JPS5926401A - Automatic bagging robot for powdered and granular body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic bagging robot for powder and granular materials that automatically bags one foot of powder and granular materials.

2. Description of the Related Art Conventionally, automatic packaging sewing machines and powder and granule bagging machines have been used as devices for automatically filling bags with powder or granular materials.

In the former case, the sewing machine bag itself is inexpensive, but the automatic packaging sewing machine itself is large and has the drawback of requiring a large equipment area.

The latter requires an inner-valve product bag and has the disadvantage that the bag opening cannot be completely sealed, resulting in product leaking to the outside.

Conventionally, when filling powder or granular material into an external valve type product bag, the valve is opened manually in advance, the opening is attached to the nozzle of the bagging device, and after filling the product bag with powder or granular material, the valve is opened manually. The bag is manually pulled away from the nozzle, the opening is sealed by means such as sealing tape or heat sealing, and the bag is manually removed from the bagging device and moved to the required position in the trench.

Therefore, all work is done manually, and if efficient
That's one thing.

The present invention eliminates the above-mentioned drawbacks and saves labor by using the configuration shown in -) and the operation using the configuration. In addition, all kinds of powder and granular materials can be automatically, efficiently, quantitatively delivered, and reliably delivered. We provide an automatic bagging robot for powder and granular materials that can be packed into bags at (θ).

Next, an embodiment of the present invention will be described in detail based on drawing IC.

The one shown in Fig. 1 is the powder bagging robot σ of the present invention.
) is a perspective view of the whole.

The present invention σ) The automatic bagging robot has a hopper and a correction section J.
, a robot base 2 and a bagging section 3.

[Hopper and Wetting Section] is composed of a material hopper 4, a paulownia material drawing device 5, and a weighing hopper 4il.

In other words, paulownia wood hopper 4σ) material outlet (not shown)
A paulownia material drawing device 5 is installed directly connected to the material drawing device 5, and the paulownia material receiving port of the split hopper 4a is connected to the paulownia material delivery end of the material drawing device 5.

The robot base 2 is connected to the ponova and the lower part of the weighing section 1, and includes a bag opening stamping device 6, a powder/grain material σ) feeding device 7,
A bag opening sealing device 8 and a bag opening processing device 9 are equipped with fringes.

The various devices are operated by looking at the robot base 2 from the bagging section 3 side (the bag mouth stamping device 6 is located at the far right end), and placing the powder grains on the left side at a predetermined interval. body feeding device 7;
A bag sealing device 8 and a bag opening processing device 9 are installed in a row on the robot base 2 in this order.

A bag opening stamping device, 6 is a work table 10 and a roller device a1
It is composed of 1. ^
The work table 10 is connected to an operating device 12 such as an air cylinder mechanism, and has an elongated V-shaped groove 3 of a predetermined length at its tip, as shown in FIG.

Further, as shown in FIGS. 4 and 6, a suction piece 15 is fitted into the work table 10 through a slit provided in the work table IO. The suction surface of the suction piece 15 and the surface of the work table 10 are arranged so that they are horizontally aligned. The suction piece 15 is connected by a suction tube 16 to a vacuum operating device (not shown), such as a vacuum pump.

A roller device 11 is mounted on the top surface of the work table IO.
I'm here.

As shown in FIG. 6, the roller device 11 has a roller 19 freely attached to the tip of a roller beam 18 connected to an operating device 17 such as an air cylinder mechanism.
1'), roller 19σ) ring edge with work tape) v,
l (Groove L) It is positioned at 5 and V is inserted so as to fit through the inside of 3.

The powder feeding device 7 includes a hopper 20, a nozzle pipe 21, a material supply pipe 22, and an air cylinder 23 for moving the nozzle.

The hopper 20 is located directly below the weighing hopper 4a, and is connected to a material supply pipe 22.

The nozzle pipe 21 is connected to the tip of the material supply pipe 22.
Attach to 2 so that it can slide freely. Movement of the nozzle pipe 21 is carried out by a nozzle moving air cylinder 23 attached to the frame of the nozzle pipe 21.

