JP4011567B2 - Packaging machine for packaging machine - Google Patents

Packaging machine for packaging machine Download PDF

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JP4011567B2
JP4011567B2 JP2004222140A JP2004222140A JP4011567B2 JP 4011567 B2 JP4011567 B2 JP 4011567B2 JP 2004222140 A JP2004222140 A JP 2004222140A JP 2004222140 A JP2004222140 A JP 2004222140A JP 4011567 B2 JP4011567 B2 JP 4011567B2
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packaging bag
bag
packaging
suction
arm
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JP2006036325A (en
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圭逸 清水
信治 石川
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General Packer Co Ltd
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Description

本発明は、包装袋供給位置に於ける包装袋の高さ位置を補正できる包装機の包装袋供給装置に関するものである。   The present invention relates to a packaging bag supply device of a packaging machine capable of correcting the height position of a packaging bag at a packaging bag supply position.

給袋装置により順次包装袋を供給する場合、包装袋の送り速度や積み重ね枚数などにより、図６（ａ）に示すように給袋装置のストッパーｓに突き当たって包装袋Ｗが湾曲し、実質上湾曲した長さ分、正規の給袋位置を越えた状態となったり、同時に複数枚が重なり合った状態で供給され、同図（ｂ）に示すように最上位の包装袋Ｗがストッパーｓの手前で停止してしまう場合がある。   When the packaging bags are sequentially supplied by the bag feeding device, the packaging bag W is bent substantially against the stopper s of the bag feeding device as shown in FIG. It is supplied in a state where it exceeds the normal bag supply position by the curved length, or in a state where a plurality of sheets are overlapped at the same time, and the uppermost packaging bag W is in front of the stopper s as shown in FIG. May stop at.

このように所定の給袋位置からずれた最上位の包装袋を、そのまま吸着して包装袋受け取り機構を介して掴着機構に掴着させると、最終工程でのシール位置がずれて商品としての見栄えが損なわれるという問題点があった。   In this way, when the uppermost packaging bag deviated from the predetermined bag feeding position is adsorbed as it is and is gripped by the gripping mechanism via the packaging bag receiving mechanism, the sealing position in the final process is shifted and is used as a product. There was a problem that the appearance was impaired.

特開平１０−１９４２３８号公報には、包装袋の先端を揃えて順次供給する包装袋の供給方法及びその装置が開示されている。しかしながら、この方法は、特に袋口の内面に嵩高のチャックを備え、先端部分が厚い包装袋に対応させたもので一般的ではない。
特開平１０−１９４２３８号公報 Japanese Laid-Open Patent Publication No. 10-194238 discloses a packaging bag supply method and apparatus for sequentially supplying the packaging bags with their tips aligned. However, this method is not general because it has a bulky chuck on the inner surface of the bag mouth, and corresponds to a packaging bag having a thick tip portion.
JP 10-194238 A

本発明は、上記問題点を解決するためになされたもので、掴着機構に掴着される包装袋の高さ位置を一定に揃えるため、包装袋受け取り機構を上下動させる上下動駆動機構の上下の移動量を制御し、包装袋供給位置に於ける包装袋の高さ位置のずれを補正できる包装機の包装袋供給装置を提供することを目的とする。 The present invention has been made in order to solve the above-described problems. In order to make the height position of the packaging bag gripped by the gripping mechanism constant, a vertical movement drive mechanism that moves the packaging bag receiving mechanism up and down is provided. It is an object of the present invention to provide a packaging bag supply device for a packaging machine that can control the amount of vertical movement and correct the deviation of the height position of the packaging bag at the packaging bag supply position.

