KR102574731B1 - auto packing apparatus for ton bag - Google Patents

Abstract

The present invention relates to an automatic packaging device for a ton bag, which improves convenience and efficiency of a work, comprising: a folding ton bag transfer supply unit; a ton bag gate unit; a folding ton bag pickup unit; a product input unit provided at a rear end of the ton bag gate unit; a ton bag gripping pickup unit provided between the ton bag gate unit and the product input unit; and a control unit.

Description

Automatic packing apparatus for ton bag {auto packing apparatus for ton bag}

The present invention relates to an automatic tone bag packaging device, and more particularly, in the process of packaging a specific powder or granular material in a tone bag, many workers manually work in the past, which increases the risk of safety accidents and increases the risk of repeated and continuous Unlike the accumulation of fatigue and the occurrence of musculoskeletal disorders due to labor, the folded tonbag, which is transported in an easy-to-transport state through an automated process, is unfolded, the opening is opened, and the open state is fixed so that the contents It relates to an automatic ton bag packaging device that can prevent safety accidents, improve work convenience and efficiency, and reduce the cost of manpower required for work by easily inputting, binding, and packaging through

In general, various powder or granular products such as lime, fertilizer, plastic raw materials (chips), industrial building materials, cement, grains, food, etc. are injected and filled into the ton bag to be packed.

Conventionally, in order to pack the contents into a tone bag, a number of workers directly support the tone bag around the tone bag, and the opening of the tone bag is placed under the discharge port of the hopper so that the contents pouring through the discharge port are injected into the inside of the tone bag through the opening and After a number of workers manually insert the opening into the chute of the hopper by direct manpower to be filled, the opening of the tone bag is fixed and the rings at the four corners of the tone bag are fastened.

And, after the filling of the contents into the tone bag is completed, the workers separate the opening directly from the discharge port of the hopper, release the rings at the four corners of the tone bag from the hopper, and then for the subsequent opening tie binding work. The tone bag is moved manually.

An example of a tone bag according to the prior art is disclosed in Korean Patent Publication No. 10-2022-0049356 (published on April 21, 2022, hereinafter referred to as 'Patent Document 1').

However, since the tone bag according to the prior art requires a number of workers to manually work one by one in the process of packing a specific powder or granular material into the tone bag, the risk of safety accidents increases, and fatigue caused by repetitive and continuous labor. , there are problems in that musculoskeletal disorders and the like may easily occur, and work efficiency may decrease and overall costs including labor costs required for work may increase.

Korean Patent Publication No. 10-2022-0049356 (published on April 21, 2022)

An object of the present invention is that in the process of packaging a specific powder or granular material in a tone bag, many workers have previously performed manual work, which increases the risk of safety accidents, accumulates fatigue due to repetitive and continuous labor, and causes musculoskeletal disorders. Unlike the occurrence of such things, the folded tone bag transported in an easy-to-transport state through an automated process is unfolded, the opening is opened, and the open state of the opening is fixed so that the contents can be easily inserted and bound through the opening, and packed. It is to provide a ton bag automatic packaging device that can prevent safety accidents by completing this, improve the convenience and efficiency of work, and reduce the cost of manpower required for work.

