[go: up one dir, main page]

JP2012232780A - Packing processing method for bagging/packing machine and bagging/packing machine - Google Patents

Packing processing method for bagging/packing machine and bagging/packing machine Download PDF

Info

Publication number
JP2012232780A
JP2012232780A JP2011102558A JP2011102558A JP2012232780A JP 2012232780 A JP2012232780 A JP 2012232780A JP 2011102558 A JP2011102558 A JP 2011102558A JP 2011102558 A JP2011102558 A JP 2011102558A JP 2012232780 A JP2012232780 A JP 2012232780A
Authority
JP
Japan
Prior art keywords
bag
packaging machine
packaging
bagging
air injection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP2011102558A
Other languages
Japanese (ja)
Inventor
Takeshi Ueda
剛士 上田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyo Jidoki Co Ltd
Original Assignee
Toyo Jidoki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyo Jidoki Co Ltd filed Critical Toyo Jidoki Co Ltd
Priority to JP2011102558A priority Critical patent/JP2012232780A/en
Publication of JP2012232780A publication Critical patent/JP2012232780A/en
Withdrawn legal-status Critical Current

Links

Images

Landscapes

  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

【課題】間欠回転式ロータリ型袋詰め包装機において、粉粒体や液状物等の被包装物が挟持部に付着することにより生じる袋(被包装物を充填した袋)の位置ずれの発生の検出、及び挟持部の清掃を、包装機を停止することなく自動的に行い、生産性を改善する。
【解決手段】挟持部3,3における袋4の位置ずれの有無を検出する位置ずれ検出センサ14〜17を停止位置VIに設置し、挟持部3,3にエアを噴射するエア噴射ノズル24,24を停止位置IXに設置する。位置ずれ検出センサ14〜17により、停止位置VIに停止した挟持部3,3に位置ずれ有りが検出された場合、当該挟持部3,3が停止位置IXに停止して開いたとき、エア噴射ノズル24,24から挟持部3,3に向けてエアを噴射し、付着した被包装物を吹き飛ばして清掃する。
【選択図】図1
[PROBLEMS] To prevent misalignment of a bag (a bag filled with an article to be packaged) caused by an object to be packaged such as a granular material or a liquid adhering to a sandwiching portion in an intermittent rotary type rotary bag filling and packaging machine. The detection and the cleaning of the clamping part are automatically performed without stopping the packaging machine to improve productivity.
Displacement detection sensors 14 to 17 for detecting presence / absence of displacement of the bag 4 in the sandwiching portions 3 and 3 are installed at the stop position VI, and air injection nozzles 24 for injecting air to the sandwiching portions 3 and 3. 24 is installed at the stop position IX. When the displacement detection sensors 14 to 17 detect the presence of displacement in the holding portions 3 and 3 stopped at the stop position VI, the air injection is performed when the holding portions 3 and 3 stop and open at the stop position IX. Air is jetted from the nozzles 24 and 24 toward the sandwiching portions 3 and 3, and the attached articles to be packaged are blown away for cleaning.
[Selection] Figure 1

Description

本発明は、袋の両側縁部を挟持する左右一対の挟持部を有するグリッパーが、所定の移動経路に沿って等間隔に複数組設置され、前記グリッパーが前記移動経路に沿って移動し、その移動の過程で所定の包装処理工程が順次行われる袋詰め包装機及びその包装処理方法に関し、特に挟持部の清掃が適宜自動的に行われる袋詰め包装機及びその包装処理方法に関する。   In the present invention, a plurality of grippers having a pair of left and right clamping parts for clamping both side edges of a bag are installed at equal intervals along a predetermined movement path, and the grippers move along the movement path, More particularly, the present invention relates to a bagging and packaging machine in which predetermined packaging processing steps are sequentially performed in the course of movement and a packaging processing method thereof, and more particularly to a bagging and packaging machine in which pinching portions are automatically cleaned appropriately and a packaging processing method thereof.

粉粒体や液状物等の被包装物を袋詰め包装する場合、充填時における充填ミス、舞い上がり(粉粒体の場合)、飛び散り(液状物の場合)等により、被包装物がグリッパーの挟持部(特に挟持面)に付着する場合がある。また、袋のプレス脱気(特許文献1参照)を行う場合にも、舞い上がり(粉粒体の場合)や飛び散り(液状物の場合)が生じ得る。さらに、充填時又はプレス脱気時以外でも、包装機周辺で被包装物を扱っている関係で、被包装物が不用意に挟持部に付着することがある。   When packaging a packaged object such as a granular material or a liquid material, the packaged material may be gripped by a gripper due to a filling error, rising (in the case of a granular material), splashing (in the case of a liquid material), etc. It may adhere to a part (especially clamping surface). Further, when performing bag press deaeration (see Patent Document 1), soaring (in the case of powder) and scattering (in the case of liquid) can occur. In addition, the packaged article may inadvertently adhere to the sandwiching part due to the handling of the packaged object around the packaging machine even at times other than filling or press degassing.

グリッパーの挟持部には、挟持した袋がずれないようにかつ袋にダメージを与えないように通常ゴムが貼り付けられ、かつ適度の挟圧力が付与されている。しかし、挟持部に上記のような被包装物が付着すると、挟持部の摩擦力が著しく低下するため、充填時の衝撃や被包装物の重さ、あるいは移送に伴う慣性力等により、袋は挟持部の規定位置から容易に位置ずれ(下方への位置ずれ)を起こしてしまう。
袋がグリッパーの挟持部の規定位置からずれると、袋口の所定位置にシールを行うことができず、シール不良が生じるほか、規定位置からのずれの大きさによっては袋が挟持部から脱落することもある。
Rubber is usually attached to the gripping portion of the gripper so that the sandwiched bag is not displaced and damage is not given to the bag, and an appropriate clamping pressure is applied. However, if the article to be packaged adheres to the sandwiching part, the frictional force of the sandwiching part is remarkably reduced.Therefore, the bag may be damaged by the impact during filling, the weight of the article to be packaged, or the inertial force accompanying the transfer. A position shift (downward position shift) easily occurs from the specified position of the clamping portion.
If the bag deviates from the specified position of the gripping part of the gripper, sealing cannot be performed at a predetermined position of the bag mouth, resulting in poor sealing, and depending on the amount of deviation from the specified position, the bag may drop from the holding part. Sometimes.

このような問題に対処するため、従来は包装機の運転中にオペレーターが挟持部における袋の位置ずれを監視し、あるいは包装機から放出された製品のシール部を検査して、挟持部の規定位置からの位置ずれが許容範囲を超えたと判断したとき、包装機を一旦停止して、袋の位置ずれが生じた挟持部を清掃(付着物を除去)していた。
しかし、このような対処方法では、オペレータの負担が大きいだけでなく、清掃のタイミングが曖昧となり、対処が遅れるという問題が生じ、また包装機を一旦停止させる関係で、生産性の低下が避けられない。
Conventionally, in order to deal with such problems, the operator monitors the positional deviation of the bag in the holding part during the operation of the packaging machine, or inspects the seal part of the product released from the packaging machine, and defines the holding part. When it was determined that the positional deviation from the position exceeded the allowable range, the packaging machine was temporarily stopped, and the sandwiched portion where the positional deviation of the bag occurred was cleaned (deposits were removed).
However, such a handling method not only imposes a heavy burden on the operator, but also causes a problem that the timing of cleaning becomes ambiguous and the handling is delayed, and a decrease in productivity can be avoided because the packaging machine is temporarily stopped. Absent.

一方、包装機の稼働中に発生する不良を検出するセンサーを設置することが特許文献2,3に記載されている。特許文献2には、被包装物の充填前に、挟持部に挟持された袋の位置をセンサーで検出し、袋の位置が許容範囲内にないとき、当該袋に以後の包装処理(被包装物の充填、袋口のシール等)を行わず、空袋のまま包装機外に排出することが記載されている。特許文献3には、包装機の稼働中に発生する不良(例えば給袋時点で生じた袋の位置ずれ)を検出するセンサーを設け、不良毎に検出回数をカウントし、同一の不良についてカウント数が設定数に達したとき、異常が発生したと判定して、ディスプレーにアラーム表示し、かつ包装機を停止することが記載されている。
さらに、特許文献4には、液状物が挟持部に付着すると、被包装物を充填する際に袋が下方に位置ずれを起こしやすいことに鑑み、挟持部に挟持された袋の位置をセンサーで検出し、基準位置からのずれの大きさに応じて、袋口をシールするシール部材の上下方向位置を調整することが記載されている。
On the other hand, Patent Documents 2 and 3 describe that a sensor for detecting a defect that occurs during operation of the packaging machine is installed. In Patent Document 2, the position of the bag sandwiched by the sandwiching part is detected by a sensor before filling the packaged object, and when the bag position is not within the allowable range, the bag is subjected to subsequent packaging processing (packaged product). It is described that the product is discharged out of the packaging machine as an empty bag without filling the product, sealing the bag mouth, etc.). Patent Document 3 is provided with a sensor that detects a defect that occurs during operation of the packaging machine (for example, a positional deviation of the bag that occurs at the time of bag supply), counts the number of detections for each defect, and counts for the same defect When the number reaches the set number, it is determined that an abnormality has occurred, an alarm is displayed on the display, and the packaging machine is stopped.
Further, in Patent Document 4, in view of the fact that when the liquid material adheres to the sandwiched portion, the bag is likely to be displaced downward when filling the package object, the position of the bag sandwiched by the sandwiched portion is detected by a sensor. It is described that the vertical position of the seal member for sealing and sealing the bag mouth is adjusted according to the magnitude of the deviation from the reference position.

