JPH04189710A - Packaging device - Google Patents

Abstract

PURPOSE:To obtain a packaging device with a high degree of safety by a method wherein when a means for detecting an object to be packaged detects an object to be packaged and when an obstacle detecting means no longer detects an obstacle, a packaging means is started to operate. CONSTITUTION:A start switch P0 and an interruption switch P1 are attached to a lateral side X of a packaging work unit B, Operators work facing the side X. A transmitting type photoelectric sensor Q provided with a light projector P21 and a light receiver P22 is provided on the side X. The sensor Q is faced toward an obstacle detecting means for detecting an obstacle for packaging work. Every time the operators feed an object to be packaged C to the unit B, each of the unit B and a sheet feed device 2 performs one cycle of operation and waits after said operation until a limit switch S15 for detecting an object to be packaged is turned ON and a photoelectric sensor P2 is turned OFF again. After the operators put an object to be packaged C on a receiving table 8 and safety is confirmed, actions including packaging operation are performed.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention provides a packaging means for packaging an object with a supplied packaging sheet and discharging the object upon completion of packaging; The present invention relates to a packaging apparatus that is provided with a packaging sheet supplying means for supplying packaging sheets from a sheet storage section to the packaging means, and a control means for controlling the operation of the packaging means and the packaging sheet supplying means.

[Conventional technology]

A packaging device as described above is used for packaging spherical vegetables such as lettuce.

That is, with the packaging sheet supplied to the packaging means, the operator places the object to be packaged on the packaging sheet. In this state, the packaging operation is executed by starting the operation of the packaging means. Here, in order to save the worker's effort and improve work efficiency, a means for detecting whether or not an object to be packaged is supplied to the packaging means is provided, and the detection means detects the object to be packaged. It is conceivable to start the operation of the packaging means accordingly.

[Problem to be solved by the invention]

The above configuration may not ensure the safety of workers. For example, if the wrapping means starts operating when the worker tries to touch the packaged object placed on the wrapping sheet, there is a risk of injury to the worker.

An object of the present invention is to eliminate the above-mentioned drawbacks and obtain a packaging device with high safety.

[Means to solve the problem]

In order to achieve this object, the packaging apparatus according to the present invention has a characteristic configuration that includes: a packaged object detection means for detecting whether or not the packaged object has been supplied to the packaging means; and an obstacle detecting means for detecting an obstacle to the packaging operation. detection means, and the control means includes:
The packaged object detection means detects the packaged object, and
The packaging device is configured to start operating the packaging device when the obstacle detection device no longer detects an obstacle.

[For production]

The obstacle detection means detects whether a worker or the like is present within the operating range of the packaging means. Therefore, if a worker or the like is present within the operating range of the packaging means, the operation of the packaging means will not be started.

〔Effect of the invention〕

If there is a worker within the operating range of the wrapping means, the wrapping means will not start operating, thereby reducing the risk of injury to the worker.

As a result, the safety of the packaging device can be improved.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIGS. 4 and 5 show a packaging device for wrapping an article (C) such as lettuce with a packaging sheet (1). This packaging device includes a storage section (A) for stacking and storing a large number of packaging sheets (1), a sheet feeding device (2) as a sheet feeding means for transporting and supplying sheets one by one from the storage section (A), and Packaging work section (B) as a packaging means for wrapping the packaged object (C) with the supplied packaging sheet (1)
It becomes sharp.

A start switch (
Po) and a medium ml switch (Pl) are attached. The operator will work in a state facing the side part (X). A transmission type photoelectric sensor (Q) including a light projecting part (P, , ) and a light receiving part (B22) is provided above the horizontally tilted part (X). This photoelectric sensor (Q
) or obstacle detection means for detecting obstacles in packaging work. Incidentally, when the photoelectric sensor (Q) is ON, an obstacle is detected.

The packaging work section (B) includes a holding mechanism (3) that wraps and holds the packaged object (C) placed from above the supplied packaging sheet (1) from below, and a holding mechanism (3) that wraps and holds the packaged object (C) placed from above the supplied packaging sheet (1). ), a wrapping mechanism (4) that wraps and guides each end of the packaging sheet (1) by folding it over the wrapping mechanism (4), and after the wrapping operation, unwinds a second adhesive tape (5) that adheres and fixes the packaging sheet (1). It is equipped with a tape feeding device (6) for supplying the tape, a holding device (7) for preventing the object to be packaged (C) from floating during the wrapping operation, and the like. In addition, (B3) and (B,) in FIG. 4 are the air blow nozzles for ear removal, and (B1) in FIG. 5 is the air blow nozzle for separation.

