U.S. patent application number 17/370629 was filed with the patent office on 2022-01-20 for bag supply apparatus and bag supply method.
The applicant listed for this patent is PACRAFT Co., Ltd.. Invention is credited to Kazuo FUKUNAGA, Shota KAJIHARA, Manabu MORINO.
Application Number | 20220017248 17/370629 |
Document ID | / |
Family ID | |
Filed Date | 2022-01-20 |
United States Patent
Application |
20220017248 |
Kind Code |
A1 |
FUKUNAGA; Kazuo ; et
al. |
January 20, 2022 |
BAG SUPPLY APPARATUS AND BAG SUPPLY METHOD
Abstract
A bag supply apparatus supplies a bag to a packaging machine for
performing a packaging process to a bag containing a content. The
bag supply apparatus includes a transfer apparatus, a detection
apparatus, a takeout apparatus, and a delivery apparatus. The
transfer apparatus transfers a bag containing the content, with its
bag mouth being not yet sealed, in substantially a horizontal
posture and along substantially a width direction of the bag, to a
takeout area. The detection apparatus detects a bag on the transfer
apparatus upstream of the takeout area. The takeout apparatus takes
out a bag from the takeout area, with sandwiching both side edges
of the bag positioned in the takeout area by a pair of sandwiching
members. The delivery apparatus delivers a bag to the packaging
machine. The takeout apparatus holds a bag based on a predicted
position and an inclination of the bag, the predicted position
being calculated from a transfer speed of the transfer apparatus
and a difference between a current time and a time at which the bag
was detected by the detection apparatus, and the inclination of the
bag being calculated from a detection result of the detection
apparatus.
Inventors: |
FUKUNAGA; Kazuo;
(Yamaguchi-ken, JP) ; MORINO; Manabu;
(Yamaguchi-ken, JP) ; KAJIHARA; Shota;
(Yamaguchi-ken, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
PACRAFT Co., Ltd. |
Tokyo |
|
JP |
|
|
Appl. No.: |
17/370629 |
Filed: |
July 8, 2021 |
International
Class: |
B65B 35/12 20060101
B65B035/12; B65B 31/02 20060101 B65B031/02; B65B 43/46 20060101
B65B043/46; B65B 35/26 20060101 B65B035/26 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 15, 2020 |
JP |
2020-121491 |
Claims
1. A bag supply apparatus that supplies a packaging machine for
performing a packaging process to a bag containing a content, with
the bag, the bag supply apparatus comprising: a transfer apparatus
that transfers the bag containing the content, with its bag mouth
being not yet sealed, in substantially a horizontal posture and
along substantially a width direction of the bag, to a takeout
area; a detection apparatus that detects the bag on the transfer
apparatus upstream of the takeout area; a takeout apparatus that
takes out the bag from the takeout area, with sandwiching both side
edges of the bag positioned in the takeout area by a pair of
sandwiching members; and a delivery apparatus that delivers the bag
to the packaging machine; wherein the takeout apparatus holds the
bag based on a predicted position and an inclination of the bag,
the predicted position being calculated from a transfer speed of
the transfer apparatus and a difference between a current time and
a time at which the bag was detected by the detection apparatus,
and the inclination of the bag being calculated from a detection
result of the detection apparatus.
2. The bag supply apparatus according to claim 1, comprising a
plurality of the takeout areas corresponding to a plurality of the
packaging machines, wherein the bag having been taken out from each
takeout area is delivered to each packaging machine corresponding
to each takeout area.
3. The bag supply apparatus according to claim 2, comprising a
plurality of the detection apparatuses, wherein each detection
apparatus is disposed upstream of each takeout area correspondingly
to each of the plurality of takeout areas.
4. A bag supply method of supplying a packaging machine for
performing a packaging process to a bag containing a content, with
the bag, the bag supply method comprising: a transfer step in which
a plurality of the bags each containing the content, with its bag
mouth being not yet sealed, at pitches unequal to one another
respectively in substantially a horizontal posture and along
substantially a width direction of the bag, to a takeout area; a
detection step in which the bag is detected upstream of the takeout
area; a takeout step in which the bag is taken out from the takeout
area, with both side edges of the bag positioned in the takeout
area being sandwiched by a pair of sandwiching members; and a
delivery step in which the bag having been taken out in the takeout
step is delivered to the packaging machine; wherein, in the takeout
step, the bag is held based on a predicted position and an
inclination of the bag, the predicted position being calculated
from a transfer speed in the transfer step and a difference between
a current time and a time at which the bag was detected in the
detection step, and the inclination of the bag being calculated
from a detection result of the detection step.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is based upon and claims the benefit of
priority from Japanese Patent Application No. 2020-121491, filed on
Jul. 15, 2020, the entire contents of which are incorporated herein
by reference.
TECHNICAL FIELD
[0002] The present invention relates to a bag supply apparatus and
a bag supply method.
BACKGROUND ART
[0003] A packaging machine that performs a packaging process to a
bag containing a content has been prevalently used. In a packaging
process, a bag supply apparatus that supplies a packaging machine
with a bag containing a content is typically used. In the bag
supply apparatus, a bag containing a content is transferred by a
transfer apparatus, such as a belt conveyor, to a predetermined
position, and the bag is taken out from the transfer apparatus at
the predetermined position to be delivered to a packaging
machine.
[0004] JP2018-197127A discloses such a bag supply apparatus. In the
bag supply apparatus, a bag filled with a solid matter, with its
bag mouth being not yet sealed, is placed on a transfer means, and
the bag is transferred in substantially a horizontal posture along
a predetermined transfer route in substantially a width direction
of the bag. At a takeout position set on the transfer route, both
side edges near the bag mouth of the bag are sandwiched by a pair
of sandwiching members, and then the bag is moved to a takeover
position by the pair of sandwiching members along the predetermined
transfer route. At this time, one vertical plane perpendicular to
the transfer route is set as a reference plane. A distance between
the pair of sandwiching members sandwiching the side edges of the
bag having been transferred to the takeout position is adjusted for
each bag correspondingly to the bag width which is detected near
the bag mouth of the bag and is in a direction parallel to the
transfer route, such that the center of the bag mouth of the bag
having been transferred to the takeout position and the center of
the pair of sandwiching members sandwiching the side edges of the
bag are positioned on the reference plane. Thus, this is
advantageous in that, regardless of values of a thickness and a
rigidity of a film constituting a bag, a bag filled with a sold
matter, with its bag mouth not yet being sealed, can be properly
positioned, and both side edges of the bag can be evenly sandwiched
by the pair of sandwiching members, whereby the bag can be reliably
and stably supplied to a gripper of a packaging machine.