特開平11−208603号公報Japanese Patent Laid-Open No. 11-208603 特許第2578608号公報Japanese Patent No. 2578608 特許第4297231号公報Japanese Patent No. 4297231 特開2009−298417号公報JP 2009-298417 A

粉粒体や液状物等の被包装物が挟持部に付着することにより生じる袋(被包装物を充填した袋)の位置ずれの発生を、検出用のセンサーを設置し自動的に検出できるようにすれば、オペレーターの負担は軽減され、清掃のタイミングが明確化されて対処の遅れが生じるのも防止できる。しかし、位置ずれの発生を検出後、従来どおり包装機を停止して清掃するのであれば、従来同様に生産性の低下は免れない。   The detection sensor can be installed to automatically detect the occurrence of misalignment of the bag (bag filled with the package) that occurs when the packaged material such as powder or liquid adheres to the clamping part. By doing so, the burden on the operator can be reduced, and the timing of cleaning can be clarified to prevent delays in handling. However, if the packaging machine is stopped and cleaned as before after detecting the occurrence of misalignment, a decrease in productivity is inevitable as in the past.

従って、本発明は、粉粒体や液状物等の被包装物が挟持部に付着することにより生じる袋(被包装物を充填した袋)の位置ずれの発生をセンサーで自動的に検出するだけでなく、さらに検出結果に基づき挟持部の清掃を包装機を停止することなく行うようにして、包装機の生産性を改善することを目的とする。   Therefore, the present invention only automatically detects the occurrence of positional deviation of the bag (bag filled with the packaged object) caused by the object to be packaged such as a granular material or a liquid material adhering to the sandwiched portion. In addition, another object of the present invention is to improve the productivity of the packaging machine by cleaning the clamping unit based on the detection result without stopping the packaging machine.

本発明(請求項1)は、袋の両側縁部を挟持する左右一対の挟持部を有するグリッパーが複数組設置され、前記グリッパーが所定の移動経路に沿って移動し、その移動の過程で前記挟持部が所定のタイミングで開閉し、かつ前記挟持部が閉じて供給された袋の両側縁部を挟持する給袋工程、前記挟持部に挟持された袋へ被包装物を充填する充填工程、及び前記挟持部が開いて袋を解放する袋解放工程等の一連の包装処理工程が順次行われる袋詰め包装機の包装処理方法において、前記挟持部における袋の位置ずれの有無を位置ずれ検出センサにより検出する位置ずれ検出工程と、前記移動経路の近傍に配置されたエア噴射ノズルから前記挟持部にエアを噴射して清掃する清掃工程を有し、前記位置ずれ検出工程は、前記充填工程後前記挟持部が最初に開くまでの間に行われ、前記清掃工程は、前記位置ずれ検出行程で位置ずれが検出された場合に、位置ずれが検出された前記挟持部に対し、前記袋解放工程で前記挟持部が開いてから前記給袋工程で前記挟持部が閉じるまでの間で前記挟持部が開状態のときに行われることを特徴とする。   The present invention (Claim 1) is provided with a plurality of grippers having a pair of left and right gripping portions for gripping both side edge portions of the bag, and the grippers move along a predetermined movement path. A bag supplying step for opening and closing the holding portion at a predetermined timing and holding both side edge portions of the bag supplied with the holding portion closed, and a filling step for filling a bag to be packed in the bag held by the holding portion, In a packaging processing method for a bagging and packaging machine in which a series of packaging processing steps such as a bag releasing step for releasing the bag by opening the clamping portion are sequentially performed, a positional deviation detection sensor for detecting whether or not the bag is misaligned in the clamping portion And a cleaning process for injecting and cleaning air from the air injection nozzle arranged in the vicinity of the movement path to the clamping portion, and the misalignment detection process is performed after the filling process. The clamping part The cleaning process is performed until the first opening, and when the positional deviation is detected in the positional deviation detection process, the clamping part is detected in the bag releasing process with respect to the clamping part in which the positional deviation is detected. It is performed when the holding part is in an open state from when the opening part is opened until the holding part is closed in the bag supply step.

本発明(請求項6)に係る袋詰め包装機は、袋の両側縁部を挟持する左右一対の挟持部を有するグリッパーが複数組設置され、前記グリッパーが所定の移動経路に沿って移動し、その移動の過程で前記挟持部が所定のタイミングで開閉し、かつ前記挟持部が閉じて供給された袋の両側縁部を挟持する給袋工程、前記挟持部に挟持された袋へ被包装物を充填する充填工程、及び前記挟持部が開いて袋を解放する袋解放工程等の一連の包装処理工程が順次行われる袋詰め包装機において、前記充填工程が行われる位置又はその下流側の前記移動経路に沿った位置に、前記挟持部における袋の位置ずれの有無を検出する位置ずれ検出センサが配置され、前記袋解放工程が行われる位置又はその下流側でかつ前記給袋工程が行われる位置又はその上流側の前記移動経路に沿った位置に、開状態の挟持部に向けてエアを噴射するエア噴射ノズルが配置され、さらに前記位置ずれ検出センサの検出信号に基づいて前記エア噴射ノズルを制御する制御装置を備え、前記制御装置は、前記位置ずれ検出センサが位置ずれを検出した場合に、前記エア噴射ノズルに位置ずれが検出された前記挟持部に対しエア噴射を行わせることを特徴とする。   A bagging and packaging machine according to the present invention (Claim 6) is provided with a plurality of grippers having a pair of left and right gripping parts for gripping both side edges of the bag, and the grippers move along a predetermined movement path. In the course of the movement, the holding portion opens and closes at a predetermined timing, and the bag supply step for holding the both side edges of the supplied bag with the holding portion closed, the package to the bag held by the holding portion In a bagging and packaging machine in which a series of packaging processing steps such as a filling step for filling the bag and a bag release step for releasing the bag by opening the clamping portion are sequentially performed, the position at the filling step or the downstream side thereof A misalignment detection sensor that detects the presence or absence of misalignment of the bag in the clamping portion is disposed at a position along the movement path, and the bag supply process is performed at a position where the bag release process is performed or downstream thereof. Location or upstream A control device for controlling the air injection nozzle based on a detection signal of the positional deviation detection sensor, wherein an air injection nozzle for injecting air toward the holding portion in the open state is disposed at a position along the movement path The control device causes the air injection nozzle to perform air injection when the positional deviation is detected by the air ejection nozzle when the positional deviation detection sensor detects the positional deviation.

上記包装処理方法又は包装処理装置において、前記移動経路は直線状、又は環状の移動経路(円形、レーストラック形等)であり、複数組のグリッパーは前記移動経路に沿って等間隔に設置されていることが望ましい。前記グリッパーが直線状の移動経路に沿って所定距離移動し、又は環状の移動経路に沿って1回転する間に、前記一連の包装処理工程の1サイクルが行われる。グリッパーの移動(回転を含む)は間欠移動でも連続移動でもよい。   In the packaging processing method or the packaging processing apparatus, the movement path is a linear or annular movement path (circular, racetrack shape, etc.), and a plurality of sets of grippers are installed at equal intervals along the movement path. It is desirable. While the gripper moves a predetermined distance along the linear movement path or makes one rotation along the annular movement path, one cycle of the series of packaging processing steps is performed. The gripper movement (including rotation) may be intermittent movement or continuous movement.

本発明によれば、粉粒体や液状物等の被包装物が挟持部に付着することにより生じる袋(被包装物を充填した袋)の位置ずれの発生を、検出用センサを設置し自動的に検出できるようにしたので、従来のようなオペレーターの負担が軽減され、オペレーターの判断の遅れで清掃のタイミングが遅れるということも防止できる。また、包装機を停止することなく、位置ずれが発生した挟持部の清掃を自動的に行うことができるので、包装機の生産性の低下も防止でき、オペレーターが行っていた清掃、再稼働に伴う点検の負担も軽減される。   According to the present invention, a detection sensor is installed to automatically detect the occurrence of a positional shift of a bag (bag filled with the package) that is caused by the packaged material such as a granular material or a liquid material adhering to the sandwiching portion. Therefore, it is possible to reduce the burden on the operator as in the past, and to prevent the timing of cleaning from being delayed due to the delay of the operator's judgment. In addition, it is possible to automatically clean the pinched part where the misalignment has occurred without stopping the packaging machine, so that the productivity of the packaging machine can be prevented from being lowered, and the operator can perform cleaning and restart operations. The associated inspection burden is also reduced.

本発明に係る袋詰め包装機の斜視図である。It is a perspective view of the bag packing machine concerning the present invention. 上記袋詰め包装機で行われる位置ずれ検出工程を説明する正面図である。It is a front view explaining the position shift detection process performed with the said bagging and packaging machine. その側面図である。It is the side view. 上記袋詰め包装機で行われる位置ずれ検出工程を説明する正面図である。It is a front view explaining the position shift detection process performed with the said bagging and packaging machine. 上記袋詰め包装機で行われる位置ずれ検出工程を説明する正面図である。It is a front view explaining the position shift detection process performed with the said bagging and packaging machine. 上記袋詰め包装機で行われる位置ずれ検出工程を説明する正面図である。It is a front view explaining the position shift detection process performed with the said bagging and packaging machine. 位置ずれ検出装置及びエア噴射装置の制御手順の一例を示すフローチャートである。It is a flowchart which shows an example of the control procedure of a position shift detection apparatus and an air injection apparatus.

