JP2017218221A - Method and apparatus for filling article to be packaged - Google Patents

Abstract

The object of the present invention is to make it possible to apply a filling method using a tray to a vertical packaging machine (a packaging machine that performs packaging processing, such as filling, on bags held in a suspended state with the opening facing upward). . A tray (1) comprises a main frame (11) and left and right side frames (12). When the tray 1 is in a horizontal state, the object 53 to be packaged is placed on the main frame 11 and held by the holding member 2 to be held on the tray 1 . Subsequently, the tray 1 is rotated around a horizontal axis O parallel to the width direction of the bag 54 to bring the tray 1 into a downward vertical state, and the tray 1 is lowered and inserted into the bag to a predetermined depth. The holding of the package 53 is released, the package 53 is dropped into the bag 54, and the tray 1 is lifted and retracted outside the bag. In the process in which the tip 12a of the side frame 12 enters the bag 54, the tray 1 is moved in the thickness direction of the bag 54, and the position of 1/2 of the height H of the tray 1 is moved in the thickness direction of the bag 54. is preferably located in the center of the [Selection drawing] Fig. 1

Description

  The present invention relates to a filling method and a filling device for filling an object to be packed in the bag from the bag mouth of the bag held in a suspended state with the bag mouth facing upward.

  Patent Document 1 describes a filling device that fills a bag held in a horizontal state with a plurality of items to be packaged in an aligned state. In this filling apparatus, a plurality of items to be packaged are arranged and placed on a horizontally placed tray (supply tray 1), the tray is moved toward an opening (bag opening) of the bag, and the tray The tray is inserted into the bag while the opening is widened in the shape of the outline of the tray at the tip of the bag. Subsequently, a pressing member (pressing bar 8c) is inserted into the bag from the rear of the tray, the article to be packaged is pressed into the bag, and the tray and the pressing member are retracted. The package is left in the bag in an aligned state.

In Patent Document 2, a large number of elongate objects to be packaged are placed in an aligned posture on a tray (tray 36) that intermittently rotates in a horizontal plane, and a bag is manually placed on the tray, and then the objects to be packaged are manually placed. There is described a filling method and apparatus for an article to be packed which is pulled out from the tray together with the bag and filled into the bag. According to this filling method and apparatus, a large number of elongate objects to be packed can be filled in the bag in an aligned posture.
Patent Document 3 describes a filling device that fills a bag held in a horizontal state with an indeterminate shape. In this filling device, an unshaped package is placed on a horizontally placed tray (hopper 107), a horizontally held bag is placed on the tray, and then a pressing member is placed from the back of the tray. The package is advanced and pushed into the bag. The package is filled in a bag while being placed on the tray.

  In Patent Document 4, a large number of granular packages are stacked in a bag held in a suspended state with a bag mouth facing upward by a hopper that swivels between a horizontal state and a vertical state and moves up and down. A filling device for filling in the state is described. In this filling device, after a large number of articles to be packaged are loaded into the hopper from the rear end of the hopper in the sideways state, the hopper is swung to a vertical state, and lowered to be deep into the bag. Insert and open the lower end of the hopper to move a part of the packaged article into the bag, then raise the hopper, and in the process, move all the packaged article in the hopper into the bag.

  Patent Document 5 describes a filling device that fills a bag held in a suspended state with the bag mouth facing upward in a state where a plurality of items to be packaged are stacked in parallel to the bag surface. This filling device receives trays (rotating trays 16R and 16L) that rotate between a horizontal state and a vertical state, and an object to be packaged from the tray, and corrects the posture of the object to be packaged and inserts it into a bag. Posture correction devices (posture correction / filling devices 51R and 51L) are provided. In this filling apparatus, a plurality of objects to be packaged are stacked and placed on the tray in a horizontal state, the top of the objects to be packaged is held by a pressing member and held in the tray, and the tray is swung to be in a vertical state. And the said to-be-packaged goods which became the standing state are sent to the said posture correction apparatus. Subsequently, after the posture of the article to be packaged is corrected by the posture correction device, the posture is held by the holding member, and the holding member is lowered and inserted into the bag.

