KR20230053325A - Automation packaging equipment for loading stick-type wrappers packed with processed foods into packaging container - Google Patents

Abstract

The present invention relates to an automated packaging facility that loads and packs stick-type packages inside a packaging container (branch tube), wherein the stick type packages are packed with various processed foods, including health supplements or medicines, food additives (sugar, etc.), coffee, and the like in a powder, liquid, or gel form so that consumers can easily consume the processed foods. Specifically, by automating a process of loading the stick-type packages containing processed food, which is supplied in a horizontally laid state through a transfer device, into the interior of the packaging container. workability and productivity can be improved. The automated packaging facility that loads and packs the stick-type packages containing processed food into a packaging container includes a packaging container input and discharge device; a stick-type package transfer and input device; and a package packaging device.

Description

Automatic packaging equipment that loads and packs processed food-packed stick-type packages into packaging containers

The present invention packages a stick-type package in which various processed foods including powder, liquid (liquid) or gel form health supplements or drugs, food additives (sugar, etc.), coffee, etc. are packaged so that consumers can easily consume them. It relates to an automated packaging facility for loading and packaging inside a container (paper tube), and in detail, a stick-type package in which processed food supplied in a horizontally laid state through a transfer device is packaged inside the packaging container It relates to an automated packaging facility for loading and packaging a stick-type package in which processed food is packaged, which can improve workability and productivity by automating the loading operation.

In general, thanks to the development of food processing technology, various processed foods have been developed and released. Processed food refers to food processed so that it is easy to eat and can be stored for a long time by adding natural food ingredients such as agricultural products, livestock products, and marine products as they are or by adding additives.

These processed foods are produced in large quantities through a series of processing processes in food processing factories depending on the type of processed foods, and then sterilized by sanitary facilities to prevent deterioration of processed foods during at least the distribution period. Tea packaging is done.

In addition, in order to solve the problem that individual packages containing processed foods do not maintain a constant appearance due to the nature of the contents and are easily damaged when external shocks are applied, while providing convenience in distribution, Restock and distribute.

Among recent processed foods, health supplements or medicines in the form of powder, liquid or gel, food additives (sugar, etc.), coffee, etc. use stick-type packaging for convenient consumption by consumers, and use an appropriate number of individual products. After secondary packaging of the stick-type packaging with secondary packaging, an appropriate number of secondary packaging is loaded into a cylindrical packaging container (paper tube) and distributed.

However, the operation of loading the stick-type individual packages (or secondary packages) inside the packaging container requires a considerable amount of work. That is, the packaging work of loading the inside of the current packaging container is cumbersome and takes a lot of time as the worker manually puts the stick-type individual packaging body into the packaging container by hand. In addition, since a lot of manpower is required due to manual work, it has become a cause of increasing production costs.

KR 10-1987-0005584 A, 1987. 07. 06., "Package of stick type processed food" KR 10-1643752 B1, 2016. 07. 22., "Stick packaging device" KR 10-1521627 B1, 2015. 05. 13., "Automatic packaging device for stick type packaging container" KR 10-0925965 A, 2009. 11. 02., "Packaging method of stick-type confectionery"

Therefore, the present invention improves workability compared to manual work by automating the packaging work of the conventionally manually performed stick-type packaging body, significantly shortens the packaging time, and improves productivity by reducing production cost. An object of the present invention is to provide an automated packaging facility for loading and packaging a stick-type package in which processed food is packaged in a packaging container.

According to one aspect of the present invention for achieving the above object, the packaging container is supplied in a cylindrical shape and the inside is empty, and the packaging container is filled with a set number of stick-type packages therein, and the packaging container is discharged. discharge device; a stick-type package transfer and input device for supplying and injecting the stick-type packages; and receiving the packaging containers inputted from the packaging container insertion and discharging device, loading the set number of stick-type packages input from the stick-type packaging transport and inputting device in multi-layers, and then transferring the stacked stick-type packages to the packaging containers. It provides an automated packaging facility for loading and packaging a stick-type packaging body in which processed food is packed, comprising a packaging device for packaging by pushing into a packaging container.