In order to achieve the above object, the automatic packaging device for tonbags according to the present invention is: when a loading pallet on which a plurality of folded tonbags are stacked is loaded, they are transported to a predetermined position, and when the folded tonbags are moved from the loading pallet to the tonbag gate part, which will be described later, A folding ton bag transfer supply unit that changes the transfer path so that only empty pallets are taken out; The folded tonbags supplied to one side of the tonbag transport and supply unit are transferred from the tonbag transport and supply unit, and the folded tonbags laid down are aligned and unfolded one by one to become a tonbag, and the opening of the tonbag is widened and opened to a product input section to be described later with the opening open. Toneback gate unit to be transferred; It is provided between the foldable tonebag transfer supply unit and the toneback gate unit so that the foldable tonebags are picked up one by one from the foldable tonebag transfer supply unit and transferred to the toneback gate unit, but the folded tonebags are loaded on the pallet by recognizing the direction in which the foldable tonebags are loaded on the loading pallet. Folding tone bag pickup unit to be picked up so that the opening portion is disposed upward when unfolded; In a state where the tone bag provided at the rear end of the tone bag gate unit and transported from the tone bag gate unit is erected, the ring of the tone bag is fixed, the opening of the tone bag is fixed, and the product passes through the opening of the tone bag in a state where the tone bag is aligned. Product inlet to be injected into the inside; a tone bag grip pickup unit provided between the tone bag gate unit and the product input unit to pick up the tone bag from the tone bag gate unit and transfer it to the product input unit; And, a control unit connected to the folding tone bag transfer supply unit, tone bag gate unit, fold tone bag pickup unit, product input unit, and tone bag grip pickup unit to automatically control their operations.

Here, the tonbag automatic packaging device according to the present invention includes: a binding unit provided at the rear end of the product input unit so that when the tonbag into which the product is input is transported from the product input unit, it is tied with a cable tie in a state in which the opening of the tonbag is fixed; And, a covering unit provided at the rear end of the binding unit to complete packaging of the tone bag by pressing the adhesive portion of the opening of the tone bag and adhering to the top of the tone bag when the tone bag having the opening bound in the binding unit is transported. It is desirable to do

In addition, the folding tone-back pick-up unit is provided with a folding tone-back robot arm rotatably provided with multiple degrees of freedom, and is provided at an end of the folding tone-back robot arm to be able to move up and down, and the folding tone-back transfer supply unit folds the tone-back by vacuum suction during descent. A folding tone-bag vacuum suction pad to be lifted, a folding tone-bag gripper provided to be movable left and right at the end of the folding tone-bag robot arm and fixing the folding tone-bag by mutual folding, and a focal length according to the amount of consumption of the folding tone-bag It is provided to be able to move up and down in the folding tone bag gripper in correspondence with the change of the folding tone bag and detects the recognition mark of the folding tone bag so that the control unit can determine the type, size, position and direction of the folding tone bag. Transmitting the detected result to the control unit It is desirable to include a vision sensor.

According to the present invention, in the process of packaging a specific powder or granular material in a tone bag, many workers have previously performed manual work, which increases the risk of safety accidents, accumulates fatigue due to repetitive and continuous labor, and causes musculoskeletal disorders, etc. Unlike this occurrence, the folded tonbag transported in an easy-to-transport state through an automated process is unfolded, the opening is opened, and the open state of the opening is fixed, so that the contents can be easily put in and bound through the opening, and packaging is possible. By finishing, it is possible to provide a ton bag automatic packaging device that can prevent safety accidents, improve the convenience and efficiency of work, and reduce the cost of manpower required for work.

1 is an overall plan view looking down from above of an automatic ton bag packaging device according to the present invention;
2 is an enlarged plan view of the folding tone bag transfer supply unit, tone bag gate unit, folding tone bag pickup unit and tone bag grip pickup unit of FIG. 1;
Figure 3 is an overall side view of the ton bag automatic packaging device according to the present invention viewed from the side,
4 is a view showing a process in which a folded tone bag is transported and supplied to an automatic tone bag packaging device according to the present invention and unfolded into a tone bag before going to a product input unit;
5 is a front view and a side view of the tone back gate unit according to the present invention;
Figure 6 is a side view as viewed from the side of the folding tone-back robot arm of the folding tone-back pickup unit according to the present invention;
7 is a front view of a foldable toneback vacuum suction pad, a foldable toneback gripper, and a vision sensor of a foldable toneback pickup unit according to the present invention;
8 is a front view of a product input unit according to the present invention;
Figure 9 is a plan view looking down from above the tone bag position alignment unit of the product input unit according to the present invention;
10 is a plan view and a side view of the ring clamping unit of the product input unit according to the present invention;
11 is a front view of the opening gripper of the toneback grip pickup unit according to the present invention;
12 is a front view of a binding unit according to the present invention;
13 is a front view of a covering unit according to the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the automatic tone bag packaging device according to the present invention includes a folded tone bag transfer supply unit 100, a tone bag gate unit 200, a folded tone bag pickup unit 300, and a product input unit 400. and a toneback grip pickup unit 500 and a control unit 600.

