Device for and method of taking out product bag from retainer

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a retainer-type bagging and packaging system, which is a take-out device for taking out a product bag from a retainer that is conveyed along a straight path at a predetermined transfer pitch and speed.

【0002】

[Conventional technology]

As such a take-out device, for example, Japanese Patent Application Laid-Open No. 8-143145 describes a robot-type take-out device in which the gripping means for gripping the container can be moved in multiple axes. The gripping means moves following the transfer of the retainer, descends to grip the upper ends of the plurality of containers, then rises to pull out the container from the retainer, and further moves to the side of the transfer path of the retainer to grip. After unraveling and placing the container on the transport means, it returns to the original position and repeats the above operation. However, in this robot-type take-out device, the structure and control system for causing the gripping means to move three-dimensionally become complicated, maintainability and cleanability are poor, and when a large number of containers are gripped at the same time, the drive system There is a problem that the burden on the robot is heavy.

【0003】

Further, in Japanese Patent Application Laid-Open No. 2000-318714, a large number of gripping means arranged at equal intervals move in one direction along an annular orbit having a pair of parallel portions, and at that time, a constant speed is obtained on one side of the parallel portions. Described is a servo-loop type take-out device that continuously moves in the parallel portion and intermittently moves by a distance that is an integral multiple of the mounting interval of the gripping means on the other side of the parallel portion. The gripping means continuously moves on one side of the retainer following the transfer of the retainer, descends in the process to grip the upper end of the bag, and then rises to pull the bag out of the retainer. When it comes to the other side and stops intermittently, it releases the grip of a plurality of bags at the same time and drops them on the conveyor. Although this device can perform high-speed processing, its structure is complicated, maintainability and cleanability are poor, the cost is high because the device is large, and a large installation space is required for the entire packaging system.

【0004】

Further, in Japanese Patent Application Laid-Open No. 57-204802, a pair of lifting belts that continuously rotate above the transport path of the retainer are horizontally installed, and the lifting belts sandwich the vicinity of the mouth of the bag, while the retainer. Is described as a method of transporting the bag along a downwardly sloping descending path, thereby pulling the bag out of the retainer, and then opening the bag at the end of the lifting belt and dropping it onto the conveyor. In this method, the bag is continuously taken out as in the servo loop type, but the structure is simple. However, since the bag is pulled out vertically from the inclined retainer, the retainer and the bag interfere with each other, causing problems such as deformation of the bag, occurrence of scratches and pinholes, and overturning of the retainer.

【0005】

[Problems to be Solved by the Invention]

In view of the above-mentioned problems of the conventional take-out device, an object of the present invention is to obtain an take-out device having a simple structure and control system, less burden on the drive system, and capable of miniaturization of the device. Another object is to obtain an extraction method that can further simplify the structure of the extraction device.

【0006】

[Means for solving problems]

The present invention relates to a take-out device for taking out a product bag from a retainer that is conveyed in a straight path at a predetermined transfer pitch and speed in a retainer-type bagging and packaging system, and can reciprocate along a path parallel to the linear path of the retainer. A base member installed in the base member, a reciprocating driving means for reciprocating the base member, a frame member vertically swingably supported by a fulcrum shaft on the base member installed in parallel with the path, and the base. A vertical swinging means that swings the frame member up and down with the reciprocating movement of the member, a sliding shaft member that is arranged perpendicular to the path and is supported by the frame member so as to be able to move forward and backward in the axial direction, and a front end portion thereof. A sandwiching means provided with a pair of sandwiching members that are installed in the product bag and sandwiching the vicinity of the mouth portion of the product bag, an advancing / retreating driving means for advancing / retreating the sliding shaft member, and the pair of advancing / retreating means attached to the sliding shaft member. It is characterized by being provided with an opening / closing driving means for opening / closing the holding member of the above. It is desirable that the holding member can hold a plurality of product bags at the same time.

