WO2018088578A1 - Tmr robot automatic packaging machine - Google Patents

Abstract

The present invention relates to a TMR robot automatic packaging machine comprising: a burlap sack supply member comprising a frame portion on which a burlap sack is stacked, a transfer portion forced against the upper surface of the burlap sack so as to move the burlap sack forward while remaining forced against the same, a single-sheet separating portion comprising a tight-contact means forced against the upper surface of the burlap sack so as to lift an end portion of the burlap sack upward and a pressing means for pressing an end portion of a burlap sack arranged on the lower portion of the burlap sack lifted by the tight-contact means, and a supply portion for widening the entrance of the burlap sack moved by the transfer portion such that the entrance of the burlap sack is arranged upward; a content supply member for supplying content to the burlap sack; a burlap sack alignment member for causing two surfaces of the entrance of the burlap sack, which are configured to face each other, to abut each other; a guide member comprising a conveyor portion arranged to be elongated toward one side from the lower portion of the content supply member and configured to transfer the burlap sack placed on the upper portion thereof and a guide portion for guiding the abutting two surfaces of the entrance of the burlap sack; and a grip member for gripping the two abutting surfaces of the entrance of the burlap sack and moving the same to the guide portion. The configuration described above is advantageous in that the processes of manually supplying a burlap sack, filling the same with a ration, and transferring the same to a sealing device are fully automated in an unmanned type, thereby reducing production costs in connection with the ration packaging operation, solving the problem of shortage of human labor in 3D working environments, and substantially improving the productivity related to ration packaging by improving the production rate.

Description

TIM Robot Automatic Packing Machine

The present invention, TEM that can supply the zone depending on the existing manual work of the complete mixed feed (TMR), filling the feed in the zone to transfer to the sealing device, unmanned, reducing manpower and production costs and improve productivity Al robot is about automatic packing machine.

TMR (Total Mixed Ration), which is a feed for dairy cattle or Korean cattle, consists of hay, grain feed, and other additives, which are the main raw materials, and contains about 35 to 40% of moisture, resulting in a large amount of hay (about 30%). ), The specific gravity (0.25 ~ 0.3) of feed is very low, and the flow properties are difficult.

For the 20kg small package of feed, a thin area (0.01mm Poly Ethylene) is used for cost reduction, and a compaction device is required to fill the feed.For these two reasons, the small packing machine in the feed packaging industry Sealing after renting and feeding the land is unattended.

Conventional 'feed bag automatic feeder' is presented in Republic of Korea Utility Model Registration No. 20-0355927.

However, although the automatic feeding device for automatically supplying the zone for unmanned automation of the feed packaging device like the conventional bag automatic feeding device is partially automated using the technology of other industries, it is completely completed until the sealing work after the ground feeding and feed filling. Unattended automation system is not equipped.

In addition, due to the properties of polyethylene (PE), a lot of static electricity is generated, and by stacking hundreds of thin zones, it is difficult to supply the sheets one by one due to the sticking of the zones together. have.

Furthermore, even if the sheets of the zone are separated smoothly, a lot of difficulties arise in the next process of transferring the zone to the contents supply part and placing it in the correct position of the contents supply part. Therefore, the problem of poor supply position of the zone occurs.

The present invention has been made to solve the above-mentioned problems, by completely unattended automation of supplying a zone and filling the feed to the sealing device depending on the manual operation, to reduce the production cost in the feed packaging operation It is possible to solve the labor shortage of the 3D working environment, and to improve the production speed, to provide a TMR robot automatic packaging machine that can greatly improve the productivity of feed packaging.

The present invention provides a frame portion on which a zone is stacked, a transfer unit disposed on an upper side of the entrance side of the zone stacked on the frame unit, and in close contact with an upper surface of the zone to move the zone in close contact, and It is disposed on the upper side opposite the inlet of the zone to be laminated to the frame portion, the close contact means for lifting up the end of the zone in close contact with the upper surface of the zone, the lower portion of the zone lifted by the close means A sheet separator including a pressing means for pressing an end portion of the rented zone, and a supply unit disposed in front of the transfer unit and spreading the entrance of the zone moved by the transfer unit so that the entrance of the zone is disposed upward. Zone supply member comprising; A content supply member disposed in front of the zone supply member and configured to supply contents to the zone; A zone alignment member disposed at both sides of the contents supply member, the zone alignment members allowing two surfaces of the zone inlet to face each other; A guide member disposed to extend from the lower portion of the contents supply member to one side, and including a conveyor portion for transferring the zone placed on the upper portion, and a guide portion disposed on the conveyor portion and guiding two abutting surfaces of the zone entrance. ; It is disposed on one side of the guide member, the grip member for holding the two sides of the abutment to move to the guide portion.

According to the TMR robot automatic packaging machine of the present invention, the following effects.

A packaging device that uses a small polyethylene (PE) sheet of packaging (20 kg / bag) for the production of TMR, and the stacked layers are different from each other due to the static electricity due to the thin sheet material. Solving the problem that it is difficult to supply the sheet by sheet, it is possible to separate the zone into sheets by the sheet separator and to supply the contents supply member one by one accurately.

In addition, the supply portion of the zone supply member supports the inside of the zone inlet while opening the zone inlet so that the inlet of the zone is precisely disposed under the hopper of the contents supply member, thereby preventing the failure of the zone supply position.

Furthermore, in contrast to the prior art, in which the worker manually transfers the filled zone by the contents supply member to the sealing member, the alignment member is aligned so that the inlet of the filled zone is accurately aligned, and the inlet in which the grip member is aligned is accurately aligned. By holding and moving in the guide member, unmanned automation of the process that requires at least two workers, can reduce the production cost, solve the labor shortage in the 3D working environment, improve the production speed, feed packaging Can greatly improve the productivity.

