit is configured to forwardly and reversely rotate at least one of the pair of second gripping rollers. The to-be-sealed body position correcting device according to claim 1, further comprising: a second rotation driving unit. A first opening detection unit that detects the opening disposed between the pair of first gripping rollers when the pair of first gripping rollers is in an open state;
And a second opening detection portion that detects the opening disposed between the pair of second gripping rollers when the pair of second gripping rollers is open. ,
The main control unit drives the pair of first gripping rollers and the pair of second gripping rollers based on a result of the first and second opening detection units detecting the opening, respectively, The sealed body position correcting device according to claim 3, wherein the vicinity of the opening is gripped.   The sealed object according to any one of claims 1 to 4, wherein the sealed object includes a sensing part that has been subjected to a process for improving the detection sensitivity of the first and second tip sensing parts. Position correction device.   The sealing system provided with the to-be-sealed body position correction apparatus of any one of Claims 1-5, and a sealing apparatus. A sealed body used in the sealed body position correcting device according to any one of claims 1 to 4,
A to-be-sealed body having a sensing unit that has been subjected to processing for improving the detection sensitivity of the first and second tip detection units.

Images