WO2020195734A1 - Dispositif de maintien de récipient à sachets - Google Patents

Dispositif de maintien de récipient à sachets Download PDF

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Publication number
WO2020195734A1
WO2020195734A1 PCT/JP2020/009919 JP2020009919W WO2020195734A1 WO 2020195734 A1 WO2020195734 A1 WO 2020195734A1 JP 2020009919 W JP2020009919 W JP 2020009919W WO 2020195734 A1 WO2020195734 A1 WO 2020195734A1
Authority
WO
WIPO (PCT)
Prior art keywords
pouch
pouch container
gripping
state
container
Prior art date
Application number
PCT/JP2020/009919
Other languages
English (en)
Japanese (ja)
Inventor
堀川　嗣人
Original Assignee
株式会社フジシールインターナショナル
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社フジシールインターナショナル filed Critical 株式会社フジシールインターナショナル
Priority to JP2021508954A priority Critical patent/JP7429219B2/ja
Publication of WO2020195734A1 publication Critical patent/WO2020195734A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles

Definitions

  • the present invention relates to a pouch container gripping device.
  • the pouch container is distributed as a container into which a spout can be inserted. Further, in factories and the like that produce and ship pouch containers, a gripping device that grips the pouch container when the pouch container is transferred is installed.
  • Patent Document 1 discloses a gripping device that grips the spout of the pouch container when the pouch container into which the spout is inserted is transferred.
  • the gripping device of Patent Document 1 when the gripping position of the spout is displaced, the spout cannot be gripped and the pouch container may not be transferred.
  • An object of the present invention is to provide a gripping device capable of gripping a pouch container more appropriately.
  • the present invention is a gripping device for a pouch container, wherein the pouch container is inserted with a spout sealed at the upper end portion of the container body, and the container body is configured by laminating at least a pair of sheets at the upper end portion. It is characterized by including a gripper that grips both ends of the upper end portion of the main body in the width direction, and a control device that controls an operation of opening or closing the gripper and movement of the gripper.
  • the control device releases the pouch container from the gripping tool by opening the gripping tool to the first opening angle, moves the gripping tool, and has a second opening angle larger than the first opening angle.
  • the gripper may be opened to the opening angle.
  • the gripping tool can grip the pouch container more appropriately.
  • the direction in which the pair of sheets 3 and 3 are bonded is the depth direction.
  • the direction perpendicular to the depth direction is defined as the width direction.
  • the direction perpendicular to the depth direction and the width direction is the vertical direction (vertical direction).
  • the pouch container P has a bottom gusset 4, and includes a container body 2 and a spout 5.
  • the spout 5 is sealed and inserted into the substantially central portion of the upper end portion 2U of the container body 2.
  • the container body 2 is configured by laminating a pair of sheets 3 and 3 and a bottom gusset 4.
  • the pair of sheets 3 and 3 are made of a flexible film material.
  • the upper end 2U of the container body 2 is formed by, for example, a heat seal.
  • the spout 5 is formed in a substantially cylindrical shape.
  • a cap 6 is attached to the upper end of the spout 5.
  • the cap 6 is attached so as to seal the opening at the upper end of the spout 5.
  • the diameter of the cap 6 of the present embodiment is, for example, twice or more the diameter of the spout 5.
  • the pouch container P is filled with contents such as food, and the spout 5 is sealed with a cap 6.
  • the pouch container P is sequentially transferred toward the integration device 120 in the pouch supply device 160.
  • the pouch container P is accumulated in the accumulating device 120 in a linearly aligned state at the pouch taking-out position ⁇ delivered from the pouch supply device 160.
  • the accumulated pouch container P is transferred from the pouch take-out position ⁇ in the pouch transfer device 140.
  • six pouch container groups G are transferred by the pouch transfer device 140 while maintaining the aligned state.
  • the accumulated pouch container P is picked up from the pouch take-out position ⁇ by the gripping unit 145 (see FIG. 3) of the pouch transfer device 140.
  • the pouch container group G is transferred in the pouch transfer device 140 toward the box C transported by the box transfer device 110. While the pouch container group G is transferred by the pouch transfer device 140, the pouch containers P are pulled in a direction in which the pouch containers P approach each other.
  • the width-aligned pouch container group G is stored in the box C in the pouch transfer device 140, respectively. Then, each pouch container P of the pouch container group G is released from being gripped in the box C. The upper flap (not shown) of the box C in which the pouch container P is stored is closed so that the box C can be shipped.
  • the boxing device 100 includes a box transfer device 110, an integration device 120, and a pouch transfer device 140.
  • the box transfer device 110 continuously conveys the box C for storing the pouch container P.
  • the box transport device 110 is configured to continuously or intermittently transport the box C, for example, through a U-shaped transport path.
  • the box transfer device 110 is composed of, for example, a chain conveyor with claws, but is not limited thereto.