以下、図1〜図7を参照して、本発明に係る袋詰め包装機及びその包装処理方法について説明する。
図1には間欠回転式のロータリー型袋詰め包装機が示されている。この袋詰め包装機は、ロータリー型袋移送装置1を備え、その一部として一方向(図1において左回り/白抜き矢印参照)に間欠回転するテーブル2と、その周囲に等間隔に配置された10組のグリッパー(左右一対の挟持部3,3のみが図示されている)を有する。グリッパーは、テーブル2の間欠回転に伴い円形の移動経路上を等角度間隔で間欠移動(間欠回転)し、その間欠移動の間、周知の如く所定のタイミングで一対の挟持部3,3が開閉し、かつ該一対の挟持部3,3の間隔が広がり又は狭まる。
Hereinafter, with reference to FIGS. 1-7, the bagging packaging machine which concerns on this invention, and its packaging processing method are demonstrated.
FIG. 1 shows an intermittent rotation type rotary bag filling and packaging machine. This bagging and packaging machine is equipped with a rotary type bag transfer device 1, and as part of it a table 2 that intermittently rotates in one direction (see the counterclockwise / white arrow in FIG. 1) and the periphery thereof are arranged at equal intervals. 10 pairs of grippers (only a pair of left and right clamping parts 3 and 3 are shown). The gripper intermittently moves (intermittent rotation) on the circular movement path at equal angular intervals along with the intermittent rotation of the table 2, and during the intermittent movement, the pair of clamping parts 3 and 3 open and close at a predetermined timing as is well known. In addition, the interval between the pair of sandwiching portions 3 and 3 is widened or narrowed.

テーブル2の間欠回転に伴い、各グリッパーは水平面内で前記移動経路に沿って間欠的に移動する。テーブル2が一回転する間にグリッパーは10回停止し、各停止位置において一連の包装処理工程が順次行われ、1回の移動サイクル(一回転)で給袋から製品袋解放(放出)までの包装処理の1サイクルが完了する。
より具体的に説明すると、グリッパーの最初の停止位置Iにおいて給袋工程が行われる。停止位置Iの近傍に、グリッパーの挟持部3,3に袋4を供給するコンベアマガジン式給袋装置5が配置されている。挟持部3,3に供給される袋4は上縁が開口した袋であり、この停止位置Iで開いていた挟持部3,3が閉じ、供給された袋4は開口部(袋口)付近の両側縁を挟持され、開口部を上向きにして吊り下げられる。
グリッパーの2番目の停止位置IIにおいて印字工程が行われる。停止位置IIの近傍に、挟持部3,3に挟持された袋4の袋面に日付等を印字する印字装置6が配置されている。
As the table 2 rotates intermittently, each gripper moves intermittently along the movement path in a horizontal plane. While the table 2 makes one rotation, the gripper stops 10 times, and a series of packaging processing steps are sequentially performed at each stop position, and from the bag supply to the product bag release (release) in one movement cycle (one rotation). One cycle of the packaging process is completed.
More specifically, the bag feeding process is performed at the first stop position I of the gripper. In the vicinity of the stop position I, a conveyor magazine type bag supply device 5 for supplying the bag 4 to the grippers 3 and 3 of the gripper is arranged. The bag 4 supplied to the holding portions 3 and 3 is a bag having an open upper edge, the holding portions 3 and 3 opened at the stop position I are closed, and the supplied bag 4 is near the opening (bag opening). The both side edges are sandwiched, and the opening is suspended upward.
The printing process is performed at the second stop position II of the gripper. In the vicinity of the stop position II, a printing device 6 that prints the date and the like on the bag surface of the bag 4 held between the holding portions 3 and 3 is arranged.

グリッパーの3番目の停止位置IIIにおいて開口工程が行われる。停止位置IIIの近傍に、挟持部3,3に挟持された袋4の袋口を開口する開口装置が配置され、その一部として、互いに接離可能な一対の吸盤7,7と、追従式開口ガイド8,8が図示されている。停止位置IIIにおいて、挟持部3,3に挟持された袋4は一対の吸盤7,7に両面を吸着されて袋口を広げられ(このとき挟持部3,3の間隔が狭まる)、続いて追従式開口ガイド8,8が下降して先端が袋4内に挿入される。その後、追従式開口ガイド8,8は、袋面に対して垂直方向にかつ互いに反対方向に移動して先端同士の間隔が広がり、これにより、吸盤7,7が袋面から離れた後も、袋4の開口状態が維持される。追従式開口ガイド8,8は、グリッパーが停止位置IIIから停止位置IVに向けて移動するとき一緒に移動し、停止位置IVで上昇して袋4内から抜け出し、停止位置IIIに向けて復帰移動する。   The opening process takes place at the third stop position III of the gripper. In the vicinity of the stop position III, an opening device for opening the bag mouth of the bag 4 held between the holding portions 3 and 3 is arranged, and as a part thereof, a pair of suction cups 7 and 7 that can be brought into contact with and separated from each other, and a follow-up type Opening guides 8, 8 are shown. At the stop position III, the bag 4 held between the holding parts 3 and 3 is adsorbed on both sides by the pair of suction cups 7 and 7 to widen the bag mouth (at this time, the interval between the holding parts 3 and 3 is narrowed). The followable opening guides 8 and 8 are lowered and the leading end is inserted into the bag 4. After that, the follow-up type opening guides 8 and 8 move in the direction perpendicular to the bag surface and in the opposite directions to widen the distance between the tips, so that even after the suction cups 7 and 7 are separated from the bag surface, The open state of the bag 4 is maintained. The follow-up opening guides 8 and 8 move together when the gripper moves from the stop position III toward the stop position IV, rises at the stop position IV, comes out of the bag 4, and returns to the stop position III. To do.

グリッパーの4番目の停止位置IVにおいて充填工程が行われる。停止位置IVの近傍に、挟持部3,3に挟持された袋4に被包装物を充填する充填装置が配置され、その一部としてホッパー9が図示されている。ホッパー9は停止位置IVに停止した袋4の上方に位置し、その下端と袋4の上縁との間には所定の隙間が形成されている。
グリッパーが停止位置IVに停止した直後に、前記開口ガイド8,8が上昇して袋4から抜け出し、前記隙間を通り停止位置IIIに向け復帰移動を開始し、続いてホッパー9内の図示しないスクリューが回転して、ホッパー9内の被包装物が下端開口から下方に送り出され、袋4内に充填される。
The filling process takes place at the fourth stop position IV of the gripper. In the vicinity of the stop position IV, a filling device for filling an object to be packaged in the bag 4 held between the holding parts 3 and 3 is arranged, and a hopper 9 is shown as a part thereof. The hopper 9 is located above the bag 4 stopped at the stop position IV, and a predetermined gap is formed between the lower end thereof and the upper edge of the bag 4.
Immediately after the gripper stops at the stop position IV, the opening guides 8 and 8 are lifted out of the bag 4 and start to return to the stop position III through the gap, and then a screw (not shown) in the hopper 9 Is rotated, the article to be packaged in the hopper 9 is sent downward from the lower end opening, and is filled in the bag 4.

グリッパーの5番目の停止位置Vにおいて袋のシール予定部の清掃工程が行われる。停止位置Vの近傍に、清掃用ガスを噴射して袋4の内面のシール予定部に付着した被包装物を吹き飛ばす清掃装置が配置され、その一部として噴射ノズル11が図示されている。噴射ノズル11は昇降可能で、下端部外周にやや斜め上向きに清掃用ガスを噴射する複数の噴射口が形成されている。噴射ノズル11は、グリッパーが停止位置Vに停止すると下降し、その下端部が袋4内に少し挿入され、袋4の内面のシール予定部に清掃用ガスを噴射後上昇して袋4から抜け出す。   At the fifth stop position V of the gripper, the cleaning process of the planned sealing part of the bag is performed. In the vicinity of the stop position V, a cleaning device is arranged for injecting cleaning gas and blowing off the articles to be packaged attached to the planned sealing portion on the inner surface of the bag 4, and the injection nozzle 11 is shown as a part thereof. The injection nozzle 11 can be moved up and down, and a plurality of injection ports for injecting the cleaning gas slightly obliquely upward are formed on the outer periphery of the lower end portion. The spray nozzle 11 descends when the gripper stops at the stop position V, and its lower end portion is slightly inserted into the bag 4. The spray nozzle 11 rises after spraying the cleaning gas onto the planned seal portion on the inner surface of the bag 4 and exits from the bag 4. .

グリッパーの6番目の停止位置VIにおいて、挟持部3,3における袋4の位置ずれの有無を検出する検出工程が行われる。停止位置VIには、袋4の位置ずれの有無を検出する位置ずれ検出装置が配置され、その一部として、停止位置VIに停止した袋4の左右両側縁近傍の上方位置に設置された左右一対のセンサ取付用プレート12,13と、位置ずれ検出センサ14〜17、及び位置ずれ検出センサ14,15に対向して設置された反射板18が図2,3に図示されている(位置ずれ検出センサ16,17に対向して設置された反射板は図示されていない)。なお、位置ずれ検出センサ14〜17はいずれも回帰反射型光電センサ(投受光器)である。   At the sixth stop position VI of the gripper, a detection process for detecting whether or not the bag 4 is misaligned in the sandwiching portions 3 and 3 is performed. The stop position VI is provided with a misalignment detection device that detects the presence or absence of misalignment of the bag 4, and as a part thereof, left and right installed at upper positions in the vicinity of both left and right edges of the bag 4 stopped at the stop position VI. A pair of sensor mounting plates 12, 13, misregistration detection sensors 14-17, and a reflector 18 installed facing the misregistration detection sensors 14, 15 are shown in FIGS. The reflector plate installed opposite to the detection sensors 16, 17 is not shown). Each of the misregistration detection sensors 14 to 17 is a retroreflective photoelectric sensor (projector / receiver).