上記目的を達成するための請求項1に記載の包装機の包装袋供給装置は、包装袋の開口端をストッパーに突き当てることにより、順次包装袋を所定の吸着位置に供給する給袋装置と、該吸着位置の上方のフレーム間に水平に差し渡した回動軸に、回動アームの一端部を固定するとともに、その先端部に吸盤を設けて、前記回動軸により該回動アームを一定速度で回動させて、前記吸盤を前記吸着位置と前記包装袋の袋受け取り位置間に移動させるようにし、前記吸着位置に供給された前記包装袋の開口端部を前記回動アームの先端の吸盤により吸着して、該回動アームを水平姿勢に回動し、該包装袋を前記袋受け取り位置に垂直姿勢に保持する回動アーム機構と、垂直姿勢に保持された前記包装袋を挟着して受け取るとともに、水平回動して包装袋供給位置に移動する包装袋受け取り機構と、前記包装袋供給位置に順次停止し、挟着された前記包装袋の上端部の両側部を一対のグリップにより掴着して受け取る複数の掴着機構と、前記各機構にそれぞれ主軸の回転に連動する連動機構を備え、該主軸の回転に基づいて前記各機構が協働するように前記連動機構を制御する袋詰め包装機において、前記包装袋受け取り機構を上下動させる上下動駆動機構と、前記主軸の回転に基づいてパルスを発生するロータリーエンコーダと、該ロータリーエンコーダが発生するパルスをカウントするパルスカウンタを備え、前記主軸の所定の回動角度に対応して設定された基準パルスを基準としてカウントされるパルスのカウント数に基づいて、所定の制御プログラムに基づく前記各機構及び連動機構に対する制御信号を出力する制御回路と、前記吸着位置と前記包装袋の袋受け取り位置間に、前記回動アーム機構により前記袋受け取り位置に回動する前記包装袋の開口端の通過を検出するセンサとを設けて、前記制御回路に、前記回動アームの吸盤の包装袋に対する正規の吸着位置の場合の、前記包装袋の開口端の通過を検出する前記センサの検出タイミングまでに、該基準パルスを基準としてカウントされるパルス数を設定し、このパルス数と前記センサの前記包装袋の開口端の通過の検出タイミングまでの基準パルスを基準としてカウントされるパルスのカウント数を比較し、その比較量に応じて前記上下動駆動機構の上下の移動量を制御し、前記包装袋供給位置に於ける前記包装袋の高さ位置を補正できるようにしたことを特徴とする。 The packaging bag supply device for a packaging machine according to claim 1 for achieving the above object includes a bag feeding device that sequentially supplies the packaging bags to a predetermined suction position by abutting the opening end of the packaging bag against the stopper. , One end of the rotating arm is fixed to a rotating shaft horizontally passed between the frames above the suction position, and a suction cup is provided at the tip of the rotating arm, and the rotating arm is fixed by the rotating shaft. The suction cup is moved between the suction position and the bag receiving position of the packaging bag by rotating at a speed, and the opening end of the packaging bag supplied to the suction position is moved to the tip of the rotating arm. adsorbed by the suction cup, the the pivoting arm pivots to a horizontal posture, sandwiching a pivot arm mechanism, the packaging bag is held in a vertical position for holding the packaging bag in a vertical position on the bag receiving position And receive it horizontally A packaging bag receiving mechanism that moves to a bag supply position, and a plurality of grips that are sequentially stopped at the packaging bag supply position and received by gripping both sides of the upper end of the sandwiched packaging bag with a pair of grips In the bag-packing and packaging machine, wherein the packaging bag includes a mechanism and an interlocking mechanism that interlocks with the rotation of the main shaft in each mechanism, and controls the interlocking mechanism so that the mechanisms cooperate with each other based on the rotation of the main shaft. A vertical movement drive mechanism that moves the receiving mechanism up and down, a rotary encoder that generates pulses based on rotation of the main shaft, and a pulse counter that counts pulses generated by the rotary encoder, and a predetermined rotation angle of the main shaft based on the count of pulses to be counted on the basis of the set reference pulse corresponding to the respective mechanisms and the interlocking device based on a predetermined control program A sensor for detecting a control circuit for outputting a control signal, between a bag receiving position of said packaging bag and the suction position, the passage of the open end of the packing bag which rotates the bag receiving position by the pivot arm mechanism for provided bets, to the control circuit, when the suction position of the normal relative to the packaging bag of the suction cup of the rotary arm, by the detection timing of the sensor for detecting the passage of the open end of the packaging bag, the reference pulse The number of pulses counted with reference to the number of pulses counted is compared with the number of pulses counted with reference to the reference pulse up to the detection timing of passage of the sensor through the opening end of the packaging bag. The vertical movement amount of the vertical movement drive mechanism is controlled in accordance with the amount, and the height position of the packaging bag at the packaging bag supply position can be corrected. That.