As shown in FIG. 2, the folded tone bag transport supply unit 100 allows the folded tone bag 10 to be transported to a predetermined position when the stacked pallet 20 is loaded with a plurality of folded tone bags 10, and in the loading pallet 20 When the folding tone bag 10 is moved to the tone bag gate unit 200, the transport path is changed so that only empty pallets are taken out and transported.

To this end, as shown in FIGS. 2 and 3, the folding tone bag transport supply unit 100 includes a transport body in which the loading pallet 20 is transported and loaded by a transportation means such as a forklift, and provided on the upper portion of the transport body A plurality of rollers and a chain conveyor drive provided on one side of the transfer body to rotate the rollers, and the transfer body is provided to change the transfer path in the shape of a 'c' on a plane, In the middle, the stacked pallet 20 on which the folded tonbags 10 are stacked is transported, and when all the folded tonbags 10 are moved and become an empty pallet, the transport path is changed and the transport path of the pallet is changed at an angle of 90 ° so that it is taken out to the outside. It is preferable that a direction changing unit 110 is provided.

As shown in FIGS. 2 and 5, the tone bag gate unit 200 is supplied to one side of the folded tone bag transfer and supply unit 100, and the folded tone bags 10 moved from the folded tone bag transfer supply unit 100 and laid down are aligned one by one. It is unfolded to become a tone bag 30, and the opening 31 of the tone bag is spread and opened so that the opening 31 is opened and transferred to the product input unit 400.

More specifically, as shown in FIG. 5, the tone-back gate unit 200 is picked up one by one by the folding tone-back pick-up unit 300 from the loading pallet 20 transported by the folding tone-back transfer supply unit 100. A gate base 210 provided in the form of a table so that the folded tone bag 10 is seated in a lying state, and a pair of pairs provided on both left and right sides of the gate base 210 to be folded to the top of the gate base 210 ( 10) is provided with a tone bag gate arranging unit 220 provided to be collapsible so that the foldable tone bag 10 is aligned when it is raised, and movable back and forth on one side of the gate base 210, and the fold tone bag 10 or The opening 31 of the tone bag 30 is provided so that the opening 31 of the tone bag 30 can be fixed and engaged so that the folding tone bag 10 or the opening 31 of the tone bag 30 is fixed and transported. ) Is provided to include a vacuum adsorption pad that is raised and lowered by an actuator such as a cylinder at the top of the opening opening 240 to open the opening 31 of the folded tone bag 10 or tone bag 30 during descent and vacuum adsorption. ), and a structure in which the opening 31 widened by the opening opening 240 is provided in a structure that can be rotated vertically on one side of the opening fixing transfer unit 230 to be opened or collapsed, opening the opening so that the opening 31 maintains a fixed state. It includes a fixing part 250.

Accordingly, the foldable tone bags 10 are aligned and unfolded one by one by the tone bag gate unit 200 to form a tone bag 30, and the opening 31 of the tone bag is widened and opened so that the opening 31 is opened. It can be easily transferred to the input unit 400 .

Here, the folded tone bag 10, which is raised to the gate base 210 of the tone bag gate unit 200, is folded in advance by the folding tone bag pickup unit 300 so that it is raised in a state of being a tone bag 30 You may.

5(a) is a front view of the toneback gate unit 200 according to the present invention, and FIG. 5(b) is a side view of the toneback gate unit 200 according to the present invention.

