JPH092422A - Packing device - Google Patents

Abstract

PURPOSE: To enable to pack an object into a holding bag held in an open state easily and improve the operation efficiency by effecting in sequence steps of separating a holding bag laid atop from underlying holding bags, opening out the holding bag separated from atop the pile, and altering the attitude of the holding bag to that for receiving the object for packing. CONSTITUTION: In a bag-taking part there are provided a first suction part N1, whose suction works on the topmost holding bag 27 laid atop a multiplicity of holding bags 27 piled in a bag-holding part 3, and a first suction part-moving mechanism A in a setup to have the topmost holding bag 27 in a separable manner. Furthermore, there are provided a pair of second suction parts N2, whose suction severally works on the front side and back side and at parts near the opening of the separated holding bag 27, and second suction part- moving mechanisms B in a setup to open out the holding bag 27 along the opening and alter its attitude to that for receiving an object for packing. A holding bag shape-redressing nozzle N3 is provided as a means of blowing air into the holding bag 27 now opened up through the opening.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、袋収納部に積み重ねら
れた多数枚の収容袋を最上層のものから順に１枚づつ分
離して取り出す袋取り出し部を設けてある包装装置に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a packaging apparatus provided with a bag take-out section for taking out a large number of accommodating bags stacked in a bag accommodating section one by one from the uppermost one in order.

【０００２】[0002]

【従来の技術】従来、上記の包装装置は、前記最上層の
収容袋に吸着作用する第１吸着部と、この第１吸着部を
支持アームで支持しながら袋収納部に上下方向で近接離
間させる第１吸着部移動機構とを設けて、前記第１吸着
部と第１吸着部移動機構との駆動により、前記最上層の
収容袋を分離可能に構成してあるだけであった。2. Description of the Related Art Conventionally, the above-mentioned packaging device has a first suction portion that acts on the uppermost storage bag and a first storage portion while being supported by a support arm so as to vertically approach and separate from the bag storage portion. The first suction part moving mechanism is provided, and the uppermost storage bag can be separated by driving the first suction part and the first suction part moving mechanism.

【０００３】[0003]

【発明が解決しようとする課題】上記従来の包装装置で
は、前記第１吸着部と第１吸着部移動機構を設けて、前
記最上層の収容袋を分離可能に構成してあるだけであっ
たために、分離した最上層の収容袋を開口したり、収容
袋を包装対象物受入れ姿勢に姿勢変更したりする作業は
人手によらなければならず、作業に手間がかかってい
た。In the conventional packaging apparatus described above, the first suction portion and the first suction portion moving mechanism are only provided so that the uppermost storage bag can be separated. In addition, the work of opening the separated uppermost storage bag and changing the posture of the storage bag to the posture for receiving the object to be packaged requires manual labor, which is troublesome.

【０００４】本発明は上記実情に鑑みてなされたもの
で、その目的は、最上層の１枚の収容袋を下層の収容袋
から分離し、その分離した最上層の収容袋を開口し、収
容袋を包装対象物受入れ姿勢に姿勢変更する一連の作業
を自動的に行うことができる包装装置を提供することに
ある。The present invention has been made in view of the above circumstances, and an object thereof is to separate one uppermost storage bag from a lower storage bag, and open the separated uppermost storage bag to store it. It is an object of the present invention to provide a packaging device capable of automatically performing a series of operations for changing the posture of a bag into a posture for receiving a packaging object.

【０００５】[0005]

【課題を解決するための手段】請求項１にかかる発明の
特徴構成は、最上層の収容袋に吸着作用する第１吸着部
と、この第１吸着部を支持アームで支持しながら前記袋
収納部に上下方向で近接離間させる第１吸着部移動機構
とを、前記袋取り出し部に設けて、前記第１吸着部と第
１吸着部移動機構との駆動により、前記最上層の収容袋
を分離可能に構成し、分離した収容袋の開口部付近を、
袋の表裏側から各別に吸着する一対の第２吸着部と、こ
の一対の第２吸着部を、前記分離した収容袋の開口部付
近に各別に近接離間させる第２吸着部移動機構とを設け
て、前記第２吸着部と第２吸着部移動機構との駆動によ
り、前記収容袋の開口部を開口可能に、かつ、前記収容
袋を包装対象物受入れ姿勢に姿勢変更可能に構成し、開
口状態の前記収容袋の開口部に空気を吹込んで前記収容
袋の姿勢を整える収容袋整形ノズルを設けてあることに
ある。According to a first aspect of the present invention, there is provided a first suction portion that suctions a top storage bag, and the first storage portion is supported by a support arm. A first suction part moving mechanism for moving the parts closer to and away from each other in the vertical direction is provided in the bag taking-out part, and the uppermost containing bag is separated by driving the first suction part and the first suction part moving mechanism. It is possible to configure and close the opening of the separated storage bag,
Provided are a pair of second suction portions that individually suction from the front and back sides of the bag, and a second suction portion moving mechanism that separates the pair of second suction portions from each other in the vicinity of the opening of the separated storage bag. The opening of the storage bag can be opened by driving the second suction unit and the second suction unit movement mechanism, and the posture of the storage bag can be changed to a posture for receiving the object to be packaged. A storage bag shaping nozzle for adjusting the posture of the storage bag by blowing air into the opening of the storage bag in the state is provided.

【０００６】請求項２にかかる発明の特徴構成は、請求
項１にかかる発明において、前記最上層の収容袋が分離
した後、包装対象物受入れ姿勢に姿勢変更する前に開口
するように、前記第２吸着部移動機構を制御する第２吸
着部移動機構制御手段を設けるとともに、前記収容袋が
開口した後、包装対象物受入れ姿勢に姿勢変更する前
に、前記開口部に空気が吹込まれるように、前記収容袋
整形ノズルの吹込み位置を設定してあることにある。According to a second aspect of the present invention, in the first aspect of the invention, after the uppermost storage bag is separated, the bag is opened before the posture is changed to the posture for receiving the packaging object. A second suction unit moving mechanism control unit for controlling the second suction unit moving mechanism is provided, and air is blown into the opening after the accommodation bag is opened and before the posture is changed to the posture for receiving the object to be packaged. Thus, the blowing position of the accommodation bag shaping nozzle is set.

【０００７】請求項３にかかる発明の特徴構成は、請求
項２にかかる発明において、前記第１吸着部移動機構の
支持アームに前記収容袋整形ノズルを設け、この収容袋
整形ノズルを前記吹き込み位置に配置可能に前記第１吸
着部移動機構を構成してあることにある。According to a third aspect of the present invention, in the second aspect of the invention, the accommodation bag shaping nozzle is provided on the support arm of the first suction portion moving mechanism, and the accommodation bag shaping nozzle is blown to the blowing position. That is, the first suction part moving mechanism is configured so that it can be arranged.

【０００８】[0008]

【作用】請求項１の構成によれば、第１吸着部移動機構
の駆動により、第１吸着部が支持アームで支持されなが
ら前記袋収納部に上方から近接して最上層の収容袋に吸
着し、その状態で前記袋収納部から上方に離間して前記
最上層の収容袋を分離する。そして、第２吸着部移動機
構の駆動により、分離した収容袋の開口部付近に一対の
第２吸着部が袋の表裏側から近接して各別に吸着し、そ
の後に互いに離間して収容袋の開口部を開口させ、か
つ、包装対象物受入れ姿勢に姿勢変更させる。また、開
口状態の前記収容袋の開口部に収容袋整形ノズルが空気
を吹込んで収容袋の姿勢を整える。According to the structure of claim 1, by driving the first suction part moving mechanism, the first suction part is adsorbed to the uppermost storage bag close to the bag storage part from above while being supported by the support arm. Then, in that state, the uppermost storage bag is separated by separating upward from the bag storage portion. Then, by driving the second suction section moving mechanism, a pair of second suction sections are brought into the vicinity of the opening of the separated storage bag from the front and back sides of the bag so as to be adsorbed separately from each other, and then separated from each other to separate the storage bag from each other. The opening is opened and the posture is changed to the posture for receiving the packaging object. Further, the accommodation bag shaping nozzle blows air into the opening of the accommodation bag in the opened state to adjust the posture of the accommodation bag.