Japanese Utility Model Publication No. 3-50003 JP-A-2-269603 JP-A-3-43326 Japanese Patent No. 5576148 JP 2013-237466 A

  The filling device described in Patent Document 1 can fill a bag with a plurality of articles to be packaged in an aligned state, but is inferior in productivity to a horizontal packaging machine (for a bag held with its opening facing sideways) It is applied to a packaging machine that performs packaging processing such as filling, and this is a highly productive vertical packaging machine (packing processing such as filling a bag held in a suspended state with the opening facing upward) It is difficult to apply to a packaging machine that applies In addition, the bag is opened by a pair of suction cups, and the opening is narrow in the width direction end of the bag (opening width in the bag thickness direction). When a tray (and an article to be packaged) is inserted into the bag through the opening, there is a possibility that the leading end of the tray hits the opening and the bag is damaged or the tray cannot be inserted.

The filling method and apparatus described in Patent Document 2 is applied to a horizontal packaging machine with low productivity, and is difficult to apply to a vertical packaging machine with high productivity. In addition, it is assumed that the package is manually pulled out from the tray and filled into the bag by hand, and high productivity cannot be obtained.
The filling device described in Patent Document 3 is applied to a horizontal packaging machine with low productivity, and is difficult to apply to a vertical packaging machine with high productivity.

  The filling device described in Patent Document 4 is applied to a vertical packaging machine with high productivity. However, the cylindrical hopper described in Patent Document 4 is effective in filling a bag with a large number of granular objects to be packed. For example, a bag having a size close to the maximum opening size of the bag can be used as a bag. It is not realistic when trying to fill in. It is difficult to accommodate such an article to be packaged in a cylindrical hopper, and a space is required in the bag for opening the cone part attached to the lower part of the hopper. It is necessary to reduce the size of the package.

  The filling device described in Patent Document 5 includes a posture correction device that is substantially composed of two devices, has a large number of delivery times of the package, and has a complicated overall structure. When filling the packaged item into the bag, the packaged item is sandwiched between a pair of clamping members, and the clamping member and the packaged item are inserted into the bag. It is impossible to fill a bag with an article having a size close to the maximum opening size.

  The present invention has been made in view of the problems of the conventional filling device, and a filling method and device using a tray is applied to a vertical packaging machine (a bag held in a suspended state with an opening facing upward). On the other hand, the main purpose is to make it applicable to a packaging machine that performs packaging processing such as filling. In addition, even when a tray with a size close to the maximum opening size of the bag is used, another purpose is to allow the tray to be inserted into the bag without hindrance. Another object is to enable filling in a stacked state.

  According to the filling method of the package according to the present invention, a tray is inserted into the bag from the opening portion of the bag held in a suspended state with the opening portion facing upward, and the covering portion accommodated in the tray placing portion is accommodated. A method for filling an object to be packed in which a bag is filled with a package, wherein the tray is composed of a main frame and left and right side frames, and an area surrounded by the main frame and the left and right side frames is the mounting portion. Yes, when the main frame of the tray is in a horizontal state, a package supply process for placing the package on the placement unit, and the package on the placement unit attached to the tray. A holding object holding step of holding the packing object between the holding member and the main frame and holding the holding object in the mounting portion; and the tray is parallel to the width direction of the bag and is horizontal. The tip of the main frame turns around the axis A tray turning step in which the main frame becomes vertical, a tray lowering step in which the tray is lowered and inserted into the bag to a predetermined depth, and the package holding is released from holding the package It comprises a releasing step and a tray raising process in which the tray rises while leaving the article to be packaged in the bag and retreats out of the bag.

The filling method has, for example, the following embodiments.
(1) In the tray lowering step, when the tip of the main frame reaches the upper edge of the bag, the main frame is positioned at the center of the bag in the thickness direction, and the tray is further lowered to In the process in which the front end of the side frame enters the bag, the front end of the side frame and the main frame enter the bag while expanding the opening of the bag along the outline of the tray. The central portion includes not only the exact center but also the vicinity thereof.
(2) Before the start of the tray raising process, a pressing member is inserted into the tray mounting portion from above, and the packaged articles are prevented from being lifted together with the tray in the tray raising process.
(3) In the packaged article supply step, a plurality of packages to be packaged are placed on the placement unit in a front-rear direction, and the plurality of packages to be packaged are stacked on the bag in a vertical direction. Fill.