センサ取付用プレート12は、袋4の上縁を挟むように形成された一対の垂下部12a,12bを有し、垂下部12aに前記位置ずれ検出センサ14,15が上下に所定間隔開けて設置され、垂下部12bに前記反射板18が設置され、位置ずれ検出センサ14,15と反射板18は、袋4の上縁部付近を挟むように対向配置されている。センサ取付用プレート13も同じく袋4の上縁を挟むように形成された一対の垂下部を有し、一方の垂下部に前記位置ずれセンサ16,17が上下に所定間隔開けて設置され、他方の垂下部に図示しない反射板が設置され、位置ずれ検出センサ16,17と前記反射板は、前記位置ずれ検出センサ14,15と反射板18と同様に、袋4の上縁部付近を挟むように対向配置されている。   The sensor mounting plate 12 has a pair of hanging parts 12a and 12b formed so as to sandwich the upper edge of the bag 4, and the position deviation detection sensors 14 and 15 are installed on the hanging part 12a with a predetermined distance therebetween. The reflection plate 18 is installed on the hanging portion 12b, and the positional deviation detection sensors 14, 15 and the reflection plate 18 are arranged to face each other so as to sandwich the vicinity of the upper edge portion of the bag 4. The sensor mounting plate 13 also has a pair of hanging parts formed so as to sandwich the upper edge of the bag 4, and the positional displacement sensors 16 and 17 are installed on one hanging part with a predetermined interval therebetween, A reflection plate (not shown) is installed on the hanging portion of the bag 4, and the displacement detection sensors 16 and 17 and the reflection plate sandwich the vicinity of the upper edge of the bag 4 in the same manner as the displacement detection sensors 14 and 15 and the reflection plate 18. So as to face each other.

図2,3に示すように挟持部3,3に挟持された袋4の上縁4aが基準位置又はそのごく近傍にあるときは、上側の位置ずれ検出センサ14,16では、投光と反射光が袋4に当たらず遮られないので受光量が多い。一方、下側の位置ずれ検出センサ15,17では、袋4が光を通さない材料でできていることを前提とすれば(以下の例も同じ)、投光と反射光が袋4に当たって遮られるので受光量がゼロとなる。
一方、例えば図4に示すように、挟持部3,3に挟持された袋4が全体的に下方に位置し、基準位置からのずれ量h,hが比較的大きい場合、全ての位置ずれ検出センサ14〜17において、投光と反射光が袋4に遮られないので受光量が多い。
As shown in FIGS. 2 and 3, when the upper edge 4a of the bag 4 held between the holding portions 3 and 3 is at or near the reference position, the upper position deviation detection sensors 14 and 16 project and reflect light. Since the light does not strike the bag 4 and is not blocked, the amount of light received is large. On the other hand, in the lower position misalignment detection sensors 15 and 17, assuming that the bag 4 is made of a material that does not transmit light (the same applies to the following examples), the light projection and the reflected light strike the bag 4 and block it. Therefore, the amount of received light becomes zero.
On the other hand, for example, as shown in FIG. 4, when the bag 4 held between the holding parts 3 and 3 is located entirely below and the deviations h 1 and h 2 from the reference position are relatively large, all positions In the shift detection sensors 14 to 17, since the light projection and the reflected light are not blocked by the bag 4, the received light amount is large.

また、例えば図5に示すように、挟持部3,3に挟持された袋4が全体的に下方に位置しているが、基準位置からのずれ量h,hが図4の例に比べて小さい場合、上側の位置ずれ検出センサ14,16では、投光と反射光が袋4に遮られないので受光量が多く、下側の位置ずれ検出センサ15,17では、投光と反射光の一部が袋4に当たって遮られ、受光量がその分少なくなる。この際の受光量は、基準位置からのずれ量h,hが大きいほど多くなる。 Further, for example, as shown in FIG. 5, the bag 4 sandwiched between the sandwiching portions 3 and 3 is located generally below, but the deviations h 1 and h 2 from the reference position are shown in the example of FIG. If smaller, the upper position deviation detection sensors 14 and 16 do not block the light projection and reflected light by the bag 4, so the amount of received light is large, and the lower position deviation detection sensors 15 and 17 emit and reflect light. Part of the light hits the bag 4 and is blocked, and the amount of received light is reduced accordingly. The amount of light received at this time increases as the deviations h 1 and h 2 from the reference position increase.

さらに、例えば図6に示すように、挟持部3,3に挟持された袋4が傾斜し、袋4の上縁の左側で基準位置からのずれ量hが大きい場合、袋4の左側の位置ずれ検出センサ14,15では、投光と反射光が袋4に遮られないので受光量が多い。一方、袋4の右側では、基準位置からのずれ量hが小さく、上側の位置ずれ検出センサ16は投光と反射光が袋4に遮られないので受光量が多く、下側の位置ずれセンサ17は投光と反射光の大部分が袋4に遮られて受光量は極めて少ない。 Furthermore, for example, as shown in FIG. 6, when the bag 4 held between the holding portions 3 and 3 is inclined and the deviation h 1 from the reference position is large on the left side of the upper edge of the bag 4, In the displacement detection sensors 14 and 15, the amount of light received is large because the light projection and the reflected light are not blocked by the bag 4. On the other hand, on the right side of the bag 4, the shift amount h 2 from the reference position is small, and the upper position shift detection sensor 16 receives a large amount of light because the projected light and reflected light are not blocked by the bag 4, and the lower position shift. The sensor 17 has an extremely small amount of received light because most of the light projection and reflection light is blocked by the bag 4.

このように位置ずれ検出センサ14〜17の受光量の大きさにより、停止位置VIに停止した挟持部3,3について、袋4の基準位置からのずれ量h,hを知ることができ、またそのずれ量h,hから袋4の傾斜の有無も知ることができる。なお、この点は、袋4が投光及び反射光を一部透す材料でできている場合でも同様である。
検出センサ14〜17は反射光を受光し、その受光量の大きさに相応する出力信号を得て、その出力信号が検出信号として制御装置19に送られ、制御装置19において前記検出信号に基づき、位置ずれの有無が判定される。検出センサ14〜17からの検出信号に基づき制御装置19により位置ずれ有りの判定が出たとき、位置ずれ検出工程で位置ずれが検出されたということになる。
As described above, the shift amounts h 1 and h 2 from the reference position of the bag 4 can be known for the sandwiching portions 3 and 3 stopped at the stop position VI based on the magnitude of the received light amount of the position shift detection sensors 14 to 17. In addition, the presence / absence of the inclination of the bag 4 can also be known from the deviations h 1 and h 2 . This point is the same even when the bag 4 is made of a material that partially transmits light and reflected light.
The detection sensors 14 to 17 receive the reflected light, obtain an output signal corresponding to the magnitude of the received light amount, and the output signal is sent to the control device 19 as a detection signal, and the control device 19 based on the detection signal. Then, the presence or absence of a positional deviation is determined. When the control device 19 determines that there is a positional deviation based on the detection signals from the detection sensors 14 to 17, the positional deviation is detected in the positional deviation detection process.

位置ずれの有無の判定の基準となる基準位置からのずれ量(基準ずれ量)H,Hの大きさは適宜設定される。実際のずれ量h,hが許容範囲を超えて大きくなるとシール不良等が発生するが、例えばずれ量h,hが許容範囲より相当程度小さい段階で早めにこれを解消することを対処方針とするのであれば、位置ずれの有無の判定基準となる基準ずれ量H,Hの大きさを、それなりに小さく設定すればよい。この場合、未然に不良袋(シール不良の発生した袋)の発生を防止し、さらには袋4の挟持部3,3からの脱落を防止できる利点があるが、後述する清掃行程においてエア噴射量の増大が避けられない。一方、実際のずれ量h,hが許容範囲を超えたとき、これを解消するという対処方針もあり得る。この場合、位置ずれの有無の判定基準となるずれ量H,Hの大きさを、前記許容範囲ギリギリに設定することになる。この場合、その包装処理サイクルでの不良袋の発生は避けられないが、エア噴射ノズル24,24によるエアの噴射量を節約できる。 The magnitudes of deviation amounts (reference deviation amounts) H 1 and H 2 from a reference position, which is a reference for determining whether or not there is a positional deviation, are set as appropriate. When the actual deviations h 1 and h 2 exceed the allowable range, a seal failure or the like occurs. For example, the deviations h 1 and h 2 are eliminated early when the deviations h 1 and h 2 are considerably smaller than the allowable range. In the case of a countermeasure policy, the magnitudes of the reference deviation amounts H 1 and H 2 that are determination criteria for the presence or absence of misregistration may be set to be small. In this case, there is an advantage that it is possible to prevent the occurrence of a defective bag (a bag in which a seal failure has occurred) and to prevent the bag 4 from falling off from the holding portions 3 and 3, but the air injection amount in the cleaning process described later The increase of unavoidable. On the other hand, when the actual deviation amounts h 1 and h 2 exceed the allowable range, there may be a coping policy of eliminating this. In this case, the magnitudes of the deviation amounts H 1 and H 2 that serve as criteria for determining whether or not there is a positional deviation are set to the limit of the allowable range. In this case, the occurrence of defective bags in the packaging processing cycle is inevitable, but the amount of air injected by the air injection nozzles 24, 24 can be saved.

