JP6836293B1 - Bag removal device, bag removal method, and food bagging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bag taking-out device capable of surely taking out a packaging bag for packaging food one by one. SOLUTION: The bag taking-out device has a bag taking-out opening 310 prepared in a bag stock unit 300, and bag accommodating portions 302a and 302b defined by several accommodating wall portions 304 erected so as to surround the packaging bag PB. Has. The packaging bag PB is supported by a pair of protrusions 320 and pillows 330 prepared inside the bag accommodating portions 302a and 302b, respectively, curved toward the bag taking-out opening 310, and opposed toward the accommodating wall portion 304. Be placed in a position to be squeezed. The curved and curved packaging bag PB is sucked and attracted from the front side to the back side of the paper surface, and is taken out to the outside of the bag take-out opening 310. [Selection diagram] Fig. 5

Description

The present invention relates to a bag taking-out device for a packaging bag for packaging foods such as sandwiches, a bag taking-out method, and a food bagging device.

For example, a food bagging device for loading food such as a triangular or square sandwich into a packaging bag has a bag stock mechanism for stacking packaging bags to which sandwiches are loaded, and a large number of bags laminated in the bag stock mechanism. A bag taking-out mechanism for taking out one bag, a bag opening mechanism for opening the opening of the bag taken out from the bag taking-out mechanism, a bagging mechanism for loading food into a packaging bag through the opening of the opened bag, and a bagging mechanism performed after packing. It is known that a series of operations such as folding and binding of a packaging bag, a sealing mechanism performed after binding of a packaging bag, and labeling are automatically performed or a part of them is manually performed. In any case, such a food bagging device will be provided with a bag stock mechanism for stacking packaging bags and a bag taking-out mechanism for taking out packaging bags one by one from the bag stock mechanism.

Patent Document 1 discloses a sheet material take-out and supply device, and stacks a large number of sheet materials by laminating and installing them, and sucking the sheet material surface facing the take-out port in a direction opposite to the laminating direction. Disclosed is a sheet material taking-out device for sequentially taking out the sheet materials. In particular, it is equipped with a mechanism for preventing multiple sheets such as two sheets.

Patent Document 2 discloses a method for taking out a laminated bag, an apparatus thereof, and a bag supply apparatus. Patent Document 2 relates to separating the package for triangular sandwich from the bag bundle, and sequentially takes out the bag from above the stacked bags, and pulls up the bag by adsorbing the upper surfaces of the bag accommodating portion and the extending portion. It is provided with a suction means and a separation means for lifting the side edge portion in the width direction of the bag to separate it from the bag overlapping underneath. As a result, a plurality of bags are not brought into close contact with each other due to negative pressure, and the bags can be satisfactorily separated and taken out one by one.

Patent Document 3 discloses a triangular sandwich package bag feeding device having a suction mechanism for sucking and separating the triangular sandwich package from the bag bundle of the triangular sandwich package from below the bag bundle. Unlike Patent Document 2, which sucks from above the bag bundle, it is taken out from below the bag bundle.

Patent Document 4 discloses a transport system capable of suppressing damage to a packaging bag loaded with sandwiches and transporting the gripped sandwich to the packaging bag. This transfer system includes a robot having a first arm and a second arm. The first arm and the second arm each have a pair of holding portions. A suction portion is provided on the inner surface of the first holding portion of the first arm, and the distance between the inner surfaces can be changed. This transport system includes a packaging bag supply device that supplies stacked packaging bags one by one while opening the openings thereof. In addition, the transport system is equipped with a control device. This control device operates a packaging bag supply device, the inner surface of the first holding portion hits the outer surface of the packaging bag, the outer surface of the packaging bag is adsorbed by the suction portion, and the distance between the inner surfaces of the pair of first holding portions is sandwiched. The first arm is operated so as to be larger than the length dimension of.
Further, Patent Document 4 discloses an embodiment using a pair of robots, that is, two robots, and by bringing the second arms of the respective robots close to each other, for example, the two sandwiches in which the slopes of the sandwich come into contact with each other It is said that movement in the front-back direction is hindered.

Patent Document 5 discloses a bagging device for sandwiches and the like. In this bagging device, in order to increase the throughput of the bagging work of sandwiches, the sandwich loading mechanism, the packaging bag supply mechanism, the packaging bag opening mechanism, the packaging posture changing mechanism, and the packaging loading mechanism are each provided in duplicate.

Patent Document 6 discloses a sandwich bagging device that automatically and quickly bags sandwiches. This sandwich bagging device scoops up a sandwich with a pair of holding plates having substantially the same shape as the side surface shape of the sandwich, and the bag opening means has a suction mechanism for sucking the opening edge side of the packaging bag.

Patent Document 7 discloses an article gripping device and a container packing device capable of holding foods such as sandwiches, confectionery, bread, and rice balls on a table, a workbench, a tray, etc. without losing their shape and without damaging them.

Patent Document 8 discloses an automatic sandwich storage device for a bag-shaped wrapping film, in which sandwiches are sent in order from the top to a large number of bag-shaped wrapping films and automatically sent to the side of a wrapping work line.

Jikken Sho 60-22024 (Figs. 2 and 3) Japanese Unexamined Patent Publication No. 2018-144826 (FIGS. 1 and 4) JP-A-2019-43656 (Fig. 4, Fig. 2, Fig. 12) Japanese Unexamined Patent Publication No. 2018-104004 (FIGS. 1, FIG. 2, FIG. 12) Japanese Unexamined Patent Publication No. 11-301615 (FIGS. 1 to 6) Japanese Unexamined Patent Publication No. 2014-94775 (FIGS. 1 to 9) Japanese Unexamined Patent Publication No. 2014-198571 (FIGS. 1 to 7) Japanese Unexamined Patent Publication No. 7-172407 (FIGS. 1, FIG. 2, FIG. 4, FIG. 5)

The present invention relates to the technical ideas disclosed in each of the above patent documents. In particular, the present invention provides a bag taking-out device capable of sequentially separating and taking out one by one from the direction opposite to the laminating direction by adding a member having an extremely simple structure to the conventional bag stock mechanism. To do. Further, the present invention provides a bag taking-out method capable of quickly and surely taking out the packaging bags one by one. Further, it is an object of the present invention to provide a bag taking-out device or a food bagging device using such a bag taking-out method.

One aspect of the bag taking-out device according to the present invention is a bag taking-out device for sequentially taking out the packaging bags laminated on the bag stock unit from the opposite direction of the stacking direction, and the bag stock unit is placed with the packaging bag. A rectangular opening bored in the mounting surface to be mounted, a plurality of storage walls arranged around the opening so as to surround the packaging bag, and defining a storage position of the packaging bag, and the above-mentioned In order to support the two separated parts of the packaging bag, a pair of protrusions projecting upward between the opening and the accommodating wall and the direction in which the two parts are lined up intersect. In order to support the separated parts of the packaging bag, a pillow portion arranged along one side of the opening is provided, and the lowermost packaging bag among the packaging bags laminated on the bag stock unit is used. It is provided with a bag taking-out mechanism that sucks from the opening and takes out the bag stock unit to the outside.

One aspect of the bag taking-out method according to another invention according to the present invention is from claim 1, wherein the bag stock unit for stacking the bagging bags and the bag taking-out mechanism for taking out the bagging bags one by one from the bag stock unit are provided. A bag taking-out method for taking out the packaging bag using the bag taking-out device according to any one of claim 11, wherein the bag taking-out mechanism takes out the bag when taking out the packaging bag from the bag stock unit. After the suction pad is brought into contact with the bottom layer packaging bag facing the opening of the stock unit, the contact portion is lifted to a predetermined height at the first speed, and the bottom layer packaging bag is sucked and sucked by the suction pad. By lowering the suction pad at a second speed lower than the first speed, the lowermost packaging bag is taken out from the opening.

One embodiment of the food bagging apparatus according to still another invention according to the present invention is a supply transport path for supplying food, a bag stock unit for stacking packaging bags loaded with the food, and the bag stock unit. The bag taking-out device according to any one of claims 1 to 11, further comprising a bag taking-out mechanism for taking out the packaging bags one by one from the packaging bags laminated in the above, and the packaging taken out by the bag taking-out device. A bag opening mechanism for opening a bag, a food loading mechanism for loading the food into the packaging bag opened by the bag opening mechanism, and a unloading mechanism for carrying out the food loaded in the packaging bag by the food loading mechanism. , A carry-out transport path for transporting the food to be carried out from the carry-out mechanism.

The bag taking-out device according to the present invention can handle the stacked packaging bags and separate and cut out the packaging bags one by one. Further, in the bag taking-out method according to the present invention, the packing bag is vibrated before being taken out by sucking the suction pad on the packing bag to further handle the bag, so that the separation accuracy of the packaging bag can be improved. Further, in the food packaging packing device according to the present invention, only the packaging bag stock unit and the inlet and outlet of the food transport are exposed on the outer surface of the housing portion, and the other mechanisms are stored in the housing portion, so that the food hygiene It is possible to ensure the safety of. Further, since the food bagging device according to the present invention has a substantially rectangular parallelepiped shape in which there are no partially protruding parts in the lateral direction, depth, and height direction of the device, the factory does not care about the arrangement of other devices. It can be easily arranged inside and is suitable for the cell production method.

It is a schematic perspective view which shows the inside when the housing part of the food bagging apparatus which concerns on one Embodiment of this invention is removed. It is a partially enlarged view of the schematic perspective view shown in FIG. It is a figure seen from the back side in the direction shown in FIG. It is a top view of one packaging bag provided for the food bagging apparatus of this invention. It is a top view which shows the positional relationship when the packaging bag shown in FIG. 4 is placed on a bag stock mechanism. It is a figure which shows the relationship between the size of a part part of the packaging bag shown in FIG. 4 and the size of the bag take-out opening provided in the bag stock mechanism. It is a schematic perspective view of the bag stock mechanism which concerns on this invention. It is a schematic perspective view which is different from the bag stock mechanism shown in FIG. 7, and is an enlarged view of the vicinity of the portion where the two are different. 7 is a schematic perspective view illustrating a bag stock mechanism different from the bag stock mechanism shown in FIGS. 7 and 8. 5 is a schematic side view comparing the postures of the packaging bag when the protrusions and pillows shown in FIGS. 5, 7 and 8 are provided in the bag stock mechanism and when they are not provided. It is a schematic flow chart which shows the procedure which supports the packaging bag on the protrusion and the pillow part which concerns on this invention, and executes the bag taking-out method which concerns on this invention. FIG. 5 is a schematic flow chart showing a procedure for taking out a packaging bag from a bag stock mechanism without preparing a protrusion and a pillow according to the present invention in comparison with FIG. It is a top view which showed the posture of the robot when the food loading mechanism shown in FIG. 1 grips a pair of sandwich SAs. It is a side view which shows the posture when the pair of robots shown in FIG. 13 hold each sandwich and load it into a packaging bag. It is a figure which shows an example of the food gripping part which holds the sandwich adopted in this invention. It is a figure which shows the carry-out mechanism (package article posture direction change mechanism) which concerns on this invention. It is a perspective view when the food bagging device which concerns on this invention is stored in a housing part. It is a perspective view seen from the back side of FIG. It is a figure which shows the layout of an example when a plurality of food bagging devices shown in FIGS. 17 and 18 are installed.

FIG. 1 is a perspective view when the housing portion of the food bagging device according to the embodiment of the present invention is removed. The housing portion referred to in this document refers to an exterior portion, a cover, a door, a support member, and the like of a box body for storing a food bagging device.

The food bagging device 100 is a supply transport path 12, a supply transport path 12, which supplies so-called unpackaged food before being loaded into a packaging bag, such as a triangular or square sandwich, rice balls, bread, or castella. An intermediate transport path 14 prepared for loading unpackaged food into the packaging bag, and a so-called semi-packaged state in which the packaging bag is loaded with food but the sealing portion of the packaging bag is left open. It has a carry-out transport path 16 for carrying out the food of the above, and an auxiliary transport path 18 for carrying out the food determined to be out of the packaging. A camera unit 20 for observing the shape and posture of the sandwich SA is provided above the intermediate transport path 14. Based on the image observed by the camera unit 20 and the image analysis result thereof, it is determined whether or not the food is suitable for packaging. In the following description, the food will be described as a triangular sandwich.