The tip of the nozzle pipe 21 has a knife edge shape and is open. 2.1 is an air inlet pipe for sending a knee V- to help the flow of powder and granules.

Reference numeral 25 denotes a presser foot for fixing the bag collar 14a of bag 1=1 and the nozzle pipe 21. The presser bar 25 is operated by the IC air cylinder 25a as shown in FIG.

The bag opening sticking device 8 is composed of a JI11 hot plate actuating device 48 (as shown in FIG. 18 (N, (13), heating plate = 17). Ru.

The UIJ hot plate 17 is formed into a pair of upper and lower parts, and heating pieces 49 and 49 are provided oppositely to each other at the tips. That’s it” (
It has a built-in 1-piece heater 50 with a heat resistance of 49.49.

The mouth of the bag 14 is sandwiched between the pair of heating pieces, and the °C opening 14c is sealed by heating.

A pivot 51 is provided at the other end of the heating plate 47, and a small gear 52.5 is attached to the pivot 51.
2 is 11. It fits perfectly.

A small motor 53 is connected to one of the pivots 5I of the upper plate of the heating plate lI7 of η1.

A heating operation device is constructed by a pivot 51, a small gear 52, and a small Tanabata 53.

As shown in FIG.

The bag opening folding device 5.1, as shown in FIG.

The front part of the front part of the rear part 56 is formed into a fork end (double fork). and is connected to an air cylinder 58 via a rotatable joint 57.

When the rotatable joint 57 and the fork end are moved forward to the operating position, the small gear 59 is inserted into the fork shaft 56.
is fixed to the rotating shaft of the electric motor 6o and is installed so as to mesh with the small float 6I. ing.

In addition, air cylinder 58, electric (60), small float 59.
61 and the rotatable joint 57 form a fork rod θ) actuating device 62.

Air cylinder 58 and electric motor (-io is Robono 1 base 2
νξ installed Jl,ru.

As shown in FIGS. 1 and 21, the bag mouth pushing device 55 consists of an air cylinder (k) with a pushing shaft 63 and its actuating device.
-C is constructed by i 4 (see Figure 1).

Push in (5: (slim width σ) Made of thick plate, the front part is tapered -
4) 1-like 1. KL, its rear part is connected to the air cylinder 64 and is 11°C. 4 Bagging unit; 3 is composed of 2L of a cart 26, a cart operating device 27, and a bagging device Fi28.

The trolley 26 is shown in FIGS. 1 and 2.
With the provided bracket 301c, attach it to the trolley operating device 27, which will be described below.

31 is an underframe attached to the cart 26.

A suction cup 33 having a plurality of bowl-shaped suctions 1132 is fixed to the underframe 31.

Each suction Ji 32 is in communication with a vacuum operating device (not shown), such as a vacuum pump.

34 is a bag opening bending lever. Bag opening bending lever 34
has a pin 35 rotatably attached to the underframe 31 as a fulcrum, and one end is connected to the air cylinder 3 via a rod pin 36.
It is attached to the cylinder rod 38 of No. 7 in a bendable manner.

The other end of the bag opening bending lever 34 is shown in FIG.
5. It is formed so as to press the part of the bag 14 that avoids the bag opening.

In FIG. 9, numeral 39 is an air cylinder I, - which opens the bag collar 14aσ) (where the bag opening (bending groove 41) is attached).

Cylinder Rono F' of air cylinder 39 40 (1')
A suction piece 41 connected to a vacuum operating device (not shown) is fixed to the tip.

The air cylinder 39 is fixed to the underframe 31 by a frame 39a.

Next, 4-42 and 43 shown in FIGS. 13 and 14 are a bag support arm and a bag support plate for holding the bag 14.

The bag support arm 42 has an Lj shape as shown in FIG. 1, and is normally housed in a groove 44 provided in the trolley 26. When holding the bag 14, an actuating device (not shown) is used to raise the bag 14 in the direction of the arrow as shown in Fig. Bag 14σ) Hold the lower part.

Furthermore, as shown in FIG. 13, the bag support plate 43 is attached to the tip of the cylinder rod 46 of the air cylinder 45 installed on the underframe 31 at a position corresponding to the upper part of the bag 14. The air cylinder is placed on standby near 45+1.