グリッパーの7番目の停止位置VIIにおいて袋口のシール工程が行われる。停止位置VIIの近傍に、グリッパーの挟持部3,3に挟持された袋4の袋口に熱シールを行うシール装置が配置され、その一部として袋4の袋口を挟持する一対のシールバー21が図1に図示されている。
グリッパーの8番目の停止位置VIIIにおいてシール部の冷却工程が行われる。停止位置VIIIの近傍に、グリッパーの挟持部3,3に挟持された袋4の袋口を冷却する冷却装置が配置され、その一部として袋4の袋口のシール部を挟持する一対の冷却バー22が図1に図示されている。
A bag mouth sealing step is performed at the seventh stop position VII of the gripper. In the vicinity of the stop position VII, a seal device that performs heat sealing is disposed on the bag mouth of the bag 4 sandwiched between the grippers 3 and 3 of the gripper, and a pair of seal bars that sandwich the bag mouth of the bag 4 as a part thereof 21 is illustrated in FIG.
A cooling process of the seal portion is performed at the eighth stop position VIII of the gripper. In the vicinity of the stop position VIII, a cooling device for cooling the bag mouth of the bag 4 sandwiched between the grippers 3 and 3 of the gripper is disposed, and a pair of coolings sandwiching the seal portion of the bag mouth of the bag 4 as a part thereof Bar 22 is illustrated in FIG.

グリッパーの9番目の停止位置IXにおいて、挟持部3,3に挟持された袋4を解放する袋解放工程が行われる。停止位置IXの近傍に製品袋放出シュート23が配置され、挟持部3,3が開き、製品となった袋4は挟持部3,3から解放されて落下し、製品袋放出シュート23を介して機外に放出される。
また、停止位置IXでは、挟持部3,3にエアを噴射し付着した被包装物を吹き飛ばして除去する清掃工程が行われる。停止位置IXの近傍にはエア噴射装置が配置され、その一部として挟持部3,3の直上に配置された一対のエア噴射ノズル24,24が図1に図示されている。エア噴射ノズル24,24は、挟持部3,3が停止位置IXに停止し開いて袋4を解放したとき、開いた状態の該挟持部3,3に加圧されたエアを噴射し、特に挟持面に付着した被包装物を吹き飛ばして除去、清掃するためのものである。なお、エア噴射ノズル24,24は図示しない開閉弁及び加圧エア源に接続され、前記開閉弁の制御は制御装置19により行われる。
グリッパーの10番目の停止位置Xは空き位置であり、包装処理工程は行われない。
At the ninth stop position IX of the gripper, a bag releasing process for releasing the bag 4 held between the holding portions 3 and 3 is performed. The product bag discharge chute 23 is arranged in the vicinity of the stop position IX, the clamping portions 3 and 3 are opened, and the bag 4 which has become a product is released from the clamping portions 3 and 3 and falls, and passes through the product bag discharge chute 23. Released outside the aircraft.
Moreover, in the stop position IX, the cleaning process which blows off the to-be-packaged object which sprayed air on the clamping parts 3 and 3 and adhered was performed. An air injection device is disposed in the vicinity of the stop position IX, and a pair of air injection nozzles 24 and 24 disposed directly above the sandwiching portions 3 and 3 are shown in FIG. The air injection nozzles 24, 24 inject the pressurized air to the opened clamping parts 3, 3 when the clamping parts 3, 3 stop at the stop position IX and open to release the bag 4, The object to be packaged attached to the holding surface is blown away to remove and clean. The air injection nozzles 24, 24 are connected to an on-off valve and a pressurized air source (not shown), and the on-off valve is controlled by the control device 19.
The tenth stop position X of the gripper is an empty position, and the packaging process is not performed.

制御装置19による位置ずれ検出装置及びエア噴射装置の制御手順の一例を、図7に示すフローチャートを参照して説明する。
なお、このフローチャートは、制御手順として次の(1)〜(3)の点を含む。
(1)清掃行程は、挟持部3,3の移動サイクル(給袋工程から袋解放工程までの一連の包装処理工程)がn(n:複数)回繰り返して行われる間、位置ずれ検出行程において同じ挟持部3,3についてn回連続して位置ずれが検出されたとき(すなわち、検出センサ14〜17の検出信号に基づいて制御装置19がn回連続して位置ずれ有りと判定したとき)行われる。
位置ずれの検出が例えば1回限りであれば、偶発的に生じた位置ずれを検出した可能性があるが、同じ挟持部3,3がn回の移動サイクルを繰り返す間、毎回の検出工程で連続して位置ずれを検出した場合、その原因は被包装物の付着による可能性が高いと考えられる。このように、位置ずれを1回検出しただけで直ちに清掃工程を行わないことで、無駄なエアの噴出を避けることができる。
一方、nを複数でなく単数(=1)に設定することも本発明に含まれる(ただしフローチャートには反映されていない)。この場合、位置ずれ有りの判定が出る毎に清掃工程を実施することになり、清掃行程におけるエア噴射量の増大を招くが、迅速に位置ずれを解消してシール不良等の不良袋の発生あるいは挟持部3,3からの袋の脱落がより確実に防止できる。
An example of the control procedure of the misalignment detection device and the air injection device by the control device 19 will be described with reference to the flowchart shown in FIG.
This flowchart includes the following points (1) to (3) as a control procedure.
(1) The cleaning process is performed in the misalignment detection process while the movement cycle (a series of packaging process steps from the bag supply process to the bag release process) of the clamping units 3 and 3 is repeated n (n: plural) times. When a position shift is detected n times consecutively for the same clamping parts 3 and 3 (that is, when the control device 19 determines that there is a position shift n times continuously based on the detection signals of the detection sensors 14 to 17). Done.
If the position shift is detected only once, for example, it is possible that an accidental position shift has been detected. However, while the same clamping unit 3 and 3 repeats n movement cycles, the detection process is repeated each time. When the positional deviation is detected continuously, the cause is considered to be highly likely due to the attachment of the package. Thus, it is possible to avoid useless ejection of air by not performing the cleaning process immediately after detecting the positional deviation once.
On the other hand, it is also included in the present invention to set n to a single number (= 1) instead of a plurality (but not reflected in the flowchart). In this case, the cleaning process is performed every time the determination of the presence of misalignment occurs, leading to an increase in the amount of air injection in the cleaning process. It is possible to more reliably prevent the bag from falling off from the holding portions 3 and 3.

(2)位置ずれが検出された挟持部3,3に対し清掃工程が行われた後、同じ挟持部3,3が前記移動経路に沿ってm(m:1又は複数)回移動サイクルを繰り返す間、前記挟持部3,3に対し一連の包装処理工程が行われず、清掃(再清掃)工程のみがm回繰り返して行われる。
一度清掃工程を行った後、続くm回の移動サイクルにおいて1回ずつ合計m回の再清掃工程を繰り返し行うことにより、粘着性の高い被包装物でもより確実に除去、清掃できる。
一方、位置ずれが検出された挟持部3,3に対し清掃工程が行われた後、次の移動サイクルにおいて再清掃工程を行わない(m=0に相当)ことも本発明に含まれる(ただしフローチャートには反映されていない)。この場合、前記次の移動サイクルでは一連の包装処理工程を通常どおり行えばよい。
(2) After the cleaning process is performed on the sandwiching portions 3 and 3 in which the misalignment is detected, the same sandwiching portions 3 and 3 repeat the movement cycle m (m: 1 or more) times along the travel path. Meanwhile, a series of packaging process steps are not performed on the sandwiching portions 3 and 3, and only the cleaning (recleaning) step is repeated m times.
After the cleaning process is performed once, the re-cleaning process is repeated a total of m times at a time in the following m moving cycles, whereby even a highly adhesive package can be more reliably removed and cleaned.
On the other hand, it is also included in the present invention that after the cleaning process is performed on the sandwiching portions 3 and 3 in which the positional deviation is detected, the re-cleaning process is not performed in the next movement cycle (corresponding to m = 0) (however, Not reflected in the flow chart). In this case, a series of packaging processing steps may be performed as usual in the next movement cycle.

(3)位置ずれが検出された挟持部3,3に対し清掃工程が行われた後、次の移動サイクルにおける位置ずれ検出工程で、同じ挟持部3,3に再び位置ずれが検出された場合(すなわち、検出センサ14〜17の検出信号に基づいて制御装置が再び位置ずれ有りと判定した場合)、アラーム表示又は/及び袋詰め包装機の停止を行う。
この場合、挟持部3,3の清掃後も続けて基準ずれ量H,Hを超えるずれ量h,hが生じたということであるから、位置ずれの原因が被包装物の挟持部3,3への付着ではなく、例えば挟持部3,3に貼り付けたゴムの摩耗・劣化、空袋供給時に生じた位置決め不良等、他の原因である可能性がある。
(3) After the cleaning process is performed on the sandwiching portions 3 and 3 in which the misalignment is detected, the misalignment is detected again in the same sandwiching portions 3 and 3 in the misalignment detection process in the next movement cycle. (That is, when the control device determines again that there is a positional deviation based on the detection signals of the detection sensors 14 to 17), an alarm is displayed or / and the bagging and packaging machine is stopped.
Pinching in this case, the reference shift amount also continue after cleaning of the clamping portion 3,3 H 1, since displacement amount h 1, h 2 of greater than of H 2 is that the resulting, cause misalignment to be packaged This may be due to other causes such as wear / deterioration of the rubber adhered to the sandwiching portions 3 and 3 and poor positioning caused at the time of empty bag supply, instead of adhesion to the portions 3 and 3.