Among the sandwich SAs, those determined to be suitable for packaging are processed in the route of supply transport path 12 → intermediate transport path 14 → carry-out transport path 16, and are carried out as semi-packaged food SAP from carry-out transport path 16. Here, the semi-packaged food refers to a state in which the bag sealing portion (FIG. 4, reference numeral 96) of the packaging bag PB, which will be described later, is in a half-opened state and is not completely sealed. Downstream of the carry-out transport path 16, a bag sealing mechanism (not shown), a sealing mechanism, and the like that completely seal the bag sealing portion are provided.

Sandwich SAs that are determined to be defective for packaging are processed in the route of supply transport path 12 → intermediate transport path 14 → auxiliary transport path 18. Here, the defect is, for example, a case where a part of the sandwich SA is missing, or the size is smaller or larger than the size to be packaged. Such a sandwich SAB is carried out from an auxiliary transport path 18 prepared separately from the carry-out transport path 16.

The supply transport path 12, the intermediate transport path 14, the carry-out transport path 16, and the auxiliary transport path 18 include a food conveyor. As the material of the conveyor, for example, thermoplastic polyurethane (TPU), polyvinyl chloride (PVC), fluororesin, silicon, etc., which are excellent in antibacterial and antifungal properties, are often used.

Under the configuration in which the supply transport path 12, the intermediate transport path 14, and the auxiliary transport path 18 are arranged substantially in a straight line, it should be possible to originally configure the same single food conveyor. However, in one embodiment of the present invention, the processing content on each conveyor is different, so the configuration is intentionally divided so that the speed can be appropriately adjusted according to each processing.

The slopes of the two sandwich SAs having a triangular shape in a plan view are brought into the supply transport path 12 in a state of contact or close to contact. A device called a sandwich slicer (not shown) can be connected upstream of the supply transport path 12. A sandwich slicer is a device that originally cuts a sandwich having a rectangular shape in a plan view diagonally and forms it into a triangular shape, or a small size quadrilateral shape.

The food bagging device 100 includes a bag stock mechanism 30, a bag taking-out mechanism 40, a bag opening mechanism 50, a food loading mechanism 60, a carrying-out mechanism (packaging product posture direction changing mechanism) 70, and the like, in addition to the above-mentioned transport paths. ing.

The bag stock mechanism 30 is provided at a position adjacent to the supply transport path 12 and the intermediate transport path 14. The bag stock mechanism 30 has a pair of bag accommodating portions 302a and 302b for accommodating the packaging bag PB (see FIG. 4). Each of the bag accommodating portions 302a and 302b has several accommodating wall portions 304 mounted upright. The material of the accommodating wall portion 304 is, for example, SUS (stainless steel), and the thickness thereof is about 2 mm. The packaging bag PB shown in FIG. 4 described later is laminated on the portion surrounded by several storage wall portions 304. The parts of several storage wall portions 304 surrounding the packaging bag PB are adjusted according to the size of the packaging bag PB. Each member constituting the bag stock mechanism 30 and the configuration and operation of each member will be described later.

The bag taking-out mechanism 40 is provided substantially directly below the bag stock mechanism 30 so that the bag taking-out mechanism 40 can be taken out one by one from the lowermost part of the packaging bag PB laminated on the bag accommodating portions 302a and 302b. The bag taking-out mechanism 40 takes out one packaging bag PB at the same time from the pair of bag accommodating portions 302a and 302b prepared in the bag stock mechanism 30. For example, 600 packaging bags, 1200 packaging bags in total, are laminated on each of the pair of bag accommodating portions 302a and 302b. The bag take-out mechanism 40 is provided with suction pads (bag take-out pads 402a and 402b shown in FIG. 2) for sucking the back surface of the laminated lowermost packaging bag PB, and the sucked packaging bag PB is sucked. In the state, it is moved toward the adjacent bag opening mechanism 50.

The bag opening mechanism 50 has a function of expanding the opening of the flaky packaging bag PB taken out by the bag taking-out mechanism 40, that is, the inlet side (FIG. 4, reference numeral 96) for loading the sandwich SA, and is in the vicinity of the bag taking-out mechanism 40. It is prepared in.

The food loading mechanism 60 has a function of loading the sandwich SA from the opening (FIG. 4, reference numeral 96) of the packaging bag PB that is largely opened by the bag opening mechanism 50, that is, from the bag sealing portion side. The food loading mechanism 60 has a pair of robots 62, 64. A food holding portion 600 shown in FIG. 15 described later is attached to the end portions of the robots 62 and 64.

The pair of robots 62 and 64 are arranged side by side along the long side of the rectangular mounting base 26, for example. The mounting base 26 is a base plate obtained by cutting a rod-shaped frame member 28 such as aluminum or iron to a predetermined length, assembling it into a rectangular shape, and attaching a stainless steel (SUS) plate to the assembled predetermined portion. A pair of robot bases 66 of robots 62 and 64 are fixed to the base plate.

The pair of robots 62, 64 have joints of, for example, 6-axis vertical articulated robots, and are prepared for handling food products according to the present invention. Here, the handling refers to the behavior of sandwiching the sandwich SA carried into the supply transport path 12 by the food sandwiching portion 600, which will be described later, and loading the sandwiched food into the packaging bag PB.

In one embodiment of the food bagging device 100, a pair of robots 62 and 64 are prepared in order to increase the bagging throughput of the sandwich SA, but if the food bagging throughput is not required so much, one of the robots can handle the sandwich SA. You may try to do it.

Note that FIG. 1 schematically shows a state in which the pair of robots 62 and 64 are handling differently from each other, but in one embodiment of this description, the robot 62 and the robot 64 perform the same behavior substantially at the same time. ing. Of course, as illustrated in FIG. 1, the pair of robots 62 and 64 may be handled differently from each other.

The carry-out mechanism 70 is prepared to change the posture of the sandwich SAP when delivering the food (sandwich SAP) (semi-packaged product) loaded by the food loading mechanism 60 to the carry-out transport path 16. A bag sealing mechanism (not shown) is generally provided downstream of the carry-out transport path 16. The carry-out mechanism 70 serves to supply the sandwich semi-packaged SAP in a posture that the bag sealing mechanism can easily accept. In the carry-out mechanism 70 according to the present invention, the header (ear portion) (reference numeral 94) of the packaging bag PB is at the head, and the hypotenuse portion of the main body accommodating portion (FIG. 4, reference numerals 91 and 95) faces upward, and the bag The direction is changed so that the sealing portion (FIG. 4, reference numeral 96) is at the rearmost position, and the bag is sent to the carry-out transfer path 16.

The carry-out mechanism 70 is not always required for the food bagging device 100. Therefore, the unloading mechanism 70 has a function as a unloading mechanism for transferring the sandwich SAP loaded by the bag opening mechanism 50 in the front stage and the food loading mechanism 60 to the unloading transport path 16 in the subsequent stage, and the food bagging device 100 according to the present invention. Considering the connection with the sandwich slicer and the bag sealing mechanism arranged upstream and downstream of the above, it is preferable to prepare the carry-out mechanism 70 in advance.

The food bagging device 100 shown in FIG. 1 has a height sensor 802 for detecting the presence or absence of a collapsed state of the sandwich SA, and an air control unit 804 prepared for air controlling various mechanisms, in addition to the above-mentioned mechanisms and the like. It also has a solenoid valve 806 that controls the supply of air and air pressure to various sliders, and a vacuum generator 808 that vacuum-sucks the bag take-out pads (402a, 402b) prepared in the bag take-out mechanism 40. ing.

The height sensor 802 detects the height of the semi-packaged SAP of the sandwich carried out from the carry-out transport path 16. The semi-packaged SAP that is carried out from the carry-out transport path 16 is usually carried out at a predetermined height with the hypotenuse of the sandwich SA facing upward. However, if the sandwich SAP falls over for some reason and is carried out, the hypotenuse is turned sideways and is carried out in a posture that is less than a predetermined height. Even if the semi-packaged SAP is carried out in such a state, that is, it is treated as a good product because there is no problem in the quality of the semi-packaged SAP. However, the bag sealing mechanism (not shown) coupled downstream of the carry-out transport path 16 may require the semi-packaged SAP to be carried in in a predetermined position. In view of such a situation, the height sensor 802 used in one embodiment of the present invention notifies the operator, the manager, etc. of the state of the semi-packaged SAP when it is carried out in a tilted posture via a notification lamp, voice, or the like. It is prepared for notification.

FIG. 2 is an enlarged view of a part of the food filling device 100 shown in FIG. In FIG. 2, the same mechanism, the same member, and the like as in FIG. 1 are designated by the same reference numerals.

As shown in FIG. 1, the bag stock mechanism 30 has a pair of bag accommodating portions 302a and 302b, and the respective bag accommodating portions 302a and 302b are defined by surrounding, for example, four accommodating wall portions 304 standing upright. ing. In the present invention, the portion surrounded by the accommodating wall portion 304 is laminated with a slight deformation unlike the appearance before accommodating. Such modified lamination is useful when taking out the packaging bags PB one by one. This deformation lamination is for giving "handling" to the so-called packaging bag PB. The details of how to give such "handling" will be clarified later.

The bag removal mechanism 40 is prepared in the lower part of the bag stock mechanism 30, and has an elevating portion 404, a slider 406, a pad arm 408, and bag removal pads 402a and 402b. The bag take-out pads 402a and 402b are applied to the lower side (back surface) of the packaging bag PB laminated on the bag accommodating portions 302a and 302b.

The bag removal pads 402a and 402b are attached to one end of the pad arm 408. The other end of the pad arm 408 is attached to a part of the slider 406. The bag take-out pads 402a and 402b are coupled to the vacuum generator 808 via the pad arm 408. Due to the negative pressure generated by the vacuum generator 808, a force for sucking the packaging bag PB is generated on the bag take-out pads 402a and 402b. The elevating unit 404 and the slider 406 are controlled by the air pressure supplied from the air control unit 804.

The bag take-out pads 402a and 402b vacuum-suck the back surfaces of the packaging bags PB laminated on the bag accommodating portions 302a and 302b, respectively, and take out one by one from the lower side thereof.

The speed of the slider 406 that moves up and down the elevating unit 404 is controlled by the air control unit 804 and the solenoid valve 806. The control of the solenoid valve 806 is controlled by a PLC (programmable logic controller) (not shown).

The slider 406 moves laterally to deliver the removed packaging bag PB to the bag opening mechanism 50.

The details of taking out the packaging bags PB laminated on the bag accommodating portions 302a and 302b by the bag taking-out pads 402a and 402b will be clarified with reference to FIG. 11 described later.

The bag opening mechanism 50 is provided to open the opening (FIG. 4, reference numeral 96) of the packaging bag PB before loading the sandwich SA into the packaging bag PB. Supporting the bag opening mechanism 50 is a support frame 512 whose one end is fixed to a ceiling plate (not shown). What is fixed by the support frame 512 is a motor 501, a slider 502, a plate cam 503, an arc-shaped groove 504 formed in the plate cam 503, a cam follower 505 sliding on the arc-shaped groove 504, and a cam follower 505 (see FIG. 14). The interlocking arc-shaped arm 506, the bag opening pad 507 attached to one end of the arc-shaped arm 506, and the like.

FIG. 3 is a view seen from directly behind in the direction shown in FIG. The same parts as those in FIG. 2 are designated by the same reference numerals. In FIG. 3, each member constituting the bag opening mechanism 50 and the carrying-out mechanism 70, which did not appear in FIG. 2, appears.