When holding the bag 4, operate the air cylinder 45 to move the bag support plate 43 as shown in FIG. 14.
The bag is advanced to the side of the earth part of bag 4, and the upper side of bag 4 is held together with the bag support arm 42.

Next, the bagging operation of the embodiment of the powder bagging robot of the present invention will be explained.

First, as shown in FIG. 1, powder and granular material to be packed is put into a material hopper 4.

Powder and granular materials are quantitatively determined (for example, bagging amount 1
The money will be withdrawn to 81 yen and stored in Ponopa 11a.

Next, as shown in FIG. 2, the trolley operating device 27 and the cylinder 27a are operated, and the link mechanism 27b moves the trolley 26 of the bagging section 3 to approach the bag feeding frame 65 and remove it from the bag feeding frame 65. It is brought into contact with the bags 14 freely arranged in rows.

Next, the suction B' 32k bag I・1 is sucked by vacuum operation.
to be adsorbed. Then, move the trolley 26 in the opposite direction to the bag feeding frame 05 while keeping the bag 1 attracted to the suction 1132.

Then, the bag j4 is removed from the bag feeding frame 05 and moved together with the measuring table IL26 which is attracted to the JI suction piece 32.

As shown in FIG. 3, the bags 14 on which the bag supply frame 65 is arranged are wide in the top and bottom, and the bag collars 14; 1 are bent in four directions.

The trolley 26 is moved to the position of the bag L1 stamping device 6, and the trolley 26 is automatically stopped by the interface marking equipment (shown in the figure) by program control.

All operations such as starting and stopping are performed automatically by the above-mentioned equipment.

When the trolley 26 stops, at the same time as shown in Figs.
The back side 1 of the machine is advanced in a direction perpendicular to the box and stopped at a predetermined position υ.

-) Then the air cylinder 37 operates, and the bag]]v1 bending lever 3.l is shown in Fig. 4 with the pin 35 as the fulcrum.
The front part of the bag [1 folding lever 34σ) is the working tip.Put the bag 14 between it and the folded state - 0 bag 14σ).At this time, fold the bag 114a (4) The opening bending lever 34 is shown in Fig. 5.The bag 14σ) described below has a V-shaped bending pattern I')J
The shape is such that it avoids the t and .

At this time, the bag 14 is in the state shown in FIG. 7.

Continued -〇 As shown in Figures 4 and 6, the bag 14
Attach the suction 1115 to the back side of the bag group 14a by vacuum operation and engage the bag 14.

When the suction piece 15 locks the bag 4, the roller device 11
The actuating device 17 is activated and the roller beam 18 moves forward.

Then, the roller 19 attached to the roller beam 18 advances through the load 13 placed on the work table IO, and the bag collar 14 of the bag 14 is (Refer to)) Press the area around the bag opening 14 (L) to make a shallow V-shaped bending groove 14b.Then, the state of the bag]4 becomes 5 as shown in Fig. 8.

When the shallow V-shaped bending groove 141) is finished on the bag collar 14a, the roller beam 18 retreats and returns to its original position.

When the roller beam 18 returns to its original position, the 5V air cylinder 39 operates as shown in FIG. 9 and FIG. The installed suction 1j-41 presses the part where the folded groove 14b of the bag collar 14a is tightened.JT:
do. Then, the bag collar J4a is attached to the suction piece 41 by vacuum operation.
to be adsorbed.

Next, as shown in FIG. 9, the air cylinder 37 is activated, and the bag bending lever 34 is reversed in the direction of the arrow, returning to the state before activation.

When the bag opening bending lever 34 returns to the 1- position, the bag opening stamping device 6
The operating device 12 of starts, the work table 10 retreats,
Return to original position.

When the working table 10 returns to its original position, the suction j
141 has a V-shaped bending pattern on the bag collar J-1a 141〕θ
B) With the part still attracted, operate the air cylinder 39 to move the cylinder rod 40 a predetermined distance σ) and raise it. Then, the bag 14 is
The state shown in the figure will be reached.