[0005] The packaging machine has a plurality of chambers, for
example. Each chamber performs a bag packaging process, while
intermittently repeating movement and stop in a certain cycle. In
this case, it is necessary that bags are supplied from the transfer
apparatus to the packaging machine at equal time intervals. Thus,
in the bag supply apparatus disclosed in JP2018-197127A, bags
filled with a sold matter, with their bag mouths not yet being
sealed, are transferred by a belt conveyor at substantially the
same distance intervals. These bags are taken out from the belt
conveyor at regular time intervals, and then are supplied to the
packaging machine.
[0006] When the distance intervals of bags transferred by the
transfer apparatus are not equal to one another, the conventional
bag supply apparatus may not deliver a bag from the transfer
apparatus to the packaging machine at a desired timing. Namely,
when a bag transferred by the transfer apparatus arrives at the
takeout position earlier than a predetermined timing, there may be
a waiting time until the bag is delivered to the packaging machine.
On the other hand, when a bag arrives at the takeout position later
than a predetermined timing, the bag may not be delivered to an
intended chamber, so that the chamber may become vacant. This may
lower a processing efficiency in the packaging machine.
DISCLOSURE OF THE INVENTION
[0007] The present invention has been made in consideration of the
above circumstances. An object of the present invention is to
provide a bag supply apparatus and a bag supply method which are
capable of transferring bags from a transfer apparatus to a
packaging machine at equal time intervals, even when distance
intervals of bags transferred by the transfer apparatus are not
equal.
[0008] A bag supply apparatus according to the present invention is
a bag supply apparatus that supplies a packaging machine for
performing a packaging process to a bag containing a content, with
the bag, the bag supply apparatus comprising:
[0009] a transfer apparatus that transfers the bag containing the
content, with its bag mouth being not yet sealed, in substantially
a horizontal posture and along substantially a width direction of
the bag, to a takeout area;
[0010] a detection apparatus that detects the bag on the transfer
apparatus upstream of the takeout area;
[0011] a takeout apparatus that takes out the bag from the takeout
area, with sandwiching both side edges of the bag positioned in the
takeout area by a pair of sandwiching members; and
[0012] a delivery apparatus that delivers the bag to the packaging
machine;
[0013] wherein the takeout apparatus holds the bag based on a
predicted position and an inclination of the bag, the predicted
position being calculated from a transfer speed of the transfer
apparatus and a difference between a current time and a time at
which the bag was detected by the detection apparatus, and the
inclination of the bag being calculated from a detection result of
the detection apparatus.
[0014] In the bag supply apparatus according to the present
invention,
[0015] the bag supply apparatus may comprise a plurality of the
takeout areas corresponding to a plurality of the packaging
machines, and
[0016] the bag having been taken out from each takeout area may be
delivered to each packaging machine corresponding to each takeout
area.
[0017] In the bag supply apparatus according to the present
invention,
[0018] the bag supply apparatus may comprise a plurality of the
detection apparatuses, and
[0019] each detection apparatus may be disposed upstream of each
takeout area correspondingly to each of the plurality of takeout
areas.
[0020] A bag supply method according to the present invention is a
bag supply method of supplying a packaging machine for performing a
packaging process to a bag containing a content, with the bag, the
bag supply method comprising:
[0021] a transfer step in which a plurality of the bags each
containing the content, with its bag mouth being not yet sealed, at
pitches unequal to one another respectively in substantially a
horizontal posture and along substantially a width direction of the
bag, to a takeout area;
[0022] a detection step in which the bag is detected upstream of
the takeout area;
[0023] a takeout step in which the bag is taken out from the
takeout area, with both side edges of the bag positioned in the
takeout area being sandwiched by a pair of sandwiching members;
and
[0024] a delivery step in which the bag having been taken out in
the takeout step is delivered to the packaging machine;
[0025] wherein, in the takeout step, the bag is held based on a
predicted position and an inclination of the bag, the predicted
position being calculated from a transfer speed in the transfer
step and a difference between a current time and a time at which
the bag was detected in the detection step, and the inclination of
the bag being calculated from a detection result of the detection
step.
[0026] The present invention can provide a bag supply apparatus and
a bag supply method which are capable of delivering bags from a
transfer apparatus to a packaging machine at equal time intervals,
even when distance intervals of bags transferred by the transfer
apparatus are not equal.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] FIG. 1 is a plan view showing an overall structure of a
packaging machine and a bag supply apparatus, for describing an
embodiment of the present invention.
[0028] FIG. 2 is a side view of the bag supply apparatus shown in
FIG. 1.
[0029] FIG. 3 is a partial top view of a takeout apparatus of the
bag supply apparatus shown in FIG. 1.
[0030] FIG. 4 is a top view showing a modification example of the
packaging machine and the bag supply apparatus.
[0031] FIG. 5 is a top view showing another modification example of
the packaging machine and the bag supply apparatus.
DETAILED DESCRIPTION OF THE INVENTION
[0032] An embodiment of the present invention will be described
herebelow with reference to the drawings. FIGS. 1 to 5 are views
for describing the embodiment of the present invention. FIG. 1 is a
plan view showing an overall structure of a packaging machine 10
and a bag supply apparatus 20.