Conveying pins 522a, 522b, and bag holding plate 524 are shown as members included in the bag opening mechanism 50. The transport pins 522a and 522b reciprocate between the bag opening mechanism 50 and the carry-out mechanism 70 on a rail (not shown). The side portions of the semi-packaged product SAP loaded into the packaging bag PB by the robots 62 and 64, respectively, are pressed by the transport pins 522a and 522b having four claws, respectively, and delivered to the carry-out mechanism 70. The bag holding plate 524 is provided for fixing the header portion (ear portion) of the packaging bag PB when opening the opening of the packaging bag PB. The transfer pin 522a and the transfer pin 522b protrude from the lower part at the timing when the robots 62 and 64 finish loading the sandwich SA into the packaging bag PB, and retract downward at the timing when the sandwich SA is delivered to the carry-out mechanism 70.

The unloading mechanism 70 is a rotary grip plate 702 that grips and rotates the semi-packaged product SAP, a rotary plate support member 704 that supports the rotary grip plate 702, and a rotary link that is connected to the rotary plate support member 704 and rotates the rotary plate support member 704. It has 706, a motor 712 that is a driving force for driving the rotary grip plate 702, a drive pulley 714 connected to the motor 712, a belt 716 wound around the drive pulley 714, and a passive pulley 718 that rotates by rotation of the belt 716. Further, a spline 724 is coupled to the passive pulley 718, and the spline 724 is coupled to the rotary link 706. The cover 732 protects the spline 724.

FIG. 4 shows a plan view shape of a sandwich packaging bag PB used in a bag removal device, a bag removal method, and a food packaging packing device according to the present invention. The material of the packaging bag PB is an elastically deformable plastic film (polyethylene, polypropylene, etc.), and the side edges 93 of the front film 91 and the back film 92 having a thickness of, for example, 25 μm are sealed with each other, and one end side of the front and back films. A rectangular header portion (ear portion) 94 is formed on the other side, and a food storage portion 95 is formed on the other end side. The bag sealing portion 96 is connected to the food storage portion 95 away from the header portion 94. The shape of the food storage portion 95 forms the first trapezoidal portion of the isosceles trapezoid, and the shape of the bag sealing portion 96 also forms the second trapezoidal portion of the isosceles trapezoid. The lower bottom of the first trapezoidal portion corresponds to the packaging bag loading port width W2, the upper base corresponds to the packaging bag width W1, the lower bottom of the second trapezoidal portion corresponds to the bag sealing width W3, and the upper base thereof is. It corresponds to the lower bottom of the first trapezoidal portion, that is, the width W2 of the packaging bag loading port. In other words, the long side (packaging bag loading port width W2) of the first trapezoidal portion and the second trapezoidal portion is shared. The packaging bag PB having a header portion (ear portion) 94, a food storage portion 95, and a bag sealing portion 96 has a deformed octagonal shape.

In the following description, in the packaging bag PB shown in FIG. 4, the short side (W1) of the food storage section 95 is the “packaging bag width”, the long side (W2) of the food storage section 95 is the “loading port width”, and the food storage section. The length of 95, that is, the sum (H) of the lengths H1 and H2 of the two isosceles trapezoidal legs is expressed as the "length of the packaging bag", respectively. The packaging bag width (W1) of the packaging bag PB is, for example, 65 mm, the loading port width (W2) is, for example, 170 mm, and the packaging bag length (H) is, for example, 190 mm. The size of the length H1 of the food storage portion 95 and the length H2 of the bag sealing portion 96 are, for example, H1 = 150 mm and H2 = 40 mm. Further, the total length of the packaging bag PB is H3 = 230 mm.

Here, the direction indicated by the loading port width W2 of the packaging bag PB is the lateral direction, and the direction indicated by the length H3 longer than the loading port width W2 is the longitudinal direction. Then, in the lateral direction of the packaging bag PB shown in FIG. 4, there is a packaging bag width W1 which is a narrow portion and a loading port width W2 which is a wider portion than the packaging bag width W1. The bag taking-out device according to the present invention is applicable not only to a packaging bag having a wide portion and a narrow portion, but also to a general packaging bag having no wide portion and a narrow portion.

FIG. 5 is a schematic top view when the packaging bag PB shown in FIG. 4 is laminated on the bag stock mechanism 30. As shown in FIGS. 1 and 2, the bag stock mechanism 30 is provided in the vicinity of the supply transport path 12 to which the sandwich SA is transported. In FIG. 5, the same parts as those in FIGS. 1 to 4 are designated by the same reference numerals.

The bag stock mechanism 30 has a bag stock unit 300. The material of the bag stock unit 300 is, for example, aluminum (Al), and the vertical and horizontal sizes are determined based on the size of the packaging bag PB. In one example of the present invention, the vertical length H300 is, for example, 310 mm, and the horizontal length (width) W300 is, for example, 420 mm. Several types of bag stock units 300 can be prepared according to the size of the packaging bag PB, but the length H300 and the width W300 are fixed to the above sizes regardless of the size of the packaging bag PB. That is, by standardizing the bag stock unit 300, the efficiency of maintenance and inspection of the bag stock mechanism 30 is improved.

In FIG. 5, the bag stock unit 300 is provided with a pair of bag accommodating portions 302a and 302b. The bag accommodating portion 302a is arranged on the left side of the paper, and the bag accommodating portion 302b is arranged on the right side thereof. By determining the number and mounting positions of the accommodating wall portions 304, the portions of the bag accommodating portions 302a and 302b in the bag stock unit 300 are defined. The pair of bag accommodating portions 302a and 302b are separated from each other with a handle 308 provided at a substantially central portion of the bag stock unit 300 as a boundary. The bag accommodating portions 302a and 302b each have an accommodating wall portion 304, a spacer 306, a handle 308, a protrusion 320, a pillow portion 330, and a bag take-out opening 310.

The mounting inclination of the plurality of accommodating wall portions 304 is appropriately adjusted according to the shape of the packaging bag PB. The two storage wall portions 304 on the left and right sides shown in FIG. 5 are arranged so that the distance between the two storage wall portions 304 increases as the distance from the pillow portion 330 increases in order to receive the flat view modified octagonal packaging bag PB shown in FIG. If the packaging bag is square, the upper and lower two storage wall portions 304 and the left and right two storage wall portions 304 are arranged in a double line shape, respectively.

The bag take-out opening 310 is formed in a bag stock unit 300 having a thickness of 6 mm, and the well-known R chamfering process is applied to the entire circumference thereof. The bag take-out opening 310 is selected to have a multi-sided shape, for example, a square shape having a long side and a short side, and the width and length thereof are indicated by reference numerals W10 and H10, respectively. In any case, the size of the opening width W10 and the opening length H10 of the bag take-out opening 310 is determined based on the packaging bag width W1 of the packaging bag PB, the packaging bag insertion opening width W2, the packaging bag length H, and the like. become. These specific sizes will be described later.

The pair of protrusions 320 are arranged so as to face each other so as to cross the bag taking-out opening 310 in the lateral direction. The pillow portion 330 is arranged in the direction of the length H10 of the bag take-out opening 310 and close to one side of the bag take-out opening 310. The shape formed by connecting the center C of the pillow portion 330 and the center of the pair of protrusions 320 is a triangle. For example, as shown in FIG. 5, a substantially isosceles triangle whose equilateral sides are longer than the base ba. It becomes it. It should be noted that the shape formed by the line segment connecting these three points is not always a substantially isosceles triangle, and a substantially equilateral triangle may be appropriate. Further, in the case of a substantially isosceles triangle, the base ba may be longer than the isosceles triangle. The size relationship of these sizes depends on the size, width, and length of the packaging bag PB.

The apex of the isosceles triangle it is equal to the center C of the pillow portion 330. Further, the midline aos connecting the apex and the midpoint of the bottom ba is placed on or near the center c310 of the bag take-out opening 310. In other words, the attachment position of the pair of protrusions 320 and the pillow portion 330 is determined so that the center line aos passes through the center c310 of the bag take-out opening 310.

The pillow portion 330 is a member on which the header portion (ear portion) 94 of the packaging PB is placed when the packaging bag PB is accommodated in the bag accommodating portions 302a and 302b. The protrusion 320 is prepared in the vicinity of the line segment di. The portion and length of the line segment di are the same as the portion and length of the loading port width W2 when the packaging bag PB is placed on the bag accommodating portions 302a and 302b. The forming portion of the pair of protrusions 320 is selected so as to be arranged in the vicinity of the loading port width W2 when the packaging bag PB is housed in the housing portions 302a and 302b. The reason for this is that when the vicinity of the widest loading port width W2 in the width of the packaging bag PB is placed on the pair of protrusions 320, the curvature rate that curves toward the bag take-out opening 310 is the largest. This is because the packaging bag PB can be easily taken out. In addition, by increasing the curvature rate, the laminated packaging bag PBs are provided with irregularities (separation), especially at the side edges, whereby the adhesiveness (adhesion) strength between the packaging bag PBs is reduced, and the layers ( This is to eliminate the removal (in a state of being stuck to each other) so that the packaging bags PB can be taken out one by one.

By the way, as described above, the pair of protrusions 320 are arranged so that the portions near the boundary between the food storage portion 95 of the packaging bag PB and the bag sealing portion 96 (near the loading port width W2) are in contact with each other. To determine. The details are as follows. That is, when, for example, an isosceles triangle it is formed as shown in FIG. 5 by a line segment connecting the center of the pair of protrusions 320 and the center C of the pillow portion 330, the inclination of the isosceles triangle is accommodated in the wall portion. It is to be aligned with the mounting inclination of 304. The mounting inclination of the accommodating wall portion 304 is the same as the inclination of the side edge portion 93 of the packaging bag PB shown in FIG. By matching the inclination of the two equilateral sides of the isosceles triangle it with the inclination of the side edge portion 93 of the packaging bag PB, the pillow portion 330 and the pair of protrusions 320 are the longest side edge portions in the portion of the packaging bag PB. A large area surrounded by 93 can be supported in a balanced manner. As a result, it is possible to achieve both the ease of taking out the packaging bag PB and the elimination of taking out multiple layers.

The spacer 306 is provided to eliminate the multi-layer removal of the packaging bag PB. The material of the spacer 306 is, for example, stainless steel (SUS), and the thickness thereof is, for example, 1 mm. The spacer 306 is arranged in the vicinity of the pillow portion 330, and projects to a part of the bag take-out opening 310 so as to substantially shorten the length H10 of the bag take-out opening 310. The pillow portion 330 may be arranged so as to press a part of the spacer 306 from above.

The spacer 306 has a concave shape in a plan view, and has a rectangular base portion 306a and two side end portions 306b extending from both ends of the base portion 306a in the width direction toward the bag take-out opening 310. The spacer 306 having such a portion regulates the length of a part of the opening length H10 and a part of the opening width W10 of the bag take-out opening 310.

A part of the opening width W10 is uniquely determined by the length of the base portion 306a of the spacer 306, and the length of the base portion 306a can be set to a predetermined size by selecting the width of the side end portion 306b. it can. The length of the base 306a is selected, for example, 50% to 90% of the opening width W10. If it is less than 50%, it affects the ease of taking out the lowermost packaging bag PB to be taken out, which is not preferable. Further, the length of the side end portion 306b, that is, the length of the side end portion 306b along the length H10 direction of the bag take-out opening 310 is selected to be, for example, 2% to 8% of the opening length H10. If this value is less than 2%, the effect of removing the multiple layers is reduced, and if it exceeds 8%, it affects the ease of taking out the laminated bottom packaging bag PB to be taken out, which is not preferable.

The packaging bag PB covers the base portion 306a, the side end portion 306b, and the bag take-out opening 310 of the spacer 306, and is housed in the bag accommodating portions 302a and 302b. Therefore, when the packaging bag PB is taken out, it is pulled out from the front side to the back side of the paper surface while contacting the base portion 306a and the side end portion 306b. The base portion 306a that narrows a part of the bag take-out opening 310 reduces the ease of taking out the packaging bag PB, and the side end portion 306b restricts the sliding of the packaging bag PB. Even if the side end portion 306b is formed into a rectangular shape such as a regular concave shape instead of a sharp shape, the same effect can be obtained in eliminating the multi-layer removal of the packaging bag PB.