【０００９】このように請求項１の構成では、最上層の
１枚の収容袋を下層の収容袋から分離し、その分離した
最上層の収容袋を開口し、収容袋を包装対象物受入れ姿
勢に姿勢変更する一連の作業を自動的に行うことができ
る。しかも、開口状態の前記収容袋の開口部に収容袋整
形ノズルが空気を吹込んで収容袋の姿勢を整えるから、
収容袋に包装対象物を入れやすくすることができる。As described above, according to the first aspect of the invention, the uppermost one storage bag is separated from the lower storage bag, the separated uppermost storage bag is opened, and the storage bag is placed in the packaging object receiving posture. It is possible to automatically perform a series of operations to change the posture. Moreover, since the accommodation bag shaping nozzle blows air into the opening portion of the accommodation bag in an open state to adjust the posture of the accommodation bag,
It is possible to easily put the object to be packed in the accommodation bag.

【００１０】請求項２の構成によれば、上記請求項１の
構成による作用に加え、収容袋が開口した後、包装対象
物受入れ姿勢に姿勢変更する前に、前記開口部に空気が
吹込まれるように、前記収容袋整形ノズルの吹込み位置
を設定してあるから、収容袋が包装対象物受入れ姿勢に
姿勢変更した状態では、収容袋整形ノズルが収容袋の開
口部に対向することがなくて、包装対象物を収容袋に収
容する際に邪魔にならず、例えば、収容袋整形ノズルが
収容袋の開口部に対向したときのように、包装対象物の
収容袋への収容作業に当たって、収容袋整形ノズルを邪
魔にならないように移動させる工程が不要で、工程数を
少なくできるとともに、作業時間を短縮できる。According to the structure of claim 2, in addition to the effect of the structure of claim 1, air is blown into the opening after the accommodation bag is opened and before the attitude is changed to the posture for receiving the object to be packaged. As described above, since the blowing position of the storage bag shaping nozzle is set, the storage bag shaping nozzle may face the opening of the storage bag when the storage bag is changed to the packaging object receiving posture. In addition, it does not hinder the accommodation of the object to be packaged in the accommodation bag. For example, when the object to be packaged is accommodated in the accommodation bag, as when the accommodation bag shaping nozzle faces the opening of the accommodation bag. The process for moving the storage bag shaping nozzle so as not to get in the way is unnecessary, and the number of processes can be reduced and the working time can be shortened.

【００１１】請求項３の構成によれば、第１吸着部移動
機構の支持アームに収容袋整形ノズルを設け、この収容
袋整形ノズルを前記吹き込み位置に配置可能に前記第１
吸着部移動機構を構成してあるから、請求項２の構成に
よる作用に加え、収容袋整形ノズルの設置スペースを新
たに設ける必要がない。According to the structure of claim 3, the accommodation bag shaping nozzle is provided on the support arm of the first suction portion moving mechanism, and the accommodation bag shaping nozzle can be arranged at the blowing position.
Since the suction part moving mechanism is configured, it is not necessary to newly provide an installation space for the accommodation bag shaping nozzle, in addition to the function of the second aspect.

【００１２】[0012]

【発明の効果】従って、請求項１の構成によれば、最上
層の１枚の収容袋を下層の収容袋から分離し、その分離
した最上層の収容袋を開口し、収容袋を包装対象物受入
れ姿勢に姿勢変更する一連の作業を自動的に行うことが
でき、しかも、開口状態の収容袋に包装対象物を入れや
すくすることができるから、作業効率を向上させること
ができた。Therefore, according to the structure of claim 1, one uppermost storage bag is separated from the lower storage bag, the separated uppermost storage bag is opened, and the storage bag is packaged. A series of operations for changing the posture to the article receiving posture can be automatically performed, and moreover, it is possible to easily put the object to be packaged in the storage bag in the opened state, so that the work efficiency can be improved.

【００１３】請求項２の構成によれば、上記請求項１と
同様の効果と同様の効果に加え、工程数を少なくできる
とともに、作業時間を短縮できるから、前記の作業効率
を、より向上させることができた。According to the structure of claim 2, in addition to the same effects as those of claim 1, the number of steps can be reduced and the working time can be shortened, so that the working efficiency is further improved. I was able to.

【００１４】請求項３の構成によれば、上記効果請求項
２による効果と同様の効果に加え、収容袋整形ノズルの
ためのスペースを新たに設ける必要がないから、構造を
コンパクトにすることができた。According to the structure of claim 3, in addition to the effect similar to the effect of claim 2, there is no need to newly provide a space for the accommodation bag shaping nozzle, so that the structure can be made compact. did it.

【００１５】[0015]

【実施例】以下、本発明の実施例を図面に基づいて説明
する。図１に示すように、ほうれん草（包装対象物に相
当）を囲繞するよう絞り込み可能な可撓性の受台４を複
数備えたほうれん草収容部１と、ほうれん草を囲繞して
絞り込み状態になった受台４に、ポリエチレン製のほう
れん草収容袋２７（以下袋２７と略称する）を装着する
袋装着機構２とを設けて、ほうれん草の包装装置を構成
してある。このほうれん草の包装装置は、絞り込み状態
の受台４に袋２７を覆い被せてから受台４のみを相対的
に引き抜いてほうれん草を包装するもので、以下に各部
の構成について説明する。Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a spinach accommodating portion 1 having a plurality of flexible pedestals 4 capable of being narrowed down so as to surround spinach (corresponding to a packaging target), and a spinner surrounded by the spinach to be in a narrowed state. The stand 4 is provided with a bag mounting mechanism 2 for mounting a polyethylene spinach storage bag 27 (hereinafter referred to as a bag 27), thereby forming a spinach packaging device. This spinach packaging apparatus covers the bag 27 on the cradle 4 in the narrowed state and then relatively pulls out only the cradle 4 to wrap the spinach. The configuration of each part will be described below.

【００１６】前記ほうれん草収容部１を構成するに、図
１，図９に示すように、収容基台５上で第１電動モータ
Ｍ１により縦軸芯周りに駆動回転される回転支持軸部６
の上端に、複数の支持アーム７を水平姿勢で放射状に取
り付け、前記複数の受台４が、前記縦軸芯を中心とする
円上の循環経路に沿って支持アーム７と一体移動するよ
うに、各支持アーム７で各受台４を、支持アーム７の軸
芯方向に沿う状態に片持ち状に支持し、受台４を前記循
環経路に沿って案内するための環状のレール８を収容基
台５側に敷設し、前記循環経路中の第１所定位置で受台
４を、ほうれん草を受入れ可能な開放状態（図１１
（イ）参照）に設定し、第２所定位置で、ほうれん草を
囲繞するよう絞り込んだ絞り込み状態（図１１（ロ）参
照）に設定する姿勢設定機構を設けてある。In the spinach accommodating portion 1, as shown in FIGS. 1 and 9, on the accommodating base 5, a rotary support shaft portion 6 is driven and rotated about the longitudinal axis by the first electric motor M1.
A plurality of support arms 7 are radially attached in a horizontal posture to the upper end of the so that the plurality of pedestals 4 move integrally with the support arms 7 along a circular circulation path centered on the vertical axis. , Each support arm 7 supports each pedestal 4 in a cantilever manner along the axial direction of the support arm 7, and accommodates an annular rail 8 for guiding the pedestal 4 along the circulation path. It is laid on the side of the base 5, and the pedestal 4 is opened at a first predetermined position in the circulation path so that spinach can be received (see FIG. 11).
(See (a)), and a posture setting mechanism for setting a narrowed state (see FIG. 11B) in which the spinach is narrowed to surround the spinach at the second predetermined position.