By the effects as described above, by completely unmanned in the conventional method of supplying the zone and filling the feed in the zone to the sealing device depending on the manual operation, it is possible to maximize the productivity in the feed packaging operation.

1 is a perspective view showing a zone supply member according to a preferred embodiment of the present invention.

2 is a view showing a zone supply member and a content supply member according to a preferred embodiment of the present invention.

3 is a perspective view showing a frame portion.

4 and 5 show the transfer unit.

6a to 7 are views showing a sheet separator.

8 and 9 illustrate a third vertical moving part and a third contact part of the supply part;

10 and 11 show the support of the supply section;

12 is a view showing a content supply member.

Figure 13 is a view showing to show the operation of both sides of the contents supply member.

14 and 15 illustrate a zone alignment member.

16 and 17 show the grip member.

18 and 19 show grip portions.

20 is a view illustrating an embodiment in which a first auxiliary finger and a second auxiliary finger are provided in a grip part;

21 and 22 show the guide member.

23 is a view showing a conveyor unit.

24A and 24B show the guide part.

25 shows a part of the power transmission means;

26 to 29 are views for showing the operation of the zone supply member and the contents supply member.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The automatic TIM robot packaging machine according to the preferred embodiment of the present invention, as shown in Figs. 1 and 2 and 14 and 16, the zone supply member 100, the contents supply member 200 and the zone alignment member ( 300 and the grip member 400 and the guide member 500.

On the zone supply member 100  Description of

As shown in FIGS. 1 and 2, the zone supply member 100 includes a frame unit 110, a transfer unit 130, a sheet separator 150, and a supply unit 170.

Frame part (110)

The frame unit 110 is a member on which the transfer unit 130, the sheet separator 150, and the supply unit 170 are mounted. In the present embodiment, as shown in FIG. 3, the frame part 110 includes a first frame part 111 having a rectangular frame shape and a second frame disposed upward from each corner of the first frame part 111. The third frame portion 113, which is connected to the portion 112, the second frame portion 112, and has a rectangular frame shape, and a fourth frame portion 114 disposed upward from each corner of the third frame portion 113. And a fifth frame portion 115 connecting the fourth frame portion 114 and having a rectangular frame shape. The second frame part 112 and the fourth frame part 114 may be configured as one frame part, or may be connected to each other by separately configuring the second frame part 112 and the fourth frame part 114. Each frame unit 110 may be connected to a reinforcing frame for reinforcement.

As shown in FIG. 1, a supply tray 116 is provided on the upper surface of the first frame part 111 having a rectangular frame shape, and the upper surface of the supply tray 116 is illustrated in FIG. 2. As one, the support bracket 117 is disposed from the upper surface to support the outside of the zone can be provided. In the present embodiment, the support bracket 117 is provided to support the outside of the remaining three surfaces except for the inlet side of the zone placed on the upper surface of the supply tray 116.

Conveying part (130)

2, the conveyance part 130 is arrange | positioned on the upper side of the inlet side of the zone laminated | stacked on the upper surface of the supply tray 116 of the frame part 110, and adhere | attaches on the upper surface of the zone, and is in close contact with the zone. Move forward.

As shown in FIGS. 4 and 5, the transfer part 130 includes a second front and rear moving part 131, a second vertical moving part 135, a second close contact part 137, and a second air suction means (not shown). It is preferable that it is configured to include).

The second front and rear moving part 131 is provided to be movable in the front and rear direction in the frame part 110. In this embodiment, the second front and rear movement part 131 is arranged inside the four fourth frame parts 114 as shown in FIG. 2, and is arranged in parallel as shown in FIG. 5. It includes a linear guide 132, and a linear bushing 133, each sliding along each linear guide 132.

In addition, in this embodiment, two linear bushings 133 are slid to one linear guide 132 at intervals from each other, and the four linear bushings 133 are connected to each other by the base plate 134.

As shown in FIGS. 4 and 5, the second vertical movement part 135 is provided to be movable in the vertical direction in the second front and rear movement part 131. In the present embodiment, the second vertical movement part 135 is formed of an air cylinder and penetrates the base plate 134.

As shown in FIGS. 4 and 5, the second close contact portion 137 is provided at one end of the second vertical movement portion 135. In the present embodiment, as shown in Fig. 4, the first plate 138a is attached to the piston end of the air cylinder, which is the second vertical movement portion 135, and the auxiliary plate (in front of the first plate 138a). 138b is connected, and a plurality of second adhesion parts 137 are provided on the auxiliary plate 138b. In the present embodiment, as shown in FIG. 5, four second contact portions 137 are provided at intervals from each other, and two second contact portions 137 are disposed on both sides except for the center portion of the auxiliary plate 138b. A stopper 136, which will be described later, is provided at the central portion of the auxiliary plate 138b.

The second close contact portion 137 preferably includes a body portion 137a, an elastic portion 137b, and a bent portion 137c.

The body 137a is cylindrical and penetrates through the auxiliary plate 138b.

The elastic portion 137b is provided at the lower end of the body portion 137a, is made of elastic material such as rubber, and has a bellows shape so as to be folded in the vertical direction.

The bent portion 137c is provided at the top of the trunk portion 137b and is bent to any one side. The bent portion 137c is connected to a hose 137d, which is connected to a second air suction means (not shown).

Although not shown in the drawing, the second air suction means is connected to the hose 137d to provide a suction force to the second close contact portion 137. Therefore, when air is sucked by the second air suction means while the elastic portion 137b is in contact with the upper surface of the zone, the bellows-shaped elastic portion 137b is folded and closely adhered to the upper surface of the zone.