As described above, the spacer 306 is effective in removing the multiple layers of the packaging bag PB, but it is also important to determine the arrangement position. First, an attempt to arrange the spacer 306 not on the pillow portion 330 side but on the protrusion 320 side is one of the options, but it is considered that it is not possible to achieve both ease of removal and removal of multiple layers. .. This is because the widest portion (FIG. 4, reference numerals W2 and W3) of the packaging bag PB is placed in the vicinity of the protrusion 320, so narrowing the bag removal opening 310 has a great effect on the ease of removal. This is because it can be inferred. Then, it is appropriate to arrange the spacer 306 on the header portion (FIG. 4, reference numeral 94), which is the narrowest portion in the packaging bag PB. When arranging the spacer 306 on the header portion side, the present inventor repeatedly asks whether the base portion 306a and the side end portion 306b of the spacer 306 should be arranged so as to overlap the header portion or whether both arrangements should be avoided from the header portion. I tried. As a result, it is effective to arrange both of them not in the header portion but in the food storage portion 95 connected to the header portion in order to achieve both the ease of taking out the packaging bag PB and the ease of removing multiple layers. I found that. It can be inferred that one of the factors is that the thickness of the food storage portion 95 in the thickness direction is slightly thinner than that of the header portion 94 and is easily affected by the shape and size of the spacer 306. ..

The width of the pillow portion 330 is set according to the opening width W10 of the bag take-out opening 310, and the size thereof is, for example, 55 mm to 75 mm, which is sufficiently wider than the width (diameter) of the protrusion 320 of about 16 mm. long. Therefore, the flatness of the portion of the packaging bag PB that abuts on the pillow portion 330 and the portion around it is higher than that of the protrusion 320 and the portion around it. The higher the flatness of the packaging bag PB, the higher the effect of the side end portion 306b formed on the spacer 306 biting into the packaging bag PB. As a result, the multi-layer take-out exclusion property of the packaging bag PB can be further enhanced.

The material of the protrusion 320 and the pillow 330 is, for example, polyacetal (POM), which is one of engineering plastics. Engineering plastics are superior to ordinary plastics in terms of mechanical and wear resistance. Polyamide and polycarbonate may be used in addition to POM. Moreover, ordinary plastic may be used. Moreover, it may be an ordinary metal.

As will be clear from FIG. 5, the bag stock mechanism 30 has a storage wall portion 304, a bag take-out opening 310, a protrusion 320, a pillow portion 330, and a spacer 306 (base 306a, side end) with the center line aos as the axis of symmetry. It can be seen that the portions 306b) are arranged line-symmetrically.

FIG. 6 shows the packaging bag width W1, the loading port width W2, the bag sealing width W3, and the length of the food storage portion 95 shown in FIG. 4 for the three types of packaging bag PB of the bag 1, the bag 2, and the bag 3. H, the size of the entire length H3 of the packaging bag is illustrated. Further, FIG. 6 shows an example of what size the bag take-out opening 310 shown in FIG. 5 is selected when the size of the packaging bag PB is the size shown in FIG. In FIG. 6, for convenience of explanation, the length H and the length H3 of the bag 1, the bag 2, and the bag 3 are the same, and H = 190 mm and H3 = 230 mm, respectively.

The bag 1 has a size of a loading port width W2 = 170 mm and a bag sealing width W3 = 120 mm when the packaging bag width W1 = 65 mm of the packaging bag PB shown in FIG. The opening width W10 = 75 mm and the length H10 = 175 mm are selected. The opening width W10 = 75 mm of the bag take-out opening 310 is 10 mm larger than the packaging bag width W1 = 65 mm, and the length H10 = 175 mm of the bag take-out opening 310 is 15 mm smaller than the length H = 190 mm of the packaging bag PB. Therefore, it is placed in the relationship of W10> W1 and H> H10. This magnitude relationship is the same for bag 2 and bag 3.

FIG. 7 is a three-dimensional perspective view of the bag stock mechanism 30 shown in FIG. 5, and is also a diagram for explaining a discrimination method for discriminating the difference between the bag stock units 300 prepared in several types. The same parts as those in FIG. 5 are designated by the same reference numerals. FIG. 7 shows the spacer 306 having a concave shape in a plan view shown in FIG. Although there are originally two side end portions 306b at both ends in the longitudinal direction of the spacer 306, only one location is shown in FIG.

Hereinafter, with respect to FIG. 7, a method for discriminating the difference between the bag stock units 300 will be described.
FIG. 7 shows, for example, one of several types of bag stock units 300 prepared according to the size of the packaging bag width W1. An example in which a through hole (unit labeling portion TH) penetrating the thickness t direction of the bag stock unit 300 is provided in a predetermined portion X of the bag stock unit 300, but the unit labeling portion TH is not provided in the portions Y and Z. Shown. The unit marking unit TH is provided to distinguish the difference between several types of bag stock units 300. By preparing a plurality of different types of bag stock units 300 in advance, it is possible to quickly and appropriately respond to variable and variable production. The width W300 and length H300 (see FIG. 5) of the bag stock unit 300 are constant regardless of the size of the packaging bag width W1, and are selected, for example, W300 = 420 mm and H300 = 310 mm. Regardless of the size of the packaging bag PB, standardization is achieved by aligning the outer size of the bag stock unit 300, and it is quickly adapted to variable and variable production.

A unit discrimination sensor is prepared to distinguish a plurality of different types of bag stock units 300. The unit discrimination sensor adopted in one embodiment of the present invention is a proximity sensor, and for example, a photo sensor is adopted as the proximity sensor.

A unit marking portion TH is formed on the bag stock unit 300 in order to distinguish several types of bag stock units 300. The unit marking unit TH has, for example, a circular through hole in a plan view formed on the end side of the bag stock unit 300. As described above, one unit labeling unit TH is shown in FIG. 7, but if three unit labeling units TH are prepared, for example, the difference between a maximum of eight types of bag stock units 300 can be discriminated. Can be done.

The proximity sensor PS is composed of, for example, three sets of optical coupling elements of photosensors ps1, ps2 and ps3, and is prepared in the vicinity of the portions X, Y and Z prepared in the bag stock unit 300, respectively.

Here, the state in which the light receiving element cannot receive the light projected from the light emitting elements of the photosensors ps1, ps2 and ps3 is described as "0", and the state in which the light receiving element can receive the light is described as "1". For convenience, when the parts X, Y, and Z are arranged in the third digit, the second digit, and the first digit of the numerical value and displayed by the binary notation method, the numerical value shown in FIG. 7 is expressed as [011]. can do. In this way, there are eight numerical values of [000], [001], [010], [011], [100], [101], [110], and [111] depending on the combination of the three parts X, Y, and Z. Can be generated.

The numerical value [000] expressed in the scale notation method defined in this document is registered as the packaging bag width W1 of the packaging bag PB is registered as, for example, 60 mm, the numerical value [001] is W1 = 65 mm, and the numerical value [010] is W1 = 70 mm. If the following registration is performed in units of 5 mm, the numerical value [111] can be registered as W1 = 95 mm. Then, [011] shown in FIG. 7 is registered as the packaging bag width W1 = 75 mm of the packaging bag PB.

A unit mounting portion 340 is provided at the corner of the bag stock unit 300 in addition to the unit marking portion TH. The unit mounting portion 340 is a member that mounts the bag stock unit 300 at a predetermined position of the food bagging device 100 and is removable. Since the unit mounting portion 340 is prepared at a predetermined position of the bag stock unit 300 regardless of the size of the packaging bag PB, the bag stock unit 300 can be replaced quickly.

FIG. 8 shows an example of a bag stock unit 300 that houses a packaging bag PB having a size different from that of FIG. 7. The same parts as those in FIG. 7 are designated by the same reference numerals.

FIG. 8 shows an example in which unit labeling portions TH are provided in all of the parts X, Y, and Z as one of several types of bag stock units 300. The light projected from the photosensors ps1 to ps3 passes through the unit marking unit TH prepared separately for each. Such a state can be expressed as a numerical value [000] when displayed by the binary number system defined in this document. The numerical value [000] can be registered as the packaging bag width W1 of 60 mm as described above.

In addition to the proximity sensor PS and the unit marking portion TH, FIG. 8 shows a protrusion 320, a pillow portion 330, and a spacer 306. The width (diameter) of the protrusion 320 is indicated by the reference numeral W320, and the length is indicated by the reference numeral H320. The size of the width W320 is selected to be, for example, 16 mm, and the size of the length H320 is selected to be, for example, 12 mm. The width of the pillow portion 330 is indicated by the reference numeral W330, and the length is indicated by the reference numeral H330. The size of the width W330 is selected to be, for example, 55 mm, and the size of the length H330 is selected to be, for example, 15 mm, which is a horizontally long shape as compared with the protrusion 320. The material of the bag stock unit 300 is aluminum, and its thickness t is 6 mm.

FIG. 9 shows 6 combinations of the bag stock unit 300 excluding FIG. 7 [011] and FIG. 8 [000]. The presence / absence of these six types of unit marking portions TH and the progress state of the light projected from the photosensors ps1, ps2 and ps3 are schematically shown.

FIG. 9A shows the bag stock unit 300 corresponding to the numerical value [001]. That is, when the unit labeling portion TH is provided in the portions X and Y and the unit labeling portion TH is not provided in the portion Z, that is, the bag stock unit 300 is exposed as it is. The light projected from the light emitting elements of the photosensors ps1 and ps2 passes through the unit labeling unit TH, but the light emitted from the photosensors ps3 returns to the light receiving element. Therefore, it can be expressed as a numerical value [001] in the binary notation system. The numerical value [001] is registered as the width W1 of the packaging bag PB is registered as, for example, = 65 mm.

FIG. 9B shows the bag stock unit 300 corresponding to the numerical value [010]. That is, it shows a case where the unit labeling portion TH is provided in the portions X and Z and the unit labeling portion TH is not provided in the portion Y, that is, the material of the bag stock unit 300 is exposed as it is. The light projected from the light emitting elements of the photosensors ps1 and ps3 passes through the unit labeling unit TH, but the light emitted from the photosensors ps2 returns to the light receiving element. Therefore, it can be expressed as a numerical value [010] in the binary notation system. As the numerical value [010], the width W1 of the packaging bag PB is registered as 70 mm, for example.

FIG. 9C shows the bag stock unit 300 corresponding to the numerical value [100]. That is, when the unit labeling portion TH is provided in the portions Y and Z and the unit labeling portion TH is not provided in the portion X, that is, the material of the bag stock unit 300 is exposed as it is. The light emitted from the photosensors ps2 and ps3 passes through the unit labeling unit TH, but the light projected from the light emitting element of the photosensor ps1 returns to the light receiving element. Therefore, it is expressed as a numerical value [100] in the binary notation system. As the numerical value [100], the width W1 of the packaging bag PB is registered as 80 mm, for example.

FIG. 9D shows the bag stock unit 300 corresponding to the numerical value [101]. That is, a case where the unit labeling portion TH is provided in the portion Y and the unit labeling portion TH is not provided in the portions X and Z, that is, the material of the bag stock unit 300 is exposed as it is. The light emitted from the photosensor ps2 passes through the unit labeling unit TH, but the light projected from the light emitting elements of the photosensors ps1 and ps3 returns to the light receiving element. Therefore, it is expressed as a numerical value [101] in the binary notation system. As the numerical value [101], the width W1 of the packaging bag PB is registered as 85 mm, for example.