As shown in FIGS. 1 to 3, the foldable toneback pickup unit 300 is provided between the foldable toneback transfer supply unit 100 and the toneback gate unit 200, and the foldable toneback transfer supply unit 100 folds the toneback ( 10) are picked up one by one and moved to the tone bag gate part 200, but when the folding tone bag 10 is unfolded to the tone bag 30 by recognizing the direction in which the folding tone bag 10 is loaded on the loading pallet 20, the opening (31) to be picked up so that the part is placed upwards.

More specifically, as shown in FIGS. 6 and 7 , the folding tone-back pickup unit 300 includes a folding tone-back robot arm 310 rotatably provided with multiple degrees of freedom, and an end portion of the folding tone-back robot arm 310 At the end of the folding tone bag vacuum adsorption pad 320 and the folding tone bag robot arm 310, which is provided so as to be able to move up and down, so that the folding tone bag 10 is lifted from the folding tone bag transfer supply unit 100 by vacuum adsorption when descending. A folding tone bag gripper 330 provided to be movable left and right so that the folding tone bag 10 is fixed by collapsing, and a folding tone bag gripper 330 corresponding to a change in focal length according to the amount of consumption of the folding tone bag 10 ) and detects the recognition mark 11 of the foldable tone bag 10 so that the control unit 600 can determine the type, size, position and direction of the fold tone bag 10, the control unit ( 600) preferably includes a vision sensor 340.

Accordingly, the folding tone bag 10 or the tone bag 30 can be safely moved from the loading pallet 20 to the tone bag gate unit 200 by the folding tone bag pickup unit 300 without being dropped, and the folding tone bag ( 10) is easily and accurately recognized by the controller 600 through the vision sensor 340 in the direction loaded on the loading pallet 20, so that when the tone bag 30 is seated inside the product input unit 400 The opening 31 is disposed downward to prevent an accident in which the product input as powder or granular contents from the product input unit 400 is not injected into the opening 31 and spills out of the ton bag 30 in advance. can do.

At this time, as shown in FIGS. 4 and 7, the folded tone bags 10 stacked on the loading pallet 20 cross each other and are stacked neatly, so the fold tone bag 10 displays the position of the opening 31 It is preferable that the recognition mark 11 to be detected by the vision sensor 340 is provided in advance.

That is, as shown in (a) of FIG. 4, the folding tone bag 10 is initially loaded on the loading pallet 20, as shown in (b) of FIG. 4, the vision sensor 340 The recognition mark 11 is recognized by the opening 31 is first lifted by the folding toneback pickup unit 300 to unfold, and then, as shown in (c) of FIG. 4, the folding toneback pickup unit 300 ) or by the toneback gate unit 200, it is fully unfolded to be in the state of the toneback 30.

Here, as shown in FIG. 7, the foldable tone-back vacuum suction pad 320 is a lift driver including an actuator such as a cylinder that allows the fold-over tone-back vacuum suction pad 320 to be lifted at the end of the fold tone-back robot arm 310. 321, and the folding tone bag gripper 330 is provided in an 'L'-shaped fork shape and provided to face each other, and the folding tone bag 10 is folded by the descending and vacuum adsorption of the folding tone bag vacuum suction pad 320. When the ) is lifted and an empty space is created between the other folding tone bag immediately below, the folding tone bag gripper 330 is mutually folded and the grip driving unit including a cylinder providing a driving force for fixing the folding tone bag 10 ( 331) and a pair of cylinders that are lifted on both left and right sides of the folding tone bag gripper 330, and when the folding tone bag 10 is fixed by mutual folding of the folding tone bag gripper 330, the folding tone bag 10 It is preferable to include an opening fixing driving unit 333 for pressing and fixing the opening 31 of the portion.

At this time, when the folding tone bag 10 is fixed by mutual folding of the folding tone bag gripper 330, the control unit 600 controls the folding tone bag vacuum suction pad (320) so that vacuum adsorption is no longer performed. 320) is preferred.