【0007】

Here, the advancing / retreating driving means includes, for example, a swinging member that is swingably supported by a support shaft parallel to the path on the base member and has first and second levers, and the first lever and the sliding. A connecting member that connects the shaft members, a cam roller that is installed at the tip of the second lever and has a rotating shaft in a plane perpendicular to the path, and a cam groove on which the cam roller rolls and is parallel to the path. It is provided with an advancing / retreating cam that is arranged in a plane and is reciprocating in the plane so that the swinging member swings with the reciprocating movement of the advancing / retreating cam, and the sliding shaft member moves back and forth in conjunction with the swinging. It has become. The support shaft may be used as a fulcrum shaft of the frame member, and the swing member may be fitted on the fulcrum shaft to rotatably support the shaft.

【0008】

Depending on the transport mode of the retainer, it may not be necessary to advance or retreat the sliding shaft member. In that case, the take-out device according to the present invention includes a base member reciprocally installed along a path parallel to the linear path of the retainer, a reciprocating driving means for reciprocating the base member, and parallel to the path. A frame member that is supported by a fulcrum shaft on the installed base member so as to swing up and down, a vertical swinging means that swings the frame member up and down with the reciprocating movement of the base member, and a tip of the frame member. The structure is simplified by providing a holding means provided with a pair of holding members for holding the vicinity of the mouth portion of the product bag and an opening / closing driving means for opening and closing the pair of holding members.

【0009】

The vertical swinging means of the above two extraction devices is, for example, as follows. That is, a cam roller mounting link whose one end is pin-connected to the frame member, a cam roller mounted on the cam roller mounting link and having a horizontal rotation axis in a plane perpendicular to the path, and a cam groove on which the cam roller rolls. It includes a fixed elevating cam having a connecting link, one end of which is pin-connected to the other end of the cam roller mounting link, and the other end of which is pin-connected to the base member, and includes the connecting link, the cam roller mounting link, and a frame member. A parallel link mechanism is configured. The cam roller moves up and down in conjunction with the reciprocating movement of the base member, and at that time, the cam roller mounting link moves in translation so that the rotation axis of the cam roller is always kept horizontal. As a result, a tubular cam roller can be used, and a large load can be supported.

【0010】

Further, the take-out method according to the present invention is a take-out method for taking out a product bag from a retainer that is continuously or intermittently transported in a retainer-type bagging and packaging system, in which the retainer is tilted in a plane perpendicular to the transport direction and sandwiched. It is characterized in that the vicinity of the mouth portion of the product bag is sandwiched by the member, the product bag is taken out along the inclination direction thereof and transferred to the outside of the transport path of the retainer, and the product bag is dropped there. By tilting the retainer in a plane perpendicular to the transport direction, the product bag can be transported out of the retainer's transport path by simply removing the product bag from the retainer along the tilt direction. In the case of continuous transportation, of course, the sandwiching member is moved along the transfer path at the same speed as the retainer, and the product bag is sandwiched and taken out by the sandwiching member during the movement. In addition, after dropping the product bag, it is necessary to return to the original position (upstream side). For this, the simplified type of extraction device described above can be used. On the other hand, when taking out at the time of stop by intermittent transportation, follow-up movement and return are not necessary.

【0011】

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the extraction device and the extraction method according to the present invention will be described in more detail with reference to FIGS. 1 to 9. First, FIG. 1 shows a take-out device 1 arranged along a linear path of a retainer R in a retainer-type bagging and packaging system. In this straight path, the retainer R is regulated in the retainer transport means (screw conveyor) 2 by the retainer transport guide 3 (see FIG. 7) so that the bag width direction of the product bag W faces back and forth. It is continuously conveyed in the direction of the arrow at the transfer pitch and speed. A plurality of take-out devices 1 are arranged in parallel on the machine base 4 along a straight path, and the holding members 5 and 6 are arranged in series.

【0012】

In this take-out device 1, the sandwiching members 5 and 6 are initially on the linear path of the retainer R (the solid line position in FIG. 1) in the open state, move following the retainer R in the direction of the arrow, and are plurality of in the moving process. Hold the vicinity of the mouth of each (4 bags x 3) product bags from above, then ascend and pull out the product bags from the retainer R (virtual line position in Fig. 1). Subsequently, it moves out of the straight path of the retainer R, where the holding members 5 and 6 open and the product bag falls. It should be noted that the movement to the outside of the straight path may be started during the ascent. In either case, after the product bag is dropped, it returns to its original position (solid line position in Fig. 1) and waits until the next take-out timing.