  • the box transfer device 110 includes two linear transfer portions 110A and 110B when forming a U-shaped transfer path.
  • the integration device 120 is installed along the linear transport portion 110A of the box transport device 110.
  • the accumulating device 120 has a function of accumulating a plurality of pouch containers P in an aligned state at the pouch taking-out position ⁇ .
  • the stacking device 120 comprises an endless chain spanned over two sprockets. A large number of partition members 125 are attached to the chain at equal intervals.
  • the pouch transfer device 140 is provided above the integration device 120.
  • the pouch transfer device 140 is installed, for example, on the ceiling.
  • the pouch transfer device 140 transfers the pouch containers P accumulated at the pouch take-out position ⁇ by the accumulator 120 in an aligned state, and stores them in the box C transported by the box transfer device 110.
  • the pouch transfer device 140 is composed of, for example, a multi-axis robot, but is not limited thereto.
  • the pouch transfer device 140 includes at least an arm and a gripping unit 145, and the gripping unit 145 is arranged at the lower end of the arm.
  • the gripping unit 145 grips the pouch containers P that are stacked in an aligned state in the stacking device 120.
  • the gripping unit 145 includes, for example, six gripping tools 20. As a result, the six pouch containers P can be gripped and transferred by the gripping tool 20 of one pouch transfer device 140.
  • the gripping device 10 is a device that constitutes the pouch transfer device 140 of the boxing device 100 described above.
  • the gripping device 10 includes a gripping tool 20 and a control device 50. Details of the gripper 20 will be described later.
  • the control device 50 is electrically connected to the gripper 20.
  • the control device 50 has a function of controlling the operation of opening or closing the gripping tool 20 by controlling the gripping tool 20.
  • the control device 50 has a function of controlling at least the pouch removal position ⁇ and the movement of the gripper 20 to the box C.
  • the control device 50 is composed of, for example, a microcomputer including a CPU, ROM, RAM, and the like.
  • the control device 50 is electrically connected to each device of the box transfer device 110 and the integration device 120 of the box packing device 100, and each device of the pouch supply device 160.
  • the control device 50 has a function of controlling the operation of each device of the box transfer device 110 and the integration device 120 of the boxing device 100, and each device of the pouch supply device 160.
  • the width direction of the gripping tool 20 is the same as the width direction of the pouch container P when the gripping tool 20 grips the pouch container P.
  • the direction in which the pair of arms 23, 23 constituting the gripping tool 20 opens and closes is defined as the depth direction.
  • the direction perpendicular to the width direction and the depth direction is defined as the vertical direction (vertical direction).
  • the gripping tool 20 is provided in the pouch transfer device 140 of the boxing device 100.
  • the gripping tool 20 is a fulcrum opening / closing type gripping tool.
  • the gripper 20 grips both ends 2UE and 2UE in the width direction of the upper end 2U of the container body 2 of the pouch container P.
  • Both ends 2UE and 2UE located in the width direction of the upper end 2U of the container body 2 of the pouch container P are in the range from both ends of the cap 6 in the width direction to the outer ends of the container body 2. Further, the upper end portion 2U of the container body 2 of the pouch container P is a range from the upper end to the lower end formed by the heat seal in the vertical direction.
  • the gripping tool 20 is configured to have a substantially gate shape when viewed from the depth direction.
  • the gripping tool 20 includes a main body 21, a cylinder 22, a pair of arms 23 and 23, a cam 24, and a pair of gripping portions 30 and 30.
  • the main body 21 is configured as a housing in which both sides in the depth direction and the lower side in the vertical direction are opened.
  • a pair of arms 23, 23 are housed under the main body 21.
  • a cylinder 22 is provided on the upper side of the main body 21. The cylinder 22 can be stroked in two stages. The cylinder 22 moves the cam 24 in the vertical direction.
  • the cam 24 has a pair of sliding surfaces 24A and 24A.
  • the cam 24 is formed so that one sliding surface 24A faces downward in the vertical direction and one in the depth direction, and the other sliding surface 24A faces downward in the vertical direction and the other in the depth direction.
  • the arm 23 is formed in a substantially gate shape when viewed from the depth direction.
  • the pair of arms 23, 23 are configured adjacent to each other in the depth direction.
  • a pin portion 23P and a rotating portion 23B are provided at the upper end portion of the arm 23.
  • the rotating portion 23B has a function as a bearing when the pin portion 23P is used as an axis.
  • the side peripheral surface of the rotating portion 23B comes into contact with the sliding surface 24A.
  • the arm 23 is rotatably supported by the fulcrum F with respect to the main body 21. Further, the fulcrum F gives an urging moment to the arms 23 so that the lower ends of the pair of arms 23, 23 are opened by, for example, a rotating spring. In other words, the fulcrum F gives an urging moment to the arms 23 so that the pin portions 23P of the pair of arms 23, 23 are close to each other in the depth direction.