As shown in FIGS. 1 and 8, the product input unit 400 is provided at the rear end of the tone-back gate unit 200, and the tone-back unit 30 transferred from the tone-back gate unit 200 is standing upright. The ring 32 is fixed, the opening 31 of the tone bag is fixed, and the tone bag 30 is aligned so that the product is injected into the tone bag 30 through the opening 31 of the tone bag.

More specifically, the product input unit 400, as shown in FIGS. 8 to 10, a product input body 410 provided with a plurality of frames to form a box-shaped outer frame, and a product input body 410 An inlet 420 provided at the top of the tone bag 30 so that the product filled into the tone bag 30 is introduced into the opening 31 of the tone bag 30, and the top of the product input body 410 are symmetrical to each other on a plane The opening 31 of the tone bag 30 disposed in the lower part of the inlet 420 from the inside of the product input main body 410 is closely fixed to the inlet 420 by being provided in pairs and being closed to each other by cylinder driving. The opening fixing part 430 and the upper part of the opening fixing part 430 from the top of the product input main body 410 inject air into the tone bag 30 through the opening 31 to inject air into the tone bag 30 ) is inflated, and the air filling part 440 and the tone bag provided on one side and the other side of the product input main body 410 and in which air is injected are not distorted and the tone bag 30 is aligned and supported in an accurate position. The aligning unit 450, the ring clamping unit 460 provided on one side of the upper part of the product input body 410 and operated to engage and fix the ring 32 of the tone bag 30, and the lower part of the product input body 410 It includes a weight measuring unit 470 which measures the weight of the entire tone bag 30 and transmits the measured value to the control unit 600 after the input of the product into the tone bag 30 is completed.

Accordingly, the opening 31 of the tone bag 30 is fixed to the inlet 420 by the opening fixing unit 430 so that the product can be safely injected without leaving the inlet 420, and the air filling unit ( 440), the tone bag 30 is inflated to a maximum inflated state so that the maximum amount of product can be injected into the tone bag 30, and the tone bag positioning unit ( 450), the position of the tone bag 30 is not distorted and aligned at the exact position where the product is injected, so that the injection of the product can be performed precisely. By ensuring that the hooks 32 at the top of each corner are easily caught and fixed, the product can be injected precisely and stably without changing or leaving the position of the tone bag 30 while the product is being injected, and the product can be injected. After this is completed, the weight of the entire tone bag 30 is measured by the weight measurement unit 470 to automatically and accurately check whether or not the injection of the product has been properly completed, so that injection defects can be minimized.

As shown in FIG. 9, the tone bag alignment unit 450 is provided to compact four sides of the tone bag 30 by a rotation operation around the tone bag 30 seated on the flat product input body 410. guide plate 451, and an alignment driving unit 453 including an actuator such as a cylinder to provide a driving force so that the guide plate 451 rotates.

Accordingly, even when the tone bag 30 is maximally inflated, the tone bag 30 is not displaced by the tone bag alignment unit 450 and the four sides of the tone bag 30 are aligned at the exact position where the product is injected. Injection of the product can be made precisely through the opening (31).

As shown in FIG. 10, the ring clamping unit 460 is provided with four radially on a plane corresponding to the rings 32 at the four corners of the tone bag 30, each of which is a product input body 410 The clamping body 461 coupled to and provided vertically downward, and the clamping body 461 is provided to move forward or backward, and when moving forward, a pivoting finger 466 to be described later closes toward the tone bag 30 to rotate the ring 32 A forward and backward drive unit 462 including a cylinder so as to be approached toward the lower portion of the clamping body 461 is provided to be vertically liftable, so that the ring 32 is lowered and then raised when the ring 32 is lowered to the outside of the tone bag 30 The upper surface of the tone bag 30 is brushed from the inside to the outside by the forward and backward driving of the ring lifting unit 463 including a cylinder and the forward and backward driving unit 462 so that the ring 32 is lifted up by the operation. A swing drive unit 465 including a ring swing unit 464 for engaging the ring 32 and a cylinder for driving the ring swing unit 464 to swing, and up and down from the bottom of the ring swing unit 464 A rotation finger 466 provided so as to be able to rotate to hold and lift the ring 32 when rotating upward so that the ring 32 is fixed, and a rotation finger 466 provided inside the ring swing part 464 and a finger driving unit 467 including a cylinder driven to rotate.