[0033] As shown in FIG. 1, the bag supply apparatus 20 is installed
near the packaging machine 10. The packaging machine 10 is similar
to that disclosed in JP2013-244967A, for example, and comprises a
table 11 that intermittently rotates (clockwise in FIG. 1) while
repeating rotation and stop at a constant tempo, and a plurality of
vacuum chambers 13 (in this case, ten chambers 13) installed
equiangularly around the table 11. Each vacuum chamber 13 has a
chamber body 13a fixed to the table 11, and a chamber lid 13b
installed to be capable of opening and closing the chamber body
13a.
[0034] The chamber bodies 13a are radially arranged around the
table 11 equidistantly, with their openings facing outward. As
described in JP2013-244967A, the chamber lid 13b is operated by an
opening and closing mechanism, not shown, to open and close the
opening of the chamber body 13a. When closed, the chamber lid 13b
seals the chamber body 13a at its opening periphery so as to form
the vacuum chamber 13. The vacuum chamber 13 has therein a gripper,
not shown, which holds a portion slightly below a part to be sealed
of a bag 5 (see, for example, JP2538473B for details), and a seal
apparatus composed of a table (chamber body 13a side) which is
moved forward and rearward by an air cylinder, not shown, and a
heater (chamber lid 13b side), not shown. A vacuum pipe (a part of
the vacuum pipe is shown in FIG. 1 by reference numeral "15")
connected to a vacuum pump and a switching valve is coupled as a
depressurization mechanism to the chamber body 13a. A not-shown
packing is installed all around a seal part (an opening periphery
of the chamber lid 13b) between the chamber body 13a and the
chamber lid 13b.
[0035] In accordance with the intermittent rotation of the table
11, the vacuum chambers 13 are intermittently moved on a horizontal
circular movement route (in FIG. 1, reference numerals S1 to S10
depict stop positions on the table 11). While the table 11 makes
one rotation, various packaging steps, such as a step of receiving
a bag 5 filled with a content 7, with its bag mouth being not yet
sealed (a step of holding the bag 5 by the gripper), a step of
closing the chamber lid 13b, a step of decompressing an inside of
the vacuum chamber 13, a step of sealing the bag mouth, etc., are
performed in sequence. After the step of sealing the bag mouth, the
inside of the vacuum chamber 13 is returned to an atmospheric
pressure. Then, the chamber lid 13b is opened, and the gripper
opens to drop the bag 5 onto a conveyor 17. Thereafter, the bag 5
is transferred outside the machine. In FIG. 1, a reference numeral
"19" depicts a pedestal of the packaging machine 10, and a
reference numeral "80" depicts a control unit that controls
operations of the packaging machine 10 and the bag supply apparatus
20.
[0036] FIG. 2 is a side view of the bag supply apparatus 20. The
bag supply apparatus 20 comprises: a transfer apparatus 30 that
transfers a bag 5 containing a content 7, with its bag mouth being
not yet sealed, to a takeout area Ap; a detection apparatus 25 that
detects a bag 5 on the transfer apparatus 30 upstream of the
takeout area Ap; a takeout apparatus 40 that takes out a bag 5 from
the takeout area Ap, with sandwiching both side edges 5b, 5b of the
bag 5 positioned in the takeout area Ap by a pair of sandwiching
members 56, 56; and a delivery apparatus 70 that delivers a bag 5
to the packaging machine 10.
[0037] The transfer apparatus 30 has a horizontal transfer surface,
and transfers an object to be transferred (bag 5) by a not-shown
drive source (servomotor) along a linear transfer route. A bag 5
filled with a content 7 is placed on the transfer apparatus 30. A
bag mouth of the bag 5 placed on the transfer apparatus 30 is not
sealed. In the example shown in FIG. 1, the bag mouth of the bag 5
is directed toward the packaging machine 10 side, so that a width
direction (a direction along a bag mouth end edge 5a or a direction
perpendicular to the side edge 5b of the bag) is substantially
parallel to the transfer direction of the transfer apparatus
30.
[0038] In the example shown in FIG. 1, the transfer apparatus 30
has a first conveyor 31, a second conveyor 32, and a third conveyor
33, in this order from the upstream side (left side in FIG. 1). In
the illustrated example, the respective conveyors 31 to 33 are
formed as belt conveyors. A bag 5, which has been transferred
downstream (rightward) by the first conveyor 31 to arrive at a
terminal end (right end) of the first conveyor 31, is transshipped
to the second conveyor 32, and is transferred downstream by the
second conveyor 32. The takeout area Ap for taking out a bag 5 is
set on the second conveyor 32. The bag 5 having arrived at the
takeout area Ap is taken out by the takeout apparatus 40. A bag 5
which has not been taken out in the takeout area Ap is further
transferred downstream by the second conveyor 32. The bag 5 having
arrived at a terminal end (right end) of the second conveyor 32 is
transshipped to the third conveyor 33, and is transferred
downstream by the third conveyor 33. Then, the bag 5 is collected
by a collection unit, not shown. In the illustrated example, the
transfer direction of the first conveyor 31, the transfer direction
of the second conveyor 32, and the transfer direction of the third
conveyor 33 are substantially parallel to one another. However, not
limited thereto, the transfer direction of the first conveyor 31,
the transfer direction of the second conveyor 32, and the transfer
direction of the third conveyor 33 may differ from one another. For
example, the bag 5 having arrived at the terminal end of the first
conveyor 31 may be transferred by the second conveyor 32 in a
direction different from the transfer direction of the first
conveyor 31 (e.g., a direction orthogonal thereto). Similarly, the
bag 5 having arrived at the terminal end of the second conveyor 32
may be transferred by the third conveyor 33 in a direction
different from the transfer direction of the second conveyor 32
(e.g., a direction orthogonal thereto).
[0039] The first conveyor 31, the second conveyor 32, and the third
conveyor 33 have the same structure with one another except a width
direction dimension. As shown in FIG. 2, each of the conveyors 31
to 33 comprises a frame 36, a mount 37 fixed on the frame 36, and a
belt 39 going around the mount 37. By rotating the belt 39 in one
direction, a bag 5 placed on the belt 39 is transferred. The first
conveyor 31, the second conveyor 32, and the third conveyor 33
respectively transfer a bag 5 at a constant speed. In particular,
the first conveyor 31, the second conveyor 32, and the third
conveyor 33 may transfer a bag 5 at the same speed with one
another.