In this way, a proximity sensor 139a may be provided to detect that the elastic part 137b is in close contact with the upper surface of the rent. In this embodiment, as shown in FIG. 4, a portion of the rod 139b penetrates through the first plate 138a and is disposed below the first plate 138a of the rod 139b is a spring 139c. The spring 139c elastically supports the rod 139b in a direction in which the rod 139b is disposed downward. In addition, a proximity sensor 139a is provided at one side of the first plate 138a. Therefore, when the elastic portion 137b is in close contact with the upper surface of the zone, the rod 139b abuts against the zone, and the rod 139b moves upward, and at this time, the rod 139b in which the proximity sensor 139a moves upward. Detect it. As such, when the rod 139b is detected by the proximity sensor 139a, it is possible to confirm that the elastic portion 137b is in close contact with the upper surface of the rent. When it is confirmed that the elastic part 137b is in close contact with the upper surface of the zone by the proximity sensor 139a, the second front and rear movement part 131 and the second vertical movement part are in close contact with the upper surface of the zone. The zone can move upwards forward.

On the other hand, as shown in Figure 5, the auxiliary plate 138b may be provided with a stopper 136. In this embodiment, the stopper 136 is provided in the form of a flat plate, mounted on the end of the support 136a disposed downward from the auxiliary plate 138b, and is disposed in parallel with the auxiliary plate 138b.

The stopper 136 is disposed so as to face the third contact part 173 when the third contact part 173, which will be described below, comes into close contact with the lower surface of the zone, and thus close contact with the lower surface of the third contact part 173. When the stopper 136 supports the upper surface of the zone on the opposite side, the third stopper 173 may be in close contact with each other. (See FIG. 8)

Sheet separator (150)

As shown in FIG. 2, the sheet separator 150 is disposed above the inlet side of the zone stacked on the frame 110. That is, it is disposed on the opposite side of the transfer unit 130 is disposed above the inlet side of the zone to be stacked on the frame 110. Such sheet separator 150 is preferably composed of a close contact means and a pressing means, as shown in Figs. 6A and 7.

In close contact with the upper surface of the zone and lifting the end portion of the zone upwards, the first front and rear moving part 151, the first vertical moving part 152, the hinge part 153, the first contact part 155 and the first It is preferably configured to include an air suction means (not shown).

The first before and after moving part 151 is provided to be movable in the front and rear direction in the frame part 110. As shown in FIG. 2, the first front and rear moving part 151 is a pair of linear guides 151a and fixed to the lower side of the third frame part 113 and each linear guide in this embodiment. And linear bushings 151b each sliding along 151a. The main base 151c connects two linear bushings 151b from above.

As illustrated in FIGS. 6A and 7, the first vertical movement unit 152 is provided to be movable in the vertical direction in the first front and rear movement unit 151. In this embodiment, the first vertical movement part 152 is formed of an air cylinder and passes through the main base 151c.

As shown in Fig. 6A, a second plate 152a is attached to the piston end of the air cylinder that is the first vertical movement part 152. The third plate 152b is mounted on the piston at a distance from the second plate 152a on the upper portion of the second plate 152a, and the hinge portion 153, which will be described below, is disposed on the third plate 152b. It is arranged on the opposite side. The third plate 152b is a side in which the hinge portion 153 is disposed, and the fixing portion 158 to be described below is connected, and the third plate 152b and the fixing portion 158 may be formed of one member. have.

At one end of the first vertical movement part 152 configured as described above, a hinge part 153 is provided to be hinged as shown in FIGS. 6A and 6B. In the present embodiment, the hinge part 153 is mounted to the second plate 152a so as to be hinged, and the other side of the hinge part 153 is provided with a first contact part 155 to be described below.

The first rotating means 154 for rotating the hinge portion 153 is provided as an air cylinder in this embodiment, the cylinder body of the air cylinder 154 is mounted to the third plate 152b, the air cylinder 154 Piston end of the) is hingedly connected to one side of the hinge portion 153. Accordingly, the angle of the hinge portion 153 changes as the piston of the first rotating means 154, which is an air cylinder, expands and contracts. In this embodiment, when the piston is extended, the hinge portion 153 rotates clockwise in FIG. As it approaches the zone and the piston is reduced, the hinge portion 153 rotates counterclockwise in FIG. 6 to move away from the zone.

As shown in FIG. 6A, the first contact portion 155 provided on the other side of the hinge portion 153 may include a body portion 155a, an elastic portion 155b, and a hose connecting portion 155c. Do.

The body 155a is cylindrical and penetrates through the hinge 153.

The elastic portion 155b is provided at the lower end of the body portion 155a, is made of elastic material such as rubber, and has a bellows shape so as to be folded in the vertical direction.

The hose connecting portion 155c is provided at the top of the body portion 155a and connected to the hose 155d, which is connected to the first air suction means (not shown).

Although not shown in the drawing, the first air suction means is connected to the hose 137d to provide a suction force to the first close contact portion 155. Therefore, when air is sucked by the first air suction means while the elastic portion 155b is in contact with the upper surface of the zone, the bellows-shaped elastic portion 155b is folded and closely adhered to the upper surface of the zone.

In this way, a proximity sensor 157a may be provided to detect that the elastic part 155b is in close contact with the upper surface of the rent. In this embodiment, as shown in Fig. 7, the rod 157b penetrates the fixing portion 158, and the portion disposed below the fixing portion 158 of the rod 157b is formed by the spring 157c. It is elastically supported, and the spring 157c elastically supports the rod 157b in the direction in which the rod 157b is disposed downward. In addition, one side of the fixing unit 158 is provided with a proximity sensor 157a. Therefore, when the elastic part 155b is in close contact with the upper surface of the zone, the rod 157b abuts against the zone, and the rod 157b moves upwards. At this time, the proximity sensor 157a moves upward. Detect it. In this way, when the rod 157b is detected by the proximity sensor 157a, it is possible to confirm that the elastic portion 155b is in close contact with the upper surface of the zone. When it is confirmed that the elastic part 155b is in close contact with the upper surface of the zone by the proximity sensor 157a, the hinge part 153 rotates while the elastic part 155b is in close contact with the upper surface of the zone. 153) The end of the zone is lifted upwards.