請求項1に記載の包装機の包装袋供給装置によれば、ロータリーエンコーダが発生するパルスに対して、制御回路に主軸の所定の回動角度に対応する基準パルスと、回動アーム機構の包装袋に対する吸盤の正規の吸着位置の場合の、包装袋の開口端の通過を検出するセンサの検出タイミングまでの、該基準パルスを基準としてカウントされるパルス数とを設定し、このパルス数と包装袋の開口端の通過を検出するセンサの検出タイミングまでの基準パルスを基準としてカウントされるパルスのカウント数を比較する。そして、その比較量に応じて包装袋受け取り機構を上下動させる上下動駆動機構の上下の移動量を制御し、包装袋供給位置に於ける包装袋の高さ位置のずれを補正するから、掴着機構に掴着される包装袋の高さ位置を一定に揃えることができ、最終工程でのシール位置がずれて商品としての見栄えが損なわれるという問題点を解消することができる。 According to the packaging bag supply device of the packaging machine according to claim 1, with respect to the pulse generated by the rotary encoder, the reference pulse corresponding to the predetermined rotation angle of the main shaft in the control circuit and the packaging of the rotation arm mechanism when the suction position of normal sucker for bags, to the detection timing of the sensor for detecting the passage of the open end of the packaging bag, and set the number of pulses counted as a reference the reference pulse, and packaging the number of pulses The count number of pulses counted with reference to the reference pulse up to the detection timing of the sensor that detects passage of the open end of the bag is compared . Then , the vertical movement drive mechanism that moves the packaging bag receiving mechanism up and down according to the comparison amount is controlled to correct the deviation of the height position of the packaging bag at the packaging bag supply position. The height position of the packaging bag to be grasped by the attaching mechanism can be made uniform, and the problem that the appearance of the product as a product is lost due to the shift of the sealing position in the final process can be solved.

掴着機構に掴着される包装袋の高さ位置を一定に揃えるという目的を、包装袋受け取り機構を上下動させる上下動駆動機構の上下の移動量を制御し、包装袋供給位置に於ける包装袋の高さ位置のずれを補正することで実現した。   For the purpose of uniforming the height position of the packaging bag that is gripped by the gripping mechanism, the vertical movement drive mechanism that moves the packaging bag receiving mechanism up and down is controlled, and the packaging bag is supplied at the packaging bag supply position. This was achieved by correcting the deviation of the height of the packaging bag.

本発明の袋詰め包装機（以下、包装機という。）１について添付図面を参照して説明する。図１は包装機１の概略の平面図である。包装機１の基台２の略中央には、間欠回転軸３が垂直に立設されている。該間欠回転軸３には、支持円盤４が固定されている。間欠回動する支持円盤４には、先端に開閉爪５を設けた一対のグリップ６，６を備えた掴着機構７が、支持円盤４の間欠回動角度に合わせて等角度間隔に複数配設されている。   A bag filling and packaging machine (hereinafter referred to as a packaging machine) 1 of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic plan view of the packaging machine 1. An intermittent rotation shaft 3 is erected vertically at substantially the center of the base 2 of the packaging machine 1. A support disk 4 is fixed to the intermittent rotation shaft 3. In the support disk 4 that rotates intermittently, a plurality of gripping mechanisms 7 having a pair of grips 6 and 6 provided with an opening / closing claw 5 at the tip are arranged at equal angular intervals according to the intermittent rotation angle of the support disk 4. It is installed.

支持円盤４の外周に沿って、支持円盤４が間欠停止する位置に対応して、時計回りに包装袋供給ステーションＡ、ワイパーステーションＢ、印字ステーションＣ、充填ステーションＤ、シールステーションＥ及び包装袋解放ステーションＦが配置されている。また基台２上には、包装袋供給ステーションＡに向って給袋装置８が配設されている。   The packaging bag supply station A, wiper station B, printing station C, filling station D, sealing station E, and packaging bag release are clockwise according to the position where the supporting disk 4 intermittently stops along the outer periphery of the supporting disk 4. Station F is arranged. On the base 2, a bag supply device 8 is disposed toward the packaging bag supply station A.

図２に示すように給袋装置８は、ベルトコンベア９を備えたストッカー１０と、該ストッカー１０の上部に配設された包装袋送り出しベルトコンベア１１とから構成されている。ストッカー１０の先端には、送り出される包装袋Ｗを給袋位置に止めるストッパー１２が設置されている。ストッカー１０の先端部には、供給された包装袋Ｗの開口端部を吸盤１３により吸引して捲くり上げる捲くり上げレバー機構１４が配設されている。   As shown in FIG. 2, the bag feeder 8 includes a stocker 10 provided with a belt conveyor 9, and a packaging bag delivery belt conveyor 11 disposed on the top of the stocker 10. A stopper 12 is installed at the tip of the stocker 10 to stop the package bag W to be sent out at the bag supply position. At the front end portion of the stocker 10, a lifting lever mechanism 14 is disposed that sucks and lifts the opening end portion of the supplied packaging bag W by the suction cup 13.