As shown in FIGS. 6 to 8, the holding mechanism (3) includes a receiving stand (8) for receiving and supporting the packaged object (C), and a pair of holding arms (9). The holding arm (9) is configured to be swing-driven between a downwardly retracted position and an upwardly swinging working position by an electric motor (M8) which can be rotated in forward and reverse directions. In other words, electric motor (M8)
The balance swinging arm (
12), a lifting member (14) which is driven to slide up and down with respect to a support shaft (13) is interlocked and connected to each holding arm (9) for swinging drive. In addition, an electric motor (M8
) is configured to interlock and drive a press roller (15) for pressing and tensioning one end of the packaging sheet (1) via a link mechanism (16).

The receiving stand (8) is used to hold the packaged object (C) in the packaging work section (B).
) is provided as a contact-type limit switch (S, , ) as a means for detecting a packaged object.

Additionally, limit switches (S, 2), (S, 3), (S, , ) for timing control of the electric motor (M8) are provided. The upper limit switch (S, □
) is used to detect whether or not packaging sheets have been supplied to the packaging work section (B).

The wrapping mechanism (4), as shown in FIGS. 6 and 7,
4. Fold and guide each end of the packaging sheet (1) onto the packaged object (C) held by the holding mechanism (3) and hold it.
first to fourth wrapping tools (17a), (17b),
(17c) and (17d), and each wrapping tool sequentially folds and guides the packaging sheet (1) along the surface of the packaged object (C) by a forward/reverse electric motor (Ml) to (M4). It is composed. Each wrapping tool has a first support arm (20
), a second support arm (21) is pivotally supported at one end of the first support arm (20), and a guide roller (22) is supported at the tip of the second support arm (21). Each of the support arms (20) and (21) is biased to rotate in the physical direction of the packaged object. Further, a cam roller (23) is supported on the other end side of the second support arm (21),
This cam roller (23) is guided by the cam surface (24) as the drive arm (19) rotates, and each guide roller (2
2) It is configured to be guided and driven almost along the surface of the packaged object (C). Note that (Sl) to (B9) in the figure are limit switches for timing control of each electric motor (Ml) to (M4).

The guide roller (22) of the first wrapping device (17a) that operates first is divided into left and right halves, and between them the sheet end side guided by the roller (22) is )
A blower nozzle (B2) is provided which is bent and guided toward the side. This blow nozzle (B2) is connected to the first wrapping tool (1
Air is blown in conjunction with the enveloping operation of 7a), and the air blown is stopped after the second enclosing device (17b) has been operated to an intermediate position.

The presser device (7), as shown in FIGS. 9 to 11,
It is configured to move vertically and horizontally by driving a presser arm (26) that is elastically biased downward or an electric motor (M5), and presses the object to be packaged (C) in conjunction with the above-mentioned wrapping operation. It is structured like this. Specifically, the presser device (a) is provided on the rear side of the second wrapping tool (17b),
A lateral moving part (29) is supported so as to be slidable in the direction toward the center of the working part with respect to a support frame (28) erected from the machine base, and a horizontal moving part (29) is supported vertically so as to be freely movable up and down with respect to this lateral moving part (29). It supports the moving part (30), and this vertical moving part (30
) to attach the presser arm (26). The lateral moving part (29) is driven to move laterally by abutting and engaging the drive pin (31) rotationally driven by the electric motor (M) or the vertical engaging recess (32), and the vertical moving part ( 30) is driven when the drive pin (31) abuts and engages with the locking portion (33). The guide hole (34) connected to the engagement recess (32) allows the drive pin (31) to rotate so as not to move laterally during vertical movement driving. The presser device (7) configured as described above has a first step in which the presser arm (26) moves laterally from a rear and upper standby position to above the object to be packaged (C), and a first step in which the presser arm (26) moves horizontally from the standby position in the rear and upper part to above the object to be packaged (C). ), a second step in which the robot is held down, a third step in which it is moved laterally to the rear, and a fourth step in which it is moved upward toward the standby position are sequentially repeated.

In the figure, (S, .), (S, ,) are electric motors (M5)
This is a limit switch for timing control.

Next, the sheet feeding device (2) will be explained.