The pressing means for pressing the end portion of the rent arranged below the rent lifted by the contact means preferably includes a fixing portion 158 and a first cylinder portion 159, as shown in Fig. 6A.

The fixing part 158 is fixed to the first vertical moving part 152. As described above, the fixing part 158 is fixed to the third plate 152b mounted on the piston of the air cylinder that is the first vertical moving part 152. 158 is fixed.

The first flexible cylinder portion 159 is mounted to the fixed portion 158, and in this embodiment, the fixed portion 158 is formed of an air cylinder and is mounted through the fixed portion 158.

In the sheet separator 150 configured as described above, the elastic part 155b contacts the upper surface of the zone while the first vertical movement part 152 moves downward, and the air is sucked by the first air suction means. When the bellows-shaped elastic part 155b is folded, the elastic part 155b comes in close contact with the upper surface of the uppermost zone. Thus, the hinge portion 153 rotates while the elastic portion 155b is in close contact with the upper surface of the zone, and the end of the zone is lifted upward by the hinge portion 153. The piston of the first cylinder portion 159 extends in the state in which the end of the zone located at the uppermost portion is lifted, and the piston end presses the end of the zone disposed at the bottom of the zone where the end is lifted. Then, when the air suction of the first air intake means is released, the adhesion of the elastic portion 155b that is in close contact with the uppermost zone is released, and at the same time, the first vertical movement portion 152 moves upward. At this time, since the piston end of the first cylinder portion 159 is in a state of continuously pressing the end of the zone, the piston of the first cylinder portion 159 increases when the first vertical movement portion 152 moves upward.

Supply department (170)

1 and 2, the supply unit 170 is disposed in front of the transfer unit 130, and spreads the entrance of the zone moved by the transfer unit 130 so that the entrance of the zone is disposed upward. .

As shown in FIGS. 8 and 10, the supply part 170 includes a third vertical moving part 171, a third close contact part 173, a third air suction means (not shown), and a support part 175. It is preferable to be configured.

As shown in FIGS. 8 and 9, the third vertical movement part 171 is provided to be movable in the vertical direction in the frame part 110. In this embodiment, the third vertical movement part 171 is in the vertical direction in the first frame part 111. It is provided to be movable. In more detail, the 3rd up-and-down movement part 171 consists of an air cylinder, and the base plate 172 is provided in the piston end of an air cylinder. Therefore, the base plate 172 is movable in the vertical direction by the third vertical movement part 171 constituted by the air cylinder.

As shown in FIGS. 8 and 9, the third contact part 173 for closely contacting the lower surface of the zone and moving downward in the state where the upper surface of the zone is in close contact with the first contact portion 155 is a body portion ( 173a, the elastic portion 173b and the hose connection portion 173c is preferably included.

Body portion 173a is cylindrical and penetrates through base plate 172.

The elastic portion 173b is provided at the top of the body portion 173a, is made of elastic material such as rubber, and has a bellows shape so as to be folded in the vertical direction.

The hose connecting portion 173c is provided at the lower end of the body portion 173a and connected to the hose 173d, which is connected to a third air suction means (not shown).

Although not shown in the drawing, the third air suction means is connected to the hose 173d to provide a suction force to the first contact portion 155. Therefore, when air is sucked by the third air suction means while the elastic portion 173b is in contact with the upper surface of the zone, the bellows-shaped elastic portion 173b is folded and in close contact with the lower surface of the zone.

As described above, when the third close contact portion 173 is in close contact with the lower surface of the zone, as shown in FIG. 5, the stopper 136 is disposed to face the third close contact portion 173, and thus, the third When the contact portion 173 is in contact with the zone, the stopper 136 supports the upper surface of the zone that is opposite to the contact surface so that the third contact portion 173 is in close contact with each other.

When the third contact portion 173 is in close contact with the lower surface of the rent in a state where the second contact portion 137 is in close contact with the upper surface of the rent, the second contact portion 137 is arranged to closely contact both sides of the upper surface of the rent. The third close contact portion 173 is disposed to closely contact the center portion of the lower surface of the rent. Thus, when the 3rd contact part 173 contacts the center part of the lower surface of a zone in the state in which the 2nd contact part 137 closely contacted the upper surface both sides of a zone, the entrance of a zone opens.

As shown in FIGS. 10 and 11, the support part 175 which supports both sides of the zone inlet in the state where the inlet of the zone is opened by the third contact part 173 so that the inlet of the zone is disposed upward. It is preferable that the rotary bar 176 and the second rotating means 174, a pair of support arms 177, the second cylinder portion 178 and a pair of link bars 179 are preferably included.

The rotation bar 176 is rotatably provided on the upper side of the second frame part 112, and is disposed across the two first frame parts 112 as shown in FIG. 11.

The rotating bar 176 is equipped with a connecting bracket 176a which rotates together with the rotating bar 176 when the rotating bar 176 rotates. In this embodiment, the connection brackets 176a are provided in pairs, and the pair of connection brackets 176a are disposed on the rotation bar 176 at intervals from each other. Each connecting bracket 176a is hingedly connected to one end of the support arm 177, respectively. Between the pair of connecting brackets 176a, a mounting bracket 176b to which the second cylinder portion 178 to be described below is mounted is mounted, and the mounting bracket 176b is a rotation bar when the rotation bar 176 rotates. Rotate with 176.