FIG. 9E shows the bag stock unit 300 corresponding to the numerical value [110]. That is, it shows a case where the unit labeling portion TH is provided in the portion Z and the unit labeling portion TH is not provided in the portions X and Y, that is, the material of the bag stock unit 300 is exposed as it is. The light emitted from the photosensor ps3 passes through the unit labeling unit TH, but the light projected from the light emitting elements of the photosensors ps1 and ps2 returns to the light receiving element. Therefore, it is expressed as a numerical value [110] in the binary notation system. In the numerical value [110], the width W1 of the packaging bag PB is treated as 90 mm, for example.

FIG. 9F shows the bag stock unit 300 corresponding to the numerical value [111]. That is, it shows a case where the unit marking portion TH is not provided in all of the parts X, Y and Z, that is, a state in which no treatment is applied to the material of the bag stock unit 300. The light projected from the light emitting elements of the photosensors Ps1 to ps3 returns to the light receiving elements provided in each. Therefore, it is expressed as a numerical value [111] in the binary notation system. As the numerical value [111], the width W1 of the packaging bag PB is registered as 95 mm, for example.

A method for discriminating the difference between several types of bag stock mechanisms 30 has been described with reference to FIGS. 7 to 9. In one embodiment of the present invention, the difference between several types of bag stock units 300 is determined by detecting with a proximity sensor whether or not a through hole formed in the thickness direction of the bag stock unit 300 exists at a predetermined portion. I am trying to do it. However, a predetermined character or figure is engraved on the bag stock unit 300, or a label on which the predetermined symbol, code, character or the like is displayed is attached so that the character, figure, symbol, code or the like can be read. It may be.

FIG. 10 is a diagram comparing the postures of the packaging bag PB when the protrusion 320 and the pillow portion 330 shown in FIGS. 5 and 7 are provided in the bag stock mechanism 30 and when they are not provided, and is shown in FIG. It is almost the same as the top view.

FIG. 10A differs from FIG. 5 in the following two ways. One is a pair of bag take-out pads 402a prepared in the bag take-out mechanism 40 in the bag take-out opening 310 formed in the bag accommodating portion 302a, and a pair of bags in the bag take-out opening 310 formed in the bag accommodating portion 302b. The take-out pads 402b are shown respectively. The second is that the line segment p1-p1 is attached to each of the bag accommodating portion 302a and the bag accommodating portion 302b. The line segments p1-p1 are used to show the following FIG. 10B.

The distance m between the bag take-out pads 402a (black circles) shown in FIG. 10A and the distance m between the bag take-out pads 402b are selected to be approximately 1/3 of the length H3 of the packaging bag PB shown in FIG. It has been. Therefore, the pair of bag take-out pads 402a and the bag take-out pad 402b are applied to the portions that divide the length H3 direction of the packaging bag PB into three equal parts. This part corresponds to the food storage section 95 (see FIG. 4) of the packaging bag PB.

When the packaging bag PB is taken out from the bag accommodating portions 302a and 302b, respectively, the bag taking-out pads 402a and 402b move from the front side of the paper surface to the back side of the paper surface. Along with this, each part of the packaging bag PB moves toward the center of the bag take-out opening 310. At this time, the header portion 94 and the portion of the food storage portion 95 in the vicinity thereof are the base portion 306a and the side end portion 306b of the spacer 306 having a concave shape in a plan view when passing through the bag take-out opening 310 narrowed by the spacer 306. Be constrained. By providing the spacer 306, the ease of taking out the bag is reduced. Therefore, the spacer 306 suppresses the multi-layer removal of the packaging bag PB. The restraining force exerted by the spacer 306 on the bag removal acts more strongly on the packaging bag PB laminated on the lowermost packaging bag PB than on the laminated bottom packaging bag PB. This is because the suction strength and the withdrawal strength given to the bag take-out pads 402a and 402b are applied most to the lowermost packaging bag PB, and such strength can exceed the restraining force given by the spacer 306, but the most. This is because the restraining force is superior to the suction strength and the pull-out strength for the packaging bag PB other than the lower part.

FIG. 10B shows the posture of the packaging bag PB when viewed in the direction of the arrow of the line segment p1-p1 shown in FIG. 10A. FIG. 10B shows the bag accommodating portions 302a and 302b prepared in the bag stock unit 300. The positions of the bag accommodating portion 302a and the bag accommodating portion 302b are firmly defined by the accommodating wall portion 304 erected on the bag stock unit 300. A pair of protrusions 320 are provided for each of the bag accommodating portion 302a and the bag accommodating portion 302b.

For example, 600 packaging bags PB are laminated and stored in the bag accommodating portion 302a and the bag accommodating portion 302b, respectively. The lowermost packaging bag PB housed in the bag accommodating portion 302a and the bag accommodating portion 302b is designated by the reference numeral PBb. The direction of the loading port width (FIG. 4, W2) of the packaging bag PB laminated and accommodated in each of the bag accommodating portion 302a and the bag accommodating portion 302b is supported by a pair of protrusions 320, and the length of the packaging bag PB (FIG. 4, FIG. The direction of H3) is supported by the pillow portion 330 and the pair of protrusions 320. Therefore, the packaging bag PB is accommodated in a posture that is curved toward the bag take-out opening 310 and warped toward the accommodating wall 304.

The curvature gradient (curvature ratio) and the warp rising gradient (warp ratio) given to the packaging bag PB can be adjusted by the shape, height, surface area, etc. of the pair of protrusions 320 and the pillow portion 330.

In the present invention, the packaging bag PB is curved and warped in order to reduce the adhesiveness (adhesion) between the packaging bag PBs. Such a decrease in stickiness (adhesion) leads to the handling of the packaging bag PB, and it is possible to eliminate the so-called multi-layered state in which the packaging bag PBs stick to each other or become entangled with each other due to this handling. It should be noted that the "handling" in the present invention must satisfy both the ease of taking out the packaging bag PB and the ease of removing multiple layers. Generally, the higher the ease of removal, the lower the multi-layer exclusion rate. In other words, the higher the ease of taking out the packaging bag PB, the higher the probability that the two bags will be taken out in an overlapping manner, which is not preferable.

In view of this, in one embodiment of the present invention, as a result of repeating the experiment many times, the height of the protrusion 320 is 12 mm and the width (diameter) is 16 mm. The height of the pillow portion 330 is 15 mm and the width is 55 mm. It is realistic to experimentally determine such a size by the material and thickness of the elastically deformable packaging bag PB, the width of the packaging bag (FIG. 4, W1), and the number of laminated packaging bags PB.

FIG. 10C shows the posture of the packaging bag PB when viewed in the direction of the arrow of the line segment p2-p2 shown in FIG. 10B. That is, the direction of the length H3 when the header portion 94 of the packaging bag PB shown in FIG. 4 is placed on the pillow portion 330 is shown. The height (15 mm) of the pillow portion 330 is selected to be slightly larger than the height (12 mm) of the protrusion 320. As a result, the header portion (FIG. 4, reference numeral 94) of the packaging bag PB placed on the pillow portion 330 is in a posture of slightly warping toward the accommodating wall portion 304. This depends on the height of the pillow portion 330, but is related to the fact that the thickness of the entire header portion 94 is slightly thicker than that of other portions.

FIG. 10B1 is prepared for comparison with FIG. 10B, and is a packaging bag PB when it is housed in the bag accommodating portions 302a and 302b when the protrusion 320 and the pillow portion 330 adopted in one embodiment of the present invention are not adopted. Shows the attitude of. The same parts as those in FIGS. 10A to 10C are designated by the same reference numerals.

In FIG. 10B1, the portion of the packaging bag PB excluding the bag take-out opening 310 is placed on the bag stock unit 300 with substantially flatness. In other words, the packaging bag PB is not separated. The area where the unsorted packaging bag PB and the bag stock unit 300 come into contact with each other is significantly increased as compared with FIG. 10B. The increase in the contact area between the packaging bag PB and the bag stock unit 300 has a considerable effect on the ease of taking out the bag. Further, the adhesion between the lowermost packaging bag PBb and the packaging bag PB above it is extremely high regardless of the difference in the parts of the packaging bag PB. Therefore, there is a high possibility that the packaging bag PB is taken out in multiple layers.

FIG. 10C1 is prepared for comparison with FIG. 10C, and the posture of the packaging bag PB housed in the bag accommodating portions 302a and 302b when the protrusion 320 and the pillow portion 330 adopted in one embodiment of the present invention are not adopted. Is shown. The same parts as those in FIGS. 10A to 10C are designated by the same reference numerals. In FIG. 10C1, as in FIG. 10B1, the packaging bag PB, except for the bag take-out opening 310, is placed on the bag stock unit 300 with substantially flatness. As a result, the area where the packaging bag PB and the bag stock unit 300 come into contact with each other is significantly increased as compared with FIG. 10C. The increase in the contact area between the packaging bag PB and the bag stock unit 300 has a considerable effect on the ease of taking out the bag. Further, the adhesion between the lowermost packaging bag PBb and the packaging bag PB above it is extremely high regardless of the difference in the parts of the packaging bag PB. Therefore, there is a high possibility that two or more packaging bags PB, that is, multiple layers will be taken out. In FIG. 10C1, the edge of the header portion (FIG. 4, reference numeral 94) of the packaging bag PB is in a posture of slightly moving toward the accommodation wall portion 304 as in FIG. 10C. This is related to the fact that the thickness of the entire header portion 94 is slightly thicker than that of other portions. Such a displacement of the header portion 94 will handle the packaging bag PB to some extent, but the degree of handling is smaller than that of FIG. 10C having the pillow portion 330.

FIG. 11 is a diagram used to explain the bag taking-out method according to the present invention. The bag removal mechanism 40 shown in FIG. 2 takes out the packaging bag PB. The function required for taking out the bag is, first, to surely take out the packaging bag PB one by one from the bag stock mechanism 30. The second is to eliminate multi-layer removal. The third is to increase the take-out speed. In FIG. 11, the same parts as those in FIG. 10 are designated by the same reference numerals.

The bag taking-out method according to the present invention will be described with reference to FIGS. 11A to 11E. These figures are based on the figure shown in FIG. 10B, to which the bag removal pads 402a and 402b shown in FIGS. 2 and 10 are added, which are directly related to the bag removal.

FIG. 11A is a schematic view showing a direction in which the packaging bags PB are stacked, that is, a direction opposite to the direction in which the storage wall portion 304 is erected, that is, when the packaging bags PB are taken out one by one from the lower part of the bag taking-out opening 310. When taking out the packaging bag PB, the bag taking-out pads 402a and 402b lift the central part of the packaging bag PB at a relatively high speed (first speed) v1 (not shown), and then suck the lowermost packaging bag PBb. It is adsorbed and moved downward toward the bag removal opening 310 at a relatively slow speed (second speed) v2 toward the lower side of the bag removal opening 310.

Here, "lifting" of the packaging bag PB means pushing up the packaging bag PB upward at high speed v1 in the bag accommodating portions 302a and 302b without bringing the bag extraction pads 402a and 402b into the suction state. It is possible to eliminate the "sticking" that has occurred between the packaging bag PBs due to the vibration that occurs during lifting and the vibration that causes the pair of protrusions 320 and the pillow portion 330 to come into contact with each other immediately after lifting. Due to such vibration, the sticking between the packaging bag PBs is reduced, and the multi-layer removal can be eliminated. Further, by this lifting, the packaging bag PB to be taken out can always be placed at a predetermined portion of the bag accommodating portions 302a and 302b. As a result, the bag removal pads 402a and 402b can always suck and suck a predetermined portion of the packaging bag PB, and the reliability of bag removal can be improved. There is a slight inclination between the uppermost portion of the accommodating wall portion 304 to be erected and the lowermost portion, that is, the bag take-out opening 310 side. For this reason, a slight misalignment occurs between the packaging bags PB accommodated in the bag accommodating portions 302a and 302b, but due to this lifting, the lowermost packaging bag PB to be laminated has the bag take-out opening 310. It will be uniquely defined by the position of the accommodation wall portion 304 on the side. As a result, the bag take-out pads 402a and 402b can be applied to predetermined parts of all the laminated packaging bag PBs, and the reliability of bag take-out can be improved.