As shown in Figures 4 and 5, guide rules (
35) and an endless rotating chain (36), and is provided with a suction transfer mechanism (37) that is guided by both guide rules (35) and slides when driven by the rotating chain (36). The suction transfer mechanism (37) spans a pair of support members (38) movably connected to each rotary chain (36), and the horizontal axis is approximately at the same level as the sprocket axis of the rotary chain (36). A U-shaped arm (39) that can swing freely around the core (P,) is constructed and connected, and suction nozzles (40) for suctioning the packaging sheet (1) are provided at two intermediate positions of this arm (39). be. Each rotating chain (36) is configured to be driven in forward and reverse directions by the drive of an electric motor (M6), and is equipped with a potentiometer (PM) for detecting the amount of movement of the suction transfer mechanism (37). Further, the rotational fulcrum of the arm (39) is equipped with an electric motor (M7) that slides integrally, and when driven by this motor (M7), the suction nozzle (40) is moved upward and into a retracted position. The structure is such that it can be switched and oscillated between the positions where it adsorbs the packaging sheet (1). In the figure (PM2) is a potentiometer for detecting the position of the suction nozzle (40).

In addition, the storage section (A) has three storage devices (43
) are arranged in an inclined position and one on top of the other so that their front ends are approximately at the same height.

The suction nozzle (40) is elastically retractably supported by a support bracket (44) attached to the arm (39) and is communicatively connected to a suction device (41) via a suction pipe (45).

As shown in FIG. 12, the suction nozzle (40) has a central axis (
A cylindrical member (47) is attached to the outer periphery of the shaft (46) to form an annular suction port (48) and is configured to draw suction through a suction path (1) formed within the center shaft (46). Adsorption of the packaging sheet is performed using a negative pressure switch (S15
') is detected.

At the upper center of the holding mechanism (3), there is a saucer (
50), and this receiving tray (50) has a supporting posture of receiving and supporting the packaged object (C) around the horizontal axis center (P2) at a lower position on the downstream side in the sheet feeding direction, and a supporting posture of receiving and supporting the packaged object (C), and facing outward and upward. It is configured to be able to freely switch and swing between swinging discharge positions. That is, as shown in FIG. 11, an L-shaped arm (51) integrally connected to a saucer (50) is pivotally supported on a frame (52), and a middle part of the arm (51) and a presser device (7) are provided. The drive arm (53) is interlocked and connected via a wire (54). The drive arm (53) is connected to the presser device (7).
) is brought into contact and oscillated by the movement of the drive pin (31) in the fourth step of step ), and the receiving tray (50) is quickly switched from the supporting position to the releasing position, thereby releasing the packaged object (C) that has been wrapped outside. It is configured to emit to.

Next, the mounting structure of the tape feeding device (6) will be explained. The tape feeding device (6) is configured to feed out a predetermined amount of the adhesive tape (5) for wrapping packaging for each packaging operation as described above.

It is disposed on the outer side of the fourth wrapping tool (17d), and its position is adjusted along the direction toward the center of the working section (B), that is, the place where the object to be packaged (C) is placed. It can be attached freely. More specifically, as shown in FIG. 13, four rollers (57) are attached to and guided by a pair of left and right rails (56) formed on a fixed frame (55), and are supported in a slidable manner. together with a fixed frame (55)
An operating lever (59) that is elastically deformable in the direction of movement is engaged with a locking tool (58) that is connected thereto for positioning. The locking tool (58) has three engaging recesses (6
0a).

(60b) and (60c), and are set so that the position of the feeding tape (5) can be switched depending on the packaging sheet (1) of three different sizes.

Further, along with the above position adjustment of the tape feeding device (6), the suction start position and the suction end position of the sheet supply device (2) are changed and adjusted, and the left and right spacing between the left and right suction nozzles (40) is changed. It is. To explain in detail, the engaging recesses (60a) and (60c) on both end sides of the locking tool (58)
Limit switches (61a) and (61b) are installed to detect the presence of the operating lever (59), and based on the signals from these switches (61a) and (61b), a control device (H) to be described later controls sheet feeding. Supply drive motor of device (2) (
M6) to change the suction start position and suction end position. In other words, if the limit switch (61a) on the center side is in the detection state, it is determined to be the small side seat position, and if the limit switch (61b) on the opposite side is in the detection state, it is determined to be the large side seat position. If it is not detected, it is determined that the seat is in the middle seat position.

In addition, each suction nozzle (4o) is supported so as to be slidable in the horizontal direction with respect to the support shaft (62).
3) and each rod (64) so that they slide in a contradistinct manner. The balance arm (63) has left and right suction nozzles (40) corresponding to the position of the tape feeding device (6).
) is configured to slide.