  The filling device for a package according to the present invention inserts a tray into the bag from the opening portion of the bag held in a suspended state with the opening portion facing upward, and the object is accommodated in the tray mounting portion. An apparatus for filling an object to be packed in which a bag is filled with a package, wherein the tray is composed of a main frame, and left and right side frames parallel to each other rising vertically from both side edges of the main frame. The region surrounded by the left and right side frames is the mounting portion described above, the main frame is formed so that the width of the front end portion is narrowed and protrudes forward from the front end of the side frame, and the side frame has a front end portion. It is formed so that the height decreases toward the front side, is attached to the tray, moves between the holding position and the retracted position, and is placed on the mounting portion when it reaches the holding position. The package A holding member for holding the packaged article in the above-described placement unit and releasing the holding of the packaged article when it reaches the retracted position, and the tray in the width direction of the bag A tray turning mechanism that turns around a parallel and horizontal axis, and makes the posture of the tray a horizontal state in which the main frame is horizontal or a vertical state in which the main frame is vertical, and the tray in the thickness direction of the bag And a tray moving mechanism for moving the tray vertically.

The filling apparatus has, for example, the following embodiment.
(1) Further, a pressing member inserted into a placing portion of a tray inserted into the bag when vertically moved up and down, and a pressing member lifting mechanism that lifts and lowers the pressing member are provided.
(2) The tray turning mechanism, tray moving mechanism, tray elevating mechanism, and pressing member elevating mechanism include first, second, third, and fourth servomotors as independent drive sources.
(3) The tray is installed in the tray turning mechanism, and is turned by the operation of the first servo motor. The tray turning mechanism is installed in the tray moving mechanism, and is moved by the operation of the second servo motor. A tray moving mechanism is installed in the tray lifting / lowering mechanism and moves up / down by the operation of the third servo motor.

According to the present invention, a filling method of a package by a tray that has been applied only to a horizontal packaging machine (a packaging machine that fills a package held in a horizontal state) with a vertical packaging machine ( The present invention can be applied to a packaging machine that fills an article to be packaged into a bag held in a suspended state with the bag mouth facing upward.
By applying a filling method using a tray to the vertical packaging machine, the vertical packaging machine can fill the bag tightly in a tight state, or multiple packages to be loaded easily can be placed vertically in the bag. It can be filled in a state where it is piled up (without causing a load slippage).

  In addition, since the tray swung in the vertical state can be moved in the bag thickness direction, the main frame of the tray is positioned at the approximate center of the bag (where the opening width is the largest) or the tray is lowered. While moving the tray in the thickness direction of the bag, it is possible to enter the bag while expanding the opening of the bag along the outline of the tray, without applying excessive force from the tray to the bag, Damage can be prevented.

It is a perspective view of the filling apparatus which concerns on this invention. It is the front side perspective view (a) and back side perspective view (b) of the tray in the filling apparatus shown in FIG. 1, and the member of the vicinity. It is the top view (a), side view (b), and back view (c) of the tray in the filling apparatus shown in FIG. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It is a side view which shows the operation | movement of the tray in the filling apparatus shown in FIG. 1 in order. It shows the opening shape of the upper edge of the bag that changes as the tray descends, and the cross-sectional shape of the tray on the surface including the upper edge of the bag, (a) is a cross-sectional view taken along the line AA in FIG. (B) is AA arrow sectional drawing in FIG. 8, (c) is AA arrow sectional drawing in FIG.

Hereinafter, with reference to FIGS. 1-11, preferable embodiment of the filling method and filling apparatus of the to-be-packaged goods which concern on this invention are described.
As shown in FIG. 1, a filling device according to the present invention includes a tray 1 on which an article to be packaged is placed, a holding member 2 that holds the article to be packaged on the tray 1, and a holding member operating mechanism 3 that operates the holding member 2. , A lifting mechanism 4 for moving the tray up and down, a moving mechanism 5 for moving the tray 1 in the horizontal direction, a turning mechanism 6 for turning the tray 1 around a horizontal axis, and an article to be packaged in the bag from above A pressing member 7 for pressing and a lifting mechanism 8 for lifting and lowering the pressing member 7 are provided. This filling apparatus is applied to a vertical packaging machine (a packaging machine that performs packaging processing such as filling and sealing a bag in a bag held in a suspended state with the bag mouth facing upward). FIG. 4 shows a gripper 9 that is a part of the vertical packaging machine.