Accordingly, as in the prior art, there is no need for a plurality of workers to perform a hanging operation so that each of the rings at the four corners around the tone bag is fixed before the product is introduced, and the opening ( After 31) is fixed, the rings 32 at the four corners of the tone bag 30 can be easily and automatically caught and fixed by the ring clamping unit 460, respectively.

Figure 10 (a) is a plan view of the ring clamping unit 460 of the product input unit 400 according to the present invention, Figure 10 (b) is a side view of the ring clamping unit 460 according to the present invention.

Here, the clamping body 461 of the ring clamping unit 460 is provided so as to be able to extend and transport to the outside of the product input body 410, so that the operations in the binding unit 700 and the covering unit 800 to be described later are much easier. It is preferable to transfer the tone bag 30 to the binding unit 700 and the covering unit 800 while the upper part of the tone bag 30 is suspended by a transport means such as a conveyor so as to be easily performed.

As shown in FIG. 11, the tone bag grip pick-up unit 500 is provided between the tone bag gate unit 200 and the product input unit 400, and the tone bag 30 is picked up by the tone bag gate unit 200 and the product It is transferred to the input unit 400.

More specifically, as shown in FIG. 11, the toneback grip pickup unit 500 includes a toneback grip robot arm 510 rotatably provided with multiple degrees of freedom and a cylinder drive at an end of the toneback grip robot arm 510. Including an opening gripper 520 provided to be movable left and right by mutual contraction so that the opening 31 is fixed so that the tone bag 30 is moved from the tone bag gate unit 200 to the product input unit 400 do.

Accordingly, the tone bag 30 can be automatically and easily moved from the tone bag gate unit 200 to the product input unit 400 by the tone bag grip pickup unit 500 .

The control unit 600 is connected to the folding tone bag transfer supply unit 100, the tone bag gate unit 200, the folding tone bag pickup unit 300, the product input unit 400, and the tone bag grip pickup unit 500, so that their operations are automatically control to make it happen.

Accordingly, in the process of packaging powder or particulate matter in a tone bag, many workers manually perform the work in the past, which increases the risk of safety accidents, accumulates fatigue due to repetitive and continuous labor, and causes musculoskeletal disorders. Unlike what is done, the folded tone bag that is transported in an easy-to-transport state through an automated process is unfolded, the opening 31 is opened, and the open state of the opening 31 is fixed so that the contents can be easily passed through the opening 31 It is possible to provide a ton bag automatic packaging device that can prevent safety accidents, improve the convenience and efficiency of work, and reduce the cost of manpower required for work by allowing input, binding, and packaging to be completed.

On the other hand, as shown in FIG. 1, the automatic packaging device for ton bags according to the present invention is provided at the rear end of the product input unit 400, and when the ton bag 30 into which the product is input is transferred from the product input unit 400, the ton bag is transported. A binding unit 700 for binding with a cable tie 40 while the opening 31 of the bag is fixed, and a tone bag provided at the rear end of the binding unit 700 and binding the opening 31 in the binding unit 700 It is preferable to further include a covering unit 800 to complete the packaging of the tone bag 30 by pressing the adhesive portion of the tone bag opening 31 and adhering to the top of the tone bag when the 30 is transferred.