In this embodiment, the mounting bracket 176b includes a vertical portion 176b-1 and a horizontal portion 176b-2. The vertical portion 176b-1 is mounted to the rotation bar 176 and is disposed perpendicular to the direction in which the rotation bar 176 is disposed. The horizontal portion 176b-2 extends from one end of the vertical portion 176b-1 and is disposed perpendicular to the vertical portion 176b-1. The guide portion 176b-3 protruding along the longitudinal direction of the vertical portion 176b-1 is formed in the vertical portion 176b-1, and the second cylinder portion, which will be described below, is formed in the horizontal portion 176b-2. A cylinder body of 178 is mounted.

A pair of support arms 177 provided on the rotating bar 176 and rotating together with the rotating bar 176 are connected to the connecting bracket 176a, one end of which is mounted to the rotating bar 176, as shown in FIG. Each is hingedly connected. Accordingly, one end of the pair of support arms 177 is disposed at intervals from each other.

The grip 177a is provided in the other end of each support arm 177, respectively. Each grip 177a is provided to protrude toward the second frame portion 112 from one end of the support arm 177, and the pair of grips 177a may support both sides inside the zone entrance.

The second cylinder portion 178 provided on the rotation bar 176 and rotating together with the rotation bar 176 is disposed between the pair of support arms 177 as shown in FIG. 11. In this embodiment, the second cylinder portion 178 is an air cylinder, and the cylinder body of the second cylinder portion 178 is mounted to the horizontal portion 176b-2 of the mounting bracket 176b. At the piston end of the second cylinder portion 178, a bracket 178a is mounted, and the bracket 178a is provided to be movable along the guide protrusion 176b-3 formed in the vertical portion 176b-1. have.

As shown in FIG. 10, the second rotating means 174 for rotating the rotating bar 176 is connected to the cylinder connecting bracket 174a mounted to the rotating bar 176.

In the present embodiment, the second rotating means 174 is configured as an air cylinder, and the rotating bar 176 is equipped with a cylinder connecting bracket 174a which rotates together with the rotating bar 176 when the rotating bar 176 rotates. It is. In this embodiment, the cylinder connecting bracket 174a is a straight bracket having a predetermined angle with the direction in which the rotating bar 176 is disposed, and one end of the cylinder connecting bracket 174a is fixed to the rotating bar 176. And rotate together with the rotary bar 176, and the other end of the cylinder connecting bracket 174a is hingedly connected to the piston of the second rotating means 174, which will be described below.

The cylinder body of the second rotating means 174 configured as described above is hingedly connected to the support frame 118 mounted to the frame portion 110, in this embodiment the support frame 118 is shown in FIG. As described above, the second frame part 112 is vertically mounted between the fourth frame part 114 and the support frame 118 is disposed close to the fourth frame part 114.

As shown in FIG. 11, the pair of link bars 179 are hingedly connected at one end to the piston end of the second cylinder portion 178. One end is hingedly connected to the bracket 178a, respectively. The other end of each link bar 179 is hingedly connected to an intermediate portion of each support arm 177.

10 and 11, the support 175 is configured to push or pull the cylinder connecting bracket 174a hinged to the piston end as the piston of the second rotating means 174 is stretched. As a result, the rotary bar 176 on which the cylinder connecting bracket 174a is fixed is rotated, and the pair of support arms 177 mounted on the rotary bar 176 are rotated.

In addition, when the piston of the second cylinder is stretched, the gap between the grip 177a of the pair of support arms 177 connected to the pair of link bars 179 may be opened or collapsed.

Description of the contents supply member 200

As shown in FIG. 2, the contents supply member 200 is disposed in front of the zone supply member 100, and supplies contents such as feed to the zone.

2 and 12, the contents supply member 200 includes a hopper 210, a pair of guide means 230, an opening / closing means 250, and both side support parts 270. It is preferable.

Hopper 210 is disposed in the front upper side of the frame portion 110, the contents to be filled in the zone, such as feed is stored therein, the lower portion is open. On both sides of the hopper 210 outer surface, as shown in Fig. 2, a mounting frame 211 disposed downward from the hopper 210 outer surface is mounted, and the support roller 213 is mounted on the mounting frame 211. ) Is installed.

The pair of guide means 230 which can be fitted inside the zone is arranged downward from the bottom of the hopper 210, as shown in FIG. 2, so as to be hinged to both lower sides of the hopper 210. It is prepared.

Each of the guide means 230 is a portion in which the guide means 230 are in contact with each other is open, when the pair of guide means 230 is in contact with each other is formed such that the cross-sectional area is reduced toward the lower side.

Opening and closing means 250 for opening and closing the pair of guide means 230, as shown in Figure 2, is provided on the outside of each guide means 230, respectively, to rotate the guide means 230.

In the present embodiment, the guide means 230 is composed of an air cylinder, the cylinder body of the guide means 230 composed of the air cylinder is hingedly mounted on the outside of the hopper 210, the guide means 230 The piston end is hingedly mounted to the outside of the guide means (230).

As the piston of the guide means 230 configured as described above is stretched, the pair of guide means 230 rotates, and the pair of guide means 230 is opened and closed. In this way, the lower portion of the hopper 210 may be opened or closed as it opens and closes between the pair of guide means 230.

When the space between the pair of guide means 230 is opened, the outer side of the guide means 230 is in contact with the support roller 213 described above. Thus, when the inlet of the zone is disposed outside the guide means 230 when the pair of guide means 230 is retracted, and then the space between the pair of guide means 230 is opened, a pair of Guide means 230 is fitted inside the zone. At this time, the support roller 213 supports the zone on the outside of the zone. Therefore, the inlet of the zone is supported by the guide means 230 and the support rollers 213, respectively, so that when the contents are filled in the zone, the guide means 230 and the support rollers 213 are inside and outside the zone. It serves to hold.

When the pair of guide means 230 is opened, both side support parts 270 for supporting the outside of both sides of the rent are provided at both sides of the hopper 210 as shown in FIG. 12.