【００１７】図１４に示すように前記受台４は、遊端側
が小径の半円錐台状に形成してあり、湾曲受け面４ａに
樹脂コーティングして撥水性を備えさせてある。そし
て、受台４の基端側に交差するように配置した第１，第
２揺動アーム１２，１３の屈曲延長部１２ａ，１３ａで
両斜辺部を支持した状態で、第１，第２揺動アーム１
２，１３を受台軸芯周りに回転自在に連結ブラケット１
０に取付け、枢支ピン１１を介して連結ブラケット１０
を支持アーム７の遊端部に自由上下揺動自在に連結して
ある。As shown in FIG. 14, the receiving base 4 is formed in a semi-conical shape having a small diameter on the free end side, and the curved receiving surface 4a is coated with resin to provide water repellency. Then, the first and second rocking portions are supported by the bending extension portions 12a and 13a of the first and second rocking arms 12 and 13 which are arranged so as to intersect the base end side of the cradle 4. Moving arm 1
Connectable brackets 2 and 13 rotatably around the pedestal axis
0, and a connecting bracket 10 via a pivot pin 11
Is connected to the free end of the support arm 7 so as to be freely swingable up and down.

【００１８】図１１に示すように、前記第１，第２揺動
アーム１２，１３は基端部を共に大径に形成して、第１
揺動アーム１２の基端部に、受台軸芯周りに回転自在な
主ローラ１４を設け、前記環状のレール８上を転動させ
るよう構成してある。一方、前記第２所定位置に対応す
る前記レール８上の所定部位をカム面に形成し、主ロー
ラ１４がカム面に乗り上がるに伴って、前記第１揺動ア
ーム１２が上昇揺動し、一方の斜辺側が持ち上がって絞
り込み変形するよう構成し、かつ、主ローラ１４がカム
面に乗り上がるに伴って、第１揺動アーム１２の基端部
に設けたピン５２が入り込む切欠長孔部１３ｂを、第２
揺動アーム１３の基端部に形成して、第２揺動アーム１
３が前記ピン５２に押しやられて上昇揺動し、受台４の
他方の斜辺側が持ち上がって、絞り込み変形するよう構
成してある（図１１（イ），（ロ）参照）。前記カム面
と主ローラ１４とで構成されるカム機構で前記姿勢設定
機構を構成している。第１揺動アーム１２の基端部で主
ローラ１４より上手側部位には後述の副ローラ１５を設
けてある。As shown in FIG. 11, the first and second swing arms 12 and 13 each have a large diameter at their base end portions to form a first diameter.
A main roller 14 that is rotatable around the pedestal axis is provided at the base end of the swing arm 12, and is configured to roll on the annular rail 8. On the other hand, a predetermined portion on the rail 8 corresponding to the second predetermined position is formed on the cam surface, and as the main roller 14 rides on the cam surface, the first swing arm 12 swings upward, One of the oblique sides is configured to be lifted and deformed by narrowing, and the notch elongated hole portion 13b into which the pin 52 provided at the base end portion of the first swing arm 12 is inserted as the main roller 14 rides on the cam surface. The second
The second swing arm 1 is formed at the base end of the swing arm 13.
3 is pushed by the pin 52 and rocks upward, and the other hypotenuse side of the pedestal 4 is lifted and deformed by narrowing (see FIGS. 11A and 11B). A cam mechanism composed of the cam surface and the main roller 14 constitutes the attitude setting mechanism. A sub-roller 15 to be described later is provided at the base end portion of the first swing arm 12 at a position on the upper side of the main roller 14.

【００１９】そして、前記受台４を上記のように支持ア
ーム７の遊端部に自由上下揺動自在に連結したうえで、
図９，図１２，図１３に示すように前記レール８を、固
定レール１８と、前記支持アーム７の遊端部側の枢支ピ
ン１１周りに上下揺動自在な小区間の可動レール２８と
から構成して、前記絞り込み状態における受台４を、固
定レール１８上に位置して袋２７を覆い被せ可能な横向
きの葉菜類収容姿勢と、可動レール２８上に位置して受
台４に覆い被せられた袋２７とともにほうれん草がずり
落ち可能な縦向きの葉菜類排出姿勢（図１３参照）とに
切換え自在に構成してある。After the pedestal 4 is connected to the free end of the support arm 7 as described above, the pedestal 4 can freely swing up and down.
As shown in FIGS. 9, 12, and 13, the rail 8 includes a fixed rail 18 and a movable rail 28 in a small section that can swing up and down around the pivot pin 11 on the free end side of the support arm 7. The pedestal 4 in the narrowed state is placed on the fixed rail 18 so as to cover the bag 27, and the pedestal 4 is placed on the movable rail 28 so as to cover the pedestal 4. With the bag 27, the spinach can be slidably dropped and the leaf vegetable discharging posture (see FIG. 13) can be freely switched.

【００２０】前記レール８の構造について詳述すると、
可動レール２８の下面に一対の支持ブラケット１９をレ
ール８の長手方向に間隔を空けて設けて、両支持ブラケ
ット１９間にわたってローラ１７を設け、可動レール２
８が前記支持アーム７の遊端部側の枢支ピン１１周りに
上下揺動するに伴って、前記ローラ１７を案内する弓形
ガイド孔２０ａを備える弓形ガイド部材２０を収容基台
５側に設け、可動レール２８を径方向に押引きする押引
きロッド２２を備えた収容基台側リンク機構２１を、第
２電動モータＭ２で駆動自在に設けてある。前記可動レ
ール８の長手方向中央部には断面「コ」の字形の短い補
助レール２３を、可動レール２８よりも径方向外方側に
位置する状態に設け、前記第１揺動アーム１２の基端部
に設けた副ローラ１５を上下方向から補助レール２３で
ガイドして、下降揺動する受台４を可動レール２８に対
して一定姿勢に保つよう構成してある。この補助レール
２３の下面には前記押引きロッド２２の先端を連結する
ブラケット５３を設けてある。The structure of the rail 8 will be described in detail below.
A pair of support brackets 19 are provided on the lower surface of the movable rail 28 at intervals in the longitudinal direction of the rail 8, and a roller 17 is provided between both support brackets 19.
An arcuate guide member 20 provided with an arcuate guide hole 20a for guiding the roller 17 is provided on the accommodation base 5 side as 8 swings up and down around the pivot pin 11 on the free end side of the support arm 7. A housing base side link mechanism 21 having a push / pull rod 22 for pushing and pulling the movable rail 28 in the radial direction is provided so as to be freely driven by the second electric motor M2. At the center of the movable rail 8 in the longitudinal direction, a short auxiliary rail 23 having a U-shaped cross section is provided so as to be positioned radially outward of the movable rail 28, and the base of the first swing arm 12 is provided. The auxiliary roller 15 provided at the end is guided by the auxiliary rail 23 from the up and down direction so that the cradle 4 which descends and swings is maintained in a fixed posture with respect to the movable rail 28. On the lower surface of the auxiliary rail 23, a bracket 53 for connecting the tip of the push-pull rod 22 is provided.