[0040] In this embodiment, the width direction dimension of the
second conveyor 32 is smaller than the width direction dimension of
the first conveyor 31 and the width direction dimension of the
third conveyor 33. In addition, the width direction dimension of
the first conveyor 31 and the width direction dimension of the
third conveyor 33 are the same with each other. The "width
direction" of each of the conveyors 31 to 33 is a direction
parallel to the horizontal direction, and is orthogonal to the
transfer direction. When a bag 5 is transferred, the whole bag 5 is
positioned on the conveyor belts of the first conveyor 31 and the
third conveyer 33. On the other hand, on the second conveyor 32, a
distal end (near the bag mouth) of the bag 5 protrudes outside from
the belt 39. Thus, when the bag 5 is taken out by the takeout
apparatus 40, both the side edges 5b, 5b, which are distal ends of
the bag 5 protruding from the belt 39, can be sandwiched by the
pair of sandwiching members 56, 56. As a result, when the bag 5 is
taken out by the takeout apparatus 40, a part of the takeout
apparatus 40 (e.g., sandwiching member 56, 56) can be prevented
from hitting the second conveyor 32, whereby the bag 5 can be
stably taken out by the takeout apparatus 40.
[0041] The detection apparatus 25 is installed to be positioned on
the transfer route of the transfer apparatus 30 (second conveyor
32). The detection apparatus 25 may be formed by a camera (CCD
image sensor, CMOS image sensor, etc.) installed above the second
conveyor 32, for example. The detection apparatus 25 has a function
of detecting a bag width near a bag mouth of a bag 5 being
transferred (a bag width measured in a direction parallel to the
transfer route) and its center position information, and of
obtaining a time at which the position information was detected. To
be more specific, the detection apparatus 25 detects that a front
side edge 5b of the bag 5 has entered a detection position (a
position directly below the detection apparatus 25) (detection
signal ON), and that a rear side edge 5b of the bag 5 has passed
the detection position (detection signal OFF). Based on the
detection signal and rotation positions of the servomotor of the
transfer apparatus 30 (second conveyor 32) at which the detection
signal was turned on and off, the control unit 80 calculates
(detects) the bag width and its center position information. The
bag width of the bag 5 detected by the detection apparatus 25 is
referred to as a bag width to be detected herebelow. In addition, a
time at which the center of the bag 5 in the width direction passed
the detection position is calculated from a time at which the front
side edge 5b of the bag 5 entered the detection position, and a
time at which the rear side edge 5b of the bag 5 passed the
detection position. For example, a median time between a time at
which the front side edge 5b of the bag 5 entered the detection
position and a time at which the rear side edge 5b of the bag 5
passed the detection position is calculated as a time at which the
center of the bag 5 in the width direction passed the detection
position.
[0042] The width to be detected of a bag 5 is an apparent bag width
(a bag width when the bag 5 is seen in a plan view), and the center
of the width to be detected is similarly the center of the apparent
bag width. A bag 5 filled with a content 7 is swollen in a
thickness direction. Thus, the apparent bag width is smaller than a
nominal width (a nominal width of a bag which is not filled with a
content), and is likely to vary from bag to bag. Thus, an apparent
bag width of a bag 5 and its center position information needs to
be detected for each bag.
[0043] In addition, the detection apparatus 25 is configured to
detect an inclination of a bag 5 in a horizontal plane. The
inclination of the bag 5 can be detected by extracting a profile of
the bag 5 from an image taken from above or below by a camera, and
by analyzing the profile.
[0044] The takeout area Ap for taking a bag 5 is set on the
transfer apparatus 30 (second conveyor 32). The takeout area Ap is
set as a range from which a bag 5 can be taken out by the takeout
apparatus 40.
[0045] The takeout apparatus 40 is an apparatus that takes out a
bag 5 positioned in the takeout area Ap. In particular, the takeout
apparatus 40 has the pair of sandwiching members 56, 56. The
takeout apparatus 40 takes out a bag 5 from the takeout area Ap,
with sandwiching both the side edges 5b, 5b of the bag 5 positioned
in the takeout area Ap by the sandwiching members 56, 56. The
takeout apparatus 40 has an arm unit 41, and a holding mechanism 50
for holding a bag 5, which is attached to a distal end of the arm
unit 41.
[0046] In this embodiment, the arm unit 41 is formed of a
multijoint arm robot. The arm unit 41 has a fixed base 43, a
rotatable base 44, a first arm 45, a second arm 46, a third arm 47,
and a connection unit 48. The fixed base 43 is a member fixed on a
floor surface, and supports the rotatable base 44, the first arm
45, the second arm 46, the third arm 47, the connection unit 48,
and the holding mechanism 50. The rotatable base 44 is supported
rotatably about a vertically extending first axis A1 with respect
to the fixed base 43. When the rotatable base 44 is driven by a
not-shown drive source such as a motor, the rotatable base 44
rotates with respect to the fixed base 43, so that the first arm
45, the second arm 46, the third arm 47, the connection unit 48,
and the holding mechanism 50 rotate about the first axis A1.
[0047] The first arm 45 is fixed to the rotatable base 44. The
second arm 46 is attached rotatably about a second axis A2 with
respect to the first arm 45. The third arm 47 is attached rotatably
about a third axis A3 with respect to the second arm 46. The
connection unit 48 is attached rotatably about a fourth axis A4
with respect to the third arm 47. In this embodiment, the second
axis A2 to the fourth axis A4 extend horizontally. Thus, the second
arm 46, the third arm 47, and the connection unit 48 swing in an up
and down direction, when they are driven by the not-shown drive
source such as a motor.