1. C, as shown in FIG. 1(), bag F of bag 14
j% 14 The part where the V-shaped bending groove 1 = 11) is attached will be in a wide open state (this opening will be
4c).

Next, as shown in FIG. 2, the air cylinder 27a of the cart operating device 27 is operated, and the link mechanism 27b moves the cart 26 to the guide rod 29V. It is moved along L and stopped at the position of the powder feeding device.

When the trolley 26 stops 1-, the air cylinder 23 for moving the nozzle starts working (1-), as shown in the figure 1-, the paulownia material supply pipe 22
The nozzle tube 21 that is slidably attached to the bag 14 is moved forward, and the nozzle tube 21 is inserted into the bag mouth from the opening 14c of the bag 14 (see FIG. 12 σ).

Further, the presser bar 25 is lowered and the insertion point of the nozzle pipe 21 is pushed from above the bag base 14aσ to prevent the nozzle pipe 2J from moving forward or backward from the bag 14 (.

Then, the vacuum state of the suction piece 41 is released, the knee cylinder 39 is operated, and the cylinder rod 40 is moved to the bag collar 14a.
Make them move further away and return to their original positions.

On the other hand, one rim of powder and granules placed in the weighing hopper 4q is removed by a damper (not shown) attached to the lower part of the weighing hopper 4a.
) is released, the liquid is fed into the hopper 20 from Ponopa 4;
With the help of filter air, the material is supplied into the bag 14 through the material supply pipe 22 and from the opening of the nozzle pipe 21. At this time, the injected air is naturally discharged to the outside from the gap between the opening Jlc side of the bag 14 and the outer shape of the nozzle pipe 21.
(See Figure 12).

A predetermined amount of powder and granular material is supplied into the bag 14 ('1-, powder and granular material θ in the 4-density hopper 4a) -4-all the bags 14
kcgl (indicates that it is being fed) and 1-ro (indicating that the filling of the bag is complete) when the supply of powder and granular material to bag 4 is stopped.

Then, the damper is closed, and the next granular material is pulled out from the material bonova 4 in a fixed amount by the operation of the ft drawing device 5σ) and stored in the weighing hopper 4a. Wait for the same process.

Next, as shown in FIG. 13 and FIG.
(Return suction 1i32 to its original position).

When the suction piece 32 is separated from the bag 14, the bag support arm 42 mounted on the trolley 26 is raised in the direction of the arrow shown in FIG.

At the same time, the air cylinder 45 is operated to advance the bag support plate 43 to one side of the bag 14, as shown in FIGS.
Ru.

When the bag 14 is held, the vacuum state of suctions 1 to 41 is released, the air cylinder 39 is activated, and suction 11=I 1
Remove it from the bag 14, move the i/i 11' 41 to its normal position, and return it to its original position.

-) Next, as shown in Figure 11 -1 to 5, raise the presser bar 25 and release it from the insertion point of the nozzle pipe 21σ) of the bag 14 (return the presser l'$25).

When the presser foot 25 returns, the Eyan cylinder 2 for moving the nostle
3 to retract the nozzle pipe 21 and open the bag 14 D.
Extract from J 4 c and return to position K ft.

Then, the bag 14 will be in the -4 state shown in FIG. 15.

When the bag 14 is in the state shown in FIG.
is activated, and the trolley 26 moves L-c and stops at the position of the bag L1 sealing device 8. At that time, the bag opening 14 of the bag 14 (1 is a fan-shaped opening ℃ and both skin heating plates 47.47σ) is inserted from the side into the bag 14, and the bag 14 is stopped at the center. 5v chorus 1. (see Figures 17 and 12).

When the trolley 26 stops and rises, the small motor 53 starts, and the small gears 52 and 52 engage to move both skin heating plates 47 and 47.
Both JIJ heat plates 17, /17σ] Front V-mounted U
IJ fever 1449.49σ) between υkobag D l 4 (+ sandwiched 1 closure -4-ru).

5" - Open the bag mouth J4 (1σ) [-1J 4 C has a built-in heating device J149.491t. Use the heat υξ of the tongue heater 50.5° to weld (seal) it. .