【００２１】図９，図１０に示すように、前記受台４に
ほうれん草が収容されているか否かを前記第２所定位置
の上手側で検出する撮像式の第１検出センサ２５と、前
記絞り込み状態における受台４内のほうれん草の有無を
検出する撮像式の第２検出センサ２６とを設けてある。
そして、ほうれん草が受台４に収容されていないことを
第１検出センサ２５が検出すると、その検出情報に基づ
いて、受台４が前記第２所定位置側に移動しないよう
に、前記第１電動モータＭ１を駆動停止制御し、ほうれ
ん草が受台４に収容されていることを第１検出センサ２
５が検出すると、その検出情報に基づいて、受台４が前
記第２所定位置側に移動するように、第１電動モータＭ
１を駆動制御する制御装置２４を設け（図１５参照）て
ある。さらに、前記絞り込み状態における受台４内にほ
うれん草がないことを第２検出センサ２６が検出する
と、その検出情報に基づいて、前記袋装着機構２が作動
しないように、袋装着機構２の駆動用の第３電動モータ
Ｍ３を駆動停止制御し、前記絞り込み状態における受台
４内にほうれん草があることを第２検出センサ２６が検
出すると、その検出情報に基づいて、前記袋装着機構２
が作動するように、前記第３電動モータＭ３を駆動制御
する制御を、前記制御装置２４で実行可能に構成してあ
る。（受台４は透明体で形成して第１第２検出センサ２
５，２６でほうれん草の有無を検出可能にしてある。受
台４を不透明体で形成してスリット等を形成し、このス
リットから検出するようにしてもよい。）前記制御装置
２４は前記第２電動モータＭ２も駆動制御するよう構成
してある（図１５参照）。As shown in FIGS. 9 and 10, an image pickup type first detection sensor 25 for detecting whether or not spinach is stored in the cradle 4 on the upper side of the second predetermined position, and the narrowing down. An image pickup type second detection sensor 26 for detecting the presence or absence of spinach in the cradle 4 in the state is provided.
When the first detection sensor 25 detects that the spinach is not housed in the cradle 4, the first electric motor is used so that the cradle 4 does not move to the second predetermined position side based on the detection information. The first detection sensor 2 controls that the motor M1 is stopped and driven and that the spinach is accommodated in the cradle 4.
5 detects the first electric motor M so that the pedestal 4 moves to the second predetermined position side based on the detection information.
A control device 24 for driving and controlling 1 is provided (see FIG. 15). Further, when the second detection sensor 26 detects that there is no spinach in the cradle 4 in the narrowed-down state, the bag mounting mechanism 2 is operated so that the bag mounting mechanism 2 does not operate based on the detection information. When the second detection sensor 26 detects the presence of spinach in the cradle 4 in the narrowed-down state by controlling the driving stop of the third electric motor M3 for driving, the bag mounting mechanism 2 based on the detection information.
The control device 24 is configured to execute control for driving and controlling the third electric motor M3 so that the control unit 24 operates. (The pedestal 4 is formed of a transparent body, and the first and second detection sensors 2
The presence or absence of spinach can be detected at 5, 26. The pedestal 4 may be formed of an opaque body to form a slit or the like, and the slit may be used for detection. The controller 24 is also configured to drive and control the second electric motor M2 (see FIG. 15).

【００２２】次に袋装着機構２について説明する。図１
に示すように、この袋装着機構２は、袋載置台３（袋収
納部の一例）に積み重ねられた多数枚の袋２７を最上層
のものから順に１枚づつ分離して取り出す袋取り出し部
３２と、分離した最上層の袋２７を開口させる開口機構
３３とを箱型のテーブル３４上に設け、開口状態の袋２
７がほうれん草に向けて横移動してほうれん草に覆い被
さるように、装着基台側リンク機構３５、及びこのリン
ク機構の駆動用第３電動モータＭ３を介して袋装着基台
２９で前記テーブル３４を平行横移動自在に支持して構
成してある。Next, the bag mounting mechanism 2 will be described. FIG.
As shown in FIG. 3, the bag mounting mechanism 2 includes a bag take-out unit that takes out a large number of bags 27 stacked on the bag placing table 3 (an example of a bag storage unit) one by one in order from the top layer. 32 and an opening mechanism 33 for opening the separated uppermost bag 27 are provided on the box-shaped table 34, and the opened bag 2 is provided.
The table 34 is mounted on the bag mounting base 29 via the mounting base side link mechanism 35 and the third electric motor M3 for driving the link mechanism so that 7 laterally moves toward the spinach and covers the spinach. Is configured so as to be movable in parallel and laterally.

【００２３】前記袋２７は２枚の薄いポリエチレン製の
フィルムを重ねた状態で、側部同士及び底部同士を融着
して、開口部２７ａ側の辺が底部側の辺よりも長い台形
状に形成してある（図６，図７参照）。前記袋載置台３
は、袋２７に合わせて平面視で台形状に形成して、テー
ブル中央部に固定してある。The bag 27 is a trapezoidal shape in which the sides on the side of the opening 27a are longer than the sides on the side of the bottom by fusing the side portions and the bottom portions together with two thin polyethylene films stacked. Formed (see FIGS. 6 and 7). The bag placing table 3
Is formed into a trapezoidal shape in a plan view so as to fit the bag 27 and is fixed to the central portion of the table.

【００２４】前記袋取り出し部３２を構成するに、図
１，図２，図３，図７に示すように、袋載置台３の長辺
の幅方向中央部近傍のテーブル３４上に、下支点周りに
揺動自在な一本の袋取出しアーム３６（支持アームの一
例）を設け、この袋取り出しアーム３６の遊端部に、最
上層の袋２７の底部付近に吸着作用する一個の第１吸着
ノズルＮ１（第１吸着部の一例）を設け、第１吸着ノズ
ルＮ１が最上層の袋２７の底部２７ｂ付近に吸着可能に
近接し、かつ、前記袋２７に吸着作用した第１吸着ノズ
ルＮ１が袋載置台３から離間して、前記最上層の袋２７
が分離するように、前記袋取り出しアーム３６を正逆方
向に揺動駆動する第４電動モータＭ４を設け、最上層の
袋２７の底部付近に吸着した第１吸着ノズルＮ１が袋載
置台３から離間する際に、下層の収容袋２７の底部付近
を押さえておく分離用押え具３７を、袋載置台３の短辺
の幅方向中央部近傍のテーブル３４上に設けてある。As shown in FIGS. 1, 2, 3 and 7, a lower fulcrum is formed on the table 34 near the center in the width direction of the long side of the bag placing table 3 in constructing the bag taking-out section 32. A single bag take-out arm 36 (an example of a support arm) that can be swung around is provided, and the first end of the bag take-out arm 36 has a free end portion that adsorbs in the vicinity of the bottom of the uppermost bag 27. A nozzle N1 (an example of a first suction section) is provided, and the first suction nozzle N1 is close to the bottom 27b of the uppermost bag 27 so as to be suckable, and the first suction nozzle N1 that has suctioned the bag 27 is The uppermost bag 27 is separated from the bag placing table 3.
So as to separate the bags from each other, a fourth electric motor M4 for swinging and driving the bag take-out arm 36 in the forward and reverse directions is provided, and the first suction nozzle N1 sucked in the vicinity of the bottom of the bag 27 of the uppermost layer is removed from the bag mounting table 3. A separating retainer 37 is provided on the table 34 near the center in the width direction of the short side of the bag placing table 3 for holding the bottom of the lower containing bag 27 near the bottom when the bags are separated.

【００２５】前記袋取り出しアーム３６は、その下端部
側の回転支軸３８を、テーブル３４上に丈低く設けた第
１ブラケット３９で支持してあり、図３に示すように、
前記吸着分離した最上層の袋２７を、その開口部２７ａ
が下向きとなる逆さ姿勢に吊り下げ支持可能に構成して
ある。この袋取り出しアーム３６には、開口機構３３で
開口した袋２７の開口部２７ａに空気を吹込んで袋２７
の姿勢を整える収容袋整形ノズルＮ３を設けてある。袋
取り出しアーム３６と第４電動モータＭ４とで第１吸着
ノズル移動機構Ａを構成しており、前記開口部２７ａに
空気を吹込ませるための第１吸着部移動機構Ａの構造の
詳細については、開口機構３３の構造を説明した後で説
明する。The bag take-out arm 36 has a rotary support shaft 38 on the lower end side thereof supported by a first bracket 39 which is provided on the table 34 so as to have a low height, and as shown in FIG.
The uppermost bag 27 that has been separated by adsorption is provided with an opening 27a.
It is configured so that it can be suspended and supported in an upside down posture. Air is blown into the bag take-out arm 36 through the opening 27a of the bag 27 opened by the opening mechanism 33, and the bag 27 is opened.
An accommodation bag shaping nozzle N3 for adjusting the posture of the storage bag is provided. The bag suction arm 36 and the fourth electric motor M4 constitute the first suction nozzle moving mechanism A, and the details of the structure of the first suction portion moving mechanism A for blowing air into the opening 27a are described below. The structure of the opening mechanism 33 will be described later.

【００２６】図７，図８に示すように、前記分離押さえ
具３７は、テーブル３４上に設けた第２ブラケット４０
で分離押さえ用アーム４１を上下揺動自在に支持し、下
層の袋２７の底部２７ｂ付近を押さえる横向きの押さえ
棒４２を、分離押さえ用アーム４１の遊端部に設けて構
成してある。As shown in FIGS. 7 and 8, the separation pressing member 37 includes a second bracket 40 provided on the table 34.
The separation pressing arm 41 is swingably supported in the vertical direction, and a lateral pressing rod 42 for pressing the vicinity of the bottom 27b of the lower bag 27 is provided at the free end of the separation pressing arm 41.