【0013】

Next, the extraction device 1 will be described in detail with reference to FIGS. 2 to 6. The main part of the take-out device 1 is installed on the base member 7 which can reciprocate on the machine base 4 along a path parallel to the straight path of the retainer R, as clearly shown in FIG. .. In addition to the base main body 7a, the base member 7 includes mounting portions 7b and 7c which are fixedly installed on the base main body 7a, and a slide member 11 is fixed on the lower surface of the base main body 7a, which is mounted on the machine base 4. It is slidable on the fixed slide rail 12. Further, the base body 7a is connected to a swing lever 14 (see FIG. 6) that swings back and forth by a drive source (not shown) via a connecting rod 13, whereby the base member 7 is at the solid line position and the virtual line position in FIG. It reciprocates between.

【0014】

A fulcrum shaft 15 is fixed to the mounting portion 7b in parallel with the path, and a frame member 16 is supported on the fulcrum shaft 15 so as to be vertically swingable. The frame member 16 includes a pair of swing support portions 16b attached to the rear portion of the frame body portion 16a in addition to the box-shaped frame body portion 16a, and the bearing 19 fixed to the end portion of the swing support portion 16b ( (See FIG. 5) is fitted to the fulcrum shaft 15. Further, an elevating support portion 16c, which will be described later, is attached to the lower portion of the frame main body portion 16a as a part of the frame member 16.

【0015】

Below the frame member 16, a vertical swinging means for swinging the frame member 16 up and down about a fulcrum shaft 15 is arranged. The vertical swinging means is pin-connected (connected) to the cam roller mounting link 23 whose upper end is pin-connected (connecting pin 22) to the elevating support portion 16c and to the mounting portion 7c (see FIG. 3) whose rear end is the base member 7. pin 24), and a connecting link 26 the front end has a pin coupling (connecting pin 25) to the lower end of the cam roller mounting link 23, the cam roller mounting links willing to take the center of 23 in a plane perpendicular to the lighted said path A cam roller 27 having a horizontal rotation axis and a fixed elevating cam 29 having a cam groove 28 on which the cam roller 27 rolls are provided.

【0016】

In the vertical swinging means, the axes of the fulcrum shaft 15 and the connecting pin 24 are on the same vertical line, and the distance between the fulcrum shaft 15 and the connecting pin 22 and the distance between the connecting pin 24 and the connecting pin 25 are different. Equal, and the distance between the fulcrum shaft 15 and the axis of the connecting pin 24 and the distance between the axis of the connecting pin 22 and the connecting pin 25 are equalized, from the cam roller mounting link 23 and the connecting link 26, and from the frame member 16 and the base member 7. (The frame member 16 and the base member 7 each form a section of the parallel link mechanism). Therefore, while the cam roller 27 moves up and down in conjunction with the reciprocating movement of the base member 7, the cam roller mounting link 23 makes a translational motion, and as a result, the rotation axis of the cam roller 17 is always kept horizontal. Therefore, as the cam roller 27, a cylindrical roller that can withstand a large load can be used.

【0017】

Since the frame member 16 and the like are swingably supported by the fulcrum shaft 15, their front weights are distributed to the fulcrum shaft 15 and the cam roller 17. Therefore, it is not necessary to apply an excessive weight only to the cam roller 17, and the vertical swinging means (and the reciprocating driving means) can be miniaturized. Further, the cam roller mounting link 23 moves up and down as the cam roller 27 moves up and down, and at that time, the connecting link 26 constituting a section of the parallel link mechanism is set so as not to be greatly tilted from the horizontal state. That is, even when the cam roller 27 is lowered most and the connecting link 26 is tilted most downward, the posture is close to the horizontal state as shown in FIG. When the cam roller 27 rises the most, the connecting link 26 only tilts upwards to the same extent. Therefore, it can be said that the cam roller mounting link 23 moves up and down substantially vertically. Therefore, there is an advantage that the cam roller 27 does not move horizontally due to ascending and descending, and the deviation from the cam groove 28 is small.

