JPS6077809A - Packing method - 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 involves taking out a sheet cut into a predetermined shape from a magazine according to a predetermined program, transporting it to a forming section, placing an item on the bottom piece of the sheet in the forming section, and pulling down the sheet to form a box shape. The purpose of this invention is to provide a packaging method suitable for automatically changing the size of sheets.

Packaging machines are large, complex, and therefore expensive;
There is a desire for a single packaging machine that can package items of different sizes. Conventional packaging machines send sheets to the molding section flat! The items that have been stacked in advance are transferred to the bottom piece of a flat sheet by pushing them with a push button, and a transfer guide is required from the accumulation section to the forming section, so the transfer guide is adjusted to change the size of the sheet. In addition, it is unstable because items with unusual stacking configurations are placed on a flat sheet, and it is therefore difficult to automatically change the size of the sheet.

In the present invention, a sheet sent to a forming section according to a predetermined program is pulled down slightly with a suction cup and formed into a tray shape that spreads upward.
After placing the items on the bottom piece of this sheet using a robot arm, the sheet is pulled down. This eliminates the need for a guide for transporting the items, and allows the items to be stably placed on the bottom piece of the sheet even if the stacking format changes. Together, they succeeded in making it possible to automate size changes in packaging machines.

Next, an example of a packaging machine suitable for the method of the present invention will be explained.

In Figures 1 and 2, A is the magazine section of the packaging machine, and there are two large and small first magazines 1 and second magazines 2 on the top surface, with the large first magazine 1 on the rear (right side) and the small A second magazine is arranged on the front side, and each magazine 1, 2 stores a large number of large sheets 3 and small sheets 4 obtained by cutting corrugated paper into a predetermined shape, stacked on top of each other.
, 6 prevent the sheets from falling naturally and hold them in the magazine, and fourteen pneumatic suction cups 7 . . . and 14 suction cups 8 . . . move up and down according to a predetermined program to take out the lowest sheet. B is a forming section installed on the left side of the magazine section A. The sheet receiver on which the sheets 3 sent from the magazine section are placed has a member 10 installed on the top end of the side 751 and 11, and a forming guide 12 is installed below it. .12 is erected to provide a molding space X, and four air suction cups 15 are placed in this molding space. Here, a diagonal guide 13 is provided at the top end of the forming guides 12, 12, so that when the bottom piece a of the sheet is pulled down a little, the sheet is attached to a guide (not shown) in preparation for the upper area crimping portion shown by the chain line T. It is guided and raised, during which time the side surfaces are glued and the flaps are crimped, and the finished product 16 is discharged.

C is a chain conveyor that conveys large sheets 3 or small sheets 4, and has two chains 2 on a horizontally long chain frame 17 extending from the rear end (right end) of the magazine section A to the right edge of the forming section B.
18, 18 are installed, and each check 2 has five grippers 2.
0 are attached at a constant pitch to grip the rear end (right end) of the sheet, and the chees 218 and 18 are intermittently advanced one pitch at a time on the gripper 20. In this case, the distance between the rear ends of the first magazine 1 on the rear side and the second magazine 2 on the front side is set equal to the distance from the rear end of the second magazine to the tip of the chain frame 17, and the chain 218 is gripped at this distance. The gripping device 2.0 is installed in accordance with the pitch, and the chess 218, 18 are intermittently advanced one pitch at a time until the gripping device 20 reaches the first pitch. When reaching the lower rear end of the second magazine and the tip of the chain frame 17, the chees 218 and 18 are stopped for a while. Reference numeral zl is an actuating lever that is bent in a U-shape, and is provided at the center and rear end of the chain frame 17. In addition to being directed toward the rear end of the second magazine 1.degree. 2, it is also provided at the tip (left end) of the chain frame, and the interval is made to match the pitch when the grip U20 is attached to the chain 218. The chains 218 and 18 temporarily stop when the grippers reach these positions, and during this stop, the actuating lever 21 opens and closes the gripper 20 and grips the rear ends of the sheets 3 and 4 taken out from each magazine or the chain frame. Release the trailing edge of the sheet that has been conveyed to the leading edge of No. 17.

