JP6274575B2 - Boxing equipment - Google Patents

Description

  The present invention relates to a boxing device.

  Products such as potato chips and other snacks are often distributed in a state of being wrapped by a bag-like film. Usually, the production of such a packaged product is completed by a boxing process in which a large number of packaged products are stored in a packaging box such as a cardboard box for shipping. In recent years, the boxing process is often performed by automation. The boxing device used there first picks up a plurality of packages to be formed in one stage from a belt conveyor at a time, and puts them in a packing box. Thereafter, the boxing device repeats this operation several times, and finally accumulates a predetermined number of steps in the packing box.

  The boxing device disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 2013-18519) forms one step with three packages, and then puts the step into a packing box. This stage consists of two packages that are spaced slightly smaller than the width of one package, and one more package that is stacked over the two packages to cover the gap. Become. In other words, all of the three packaged products are arranged horizontally, and adjacent ones of the three packaged products partially overlap each other.

  However, when the boxing device puts the step into the packaging box, the packaged product may partially touch the packaging box and the packaged product may remain in an inappropriate position. For example, when the flap of the packaging box is standing upright, the packaged product may remain in the gap between adjacent flaps. Alternatively, if the packaging box flaps are bent outward, the package, especially the topmost stack, may protrude beyond the edges of the box, i.e., the base of the flaps, and remain there.

  In particular, when the packaged product has a protruding portion, the packaged product is likely to remain in an inappropriate position. The protruding portion referred to here is, for example, a corner portion of the packaged product protruding as a result of filling with contents such as potato chips.

  As described above, when the packaged product stays in an inappropriate place, it becomes difficult for the operator or the machine to fold the flap after the predetermined number of packages are accommodated in the packaging box, thereby closing the packaging box.

  The subject of this invention is providing the boxing apparatus which accommodates a packaged article in the appropriate space in a packing box, and performs a boxing process normally.

  The boxing apparatus which concerns on the 1st viewpoint of this invention puts the several film package goods including a 1st film package product and a 2nd film package product in the box which has an upper opening. The boxing device includes an alignment mechanism and a gripping movement mechanism. The alignment mechanism aligns a plurality of film package products to form a first package product alignment group, and disposes the first film package product and the second film package product at both ends of the first package product alignment group, respectively. The gripping movement mechanism simultaneously grips each of the plurality of film packaged products included in the first packaged product alignment group and moves the plurality of film packaged products from the upper opening into the box. Each of the first film package and the second film package has a center of gravity, an inner part closer to the center of gravity, and an outer part farther from the center of gravity. The gripping movement mechanism grips the first film packaged product and the second film packaged product at the outer portion thereof. Furthermore, the gripping and moving mechanism moves the first film packaged product and the second film packaged product in a state in which the respective inner portions are tilted so as to be lower than the outer portions.

  According to this configuration, even if the end of the package is in contact with the gap between the flaps of the box or the edge of the box, the surface of the package that contacts the box is inclined. Is slid down into the box. Therefore, the probability that the boxing process is successful increases.

  The boxing apparatus according to the second aspect of the present invention handles a plurality of film packaged products including a third film packaged product. The third film package has a center of gravity. The gripping movement mechanism grips the third film package product at the position of the center of gravity or a position near the center of gravity.

  According to this configuration, since one step can be efficiently made from three or more packages, more packages can be accommodated in the box.

  In the boxing apparatus according to the third aspect of the present invention, the alignment mechanism includes a third film packaging product such that the third film packaging product is disposed on each inner portion of the first film packaging product and the second film packaging product. The film package is partially overlapped with the first film package and the second film package.

  According to this configuration, since the weight of the third film package at the center acts on the first and second film packages at both ends, it is effective that the package at both ends slide down into the box. As a result, the package is prevented from remaining in an inappropriate place.

  In the boxing apparatus according to the fourth aspect of the present invention, the alignment mechanism arranges the plurality of film packaged products in the same arrangement as the plurality of film packaged products constituting the first packaged product alignment group, and performs the second packaging. Create a product lineup. The gripping movement mechanism grips the second packaged product alignment group, moves the second packaged product aligned group into the box, and the first packaged product aligned group arranged in the box. Stack on top.

  According to this configuration, since a plurality of steps can be accommodated in the box, the accommodation efficiency can be increased.

  In the boxing device according to the fifth aspect of the present invention, the gripping movement mechanism has a plurality of suction means. The gripping movement mechanism grips the plurality of film packaged products by sucking the plurality of film packaged products with the plurality of suction means.