As shown in FIG. 13, each of the two side support parts 270 may be separated from both sides of the hopper 210 by the support moving means 275 or may be in contact with both sides of the hopper 210. In this embodiment, the support movement means 275 is composed of an air cylinder, the cylinder body of the support movement means 275 which is an air cylinder is hingedly connected to one end of either one of the support portions 270, the support movement The piston end of the means 275 is hingedly connected to one end of the remaining two support portions 270. Accordingly, as the support moving means 275 is stretched, the pair of support portions 270 may be opened or closed.

Thus, both side support parts 270 are provided, and both support parts 270 are moved by the support part moving means 275 in a direction to abut against both sides of the hopper 210, so that the front and rear surfaces of the zone entrance are supported by the guide means 230. Both side surfaces of the zone inlet may be supported on the outside by both side support portions 270 when they are sandwiched and supported between the rollers 213.

At the lower end of the contents supply member 200 configured as described above, as shown in FIG. 16, a conveyor unit 510 is disposed in which a lower end of a zone vertically supplied by the zone supply member 100 is placed. Detailed description of the conveyor unit 510 will be described below.

On the zoned alignment member 300  Description of

The zone aligning member 300 disposed on both sides of the contents supply member 200 and allowing the two surfaces facing each other of the zone inlet to contact each other, as shown in FIGS. 14 and 15, has a first link 310. And it is preferably configured to include an alignment unit 330, the third cylinder unit 350 and the second link (370).

The first link 310 is a straight link, one end of which is hingedly connected to the mounting frame 320 mounted on the contents supply member 200. In the present embodiment, the mounting frame 320 is mounted to the outside of the hopper 210 of the contents supply member, is disposed vertically outward from the hopper 210 and the end is bent downward.

The alignment unit 330 preferably includes a first alignment unit 331 and a second alignment unit 332.

One end of the first alignment unit 331 is hingedly connected to the first link 310 and the second link 370, and the second alignment unit 332 is provided at the other end of the first alignment unit 331. . In the present embodiment, the other end of the first link 310 is hingedly connected to one end of the first alignment unit 331.

The second alignment unit 332 is disposed downwardly from the first alignment unit 331 and is bent outwardly, and the first alignment unit 331 moves downward according to the movement of the first link 310. The alignment portion 332 is provided so as to enter the inside of the zone entrance.

When the second alignment portion 332 is bent outward as described above, when the second alignment portion 332 enters the inside of the zone inlet, it is convenient to pull the inside of the zone outward.

The third cylinder unit 350 is configured as an air cylinder in the present embodiment, the cylinder body of the third cylinder unit 350 is provided to be hinged to one side of the content supply member 200. In this embodiment, the cylinder body of the third cylinder portion 350 is hingedly mounted to the outside of the hopper 210, it is preferably located above the mounting frame 320 of the hopper 210 is mounted. .

The piston end of the third cylinder portion 350 is hingedly connected to any portion of the first link (310). That is, one end of the first link 310 is connected to the mounting frame 320, and the other end of the first link 310 is connected to the first alignment unit 331, and the mounting frame 320 and the first alignment unit Piston end of the third cylinder portion 350 is connected to any portion except for both ends 331 are respectively connected.

The second link 370 is a straight link, one end of the second link 370 is hingedly connected to the mounting frame 320, the other end of the second link 370 is the first of the alignment unit 330 It is hingedly connected to the alignment unit 331. The position where the second link 370 is connected to the first alignment unit 331 is preferably connected below the position where the first link 310 is connected to the first alignment unit 331.

The zone aligning member 300 is configured as described above, and as shown in FIG. 15, the hinge of the first link 310 is hinged to the mounting frame 320 as the piston of the third cylinder unit 350 is stretched. The second alignment portion 332 enters the inside of the zone inlet while the first alignment portion 331 moves downward by the rotation of the first link 310. In this case, when the first link 310 rotates, the second link 370 also interlocks as the first alignment unit 331 moves, and the second link 370 is hinged to the mounting frame 320. Rotation based on 320b).

On the grip member 400  Description of

The grip member 400, which grips two abutting surfaces of the abutment inlet and moves to one side, is disposed on one side of the guide member 500, as shown in FIG. 16.

Robot part (410)

The robot unit 410, as shown in Figure 16, the lower end is rotatably provided on one side of the conveyor unit 510 of the guide member 500 is possible to move left and right, as shown in Figure 17 multiple robots The link 415 is configured to move up and down.

In this embodiment, the robot unit 410 includes a base frame 411 and a plurality of robot links 415.

The base frame 411 is disposed at the bottom end of the robot unit 410, and the robot link 412 located at the bottom end of the plurality of robot links 415 is rotatably mounted to the base frame 411.

The plurality of robot links 415 are connected to a plurality of interlockable robot links, in this embodiment, the plurality of robot links 415 is a three-section link of the first robot link 412, the second robot link 413, It consists of a third robot link (414).

The first robot link 412 disposed at the bottom of the robot links is rotatably connected to the base frame 411.

The second robot link 413 is hingedly connected to the upper end of the first robot link 412.

The third robot link 414 is hingedly connected to the upper end of the second robot link 413.

In the robot unit 410 configured as described above, since the first robot link 412 is rotatably mounted to the base frame 411, left and right movements are possible, and the robot link is connected to the first robot link 413. The second robot link 413 and the third robot link 414 are hingedly connected to each other so that the robot link 413 and the third robot link 414 can move up and down.

Grip (430)

The grip part 430 attached to the end of the robot part 410 and holding the two abutted surfaces of the zone inlet is, as shown in Figs. 17 and 18, a grip base 431 and a frame 433, It comprises a pair of finger base 435, a pair of first finger 437 and a pair of second finger 439.

As shown in FIG. 17, the grip base 431 is rotatably mounted at one end of the robot unit 410. In this embodiment, one side of the grip base 431 is rotatably mounted on the lower end of the third robot link 414.