In addition, the packaging container input and discharge device includes a first transfer unit that sequentially transfers the packaging container in a standing state so that the opened inlet faces upward; an input waiting unit for waiting for a set number of packaging containers transported from the first transfer unit; a first transfer robot that lays down the packaging container and puts the packaging container into the package packaging device so that the opening of the packaging container waiting in the input waiting unit faces one side in a horizontal direction; and a second transfer unit receiving from the first transfer robot a packaging container filled with a set number of stick-type packages and discharging it in a standing state.

In addition, the first transfer robot includes a plate mounted on a fixed frame of the packaging container input and output device; first driving units each mounted on the plate; robot arms mounted on the first driving units and driven by the first driving units; effectors coupling end portions of the robot arms; a second driving unit mounted on the effector; a gripper mounted on the second drive unit, rotated by the second drive unit, and gripping the packaging containers waiting in the input waiting unit to be put into the package packaging device; and an angle adjusting unit installed between the gripper and the second driving unit and adjusting an angle of the gripper within a range of 90° with respect to the driving shaft of the second driving unit.

In addition, the stick-type package transfer and input device includes a third transfer unit that sequentially transfers the stick-type packages in a horizontally laid state; and a second transfer robot for gripping the stick-shaped packages transported through the third transfer unit and loading them into the package packaging device.

In addition, the package packaging device includes a loading unit provided with a loading space in which stick-type packages are sequentially loaded in the order in which the stick-type packages are input from the transfer and input device; a seating unit provided at one side of the loading unit and in which the packaging containers introduced from the packaging container input and discharge device are placed; The width of the loading part is adjusted so that the stick-type packages loaded in the loading space are horizontally aligned with the open entrance of the packaging container placed in the loading space, so that the stick-type packages loaded in the loading space are moved to the loading space. A width adjustment unit that gathers to the center of the; and a pushing unit for pushing and loading the stick-type packages loaded in the loading unit into the inlet of the packaging container so as to be introduced into the packaging container through the opened inlet of the packaging container placed in the settling unit. can be done with

In addition, first and second support plates installed side by side in a state spaced apart from each other by a predetermined distance so as to face each other; and a stacking plate installed between the first and second support plates and sequentially stacked and stacked in the order in which the stick-type packages input from the stick-type package transfer and input device are inputted.

In addition, the seating unit is installed side by side so as to be spaced apart from each other at a predetermined distance, and a pair of seating tables on which the packaging container placed in a horizontally laid state through the packaging container input and discharge device is placed; And it may be characterized in that it comprises a pair of fixing units that are penetrated through both sides of the pair of seating tables and fix the pair of seating tables to the first support plate.

In addition, the width adjustment unit includes a pair of cylinder modules installed to face each other in the longitudinal direction of the loading plate and moving along the longitudinal direction of the loading plate to adjust the width of the loading space, Each of the cylinder modules includes a cylinder body; a rod protruding from the cylinder body; and a bucket installed at a terminal end of the rod and linearly reciprocating by the rod to collect the stick-shaped packages loaded in the loading space toward the center.

In addition, the pushing unit cylinder body; a fixing plate fastening and fixing the cylinder body to the second support plate; a rod protruding from the cylinder body and penetrating the through hole of the second support plate; and stick-type packages, which are installed and fixed to the end of the rod, and which are linearly reciprocated in the loading space by the rod and collected in the center of the loading space, through the through hole of the first support plate, and It may be characterized in that it includes a pushing plate for loading by pushing into the opened inlet.

In addition, the package packaging device further includes an auxiliary support unit for supporting an additional stick-type package that is vertically laid and loaded on one side or both sides of the stacked structure of the stick-type package stacked in multi-layers on the loading unit so that it does not fall And, the auxiliary support portion, the cylinder body installed in the lower portion of the loading plate; a lifting plate that is coupled to the rod of the cylinder body and moves up and down; a support for supporting the cylinder body; and support pins fixed to the lifting plate and penetrating through holes formed in the loading plate to protrude into the loading space from the bottom to the top of the loading plate to support a side portion of the additional stick-type package. can be done with

As described above, according to the automated packaging facility for loading and packaging the stick-type package in which the processed food is packaged in the packaging container according to the present invention, the processed food supplied in a horizontally laid state through the transfer device is packaged. Workability and productivity can be improved by automating the operation of loading the stick-type package inside the packaging container.