In addition, the bag opening 14 (0111 in +) is made of resin thin 1
The thin films made of resin are heated and welded together.

At this time Q) the state of the bag 1 ll is as shown in Figure 16.

When the bag opening 14 (1) is welded (sealed), the small motor 53 is started, the small gear 52.52 in the opposite direction to the above operates, and the pair of heating plates 49.49 are opened up and down, and the fan-shaped σ ) After forming the opening, the small motor 53 stops and waits for the next process.

When the sealing process of the bag opening 14d of the bag 14 is completed, the cart operating device 2
7 is activated, the cart 26 moves and stops at the position of the bag opening pushing device 55 of the bag opening processing device 9 (a position suitable for the bag 14 to be operated by the bag opening pushing device 55).

When the cart 26 stops, as shown in FIG. 17, the air cylinder 58 of the bag opening bending device 54 is activated to
6 moves forward 1, and the sealed bag mouth 14 (l) is sandwiched between the fork ends at the front of the fork rod 56. At this time, the small gear 59 on the air cylinder side meshes with the small gear 61 on the motor side. Designed.

Subsequently, the electric motor 60 is started, and the fork rod 56 is rotated by the meshing of the small gears 61 and 59.

At this time, only the front portion of the fork rod 56 is rotated by the rotatable joint 57.

Then, as shown in FIG. 21, the fork rod 56 winds the bag opening 14d toward the back of the bag mouth, and when a predetermined amount of winding is reached, the electric motor 60 automatically stops.

The state of the bag [4] at this time is as shown in FIG.

When the bag opening 14 (1) has been rolled up, the air cylinder 64 of the bag opening pushing device 55 operates as shown in FIGS. Push it hard inside.

At the same time, the air cylinder 58 of the bag opening folding device 54 is operated, and the fork rod 56 is moved backward, removed from the bag opening 14d, and returned to its original position.

The state of the bag 14 at this time is as shown in FIG. 25 (bag filling complete).

When the bag filling is completed, the bag supporting arm 42 is tilted in the direction of the arrow shown in FIG. 22 by activation of the actuating device and stored in the groove 44 provided in the trolley 26.

(See Figure 1) At the same time, operate the air cylinder 45 and move the support plate 43 to the second position.
Move it back in the direction of the arrow shown in Figure 2 and return it to its original position.

As a result, the stuffed bags that have lost their grip and hold fall downward from the cart 26 due to their own weight, and are carried out of the system by a transport device such as a conveyor.

This completes the sakizume operation (single operation) for one bag.

When the bag filled with powder or granular material is carried out of the operation system of the automatic bag filling robot 7 of the present invention, the cart operating device 27 is activated, the cart 26 moves and approaches the bag feeding frame 65, and the bag feeding robot 7 of the present invention operates. An empty bag removably attached to the frame 65 comes into contact with it.

Thereafter, the same operations as above are repeated to continue bagging the powder (A).

Note that all of the above operations σ) are automatically performed by a program-based interlock facility installed in the remote lift.