さらに、ストッカー１０の先端部の上方のフレーム１５には、回動アーム機構１６が配設されている。該回動アーム機構１６は、図１及び図２に示すようにフレーム１５間に水平に差し渡した回動軸１９に、中空回動アーム１７の一端部を固定するとともに、その先端部に吸盤１８を設けて、前記給袋位置で捲くり上げレバー機構１４により捲くり上げられた包装袋Ｗの開口端部を吸着して、回動軸１９により該中空回動アーム１７を水平姿勢まで一定速度で回動し、包装袋Ｗを袋受け取り位置Ｇに垂直姿勢に保持するものである。前記中空回動アーム１７は図示しない吸引装置に連結されている。 Further, a rotating arm mechanism 16 is disposed on the frame 15 above the tip of the stocker 10. As shown in FIGS. 1 and 2 , the rotating arm mechanism 16 fixes one end of a hollow rotating arm 17 to a rotating shaft 19 that is horizontally passed between frames 15 and has a suction cup 18 at its tip. At the bag feeding position, the opening end of the packaging bag W lifted up by the lifting lever mechanism 14 is adsorbed, and the hollow rotating arm 17 is moved to a horizontal posture by a rotating shaft 19 at a constant speed. And the packaging bag W is held in a vertical posture at the bag receiving position G. The hollow rotating arm 17 is connected to a suction device (not shown).

また、基台２には包装袋受け取り機構２０が配設されている。この包装袋受け取り機構２０は、基台２に上下動及び回動可能に軸支された支柱２１と、該支柱２１の上端に固定した軸支ブラケット２２と、該軸支ブラケット２２に回動可能に軸支された平行な２本の水平軸２３，２４と、該水平軸２３，２４に嵌着した一対の挟着片２５，２６から構成されている（図３参照）。そして、包装袋受け取り機構２０は、挟着片２５，２６を開閉して袋受け取り位置Ｇに垂直姿勢に保持された包装袋Ｗを挟着して受け取り、水平回動して包装袋供給ステーションＡに移動するようになっている。支柱２１は、基台２の下方で周り止め２７により上下動のみを許容された支持ブロック２８に回動可能に立設されている。   The base 2 is provided with a packaging bag receiving mechanism 20. The packaging bag receiving mechanism 20 includes a support column 21 that is pivotally supported by the base 2 so as to be movable up and down, a pivot support bracket 22 that is fixed to the upper end of the support column 21, and a pivot support bracket 22 that can be rotated. And two parallel horizontal shafts 23, 24 supported by the shaft and a pair of clamping pieces 25, 26 fitted to the horizontal shafts 23, 24 (see FIG. 3). Then, the packaging bag receiving mechanism 20 opens and closes the sandwiching pieces 25 and 26, sandwiches and receives the packaging bag W held in a vertical posture at the bag receiving position G, and horizontally rotates to receive the packaging bag supply station A. To move to. The support column 21 is erected on a support block 28 that is only allowed to move up and down by a rotation stop 27 below the base 2.

上記包装袋受け取り機構２０の挟着片２５，２６の開閉は、水平軸２３，２４にそれぞれ嵌着した歯車２９，３０を噛み合わせ、一方の水平軸２４に嵌着したレバー３１を揺動させて行なう。レバー３１の揺動は、連接ロッド３２により行なうもので、該連接ロッド３２は一端をレバー３１に連結され、他端を基台２の下方に配設された連動カム機構３３のベルクランク３４に連結されている。また、支柱２１の水平往復回動は、下端部に嵌着した水平揺動レバー３５を揺動させて行なう。水平揺動レバー３５には、図示しない連動カム機構に連結した連接ロッド３６が連結されている。   To open and close the sandwiching pieces 25 and 26 of the packaging bag receiving mechanism 20, the gears 29 and 30 fitted to the horizontal shafts 23 and 24 are engaged with each other, and the lever 31 fitted to one horizontal shaft 24 is swung. To do. The lever 31 is swung by a connecting rod 32. One end of the connecting rod 32 is connected to the lever 31 and the other end is connected to a bell crank 34 of an interlocking cam mechanism 33 disposed below the base 2. It is connected. Further, the horizontal reciprocating rotation of the support column 21 is performed by swinging the horizontal swing lever 35 fitted to the lower end portion. The horizontal rocking lever 35 is connected to a connecting rod 36 connected to an interlock cam mechanism (not shown).