1 is an assembled perspective view showing an automated packaging facility according to an embodiment of the present invention.
Figure 2 is an assembled perspective view of the automated packaging equipment shown in Figure 1 viewed from the other side.
3 is a front view showing a first transfer robot according to the present invention as an example;
4 is a partially enlarged view showing the operation of the gripper according to the present invention.
Figure 5 is an assembled perspective view showing the stick-type package transfer and input device shown in Figure 1;
6 is a partially enlarged view showing the gripper of the second transfer robot according to the present invention.
Figure 7 is an assembled perspective view of the package packaging device according to the present invention.
8 is an assembled perspective view of the package packaging device shown in FIG. 7 viewed from another side;
Figure 9 is an exploded perspective view of the package packaging device shown in Figure 7;
10 is a view showing a stack of stick-type packages in a loaded state in a loading unit according to the present invention.
Fig. 11 is a side view of the package packaging device shown in Fig. 7;
12 to 17 are work process diagrams showing a method of loading and packaging a stick-type package in which processed food is packaged using an automated packaging facility according to the present invention in a packaging container.

Hereinafter, the advantages and features of the present invention, and methods for achieving them will become clear with reference to the embodiments described later in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but is embodied in a variety of different forms, and is provided to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. and the present invention is defined by the scope of the claims.

Also, terms used in this specification are for describing the embodiments and are not intended to limit the present invention. And, in this specification, the singular also includes the plural unless otherwise specified in the phrase. For example, 'comprises' (or 'includes') and/or 'comprising' (or 'including') used in the specification may add the mentioned components and processes. Like reference numbers designate like elements throughout the specification. “And/or” includes each and every combination of one or more of the recited items.

In addition, unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning that can be commonly understood by those skilled in the art. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

1 is a view illustrating an automated packaging facility according to an embodiment of the present invention, and FIG. 2 is a view of the automated packaging facility shown in FIG. 1 viewed from another side.

1 and 2, an automated packaging facility according to an embodiment of the present invention includes a packaging container input and discharge device 10 for inputting and discharging packaging containers (eg, through-paper) 1, and stick-type packaging. The stick-type package 2 is titrated into the inside of the packaging container 1 introduced from the stick-type package transfer and input device 20 for transporting and inserting the sieve 2 and the packaging container input and output device 10. It includes a package packaging device 30 for simultaneously loading and packaging by the number.

The packaging container 1 may be a circular tube or an elliptical tube capable of containing an appropriate amount of the stick-type package 2 therein, or a polygonal tube having three or more vertices. In addition, the lower part is closed and the upper part is made of an open structure. The opened inlet is sealed by a lid (not shown) after containing the stick-type package (2). In addition, it can be formed of various materials among paper, metal, synthetic resin or wood of the packaging container 1, but is not limited thereto.

The stick-type packaging body 2 is a powder, liquid, or gel-type health supplement or drug, various food additives, coffee, snacks, biscuits, chocolate, etc., noodles including ramen or spaghetti, bread, instant food, etc. It may be a package in which a variety of processed foods including a package is accommodated inside or a package in which an appropriate number of individual packages are once again packaged secondary. In the present invention, a secondary package will be described as an example.

As shown in FIGS. 1 and 2, the packaging container input and output device 10 sequentially passes through the first transfer unit 11 and the first transfer unit 11 for sequentially transporting the packaging containers 1 in the order in which they are supplied. An input standby unit 12 waiting before the transported packaging containers 1 are put into the package packaging device 30 in an appropriate number and the packaging containers 1 waiting in the input standby unit 12 are packaged The first transfer robot 13 put into the packaging device 20 and the second transfer unit 14 discharging the packaging container 1 loaded with the stick-type packaging 2 in the package packaging device 30 ).

The first and second transfer units 11 and 14 and the input waiting unit 12 may be formed of, for example, a belt-type or chain-type conveyor device, and are individually driven through a control panel (not shown) during the process. Alternatively, it may be operated in conjunction with other components.