(ステップS1)
包装機の電源がオンにされ、同時に制御装置19の制御手順が開始される。
(ステップS2)
間欠移動するグリッパーが停止する毎に、制御装置19から位置ずれ検出装置に対し位置ずれ検出指令が出る。検出センサ14〜17により、停止位置VIに停止した挟持部3,3について袋4の位置ずれの検出が行われる。
(ステップS3)
検出センサ14〜17からの検出信号に基づき、制御装置19により位置ずれ発生の有無が判定される。先に述べたとおり、検出されたずれ量h,hの大きさが、予め設定された前述の基準ずれ量H,Hを超えたとき、位置ずれ有りと判定される。
(Step S1)
The power of the packaging machine is turned on, and at the same time, the control procedure of the control device 19 is started.
(Step S2)
Every time the intermittently moving gripper stops, a misalignment detection command is issued from the control device 19 to the misalignment detection device. By the detection sensors 14 to 17, the positional deviation of the bag 4 is detected for the holding portions 3 and 3 stopped at the stop position VI.
(Step S3)
Based on the detection signals from the detection sensors 14 to 17, the control device 19 determines whether or not a positional deviation has occurred. As described above, when the detected displacement amounts h 1 and h 2 exceed the aforementioned reference displacement amounts H 1 and H 2 , it is determined that there is a displacement.

(ステップS4)
ステップS3で位置ずれ無しと判定されたとき、位置ずれ有りのカウント値をリセットする。つまり、後述するステップS5で“1”カウントアップされた位置ずれ有りのカウント値が1以上であればこれを0に戻す。前回の移動サイクルでも位置ずれ無しと判定されていた場合、カウント値は0を継続する。
(ステップS5)
ステップS3で位置ずれ有りと判定された場合、位置ずれ有りのカウント値を“1”カウントアップする。カウントアップ後のカウント値は、該当する前記挟持部3,3(停止位置VIに停止した挟持部3,3)について、これまで連続して位置ずれ有りの判定が出た回数である。
(Step S4)
When it is determined in step S3 that there is no displacement, the count value with displacement is reset. In other words, if the count value with position deviation counted up by “1” in step S5 described later is 1 or more, it is returned to 0. If it is determined that there is no positional deviation in the previous movement cycle, the count value continues to be zero.
(Step S5)
If it is determined in step S3 that there is a positional deviation, the count value with a positional deviation is incremented by “1”. The count value after the count-up is the number of times that the determination of presence of positional deviation has been made so far with respect to the corresponding sandwiching portions 3 and 3 (the sandwiching portions 3 and 3 stopped at the stop position VI).

(ステップS6)
カウントアップ後、該当する前記挟持部3,3に対し前回の移動サイクルにおいて清掃工程が実施されたかされなかったかが確認される。
(ステップS7)
ステップS6で清掃工程の実施が確認された場合、制御装置19から異常信号が発信され、例えばディスプレイへのアラーム表示又は/及び包装機の停止が行われる。この異常信号が発信された場合、必要に応じて、オペレーターが挟持部3,3のゴム、コンベアマガジン式給袋装置5(特に袋の位置決めに関係する箇所)の点検を行う。
(Step S6)
After the count-up, it is confirmed whether or not a cleaning process has been performed in the previous movement cycle for the corresponding sandwiching portions 3 and 3.
(Step S7)
When the execution of the cleaning process is confirmed in step S6, an abnormality signal is transmitted from the control device 19, and for example, an alarm is displayed on the display or / and the packaging machine is stopped. When this abnormal signal is transmitted, the operator inspects the rubber of the holding portions 3 and 3 and the conveyor magazine type bag supply device 5 (particularly, a portion related to bag positioning) as necessary.

(ステップS8)
ステップS6で清掃工程の実施が確認されなかった場合、該当する前記挟持部3,3についての位置ずれ有りのカウント値が、基準カウント値n(n:複数)と比較される。カウント値が基準カウント値n未満であった(基準カウント値nに達しなかった)とき、ステップS2に戻る。
(ステップS9)
ステップS8においてカウント値が基準カウント値nであった(基準カウント値に達した)とき、まず該当する挟持部3,3について位置ずれ有りの判定のカウント値をリセットする(0に戻す)。
(Step S8)
When it is not confirmed in step S6 that the cleaning process has been performed, the count value with misalignment for the corresponding sandwiching portions 3 and 3 is compared with a reference count value n (n: plural). When the count value is less than the reference count value n (the reference count value n has not been reached), the process returns to step S2.
(Step S9)
When the count value is the reference count value n in step S8 (has reached the reference count value), first, the count value for the determination of the presence of misalignment is reset (returned to 0) for the corresponding sandwiching portions 3 and 3.

(ステップS10)
続いて制御装置19は、該当する挟持部3,3が停止位置IXに停止し、前記挟持部3,3が開いて袋4を解放したとき、清掃装置に対して清掃指令信号を出す。これにより、エア噴射ノズル24,24から前記挟持部3,3に向けて加圧エアが噴射され、清掃工程が行われる。
(ステップS11)
ステップS10で清掃工程の実施後、制御装置19は、前記挟持部3,3が次回の移動サイクルに入るとき、前記挟持部3,3に対する袋の供給停止の指令信号を出し、コンベアマガジン式給袋装置5の給袋操作を停止させる。これにより次回の移動サイクルでは給袋工程後の包装処理工程も全て実施されず、清掃工程のみが実施されることになる。
(Step S10)
Subsequently, the control device 19 issues a cleaning command signal to the cleaning device when the corresponding holding portions 3 and 3 are stopped at the stop position IX and the holding portions 3 and 3 are opened and the bag 4 is released. Thereby, pressurized air is injected toward the said clamping parts 3 and 3 from the air injection nozzles 24 and 24, and a cleaning process is performed.
(Step S11)
After carrying out the cleaning process in step S10, the control device 19 issues a command signal for stopping the bag supply to the sandwiching units 3 and 3 when the sandwiching units 3 and 3 enter the next movement cycle, and conveys the conveyor magazine type feed. The bag supply operation of the bag device 5 is stopped. As a result, in the next movement cycle, the packaging process after the bag supply process is not performed at all, and only the cleaning process is performed.

(ステップS12)
続いて制御装置19は、該当する挟持部3,3が再び停止位置IXに停止し、前記挟持部3,3が開いたとき、清掃装置に対して清掃指令信号を出す。これにより、エア噴射ノズル24,24から前記挟持部3,3に向けて加圧エアが噴射され、清掃工程(再清掃工程)が行われる。
(ステップS13)
最初の清掃工程後の清掃工程、すなわち再清掃工程のカウント値を“1”カウントアップする。カウントアップ後のカウント値は、ステップS10で行われた清掃工程後の移動サイクルにおいて、該当する挟持部3,3が再清掃工程を受けた回数(複数の場合は連続して再清掃工程を受けた回数)である。
(Step S12)
Subsequently, the control device 19 issues a cleaning command signal to the cleaning device when the corresponding holding portions 3 and 3 are stopped again at the stop position IX and the holding portions 3 and 3 are opened. Thereby, pressurized air is injected toward the said clamping parts 3 and 3 from the air injection nozzles 24 and 24, and a cleaning process (recleaning process) is performed.
(Step S13)
The count value of the cleaning process after the first cleaning process, that is, the re-cleaning process is incremented by “1”. The count value after the count-up is the number of times that the corresponding clamping parts 3 and 3 have undergone the re-cleaning process in the movement cycle after the cleaning process performed in step S10 (in the case of a plurality of times, the re-cleaning process is continuously received). Number of times).

(ステップS14)
制御装置19において再清掃工程のカウント値(再清掃工程の連続実施回数)が、基準カウント値m(m:1又は複数)と比較される。このカウント値が基準カウント値m未満のとき(基準カウント値mに達しなかったとき)、次回の移動サイクルで再清掃工程を繰り返し行うため、ステップ11に戻る。
(ステップS15)
ステップS14において再清掃工程のカウント値が基準カウント値mであったとき(基準カウント値mに達したとき)、該当する挟持部3,3について清掃工程の連続カウント値をリセットし(0に戻す)、ステップ2に戻る。
(Step S14)
The control device 19 compares the count value of the recleaning process (the number of continuous executions of the recleaning process) with the reference count value m (m: 1 or more). When this count value is less than the reference count value m (when the reference count value m is not reached), the process returns to step 11 in order to repeat the re-cleaning process in the next movement cycle.
(Step S15)
When the count value of the re-cleaning process is the reference count value m in step S14 (when the reference count value m is reached), the continuous count value of the cleaning process is reset (returned to 0) for the corresponding sandwiching portions 3 and 3. ), Return to step 2.