On the other side of the grip base 431, as shown in Fig. 18, a straight frame 433 is mounted.

On both ends of the frame 433, as shown in FIG. 18, a pair of finger bases 435 are provided, respectively, and the finger bases 435 are arranged toward the contents supply member 200 as shown in FIG. It is preferable to be.

One side of the finger base 435 is fixed to the frame 433, and the other side of the finger base 435 is fixed to the first finger 437.

As illustrated in FIG. 18, the pair of first fingers 437 may be provided in the finger base 435 to support any one surface of the zone inlet.

As shown in FIG. 18, the pair of second fingers 439 are rotatably provided on the finger base 435. In the present embodiment, the pair of second fingers 439 and the first fingers 437 are adjacent to the first fingers 437. It is arranged at intervals.

The second finger 439 is disposed to face each other with the first finger 437 when the second finger 439 rotates, so that the second finger 437 supports the one surface of the zone inlet when the second finger 439 rotates. 439 supports the remaining side of the zone entrance.

As shown in FIG. 19, the uneven part 434 is formed in the 1st finger 437 and the 2nd finger 439 comprised as mentioned above, respectively.

The uneven portion 434 is formed at a portion where the first finger 437 and the second finger 439 face each other, and the uneven portion 434 is rotated by the second finger 439 to the first finger. It can be engaged when it is arranged to face each other (437).

As such, when the uneven portions 434 are formed to be engaged when the first fingers 437 and the second fingers 439 are disposed to face each other, the first fingers 437 and the second fingers 439 are formed. When gripping two abutted surfaces of the zone inlet, the concave-convex portion 434 can grasp even more firmly.

That is, the first finger 437 and the second finger 439 grip the zone in which the contents are filled by the contents supply member 200 even more firmly, so that the robot unit 410 is guided to the guide member 500. You can move it.

With the first auxiliary finger (436) Second auxiliary finger 438  Arranged Example

As shown in FIG. 20, a first auxiliary finger 436 may be provided at the first finger 437, and a second auxiliary finger 438 may be provided at the second finger 439.

The first auxiliary finger 436 is preferably provided on any one first finger 437 disposed far from the guide member 500 of the pair of first fingers 437.

The first auxiliary finger 436 is disposed upward from the first finger 437. For this purpose, the first auxiliary finger 436 may include a first vertical portion 436a and a first horizontal portion 436b.

The first vertical portion 436a is disposed vertically from the first finger 437, and the first horizontal portion 436b extends horizontally to one side from the first vertical portion 436a.

The second auxiliary finger 438 is preferably provided at any one second finger 439 disposed far from the guide member 500 among the pair of second fingers 439. That is, the second auxiliary finger 438 may be provided on the second finger 439 which may be disposed to face the first finger 437 on which the first auxiliary finger 436 is provided. The second auxiliary finger 438 is disposed upward from the second finger 439.

The second auxiliary finger 438 is disposed upward from the second finger 439. For this purpose, the second auxiliary finger 438 may include a second vertical portion 438a and a second horizontal portion 438b.

The second vertical portion 438a is disposed vertically from the second finger 439, and the second horizontal portion 438b extends horizontally from one side of the second vertical portion 438a.

The first auxiliary finger 436 and the second auxiliary finger 438 configured as described above may include a first finger (when the first finger 437 and the second finger 439 grip two surfaces of the abutment inlet. 437 and the second finger 439 support the upper side of the gripping portion.

Therefore, when the first finger 437 and the second finger 439 grip the two abutting surfaces of the zone inlet, the upper portion of the zone inlet gripped by the first finger 437 and the second finger 439 is It may be bent to one side, the first auxiliary finger 436 and the second auxiliary finger 438 is provided to hold the upper side of the portion held by the first finger 437 and the second finger 439, to prevent this Can be.

In frame 433 Extension section 432  Arranged Example

One end of the frame 433 which is disposed far from the guide member 500 is provided with an elastic portion 432 so that it can be stretched from the frame 433 as shown in FIG. 20.

In this embodiment, the air cylinder 432a is provided in one end of the frame 433, and the expansion and contraction portion 432 is connected to the piston end of the air cylinder 432a, and the expansion and contraction portion 432 as the piston expands and contracts. ) May move away from, or close to, the frame 433.

As such, the length of one end of the frame 433 may be increased or decreased by the elastic portion 432.

The finger base 435 provided at the end of the stretchable part 432 is provided with the first finger 437 and the second finger 439 described above.

That is, one side of the finger base 435 is fixed to the elastic portion 432, the other side of the first finger 437 is fixed. In addition, a second finger 439 is rotatably provided at the finger base 435 at intervals from the first finger 437 beside the first finger 437 of the finger base 435.

In this manner, the first auxiliary finger 436 and the second auxiliary finger 438 described above are provided in the first finger 437 and the second finger 439 mounted on the finger base 435 mounted on the elastic part 432. It is preferable to provide.

That is, a first auxiliary finger 436 disposed upward from the first finger 437 may be provided at the first finger 437, and the second finger 439 may be disposed upward from the second finger 439. The second auxiliary finger 438 may be provided.

On the guide member 500  Description of

As shown in FIG. 21, the guide member 500 which transfers the zone filled with the contents by the contents supply member 200 to the sealing member 600, as shown in FIG. 22, has a conveyor unit 510. And it is preferably configured to include a guide portion 530 and the power transmission means 550.

Conveyor (510)

As shown in FIG. 21, the conveyor unit 510 is disposed to extend from one side of the contents supply member 200 to one side, that is, the sealing member 600 side, and the zone placed on the upper side of the conveyor member 600 toward the sealing member 600 side. Transfer.

As shown in FIG. 23, the conveyor 510 preferably includes a conveying roller 511, a conveyor belt 513, and a driving means 514.