Here, an adhesive part such as Velcro is provided on the surface facing each other on the opening 31 and the upper surface of the tone bag, so that when the opening 31 is pressed to the upper surface, the upper part of the tone bag 30 is substantially flattened so that the packaging is completed It is desirable to do

Accordingly, the binding of the opening 31 by the cable tie 40 and the covering and packaging of the tone bag 30 can be performed automatically and easily, respectively.

As shown in FIG. 12, the binding unit 700 includes a tie supply unit 710 for supplying the cable tie 40 when the tone bag 30 is transported after the cable tie 40 is prepared at one side. , the tie binding part 720 that binds and binds the opening 31 with the cable tie 40 supplied from the tie supply part 710, and the tie binding part 720 shrinks toward the opening 31 and opens the opening ( 31) includes a binding driving unit 730 including a cylinder providing driving force to the tie binding unit 720 under the control of the control unit 600 so that the cable tie 40 is bound.

Accordingly, the binding operation of the opening 31 can be easily and simply performed automatically by the binding unit 700 .

As shown in FIG. 13, the covering unit 800 can descend by cylinder driving according to the height of the tone bag 30 when the tone bag 30 to which the opening 31 is bound is transferred from the binding unit 700. The unit elevating unit 810, which is provided so as to be able to move up and down, presses the upper surface of the tone bag 30 when descending, and then lifts the upper surface of the tone bag 30 by vacuum adsorption and lifting operation. The cover adsorption part 820, which secures a space for the covering roller 830 to be described later, to enter downward, and the opening 31 provided at the end of the unit elevation part 810 by a forward or backward movement are opened with a tone-back. It includes a covering roller 830 that allows the covering packaging to be completely pressed onto the upper surface of the 30.

Accordingly, the covering packaging operation of the tone bag 30 can be easily and conveniently performed automatically by the covering unit 800 .

On the other hand, as shown in FIG. 1, in the automatic ton bag packaging device according to the present invention, the folding ton bag transfer supply unit 100, the product input unit 400, the binding unit 700, and the covering unit 800 are symmetrical to each other on a plane. It is preferable to be provided and arranged in pairs, respectively.

Accordingly, by simultaneously injecting two different types of products into the tone bag 30 and completing the packaging of the tone bag 30, the time required for the work process can be further shortened.

Although the technical aspect has been described in the above description and accompanying drawings, the technical spirit of the present invention is for the purpose of explanation, not limiting it, and those having ordinary technical knowledge in the technical field of the present invention It will be understood that the technical spirit of the present invention can be variously modified and changed within the scope of not departing from the technical scope described in the claims to be described later.

100: folding ton bag transfer supply unit 110: direction conversion unit
200: tone back gate part 210: gate base
220: Toneback gate alignment unit 230: Opening fixing transfer unit
240: opening opening part 250: opening opening fixing part
300: folding tone bag pickup unit 310: folding tone bag robot arm
320: folding tone bag vacuum adsorption pad 321: lifting drive unit
330: folding tone bag gripper 331: grip driving unit
333: aperture fixing drive unit 340: vision sensor
400: product input unit 410: product input body
420: inlet 430: opening fixing part
440: air filling unit 450: tone bag position alignment unit
451: guide plate 453: alignment driving unit
460: ring clamping unit 461: clamping body
462: forward and backward driving unit 463: ring lifting unit
464: ring swing unit 465: swing drive unit
466: rotation finger 467: finger driving unit
470: weight measurement unit 500: tone bag grip pickup unit
510: tone back grip robot arm 520: opening gripper
600: control unit 700: binding unit
710: Tie supply unit 720: Tie binding unit
730: binding drive unit 800: covering unit
810: unit elevation part 820: cover adsorption part
830: covering roller

Claims (3)