As shown in FIGS. 2 and 3, the tray 1 includes a flat main frame 11 constituting a bottom surface portion in a horizontal state, and flat left and right side frames 12 rising vertically from both side edges of the main frame 11. 12, the main frame 11 and the side frames 12 and 12 constitute a mounting portion in which an article to be packaged is accommodated. The main frame 11 has the same width in the front-rear direction (the left side is the front and the right side is the rear in FIG. 3A) in the portion (base portion 11b) excluding the front end portion 11a, and the left and right side edge portions 11c and 11c are mutually connected. Parallel. The side edge portions 11c and 11c are inclined inward so that the tip portion 11a becomes narrower toward the tip, and is formed in a trapezoidal shape in plan view (see FIG. 3A). The side frame 12 has the same height in the front-rear direction (the left side is the front and the right side is the rear in FIG. 3B) in the portion (base portion 12b) excluding the distal end portion 12a. In the tip portion 12a, the upper edge portion 12c is inclined downward (to the main frame 11 side) so as to decrease in height, and has a substantially triangular shape in a side view (see FIG. 3B). The leading end portion 11 a of the main frame 11 protrudes from the leading end of the side frame 12. The left and right side frames 12 and 12 have the same shape and are parallel to each other.
The tray 1 swivels between the vertical state shown in FIG. 1 (the main frame 11 is vertical) and the horizontal state shown in FIGS. 2 and 3 (the main frame 11 is horizontal). Is accommodated in the above-described placement portion (mounted on the main frame 11).

The holding member 2 is a flat plate-like member that is arranged in parallel with the main frame 11 in the mounting portion and is movable perpendicularly to the main frame 11, and is clearly shown in FIG. As shown, the front end is located at a position where the height of the upper edge 12c of the side frame 12 starts to decrease.
The holding member operating mechanism 3 is disposed so as to surround the main frame 11 and the side frames 12 and 12 of the tray 1, and one end (see FIG. 2A) is fixed to the holding member 2. Guide members 14, 14 installed on the side frames 12, 12 for guiding the raising and lowering of the frame-like member 13 (movement in the direction perpendicular to the main frame 11), and a shaft-like member 15 fixed to the back surface of the main frame 11. A fixed member 16 fixed to the shaft-shaped member 15 and an air cylinder 18 fixed to the fixed member 16 via a plate-shaped bracket 17, and the tip of the piston rod 18 a of the air cylinder 18 is the frame-shaped member 13. It is fixed to (a part located outside the main frame 11). When the air cylinder 18 operates, the holding member 2 moves up and down between the holding position (see FIG. 5) and the retracted position (see FIG. 4) via the frame-like member 13.

  The elevating mechanism 4 includes a stand 19 installed on a gantry (not shown), a first servo motor 21 installed on the stand 19, a slide plate 22 installed so as to be movable up and down along the side surface of the stand 19, and a stand 19. And a transmission mechanism 23 for connecting the first servo motor 21 and the slide plate 22 to each other. The transmission mechanism 23 includes a ball screw shaft 24 disposed vertically in the stand 19 and a ball screw nut 25 screwed onto the ball screw shaft 24, and the slide plate 22 is attached to the ball screw nut 25 via an attachment member 26. Is fixed. When the first servo motor 21 is operated, the ball screw shaft 24 is rotated, and the ball screw nut 25, the mounting member 26, and the slide plate 22 are moved up and down in the vertical direction. A groove 27 is formed in the vertical direction on the side surface of the stand 19, and the attachment member 26 projects out of the stand 19 through the groove 27 and moves up and down along the groove 27.