The chain frame 17 is held on the upper surface of the magazine section A so as to be freely advanced and retracted, and the cylinder 22 is placed horizontally on the left side of this upper surface, and the tip of the piston rod 23 is connected to the horizontal bar U on the left side of the chain frame. The frame 17 of the chain 7 is moved to the left in a timely manner, and the tip (left side) of the molding section is inserted between the sheet receiver members 10 and 10.

F is a resting part of the product, which is installed in front of the forming part B, connects the ends of the first conveyor 25 and the second conveyor 2G on the left and right, and has pushers 27 and 28 on the sides of each conveyor, respectively.
will be established. Large items for large sheets are carried one after another on the first conveyor 25, and two by two are transferred to the first conveyor 25.
At step 7, the documents are transferred to the stacking section E and collected into a predetermined record Y. Small items C for small sheets are conveyed one after another on the second conveyor, and three by three are transferred to the stacking section E using a pusher, where they are grouped into a predetermined shape ZK. The chrysanthemum is a robot arm consisting of two links, and can rotate and move up and down using a pivot 31 at the base end as a fulcrum, and can bend and extend by means of a bottle 32 at the sealing part. The robot arm is equipped with a pneumatic gripper at the tip.
According to a predetermined program, the gripper picks up the collection of items Y or Z.
is conveyed to the molding section B by the rotation and elevation of the pivot 31 and the bending and stretching of the sealing part, and is placed on the bottom piece of the sheet. child\
The gripper 33 has a suction cup (not shown) on its inner surface that corresponds to the accumulation form of small items C, and when gripping a large item, two or more suction cups are attached to one item, and these items are When stacking in two stages, the robot arm 30 is rotated twice.

The embodiment of the method of the present invention using this packaging machine is as follows.

The large and small first and second magazines 1 and 2 respectively store a large number of large sheets 3 and small sheets 4 in a stacked manner. When packaging using the large sheet 3 of the first magazine, the suction cup 7 moves up and down according to a predetermined program.
The lowest large sheet 3 is taken out of the magazine l and placed on the checks 218, 18 which are temporarily stopped. At this time, the gripper 20 is pushed up by the operating lever 21 and opened, and when the large sheet 3 is placed on the checker 2, the gripper closes and grips the rear end. When the gripper side grasps the sheet, the air is cut off from the suction cups 7..., and the chees 218 and 18 move forward to push and convey the large sheet 3, and this sheet slides on the upper edge of the chain frame 17 to the left. The sheet receiver of the molding part rests on the member 10.degree.10 after passing the tip of the sheet. Note that when the gripper 2o comes to the rear end of the second magazine 2, the chees 218 and 18 temporarily stop, but this stop has nothing to do with the conveyance of the large sheet 3.

When the gripper side reaches the tip of the chain frame 17, the chees 21B and 1g temporarily stop, and during this stop, the cylinder 22 operates to move the chain frame 17 to the left.
The tip of the sheet receiver of the molding section is slightly advanced between the members 10, 10, the large sheet 3 is placed at a predetermined position in the molding section, and the bottom piece a of the sheet is directed toward the molding space X. This will open the gripper side and release the rear end of the sheet, then release cylinder 2.
2 retreats the chain frame 17 and returns it to the starting position.

When the large sheet 3 reaches the predetermined position of the molding section, the suction cup 14...
. is raised to attract it to the bottom piece a of the sheet, and the suction cup is pulled down a little to form the sheet into an upwardly expanding tray-like shape T as shown by the chain line T using the diagonal guide 13 at the top of the forming guide. During this time, the robot arm is activated according to a predetermined program to grab the pre-accumulated items Y with its gripper.
The article is placed on the bottom piece a of the tray-shaped sheet by turning and raising and lowering the pivot 31 and bending and stretching the sealing part. After that, sucker 14.
... descends and pulls down the bottom piece a to the lower rail 15, and the forming guides 12 ... - form a box-shaped case to package the item Y.