【0018】

On the frame main body 16a, the sliding shaft member 31 faces in the front-rear direction (in the plane perpendicular to the path) and is supported so as to be able to move forward and backward in the axial direction. The sliding shaft member 31 is composed of a pair of sliding shafts 32, and each sliding shaft 32 is slidably supported by bushes in bearing holders 33 and 34 fixed to the front and rear walls of the frame body 16a, and its front end thereof. A holding means 37 having a pair of holding members 5 and 6 is installed in the portion. As shown in FIG. 4, the holding means 37 is supported by a support frame 38 fixed to the front end of the sliding shaft member 31, and a pair of opening / closing fulcrums rotatably supported in bearing holders 39 fixed to both side walls thereof. Shafts 41 and 42, gears 43 and 44 fixed to the opening and closing fulcrum shafts 41 and 42 and meshing with each other, and mounting members 45 and 46 for fixing the holding members 5 and 6 under the opening and closing fulcrum shafts 41 and 42. Etc. are provided.

【0019】

The sandwiching members 5 and 6 are formed wide in parallel with the transport direction of the retainer R so that a plurality of product bags can be sandwiched at one time. Further, a holding piece 47 made of a rubber material or the like is attached to the holding portion of the holding member 6, while a floating plate 48 is attached to the holding portion of the holding member 5 via a pin 49 (the central portion of the floating plate 48 is passed through a bush). It is attached in a floating state by pinning), and the holding piece 51, which is also made of a rubber material or the like, is attached at a position facing the holding piece 47.

【0020】

The advancing / retreating driving means for advancing / retreating the sliding shaft member 31 has an advancing / retreating block 52 fixed to two sliding shafts 32 in a box-shaped frame main body 16a, and a first lever 53a and a second lever 53b. A swing member 53 swingably supported on the fulcrum shaft 15 via a bearing 54, a connecting rod 55 connecting the first lever 53a and the advancing / retreating block 52, and the tip of the second lever 53b. A cam roller 56 having a rotation axis in a plane perpendicular to the path and a cam groove 57 in which the cam roller 56 rolls are arranged in a plane parallel to the path so that the cam roller 56 can reciprocate up and down in the plane. It is composed of an advancing / retreating cam 58 and a connecting rod 59 which is connected to the advancing / retreating cam 58 and moves up and down by a drive source (not shown). One end (upstream side of the transport of the retainer R) of the advancing / retreating cam 58 is rotatably supported by a bearing portion 62 installed on the side surface of the drive box 61 on the machine base 4, and the intermediate portion is the connecting rod. It is connected to 59. When the connecting rod 59 moves up and down and the advancing / retreating cam 58 swings back and forth up and down, the cam roller 56 and the swinging member 53 swing, and the advancing / retreating block 52 and the sliding shaft member 31 move forward / backward (the solid line position and virtual in FIG. 2). See line position).

【0021】

The opening / closing driving means for opening / closing the pair of holding members 5 and 6 is an opening / closing lever that connects an air cylinder 63 installed above the advancing / retreating block 52, a cylinder rod 64 thereof, and a tip end portion thereof and the mounting member 45. It consists of 65. When the air cylinder 63 operates and the cylinder rod 64 extends, the holding members 5 and 6 open in tandem, and when the air cylinder 63 contracts, they close in tandem.

【0022】

An example of operation of this take-out device 1 has been given above, but it will be briefly supplemented as follows. (1) The sandwiching members 5 and 6 start moving in the direction of the arrow from the solid line position in FIG. 1 as the base member 7 starts moving due to the swing of the swing lever 14 of the reciprocating drive means. At the same time, the cam roller 27 of the vertical swinging means starts rolling along the cam groove 28 of the elevating cam 29, and the cam roller 56 of the advancing / retreating driving means starts rolling along the cam groove 57 of the advancing / retreating cam 58. .. (2) When the movement of the holding members 5 and 6 is synchronized with the transportation of the retainer R, the air cylinder 63 of the opening / closing driving means is immediately activated to close the holding members 5 and 6, and the vicinity of the mouths of the plurality of product bags is moved upward. Hold from (see Fig. 2).