The first transfer unit 11 sequentially transfers the packaging containers 1 in a line. At this time, the first transfer unit 11 transfers the packaging container 1 in a standing state so that the opened inlet faces upward.

The input standby unit 12 is a temporary standby unit before the packaging containers 1 transported through the first transfer unit 11 are input into the package packaging device 30, and for example, 7 containers may stand by before input.

1 and 2, the first transfer unit 11 is separated from the input waiting unit 12 and is shown as an independent device, but may be configured as one conveyor device connected to each other.

When the first transfer unit 11 and the input standby unit 12 are made of independent conveyor devices, the packaging containers 1 sequentially supplied from the first transfer unit 11 are transferred to the input standby unit 12. A separate connection device or transfer device shown may be additionally installed.

At this time, the connection device and the transfer device are not limited. For example, the connecting device may be a power or non-powered connection conveyor connecting the end of the first transfer unit 11 and one end of the input waiting unit 12 . The transfer device consists of a separate transfer robot or cylinder device, and pushes the packaging containers 1 supplied through the first transfer unit 11 to the input standby unit 12 one by one or an appropriate number at a time. 12).

An appropriate number of packaging containers (1) wait in the input waiting unit (12). In the present invention, for example, seven packaging containers 1 are designed to stand by before being put into the package packaging device 30. To this end, a sensor for detecting and counting the packaging containers 1 introduced into the input standby unit 12 may be additionally provided between the first transfer unit 11 and the input standby unit 12 .

3 is a diagram showing an example for explaining a first transfer robot according to the present invention.

As shown in FIG. 3, the first transfer robot 13 according to the present invention includes a plate 131 mounted on the fixing frame 15 of the packaging container input and output device 10, and a plurality of plates 131 mounted respectively. The first drive unit 132 of the dog, the plurality of robot arms 133 mounted on the plurality of drive units 132 and driven by the drive unit 132, and the ends of the plurality of robot arms 133 are coupled. by gripping the effector 134, the second driving unit 135 mounted on the effector 134, and the packaging container 1 mounted on the second driving unit 135 and waiting for the input waiting unit 12 It includes a gripper 136 introduced into the package packaging device 30, and an angle adjusting unit 137 installed between the gripper 136 and the second drive unit 135 to adjust the angle of the gripper 136. .

In addition, the first transfer robot 13 is, for example, Korean Patent Registration No. 10-1161056 (Registration Date: 2012. 06. 22.), Domestic Patent Registration No. 10-1110130 (Registration Date: 2012. 10. 19) , Korean Patent Registration No. 10-1902474 (Registration date: 2018. 09. 19.), Domestic Patent Registration No. 10-1507724 (Registration date: 2015. 03. 26.), Domestic Patent Registration No. 10-2029891 (Registration date: 2019. 10. 01.), Domestic Patent No. 10-1507725 (Registration date: 2015. 03. 26.), Domestic Patent No. 10-1574569 (Registration date: 2015. 11. 30.), Domestic Patent No. It may be any one of the 4-axis parallel robots proposed in prior literature such as No. 10-2165034 (registration date: 2020. 10. 06.).

In addition, as the first transfer robot 13, a well-known 5-axis or more parallel robot may also be used.

4 is a partially enlarged view illustrating the operation of the gripper according to the present invention.

As shown in FIG. 4 , the angle of the gripper 136 according to the present invention is adjusted within a range of approximately 90° by the angle adjusting unit 137 so as to stably grip the packaging container 1 .

The angle adjusting unit 137 includes a cylinder to adjust the angle of the gripper 136 . At this time, the cylinder may be a pneumatic cylinder. For example, the angle adjustment unit 137 is coupled to the cylinder body 137a, the rod 137b, and the longitudinal end of the rod 137b, and the rotary shaft coupled to the drive shaft 135a of the second drive unit 135. It includes a rotation member 137c that rotates within a range of 90° (see arrow) around the axis 137d. For example, by driving the cylinder body 137a, the rod 137b is stretched or extended to pull the rotational member 137c upward with the rotating shaft 137d as an axis, or push it downward to the gripper 136. adjust the angle

FIG. 5 is a view for explaining the stick-type package transport and input device shown in FIG. 1, and the stick-type package transport and input device is equipped with a package packaging device.