[0048] The connection unit 48 is a part that connects the third arm
47 and the holding mechanism 50. A part of the connection unit 48,
which is connected to the holding mechanism 50, is configured to be
rotatable about a fifth axis A5 (see FIG. 3) with respect to
another part thereof, which is connected to the third arm 47. Thus,
the holding mechanism 50 can rotate (swing) a bag 5 held by the
holding mechanism 50 about an axis extending in a thickness
direction of the bag 5.
[0049] Rotation motions about the first axis A1 to the fifth axis
A5 in the arm unit 41 are controlled by the control unit 80.
[0050] The holding mechanism 50 is a mechanism for holding a bag 5
containing a content 7, with its bag mouth being not yet sealed.
The holding mechanism 50 comprises a pair of swing arms 54, 54, the
pair of sandwiching members 56, 56 installed on distal ends of the
respective swing arms 54, and a servomotor 58 that widens or
narrows a distance between the pair of swing arms 54, 54 (the pair
of sandwiching members 56, 56). An arrangement direction of the
pair of sandwiching members 56, 56 is parallel to the transfer
route.
[0051] A specific structure of the holding mechanism 50 is
described. A frame 62 is fixed on the connection unit 48 of the arm
unit 41. Both ends of a screw shaft 64 are rotatably supported on
the frame 62. The screw shaft 64 has, on right and left sides
thereof, screw parts 64a, 64b that are threaded reversely to each
other. A pulley 66 is fixed on a center portion of the screw shaft
64. The servomotor 58 is installed on the frame 62. A belt 69
extends between a drive pulley 68 fixed on a rotation shaft of the
servomotor 58 and the pulley 66.
[0052] Each swing arm 54 has, on a proximal part thereof, an
internal thread part 54a (54b) threadedly engaged with the screw
part 64a (64b) of the screw shaft 64, and a hole 54c through which
a support shaft 60 passes. The sandwiching member 56 is installed
on a distal end of each swing arm 54. Each sandwiching member 56
comprises a biparting sandwiching part 56a, and an air cylinder 56b
that opens and closes the sandwiching part 56a. In FIG. 3, the
closed sandwiching member 56a is shown by solid lines, and the
opened sandwiching member 56a is shown by two-dot chain lines.
[0053] When the servomotor 58 is actuated, the pair of swing arms
54, 54 come close to each other or separate from each other
symmetrically in the right and left direction in FIG. 3 (parallel
to the transfer route). In accordance therewith, the pair of
sandwiching members 56, 56 come close to each other or separate
from each other symmetrically in the right and left direction (the
distance between the pair of sandwiching members 56, 56 narrows or
widens). A sandwiching surface of the sandwiching member 56 becomes
horizontal when a bag 5 is taken out in the takeout area Ap, and
becomes vertical when the bag 5 is delivered to the delivery
apparatus 70, by an operation of the arm unit 41.
[0054] The control unit 80 controls the servomotor 58 based on a
width to be detected of a bag 5 (a bag width measured in a
direction parallel to the transfer route) to adjust a distance
between the pair of sandwiching members 56, 56 correspondingly to
the width to be detected of the bag 5 (the larger the width to be
detected of the bag 5 is, the larger the distance between the pair
of sandwiching members 56, 56 becomes), in order that proper
positions of both the side edges 5b, 5b of the bag 5 can be
symmetrically sandwiched.
[0055] In addition, while the pair of sandwiching members 56, 56
(bag 5) are moving from the takeout area Ap to a delivery position
to the delivery apparatus 70, or after the pair of sandwiching
members 56, 56 (bag 5) have arrived at the delivery position, the
control unit 80 controls the servomotor 58 such that the distance
between the pair of sandwiching members 56, 56 is widened
correspondingly to the nominal width of the bag 5 to strain the bag
mouth of the bag 5. FIG. 3 shows a state in which the distance
between the pair of sandwiching members 56, 56 has been widened at
the delivery position, so that the bag mouth of the bag 5 is
strained to be closed.
[0056] The delivery apparatus 70 receives a bag 5 from the holding
mechanism 50, and moves the bag 5 horizontally to deliver it to the
gripper of the packaging machine 10. The delivery apparatus 70
includes a slide member 72 that linearly reciprocates a
predetermined distance in a horizontal plane by a not-shown drive
source, and a chuck 74 installed on the slide member 72. The chuck
74 comprises a fixed chuck 74a fixed on the slide member 72, and a
movable chuck 74b fixed on a shaft 76 rotatably supported by the
slide member 72 (see FIG. 2). The delivery apparatus 70 further
includes an air cylinder 78 installed on the slide member 72. A
distal end of a piston rod 78a of the air cylinder 78 is coupled to
a lever 79 fixed on the shaft 76. When the air cylinder 78 is
actuated (the piston rod 78a expands or contracts), the chuck 74
opens or closes. When the slide member 72 reciprocates, the chuck
74 reciprocates between a standby position and a forward position
along a horizontal linear movement route (this is also a movement
route of the bag 5 held by the chuck 74).
[0057] Next, a bag supply method of supplying a bag 5 to the
packaging machine 10 for performing a packaging process to a bag 5
containing a content 7 is described. First, a content 7 is filled
into a bag 5 (filling step). Then, the bag 5 containing the content
7 is placed on the first conveyor 31 of the transfer apparatus 30
(placing step). In this embodiment, the bag 5 is placed on the
first conveyor 31 such that the width direction of the bag 5 (a
direction along the bag mouth end edge 5a) is directed
substantially parallel to the transfer direction of the first
conveyor 31. Thus, in the transfer step, the bag 5 is transferred
substantially in the width direction of the bag 5. In addition, the
bag 5 is transferred in substantially a horizontal posture.