This "lifting" is performed every stroke of taking out the packaging bag, that is, every time the packaging bag PB is taken out (pulled out) one by one. Each time the packaging bag PB is sucked and sucked by the bag take-out pads 402a and 402b, new "sticking" may occur, and the sticking portion may be displaced. It has been found that it is effective to execute each stroke of taking out the packaging bag in order to remove the new occurrence of "sticking" and the displacement of the "sticking" part. In addition, one stroke of taking out the packaging bag means that the lifting of the entire packaging bag PB and the taking out of one sheet are completed from the position where the bag taking out pads 402a and 402b are waiting, and the taken out packaging bag is delivered to the bag opening mechanism 50. After that, it refers to the behavior until it returns to the original standby position.

By the way, the "lifting" of the packaging bag PB shown in FIG. 11A is performed at high speed v1 and the extraction (pulling) of the packaging bag is performed at low speed v2. Here, the high speed v1 is, for example, 300 mm / s to 1,500 mm / s. The low speed v2 is 40 mm / s to 200 mm / s. The high-speed v1 and low-speed v2 when taking out the sandwich packaging bag PB shown in FIG. 4 are set to 750 mm / s and 100 mm / s, respectively, and the high-speed v1 is set to about 10 times the low-speed v2 to obtain the laminated bag PB. The most satisfactory results were obtained in terms of both ease of removal and elimination of multi-layer removal.

Here, let's estimate the time required for "lifting". Assuming that the speed at the time of "lifting" is set to 1/2 of 750 mm / s, which is close to the minimum value of high speed v1, and the lifting distance is 100 mm, the time required for lifting tm is tm = 100/375 = 0.267. It will be seconds. Now, assuming that the time ts required for one stroke of bag removal is ts = 3 seconds, the time required for lifting the packaging bag PB is 0.267 / 3 = 0.089, which is the time required for one stroke. That is, the time required to lift the packaging bag PB is less than 10% of the time required to take out one packaging bag, which does not significantly affect the increase in the time required to take out the entire bag.

FIG. 11B shows a state in which the bag take-out pads 402a and 402b are trying to take out the packaging bag pbr1 from the bag take-out opening 310 to the outside. At this time, the bag take-out pads 402a and 402b are lowered at a low speed v2. Although the packaging bag PBb and the packaging bag pbr1 are shown in FIG. 11B, the packaging bag PBb refers to the lowermost packaging bag housed in the bag accommodating portions 302a and 302b, and the packaging bag pbr1 refers to the bag accommodating portion 302a. , 302b refers to a packaging bag that is about to exit or has exited the bag removal opening 310. In FIG. 11B, the peripheral edge of the packaging bag pbr1 is still on the protrusion 320 and the pillow 330. In such a state, the bag removal pads 402a and 402b are lowered at a low speed v2. It has been found that if the packaging bag pbr1 is taken out at high speed v1, the probability of taking out the packaging bag pbr1 in multiple layers, that is, the packaging bag pbr1 and the packaging bag PBb are attached to each other is high. Therefore, it is preferable to take out the packaging bag pbr1 at a low speed v2 while it is still mounted on each support portion.

FIG. 11C schematically shows a state immediately before the peripheral portion of the packaging bag pbr1, that is, a part of the header portion 94 shown in FIG. 4, the side edge portion 93, and the bag sealing portion 96 are separated from the protrusion 320 and the pillow 330. .. At this time, since the lowermost packaging bag PBb is not affected by the behavior of the bag extraction pads 402a and 402b, the packaging bag pbr is lowered at high speed v1. As a result, the time for taking out the packaging bag PB is shortened.

FIG. 11D schematically shows a state in which most parts of the packaging bag pbr1 sucked and sucked by the bag take-out pads 402a and 402b protrude from the bag take-out opening 310, but the edge of the packaging bag PB is separated from the opening 310. Shown in. At this time, the packaging bag PBb to be taken out next is placed in a state of being supported by the protrusion 320 and the pillow 330. In FIG. 11D, as in FIG. 11C, the lowermost packaging bag PBb is not affected by the behavior of the bag extraction pads 402a and 402b, so that the packaging bag pbr can be lowered at high speed v1. As a result, the time for taking out the packaging bag PB is shortened.

FIG. 11E shows a state in which the packaging bag pbr1 sucked and sucked by the bag take-out pads 402a and 402b is lowered to a position where it can be moved to the bag opening mechanism 50, that is, a standby position at high speed v1. At this time, the elastically deformable packaging bag pbr1 is slightly distorted in shape by suction and suction by the bag take-out pads 402a and 402b, but is restored to a state close to the original shape shown in FIG. The almost restored packaging bag pbr1 is sent toward the bag opening mechanism 50 with a high speed v1.

The bag taking-out method according to the present invention has been described with reference to FIGS. 11A to 11E. The bag take-out pads 402a and 402b can be moved in the vertical and horizontal directions, but the vertical movement, that is, the distance from the position shown in FIG. 11A to the position shown in FIG. 11E is, for example, 80 mm to 100 mm. Therefore, even if the entire distance is moved at a low speed v2, the time required for this movement is 1 second or less, and it can be seen that the packaging bag PB is taken out from the bag accommodating portions 302a and 302b at a relatively high speed. ..

FIG. 12 shows an example when the bag taking-out method according to the present invention is adopted when the protrusion 320 and the pillow portion 330 according to the present invention are not provided with the bag accommodating portions 302a and 302b. The same parts as those in FIG. 11 are designated by the same reference numerals.

In FIG. 12, since the protrusion 320 and the pillow portion 330 shown in FIG. 11 are not provided, the back surface of the lowermost packaging bag PBb abuts on the bag stock unit 300 with extremely high flatness except for the bag take-out opening 310. There is. As a result, the adhesion (stickiness) between the stacked packaging bag PBs becomes relatively high, and the probability of so-called multi-layer removal in which two or more packaging bag PBs are taken out is high. Further, the packaging bag PB is hardly curved toward the bag take-out opening 310 or warped toward the accommodating wall 304.

12A to 12E correspond to FIGS. 11A to 11E, respectively. That is, for example, FIG. 12A corresponds to FIG. 11A, FIG. 12C corresponds to FIG. 11C, and FIG. 12E corresponds to FIG. 11E.

In FIG. 12A, the bag removal pads 402a and 402b lift the central portion of the packaging bag PB from the lower part of the bag removal opening 310 at a relatively high speed (high speed) v1 (not shown), and then the lowermost packaging bag PBb. It shows a state in which the back surface of the bag is sucked and sucked and moved toward the lower side of the bag take-out opening 310 and moved downward at a relatively slow speed (low speed) v2. At this time, since the packaging bag PB is not supported by the protrusion 320 and the pillow portion 330, the packaging bags PB are between the packaging bags PB, the packaging bag PB and the accommodating wall 304, and the packaging bag PB and the bag stock unit 300. The adhesion ratio between the two is higher than that in FIG. 11A. In any case, by releasing the packaging bag PB from the contact state with the bag stock unit 300, although it is momentary, the adhesion between the front surface of the packaging bag PB and the back surface of the packaging bag PB resting on it is to some extent. It was found that lifting the packaging bag has some effect because it is alleviated.

FIG. 12B shows a state in which the bag take-out pads 402a and 402b are about to pull the packaging bag pbr1 out of the bag take-out opening 310. The behavior of the bag take-out pads 402a and 402b at this time is controlled at a low speed v2 as in FIG. 11B. FIG. 12B shows the packaging bag PBb and the packaging bag pbr1. The difference between the two is that the packaging bag PBb indicates the lowermost packaging bag PB housed in the bag accommodating portions 302a and 302b, and the packaging bag pbr1 is about to go out from the bag accommodating portions 302a and 302b or the bag take-out opening. The difference is that the packaging bag PB in the state of being exposed to the outside of 310 is shown.

In FIG. 12B, most of the packaging bag pbr1 is still mounted on the bag stock unit 300. In such a state, the bag take-out pads 402a and 402b are lowered at a low speed v2 in order to eliminate the multi-layer take-out. It has been found that if the packaging bag pbr1 is taken out at high speed v1, the probability of taking out the packaging bag pbr1 in multiple layers, that is, the packaging bag pbr1 and the packaging bag PBb are attached to each other is increased.

FIG. 12C shows a state in which the packaging bag pbr1 is taken out from the state of FIG. 12B at high speed v1. In this state, the peripheral portion of the packaging bag pbr1, that is, a part of the header portion 94 shown in FIG. 4, the side edge portion 93, and the bag sealing portion 96 still remain in the bag accommodating portions 302a and 302b. In the state at this time, the surface area in contact between the packaging bag pbr1 to be taken out and the packaging bag PBb to be taken out next is wider than the state shown in FIG. 11C. The difference between the two is caused by the presence or absence of the protrusion 320 and the pillow 330. The wider the contact area between the packaging bag pbr1 and the packaging bag PBb, the higher the probability that multi-layer removal will occur. In order to reduce the probability of multi-layer take-out to some extent, it is sufficient to take out at a low speed v2 as much as possible, but low-speed take-out is not preferable because it leads to a decrease in the take-out throughput of the laminated packaging bag PB.

FIG. 12D shows a state in which most parts of the packaging bag pbr1 sucked and adsorbed by the bag removal pads 402a and 402b protrude from the bag removal opening 310, but the edge of the packaging bag PB separates from the bag removal opening 310. Shown schematically. At this time, the state in which the packaging bag pbr2 to be taken out next also protrudes from the bag taking-out opening 310 at the same time is schematically shown. Such a state is not preferable even if it is not taken out in close contact with the packaging bag pbr1. This is because the lifting of the packaging bag performed before taking out one by one is hindered, or the suction position of the packaging bag pbr2 is displaced.

FIG. 12E shows a state in which the packaging bag pbr1 sucked and sucked by the bag take-out pads 402a and 402b is lowered at high speed v1 to a position where it is moved toward the bag opening mechanism 50. At this time, the elastically deformable packaging bag pbr1 is slightly deformed by suction and adsorption with the bag take-out pads 402a and 402b, but is restored to a state close to the original shape shown in FIG. The substantially restored packaging bag pbr1 is sent to the bag opening mechanism 50 that opens the bag sealing side of the packaging bag PB taken out by the bag taking-out mechanism 40 with a high speed v1. However, the packaging bag pbr2 to be taken out next is in a state of greatly protruding from the bag taking-out opening 310. Therefore, it is not preferable because it hinders the lifting of the packaging bag PB performed before taking out the packaging bag pbr2.

As described above, the bag taking-out method according to the present invention in the case where the protrusion 320 and the pillow 330 are not provided has been described with reference to FIGS. 12A to 12E. It was found that the process of lifting the entire packaging bag PB in the bag accommodating portions 302a and 302b in advance before taking out the packaging bag PB one by one from the bag take-out opening 310 contributes to the improvement of the taking-out effect. However, it was found that the contribution rate was lower than that of the method using the protrusion 320 and the pillow 330.

FIG. 13 is a top view showing the postures of the robots 62 and 64 when the food loading mechanism 60 shown in FIG. 1 grips the pair of sandwich SAs. Since the robots 62 and 64 grip the sandwich SA at the same time, they have the same posture. In FIG. 13, the same parts as those in FIGS. 1 to 12 are designated by the same reference numerals. A food holding portion 600 (see FIG. 15) is attached to each of the pair of robots 62 and 64 constituting the food loading mechanism 60. A pair of sandwich SAs having a triangular shape in a plan view are carried into the supply transport path 12. The pair of food sandwiching portions 600 simultaneously sandwich the pair of sandwich SAs on the intermediate transport path 14. The shape, size, and the like of the sandwich placed on the intermediate transport path 14 are observed and detected by the camera unit 20. The sandwich SA is sandwiched along the shape of the tongs 602 that form a part of the food sandwiching portion 600. By moving in the direction in which the hypotenuses of the sandwich SA are in contact with each other, that is, in the direction in which the hypotenuses of the tongue 602 are in contact with each other, the movement of one of the sandwich SAs up, down, left and right can be suppressed.