  According to this structure, the goods packaged with the film can be reliably gripped using the suction means.

  In the boxing apparatus according to the sixth aspect of the present invention, the alignment mechanism includes a parallel link robot.

  According to this configuration, when arranging a plurality of packaged products, the arrangement and direction of each packaged product can be accurately determined.

  In the boxing apparatus according to the seventh aspect of the present invention, the gripping movement mechanism includes a parallel movement robot.

  According to this structure, the operation | work which packs the aligned several packaged goods in a box can be borne by a simple machine, and the cost of mechanization can be reduced.

  By using the boxing device according to the present invention, the packaged product can be normally stored in the packing box without unreasonably staying in the gap between the flaps of the packing box or the edge of the packing box.

It is a front view of the boxing apparatus which concerns on one Embodiment of this invention. It is a figure which shows the internal structure of the boxing apparatus shown in FIG. It is a figure which shows a film packaging product. It is a top view of the boxing apparatus shown in FIG. It is a figure which shows the head before attracting | sucking a packaged product. It is a figure which shows the head which is performing suction of a packaged product. It is a figure which shows the head which has lifted the package. It is a figure which shows the packaging box which finished the boxing process. It is a figure which shows the 1st modification of the internal structure of the boxing apparatus shown in FIG. It is a top view of the boxing apparatus which concerns on the 1st modification shown in FIG. It is a figure which shows the 2nd modification of the internal structure of the boxing apparatus shown in FIG. It is a top view of the boxing apparatus which concerns on the 2nd modification shown in FIG.

(1) Overall Configuration FIG. 1 shows the appearance of a boxing device according to an embodiment of the present invention. The frame 10 of the boxing device 1 is provided with an inlet area 11 for taking in the packaged goods 5 and an outlet area 12 for discharging the packaging box 6 that has received a plurality of packaged goods 5.

  FIG. 2 shows the internal configuration of the boxing device 1. This internal configuration includes a transport mechanism 2, an alignment mechanism 3, a gripping movement mechanism 4, and a packaged product discharge mechanism 9.

(2) Detailed Configuration (2-1) Transport Mechanism As shown in FIG. 2, the transport mechanism 2 transports the packaged product 5 along a route from the entrance area 11 to the exit area 12. The transport mechanism 2 includes a first conveyor 21, a second conveyor 22, and a third conveyor 23.

(2-1-1) 1st conveyor The 1st conveyor 21 conveys the package 5 in the entrance area 11, and consists of a belt conveyor, for example.

(2-1-2) 2nd conveyor The 2nd conveyor 22 is used in the process in which a some package is arranged and a "step" is made. The “stage” here is a layer stacked in the packing box 6. For example, three stages are stacked in the packaging box 6 after the boxing process, and each stage is composed of three packages.

  The 2nd conveyor 22 consists of a belt conveyor, for example, and is arrange | positioned at the substantially same height as the 1st conveyor 21. FIG.

(2-1-3) Third Conveyor The third conveyor 23 is fed from the packing box entrance area 15 and conveys the empty packing box 6 received via the conveyor roller 81. On the third conveyor 23, the packing box 6 accommodates the above-mentioned "stage". The third conveyor is composed of, for example, a belt conveyor, and is disposed at a position lower than the first conveyor 21 and the second conveyor 22.

(2-1-4) Other Configurations The spare entrance area 13 and the spare exit area 14 provided in the front stage and the rear stage of the second conveyor 22, respectively, allow the user to change the boxing device 1 according to necessity. Allows to be used in the way. For example, when the user wants to use a flattened small packaging box instead of the large packaging box 6 shown in FIG. 2, the user can use such a small packaging box from the outside as a spare entrance. A mechanism for entering the area 13 may be added. In this case, all the operations for packing the packaged product 5 into a small packing box may be performed by the alignment mechanism 3 described later, or the small packing box after the boxing operation may be discharged from the preliminary exit area 14. Good.

(2-2) Alignment Mechanism The alignment mechanism 3 aligns the packaged product 5 conveyed by the first conveyor 21 on the second conveyor 22 and creates a step 50 composed of a plurality of packaged products 51, 52, 53. .

  The alignment mechanism 3 includes, for example, a parallel link robot having a head 31, a contact tool 32, three arms 33, a base 34, and a hose 35.

  The alignment mechanism 3 controls a pump (not shown) connected to the hose 35 and sucks air from the contact tool 32 installed in the head 31. By this suction, the alignment mechanism 3 can grip the packaged product 5 in contact with the contact tool 32. For this purpose, the contact tool 32 is preferably formed of a material having flexibility and elasticity.