【0023】

(3) Next, the cam roller 27 rises along the cam groove 28, the frame member 16 swings upward around the fulcrum shaft 15, and the holding members 5 and 6 rise to lift the product bag W from the retainer R. Extract. At this time, the connecting rod 59 starts to rise from the middle, and the advancing / retreating cam 58 swings upward to move the sliding shaft member 31 forward, and as a result, the holding members 5 and 6 rise substantially vertically. (4) Further, the advancing / retreating cam 58 swings upward to move the sliding shaft member 31 forward, and the holding members 5 and 6 and the held product bag W move forward and are taken out of the transport path of the retainer R (Fig. 2). (Refer to the virtual line of), here, the air cylinder 63 of the opening / closing driving means operates in the reverse direction, the holding members 5 and 6 open, and the product bag W is dropped. (5) Subsequently, the reciprocating driving means and the advancing / retreating driving means operate in the opposite directions to return the holding members 5 and 6 to their original positions (solid line positions in FIG. 1).

【0024】

After the product bag W is pulled out from the retainer R, the base member 7 may be stopped (virtual line position in FIG. 1). Further, in the above example, the holding members 5 and 6 are set to rise almost vertically, but the sliding shaft member 31 may be further advanced from the middle to take the product bag W out of the transport path as soon as possible. it can.

【0025】

7 and 8 show a unloading device for carrying out the product bag dropped from the holding members 5 and 6 for the next process. This unloading device includes a plurality of chutes 66 (corresponding to each product bag W) arranged in parallel along the transport path of the retainer R and a common product conveyor 67. Each chute 66 is swingably supported by a swing fulcrum shaft 68, and each chute changes its inclination angle by an air cylinder 69 to either a receiving position (see the solid line in FIG. 7) or an avoidance position (see the virtual line in FIG. 7). Located in.

【0026】

The chute 66 is usually located at the receiving position, receives the product bag W and lowers it on the product conveyor 67, but for example, a certain product bag W is a defective bag by a detection means installed upstream of the transport path of the retainer R. When it is detected, the air cylinder 69 of the chute 66 corresponding to the product bag W taken out operates and swings to the avoidance position. As a result, the defective bag falls as it is and is moved to another place via the drop guide 71. Alternatively, when a defective bag is detected, a set of four product bags W including the defective bag may not be extracted by the extraction device 1, but may be extracted by another extraction device on the downstream side of the extraction device 1. In that case, it is not necessary to incline the chute 66 and the air cylinder 69 is unnecessary.

【0027】

FIG. 9 shows a form of a method of taking out the product bag W from the retainer R which is continuously conveyed. Whereas the conventional method always conveys the retainer R in a vertical state, this is a product bag. At the time of extraction, the retainer R is transported in a state of being tilted in a plane perpendicular to the transport direction. As shown in FIGS. 9 (a) to 9 (d), in the retainer transfer device (screw conveyor) 74, the retainer R is guided by the retainer transfer guide 75 and tilts from the vertical state, and after the product bag W is pulled out, the retainer R is also the same. Guided by the transport guide 75, it is returned vertically.

【0028】

FIG. 9 shows a simplified part of the extraction device 76 used in this extraction method. In the take-out device 76, it can be considered that the sliding shaft member 31 of the take-out device 1 is fixed to the frame main body portion 16a (no advance / retreat driving means is required). Alternatively, it may be said that the following holding means 79 is installed at the tip of the frame member 16 of the take-out device 1 via an appropriate mounting member. That is, the shaft member 77 (corresponding to the frame 16a and the sliding shaft member 31) swings up and down around the fulcrum shaft 78 (corresponding to the fulcrum shaft 15) installed on the base member (corresponding to the base member 7) (not shown). Only do. Similarly, a pinching means 79 (corresponding to the pinching means 37) is installed at the tip of the shaft member 77. Further, the shaft member 77 is set so that when it swings most downward, it tilts considerably downward and its direction is substantially perpendicular to the tilting direction of the retainer R, and at that time, the holding members 80 and 81 are set in the product bag. It is set so that it can grip the vicinity of the bag mouth of W.