As shown in FIGS. 1 and 5, the stick-type package transfer and input device 20 according to the present invention includes a third transfer unit 21 that sequentially transfers the stick-type package 2, and a second fixing frame 23 ) and a second transfer robot 22 that individually grips the stick-shaped packages 2 transported through the third transport unit 21 and loads them onto the package packaging device 30.

Like the first and second transfer units 11 and 14, the third transfer unit 21 may be formed of, for example, a belt-type or chain-type conveyor device. Also, the second transfer robot 22 is a 4-axis parallel robot and may have the same configuration as the first transfer robot 13 shown in FIG. 3 . Accordingly, for convenience of description, reference numerals for each component of the second transfer robot 22 are indicated by the same reference numerals as those for each component of the first transfer robot 13 .

6 is a partially enlarged view illustrating the gripper of the second transfer robot according to the present invention.

As shown in FIG. 6, the gripper 136 of the second transfer robot 22 according to the present invention grips the stick-shaped package 2, and the rotating shaft is coupled to the drive shaft 135a of the second drive unit 135. (137d) rotates within a range of 360°. Through this, the stick-type package 2 is rotatable within a range of 360° in a state of being transferred through the third transfer unit 21, so that the loading space 31a provided in the loading unit 31 of the package packaging device 30 It can be stably loaded into the inside of the

7 to 9 are views showing a package packaging device according to the present invention, wherein FIG. 7 is an assembled perspective view, FIG. 8 is an assembled perspective view viewed from another side, and FIG. 9 is an exploded perspective view.

7 to 9, the package packaging device 30 according to the present invention has a loading space 31a in which the stick-type package 2 introduced through the second transfer robot 22 is loaded. Adjust the width of the unit 31, the seating unit 32 provided on one side of the loading unit 31 and in which the packaging container 1 introduced through the first transfer robot 13 is placed, and the loading unit 31 A width adjustment unit 33 that gathers the stick-type packages 2 vertically loaded in the loading space 31a to the center of the loading space 31a, and the stick-type packages 2 loaded in the loading unit 31 It includes a pushing unit 34 for loading by pushing into the inside of the packaging container 1 through the inlet of the packaging container 1 placed in the seating portion 32.

As shown in FIG. 9 , the loading part 31 is installed between the first and second support plates 311 and 312 and the first and second support plates 311 and 312 installed side by side and spaced apart from each other by a predetermined distance. and a loading plate 313 on which the stick-type package 2 is sequentially loaded up and down.

The first and second supporting plates 311 and 312 may be made of a plate material having a 'c' shape in cross section to have rigidity, and are installed in a vertically erected state facing each other.

The mounting plate 313 is disposed between the first and second support plates 311 and 312 in a direction perpendicular to the first and second covers 311 and 312, and has a fastening hole 313a formed on the side portion in the width direction. It may be fastened and fixed between the first and second support plates 311 and 312 through a fastening member (not shown) as a medium.

As shown in FIG. 9, the seating units 32 are installed side by side in a state spaced apart at regular intervals to face each other and the packaging containers 1 put in a flat state by the first transfer robot 13 are placed. A pair of Includes a seat table 321 and a pair of fixing tables 322 that are penetrated through both sides of the pair of seat tables 321 to fix the pair of seat tables 321 to the first support plate 311 do.

9, when the packaging container 1 is made of a circular or elliptical container, a round surface 321a having a curved surface is formed on the pair of seating tables 321 so that the packaging container 1 is stably placed thereon, as shown in FIG. It can be. In addition, the pair of fixtures 323 may be fixed to the side surface of the first support plate 311 or may be penetrated into the coupling hole 311b of the first support plate 311 .

The width adjusting unit 33 includes a pair of cylinder modules 331 installed to face each other in the longitudinal direction of the loading plate 313 and adjusting the width of the loading space 31a along the longitudinal direction of the loading plate 313. do. At this time, the pair of cylinder modules 331 may have the same configuration.