The moving mechanism 5 is installed in the elevating mechanism 4, and as the first servo motor 21 of the elevating mechanism 4 operates, the moving mechanism 5 itself moves up and down, and the tray 1 moves up and down accordingly.
The moving mechanism 5 includes an L-shaped plate 28 fixed to the slide plate 22, a guide rail 29 fixed on the horizontal portion 28 a of the L-shaped plate 28, and a guide rail 29 installed on the horizontal portion 28 a. , A slide plate 31 movable in a horizontal plane, a second servo motor 32 installed on the horizontal portion 28a, and a transmission mechanism 33 for connecting the slide plate 31 and the second servo motor 32. The guide direction of the guide rail 29 (moving direction of the slide plate 31) is the thickness direction of the bag held by the grippers 9, 9 of the vertical packaging machine (perpendicular to the main plate 11 of the tray 1 in the vertical state). ) Is set. The transmission mechanism 33 is stretched over a pulley 35 fixed to the rotating shaft 34 of the second servo motor 32, a pulley 36 rotatably installed on the L-shaped plate 28, and both pulleys 35, 36. A belt 37 and a screw shaft 38 fixed to the pulley 36 are included. The screw shaft 38 is screwed into a screw hole formed in the slide plate 31. When the second servo motor 32 is operated, the pulleys 35 and 36 are rotated, the screw shaft 38 is rotated, and the slide plate 31 is moved in the above direction within a horizontal plane.

The turning mechanism 6 is installed in the moving mechanism 5, and as the second servo motor 32 of the moving mechanism 5 operates, the turning mechanism 6 itself moves in the horizontal plane, and accordingly the tray 1 moves in the above direction in the horizontal plane. To do.
The turning mechanism 6 includes a block 39 fixed on the slide plate 31, an L-shaped plate 41 fixed on the block 39, and a third servo motor 42 installed on the vertical portion 41 a of the L-shaped plate 41. The rotary shaft 43 of the third servo motor 42 and a pair of L-shaped brackets 44 and 44 fixed to the rotary shaft 43. The brackets 44 and 44 are perpendicular to the rotation shaft 43, one end is fixed to the rear ends (upper ends in FIG. 1) of the side frames 12 and 12 of the tray 1, and the other end is fixed to the rotation shaft 43. The axis O (rotation center) of the rotary shaft 43 is horizontal, and is set in a direction parallel to the width direction of the bag held by the grippers 9 and 9 of the vertical packaging machine (parallel to the main plate 11 of the tray 1). ing. When the third servo motor 42 operates, the rotation shaft 43 rotates, the brackets 44 and 44 rotate about the axis O, and the tray 1 turns between the horizontal state and the vertical state.

  The elevating mechanism 8 is disposed in the stand 45 installed on the same base as the stand 19, the fourth servo motor 46 installed in the stand 45, and the stand 45, and connects the fourth servo motor 46 and the pressing member 7. A transmission mechanism 47 is included. The transmission mechanism 47 includes a ball screw shaft 48 disposed vertically in the stand 45 and a ball screw nut 49 that is screwed to the ball screw shaft 48, and the holding member 7 is attached to the ball screw nut 49 via the mounting member 51. Is fixed. When the fourth servo motor 46 is operated, the ball screw shaft 48 rotates, and the ball screw nut 49, the mounting member 51, and the pressing member 7 are moved up and down in the vertical direction. A groove 52 is formed in the vertical direction on the side surface of the stand 45, and the attachment member 51 projects out of the stand 45 through the groove 52 and moves up and down along the groove 52.

  As a part of the vertical wrapping machine, the filling device fills a package with a pair of grippers 9 and 9 held on both side edges and held in a suspended state with the bag mouth facing upward. Used to do. The vertical packaging machine is, for example, a known intermittent rotation type rotary packaging machine.

Next, the operation of the filling apparatus according to the present invention will be described in the order of steps with reference to FIGS.
(1) Package supply process As shown in FIG. 4, the tray 1 (main frame 11) is in a horizontal state, and the holding member 2 is positioned at the upper retracted position. In this state, a plurality of articles 53 (53a, 53b, 53c) are arranged in the front-rear direction of the tray 1 from the rear side of the tray 1, and the placement portion (the main frame 11 and the side of the tray 1) It is inserted into a portion surrounded by the frames 12 and 12 and is accommodated (mounted) on the mounting portion (main frame 11).
A pair of grippers 9 and 9 (only one gripper 9 is shown) is stopped at a position below the tray 1. The grippers 9 and 9 hold the bag 54 in a suspended state with both side edges gripped and the opening facing upward. A bar-shaped pressing member 7 is disposed above the tray 1. The presser member 7 is in the position shown in FIG. 4 when it is raised, and is inserted into the bag 54 when lowered (see FIG. 10).