Transfer Step
[0058] A bag 5 containing a content 7, with its bag mouth being not
yet sealed, is transferred by the transfer apparatus 30 to the
takeout area Ap. In particular, in this embodiment, distance
intervals between the bags 5 transferred by the transfer apparatus
30 are not equal. Namely, a plurality of the bags 5 are transferred
at unequal pitches. A bag 5, which has been transferred downstream
(rightward in FIG. 1) by the first conveyor 31 to arrive at at the
terminal end (right end in FIG. 1) of the first conveyor 31 is
transshipped to the second conveyor 32, and is transferred
downstream by the second conveyor 32. The takeout area 40 for
taking out a bag 5 is set on the second conveyor 32. The bag 5
having arrived at the takeout area Ap is taken out by the takeout
apparatus 40. A bag 5 which has not been taken out in the takeout
area Ap is further transferred downstream by the second conveyor
32. The bag 5 having arrived at the second conveyor 32 is
transshipped to the third conveyor 33, and is transferred
downstream by the third conveyor 33. Then, the bag 5 is collected
by a collection unit, not shown.
Detection Step
[0059] When the bag 5 has arrived at the detection apparatus 25
positioned upstream of the takeout area Ap, the detection apparatus
25 detects a bag width near the bag mouth of the bag 5 being
transferred (a bag width measured in a direction parallel to the
transfer route) and its center position information, and obtains a
time at which the position information was detected. The detection
apparatus 25 detects that a front side edge 5b of the bag 5 has
entered the detection position (a position directly below the
detection apparatus 25) (detection signal ON), and that the rear
side edge 5b of the bag 5 has passed the detection position
(detection signal OFF). Based on the detection signal and rotation
positions of the servomotor of the transfer apparatus 30 (second
conveyor 32) at which the detection signal was turned on and off,
the control unit 80 calculates (detects) the bag width and its
center position information. In addition, a time at which the
center of the bag 5 in the width direction passed the detection
position is calculated from a time at which the front side edge 5b
of the bag 5 entered the detection position, and a time at which
the rear side edge 5b of the bag 5 passed the detection position.
In this embodiment, the time at which the center of the bag 5 in
the width direction passed the detection position is regarded as a
time at which the bag 5 was detected by the detection apparatus 25
and in the detection step.
[0060] In this embodiment, an inclination of the bag 5 in a
horizontal plane is detected in the detection step. The inclination
of the bag 5 can be detected by extracting a profile of the bag 5
from an image taken from above or below by a camera, and by
analyzing the profile.
Takeout Step
[0061] As the bag 5 is further transferred by the transfer
apparatus 30, the bag 5 arrives at the takeout area Ap. In the
takeout area Ap, both the side edges 5b, 5b of the bag 5 are
sandwiched by the pair of sandwiching members 56, 56 of the takeout
apparatus 40. Then, the bag 5 is taken out from the takeout area
Ap.
[0062] In the packaging machine 10, the plurality of vacuum
chambers 13 are intermittently rotated while repeating rotation and
stop at a constant tempo. A timing at which the delivery apparatus
70 delivers a bag 5 to the vacuum chamber 13 of the packaging
machine 10 is determined correspondingly to a timing at which the
vacuum chamber 13 arrives at the delivery position of the bag 5 (S1
of FIG. 1). Namely, the delivery apparatus 70 delivers the bags 5
to the vacuum chambers 13 at equal time intervals. In addition, a
timing at which the takeout apparatus 40 takes out a bag 5 from the
takeout area Ap is determined correspondingly to a timing at which
the delivery apparatus 70 becomes capable of receiving a bag 5 from
the takeout apparatus 40. Namely, it is necessary for the takeout
apparatus 40 to deliver bags 5 to the delivery apparatus 70 at
equal time intervals. In particular, the takeout apparatus 40
delivers bags 5 to the delivery apparatus 70 at equal time
intervals, in accordance with an intermittent rotation tempo of the
plurality of vacuum chambers 13 in the packaging machine 10.
[0063] When a plurality of bags 5 are transferred by the transfer
apparatus 30 at equal distance intervals, the takeout apparatus 40
can take out the bags 5 from the transfer apparatus 30 at a
predetermined position at equal time intervals. On the other hand,
when the distance intervals of the bags 5 transferred by the
transfer apparatus 30 are not equal, i.e., when the plurality of
bags 5 are transferred at pitches unequal to one another, the
takeout apparatus 40 cannot take out the bags 5 from the transfer
apparatus 30 at a predetermined position at regular time intervals.
Thus, in this embodiment, in order that bags 5 can be taken out
from the transfer apparatus 30 at equal time intervals, where a bag
5 is located on the transfer apparatus 30 at a timing at which the
bag 5 is to be taken out from the transfer apparatus 30 is
predicted, and the bag 5 is taken out at the predicted position. To
be specific, the control unit 80 calculates a predicted position
from a transfer speed in the transfer step (the transfer apparatus
30, in particular, the second conveyor 32), and a difference
between a current time and a time at which the bag 5 is detected in
the detection step (detection apparatus 25). Based on the
calculated predicted position, the bag 5 is held.
[0064] The control unit 80 obtains, from the detection apparatus
25, a time at which the center of the bag 5 in the width direction
passed the detection position. Then, the control unit 80
calculates, from this time and a current time, an elapse time from
when the center of the bag 5 in the width direction passed the
detection position up to the current time. In addition, the control
unit 80 obtains, from the second conveyor 32, a transfer speed of
the second conveyor 32. Based on the elapse time and the transfer
speed of the second conveyor 32, the control unit 80 calculates a
movement distance of the bag 5 from the detection potion of the
detection apparatus 25 at the current time. Thus, it can be
predicted that the center of the bag 5 in the width direction is
located at a position distant from the detection position of the
detection apparatus 25 by this movement distance.
[0065] In addition, the control unit 80 obtains, from the detection
apparatus 25, information about an inclination of the bag 5. The
control unit 80 predicts the inclination of the bag 5 at the
aforementioned predicted position, on the assumption that the bag 5
has the same inclination at the aforementioned predicted position
as the inclination of the bag 5 in the detection step.