A pair of cylinder modules 331 can be driven simultaneously by interlocking with each other. Each cylinder module 331 is installed on the cylinder body 331a, the rod 331b protruding from the cylinder body 331a, and the end of the rod 331b, and is loaded by linear reciprocating motion by the rod 331b. A bucket 331c is included to centrally collect the stick-shaped packages 2 loaded in the space 31a.

A surface of the bucket 331c facing the center of the loading space 31a may have a rounded surface.

The pushing unit 34 pushes the stick-shaped packaging body 2 collected in the center of the loading space 31a by the width adjusting unit 33 into the packaging container 1 placed in the seating unit 32, As shown in FIG. 9, the cylinder body 341, the fixing plate 342 for fastening and fixing the cylinder body 341 to the second support plate 312, and the penetration of the second support plate 312 protruding from the cylinder body 341 A rod 343 penetrating the ball 312a, installed and fixed at the end of the rod 343, linearly reciprocated in the loading space 31a by the rod 343, and collected in the center of the loading space 31a. It includes a pushing plate 344 that pushes the stick-type package body 2 into the open inlet of the packaging container 1.

10 is a view showing a stick-type package in a state loaded on a loading unit according to the present invention.

As shown in (a) of FIG. 10, an appropriate number of stick-type packages 2 are stacked vertically on the loading part 31, or as shown in (b) of FIG. 10, an appropriate number of stick-type packages 2 are loaded. In order to increase the number of stick-type packages loaded on one side or both sides of the load in which the packages 2 are stacked vertically, the stick-type packages 2' are additionally laid vertically in the width direction and stacked.

As shown in (b) of FIG. 10, when an additional stick-type package 2' is vertically laid and loaded on the loading unit 31, the additional stick-type package 2' to be loaded can be prevented from falling over. There is a need. Accordingly, as in 9, the package body packaging device 30 further includes an auxiliary support portion 35.

Fig. 11 is a side view of the package packaging device shown in Fig. 7;

As shown in FIGS. 7, 8 and 11 , the auxiliary support part 35 is installed below the mounting plate 313 .

The auxiliary support part 35 includes a cylinder body 351 installed under the mounting plate 313, a lifting plate 352 coupled to the rod 351a of the cylinder body 351 and moving up and down, and a cylinder body ( 351), and a support pin 354 fixed to the lifting plate 352 and protruding into the loading space 31a through through-holes formed in the loading plate 313. At this time, a plurality of support pins 354 may be installed on the lifting plate 352 in a state of being spaced apart from each other.

12 to 17 are work process diagrams showing a method of loading and packaging a stick-type package in which processed food is packaged using an automated packaging facility according to the present invention in a packaging container.

First, as shown in FIGS. 1 and 2, the packaging container 1 is sequentially supplied to the first transfer unit 11 of the packaging container input and discharge device 10 with the lid (not shown) separated and the inlet opened. . At this time, the packaging containers 1 are supplied in a row in a standing state so that the opened inlet faces upward.

Then, the packaging containers 1 supplied to the first transfer unit 11 are transferred to the rear end in a row and then put into the input standby unit 12 of the packaging container input and discharge device 10 in an appropriate number.

Subsequently, the first transfer robot 13 adsorbs and grips one side of the packaging container 1 put into the input standby unit 12 using the gripper 136, and then moves the packaging unit 30 to the seating unit 32. put into At this time, the first transfer robot 13 tilts the gripper 136 at a certain angle using the angle adjusting unit 137, adsorbs one side of the packaging container 1, and then lays it horizontally on the seating part 32. It is placed in the folded state, that is, with the opened entrance facing one direction (loading space direction), lying down at 90°.

Subsequently, when the packaging container 1 is placed on the settling unit 32, as shown in FIG. 12, the stick-type package transfer and input device 20 uses the second transfer robot 22 to transfer the third transfer unit 21 After adsorbing and gripping the stick-type packages 2 transported through, one by one, they are rotated by 90° as shown in FIG. 6 . That is, as shown in FIG. 12, the second transfer robot 22 adsorbs and grips the stick-shaped package 2, and then rotates the gripper 136 at 90° through the second driving unit 135 as shown in FIG. 6. It is rotated, and the stick-type package 12 rotated at 90° is put into the loading space 31a of the loading unit 31 and loaded.