  The base 34 stores a plurality of motors (not shown). The alignment mechanism 3 controls the motor to drive the three arms 33, thereby moving or rotating the head 31 three-dimensionally.

(2-3) Grasping and moving mechanism The grabbing and moving mechanism 4 grips each of the packaged goods 51, 52, and 53 constituting the step 50 placed on the second conveyor 22 at a time, and holds them at the packing box 6 Move in.

  The gripping movement mechanism 4 includes, for example, a parallel movement robot having a head 41, a contact tool 42, a mast 43, a vertical movement device 44, a horizontal movement device 45, and a hose 46.

  The gripping movement mechanism 4 controls a pump (not shown) connected to the hose 46 and sucks air from the contact tool 42 installed on the head 41. By this suction, the gripping movement mechanism 4 can grip the packaged goods 51, 52, 53 that have contacted the contact tool 42 at a time. For this purpose, the contact tool 42 is preferably formed of a material having flexibility and elasticity.

  The gripping and moving mechanism 4 has a vertical moving device 44 and a horizontal moving device 45 that are driven by a plurality of motors (not shown). The vertical movement device 44 can move the mast 43 connected to the head 41 up and down. The horizontal movement device 45 can move the vertical movement device 44 together with the head 41 horizontally. Therefore, the vertical moving device 44 and the horizontal moving device 45 can move the head 41 to an arbitrary position in the yz plane extending in the y direction and the z direction shown in FIG.

(2-4) Packaged Product Discharging Mechanism The packaged product discharging mechanism 9 discharges the packaged product 5 that missed the opportunity to be picked up by the alignment mechanism 3 in the process of being conveyed by the first conveyor 21 from the path of the conveying mechanism 2.

  The packaged product discharge mechanism 9 includes, for example, a stage 91, a sensor 92, and an air jet device 93.

  The sensor 92 detects that the packaged product 5 has been placed on the stage 91. The air jet device 93 blows high-pressure air toward the package 5 according to the detection signal of the sensor 92. As a result, the packaged product 5 is blown off in the −y direction and is removed from the path of the transport mechanism 2.

(3) Packaged goods FIG. 3 is the external appearance of the packaged goods 5 which this boxing apparatus 1 handles. The packaged product 5 is obtained by packaging contents such as potato chips and other snacks with a film 55. Seal portions 56 are formed on the upper and lower sides of the packaged product 5. Further, a protrusion 57 is generated at each of the four corners of the packaged product 5 as the contents are filled. As described above, the protruding portion 57 can be one of the factors that hinder the boxing process and the operation of closing the packing box.

(4) Overall Operation With reference to FIG. 2 again, the operation of the boxing device 1 will be described.

  A conveyor 101 installed in the front stage of the boxing device 1 conveys the packaged goods 5 one by one. Those packages 5 are sequentially sent to the entrance area 11 of the boxing device 1.

  The first conveyor 21 conveys the packaged product 5 in the entrance area 11 in the x direction. At this time, the packaged product 5 is disposed such that its two seal portions 56 (see FIG. 3) are separated in the x direction. Normally, the conveyance is performed at a constant speed. However, when a delay is detected in the processing of the subsequent mechanism, the first conveyor 21 may temporarily interrupt the conveyance.

  Alternatively, when the transport of the first conveyor 21 cannot be interrupted because a large amount of the packaged product 5 is transported from the conveyor 7 to the boxing device 1, it is picked up by the alignment mechanism 3 in the process of being transported by the first conveyor 21. The packaged product discharge mechanism 9 may discharge the packaged product 5 that missed the opportunity.

  The alignment mechanism 3 first moves the first package 51 from the first conveyor 21 to the second conveyor 22. In the course of this movement, as shown in FIG. 4, the alignment mechanism 3 rotates the head 31 by 90 °. By this rotation, the alignment mechanism 3 can arrange the packaged goods 51 on the second conveyor 22 so that the two seal portions 56 (see FIG. 3) are separated in the y direction. Returning to FIG. 2, the alignment mechanism 3 then rotates and moves the second package 52 in the same manner and places it next to the first package 51 on the second conveyor 22. Finally, the alignment mechanism 3 rotates and moves the third package 53 in the same manner, and overlaps both the first package 51 and the second package 52. In this way, the alignment mechanism 3 creates the step 50.

  The second conveyor 22 conveys the step 50 toward the gripping movement mechanism 4.