支柱２１を立設した支持ブロック２８の下方には、包装袋受け取り機構２０の支柱２１を上下動させる上下動駆動機構３７が配設されている。図４及び図５に示すように上下動駆動機構３７は、フレーム３８に配置したサーボモータ３９と、該フレーム３８に回動可能に立設された垂直の雄ネジ軸４０と、該雄ネジ４０に螺合した上下動ブロック４１と、該上下動ブロック４１に固着した２本平行なガイド軸４２，４２と、該ガイド軸４２，４２をガイドするガイドフレーム４３から構成されている。   Below the support block 28 where the column 21 is erected, a vertical movement drive mechanism 37 that moves the column 21 of the packaging bag receiving mechanism 20 up and down is disposed. As shown in FIGS. 4 and 5, the vertical movement drive mechanism 37 includes a servo motor 39 disposed on a frame 38, a vertical male screw shaft 40 erected on the frame 38, and a male screw 40. The vertical movement block 41 is engaged with the vertical movement block 41, the two parallel guide shafts 42 and 42 are fixed to the vertical movement block 41, and the guide frame 43 that guides the guide shafts 42 and 42.

サーボモータ３９の出力軸に嵌着された歯車４４は、雄ネジ軸４０の下端部に嵌着した歯車４５に噛合っている。また、上下動軸４２，４２の上端どうしは、連結ブロック４６により連結により連結されている。そして、連結ブロック４６と、上記包装袋受け取り機構２０の支柱２１を立設した支持ブロック２８間は、連接ロッド４７により連結されている。   A gear 44 fitted to the output shaft of the servo motor 39 is engaged with a gear 45 fitted to the lower end portion of the male screw shaft 40. Further, the upper ends of the vertical movement shafts 42 are connected to each other by a connection block 46. The connecting block 46 and the support block 28 on which the support column 21 of the packaging bag receiving mechanism 20 is erected are connected by a connecting rod 47.

上記した間欠回転軸３、掴着機構７、捲り上げレバー機構１４、回動アーム機構１６及び包装袋受け取り機構２０等は、回転駆動される主軸４８に連動する例えば連動カム機構３３等の各種連動機構（図示せず）とを備えている。そして、該主軸４８の回転に基づいて作動する各種連動機構により、各機構が協働して所定のタイミングで所定の作動を行なうように制御される。   The intermittent rotation shaft 3, the gripping mechanism 7, the lifting lever mechanism 14, the rotating arm mechanism 16, the packaging bag receiving mechanism 20, and the like are variously linked such as an interlocking cam mechanism 33 that is interlocked with the main shaft 48 that is rotationally driven. And a mechanism (not shown). The various interlocking mechanisms that operate based on the rotation of the main shaft 48 are controlled so that the respective mechanisms cooperate to perform a predetermined operation at a predetermined timing.

上記主軸４８は、基台２の下部に設置され、駆動モータＭにより回転する。該主軸４８には、ロータリーエンコーダ４９が併設され、主軸４８の回転に基づいてパルスを発生する。このパルスは、コントローラボックス５０内の制御回路５１に入力される。制御回路５１は、入力されるパルスをカウントするパルスカウンタを備え、上記主軸４８の所定の回動角度に対応して設定された基準パルスを基準としてカウントされるパルスのカウント数に基づいて所定の制御プログラムに基づく制御信号を、包装機１に配設された電気的作動機器（図示せず）へ出力する。 The main shaft 48 is installed in the lower part of the base 2 and is rotated by a drive motor M. The main shaft 48 is provided with a rotary encoder 49 and generates a pulse based on the rotation of the main shaft 48. This pulse is input to the control circuit 51 in the controller box 50. The control circuit 51 includes a pulse counter that counts input pulses, and a predetermined number of pulses is counted based on the number of pulses counted with reference to a reference pulse set corresponding to a predetermined rotation angle of the spindle 48. A control signal based on the control program is output to an electrical operation device (not shown) disposed in the packaging machine 1.

また、図２に示すように上記回動アーム機構１６が配設されたフレーム１５と基台２には、検出センサの受光部５２ａと発光部５２ｂが配設されている。この検出センサは、中空回動アーム１７の吸盤１８に吸引され一定速度で垂直姿勢まで引き上げられる際の、包装袋Ｗの開口端Ｗａの通過を検出する。この検出信号は、上記制御回路５１に入力される。制御回路５１には、中空回動アーム１７の吸盤１８が包装袋Ｗの正規の吸着位置で吸着した場合の、検出センサによる開口端Ｗａの検出タイミングまでの基準パルスを基準としてカウントされるパルス数が予め設定されている。 Further, as shown in FIG. 2, a light receiving portion 52a and a light emitting portion 52b of a detection sensor are provided on the frame 15 and the base 2 on which the rotating arm mechanism 16 is provided. This detection sensor detects the passage of the opening end Wa of the packaging bag W when it is sucked by the suction cup 18 of the hollow rotating arm 17 and pulled up to a vertical posture at a constant speed . This detection signal is input to the control circuit 51. The control circuit 51 counts the number of pulses counted with reference to the reference pulse until the detection timing of the opening end Wa by the detection sensor when the suction cup 18 of the hollow rotating arm 17 is sucked at the regular suction position of the packaging bag W. Is preset.