【００２７】そして、前記第１吸着ノズルＮ１が最上層
の袋２７に近接するに伴って、前記分離押さえ用アーム
４１が袋押さえ位置から退避し、前記最上層の袋２７の
底部２７ｂ付近を吸着した第１吸着ノズルＮ１が袋載置
台３から離間するに伴って、袋押さえ位置に復帰するよ
うに、前記袋取り出しアーム３６と分離押さえ用アーム
４１とを連係してある。つまり、袋取り出しアーム３６
の回転支軸３８に一体回転自在に連設した同芯状の円板
４４と、分離押さえ用アーム４１の回転支軸４３に一体
回転自在に連設した径方向外方側向きのピン４５とを、
テーブル３４内で連結ロッド４６を介して連係し、円板
４４に形成した弓形孔４４ａと、この弓形孔４４ａに係
入する連結ロッド４６のピン４６ａとから成る融通機構
を設けて、上記の連係作動を行うよう構成してある。Then, as the first suction nozzle N1 approaches the uppermost bag 27, the separation pressing arm 41 retracts from the bag pressing position and sucks the vicinity of the bottom 27b of the uppermost bag 27. The bag take-out arm 36 and the separation pressing arm 41 are linked so that the first suction nozzle N1 returns to the bag pressing position as the first suction nozzle N1 separates from the bag mounting table 3. That is, the bag take-out arm 36
A concentric disc 44 that is integrally rotatably connected to the rotation support shaft 38, and a radially outwardly directed pin 45 that is integrally rotatably connected to the rotation support shaft 43 of the separation pressing arm 41. To
A linking mechanism is provided in the table 34, which includes a bow-shaped hole 44a formed in the circular plate 44 and a pin 46a of the connecting rod 46 that is fitted into the bow-shaped hole 44a. It is configured to operate.

【００２８】前記開口機構３３を構成するに、図１，図
４，図６，図７に示すように、袋載置台３の長辺側のテ
ーブル３４の端部から一対の支柱４７を、それぞれ前記
長辺よりも幅方向外方側に位置させた状態で立設し、両
支柱４７の上端部に架渡した一対の回転支軸５０を介し
て一対の第１開口用アーム４８、及びＴ字形の１本の第
２開口用アーム４９を、それぞれ振り子状に揺動自在に
つり下げ支持し、袋取り出しアーム３６により前記逆さ
姿勢につり下げ支持された最上層の袋２７の開口部２７
ａ付近を袋２７の表側から吸着する第２吸着ノズルＮ２
（第２吸着部の一例）を、２本の第１開口用アーム４８
の先端部に一個づつ、また、袋２７の裏側から吸着する
第２吸着ノズルＮ２を、第２開口用アーム４９の張出バ
ー両端部にそれぞれ１個づつ設けてある。In constructing the opening mechanism 33, as shown in FIGS. 1, 4, 6 and 7, a pair of support columns 47 are provided from the end of the table 34 on the long side of the bag mounting table 3, respectively. A pair of first opening arms 48 and T via a pair of rotation support shafts 50 that are erected in a state of being positioned on the outer side in the width direction with respect to the long sides and are bridged on the upper ends of both columns 47. One second opening-shaped arm 49 having a character shape is suspended and supported in a swingable manner like a pendulum, and the opening 27 of the uppermost bag 27 suspended and supported by the bag take-out arm 36 in the inverted posture.
A second suction nozzle N2 for suctioning the vicinity of a from the front side of the bag 27
(An example of the second suction portion) is provided with two first opening arms 48.
, And second suction nozzles N2 for suctioning from the back side of the bag 27 are provided at both ends of the overhang bar of the second opening arm 49, respectively.

【００２９】また、前記合計４個の第２吸着ノズルＮ２
が前記開口側の端部に吸着可能に近接し、かつ、開口部
２７ａ付近に吸着した第２吸着ノズルＮ２同士が相対的
に離間して袋２７の開口部２７ａを開くように、第１，
第２開口用アーム４８，４９の回転支軸５０を各別に揺
動駆動する第５，第６電動モータＭ５，Ｍ６を設けてあ
る（図１参照）。前記第１，第２開口用アーム４８，４
９及び第５，第６電動モータＭ５，Ｍ６で第２吸着ノズ
ル移動機構Ｂを構成している。図６に示すように、第１
開口用アーム４８がやや上向きに、第２開口用アーム４
９がやや下向きになるまで第１，第２開口用アーム４
８，４９が同方向に揺動して、前記逆さ姿勢の袋２７を
横向き開口姿勢（包装対象物受入れ姿勢に相当）に設定
可能であり、第１，第２開口用アーム４８，４９及び第
５電動モータＭ５で袋２７の姿勢変更手段も構成してい
る。前記第５，第６電動モータＭ５，Ｍ６は、前記制御
装置２４で制御されるよう構成してあり、制御装置２４
による制御により、袋２７は前記最上層の袋２７が分離
した後、横向き開口姿勢に姿勢変更する前に開口する
（図５参照）。Further, the total of four second suction nozzles N2
Are close to the end on the opening side so that they can be adsorbed, and the second adsorption nozzles N2 adsorbed near the opening 27a are relatively separated from each other to open the opening 27a of the bag 27.
There are provided fifth and sixth electric motors M5 and M6 for separately swinging and driving the rotary support shafts 50 of the second opening arms 48 and 49 (see FIG. 1). The first and second opening arms 48, 4
The ninth suction motor M5 and the fifth and sixth electric motors M5 and M6 form a second suction nozzle moving mechanism B. As shown in FIG.
The opening arm 48 is slightly upward, and the second opening arm 4
First and second opening arms 4 until 9 is slightly downward
8, 49 can swing in the same direction to set the bag 27 in the inverted posture to the sideways opening posture (corresponding to the packaging object receiving posture), and the first and second opening arms 48, 49 and The 5 electric motor M5 also constitutes the posture changing means of the bag 27. The fifth and sixth electric motors M5, M6 are configured to be controlled by the controller 24, and the controller 24
The bag 27 is opened after the uppermost bag 27 is separated before the posture is changed to the sideways opening posture (see FIG. 5).

【００３０】そして図５に示すように、第１吸着ノズル
Ｎ１による袋２７の吸着を解除して退避揺動している途
中の袋取り出しアーム３６と、開口部２７ａが開口した
袋２７を横向き開口姿勢に姿勢変更に設定するために揺
動している途中の第１，第２開口用アーム４８，４９と
が所定の位置関係になったときに、袋取り出しアーム３
６の収容袋整形ノズルＮ３が袋２７の開口部２７ａに対
向するように、袋取り出しアーム３６の長さ・袋取り出
しアーム３６の第１第２開口用アーム４８，４９に対す
る位置・前記収容袋整形ノズルＮ３の袋取り出しアーム
３６への取付位置等を設定し、かつ、前記制御装置２４
の制御プログラムを設定してある。つまり、袋２７が開
口した後、横向き開口姿勢に姿勢変更する前に、前記収
容袋整形ノズルＮ３を袋２７の開口部２７ａに対向する
吹込み位置に配置可能に、前記第１吸着部移動機構Ａを
構成してある。Then, as shown in FIG. 5, the bag take-out arm 36 in the middle of retracting and swinging the bag 27 by the first suction nozzle N1 and the bag 27 having the opening 27a opened laterally. When the first and second opening arms 48, 49 are swinging to set the posture to change the posture, the bag take-out arm 3
The length of the bag take-out arm 36, the position of the bag take-out arm 36 with respect to the first and second opening arms 48, 49, and the shape of the accommodation bag so that the No. 6 storage bag shaping nozzle N3 faces the opening 27a of the bag 27. The mounting position of the nozzle N3 to the bag take-out arm 36 is set, and the controller 24
The control program of is set. That is, after the bag 27 is opened, before the posture is changed to the sideways opening posture, the accommodation bag shaping nozzle N3 can be arranged at the blowing position facing the opening 27a of the bag 27, so that the first suction portion moving mechanism can be arranged. A is configured.