以上、特定の間欠回転式ロータリー型袋詰め包装機を例に、本発明に係る包装処理方法及び袋詰め包装機について説明したが、本発明を実施する上で、例えば次のような実施の形態も考えられる。
(1)上記の例では、位置ずれ検出センサ14〜17を停止位置VIに設置したが、これは充填工程が行われる位置(停止位置V)又はその下流側の前記移動経路に沿った適宜位置(当然停止位置IXより上流側)に設置することができる。
(2)上記の例では、エア噴出ノズル24,24を停止位置IXに設置したが、これは停止位置IXから停止位置Iまでの前記移動経路に沿った適宜位置に設置することができる。ただし、エア噴出ノズル24,24の噴射のタイミングは、停止位置IXに設置した場合は挟持部3,3が開いてから、停止位置Iに設置した場合は挟持部3,3が閉じるまでの範囲で設定される。
As mentioned above, although the specific intermittent rotation type rotary type bag filling and packaging machine has been described as an example, the packaging processing method and the bag filling and packaging machine according to the present invention have been described. In carrying out the present invention, for example, the following embodiments are described. Is also possible.
(1) In the above example, the displacement detection sensors 14 to 17 are installed at the stop position VI. This is a position where the filling process is performed (stop position V) or an appropriate position along the movement path on the downstream side thereof. (Naturally upstream of the stop position IX).
(2) In the above example, the air ejection nozzles 24, 24 are installed at the stop position IX, but this can be installed at an appropriate position along the movement path from the stop position IX to the stop position I. However, the injection timing of the air ejection nozzles 24, 24 is a range from when the clamping parts 3 and 3 are opened when installed at the stop position IX to when the clamping parts 3 and 3 are closed when installed at the stop position I. Set by.

(3)上記の例では、不良袋排出工程を考慮していなかったが、仮に同工程を行うことが必要な場合、停止位置IXの下流側、具体的には空き位置である停止位置Xで行うことができる(例えば特開2007−269401号公報参照)。この場合、エア噴出ノズル24,24は、停止位置Xから停止位置Iまでの前記移動経路に沿った適宜位置に設置する。
(4)上記の例では、停止位置IXにおいて袋4を挟持部3,3から解放し、落下させたが、本発明は、例えば特開2001−39408号公報に記載された充填機21のように、他の包装処理装置(具体的には同公報に記載された真空包装機22)に袋を受け渡しする袋詰め包装機にも適用できる。
(3) In the above example, the defective bag discharging process is not taken into consideration. However, if it is necessary to perform the same process, at the downstream side of the stop position IX, specifically, at the stop position X that is an empty position. (For example, refer to JP 2007-269401 A). In this case, the air ejection nozzles 24, 24 are installed at appropriate positions along the movement path from the stop position X to the stop position I.
(4) In the above example, the bag 4 is released from the holding portions 3 and 3 and dropped at the stop position IX. However, the present invention is similar to the filling machine 21 described in Japanese Patent Laid-Open No. 2001-39408, for example. In addition, the present invention can also be applied to a bagging and packaging machine that delivers a bag to another packaging processing apparatus (specifically, the vacuum packaging machine 22 described in the publication).

(5)以上の説明は、円形の移動経路を有する間欠回転式のロータリー型袋詰め包装機を例にして行ったが、先に述べたとおり、本発明は直線状やレーストラック形等の移動経路を有する袋詰め包装機、あるいはグリッパーが連続移動するタイプの袋詰め包装機にも適用できる。グリッパーが連続移動する場合、エア噴射ノズル24,24はグリッパーの挟持部3,3に所定距離追従移動し、次いで元の位置に復帰移動するタイプ(追従式開口ガイド8,8参照)であることが望ましい。 (5) Although the above description has been made by taking an example of an intermittent rotary rotary bagging and packaging machine having a circular movement path, as described above, the present invention can be moved in a straight line or a racetrack. The present invention can also be applied to a bagging and packaging machine having a path or a bagging and packaging machine of a type in which a gripper continuously moves. When the gripper moves continuously, the air injection nozzles 24, 24 are of the type that moves following the gripper holding portions 3, 3 for a predetermined distance and then returns to the original position (see the following opening guides 8, 8). Is desirable.

2 テーブル
3 グリッパーの挟持部
4 袋
14〜17 位置ずれ検出センサ
18 反射板
24 エア噴射ノズル
2 Table 3 Gripper clamping portion 4 Bags 14 to 17 Position shift detection sensor 18 Reflector 24 Air injection nozzle

Claims (10)

袋の両側縁部を挟持する左右一対の挟持部を有するグリッパーが複数組設置され、前記グリッパーが所定の移動経路に沿って移動し、その移動の過程で前記挟持部が所定のタイミングで開閉し、かつ前記挟持部が閉じて供給された袋の両側縁部を挟持する給袋工程、前記挟持部に挟持された袋へ被包装物を充填する充填工程、及び前記挟持部が開いて袋を解放する袋解放工程等の一連の包装処理工程が順次行われる袋詰め包装機の包装処理方法において、前記挟持部における袋の位置ずれの有無を検出する位置ずれ検出工程と、前記移動経路の近傍に配置されたエア噴射ノズルから前記挟持部にエアを噴射して清掃する清掃工程を有し、前記位置ずれ検出工程は、前記充填工程後前記挟持部が最初に開くまでの間に行われ、前記清掃工程は、前記位置ずれ検出行程で位置ずれが検出された場合に、位置ずれが検出された前記挟持部に対し、前記袋解放工程で前記挟持部が開いてから前記給袋工程で前記挟持部が閉じるまでの間で前記挟持部が開状態のときに行われることを特徴とする袋詰め包装機の包装処理方法。 A plurality of grippers having a pair of left and right gripping portions for gripping both side edges of the bag are installed, the grippers move along a predetermined movement path, and the gripping portions open and close at a predetermined timing in the course of the movement. And a bag feeding step for sandwiching both side edges of the bag supplied with the clamping portion closed, a filling step for filling a bag sandwiched between the clamping portions, and a bag for opening the bag when the clamping portion is opened. In a packaging processing method for a bagging and packaging machine in which a series of packaging processing steps such as a bag releasing step to be released are sequentially performed, a misalignment detection step for detecting presence / absence of misalignment of the bag in the clamping portion, and the vicinity of the movement path A cleaning process for injecting and cleaning air from the air injection nozzle disposed on the clamping part, and the positional deviation detection process is performed after the filling process until the clamping part is first opened, The cleaning process includes When a misalignment is detected in the misalignment detection process, until the nipping portion in which the misalignment is detected until the nipping portion is closed in the bag supply step after the nipping portion is opened in the bag releasing step. The packaging method of the bagging and packaging machine is performed when the clamping unit is in an open state. 前記移動経路が環状の移動経路であり、前記グリッパーが前記移動経路に沿って1回転する間に前記一連の包装処理工程が行われることを特徴とする請求項1に記載された袋詰め包装機の包装処理方法。 2. The bagging and packaging machine according to claim 1, wherein the moving path is an annular moving path, and the series of packaging processing steps are performed while the gripper makes one rotation along the moving path. 3. Packaging process. 前記清掃行程は、前記一連の包装処理工程がn(n:複数)回繰り返して行われる間、前記位置ずれ検出行程において同一の挟持部についてn回連続して位置ずれが検出されたとき行われることを特徴とする請求項1又は2に記載された袋詰め包装機の包装処理方法。 The cleaning process is performed when a positional deviation is detected n times consecutively for the same clamping portion in the positional deviation detection process while the series of packaging process steps are repeated n (n: plural) times. The packaging processing method of the bag filling and packaging machine according to claim 1 or 2. 位置ずれが検出された挟持部に対し前記清掃工程が行われた後、前記挟持部が前記移動経路に沿ってm(m:1又は複数)回移動する間、前記挟持部に対し袋の供給が行われず、再清掃工程がm回繰り返して行われることを特徴とする請求項1〜3のいずれかに記載された袋詰め包装機の包装処理方法。 After the cleaning process is performed on the clamping unit in which the positional deviation is detected, the bag is supplied to the clamping unit while the clamping unit moves m (m: 1 or plural) times along the movement path. The packaging process method for a bagging and packaging machine according to any one of claims 1 to 3, wherein the re-cleaning step is repeated m times. 位置ずれが検出された挟持部に対し前記清掃工程が行われた後、次の位置ずれ検出工程において前記挟持部に再び位置ずれが検出された場合、アラーム表示又は/及び袋詰め包装機の停止を行うことを特徴とする請求項1〜4のいずれかに記載された袋詰め包装機の包装処理方法。 After the cleaning process is performed on the sandwiched portion in which the misalignment is detected, if a misalignment is detected again in the sandwiching section in the next misalignment detecting step, an alarm is displayed or / and the bagging and packaging machine is stopped. The packaging processing method of the bagging and packaging machine according to any one of claims 1 to 4, wherein: 袋の両側縁部を挟持する左右一対の挟持部を有するグリッパーが複数組設置され、前記グリッパーが所定の移動経路に沿って移動し、その移動の過程で前記挟持部が所定のタイミングで開閉し、かつ前記挟持部が閉じて供給された袋の両側縁部を挟持する給袋工程、前記挟持部に挟持された袋へ被包装物を充填する充填工程、及び前記挟持部が開いて袋を解放する袋解放工程等の一連の包装処理工程が順次行われる袋詰め包装機において、前記充填工程が行われる位置又はその下流側の前記移動経路に沿った位置に、前記挟持部における袋の位置ずれの有無を検出する位置ずれ検出センサが配置され、前記袋解放工程が行われる位置又はその下流側でかつ前記給袋工程が行われる位置又はその上流側の前記移動経路に沿った位置に、開状態の挟持部に向けてエアを噴射するエア噴射ノズルが配置され、さらに前記位置ずれ検出センサの検出信号に基づいて前記エア噴射ノズルを制御する制御装置を備え、前記制御装置は、前記位置ずれ検出センサが位置ずれを検出した場合に、前記エア噴射ノズルに位置ずれが検出された前記挟持部に対しエア噴射を行わせることを特徴とする袋詰め包装機。 A plurality of grippers having a pair of left and right gripping portions for gripping both side edges of the bag are installed, the grippers move along a predetermined movement path, and the gripping portions open and close at a predetermined timing in the course of the movement. And a bag feeding step for sandwiching both side edges of the bag supplied with the clamping portion closed, a filling step for filling a bag sandwiched between the clamping portions, and a bag for opening the bag when the clamping portion is opened. In a bagging and packaging machine in which a series of packaging processing steps such as a bag releasing step to be released are sequentially performed, the position of the bag in the holding portion at a position where the filling step is performed or a position along the movement path on the downstream side thereof A misalignment detection sensor for detecting the presence or absence of misalignment is disposed, at a position where the bag release process is performed or downstream thereof, and a position where the bag supply process is performed or a position along the movement path upstream thereof. Open An air injection nozzle that injects air toward the holding portion is disposed, and further includes a control device that controls the air injection nozzle based on a detection signal of the position shift detection sensor, and the control device includes the position shift detection sensor. When the misalignment is detected, the air injection nozzle causes the pinching portion in which the misalignment is detected to perform air injection. 前記移動経路が環状の移動経路であり、前記グリッパーが前記移動経路に沿って1回転する間に前記一連の包装処理工程が行われることを特徴とする請求項6に記載された袋詰め包装機。 The bagging and packaging machine according to claim 6, wherein the moving path is an annular moving path, and the series of packaging processing steps are performed while the gripper makes one rotation along the moving path. . 前記制御装置は、前記一連の包装処理工程がn(n:複数)回繰り返して行われる間、前記位置ずれ検出センサが同一の挟持部についてn回連続して位置ずれを検出した場合に、前記挟持部に対し前記エア噴射ノズルにエア噴射を行わせることを特徴とする請求項6又は7に記載された袋詰め包装機 When the position detection sensor detects a position shift n times consecutively for the same clamping part while the series of packaging process steps are repeated n (n: plural) times, The bag filling and packaging machine according to claim 6 or 7, wherein the air injection nozzle causes the air injection nozzle to perform air injection on the sandwiching portion. 前記制御装置は、前記位置ずれ検出センサが位置ずれを検出した後、位置ずれが検出された挟持部に対し前記エア噴射ノズルにエア噴射を行わせ、さらに同一の挟持部が前記移動経路に沿ってm(m:1又は複数)回移動する間、前記挟持部に対し袋の供給を行わせず、前記エア噴射ノズルにm回繰り返してエア噴射を行わせることを特徴とする請求項6〜8のいずれかに記載された袋詰め包装機。 After the positional deviation detection sensor detects the positional deviation, the control device causes the air injection nozzle to inject air to the clamping unit in which the positional deviation has been detected, and the same clamping unit follows the movement path. The bag is not supplied to the holding portion during the movement m (m: 1 or more) times, and the air injection nozzle is caused to perform air injection repeatedly m times. 8. A bagging and packaging machine described in any one of 8 above. 前記制御装置は、前記エア噴射ノズルにエア噴射を行わせた後、次の位置ずれ検出工程において位置ずれが検出された場合、アラーム表示又は/及び袋詰め包装機の停止を行うことを特徴とする請求項6〜9のいずれかに記載された袋詰め包装機。 The control device, after causing the air injection nozzle to perform air injection, displays an alarm or / and stops the bagging and packaging machine when a positional shift is detected in a next positional shift detection step. The bag filling and packaging machine according to any one of claims 6 to 9.
JP2011102558A 2011-04-29 2011-04-29 Packing processing method for bagging/packing machine and bagging/packing machine Withdrawn JP2012232780A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011102558A JP2012232780A (en) 2011-04-29 2011-04-29 Packing processing method for bagging/packing machine and bagging/packing machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011102558A JP2012232780A (en) 2011-04-29 2011-04-29 Packing processing method for bagging/packing machine and bagging/packing machine