(2) To-be-packaged object holding process As shown in FIG. 5, the air cylinder 18 is actuated, the piston rod 18a is contracted, the holding member 2 is lowered and comes to the holding position, and the to-be-packaged object 53 is moved to the main frame 11. And the to-be-packaged object 53 is hold | maintained by the said description part.

(3) Tray turning process and tray moving process (first time)
The third servo motor 42 is operated to rotate the rotating shaft 43 by 90 degrees, and as shown in FIG. 6, the tray 1 (main frame 11) is turned around the axis O to be in a vertical state, and the tip of the tray 1 Becomes downward. The articles to be packaged 53 are held in a state of being vertically arranged on the placement portion of the tray 1 without falling from the tray 1.
Further, as shown in FIG. 6, the second servo motor 32 is operated to move the tray 1 in the thickness direction of the bag 54 (horizontal direction in FIG. 6) in the horizontal plane, thereby the leading end of the tray 1 (main frame). 11 at the center of the opened bag 54 in the thickness direction. In FIG. 6, the position of the rotary shaft 43 before the movement of the tray 1 (before the operation of the second servo motor 32) is indicated by a two-dot chain line, and after the movement of the tray 1 (when the operation of the second servo motor 32 ends). The position of the rotating shaft 43 is indicated by a broken line. This tray moving step (centering) may be performed until the front end of the main frame 11 reaches the height of the upper edge 54a of the bag 54 in a tray lowering step described later. Further, if the front end of the tray 1 (the front end of the main frame 11) is positioned substantially at the center in the thickness direction of the bag 54 only by the tray turning step, this tray moving step (first time) itself is unnecessary.

(4) Tray lowering step The first servo motor 21 is actuated to lower the slide plate 22, and as a result, the tray 1 is lowered as shown in FIG. 7, and the leading end (the leading end 11 a of the main frame 11). Is inserted into the bag through the opening of the bag 54. A general opening shape of the opening of the bag 54 at this time is shown in FIG. The tip of the tray 1 (tip 11a of the main frame 11) becomes narrower toward the tip, and the position of the tip of the tray 1 is aligned with the center of the bag 54 in the thickness direction in the tray moving step. Since the width W of the opening of 54 is closer to the center in the thickness direction of the bag 54, the leading end 11a of the tray 1 can enter the bag from the opening of the bag 54 without any trouble.
In this tray lowering process, the fourth servo motor 46 also starts to operate, and the pressing member 7 starts to descend.

(5) Tray lowering step and tray moving step (second time)
As shown in FIG. 8, in the process in which the tray 1 is further lowered and the front end portion 12 a of the side frame 12 enters the bag 54, the second servo motor 32 is operated and the tray 1 moves in the thickness direction of the bag 54. Moving. The moving distance is the height H when the height of the tray 1 at the height of the upper edge 54a of the bag 54 (the height from the bottom surface of the main frame 11 to the upper edge portion 12c of the side frame 12) is H. It is preferable to set the distance to be approximately half the distance (H / 2). Note that the height H of the tray 1 increases as the tray 1 descends. By setting the moving distance of the tray 1 as described above, as shown in FIGS. 8 and 11B, the height of the upper edge 54a of the bag 54 is ½ the height H of the tray 1 This position can always be located at the center of the bag 54 in the thickness direction.
By providing such a tray moving step, the opening of the bag 54 (especially in the vicinity of the end in the width direction of the bag) is placed in the tray 1 (particularly the front end of the side frame 12) while the tray 1 enters the bag 54. The inclined upper edge portions 12c and 12c of the portion 12a and both side edge portions 11c and 11c) of the base portion 11b of the main frame 11 are almost uniformly spread in the bag width direction and the bag thickness direction. 8, the position of the rotating shaft 43 before the movement of the tray 1 (before the operation of the second servo motor 32) is indicated by a two-dot chain line, and the position of the rotating shaft 43 at the time shown in FIG. 8 is indicated by a broken line. ing.