【００３１】また、前記絞り込み状態における受台４が
所定位置に位置したときに、装着基台側リンク機構３５
が第３電動モータＭ３により駆動し、横向き開口姿勢の
袋２７が第１、第２開口用アーム４８，４９に支持され
たままテーブル３４ごと移動して、受台４に覆い被さる
よう構成してある。前記装着基台側リンク機構３５と第
３電動モータＭ３とで、横向き開口姿勢の袋２７をほう
れん草に向けて相対的に横移動させる横移動機構Ｃを構
成している。なお、上記の第３，第４電動モータＭ３，
Ｍ４及び第１，第２吸着ノズルＮ１，Ｎ２，収容袋整形
ノズルＮ３も前記制御装置２４で制御可能に構成してあ
る（図１５参照）。When the receiving table 4 in the narrowed state is located at a predetermined position, the mounting base side link mechanism 35 is provided.
Is driven by the third electric motor M3, and the bag 27 in the sideways opening posture is moved together with the table 34 while being supported by the first and second opening arms 48 and 49, and is covered by the pedestal 4. is there. The attachment base side link mechanism 35 and the third electric motor M3 constitute a lateral movement mechanism C that relatively laterally moves the bag 27 in the laterally opened posture toward the spinach. The above-mentioned third and fourth electric motors M3,
M4 and the first and second suction nozzles N1 and N2 and the storage bag shaping nozzle N3 are also configured to be controllable by the control device 24 (see FIG. 15).

【００３２】前記制御装置２４が前記第１〜第６電動モ
ータＭ１〜Ｍ６、及び第１，第２吸着ノズルＮ１，Ｎ
２，収容袋整形ノズルＮ３を制御することにより、上記
構成のほうれん草の包装装置は次のように作動する。The controller 24 controls the first to sixth electric motors M1 to M6 and the first and second suction nozzles N1 and N.
2. By controlling the storage bag shaping nozzle N3, the spinach packaging device having the above-described configuration operates as follows.

【００３３】〔１〕袋装着機構２の袋取り出しアーム３
６が袋２７側に揺動して第１吸着ノズルＮ１が最上層の
袋２７の底部２７ｂ付近に吸着する（図２）。そして第
１吸着ノズルＮ１が吸着したまま袋取り出しアーム３６
が逆方向に揺動して最上層の袋２７を下層の袋２７から
分離し、袋２７を逆さ姿勢に吊り下げ支持する（図
３）。この分離の際に分離用押え具３７の押さえ棒４２
が、下層の袋２７の底部２７ｂ付近を押さえるので、最
上層の１枚の袋２７だけを下層の袋２７から正確に分離
させることができる（図８）。[1] Bag take-out arm 3 of bag mounting mechanism 2
6 swings toward the bag 27, and the first suction nozzle N1 sucks near the bottom 27b of the uppermost bag 27 (FIG. 2). Then, the bag take-out arm 36 with the first suction nozzle N1 sucked.
Swings in the opposite direction to separate the uppermost bag 27 from the lower bag 27, and suspends and supports the bag 27 in an inverted posture (FIG. 3). At the time of this separation, the pressing rod 42 of the pressing foot 37 for separation is used.
However, since the bottom 27b of the lower bag 27 is pressed, only the uppermost single bag 27 can be accurately separated from the lower bag 27 (FIG. 8).

【００３４】〔２〕前記第１吸着ノズルＮ１による袋２
７の吸着の後で吸着解除前に、両第１開口用アーム４８
が逆さ姿勢の袋２７の表面側に向けて、また、１本の第
２開口用アーム４９が袋２７の裏面側に向けて下降揺動
して（図３）、それらの遊端部の第２吸着ノズルＮ２が
袋２７の開口２７ａ側の表裏両面に吸着する（図４）。
第１吸着ノズルＮ１による袋２７の吸着が解除されて袋
取り出しアーム３６が退避揺動する。[2] Bag 2 with the first suction nozzle N1
After the suction of 7 and before the suction is released, both first opening arms 48
Is oscillated toward the front side of the bag 27 in the inverted posture, and one second opening arm 49 is oscillated downward toward the back side of the bag 27 (FIG. 3), so that the free end portions of the second end arms 49 are The two suction nozzles N2 suction the front and back surfaces of the bag 27 on the opening 27a side (FIG. 4).
The suction of the bag 27 by the first suction nozzle N1 is released, and the bag take-out arm 36 retracts and swings.

【００３５】図５に示すように、第１吸着ノズルＮ１に
よる袋２７の吸着を解除して退避揺動している途中の袋
取り出しアーム３６と、開口部２７ａが開口した袋２７
を横向き開口姿勢に姿勢変更に設定するために揺動して
いる途中の第１，第２開口用アーム４８，４９とが所定
の位置関係になったときに、袋取り出しアーム３６の収
容袋整形ノズルＮ３が袋２７の開口部２７ａに対向して
空気を吹込み、袋２７の姿勢を整える。従って、袋２７
にほうれん草を収容しやすくすることができる。しかも
袋２７が開口した後、横向き開口姿勢に姿勢変更する前
に、開口部２７ａに空気が吹込まれるように、収容袋整
形ノズルＮ３の吹込み位置を設定してあるから、袋２７
が横向き開口姿勢に姿勢変更した状態では、収容袋整形
ノズルＮ３が袋２７の開口部２７ａに対向することがな
くて、ほうれん草を袋２７に収容する際に収容袋整形ノ
ズルＮ３が邪魔になることがない。As shown in FIG. 5, the bag take-out arm 36 that is in the middle of retreating and swinging after releasing the suction of the bag 27 by the first suction nozzle N1 and the bag 27 having the opening 27a opened.
Of the bag taking-out arm 36 when the first and second opening arms 48 and 49 are in a predetermined positional relationship while swinging to set the attitude to the sideways opening attitude. The nozzle N3 blows air against the opening 27a of the bag 27 to adjust the posture of the bag 27. Therefore, the bag 27
The spinach can be easily accommodated. Moreover, the blowing position of the accommodation bag shaping nozzle N3 is set so that the air is blown into the opening 27a after the bag 27 is opened and before the posture is changed to the lateral opening posture.
When the posture is changed to the sideways opening posture, the storage bag shaping nozzle N3 does not face the opening 27a of the bag 27, and the storage bag shaping nozzle N3 interferes when the spinach is stored in the bag 27. There is no.

【００３６】袋取り出しアーム３６と第１，第２開口用
アーム４８，４９とは、いずれも停止することなく揺動
しながら収容袋整形ノズルＮ３が袋２７の開口部２７ａ
に空気を吹込む。その後、両第１開口用アーム４８がや
や上向きに、第２開口用アーム４９がやや下向きになる
まで同方向に上昇揺動して、袋２７を横向き開口姿勢に
設定する（図６）。The bag take-out arm 36 and the first and second opening arms 48 and 49 are rocked without stopping, and the accommodating bag shaping nozzle N3 causes the opening 27a of the bag 27 to open.
Blow air into. After that, both the first opening arms 48 are moved upward slightly and the second opening arms 49 are moved up and down in the same direction until the second opening arms 49 are moved slightly downward to set the bag 27 in the sideways opening posture (FIG. 6).