  The gripping and moving mechanism 4 causes the head 41 to approach the step 50 placed on the second conveyor 22, and brings the contact tool 42 into contact with all the packaged products 51, 52, and 53 constituting the step 50. And the holding | grip movement mechanism 4 hold | grips the packaged goods 51, 52, 53, and lifts them vertically. Thereafter, as shown in FIG. 4, the gripping and moving mechanism 4 moves the packaged goods 51, 52, and 53 horizontally above the packaging box 6. Next, the gripping and moving mechanism 4 carries the packages 51, 52, and 53 vertically into the lower packaging box 6. Finally, the gripping movement mechanism 4 stops sucking air and releases the grips of the packaged products 51, 52, and 53.

  The boxing device 1 stacks a predetermined number of steps in the packing box 6 by repeating this operation a predetermined number of times.

  Returning to FIG. 2, finally, the third conveyor 23 discharges the packing box 6 that has been boxed from the exit area 12, and sends it to the conveyor roller 102 installed at the rear stage of the boxing apparatus 1. Thereafter, the flap 62 of the packaging box 6 is folded by an operator or a machine, whereby the packaging box 6 is closed.

(5) Features With reference to FIGS. 5 to 8, the process in which the gripping movement mechanism 4 moves the step 50 from the second conveyor 22 into the packing box 6 will be described below.

  As shown in FIG. 5, first, the head 41 of the gripping and moving mechanism 4 approaches the packaged products 51, 52, and 53 placed on the second conveyor 22. As a result, as shown in FIG. 6, the contact tool 42 comes into contact with each of the packaged products 51, 52, and 53. About the packaged goods 51 and 52 of both ends, the contact tool 42 contacts the position which shifted | deviated from those gravity centers G. FIG. That is, in each of the packaged goods 51 and 52, the contact tool 42 contacts the outer portion 58 outside the center line C where the center of gravity G is thought to exist, while the inner portion 59 inside the center line C contacts The contact tool 42 does not touch.

  Next, as shown in FIG. 7, the head 41 grips and lifts the packaged products 51, 52, 53, and moves it to above the upper opening 61 of the packaging box 6. Since the contact tool 42 holds the outer parts 58 of the packaged goods 51 and 52 at both ends, the respective packaged goods 51 and 52 are inclined so that the inner part 59 is lower than the outer part 58. Along with this, the protruding portions 57 of the packaged products 51 and 52 are also inclined.

  Next, the head 41 moves downward toward the packaging box 6, and puts the packaged products 51, 52, 53 into the packaging box 6.

  In the configuration shown in FIG. 7, the flaps 62 of the packing box 6 are upright, and a gap is formed between adjacent flaps 62. At this time, even if the protrusions 57 or other parts of the packaged goods 51 and 52 at both ends come into contact with the vicinity of the gap of the flap 62 of the packaging box 6, the packaged goods 51 are inclined by the inclination of the part in contact with the packaging box 6. , 52 is urged to slide into the packaging box 6.

  Or, unlike FIG. 7, even if the flap 62 of the packaging box 6 is bent outward, the packaged goods 51 and 52 at both ends--for example, the packaged goods 51 to be stacked on the uppermost stage, Even if the end of 52-- contacts with the edge 63 of the packaging box 6, the packaged products 51, 52 are packed without protruding out of the edge 63 due to the inclination of the portion in contact with the packaging box 6. You are prompted to slide down into the box 6.

  As a result, in any case, the packages 51 and 52 are suppressed from staying in an inappropriate place.

  Furthermore, since the weight of the package 53 in the center acts on the packages 51 and 52 at both ends, it is effectively promoted that the packages 51 and 52 at both ends slide into the packaging box 6.

  Finally, the packing box 6 that has finished the boxing process as shown in FIG. 8 is discharged from the outlet area 12 of the boxing apparatus 1. Thereafter, the packaging box 6 is closed by the operator or the machine bending the flap 62 of the packaging box 6. At this time, there is no phenomenon in which the protruding portion 57 of the package 5 is sandwiched between the gaps of the flap 62 of the packaging box 6 or the phenomenon that the end of the package 5 protrudes from the edge 63 of the packaging box 6. The work of closing is easy.

(6) Modification (6-1) First Modification FIG. 9 shows a first modification of the internal configuration of the boxing device 1 shown in FIG. Further, FIG. 10 shows a plan view of the first modification.

  The difference between the first modification and the configuration of FIG. 2 is the structure of the packaged product discharge mechanism 9.

  The packaged product discharge mechanism 9 in the first modification has a pocket 94 and a slope 95 in place of the stage 91 of FIG. Further, the sensor 92 and the air jet device 93 are installed in a place different from the configuration of FIG.