【0029】

The process of this extraction method will be described with reference to FIGS. 9 (a) to 9 (d) as follows. (a) The retainer R containing the product bag W to be taken out next is transported in a vertical state in front of the take-out device 76. From here, the retainer R is guided by the retainer transport guide 75 and gradually inclines. On the other hand, the take-out device 76 is returning to its original position along a path parallel to the linear path of the retainer R, and the shaft member 77 starts swinging downward. (b) The take-out device 76 that has returned to the original position starts moving following the retainer R, and the holding members 80 and 81 close and hold the product bag W in the inclined retainer R.

【0030】

(c) Next, the shaft member 77 swings upward, and the holding members 80 and 81 also swing, and the product bag W is pulled out from the retainer R. After the extraction, the movement of the extraction device 76 along the path is stopped, while the retainer R from which the product bag W has been extracted is guided by the retainer transfer guide 75 and is gradually returned to the vertical position. When the shaft member 77 swings upward, the product bag W rises in an arc shape, so that the product bag W is naturally transferred out of the transfer path of the retainer R. The holding members 80 and 81 open at the ascending position, the product bag W falls on the chute 82, and is further lowered onto the product conveyor 83. The chute 82 is movable between the receiving position (solid line) and the avoiding position (virtual line), and when the shaft member 77 swings upward, it comes to the avoiding position to avoid interference with the product bag W and is a holding member. It returns to the receiving position before 80 and 81 open. (d) After the product bag W is dropped, the take-out device 76 starts returning to the original position, and the shaft member 77 starts swinging downward. In addition, the retainer R from which the product bag W has been pulled out is returned to the vertical position at this point. On the other hand, if the extracted product bag W is a defective product, as shown in the virtual line, the chute 82 stays in the avoidance position, and the holding members 80 and 81 do not open at the stage (c) above, but open during the descent and are defective. Drop the bag in front of the conveyor 83.

【0031】

When the product bag is pulled out while the retainer R is continuously conveyed, it is necessary to move the holding member along the transfer path at the same speed as the retainer as described above, but the retainer R is temporarily stopped at the time of pulling out. In the case of intermittent transportation, follow-up movement and return are not required. Therefore, the reciprocating driving means is further unnecessary.

【0032】

[Effect of the invention]

According to the present invention, it is possible to obtain an extraction device having a simple structure and a control system, a small burden on the drive system, and a miniaturization of the device. Further, according to the extraction method of the present invention, it is possible to further simplify the structure of the extraction device.

[Simple explanation of drawings]

[Figure 1]

It is a top view of the take-out device (3 sets) which concerns on this invention.

[Figure 2]

It is a side sectional view thereof.

[Fig. 3]

It is the back sectional view.

[Fig. 4]

It is a top sectional view which shows a part of the holding means and the advancing / retreating driving means.

[Fig. 5]

It is a top sectional view which shows a part of the opening / closing drive means and the advance / retreat drive means.

[Fig. 6]

It is a top view (partial cross section) which shows a part of the advance / retreat drive means.

[Fig. 7]

It is a side view of the unloading device of a product bag.

[Fig. 8]

It is a front view of the chute of the carry-out device.

[Fig. 9]

It is explanatory drawing of the taking-out method which concerns on this invention.

[Explanation of symbols]

1 Extraction device 5, 6 sandwiching member 7 Base member 15 fulcrum axis 16 Frame member 23 Cam roller mounting link 26 Concatenated link 27 cam roller 29 Lifting cam 31 Sliding shaft member 32 Sliding shaft 37 Holding means 53 Swing member 53a 1st lever 53b 2nd lever 56 cam roller 58 Advance / retreat cam 63 air cylinder 66 shoot 76 Extraction device 77 Shaft member 78 fulcrum axis 79 Holding means