In FIG. 13, in addition to the food loading mechanism 60, the bag stock mechanism 30, the bag opening mechanism 50 that opens the opening of the packaging bag PB taken out one by one by the bag taking-out mechanism 40, and the opening are loaded. Package attitude direction change mechanism 70 for changing the direction of the semi-packaged product SAP, carry-out transport path 16 for carrying out the semi-packaged product SAP, auxiliary transport route for carrying out food (sandwich sab) judged to be inappropriate for packaging. 18 is shown. From the carry-out transport path 16, a semi-packaged product SAP, which is a good product, and a semi-packaged product SAPT, which has no problem in quality but is carried out in a form different from the original shape to be carried out, are carried out. The height sensor 802 (photoelectric sensor) detects whether the product is a semi-packaged product SAP or a semi-packaged product SAPT.

From the auxiliary transport path 18, non-packaging food sap that is not suitable for packaging bag PB, such as food that is partially missing, food that is smaller than a predetermined size, or food that is larger than a predetermined size, is carried out without being loaded in the packaging bag. ..

FIG. 14 shows the postures when the pair of robots 62 and 64 load the sandwich SA toward the opening (FIG. 14, bag sealing portion 96) of the packaging bag opened by the bag opening mechanism 50 according to the present invention. It is a schematic side view which shows. The same reference numerals are shown in the same places as those in FIGS. 1 to 13.

FIG. 14 shows a motor 501, a slider 502, a plate cam 503, an arc groove 504, a cam follower 505, an arc arm 506, and a bag opening pad 507 that constitute the bag opening mechanism 50. The bag opening pad 507 is attached to one end of the arc-shaped arm 506. The arc arm 506 slides in the arc groove 504. A cam follower 505 is attached to the other end side of the arc-shaped arm 506, and the cam follower 505 is attached to the slider 502. The slider 502 moves up and down on the slider sliding portion. The vertical movement of the slider 502 is converted into an arc-shaped movement by the cooperation of the plate cam 503, the arc-shaped groove 504, the cam follower 505, and the arc-shaped arm 506. Such arcuate motion is directly transmitted to the operation of the bag opening pad 507. The slider 502 moves upward when sucking and sucking the opening (bag sealing portion side) of the packaging bag PB, and moves downward when opening the opening of the packaging bag PB. When opening the opening, the opening is opened in a shape suitable for loading the sandwich SA while drawing an arc shape.

The sandwich SA sandwiched by the food sandwiching portion 600 is loaded from the opening (bag sealing portion 96) of the opened packaging bag PB. The food holding portion 600 is attached to the end portions of the robots 62 and 64. The handling by the robots 62 and 64 is performed on the intermediate transport path 14. A camera unit 20 is mounted on the intermediate transport path 14. The camera unit 20 detects the presence / absence of the sandwich SA to be loaded in the packaging bag PB and whether the shape and size thereof are appropriate or inappropriate. The camera unit 20 includes a camera 21, a lighting 22, and a camera support member 23, and the camera support member 23 is fixed to a top plate or the like (not shown) of the food bagging device 100.

FIG. 15 shows a food holding portion 600 constituting the food loading mechanism 60. The food holding portion 600 is attached to each of the robots 62 and 64, and has a pair of tongs 602, an extrusion plate 604, an extrusion pusher 606, a pusher body 608, a robot cylinder 612, a slider 614, a base plate 616, a robot flange 618, and a cable hole 622. , Cable 624, and wiring bundle 626. The pair of tongs 602 is made of, for example, stainless steel (SUS). The triangular tongs 602 grip both sides of a sandwich SA of the same shape. The slider 614 moves to adjust the spacing between the pair of tongs 602. When the sandwich SA is loaded into the packaging bag PB, the pusher 606 expands and contracts inside the extrusion pusher body 608, and the extrusion plate 604 loads the sandwich SA into the packaging bag PB.

FIG. 16 shows a schematic side view of the carry-out mechanism (packaged article posture direction changing mechanism) 70. FIG. 16A shows the posture before the rotary grip plate 702 that grips the semi-packaged SAP is rotated, and FIG. 16B shows the posture when the rotary grip plate 702 is rotated.

In FIG. 16, the same reference numerals are given to the same parts as those in FIGS. 2 and 3. The carry-out mechanism 70 shown in FIG. 16 connects the rotary grip plate 702 that grips and rotates the semi-packaged product SAP, the rotary plate support member 704 that supports the rotary grip plate 702, and the rotary plate support member 704 to connect the rotary plate support member 704. It has a rotating link 706 to rotate, a motor 712 as a driving force for driving a rotary grip plate 702, a drive pulley 714 connected to the motor 712, a belt 716 wound around the drive pulley 714, and a passive pulley 718 rotated by the rotation of the belt 716. .. Further, a spline 724 is coupled to the passive pulley 718, and a rotary link 706 is coupled to the spline 724 via a well-known set collar. The cover 732 protects the spline 724.

FIG. 17 is an external perspective view of the food bagging device 100 in which the housing portion and a part of the mechanism are added to the food bagging device 100 shown in FIGS. 1 to 16, and the same reference numerals are given to the same parts. .. The food bagging device 10A is composed of a mechanical mechanism 100A and a control mechanism 120. The mechanical mechanism 100A is a food bagging device 100 housed in a housing portion, and has a substantial function equivalent to that of the food bagging device 100. The control mechanism 120 is equipped with each control unit that operates and controls the food bagging device 100, and is provided on the upper part of the mechanical mechanism 100A.

The control mechanism 120 includes robot controllers 122a and 122b and a control box 124 (not shown in FIGS. 1 to 16). The robot controllers 122a and 122b control the behavior of the robots 62 and 64, respectively. The control box 124 houses the camera 20, the bag taking-out mechanism 40, and the cylinder control unit used for the bag opening mechanism 50. The side portion of the control mechanism 120 is surrounded by, for example, SUS (stainless steel). A notification lamp 126 for notifying the operating state of the food bagging device 100 is attached to the corner of the control mechanism 120. The notification lamp 126 can be composed of a single color or a plurality of colors such as LEDs. Such an LED may be fixed and turned on, or the LED itself may be rotated. Further, the voice device may be provided independently from the notification lamp, or both may be arranged side by side.

The mechanical mechanism 100A is housed in a housing and surrounded by the housing. The housing has several windows made of PET (polyethylene terephthalate resin). Since PET is excellent in heat resistance, cold resistance, strength, and transparency, it is suitable as a housing portion and for visually recognizing the behavior of each mechanism housed in the housing portion.

A touch panel (not shown) that drives and operates the food bagging device 100 faces the window 114. A keyboard (not shown) that drives and operates the food bagging device 100 faces the window 116. The windows 118a, 118b and 118c are also made of PET, but they are intentionally divided to ensure the strength of the housing. The windows 114, 116 and 118a to 118c are surrounded by, for example, SUS.

A bag stock mechanism 30 is arranged at a corner of the mechanical mechanism 100A so as to be exposed from the housing. As is clear from the above description, the bag stock mechanism 30 often replaces the bag stock unit 300 according to the size of the packaging bag. Therefore, the bag stock mechanism 30 is arranged at a portion of the mechanical mechanism 100A which is easy to replace unlike the arrangement and configuration with other mechanisms.

The supply transport path end portion 12a is exposed in a part of the housing portion of the mechanical mechanism 100A. Foods such as unwrapped sandwich SA to be packed are supplied from the supply transport path end 12a side.

Further, a part of the heat radiating portion 128 that dissipates the heat generated by the food bagging device 100 to the outside is exposed in a part of the housing portion of the mechanical mechanism 100A.

The housing shape of the food bagging device 10A composed of the mechanical mechanism 100A and the control mechanism 120 has a substantially rectangular parallelepiped shape, and the width (W), depth (D), and height (H) are, for example, W. = 1.1 m to 1.5 m, D = 1.6 m to 2.0 m, and H = 1.8 m to 2.2 m. The size relationship and size of these parts are one of the design matters, and the robot 62, 64, the supply transport path 12, the intermediate transport path 14, the carry-out transport path 16, the auxiliary transport path 18, the bag stock mechanism 30, and the bag take-out. It is determined by the size, layout, etc. of the mechanism 40, the bag opening mechanism 50, and the like.

FIG. 18 shows the food bagging device 10A viewed from the rear side of FIG. The same parts as those in FIG. 17 are designated by the same reference numerals. In FIG. 18, a member that could not be displayed in FIG. 17 appears. A portion where FIG. 18 is different from FIG. 17 will be described. First, the door portion 132 is visible as a part of the housing portion. The door portion 132 is made of transparent PET. This is performed through the door portion 132 when confirming the movement or state of each mechanism, each member, parts, or the like constituting the food bagging device 100, or when replacing each mechanical part. The material of the window portion 134 is PET, and it is prepared on both sides of the door portion 132.

A space 136 in which a PLC (programmable logic controller) for controlling the food bagging device 100 and the control mechanism 120 according to the present invention is stored is prepared below the mechanical mechanism 100A.

The end portion 16a of the carry-out transport path 16 appears on a part of the housing portion of the mechanical mechanism 100A on the right side portion of the mechanical mechanism 100A. A so-called semi-packaged product, which is loaded into the packaging bag PB from the end portion 16a side but whose bag sealing portion is not completely sealed, is carried out.

Further, an auxiliary transport path 18 for taking out food that is considered to be unsuitable for packaging is exposed near the carry-out transport path 16 which is a part of the housing portion of the mechanical mechanism 100A. The width of the conveyor used for the auxiliary transport path 18 is approximately twice as large as the width of the conveyor used for the carry-out transport path 16. This is because what is taken out from the auxiliary transport path 18 is taken out from the two triangular sandwiches supplied by the supply transport path 12, which is different from the one sandwich taken out from the carry-out transport path 16. Because.

As a matter of course, the housing shape of the food bagging device 10A composed of the mechanical mechanism 100A and the control mechanism 120 shown in FIG. 18 also has a substantially rectangular parallelepiped shape. The width (W), depth (D), and height (H) are, for example, W = 1.1 m to 1.5 m, D = 1.6 m to 2.0 m, and H = 1.8 m to 2.2 m, respectively. It becomes.

Generally, when installing a food bagging device in a factory, it is often faced that it cannot be placed efficiently due to entanglement with other devices. The food bagging device 10A according to the present invention shown in FIGS. 17 and 18 can solve such a problem. Since the housing is almost rectangular parallelepiped, it can be installed in a factory without worrying about other devices. In particular, the end portion 12a of the supply transport path for supplying food and the end 16a of the carry-out transport path 16 for carrying out food are prepared on opposite surfaces of the housing portion, and the outlet of the carry-out transport path 16 and the auxiliary transport path are provided. Since the outlets of 18 are configured to face the same surface of the housing portion, the time required for handling food can be shortened.

FIG. 19 is a schematic view showing an example when a plurality of food bagging devices 10A shown in FIGS. 17 and 18 are juxtaposed in a factory or an installation location. In FIG. 19, the same parts as those in FIGS. 17 and 18 are designated by the same reference numerals. 19A and 19B show an example when, for example, four food bagging devices 10A1, 10A2, 10A3 and 10A4 are arranged in the factory FA. The four food bagging devices may process the packaging bag PB of the same size in all four units, or the size of the packaging bag PB may be different in all four units. For example, the packaging bag widths W1 processed by the food bagging devices 10A1, 10A2, 10A3 and 10A4 are W1 = 65 mm, W1 = 75 mm, W1 = 85 mm, and W1 = 95 mm, respectively.