[0066] The control unit 80 moves the pair of sandwiching members
56, 56 of the takeout apparatus 40, based on the predicted position
and the predicted inclination of the bag 5. At this time, the
sandwiching parts 56a, 56a of the pair of sandwiching members 56,
56 open. Based on the bag width to be detected of the bag 5
detected by the detection apparatus 25, the control unit 80
controls the servomotor 58 to adjust a distance between the pair of
sandwiching members 56, 56 correspondingly to the bag width to be
detected of the bag 5. In addition, by rotating the holding
mechanism 50 (sandwiching members 56, 56) about the fifth axis A5,
the holding mechanism 50 is inclined in accordance with the
predicted inclination of the bag 5. The adjustment of the distance
and the inclination of the pair of sandwiching members 56, 56 is
performed in the course of movement of the pair of sandwiching
members 56, 56 toward the predicted position, and is preferably
completed before the pair of sandwiching members 56, 56 arrive at
the predicted position.
[0067] When the pair of sandwiching members 56, 56 have arrived at
the predicted position, the air cylinders 56b of the pair of
sandwiching members 56, 56 are actuated to close the sandwiching
parts 56a, 56a so as to sandwich both the side edges 5b, 5b of the
bag 5. Following thereto, the arm unit 41 is actuated, so that the
pair of sandwiching members 56, 56 and the bag 5 are moved toward
the delivery position to the delivery apparatus 70. During this
movement, the bag 5 sandwiched by the pair of sandwiching members
56, 56 is changed from a horizontal posture to a perpendicular
posture (the bag mouth facing upward). Then, when the pair of swing
arms 54, 54 take a horizontal posture, the pair of sandwiching
members 56, 56 and the bag 5 arrive at the delivery position to the
delivery apparatus 70, and the bag 5 sandwiched by the pair of
sandwiching members 56, 56 takes the perpendicular posture (see
FIG. 2).
[0068] While the pair of sandwiching members 56, 56 (bag 5) are
moving from the transfer apparatus 30 to the delivery position to
the delivery apparatus 70, the control unit 80 preferably controls
the servomotor 58 to widen the distance between the pair of
sandwiching members 56, 56 in accordance with the nominal width of
the bag 5, so that the bag mouth of the bag 5 is strained. This
step may be performed after the pair of sandwiching members 56, 56
(bag 5) have arrived at the delivery position to the delivery
apparatus 70. Instead of widening the distance between the pair of
sandwiching members 56, 56 in accordance with the nominal width of
the bag 5, as described above, when the distance between the pair
of sandwiching members 56, 56 is widened, a torque applied to the
servomotor 58 may be detected. In this case, when the torque
reaches a predetermined value, the operation of the servomotor 58
is stopped.
Delivery Step
[0069] When the pair of sandwiching members 56, 56 (bag 5) have
arrived at the delivery position to the delivery apparatus 70, the
air cylinder 78 of the delivery apparatus 70 is actuated, so that
the chuck 74 closes to hold an upper end (bag mouth) of the bag 5.
Then, the pair of sandwiching members 56, 56 sandwiching both the
side edges 5b, 5b of the bag 5 are opened to release the bag 5.
Thereafter, the slide member 72 of the delivery apparatus 70 moves
forward, so that the chuck 74 and the bag 5 move (forward) from the
standby position toward the forward position. When the chuck 74 and
the bag 5 have arrived at the forward position, the gripper of the
vacuum chamber 13 stopped at the stop position S1 (see FIG. 1)
closes to hold the upper end (a part directly below the part held
by the chuck 74) of the bag 5, and the chuck 74 then opens to
release the bag 5. The chuck 74 having released the bag 5 is moved
(rearward) toward the standby position.
Packaging Step
[0070] The bag 5 held by the gripper of the vacuum chamber 13 is
subjected to predetermined packaging processes in the vacuum
chamber 13, such as a decompression process, a bag mouth sealing
process, etc., in accordance with an intermittent movement of the
vacuum chamber 13. When the vacuum chamber 13 stops at a stop
position S8 and the gripper opens, the packaged bag (product) 9
drops onto the conveyor 17.
[0071] The bag supply apparatus 20 in this embodiment is a bag
supply apparatus 20 that supplies a packaging machine 10 for
performing a packaging process to a bag 5 containing a content 7,
with the bag 5, the bag supply apparatus 20 comprising: a transfer
apparatus 30 that transfers the bag 5 containing the content 7,
with its bag mouth being not yet sealed, in substantially a
horizontal posture and along substantially a width direction of the
bag 5, to a takeout area Ap; a detection apparatus 25 that detects
the bag 5 on the transfer apparatus 30 upstream of the takeout area
Ap; a takeout apparatus 40 that takes out the bag 5 from the
takeout area Ap, with sandwiching both side edges 5b, 5b of the bag
5 positioned in the takeout area Ap by a pair of sandwiching
members 56, 56; and a delivery apparatus 70 that delivers the bag 5
to the packaging machine 10; wherein the takeout apparatus 40 holds
the bag 5 based on a predicted position and an inclination of the
bag 5, the predicted position being calculated from a transfer
speed of the transfer apparatus 30 and a difference between a
current time and a time at which the bag 5 was detected by the
detection apparatus 25, and the inclination of the bag 5 being
calculated from a detection result of the detection apparatus
25.
[0072] In addition, the bag supply method in this embodiment is a
bag supply method of supplying a packaging machine 10 for
performing a packaging process to a bag 5 containing a content 7,
with the bag 5, the bag supply method comprising: a transfer step
in which a plurality of the bags 5 each containing the content 7,
with its bag mouth being not yet sealed, at pitches unequal to one
another respectively in substantially a horizontal posture and
along substantially a width direction of the bag 5, to a takeout
area Ap; a detection step in which the bag 5 is detected upstream
of the takeout area Ap; a takeout step in which the bag 5 is taken
out from the takeout area Ap, with both side edges 5b, 5b of the
bag 5 positioned in the takeout area Ap being sandwiched by a pair
of sandwiching members 56, 56; and a delivery step in which the bag
5 having been taken out in the takeout step Ap is delivered to the
packaging machine 10; wherein, in the takeout step, the bag is held
based on a predicted position and an inclination of the bag 5, the
predicted position being calculated from a transfer speed in the
transfer step and a difference between a current time and a time at
which the bag 5 was detected in the detection step, and the
inclination of the bag 5 being calculated from a detection result
of the detection step.