And, as shown in FIG. 13, the stick-type package 2 with adsorption grip is transferred to the loading unit 31 of the package packaging device 30, and then descends into the loading space 31a of the loading unit 31 and is put in. Load up.

Subsequently, when an appropriate number of stick-type packages 12 set in the loading space 31a of the loading unit 31 is loaded, a pair of cylinder modules constituting the width adjusting unit 33 as shown in FIGS. 7 to 9 The bucket 331c is moved along the longitudinal direction of the loading plate 313 using the 331 to collect the multi-layered stick-type packages 2 in the loading space 31a at the center of the loading space 31a. .

On the other hand, in addition to the stacked structure of stick-type packages 2 vertically stacked in multiple layers, as shown in FIG. If desired, the support pins 354 of the auxiliary support unit 35 are raised and lowered through the loading plate 313, and then the stick-shaped package 2' is put in and loaded using the second transfer robot 22. At this time, after rotating the gripper 136 of the second transfer robot 22 as shown in FIG. 6 , as shown in FIG. 4 , the gripper 136 is rotated again at 90° so as to stand on the side of the load in the width direction.

Subsequently, when an appropriate number of stick-type packages 2 set in the loading space 31a of the loading unit 31 is loaded, as shown in FIG. 14, the rod 343 of the pushing unit 34 is extended to push the pushing plate ( 344), the stick-type package 2 loaded in the loading space 31a is passed through the through hole 311a of the first support plate 311 and through the entrance of the packaging container 1. push inside

Subsequently, as shown in FIGS. 14 to 17, when the stick-type package 2 loaded in the loading space 31a of the loading unit 31 is drawn into the packaging container 1 and accommodated therein, the first transfer After adsorbing and gripping one side of the packaging container 1 using the gripper 136 of the robot 13, it moves to the packaging container input and discharge device 10 and is supplied to the second conveyor 14, which is a conveyor for discharge, and discharged. do.

Subsequently, although not shown, the packaging container 1 supplied to the second transfer unit 14 is transferred to a lid operation line for coupling the lid, and then the opened inlet is sealed with a lid.

As described above, the technical idea of the present invention has been specifically described in preferred embodiments, but various embodiments are possible through a combination of the embodiments of the present invention within the scope of the technical history of the present invention by a person skilled in the art will be able to understand

1: Packaging container
2: stick type packaging
2': stick-type package erected in the width direction
10: packaging container input and output device
20: stick type package transfer and input device
30: packaging device
11: first transfer unit 12: input waiting unit
13: first transfer robot 14: second transfer unit
131: plate 132: first drive unit
133: robot arm 134: effector
135: second driving unit 136: gripper
137: angle adjustment unit 137a: cylinder body
137b: rod 137c: rotating member
137d: rotation shaft 21: third transfer unit
34: pushing unit 311: first support plate
311b: coupling hole 312: second support plate
313: loading plate 313a: fastening hole
321: seat stand 321a: rounding surface
322: fixing stand 331: cylinder module
331a: cylinder body 331b: rod
331c: bucket 341: cylinder body
342: fixed plate 343: rod
344: pushing plate 35: auxiliary support
351: cylinder body 352: lifting plate
353: support 354: support pin
22: second transfer robot 31: loading unit
31a: loading space 32: settling unit
33: width adjustment unit

Claims (10)