  • the fulcrum F is provided at substantially the center in the vertical direction in the side view of the arm 23.
  • a grip portion 30 is provided at the lower end portion of the arm 23.
  • the grip portion 30 is provided at the lower end portion of the arm 23.
  • the grip portion 30 is formed of, for example, an elastic member or the like.
  • the grip portion 30 of the present embodiment is made of, for example, rubber, but is not limited thereto.
  • a recess 30A as a non-engaging portion is formed in one of the grip portions 30.
  • a convex portion 30B as an engaging portion is formed on the other grip portion 30.
  • the recess 30A is formed along the width direction. Further, the convex portion 30B is formed along the width direction.
  • the non-engaging portion of the present embodiment is a concave portion 30A and the engaging portion is a convex portion 30B, but the present invention is not limited to this.
  • the engaging portions may be V-shaped to engage with each other. Alternatively, the engaging portions may be U-shaped to engage with each other.
  • FIG. 8 is a schematic view showing the operation of the gripping device 10.
  • the main body 21 is omitted in order to make the shape of the cam 24 easy to understand.
  • the gripper 20 is changed to the "closed” state shown in FIG. 8 (A), the "first opening angle” state shown in FIG. 8 (B), and the “second opening angle” state shown in FIG. 8 (C). ..
  • the control device 50 has a function of controlling the change of the gripping tool 20 to the "closed” state, the "first opening angle” state, and the "second opening angle” state. Specifically, by driving the cylinder 22 to move the cam 24 in the vertical direction, the rotating portion 23B abutting on the sliding surface 24A rotates and the pin portion 23P slides in the depth direction. In other words, the slide portion composed of the rotating portion 23B and the pin portion 23P is slid to control the change of the gripping tool 20 to the "closed” state, the "first opening angle” state, and the "second opening angle” state. To do.
  • the "closed” state is a state in which the pair of arms 23, 23 rotate around the fulcrum F, respectively, and the pair of grip portions 30, 30 are closed together. At this time, the concave portion 30A of one grip portion 30 and the convex portion 30B of the other grip portion 30 engage with each other. As described above, the "closed” state is an engaged state in which the concave portion 30A and the convex portion 30B are engaged.
  • the gripper 20 When the gripper 20 is in the "closed” state, the gripper 20 grips the pouch container P. At this time, the gripping tool 20 engages with the concave portion 30A of one grip portion 30 and the convex portion 30B of the other grip portion 30 while both ends in the width direction of the upper end portion 2U of the container body 2 of the pouch container P. The parts 2UE and 2UE are gripped.
  • FIG. 9 is an enlarged view centering on the fulcrum F of the gripping tool 20 of FIG. 8 (B).
  • the "first opening angle” state is a state in which the pair of arms 23, 23 rotate around the fulcrum F, respectively, and the pair of grip portions 30, 30 are opened small.
  • the "first opening angle” state constitutes the gripping unit 145 when the gripping tool 20 opens the pouch container P in the box C or above the box C, as shown in FIG. It refers to a state in which the respective arms 23 of the adjacent gripping tools 20 do not interfere with each other (do not touch) at an opening angle.
  • a pair of arms 23, 23 are adjacent to each other, and a fulcrum F is provided substantially in the center in the vertical direction.
  • One grip portion 30 faces the other grip portion 30, and the other grip portion 30 is one.
  • the angle M formed by the intersection of the surfaces facing the grip portion 30, that is, the first opening angle is, for example, about 5 °.
  • the gripper 20 grips the upper end portion 2U to which the pair of sheets 3 and 3 of the pouch container P are bonded when the gripper 20 is in the "closed” state, one of the grippers 20 is in the "first opening angle” state. Although the gap between the grip portion 30 and the other grip portion 30 is small, the pouch container P is smoothly released.
  • the "second opening angle” state is a state in which the gripping tool 20 is opened more than in the "first opening angle” state.
  • the “second opening angle” state is a state in which the pair of arms 23, 23 rotate around the fulcrum F, respectively, and the pair of grip portions 30, 30 are widely opened.
  • FIG. 10 is an enlarged view centering on the fulcrum F of the gripping tool 20 of FIG. 8C.
  • the angle N formed by the surface of one grip portion 30 facing the other grip portion 30 and the surface of the other grip portion 30 facing the one grip portion 30, that is, the second opening angle is, for example, approximately 20 °. Degree.
  • the "first opening angle” state and the “second opening angle” state are the disengaged states in which the concave portion 30A and the convex portion 30B are disengaged, and particularly the "first opening angle” state.
  • the first release state is set, and the "second opening angle” state is set to the second release state.
  • the gripper 20 By putting the gripper 20 in the "second opening angle” state, the gripper 20 can stand by to grip the pouch container. In the "second opening angle” state, since the gap between one grip portion 30 and the other grip portion 30 is large, the pouch container P can be reliably gripped.
  • the control device 50 causes the gripping unit 145 to stand by at a standby position or the like in step S1.