The automatic bagging robot for powder and granular materials of the present invention, as described above, inputs the powder and granular materials into the material hopper, fills the bags from there, and then transports the packed bags out of the main body of the present invention by a trench. The entire operation process can be performed automatically, saving labor and increasing productivity by efficiently and reliably bagging all kinds of powder and granules. can.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of the automatic bagging robot for powder and granular materials of the present invention, Fig. 2, Fig. 4, Fig. 9, Fig. 13, and Fig. 17.
Fig. 22 is a front view of the bagging section σ) showing the operating state in each case, Fig. 5 is a plan view of Fig. 4, Fig. 14 is a plan view of the AA 13, and Fig. 19 is a Plane 1 in Fig. 17: I, Fig. 23 is a plan view of Fig. 22, Fig. 3, Fig. 7, Fig. 8, Fig. 10, Fig. 15, Fig. 16, and Fig. 24 are during the operation process. 12 is a cross-sectional view showing the state in which the nozzle tube is inserted into the opening of the bag, and FIG. 25 is a perspective view of the state of the bag in each case. Yes, it's the rod 1o. Figure 20' is a perspective view showing the operation of inserting a fork stick into the bag opening to seal and bend the bag opening, and Figure 21 is a front view of bag UL1 folded with a fork. FIG. 3 is a perspective view illustrating an operation of bending and pushing the bag opening with a pusher. 1 is a hopper and measuring section, 2 is a loho base, 3 is a bagging section, 1 is a material hopper, 5 is a fixed amount drawer 1.6 is a bag opening stamping device, 7 is a powder feeding device d, 8 is a A bag mouth sealing device, 9 a flame treatment device, 10 a work table, 11 a roller device, 13 a groove, 11 a hole, 141 a a bullet loading, 14
b is bag υ) bending line, l 4 (is bag opening L), 1.
1 (1 is a bag opening, 15 is a suction piece, 10 is a suction tube, 18 is a roller beam, 19 is a roller, 20 is a hopper, 21 is a nozzle pipe, 22 is a gas supply pipe, 23 is an air cylinder for moving the nozzle, 21 is an air supply pipe, 25 is a presser bar, 26 is a trolley, 27 is a trolley operating device, 28 is a bagging device, 29 is a guide bar, 31 is an underframe, 32 is a suction piece, 33 is a suction cup, :( 1
is the bag opening bending lever, 39 is the air cylinder, 0 is the cylinder rod, 41 is the suction rod, 42 is the bag support, and arm,
・13 is the bag support plate, 4.1 is the groove, 47 is the υ11 hot plate, 4
8 is a heating actuator, 49 is a / Jll heat cuff, 50 is a sheathed heater, 51 is a pivot, 52 is a small tongue, 5:3 is a small tongue.
54 is a bag folding device, 55 is a folding device, 56 is a fork, 57 is a rotatable joint, 58 is an air cylinder, 59.61 is a small gear, 60 is an electric motor, 63 is a push rod, 61 is an air cylinder, and 65 is a bag feeding frame. Patent applicant: Ube Psychono Co., Ltd. Figure 1 Figure 2 G Illusion 3 Figure 41 Figure 5 Figure 90 Figure 10 Figure 121 ¥] 1 Chicks 13 Figure 15 Figure 16 181η (A) Figure 181 ( B) Figure 19 Figure 17 Figure $20 Figure 21 Figure 23 Figure 22 ' Figure 241 Commissioner of the Patent Office l Display of the case Patent application 1987-129576 2. Name of the invention Automatic bag for powder and granular materials Tsume Robot 3 Relationship with the case of the person making the amendment Patent applicant postal code 100 3rd floor, Daito Building, 7-1 Kasumigaseki, Chiyoda-ku, Tokyo Sent on October 26, 1157 5, Specification subject to amendment Column 6 of "4. Brief explanation of the drawings" of the statement of contents of the amendment, page 22, line 19 [Front view showing..., Figures 1 and 1, Figure 20 are...・Add the following between. . [Figure 18 (5) is a schematic side view showing the operating state of the bag 1 sealing device, Figure 18 (81 is a schematic plan view of Figure 18 (A) 9.1 onwards)

Claims (1)

[Scope of Claims] (11. A hopper and an automatic weighing section in which the receiving port of the weighing hopper is connected to the sending end of the interest withdrawal device directly connected to the discharge port of the material hopper, and a bag mouth stamp from the bagging section. 1. With the device at the rightmost end, there is a robot base on which a powder feeding device, a bag opening sealing device, and a bag opening processing device are sequentially arranged on the left side with a predetermined interval for operation, and a trolley and a trolley. A trolley operating device that moves the bag to a predetermined position, a suction cup that attracts the bag, a bag support arm that holds and holds the stuffed bag, a bag support plate that bends the bag support plate and the top of the bag, and a bag opening bending device that opens the bag mouth. An automatic bagging unit for powder and granular materials, comprising: a bagging unit equipped with a suction device for the purpose of cleaning, and a bagging unit equipped with a suction device for the purpose of the bagging unit, and which automatically performs all operations for packing one bag using program-controlled interlock equipment. robot.