【００３７】〔３〕図９に示すように、第１所定位置の
下手側で開放状態になっている受台４に、作業者がほう
れん草の束を、根元を手前側にして載置すると、ほうれ
ん草が受台４に収容されたことを第１検出センサ２５が
検出し、その検出情報に基づいて、制御装置２４が第１
電動モータＭ１を駆動制御して、ほうれん草収容部１の
回転支持軸部６が回転し、受台４が第２所定位置側に１
ピッチ（次の受台４が前記第１所定位置の下手側に来る
まで）送られる。ほうれん草が受台４に収容されていな
いことを第１検出センサ２５が検出したときは、第１電
動モータＭ１が駆動停止制御され、受台４が前記第２所
定位置側に送られることがない。後続する受台４に順次
ほうれん草が載置されて、先頭の受台４が所定ピッチ回
転すると、その受台４の主ローラ１４が固定レール１８
のカム面に乗り上がって両斜辺側が上がり始め、第２所
定位置で絞り込み状態の葉菜類収容姿勢に変形する。[3] As shown in FIG. 9, when a worker places a bundle of spinach with the root on the front side on the cradle 4 which is open on the lower side of the first predetermined position, The first detection sensor 25 detects that the spinach is housed in the cradle 4, and the control device 24 makes the first detection based on the detection information.
The electric motor M1 is drive-controlled to rotate the rotation support shaft portion 6 of the spinach accommodating portion 1 so that the pedestal 4 moves toward the second predetermined position.
Pitch is fed (until the next cradle 4 comes to the lower side of the first predetermined position). When the first detection sensor 25 detects that the spinach is not housed in the cradle 4, the drive stop control of the first electric motor M1 is performed, and the cradle 4 is not sent to the second predetermined position side. . When spinach is sequentially placed on the succeeding pedestal 4 and the leading pedestal 4 is rotated by a predetermined pitch, the main roller 14 of the pedestal 4 is fixed to the fixed rail 18
Riding on the cam surface of both sides, the both hypotenuse sides start to rise, and at the second predetermined position, the leaf vegetables are deformed to the attitude of containing leaf vegetables.

【００３８】〔４〕受台４は、葉菜類収容姿勢のままさ
らに所定ピッチ送られれて第３所定位置で停止する。こ
の停止制御は、作業者によって後続の受台４に新たにほ
うれん草が載置されても、優先して実行される。そし
て、袋装着機構２における装着基台側リンク機構３５が
作動して、前記横向き開口姿勢の袋２７を、前記絞り込
み状態の受台４に覆い被せる。この場合、前記絞り込み
状態における受台４内にほうれん草が収容されているこ
とを第２検出センサ２６が検出したときだけ、制御装置
２４が第３電動モータＭ３を駆動制御して第２リンク機
構３５が作動し、前記絞り込み状態における受台４内に
ほうれん草がないことを第２検出センサ２６が検出した
ときは、第３電動モータＭ３を駆動停止制御する。袋２
７を前記絞り込み状態の受台４に覆い被せた後、第２吸
着ノズルＮ２が吸着作用を解除し、第２リンク機構３５
が逆方向に作動して、袋装着機構２における第１，第２
開口用アーム４８，４９などが受台４側から離間する。[4] The cradle 4 is further fed at a predetermined pitch in the leaf vegetable accommodating posture and stopped at the third predetermined position. This stop control is preferentially executed even if a spinach is newly placed on the subsequent cradle 4 by the operator. Then, the mounting base side link mechanism 35 of the bag mounting mechanism 2 operates to cover the bag 27 in the laterally opened posture on the pedestal 4 in the narrowed state. In this case, the control device 24 drives and controls the third electric motor M3 to control the second link mechanism 35 only when the second detection sensor 26 detects that the spinach is accommodated in the cradle 4 in the narrowed state. When the second detection sensor 26 detects that there is no spinach in the cradle 4 in the narrowed state, the drive stop control of the third electric motor M3 is performed. Bag 2
After covering the pedestal 4 in the narrowed state, the second suction nozzle N2 releases the suction action, and the second link mechanism 35
Operate in the opposite direction, and the first and second bag mounting mechanism 2
The opening arms 48 and 49 are separated from the cradle 4 side.

【００３９】〔５〕受台４が、さらに所定ピッチ送られ
ると、第４所定位置の可動レール２８上に位置して静止
する（図１２）。そしてその可動レール２８上に位置し
た状態で、ほうれん草収容部１の収容基台側リンク機構
２１が作動して可動レール２８が下降し、受台４が縦向
きの葉菜類排出姿勢になって、受台４に覆い被せられた
袋２７とともにほうれん草がずり落ちる（図１０
（ハ））。そこで作業者が袋２７ごと取り上げ、袋２７
の開口部２７ａを閉じてほうれん草の包装が完了する。[5] When the cradle 4 is further fed by the predetermined pitch, it is positioned on the movable rail 28 at the fourth predetermined position and stands still (FIG. 12). Then, while being positioned on the movable rail 28, the accommodation base side link mechanism 21 of the spinach accommodating portion 1 is activated to lower the movable rail 28, and the pedestal 4 is placed in the vertically oriented leafy vegetables discharging posture, and The spinach slides down with the bag 27 covered by the table 4 (FIG. 10).
(C)). Then, the worker picks up the bag 27 and the bag 27.
The opening 27a is closed to complete the spinach packaging.

【００４０】〔６〕収容基台側リンク機構２１が逆方向
に作動して可動レール２８が上昇し、受台４が横向きの
前記葉菜類収容姿勢に復帰する。[6] The storage base side link mechanism 21 operates in the opposite direction, the movable rail 28 rises, and the cradle 4 is returned to the sideways-oriented leaf vegetable storage posture.

【００４１】〔７〕受台４は、さらに所定ピッチ送られ
ると、主ローラ１４が固定レール１８のカム面から降り
て両斜辺側が下がり始め、第１所定位置で前記開放状態
になり、前記第１所定位置の下手側で作業者によって再
びほうれん草が載置される。図示はしないが、最後の束
のほうれん草を受台４に載置した後は、後続する受台４
を空にしたままで、そのほうれん草を載置した受台４を
自動送り設定する手段を制御装置２４に対して設けてあ
る。[7] When the cradle 4 is further fed by a predetermined pitch, the main roller 14 descends from the cam surface of the fixed rail 18 and both hypotenuse sides start to descend, and the open state is set at the first predetermined position, and 1 The spinach is placed again by the worker on the lower side of the predetermined position. Although not shown, after placing the last bundle of spinach on the pedestal 4, the subsequent pedestal 4
The control device 24 is provided with a means for automatically setting the pedestal 4 on which the spinach is placed while keeping the emptied state.

【００４２】〔別実施例〕前記収容袋整形ノズルＮ３か
ら袋２７の開口部２７ａに対向して空気を吹込む場合、
袋取り出しアーム３６と第１，第２開口用アーム４８，
４９とのいずれか又は一方を、所定位置で一旦停止させ
てから空気を吹込むよう構成してもよい。[Other Embodiments] When air is blown from the accommodation bag shaping nozzle N3 toward the opening 27a of the bag 27,
The bag take-out arm 36 and the first and second opening arms 48,
Either one or one of the two may be temporarily stopped at a predetermined position, and then air may be blown.

【００４３】前記第１吸着ノズルＮ１を、空気を噴出・
吸引自在に構成して、この第１吸着ノズルＮ１が上記実
施例のように袋２７に吸着し、かつ、袋２７の開口部２
７ａに空気を吹込むよう構成してもよい。この構成によ
ればノズルの数を少なくすることができ構造をコンパク
トにできる。Air is ejected from the first adsorption nozzle N1.
The first suction nozzle N1 sucks the bag 27 as in the above-described embodiment, and the opening 2 of the bag 27 is configured to be suckable.
The air may be blown into 7a. With this configuration, the number of nozzles can be reduced and the structure can be made compact.

【００４４】前記収容袋整形ノズルＮ３を袋取り出しア
ーム３６とは分離して、例えばテーブル３４上等の固定
部に設けてもよい。The accommodating bag shaping nozzle N3 may be provided separately from the bag taking-out arm 36 and provided on a fixed portion such as on the table 34.

【００４５】前記袋２７が前記包装対象物受入れ姿勢に
姿勢変更した後で、前記収容袋整形ノズルＮ３から袋２
７に空気が吹き込まれるように構成してもよい。After the bag 27 has been changed to the posture for receiving the object to be packed, the bag shaping nozzle N3 to the bag 2 is changed.
It may be configured so that air is blown into 7.

【００４６】上記実施例では袋２７をつり下げして揺動
させながら開口させたが、袋２７を上下平行移動させな
がら開口させる場合であっても、本発明は適用できる。In the above embodiment, the bag 27 is suspended and opened while swinging, but the present invention can be applied to the case where the bag 27 is opened while being moved in parallel.