A tape support (66) for placing and supporting the adhesive tape (5) is placed below the tape feeding portion of the tape feeding device (6).
), and as shown in FIG. 14, this tape support (66) is attached to the tip of a support arm (67) which is pivotally connected to the fourth wrapper (17d), and is vertically swingable and downwardly attached. The roller (68) provided at the swinging end of the guide member (69) engages with the hook portion (69a) at the lower end of the plate-like guide member (69) on the tape feeding device (6) side for positioning. It is composed.

The roller (68) is formed to have a smaller diameter at the central portion in the axial direction, and is configured so that it can be positioned in the left-right direction by engagement with the guide member (69). The tape support (66) also includes a tape holding member (70) that can be freely switched between a state in which the adhesive tape (5) and the packaging sheet (1) are held together and supported by pressure, and a state in which the pressure is released.
) is provided in a supporting action position in a spring-biased state and can be driven and released by the electric motor (M8).

As explained above, since the tape feeding device (6) is provided so that its position can be freely adjusted according to the size of the packaging sheet (1), the amount of tape feeding can be kept constant even when the size of the sheet is . It can also be supplied in an appropriate condition.

Next, a configuration for controlling the operations of the packaging section (B) and the sheet feeding device (2) will be explained.

As shown in FIG. 1, a control device (H) using a microcomputer is provided, and each limit switch (S, ) to (S, , ), (61a), (
61b), start switch (Po), interrupt switch (
Pl), photoelectric sensor (P2+), (P22), each potentiometer (PMI), (PM2), negative pressure switch (
) are connected to each other. Then, the control device (H
) is adapted to control the operation of the packaging section (B) and the sheet feeding device (2) based on various input information.

That is, the control device (H) is used to control the control means (100
) or configured.

Next, the operation of the control device (H) will be explained based on the flowcharts shown in FIGS. 2(a) to 2(d).

First, the packaging procedure will be explained based on FIG. 2(a).

First, the U-shaped arm (39) is moved to the initial position. Then, the seat position is determined based on the position of the operating lever (59).

Basically, each time the worker supplies the article to be packaged (C) to the packaging section (B), the packaging section (B) and the sheet feeding device (2) each perform one cycle of operation. After the operation is completed, the device waits until the limit switch (S, . . . ) for detecting the packaged object (C) is turned ON again and the photoelectric sensor (P2) is turned OFF. In other words,
In the state where the packaging sheet (1) is being fed onto the receiving stand (8) (hereinafter referred to as the paper feeding state), when the worker places the object to be packaged (C) on the receiving stand (8), Once the safety of the workers is confirmed, the packaging operation in the packaging section (B) is started. Also, sheet feeding device (2)
- From the storage part (A) to the U-shaped arm (39) at
The operation of holding the wrapping sheets (1) (hereinafter referred to as sheet feeding preparation operation) is performed during the above-mentioned wrapping operation. Furthermore, the operation of feeding the packaging sheet (1) held by the U-shaped arm (39) onto the receiving table (8) of the packaging work section (B) (hereinafter referred to as sheet feeding operation) is performed at the same time as the packaging operation is completed. and execute it.

However, at the time of starting work, etc., the paper is not being fed, so the packaging work cannot be performed immediately. Therefore, when the paper is not being fed as described above, the start switch (P
When o) is pressed, the sheet feeding device (2) executes a sheet feeding preparation operation and a sheet feeding operation to enter a sheet feeding state. Then, the worker places the object to be packaged (C) on the receiving stand (8).
The above-mentioned operations including the wrapping operation will be performed by placing the package and confirming its safety.

Here, the holding mechanism (3
) based on the detection information of the upper limit switch (S, □). In other words, it is determined that the paper is being fed when the switch (S, 2) is OFF.

Further, when changing the size of the packaging sheet (1) during work, only the packaging operation can be performed by pressing the interruption switch (P,).

Then, when the packaging operation is completed, the packaging sheet (1) is not supplied to the packaging work section (B), and the sheet supply device (
2) will not hold the packaging sheet (1). In this state, operate the operating lever (59) to
) and then restart the packaging work by pressing the start switch (P, ).

You can also use the interrupt switch (P
, ) can be used.

To explain the sheet feeding preparation operation, as shown in FIG. 2(b), the U-shaped arm (39) is moved to the suction start position corresponding to the specified size of the packaging sheet (1). Next, the suction nozzle (40) is lowered to activate the suction device (41). After confirming the suction, use the suction nozzle (40
) is raised, and the U-shaped arm (39) is moved a set distance in the direction away from the packaging work section (B).