そして、制御回路５１は、検出センサによる包装袋Ｗの開口端Ｗａの検出タイミングまでの基準パルスを基準としてカウントされるカウント数を、前記設定したパルス数と比較する。その比較量に応じて前記上下動駆動機構３７のサーボモータ３９に制御信号を出力する。この制御信号は、包装袋受け取り機構２０が袋受け取り位置Ｇから包装袋供給ステーションＡに移動したタイミングで出力される。 And the control circuit 51 compares the count number counted on the basis of the reference pulse until the detection timing of the opening end Wa of the packaging bag W by a detection sensor with the set pulse number. A control signal is output to the servo motor 39 of the vertical movement drive mechanism 37 in accordance with the comparison amount. This control signal is output when the packaging bag receiving mechanism 20 moves from the bag receiving position G to the packaging bag supply station A.

上記構成の包装機１について、本発明に係る部分の作動を説明する。給袋装置８により給袋された包装袋Ｗは、捲り上げレバー機構１４により開口端Ｗａ部を、中空回動アーム１７の吸盤１８の近くまで捲くり上げられる。吸盤１８に吸着された包装袋Ｗは、水平姿勢まで一定速度で回動する中空回動アーム１７により、袋受け取り位置Ｇで垂直姿勢に保持される。この垂直姿勢に移動する際に、検出センサの受光部５２ａと発光部５２ｂ間の光を遮ることにより、包装袋Ｗの開口端Ｗａの通過が検出される。 About the packaging machine 1 of the said structure, the action | operation of the part which concerns on this invention is demonstrated. The packaging bag W fed by the bag feeding device 8 is lifted up to the vicinity of the suction cup 18 of the hollow rotating arm 17 by the lifting lever mechanism 14. The packaging bag W adsorbed by the suction cup 18 is held in a vertical posture at the bag receiving position G by a hollow rotating arm 17 that rotates at a constant speed to a horizontal posture. When moving to this vertical posture, the passage of the opening end Wa of the packaging bag W is detected by blocking the light between the light receiving part 52a and the light emitting part 52b of the detection sensor.

検出センサの検出タイミングまでに基準パルスを基準としてカウントされたパルス数が、設定されたパルス数よりも少ないときは、図６（ａ）に示すように正規の吸着位置を越えた位置で吸着したことになり、垂直姿勢に保持された包装袋Ｗの開口端Ｗａの高さ位置が上方にずれる。また、基準パルスを基準としてカウントされたパルス数が、設定されたパルス数よりも多いときは、図６（ｂ）に示すように正規の吸着位置よりも手前側で吸着したことになり、垂直姿勢に保持された包装袋Ｗの開口端Ｗａの高さ位置が下方にずれる。 When the number of pulses counted with the reference pulse as a reference before the detection timing of the detection sensor is smaller than the set number of pulses, as shown in FIG. 6 (a), suction is performed at a position beyond the normal suction position. As a result, the height position of the opening end Wa of the packaging bag W held in the vertical posture is shifted upward. Further, when the number of pulses counted with reference to the reference pulse is larger than the set number of pulses, as shown in FIG. The height position of the opening end Wa of the packaging bag W held in the posture is shifted downward.

袋受け取り位置Ｇでは包装袋Ｗの高さ位置のずれの有無に拘らず、包装袋受け取り機構２０の挟着片２５，２６を開閉して包装袋Ｗを受け取る。そして、支柱２１を回動して、包装袋供給ステーションＡに包装袋Ｗを移動させる。包装袋Ｗの高さ位置にずれを生じている場合は、このタイミングで制御回路５１からサーボモータ３９に制御信号が出力される。制御信号は、包装袋Ｗの高さ位置のずれを補正するためのもので、検出センサの検出タイミングまでに基準パルスを基準としてカウントされたパルス数と、設定されたパルス数との比較に基づいてサーボモータ３９を正転方向若しくは逆転方向へ回動させる。 At the bag receiving position G, the packaging bag W is received by opening and closing the sandwiching pieces 25 and 26 of the packaging bag receiving mechanism 20 regardless of whether or not the height of the packaging bag W is shifted. And the support | pillar 21 is rotated and the packaging bag W is moved to the packaging bag supply station A. FIG. If there is a deviation in the height position of the packaging bag W, a control signal is output from the control circuit 51 to the servo motor 39 at this timing. The control signal is for correcting the shift of the height position of the packaging bag W, and is based on a comparison between the number of pulses counted with reference to the reference pulse before the detection timing of the detection sensor and the set number of pulses. Then, the servo motor 39 is rotated in the forward direction or the reverse direction.