【００４７】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。Incidentally, reference numerals are provided in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

【図面の簡単な説明】[Brief description of drawings]

【図１】ほうれん草包装装置の全体側面図1] Overall side view of spinach packaging device

【図２】袋取り出しアームの第１吸着ノズルが袋に吸着
した状態を示す側面図FIG. 2 is a side view showing a state where the first suction nozzle of the bag take-out arm is sucked by the bag.

【図３】第１吸着ノズルが袋をつり下げ支持した状態を
示す側面図FIG. 3 is a side view showing a state in which the first suction nozzle suspends and supports the bag.

【図４】第１，第２開口用アームが袋に吸着した状態を
示す側面図FIG. 4 is a side view showing a state in which the first and second opening arms are attached to the bag.

【図５】開口状態の袋の開口部に収容袋整形ノズルから
空気を吹込んで袋の姿勢を整えている状態を示す側面図FIG. 5 is a side view showing a state in which air is blown into the opening of the bag in the opened state from a storage bag shaping nozzle to adjust the posture of the bag.

【図６】第１，第２開口用アームが袋を開口した状態を
示す側面図FIG. 6 is a side view showing a state in which the first and second opening arms open the bag.

【図７】袋取り出し部の平面図FIG. 7 is a plan view of the bag take-out section.

【図８】袋取り出し部の側面図FIG. 8 is a side view of the bag take-out section.

【図９】ほうれん草収容部の平面図FIG. 9 is a plan view of the spinach container.

【図１０】（イ）第１検出部で受台上のほうれん草の有
無を検出している状態を示す図 （ロ）第２検出部で絞り込み状態の受台内のほうれん草
の有無を検出している状態を示す図 （ハ）受台からほうれん草を袋とともに排出している状
態を示す図FIG. 10 is a diagram showing a state in which (a) the first detector detects the presence or absence of spinach on the cradle. (B) The second detector detects the presence or absence of spinach in the narrowed cradle. Figure showing the state (c) Figure showing the state where the spinach is discharged from the cradle together with the bag

【図１１】（イ）開放状態における受台を示す図 （ロ）絞り込み状態における受台を示す図11 (a) is a diagram showing the pedestal in an opened state. (B) is a diagram showing the pedestal in a narrowed state.

【図１２】葉菜類収容姿勢における受台と、その周りの
構造を示す側面図FIG. 12 is a side view showing a pedestal in a leafy vegetable accommodation posture and a structure around the pedestal.

【図１３】葉菜類排出姿勢における受台と、その周りの
構造を示す側面図FIG. 13 is a side view showing a cradle in a leafy vegetable discharging posture and a structure around the cradle.

【図１４】受台を示す斜視図FIG. 14 is a perspective view showing a cradle.

【図１５】制御系を示す図FIG. 15 is a diagram showing a control system.

【符号の説明】[Explanation of symbols]

３ 袋収納部 ２４ 制御手段 ２７ 収容袋 ２７ａ 収容袋の開口部 ３２ 袋取り出し部 ３６ 支持アーム Ｎ１ 第１吸着部 Ｎ２ 第２吸着部 Ｎ３ 収容袋整形ノズル Ａ 第１吸着部移動機構 Ｂ 第２吸着部移動機構 3 Bag Storage 24 Control Unit 27 Storage Bag 27a Storage Bag Opening 32 Bag Extraction 36 Support Arm N1 First Adsorption Part N2 Second Adsorption Part N3 Storage Bag Shaping Nozzle A First Adsorption Part Movement Mechanism B Second Adsorption Part Moving mechanism

Claims (3)

【特許請求の範囲】[Claims] 【請求項１】 袋収納部（３）に積み重ねられた多数枚
の収容袋（２７）を最上層のものから順に１枚づつ分離
して取り出す袋取り出し部（３２）を設けてある包装装
置であって、 前記最上層の収容袋（２７）に吸着作用する第１吸着部
（Ｎ１）と、この第１吸着部（Ｎ１）を支持アーム（３
６）で支持しながら前記袋収納部（３）に上下方向で近
接離間させる第１吸着部移動機構（Ａ）とを、前記袋取
り出し部（３２）に設けて、前記第１吸着部（Ｎ１）と
第１吸着部移動機構（Ａ）との駆動により、前記最上層
の収容袋（２７）を分離可能に構成し、分離した収容袋
（２７）の開口部（２７ａ）付近を、袋の表裏側から各
別に吸着する一対の第２吸着部（Ｎ２）と、この一対の
第２吸着部（Ｎ２）を、前記分離した収容袋（２７）の
開口部（２７ａ）付近に各別に近接離間させる第２吸着
部移動機構（Ｂ）とを設けて、前記第２吸着部（Ｎ２）
と第２吸着部移動機構（Ｂ）との駆動により、前記収容
袋（２７）の開口部（２７ａ）を開口可能に、かつ、前
記収容袋（２７）を包装対象物受入れ姿勢に姿勢変更可
能に構成し、開口状態の前記収容袋（２７）の開口部
（２７ａ）に空気を吹込んで前記収容袋の姿勢を整える
収容袋整形ノズル（Ｎ３）を設けてある包装装置。1. A packaging device provided with a bag take-out section (32) for separating and taking out a large number of accommodating bags (27) stacked in the bag accommodating section (3) one by one in order from the uppermost one. Then, the first suction part (N1) that acts on the uppermost storage bag (27) by suction, and the support arm (3) for the first suction part (N1).
A first adsorbing part moving mechanism (A) that moves the bag accommodating part (3) closer to and away from the bag accommodating part (3) while being supported by 6) is provided in the bag taking out part (32), and the first adsorbing part (N1) is provided. ) And the first suction part moving mechanism (A), the uppermost storage bag (27) is configured to be separable, and the vicinity of the opening (27a) of the separated storage bag (27) is The pair of second suction portions (N2) that individually suction from the front and back sides, and the pair of second suction portions (N2) are respectively brought close to and separated from each other in the vicinity of the opening (27a) of the separated storage bag (27). And a second suction part moving mechanism (B) for providing the second suction part (N2).
The opening (27a) of the accommodation bag (27) can be opened and the orientation of the accommodation bag (27) can be changed to a posture for receiving the object to be packaged by driving the first suction unit moving mechanism (B) and the second suction unit moving mechanism (B). And a packaging bag shaping nozzle (N3) for adjusting the posture of the packaging bag by blowing air into the opening (27a) of the packaging bag (27) in the opened state. 【請求項２】 前記最上層の収容袋（２７）が分離した
後、包装対象物受入れ姿勢に姿勢変更する前に開口する
ように、前記第２吸着部移動機構（Ｂ）を制御する第２
吸着部移動機構制御手段（２４）を設けるとともに、前
記収容袋（２７）が開口した後、包装対象物受入れ姿勢
に姿勢変更する前に、前記開口部（２７ａ）に空気が吹
込まれるように、前記収容袋整形ノズル（Ｎ３）の吹込
み位置を設定してある請求項１記載の包装装置。2. The second suction part moving mechanism (B) for controlling the second suction part moving mechanism (B) so as to open after the uppermost storage bag (27) is separated and before the attitude is changed to the packing object receiving attitude.
Adsorption part moving mechanism control means (24) is provided, and air is blown into the opening (27a) after the accommodation bag (27) is opened and before the attitude is changed to the packing object receiving attitude. The packaging device according to claim 1, wherein a blowing position of the accommodation bag shaping nozzle (N3) is set. 【請求項３】 前記第１吸着部移動機構（Ａ）の支持ア
ーム（３６）に前記収容袋整形ノズル（Ｎ３）を設け、
この収容袋整形ノズル（Ｎ３）を前記吹き込み位置に配
置可能に前記第１吸着部移動機構（Ａ）を構成してある
請求項１記載の包装装置。3. The accommodation bag shaping nozzle (N3) is provided on a support arm (36) of the first suction part moving mechanism (A),
The packaging device according to claim 1, wherein the first suction portion moving mechanism (A) is configured so that the accommodation bag shaping nozzle (N3) can be arranged at the blowing position.