  • the standby position is, for example, a predetermined position while the gripper 20 moves from the box C to the pouch removal position ⁇ .
  • step S3 the gripper 20 is brought into the second opening angle state. Then, in step S5, the gripping unit 145 is moved to the pouch take-out position ⁇ . Next, in step S7, the gripper 20 is closed, the pouch container is gripped, and the process proceeds to step S9.
  • step S9 the pouch transfer device 140 is controlled to move the pouch containers to the box C while keeping them aligned.
  • step S11 the gripper 20 is set to the first opening angle state, and the pouch container is stored in the box C.
  • step S13 it is determined whether or not the boxing operation of the pouch container has been completed. If NO is determined, the process returns to step S1, and if YES is determined, the boxing operation is completed. The end of the boxing operation is defined as the case where the stop operation is performed by an operation means (not shown) or the case where the boxing of a predetermined number of pouch containers is completed.
  • the gripping device 10 According to the gripping device 10, the pouch container P can be gripped so that the gripping portion 30 does not come into contact with the cap 6. That is, by gripping the upper end portion 2U of the container body 2 of the pouch container P, the gripping tool 20 can grip the pouch container P so that the grip portion 30 does not come into contact with the cap 6.
  • the gripping tool 20 grips both ends 2UE and 2UE in the width direction of the upper end 2U of the container body 2 to which the pair of sheets 3 and 3 are bonded to hold the contents of the container body 2.
  • the pouch container P can be gripped without gripping from above the sheet 3.
  • the gripping tool 20 reliably grips the pouch container P by engaging with the pair of gripping portions 30 and 30 and forming the concave portion 30A and the convex portion 30B along the width direction. be able to.
  • the gripping tool 20 grips both ends 2UE and 2UE in the width direction of the upper end portion 2U of the container body 2, and the gripping tool 20 is opened by a small first opening angle to grip the pouch container P. It can be released from 20.
  • the pouch transfer device 140 for example, six pouch containers P are arranged and stored in the box C. Therefore, as shown in FIG. 13, the pouch container P needs to be released in an aligned state above the box C or in the box C. At this time, the gripping tool 20 cannot be opened wide in the depth direction.
  • the pouch container P can be released from the gripping tool 20 by the first opening angle having a small opening angle in the box C, and the pouch containers P can be aligned and stored in the box C. ..
  • the first opening angle is an opening in which the arms of adjacent grippers do not interfere with each other (do not touch) when the grippers release the pouch container in the box in which the pouch container is stored or in the sky above the box. The angle. Then, by moving the gripping tool 20 to a standby position or the like and opening the gripping tool 20 to a second opening angle larger than the first opening angle, the pouch container P is surely opened the next time the pouch container P is gripped. Can be grasped.
  • the diameter of the cap of the pouch container has tended to be increased so that force can be easily applied when opening the cap. Therefore, in the gripping device that grips the spout of the pouch container, if the gripping position is displaced upward, the gripping portion may grip the cap or the gripping portion may come into contact with the cap. If the grip portion grips the cap, or if the grip portion comes into contact with the cap, the cap may open. According to this embodiment, the pouch container can be gripped so that the grip portion does not come into contact with the cap. Further, the pouch container can be gripped without grasping the contents of the pouch container from above the sheet.
  • the pouch container can be released from the gripper by the first opening angle having a small opening angle in the box, and the pouch containers can be arranged and stored in the box. After that, by moving the gripping tool to the standby position or the like and opening the gripping tool 20 to the second opening angle larger than the first opening angle, the pouch container can be securely gripped the next time the pouch container is gripped. it can. As described above, according to the pouch container gripping device of the present embodiment, the pouch container can be gripped so that the gripping portion does not come into contact with the cap.
  • the pouch container Q is of a side gusset and includes a container body 12 and a spout 15. In the pouch container Q, the spout 15 is sealed and inserted into the substantially central portion of the upper end portion 12U of the container body 12.
  • the container body 12 is configured by laminating a pair of sheets 13 and 13 and a pair of side gussets 14 and 14.
  • the pair of sheets 13 and 13 are made of a flexible film material.
  • the upper end portion 12U of the container body 12 is formed by, for example, a heat seal.
  • the gripping tool 20 described above grips both ends 12UE and 12UE in the width direction of the upper end portion 12U.
  • the spout 15 is formed in a substantially cylindrical shape.
  • a cap 16 is attached to the upper end of the spout 15.
  • the cap 16 is attached so as to seal the opening at the upper end of the spout 15.
  • the diameter of the cap 16 of the present embodiment is, for example, twice or more the diameter of the spout 15.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