サーボモータ３９が回動すると、歯車４４，４５により雄ネジ軸４０が回動する。これにより雄ネジ軸４０に螺合する上下動ブロック４１が上昇若しくは下降する。上下動ブロック４１に固着した２本平行なガイド軸４２，４２がガイドフレーム４３にガイドされて上昇若しくは下降する。ガイド軸４２，４２の上端は、連結ブロック４６により連結されている。この連結ブロック４６と支柱２１を立設する支持ブロック２８間は、連接ロッド４７により連結されているから、サーボモータ３９の回動量に応じて支柱２１が上昇若しくは下降する。   When the servo motor 39 is rotated, the male screw shaft 40 is rotated by the gears 44 and 45. As a result, the vertically moving block 41 screwed to the male screw shaft 40 is raised or lowered. Two parallel guide shafts 42, 42 fixed to the vertical movement block 41 are guided by the guide frame 43 and are raised or lowered. The upper ends of the guide shafts 42 and 42 are connected by a connecting block 46. Since the connecting block 46 and the support block 28 erected with the support column 21 are connected by the connecting rod 47, the support column 21 is raised or lowered according to the rotation amount of the servo motor 39.

カウントされるパルス数とサーボモータ３９の回動に基づく上下駆動機構３７の上下移動量の対応関係は予め求められている。従って、検出センサの検出タイミングまでに基準パルスを基準としてカウントされたパルス数と、設定されたパルス数との比較に基づく所定の制御信号により、支柱２１を所定量上昇若しくは下降させて、包装袋受け取り位置Ｇで生じた包装袋Ｗの高さ位置のずれを、包装袋供給ステーションＡに於いて補正することができる。この補正により、掴着機構７の開閉爪５により掴着される包装袋Ｗの開口端Ｗａの高さ位置を一定に揃えることができ、シールステーションＥでのシール位置がずれて商品としての見栄えが損なわれるという問題点を解消することができる。 The correspondence between the counted number of pulses and the vertical movement amount of the vertical drive mechanism 37 based on the rotation of the servo motor 39 is obtained in advance. Accordingly, the support bag 21 is raised or lowered by a predetermined amount by a predetermined control signal based on a comparison between the number of pulses counted with reference to the reference pulse by the detection timing of the detection sensor and the set number of pulses, and the packaging bag A shift in the height position of the packaging bag W caused at the receiving position G can be corrected at the packaging bag supply station A. By this correction, the height position of the opening end Wa of the packaging bag W gripped by the opening / closing claw 5 of the gripping mechanism 7 can be made uniform, and the seal position at the seal station E is shifted, so that it looks good as a product. Can be solved.

包装機の概略の平面図である。It is a schematic plan view of a packaging machine. 袋受け渡し位置における断面図である。It is sectional drawing in a bag delivery position. 包装袋受け取り機構の要部の正面図である。It is a front view of the principal part of a packaging bag receiving mechanism. 上下動駆動機構の正面図である。It is a front view of a vertical motion drive mechanism. 上下動駆動機構の側面図である。It is a side view of a vertical movement drive mechanism. 給袋位置での不具合を示した説明図である。It is explanatory drawing which showed the malfunction in a bag supply position.

符号の説明Explanation of symbols

１ 包装機
６，６ グリップ
７ 掴着機構
８ 給袋装置
１２ ストッパー
１６ 回動アーム機構
１７ 中空回動アーム
１８ 吸盤
２０ 包装袋受け取り機構
３７ 上下動駆動機構
４８ 主軸
４９ ロータリーエンコーダ
５１ 制御回路
５２ａ 検出センサの受光部
５２ｂ 検出センサの発光部
Ａ 包装袋供給ステーション
Ｇ 袋受け取り位置
Ｗ 包装袋
Ｗａ 開口端 DESCRIPTION OF SYMBOLS 1 Packaging machine 6, 6 Grip 7 Grasping mechanism 8 Bag supply device 12 Stopper 16 Rotating arm mechanism 17 Hollow rotating arm 18 Suction cup 20 Packaging bag receiving mechanism 37 Vertical movement drive mechanism 48 Spindle 49 Rotary encoder 51 Control circuit 52a Detection sensor Light receiving part 52b Light emitting part A of detection sensor Packaging bag supply station G Bag receiving position W Packaging bag Wa Open end

Claims (1)