When the front end portion 12a of the side frame 12 has completely entered the bag 54, the tray moving process is completed and the tray lowering process is continued. As shown in FIG. 9, the tray 1 is inserted into the bag 54 to a predetermined depth. At that time, the tray lowering process is also completed. At this time, as shown in FIG. 11 (c), the opening of the bag 54 has the tray 1 (particularly, the upper edges 12 c and 12 c of the base 12 b of the side frame 12 and both side edges 11 c of the base 11 b of the main frame 11, by 11c), it is spread to the maximum width _{W 0} and the maximum height _{H 0} of the tray 1. In FIG. 9, the position of the rotating shaft 43 at the time shown in FIG. 8 is indicated by a two-dot chain line, and the position of the rotating shaft 43 at the time shown in FIG. 9 is indicated by a broken line.
In this example, at the end of the tray lowering process, the pressing member 7 has slightly entered the previously described placement portion (the portion surrounded by the main frame 11 and the side frames 12, 12) of the tray 1.

(6) To-be-packaged holding release process After the tray lowering process is finished, as shown in FIG. 10, the air cylinder 18 is actuated to extend the piston rod 18a, and the holding member 2 comes to the retracted position. The holding of the package 53 is released, and the package 53 (53a, 53b, 53c) falls into the bag 54 and is filled in the bag 54 in a state of overlapping in the vertical direction.
On the other hand, the pressing member 7 continues to descend and is inserted deeply into the placement portion of the tray 1, and after the object-to-be-packaged holding release process is completed, reaches the position directly above the object to be packaged 53 in the bag 54, where the fourth servo The motor 46 stops and the lowering of the pressing member 7 also stops. Note that the lower end of the pressing member 7 at this time is located below the upper end of the article 53 to be packaged (see FIG. 9) held in the placement section, and thus the article 53 to be packaged is somehow after the holding is released. Even if it does not fall for a reason (it gets caught in the above-mentioned mounting part), the said to-be-packaged item 53 can be extruded below.

(7) Tray lifting process The first servo motor 21 operates in reverse, and the slide plate 22 moves up. As a result, the tray 1 moves up leaving the package 53 in the bag 54. Since the pressing member 7 is located immediately above the packaged object 53, the packaged object 53 is prevented from being lifted with the tray 1, and the packaged object 53 is left in the bag 54. At an appropriate timing after the tray 1 starts to rise (for example, when the tray 1 comes out of the bag 54), the fourth servo motor 46 operates in reverse to raise the holding member 7 to the original position (see FIG. 4). Return to. The tray 1 is also returned to its original position by the operation of the first servo motor 21, the second servo motor 32, and the third servo motor 42, and becomes horizontal by the operation of the air cylinder 18 (see FIG. 4). ).
After the series of filling steps is completed, the grippers 9 and 9 are moved to the next stop position, and the bag 54 filled with the package 53 is subjected to the next packaging process (for example, opening portion sealing). Is done.

In addition, the filling apparatus which concerns on this invention is not restricted to said embodiment, For example, the following changes are possible.
(1) In the above example, the tray moving process (first time) was performed in order to position the tip of the main frame 11 of the tray 1 in the center of the bag thickness direction. If the front end of the main frame 11 is located at the center of the bag in the thickness direction, the tray moving step (first time) can be omitted.
(2) In the above example, the tray moving step (second time) is performed while the tray lowering step is being performed, and the moving distance of the tray 1 at this time is increased as the tray 1 is lowered. Although the movement distance is set (so that the movement distance is kept at H / 2), the movement form strictly adjusted in this way is not essential. However, when the tray moving step is completed, it is preferable that the moving distance is in the H _0/2. Further, if the tray is not a size close to the maximum opening size of the bag as in the above example, but if the tray is a relatively small size, this tray moving step (second time) can be omitted.
(3) In the above example, in the tray raising process, the bag holding member 37 is disposed on the packaged object 35 to prevent the packaged object 35 from being lifted, but the size of the packaged object 35 is relatively small. If it is certain that it can be prevented from being lifted, such as being small, the bag pressing member 37 itself can be omitted.