  The package 5 that missed the opportunity to be picked up by the alignment mechanism 3 in the process of being conveyed by the first conveyor 21 falls into the pocket 94. The sensor 92 detects that the package 5 has come into the pocket 94. The air jet device 93 blows high-pressure air toward the package 5 according to the detection signal of the sensor 92. As a result, the packaged product 5 is blown off in the y direction under the second conveyor 22, and is removed from the path of the transport mechanism 2 by sliding down the slope 95.

  The fact that the packaged product discharge mechanism 9 can have various structures as shown in FIGS. 2 and 9 significantly increases the degree of freedom in designing the production line of the packaged product 5.

(6-2) Second Modification FIG. 11 shows a second modification of the internal configuration of the boxing device 1 shown in FIG. Further, FIG. 12 shows a plan view of the second modification.

  The difference between the second modification and the first modification is the structure of the transport mechanism for the packing box 6.

  The empty packaging box 6 is first placed on the conveyor roller 103 and pushed into the packaging box entrance area 15. Thereafter, the packing box 6 is moved in the −y direction by the conveyor 82 and is transferred to the third conveyor 23. On this third conveyor 23, the packaging box 6 accommodates packaged products 51, 52, 53 that constitute the step 50.

  According to this configuration, a large space in which no components are present is created in the lower portion of the boxing device 1. This space can be used for any purpose.

DESCRIPTION OF SYMBOLS 1 Box-packing apparatus 2 Conveyance mechanism 3 Alignment mechanism 4 Grasping movement mechanism 5 Packaged goods 6 Packing box 9 Packaged product discharge mechanism 10 Frame 11 Entrance area 12 Exit area 13 Spare entrance area 14 Spare exit area 15 Packing box entrance area 21 Second conveyor 23 Third conveyor 31 Head 32 Adsorber 33 Arm 34 Base 35 Hose 41 Head 42 Adsorber 43 Mast 44 Vertical moving device 45 Horizontal moving device 46 Hose 50 Stage 51 First package 52 Second packaging Product 53 Third package 55 Film 56 Sealing portion 57 Protruding portion 61 Upper opening 62 Flap 63 Edge 81 Conveyor roller 82 Conveyor 91 Stage 92 Sensor 93 Air jet device 94 Pocket 95 Slope 101 Conveyor 102 Conveyor roller 103 Nbearora

JP 2013-18519 A

Claims (7)

A boxing device for placing a plurality of film packages including a first film package and a second film package in a box having an upper opening,
An alignment mechanism for aligning the plurality of film packaged products to form a first packaged product alignment group and disposing the first film packaged product and the second film packaged product at both ends of the first packaged product alignment group, respectively. When,
A gripping and moving mechanism for simultaneously gripping each of the plurality of film packaged products included in the first packaged product alignment group and moving the plurality of film packaged products from the upper opening into the box;
With
Each of the first film package and the second film package has a center of gravity, an inner part closer to the center of gravity, and an outer part farther from the center of gravity,
The gripping movement mechanism grips both the first film packaged product and the second film packaged product at the outer part thereof,
The boxing device, wherein the gripping and moving mechanism moves the first film packaged product and the second film packaged product in a state in which each inner part is tilted so as to be lower than the outer part. The plurality of film packages further includes a third film package,
The third film package has a center of gravity;
The boxing device according to claim 1, wherein the gripping movement mechanism grips the third film package product at a position of the center of gravity or a position in the vicinity of the center of gravity.   The alignment mechanism moves the first film package product to the first film package product so that the third film package product is disposed on an inner portion of each of the first film package product and the second film package product. The boxing device according to claim 2, wherein the boxing device is partially overlapped with the film package and the second film package. The alignment mechanism arranges a plurality of further film packages in the same arrangement as the plurality of film packages constituting the first package alignment group to form a second package alignment group,
The gripping movement mechanism grips the second packaged product alignment group, moves the second packaged product aligned group into the box, and the second packaged product aligned group is arranged in the box. The boxing device according to any one of claims 1 to 3, wherein the boxing device is stacked on the first packaged product alignment group.   The gripping movement mechanism has a plurality of suction means, and grips the plurality of film packages by sucking the plurality of film packages with the plurality of suction devices. The boxing device according to one item.   The boxing device according to any one of claims 1 to 5, wherein the alignment mechanism includes a parallel link robot.   The boxing device according to any one of claims 1 to 6, wherein the gripping movement mechanism includes a parallel movement robot.

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