包装袋の開口端をストッパーに突き当てることにより、順次包装袋を所定の吸着位置に供給する給袋装置と、
該吸着位置の上方のフレーム間に水平に差し渡した回動軸に、回動アームの一端部を固定するとともに、その先端部に吸盤を設けて、前記回動軸により該回動アームを一定速度で回動させて、前記吸盤を前記吸着位置と前記包装袋の袋受け取り位置間に移動させるようにし、前記吸着位置に供給された前記包装袋の開口端部を前記回動アームの先端の吸盤により吸着して、該回動アームを水平姿勢に回動し、該包装袋を前記袋受け取り位置に垂直姿勢に保持する回動アーム機構と、
垂直姿勢に保持された前記包装袋を挟着して受け取るとともに、水平回動して包装袋供給位置に移動する包装袋受け取り機構と、
前記包装袋供給位置に順次停止し、挟着された前記包装袋の上端部の両側部を一対のグリップにより掴着して受け取る複数の掴着機構と、
前記各機構にそれぞれ主軸の回転に連動する連動機構を備え、
該主軸の回転に基づいて前記各機構が協働するように前記連動機構を制御する袋詰め包装機において、
前記包装袋受け取り機構を上下動させる上下動駆動機構と、
前記主軸の回転に基づいてパルスを発生するロータリーエンコーダと、
該ロータリーエンコーダが発生するパルスをカウントするパルスカウンタを備え、
前記主軸の所定の回動角度に対応して設定された基準パルスを基準としてカウントされるパルスのカウント数に基づいて、所定の制御プログラムに基づく前記各機構及び連動機構に対する制御信号を出力する制御回路と、
前記吸着位置と前記包装袋の袋受け取り位置間に、前記回動アーム機構により前記袋受け取り位置に回動する前記包装袋の開口端の通過を検出するセンサとを設けて、
前記制御回路に、前記回動アームの吸盤の包装袋に対する正規の吸着位置の場合の、前記包装袋の開口端の通過を検出する前記センサの検出タイミングまでに、該基準パルスを基準としてカウントされるパルス数を設定し、このパルス数と前記センサの前記包装袋の開口端の通過の検出タイミングまでの基準パルスを基準としてカウントされるパルスのカウント数を比較し、その比較量に応じて前記上下動駆動機構の上下の移動量を制御し、前記包装袋供給位置に於ける前記包装袋の高さ位置を補正できるようにしたことを特徴とする包装機の包装袋供給装置。 A bag feeding device that sequentially feeds the packaging bag to a predetermined suction position by abutting the opening end of the packaging bag against the stopper;
One end of the rotating arm is fixed to a rotating shaft horizontally passed between the frames above the suction position, and a suction cup is provided at the tip of the rotating arm, and the rotating arm is moved at a constant speed by the rotating shaft. The suction cup is moved between the suction position and the bag receiving position of the packaging bag, and the opening end of the packaging bag supplied to the suction position is moved to the suction cup at the tip of the rotary arm. adsorbed by the the pivoting arm pivots to a horizontal position, the pivot arm mechanism for holding the packing bag in a vertical position on the bag receiving position,
A packaging bag receiving mechanism that sandwiches and receives the packaging bag held in a vertical posture and moves horizontally to a packaging bag supply position;
A plurality of gripping mechanisms that sequentially stop at the packaging bag supply position and receive both sides of the upper end of the sandwiched packaging bag by a pair of grips;
Each mechanism has an interlocking mechanism that interlocks with the rotation of the main shaft,
In the bagging and packaging machine for controlling the interlocking mechanism so that the mechanisms cooperate with each other based on the rotation of the main shaft,
A vertical movement drive mechanism for moving the packaging bag receiving mechanism up and down;
A rotary encoder that generates a pulse based on rotation of the spindle;
A pulse counter for counting pulses generated by the rotary encoder;
Control for outputting a control signal for each of the mechanisms and the interlocking mechanism based on a predetermined control program based on the number of pulses counted with reference to a reference pulse set corresponding to a predetermined rotation angle of the spindle Circuit,
Between the suction position and the bag receiving position of the packaging bag, a sensor for detecting the passage of the opening end of the packaging bag rotated to the bag receiving position by the rotating arm mechanism,
To the control circuit, when the suction position of the normal relative to the packaging bag of the suction cup of the rotary arm, by the detection timing of the sensor for detecting the passage of the open end of the packaging bag, counted the reference pulse as a reference The number of pulses to be counted is compared with the number of pulses counted with reference to the reference pulse up to the detection timing of passage of the sensor through the opening end of the packaging bag. A packaging bag supply device for a packaging machine, wherein the vertical movement amount of the vertical movement drive mechanism is controlled so that the height position of the packaging bag at the packaging bag supply position can be corrected.
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