When the loading pallet 20 on which a plurality of folded tone bags 10 are stacked is loaded, they are transported to a predetermined position, and when the folding tone bags 10 are moved from the loading pallet 20 to the tone bag gate unit 200 to be described later, Folding tonbag transfer supply unit 100 that allows the transfer path to be changed and transferred so that only empty pallets are taken out;
The folded tone bags 10 supplied to one side of the folded tone bag transfer and supply unit 100 and transferred and laid down in the fold tone bag transfer supply unit 100 are aligned and unfolded one by one to become tone bags 30, and the opening 31 of the tone bag is widened a tone-back gate unit 200 that is opened and transported to a product input unit 400 to be described later with the opening 31 open;
It is provided between the fold tone bag transfer supply unit 100 and the tone back gate unit 200 so that the fold tone bag 10 is picked up one by one from the fold tone bag transfer supply unit 100 and transferred to the tone back gate unit 200, , Folding tone bag pickup unit that recognizes the direction in which the folding tone bag 10 is loaded on the loading pallet 20 and picks up the opening 31 portion to be disposed upward when the folding tone bag 10 is unfolded to the tone bag 30 (300);
The ring 32 of the tone bag is fixed and the opening 31 of the tone bag is fixed in a state where the tone bag 30 provided at the rear end of the tone bag gate unit 200 and transferred from the tone bag gate unit 200 is erected, , a product input unit 400 that allows products to be injected into the tone bag 30 through the opening 31 of the tone bag in a state where the tone bag 30 is aligned;
A tone bag grip pickup unit provided between the tone bag gate unit 200 and the product input unit 400 so that the tone bag 30 is picked up from the tone bag gate unit 200 and transferred to the product input unit 400. (500); and
It is connected to the folding tone bag transfer supply unit 100, the tone bag gate unit 200, the folding tone bag pickup unit 300, the product input unit 400, and the tone bag grip pickup unit 500, so that their operations are automatically controlled. a control unit 600;
including,
It is provided at the rear end of the product input unit 400 so that when the tone bag 30 into which the product is input is transported from the product input unit 400, the opening 31 of the tone bag is tied with a cable tie 40 in a fixed state. a binding unit 700 to; And, when the tone bag 30 provided at the rear end of the binding unit 700 and having the opening 31 bound in the binding unit 700 is transported, the adhesive portion of the tone bag opening 31 is pressed and adhered to the top of the tone bag It further includes; a covering unit 800 so that the packaging of the tone bag 30 is completed,
The folding tone-back pick-up unit 300 is provided with a folding tone-back robot arm 310 rotatably provided with multiple degrees of freedom and movable at an end of the folding tone-back robot arm 310, and the folding tone-back robot arm 310 is provided with vacuum suction during descent. The folding tone bag vacuum suction pad 320 for lifting the folding tone bag 10 in the folding tone bag transfer supply unit 100 and the end of the folding tone bag robot arm 310 are provided to be movable left and right, so that they are mutually folded. A folding tone bag gripper 330 that allows the folding tone bag 10 to be fixed by the folding tone bag 10, and a folding tone bag gripper 330 corresponding to a change in the focal length according to the amount of consumption of the folding tone bag 10 is provided to be able to move up and down, and the folding tone bag ( A vision sensor ( 340),
The covering unit 800 is a unit lifting unit provided to be able to descend by cylinder driving according to the height of the tone bag 30 when the tone bag 30 to which the opening 31 is bound is transferred from the binding unit 700. 810 and the lifting unit 810, which is provided to be able to move up and down, presses the upper surface of the tone bag 30 when descending, and then lifts the upper surface of the tone bag 30 by vacuum adsorption and lifting operation. A covering roller (to be described later) 830) is provided at the end of the cover adsorption part 820 and the unit elevation part 810 to ensure a space for entering downward, and the opening 31 of the tone bag 30 is opened by forward or backward movement. It includes a covering roller 830 that allows the covering packaging to be completely pressed to the upper surface,
The folding tone bag transfer supply unit 100, the product input unit 400, the binding unit 700 and the covering unit 800 are provided and arranged in pairs symmetrically on a plane.

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