[0073] According to such a bag supply apparatus 20 and such a bag
supply method, even when a plurality of bags 5 at pitches unequal
to one another, the bags 5 can be taken out from the transfer
apparatus 30 at equal time intervals. Thus, the bags 5 can be
delivered from the takeout apparatus 40 to the delivery apparatus
70 at equal time intervals, whereby the bags 5 can be delivered
from the delivery apparatus 70 to the packaging machine 10 at equal
time intervals. Namely, even when the distance intervals of the
bags 5 transferred by the transfer apparatus 30 are not equal, the
bags 5 can be delivered from the transfer apparatus 30 to the
packaging machine 10 at equal time intervals. Thus, a processing
efficiency of the packaging machine 10 can be effectively improved.
According to the bag supply apparatus 20 and the bag supply method
in this embodiment, also when the distance intervals of the bags 5
transferred by the transfer apparatus 30 are equal, the bags 5 can
be naturally delivered from the transfer apparatus 30 to the
packaging machine 10 at equal time intervals. In addition,
according to such a bag supply apparatus 20 and such a bag supply
method, even when a bag 5 is inclined with respect to the transfer
direction of the transfer apparatus 30, the pair of sandwiching
members 56, 56 of the takeout apparatus 40 can be inclined
correspondingly to the inclination so as to hold the bag 5. Thus,
the bag 5 can be stably taken out.
[0074] The aforementioned embodiment can be variously modified.
Modification examples are described below with reference to the
drawings. In the below description and the drawings used in the
below description, a part that can be similarly constituted to the
above embodiment has the same symbol as that of corresponding part
the above embodiment, and overlapped description is omitted.
[0075] FIG. 4 is a top view showing a modification example of the
packaging machine 10 and the bag supply apparatus 20. In this
modification example, the bag supply apparatus 20 has a plurality
of takeout areas Ap corresponding to a plurality of the packaging
machines 10. A bag 5 having been taken out from each takeout areas
Ap is delivered to each packaging machine 10 corresponding to each
takeout areas Ap.
[0076] In the example shown in FIG. 4, the bag supply apparatus 20
has a plurality of the detection apparatuses 25. Each detection
apparatus 25 is located upstream of each takeout area Ap
correspondingly to each of the plurality of takeout areas Ap.
[0077] To be specific, in the example shown in FIG. 4, two
packaging machines 10, i.e., a first packaging machine 101 and a
second packaging machine 102, are disposed. The bag supply
apparatus 20 includes a first bag supply apparatus 201
corresponding to the first packaging machine 101, and a second bag
supply apparatus 202 corresponding to the second packaging machine
102. The first bag supply apparatus 201 has a first takeout
apparatus 401, and the second bag supply apparatus 202 has a second
takeout apparatus 402. The transfer apparatus 30 includes a first
conveyor 31, a second conveyor 32, a third conveyor 33, a fourth
conveyor 34, and a fifth conveyor 35. The fourth conveyor 34 is
formed similarly to the second conveyor 43, and the fifth conveyor
35 is formed similarly to the first conveyor 31 and the third
conveyor 33. In addition, a first takeout area Ap1 is set on the
second conveyor 32 correspondingly to the first packaging machine
101, and a second takeout area Ap2 is set on the fourth conveyor 34
correspondingly to the second packaging machine 102. The first
takeout area Ap1 is set as a range from which a bag 5 can be taken
out by the first takeout apparatus 401, and the second takeout area
Ap2 is set as a range from which a bag 5 can be taken out by the
second takeout apparatus 402.
[0078] A first detection apparatus 251 is disposed upstream of the
first takeout area Ap1, and a second detection apparatus 252 is
disposed upstream of the second takeout area Ap2. The first takeout
apparatus 401 holds a bag 5 based on a predicted position
calculated from a transfer speed of the second conveyor 32, and a
difference between a current time and a time at which the bag 5 was
detected by the first detection apparatus 251. In addition, the
second takeout apparatus 402 holds a bag 5 based on a predicted
position calculated from a transfer speed of the fourth conveyor
34, and a difference between a current time and a time at which the
bag 5 was detected by the second detection apparatus 252.
[0079] According to the modification example, a packaging process
of the plurality of bags 5 transferred by one transfer apparatus 30
can be performed by a plurality of packaging machines. Thus, a
packaging process of bags 5 can be efficiently performed. In
addition, bags 5 can be delivered from the common transfer
apparatus 30 to the plurality of packaging machines 10. Thus, an
overall footprint of the packaging machine 10 and the bag supply
apparatus 20 can be made smaller.
[0080] FIG. 5 is a top view showing another modification example of
the packaging machine 10 and the bag supply apparatus 20. The
example shown in FIG. 5 differs from the modification example
described with reference to FIG. 4 in that a plurality of the
transfer apparatuses 30 are installed. Particularly in the example
shown in FIG. 5, two transfer apparatuses 30, i.e., a first
transfer apparatus 301 and a second transfer apparatus 302, are
installed.
[0081] According to such a bag supply apparatus 20, since the
plurality of transfer apparatuses 30 are installed, many more bags
5 can be transferred, whereby a packaging process of bags 5 can be
further efficiently performed.
[0082] In the aforementioned embodiment, the takeout apparatus 40
and the delivery apparatus 70 are formed as apparatuses separate
from each other. However, not limited thereto, the takeout
apparatus 40 and the delivery apparatus 70 may be formed as one
apparatus. Namely, the takeout apparatus 40 may serve as the
delivery apparatus 70, and the takeout apparatus 40 may deliver a
bag 5 directly to the vacuum chamber 13 of the packaging machine
10.
[0083] A content 7 filled in a bag 5 may be solid or fluid. In
addition, a content 7 may be one or more soft packaging bodies
(e.g., pouch) filled with a liquid substance, etc.
* * * * *