FIG. 19A takes into consideration the positions of the supply transport path 12 and the bag stock mechanism 30. The supply transport paths 12 of the food bagging devices 10A1 and 10A2 are juxtaposed in the lateral direction so as to face downward. Further, the supply transport paths 12 of the food bagging devices 10A3 and 10A4 are juxtaposed in the lateral direction so as to face upward. The food bagging device 10A1 and the food bagging device 10A3 have supply transport paths 12 arranged in the vertical direction so as to face each other. Similarly, the food bagging device 10A2 and the supply transport path 12 of the food bagging device 10A4 are also arranged in the vertical direction so as to face each other. The supply transport paths 12 of the food bagging devices 10A1, 10A2, 10A3 and 10A4 arranged in this way are all arranged facing the aisle AIE. In order to arrange the two food bagging devices, they are arranged horizontally as in the positional relationship between the food bagging devices 10A1 and 10A2, or in the vertical direction as in the positional relationship between the food bagging devices 10A1 and 10A3. It is preferable to arrange them in. In any case, it is preferable that the supply transport paths 12 are arranged so as to face the same direction or face each other.

The four food bagging devices shown in FIG. 19A arranged facing the aisle AIE are suitable for the worker WR to supply food (sandwich) to the supply transport path 12 and for maintenance. Further, the time required for the work of switching the bag stock unit 300 prepared in the bag stock mechanism 30 can be shortened.

In the arrangement shown in FIG. 19A, the parts of the carry-out transport path 16 and the auxiliary transport path 18 are moved away from the passage AIE, and the supply transport path 12 and the bag stock mechanism 30 cannot be maintained. However, the depth D of the food bagging devices 10A1, 10A2, 10A3 and 10A4 is D = 1.6m to 2.0m as described above, and it can be said that it is the working range of one worker WR. Therefore, the arrangement shown in FIG. 19A is suitable for a so-called cell production method in which various operations are processed by one person. If the sandwich slicer described above is installed at a position corresponding to the passage AIE and the maintenance of this sandwich slicer is also performed by the worker WR, the work range that can be performed by one worker can be expanded and the advantages of the cell production method can be further enjoyed. can do.

FIG. 19B takes into consideration the positions of the carry-out transport path 16 and the auxiliary transport path 18. The carry-out transport path 16 and the auxiliary transport path 18 of the food bagging devices 10A1 and 10A2 are juxtaposed in the lateral direction so as to face downward. Further, the carry-out transport path 16 and the auxiliary transport path 18 of the food bagging devices 10A3 and 10A4 are juxtaposed in the lateral direction so as to face upward. The carry-out transport paths 16 and auxiliary transport paths 18 of the food bagging devices 10A1, 10A2, 10A3 and 10A4 arranged in this way are all arranged so as to face the aisle AIE.

In order to arrange the two food bagging devices, they are arranged horizontally as in the positional relationship between the food bagging devices 10A1 and 10A2, or in the vertical direction as in the positional relationship between the food bagging devices 10A1 and 10A3. It is preferable to arrange them in. In any case, the relationship between the two is that the carry-out transport path 16 is arranged so as to face the same direction or face each other. Thereby, the efficiency of the cell production method can be improved.

The four food bagging devices shown in FIG. 19B arranged facing the aisle AIE are suitable for the worker WR to carry out the food (sandwich) from the carry-out transport path 16 and for maintenance.

In the arrangement shown in FIG. 19B, the portion where the supply transport path 12 and the bag stock mechanism 30 are placed is away from the passage AIE, and maintenance of the carry-out transport path 16 and the auxiliary transport path 18 cannot be performed. However, the depth D of the food bagging devices 10A1, 10A2, 10A3 and 10A4 is D = 1.6m to 2.0m as described above, and maintenance of the supply transport path 12 and the bag stock mechanism 30 is a work of one person. It can be said that it is the work range of the person WR. Therefore, even with the arrangement shown in FIG. 19B, it is suitable for a so-called cell production method in which various operations can be processed by one person. If the bag sealing mechanism described above is installed at the position corresponding to the passage AIE and the maintenance of this bag sealing mechanism is also performed by the same worker WR, the work range that can be performed by one worker is expanded and cell production is performed. You can further enjoy the merits of the method.

As described above, the bag taking-out device and the bag taking-out method according to the present invention can reliably and quickly take out the stacked packaging bags one by one. In addition, such a device and a food bagging device that employs a bag taking-out method have high industrial applicability because foods such as sandwiches can be quickly loaded into a bag.

10A Food bagging device 100 Food bagging device 100A Mechanical mechanism 114 Window (touch panel)
116 Window (keyboard)
118a, 118b, 118c Window 12a Supply transport path 12a Supply transport path end 120 Control mechanism 122a, 122b Robot controller 124 Control box 126 Notification lamp 128 Heat dissipation section 132 Door section 136 PLC accommodation site 14 Intermediate transport path 16 Carry-out transport path 16a End of carry-out transport path 18 Auxiliary transport path 20 Camera section
21 Camera 22 Lighting 23 Camera support member 26 Base plate 28 Frame member 30 Bag stock mechanism 300 Bag stock unit 302a, 302b Bag storage part 304 Storage wall part 306 Spacer 306a Base 306b Side end 308 Handle 310 Bag removal opening 320 Protrusion 330 Pillow part 340 Unit mounting part 40 Bag removal mechanism 402a, 402b Bag removal pad 404 Lifting part 406 Slider 408 Pad arm 50 Bag opening mechanism 501 Motor 502 Slider 503 Plate cam 504 Arc groove 505 Cam follower 506 Arc-shaped arm 507 Bag opening pad 507 Frame 522a, 522b Conveyor pin 524 Bag holding plate 60 Food loading mechanism 600 Food holding part 602 Tongue 604 Extruded plate 606 Extruded pusher 608 Pusher body 612 Robot cylinder 614 Slider 616 Base plate 618 Robot flange 62 Robot 622 Cable hole 624 Cable hole 624 64 Robot 66 Robot base 70 Carry-out mechanism (packaged product posture direction change mechanism)
702 Rotating grip plate 704 Rotating plate support member 706 Rotating link 712 Motor 714 Drive pulley 716 Belt 718 Passive pulley 722 Bracket 724 Spline 732 Cover 802 Height sensor 804 Air control unit 806 Solenoid valve 808 Vacuum generator 91 Front film 92 Back film Side edge 94 Header (ear)
95 Food storage 96 Bags Encapsulation PB Packaging bag PBs Lowest packaging bag pbs1, pbs2 Take-out bag PS Proximity sensor ps1, ps2, ps3 Photosensor SA Sandwich SAB Semi-packaged product SAP Semi-packaged food sup Packaging non-target food TH unit label Part X Labeled part Y Labeled part Z Labeled part

Claims (19)

A bag removal device that sequentially takes out the packaging bags stacked on the bag stock unit from the opposite direction of the stacking direction.
The bag stock unit has
A square opening drilled in the mounting surface on which the packaging bag is mounted, and
A plurality of storage walls arranged around the opening so as to surround the packaging bag and defining a storage position of the packaging bag,
A pair of protrusions projecting upward between the opening and the accommodating wall to support the two separated parts of the packaging bag.
In order to support the parts of the packaging bag separated from the direction in which the two parts are lined up in a direction intersecting with each other, a pillow part arranged along one side of the opening is provided.
A bag taking-out device including a bag taking-out mechanism for sucking the lowermost packing bag among the packaging bags laminated on the bag stock unit from the opening and taking it out to the outside of the bag stock unit. The shape formed by the line segment connecting the centers of the pair of protrusions and the pillow portion is a triangle, the center of the pillow portion is the apex of the triangle, and the line segment connecting the centers of the pair of protrusions is formed. Is the base of the triangle, the pair of protrusions and the pillow are arranged so that the center line connecting the apex and the midpoint of the base passes through the center or the vicinity of the center of the opening. The bag taking-out device according to claim 1. The second aspect of claim 2, wherein the triangle forms a substantially isosceles triangle, the apex is the apex angle of the substantially isosceles triangle, and the line segment connecting the centers of the pair of protrusions is the base of the substantially isosceles triangle. Bag take-out device. The bag taking-out device according to claim 2 or 3, wherein a spacer having a concave shape in a plan view covering a part of the opening is provided in the vicinity of the pillow portion. The bag removal device according to claim 4, wherein the spacer has a rectangular base and two side ends extending from both ends in the width direction of the base toward the opening. The bag taking-out device according to claim 5, wherein the accommodating wall portion, the opening portion, the pair of protrusions, the pillow portion, and the spacer are arranged line-symmetrically with the center line as the axis of symmetry. The packaging bag has a narrow portion and a wide portion.
The bag removal according to claim 2, wherein the packaging bag is laminated on the bag stock unit so that the narrow portion is located on the apex side of the triangle and the wide portion is located near the base of the triangle. apparatus. The bag taking-out device according to claim 7, wherein the wide portion of the packaging bag is supported by the pair of protrusions, and the length direction of the packaging bag is supported by the pair of protrusions and the pillow. The packaging bag has a first trapezoidal portion having an isosceles trapezoidal shape, a second trapezoidal portion that shares the lower base of the first trapezoidal portion and has legs shorter than the legs of the first trapezoidal portion, and the first trapezoidal portion. A packaging bag for sandwiches having a rectangular header portion connected to the upper bottom of a trapezoidal portion.
The bag taking-out device according to any one of claims 1 to 8, wherein the pair of protrusions support the vicinity of the lower bottom of the first trapezoidal portion, and the pillow portion supports the header portion. The bag taking-out device according to claim 9, wherein two of the plurality of accommodating wall portions are arranged along the two legs of the first trapezoidal portion. A plurality of types of bag stock units formed according to the shape and size of the packaging bag are detachably attached and attached.
The bag removal device according to any one of claims 1 to 10, wherein each bag stock unit is provided with a marking unit for distinguishing itself from others. The bag taking-out device according to any one of claims 1 to 11, further comprising a bag stock unit for laminating packaging bags and a bag taking-out mechanism for taking out packaging bags one by one from the bag stock unit. A bag taking-out method for taking out the packaging bag.
When the packaging bag is taken out from the bag stock unit, the bag taking-out mechanism brings the suction pad into contact with the lowermost packaging bag facing the opening of the bag stock unit, and brings the contact portion to a predetermined height at a first speed. Lift with
The bottom layer packaging bag is sucked and sucked by the suction pad, and then the suction pad is lowered at a second speed lower than the first speed, so that the bottom layer packaging bag is taken out from the opening. How to take out the bag. The bag removal method according to claim 12, wherein the lifting of the packaging bag at the first speed is performed each time the removal of one stroke of the packaging bag is completed. The bag removal method according to claim 12 or 13, wherein the first speed is 300 mm / s to 1500 mm / s, and the second speed is 40 mm / s to 200 mm / s. The bag removal method according to claim 14, wherein the first speed is 750 mm / s and the second speed is 100 mm / s. Supply transport channels for supplying food and
Any of claims 1 to 11 including a bag stock unit for stacking packaging bags loaded with food and a bag taking-out mechanism for taking out the packaging bags one by one from the packaging bags laminated on the bag stock unit. The bag removal device described in item 1 and
A bag opening mechanism for opening the packaging bag taken out by the bag taking-out device,
A food loading mechanism for loading the food into the packaging bag opened by the bag opening mechanism,
A unloading mechanism for unloading the food loaded in the packaging bag by the food loading mechanism,
A food bagging device including a carry-out transport path for transporting the food carried out from the carry-out mechanism. The bag opening mechanism, the food loading mechanism, and the carrying-out mechanism are housed in a housing portion.
The food bagging device according to claim 16, wherein the end portion of the supply transport path, the end portion of the carry-out transport path, and the bag stock unit are exposed from the housing portion. The housing portion has a substantially rectangular parallelepiped shape,
The food bag according to claim 17, wherein the width of the housing portion is 1.1 m to 1.5 m, the depth is 1.6 m to 2.0 m, and the height is a value within the range of 1.8 m to 2.2 m. Packing device. Claim that the food bagging device is arranged so that either one of the end of the supply transport path and the end of the carry-out transport path faces each other or faces the same direction when a plurality of the food bagging devices are juxtaposed. The food bagging device according to any one of 16 to 18.