Check the suction again and repeat the above operation until the suction is achieved.

After the suction is confirmed, the packaging sheets (1) are separated by blowing air with the separation air nozzle (B1) without swinging the suction nozzle (40) up and down so as not to supply multiple packaging sheets (1). ing.

Then, the suction nozzle (40) is placed on standby with the suction nozzle (40) raised to its upper limit.

To explain the paper feeding operation, as shown in FIG. 2(C), first, the adhesive tape (5) is fed out to a predetermined position with the adhesive surface facing upward. Next, the U-shaped arm (39)
to the specified suction end position. Then, the suction nozzle (40) is lowered to release the suction. Thus, the packaging sheet (1) is fed onto the receiving table (8). At this time, the adhesive tape (5) is attached to the packaging sheet (1).
Attach it to one end (1d) that is folded back at the end. Also, while raising the suction nozzle (40), the pressing roller (15)
) to fix it.

Next, the packaging operation will be explained.

As shown in Figure 2 (d) and Figure 3, the receiving stand (8)
The object to be packaged CC') placed on is fixedly held by setting the holding mechanism (3) to the operating position.

Next, the first wrapping tool (17a) is raised until the upper limit switch (B2) is turned on, and the wrapping sheet (1) is removed.
Fold the - side end (la) back onto the top surface of the item to be packaged (C).

In addition, the second wrapping tool (17b) is activated slightly after the first wrapping tool (17a) starts rising, and the packaging sheet (17a) is activated.
) overlap the minus side edge (1b) on the minus side edge (1a). The operation of the second enclosing tool (17b) is performed intermittently in four steps, but in order to prevent the negative end (1a) from wrapping around the second enclosing tool (17b) during the second raising. Activate the blower nozzle (B2).

Middle limit switch (B4) of the second wrapping tool (17b)
) is turned ON, the third wrapping tool (17c) is activated. Before its activation, the third wrapping tool (17c) is turned on so that one end (la) and (1b) are wrapped along the outer peripheral surface of the object (C) without any bulge. Then, activate the ear removal nozzle (B3) to blow air toward the bent area. In addition, the third wrapping tool (
17c) or the negative end (1c) of the packaging sheet (1), and then press the presser arm (26) or its upper surface.

Furthermore, after activating the ear-picking nozzle (B4), the fourth wrapper (17d) is activated, and the one end (ld) to which the adhesive tape (5) is attached is folded back and folded into four layers. Glue the wrapped packaging sheet (1).

Next, the presser arm (26) is raised, and at the same time, the holding of the packaged object (C) by the holding mechanism (3) is released. Then, the packaged object (C) is released from the receiving table (8).

[Another example]

In the above embodiments, a photoelectric sensor or a contact sensor may be used as the obstacle detection means (Q), and the specific structure of the obstacle detection means (Q) can be modified in various ways.

It should be noted that the present invention is not limited to the structure of the attached drawings by adding numerals in the claims for convenient comparison with the drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the packaging apparatus according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 (a) to (d) are flow charts of control operation, Fig. 3 is a timing chart of the same, and 4 is an overall plan view, FIG. 5 is a side view of the same, FIGS. 6 and 7 are side views of the packaging work section, FIG. 8 is a side view of the holding mechanism, FIG. 9 is a side view of the presser device, FIG. 10 is a perspective view of the same, FIG. 11 is a side view of the main parts of the holding mechanism, FIG. 12 is a side view of the suction nozzle, and FIG. 13 is a perspective view of the tape feeding device.
FIG. 14 is a perspective view of the same essential parts. (1)...Packaging sheet, (2)...Packaging sheet supply means, (100)...Control means,
(A)... Storage section, (B)... Packaging means, (C)... Item to be packaged, (S's)...
... Packaged object detection means, (Q) ... Obstacle detection means.

Claims (1)

[Scope of Claims] Packaging means (B) for packaging an object (C) with a supplied packaging sheet (1) and discharging the object (C) upon completion of packaging; a packaging sheet supplying means (2) for supplying the packaging sheet (1) from the storage section (A) of the sheet (1) to the packaging means (B);
) and a control means (100) for controlling the operation of the packaging sheet supply means (2), the packaging apparatus comprising: There are provided an object detection means (S_1_5) for detecting whether or not the object is to be packaged, and an obstacle detection means (Q) for detecting an obstacle in the packaging operation. ) detects the object to be packaged (C), and when the obstacle detection means (Q) no longer detects an obstacle, the packaging means (B) is configured to start operating. packaging equipment.