Publications (1)

Publication Number Publication Date
JP2012232780A true JP2012232780A (en) 2012-11-29

Family

ID=47433522

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011102558A Withdrawn JP2012232780A (en) 2011-04-29 2011-04-29 Packing processing method for bagging/packing machine and bagging/packing machine

Country Status (1)

Country Link
JP (1) JP2012232780A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101652466B1 (en) * 2016-06-01 2016-08-31 홍승일 The circular type automatic packaging machine using a RFID
KR101652465B1 (en) * 2016-06-01 2016-08-31 홍승일 The circular type automatic packaging machine using a remote control
CN106882421A (en) * 2015-09-25 2017-06-23 东洋自动机株式会社 The feedway of mouth installation bag
EP3192743A1 (en) * 2016-01-15 2017-07-19 Toyo Jidoki Co., Ltd. Bag abnormality detection device and bag abnormality detection method
WO2018215724A1 (en) * 2017-05-24 2018-11-29 Erca Facility for producing containers by means of thermoforming
CN110606232A (en) * 2019-10-21 2019-12-24 浙江甬源科技有限公司 Testing braiding machine and packaging method
CN111994389A (en) * 2020-08-21 2020-11-27 张凯华 Packing system is used in macromolecular material production
JP7612211B2 (en) 2021-07-20 2025-01-14 ゼネラルパッカー株式会社 Heat sealing device for packaging machines

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106882421A (en) * 2015-09-25 2017-06-23 东洋自动机株式会社 The feedway of mouth installation bag
CN106882421B (en) * 2015-09-25 2019-04-23 东洋自动机株式会社 Feeding device for mouth mounting bag
EP3192743A1 (en) * 2016-01-15 2017-07-19 Toyo Jidoki Co., Ltd. Bag abnormality detection device and bag abnormality detection method
KR101652466B1 (en) * 2016-06-01 2016-08-31 홍승일 The circular type automatic packaging machine using a RFID
KR101652465B1 (en) * 2016-06-01 2016-08-31 홍승일 The circular type automatic packaging machine using a remote control
WO2018215724A1 (en) * 2017-05-24 2018-11-29 Erca Facility for producing containers by means of thermoforming
FR3066716A1 (en) * 2017-05-24 2018-11-30 Erca INSTALLATION FOR MANUFACTURING CONTAINERS BY THERMOFORMING
CN110662701A (en) * 2017-05-24 2020-01-07 埃尔卡公司 Device for producing containers by means of thermoforming
GB2579281A (en) * 2017-05-24 2020-06-17 Erca Facility for producing containers by means of thermoforming
ES2737873R1 (en) * 2017-05-24 2020-09-21 Erca INSTALLATION TO MANUFACTURE CONTAINERS BY THERMOFORMING
CN110662701B (en) * 2017-05-24 2022-03-04 埃尔卡公司 Device for producing containers by means of thermoforming
GB2579281B (en) * 2017-05-24 2022-09-28 Erca Facility for producing containers by means of thermoforming
CN110606232A (en) * 2019-10-21 2019-12-24 浙江甬源科技有限公司 Testing braiding machine and packaging method
CN111994389A (en) * 2020-08-21 2020-11-27 张凯华 Packing system is used in macromolecular material production
JP7612211B2 (en) 2021-07-20 2025-01-14 ゼネラルパッカー株式会社 Heat sealing device for packaging machines

Similar Documents

Publication Publication Date Title
JP2012232780A (en) Packing processing method for bagging/packing machine and bagging/packing machine
JP5324238B2 (en) Bag opening method and apparatus in bagging and packaging
KR101805208B1 (en) Method and apparatus for opening inlet of bag
EP2845812B1 (en) Packaging system
JP6032885B2 (en) Rotary type bagging and packaging machine
US11396390B2 (en) Filling apparatus
CA2810571C (en) Method and apparatus for filling a multi-row packaging tray with piece-form products
JP6017295B2 (en) Liquid filling method and apparatus for bagging and packaging
JP6625436B2 (en) Bag abnormality detection device and bag abnormality detection method
CN102294673B (en) Automatic capping machine
JP2012007931A (en) Seal check device of bag-packaged product and seal check method
JP5366882B2 (en) Spouted bag transport device
JP5838397B2 (en) Jaw for filling with powder removal function
JP5650556B2 (en) Package filling method and apparatus in intermittent rotary type bag filling and packaging machine
US6878222B1 (en) Apparatus and method for applying indicia to packages enclosed within a container
JP5837308B2 (en) Elevating type packaging processing equipment in intermittent rotary type bag filling and packaging machine
KR100851641B1 (en) Alignment feeder
CN209600871U (en) Tobacco bale detects removing devices
CN208897418U (en) A Small Packet Online Cache Control System
JP3546352B2 (en) Apparatus for preventing misalignment of articles in horizontal bag making and filling machine
CN110979856A (en) High-speed blister packaging and automatic boxing linkage production line equipment with double-side detection function
CN109178486B (en) Empty box sorting device for packaging boxes
JPH0699951A (en) Device for detecting defectively bonded packing
CN106275638A (en) Conveying arrangement material detection method
CN203306299U (en) A packaging machine printing system

Legal Events

Date Code Title Description
A300 Withdrawal of application because of no request for examination

Free format text: JAPANESE INTERMEDIATE CODE: A300

Effective date: 20140701