When packaging using the small sheet 4 of the second magazine,
The distance between the forming guide 12... and the suction cup 14... of the forming part is automatically changed to correspond to the bottom piece of the small sheet,
According to a predetermined program, the suction cups 8 move up and down to take out the small sheets 4 from the second magazine 2.

The chees 218 and 18 attach the gripper sides at a constant pitch and advance intermittently one pitch at a time, and when one gripper side comes to the rear end of the second magazine 2, the chees 218,
18 is temporarily stopped, and the operating lever 21 is using the gripper side. Therefore, when changing the size of the sheet, check 218
, 18, the small sheet 4 taken out from the second magazine 2 can be placed on the checker 218° 18 and its rear end can be gripped by the gripper side. When the gripper grabs the small sheet, it cuts off the air from the suction cup 8, and the Che 218,
18 advances and pushes the small sheet 4 to the forming section B. In this case, the cylinder 22 moves the chain frame 17 quite a long distance, and the sheet receiver advances deeply between the members 10 and 10 to form the small sheet. 4 at a predetermined position in the molding section, and after the gripper 20 releases the rear end of the sheet, the cylinder 22 and the chain frame 17! 'Back up and return to starting position.

When the small sheet 4 reaches the predetermined position of the molding part B, the suction cup 14
...Pull down the lever sheet a little to form a tray shape that spreads upward. In the case of small sheets, the robot arm grabs the items Z that have been accumulated in advance according to a predetermined program, places them on the bottom piece of the tray-shaped small sheet, and then uses the suction cup 14.
... descends to form a box-shaped case and wrap the item. In this embodiment, the rear ends of the sheets 3 and 4 are grabbed and pushed, and then the chain frame 17 is moved to place the sheets at a predetermined position in the molding section. Therefore, the sheets can be fed simply by changing the moving length of the chain frame. The position can be adjusted.

At this time, by the time the chain frame 17 enters the molding section B and then retreats, the next sheet 3 or 4 has already reached the chain 218.
, 18, but since this sheet is held by a gripper 20, the interval between the sheets will not shift even if the chain frame 17 moves forward or backward. In this embodiment, there is no need to change the advancing speed of Che 2 when changing the size.
Since the gap between the sheets does not shift even when the chain frame moves back and forth, the large sheets 3 and small sheets 4 can be conveyed alternately or in any order, making it possible to automate size changes in packaging machines. Extremely advantageous.

If three or more magazines are provided, the chains 18 and 118 may be made longer and the number of grippers 20 may be increased accordingly.

The above describes one embodiment of the present invention, and the present invention is not limited to this embodiment, and the design can be changed within the gist of the invention.

According to the present invention, the sheet sent to the molding section is pulled down a little with a suction cup to form a tray shape that spreads upward, and the robot arm places the item on the bottom piece of this sheet and then pulls down the sheet, unlike conventional accumulation. This eliminates the need for a transfer guide from the forming section to the forming section, and allows items to be stably placed on the bottom piece of the sheet even if the stacking format changes.These effects together make it possible to automate size changes in packaging machines. There is.

[Brief explanation of the drawing]

The drawings show an example of a packaging machine used in the method of the present invention; FIG. 1 is a front view thereof, and FIG. 2 is a plan view thereof. Note that 1 and 2 are magazines, 3 and 4 are seats, a is the bottom piece,
14 is a suction cup, gloss is a robot arm, B is a molded part, Y and 2
is the accumulated item and T is the tray-like sheet.

Claims (1)

[Claims] Taking out sheets according to a predetermined program from at least two magazines of different sizes, transporting the sheets to a predetermined position in a forming section, and slightly pulling down the bottom piece of the sheets with a suction cup to form the sheets into an upwardly expanding tray shape; A packaging method characterized in that a robot arm chucks items that have been accumulated in advance according to a predetermined program, places the items on the bottom piece of a tray-shaped sheet, and then pulls down the sheet for packaging.