A packaging container input and output device configured to supply a packaging container having a cylindrical shape and empty inside, and discharging the packaging container filled with a set number of stick-type packages therein;
a stick-type package transfer and input device for supplying and injecting the stick-type packages; and
After receiving the packaging containers introduced from the packaging container input and output device, and loading the set number of stick-type packages input from the stick-type packaging transport and insertion device in multiple layers, the stacked stick-type packages are transferred to the packaging containers. A package packaging device for pushing and packaging;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packed, characterized in that it comprises a.
According to claim 1,
The packaging container input and output device,
A first transfer unit that sequentially transfers the packaging container in an upright state with the opened inlet facing upward;
an input waiting unit for waiting for a set number of packaging containers transported from the first transfer unit;
a first transfer robot that lays down the packaging container and puts the packaging container into the package packaging device so that the opening of the packaging container waiting in the input waiting unit faces one side in a horizontal direction; and
a second transfer unit receiving a packaging container filled with the number of stick-type packages set in the package packaging device from the first transfer robot and discharging it in a standing state;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packed, characterized in that it comprises a.
According to claim 2,
The first transfer robot,
a plate mounted on a fixed frame of the packaging container input and output device;
first driving units each mounted on the plate;
robot arms mounted on the first driving units and driven by the first driving units;
effectors coupling end portions of the robot arms;
a second driving unit mounted on the effector;
a gripper mounted on the second drive unit, rotated by the second drive unit, and gripping the packaging containers waiting in the input waiting unit to be put into the package packaging device; and
an angle adjusting unit installed between the gripper and the second driving unit and adjusting an angle of the gripper within a range of 90° with respect to the driving shaft of the second driving unit;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.
According to claim 1,
The stick-type package transfer and input device,
a third transfer unit sequentially transporting the stick-shaped packages in a horizontally laid state; and
a second transport robot that grips the stick-shaped packages transported through the third transfer unit one by one and loads them into the package packaging device;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.
According to claim 1,
The package body packaging device,
a loading unit provided with a loading space in which the stick-type packages are sequentially loaded in the order in which the stick-type packages are input from the transfer and input device;
a seating unit provided at one side of the loading unit and in which the packaging containers introduced from the packaging container input and discharge device are placed;
The width of the loading part is adjusted so that the stick-type packages loaded in the loading space are horizontally aligned with the open entrance of the packaging container placed in the loading space, so that the stick-type packages loaded in the loading space are moved to the loading space. A width adjustment unit that gathers to the center of the; and
a pushing unit for pushing and loading the stick-type packages loaded in the loading unit into the inlet of the packaging container so as to be introduced into the packaging container through the opened inlet of the packaging container placed in the settling unit;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packed, characterized in that it comprises a.
According to claim 5,
The loading part,
First and second support plates installed side by side in a state spaced apart from each other by a predetermined distance to face each other; and
a stacking plate installed between the first and second supporting plates and sequentially stacked and stacked in the order in which the stick-type packages introduced by the stick-type package transfer and input device are inputted;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.
According to claim 6,
The settling department,
A pair of benches installed side by side so as to be spaced apart from each other at a predetermined distance, and on which the packaging containers inputted in a horizontally laid state through the packaging container input and discharge device are placed; and
a pair of fixing rods coupled to both sides of the pair of seating rods to fix the pair of seating rods to a first support plate;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packed, characterized in that it comprises a.
According to claim 6,
The width adjustment unit,
A pair of cylinder modules installed to face each other in the longitudinal direction of the loading plate and moving along the longitudinal direction of the loading plate to adjust the width of the loading space,
Each of the pair of cylinder modules,
cylinder body;
a rod protruding from the cylinder body; and
a bucket installed at an end of the rod and linearly reciprocating by the rod to collect the stick-type packages loaded in the loading space toward the center;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.
According to claim 6,
The pushing part,
cylinder body;
a fixing plate fastening and fixing the cylinder body to the second support plate;
a rod protruding from the cylinder body and penetrating the through hole of the second support plate; and
It is installed and fixed to the end of the rod, and linearly reciprocates in the loading space by the rod, and the stick-type packages collected in the center of the loading space pass through the through hole of the first support plate to open the opening of the packaging container. Pushing plate to be loaded by pushing into the entrance;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.
According to claim 6,
The package body packaging device,
Further comprising an auxiliary support for supporting an additional stick-type package that is vertically laid and loaded on one side or both sides of the stacked structure of the stick-type package stacked in multi-layers on the loading unit so that it does not fall,
The auxiliary support,
a cylinder body installed under the loading plate;
a lifting plate that is coupled to the rod of the cylinder body and moves up and down;
a support for supporting the cylinder body; and
support pins fixed to the lifting plate and penetrating through holes formed in the loading plate to protrude into the loading space from the bottom to the top of the loading plate to support a side portion of the additional stick-type package;
An automated packaging facility for loading and packaging the stick-type packaging body in which the processed food is packaged, characterized in that it comprises a.

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