Dispositif de maintien avec lequel il est possible de maintenir de manière appropriée un récipient à sachets.　Un dispositif de maintien de récipient à sachets : le récipient à sachets est tel qu'un bec verseur est introduit et scellé hermétiquement dans une partie d'extrémité supérieure d'un corps de récipient ; le corps de récipient est conçu de telle sorte qu'au moins une paire de feuilles sont fixées au niveau de la partie d'extrémité supérieure ; et le dispositif de maintien comprend un gabarit de maintien qui maintient chacune des deux parties d'extrémité dans le sens de la largeur de la partie d'extrémité supérieure du corps de récipient, et un dispositif de commande qui commande le déplacement du gabarit de maintien et commande également une opération pour ouvrir ou fermer le gabarit de maintien.
PCT/JP2020/009919 2019-03-27 2020-03-09 Dispositif de maintien de récipient à sachets WO2020195734A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021508954A JP7429219B2 (ja) 2019-03-27 2020-03-09 パウチ容器の把持装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-060016 2019-03-27
JP2019060016 2019-03-27

Publications (1)

Publication Number Publication Date
WO2020195734A1 true WO2020195734A1 (fr) 2020-10-01

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PCT/JP2020/009919 WO2020195734A1 (fr) 2019-03-27 2020-03-09 Dispositif de maintien de récipient à sachets

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61232106A (ja) * 1985-04-03 1986-10-16 オ−クラ輸送機株式会社 箱詰め装置
JPH0224083A (ja) * 1988-07-12 1990-01-26 Shibuya Kogyo Co Ltd グリッパ
JP2000272748A (ja) * 1999-03-23 2000-10-03 Kao Corp 把持装置及び箱詰め方法
JP2000281016A (ja) * 1999-03-25 2000-10-10 Oji Paper Co Ltd 軟包装品のホルダー
JP2015000756A (ja) * 2013-06-17 2015-01-05 大森機械工業株式会社 箱詰め装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4219230B2 (ja) 2003-07-30 2009-02-04 東レエンジニアリング株式会社 包装体形成方法及び装置及び包装体

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61232106A (ja) * 1985-04-03 1986-10-16 オ−クラ輸送機株式会社 箱詰め装置
JPH0224083A (ja) * 1988-07-12 1990-01-26 Shibuya Kogyo Co Ltd グリッパ
JP2000272748A (ja) * 1999-03-23 2000-10-03 Kao Corp 把持装置及び箱詰め方法
JP2000281016A (ja) * 1999-03-25 2000-10-10 Oji Paper Co Ltd 軟包装品のホルダー
JP2015000756A (ja) * 2013-06-17 2015-01-05 大森機械工業株式会社 箱詰め装置

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JPWO2020195734A1 (fr) 2020-10-01
JP7429219B2 (ja) 2024-02-07

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