DESCRIPTION OF SYMBOLS 1 Tray 2 Holding member 3 Holding member operating mechanism 4 Lifting mechanism 5 Moving mechanism 6 Turning mechanism 7 Pressing member 8 Pressing member lifting mechanism 11 Tray main frame 12 Tray side frame 18 Air cylinder 21 First servo motor 32 Second servo motor 42 Third servo motor 43 Rotating shaft 46 Fourth servo motor 54 Bag O Axis of rotating shaft 43 (rotation center)

Claims (8)

Inserting a tray into the bag from the opening of the bag held in a suspended state with the opening facing upward, and filling the bag with the packaging to be packaged stored in the tray loading portion In the filling method, the tray includes a main frame and left and right side frames, and the region surrounded by the main frame and the left and right side frames is the mounting portion, and the main frame of the tray is in a horizontal state. A package supply step of placing an article to be packaged on the placement unit, and holding the article to be packaged placed on the placement unit with a holding member attached to the tray, A package holding process for holding the holding member and the main frame between the holding member and the main frame, and the tray pivots about a horizontal axis parallel to the width direction of the bag and the front end of the main frame Facing down, the main frame is vertical A tray turning step, a tray lowering step in which the tray is lowered and inserted into a bag to a predetermined depth, a package holding release process in which the holding of the package is released, and the tray A method for filling an article to be packaged, comprising a tray ascending process in which the package is left in the bag and is lifted and retracted out of the bag. In the tray lowering step, when the front end of the main frame reaches the upper edge of the bag, the main frame is positioned at the center of the bag in the thickness direction, and the tray is further lowered to The front-end portion of the side frame and the main frame enter the bag while expanding the opening of the bag along the outline of the tray in a process in which the front-end portion enters the bag. The filling method of the packaged object described in 1. A pressing member is inserted into the tray mounting portion from above before the start of the tray lifting process, and the packaged articles are prevented from being lifted together with the tray in the tray lifting process. Item 3. A method for filling a packaged item according to item 1 or 2. In the package supply process, the plurality of packages are placed in the front-rear direction on the placement unit, and the plurality of packages are filled in a state of being stacked in the vertical direction on the bag. A filling method for an article to be packaged according to any one of claims 1 to 3. Inserting a tray into the bag from the opening of the bag held in a suspended state with the opening facing upward, and filling the bag with the packaging to be packaged stored in the tray loading portion In the filling apparatus, the tray is composed of a main frame and left and right side frames parallel to each other that rise perpendicularly from both side edges of the main frame, and an area surrounded by the main frame and the left and right side frames is set forth above. The main frame is formed so that the width of the front end portion is narrowed and protrudes forward from the front end of the side frame, and the side frame is formed such that the height of the front end portion decreases toward the front side. And attached to the tray, moved between a holding position and a retracted position, and when it reaches the holding position, the object to be packaged placed on the mounting portion is sandwiched between the main frame, By A holding member that holds the article to be packaged in the placement unit and releases the holding of the article to be packaged when it comes to the retracted position, and the tray is turned around an axis that is horizontal and parallel to the width direction of the bag A tray turning mechanism that makes the posture of the tray a horizontal state in which the main frame is horizontal or a vertical state in which the main frame is vertical; a tray moving mechanism that moves the tray in the thickness direction of the bag; An apparatus for filling an article to be packaged, comprising a tray lifting mechanism for vertically moving the tray. 6. The apparatus according to claim 5, further comprising: a pressing member that is vertically moved up and down and is inserted into a placement portion of the tray that is inserted into the bag when the bag is lowered; and a pressing member lifting mechanism that lifts and lowers the pressing member. The packing material filling apparatus described in 1. 6. The tray turning mechanism, tray moving mechanism, tray elevating mechanism, and pressing member elevating mechanism include first, second, third, and fourth servo motors as independent drive sources, respectively. Or the filling apparatus of the packaged object described in 6. The tray is installed in the tray turning mechanism, and is turned by the operation of the first servo motor. The tray turning mechanism is installed in the tray moving mechanism and is moved by the operation of the second servo motor. The apparatus for filling an article to be packaged according to claim 7, wherein the apparatus is installed in the tray lifting mechanism and is lifted and lowered by the operation of the third servo motor.

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