The conveying roller 511 is composed of a plurality of rollers, the compacting means 515 may be provided in the conveying roller 512 disposed below the content supply member 200.

The compaction means 515 is provided so as to be movable between the rollers of the feed roller 512. In this embodiment, the lower portion of the compaction means 515 is provided with an air cylinder 516, the air cylinder 516 As the piston expands and contracts, the compaction means 515 moves up and down. When the compaction means 515 moves up and down, the contents are filled in the ground when the contents are filled in the zone by the contents supply member 200 as the lower surface of the ground disposed above the feed roller 512 moves up and down. It can be filled evenly.

The conveyor belt 513 is connected to the feed roller 511, so that the feed roller 511 rotates together.

In the present embodiment, the conveyor belt 513 is not connected to the entire roller of the conveying roller, but only a part of the conveying roller 511, the conveying roller 512 disposed under the content supply member 200 is connected I never do that. The reason is that the zone should be disposed under the contents supply member 200 while the contents supply member 200 is filled with the contents, and the zone is disposed above the conveying roller 512 to which the conveyor belt 513 is not connected. The robot unit 410 of the grip member 400 is disposed on the upper portion of the conveying roller 511 to which the conveyor belt 513 is connected to the upper part of the conveying roller 512 to which the conveyor belt 513 is not connected. do.

The driving means 514 is connected to a belt of any one roller of the conveying roller 511 to which the conveyor belt 513 is connected. When the roller is rotated, the conveyor belt 513 and the conveyor belt 513 are rotated. The connected feed rollers rotate together.

Guide part (530)

As shown in FIG. 22, the guide part 530 is disposed on an upper part of the conveyor part 510. In this embodiment, the guide part 530 is disposed on an upper part of the feed roller 511 to which the conveyor belt 513 is connected. Is placed.

The guide part 530 guides two abutting surfaces of the zone inlet moved by the grip member 400, and as shown in FIGS. 24A and 24B, the first guide belt 531 and the second guide belt. It is preferable to include 535.

The first guide belt 531 is rotatably provided and supports any one surface of the zone entrance.

The second guide belt 535 is rotatably provided and supports the remaining surface of the zone entrance. The rotation axis of the second guide belt 535 is provided to be able to adjust the angle. In this embodiment, the connecting bracket 536 is mounted on the rotation shaft of the second guide belt 535, and the piston end of the air cylinder 537 is connected to the connecting bracket 536, so that the connecting bracket as the piston is stretched. By pushing or pulling 536, as shown in FIGS. 24A and 24B, the angle of the rotation axis of the second guide belt 535 mounted to the connection bracket 536 is adjusted.

As such, the second guide belt 535 may be moved away from or close to the first guide belt 531 by adjusting the angle of the rotation shaft.

The first finger 437 and the second finger of the grip member 400 when the angle of the rotation axis of the second guide belt 535 is adjusted so that the second guide belt 535 and the first guide belt 531 are arranged in parallel. The entrance of the zone is inserted between the second guide belt 535 and the first guide belt 531 by 439.

Power Train 550

Power transmission means 550 for transmitting the power of the conveyor unit 510 to the guide unit 530, as shown in Figs. 22 and 25, the first cross-gear gear 551 and the second cross-gear gear ( 552, the first pulley 553, the second pulley 554, the timing belt 555, the first spur gear 556, and the second spur gear 557 are preferably included.

As shown in FIG. 22, the first cross-gear gear 551 is connected to the rotational shaft of the drive means 514 for driving the conveyor belt 513 of the conveyor unit 510. The cross shaft gear 551 is a bevel gear.

As shown in Fig. 22, the second cross-gear gear 552 is meshed with the first cross-gear gear 551. In the present embodiment, the second cross-gear gear 552 is a bevel gear.

The rotation shaft 552a of the second cross-gear gear 552 is disposed long upward, and is disposed to the side where the upper guide part 530 is disposed.

As shown in FIG. 25, the first pulley 553 is mounted on the upper end of the rotation shaft 552a of the second cross-gear gear 552.

As shown in FIG. 25, the second pulley 554 is mounted on the rotation shaft of the first guide belt 531, and the timing belt 555 is provided with the first pulley 553 and the second pulley 554. Connect.

As shown in FIG. 25, the first spur gear 556 is mounted on the rotation shaft of the first guide belt 531, and is engaged with the first spur gear 556 on the rotation shaft of the second guide belt 535. The second spur gear 557 is mounted.

At this time, as shown in b of FIG. 24, when the angle of the rotation axis of the second guide belt 535 is adjusted so that one end of the second guide belt 535 moves away from the first guide belt 531, the second spur gear An end of 557 is engaged with the first spur gear 556. Therefore, even when one end of the second guide belt 535 is away from the first guide belt 531, the end of the second spur gear 557 is engaged with the first spur gear 556, so that the first spur gear 556 Rotational force may be transmitted to the second spur gear 557.

As such, the second spur gear 557 is engaged with the first spur gear 556, so that the power of the conveyor unit 510 is transmitted to the guide unit 530.

In detail, the rotational force of the driving means 514 for driving the conveyor belt 513 is transmitted to the second cross-gear gear 552 by the first cross-gear gear 551, and the first pulley 553 is made of the first pulley 553. It is rotated together with the second cross-gear gear 552, in which the second pulley 554 is also rotated by the timing belt 555, the second pulley 554 is mounted on the rotating shaft of the first guide belt 531 The first spur gear 556 rotates at the same time as the second pulley 554 rotates, and the second spur gear 557 engaged with the first spur gear 556 rotates, thereby causing the second guide belt ( 535 is also rotated together.

As such, the conveyor unit 510, the first guide belt 531, and the second guide belt 535 are driven together by the power transmission unit 550, and the conveyor unit 510 and the first guide belt 531 are driven together. And the second guide belt 535 is driven at the same rotational speed.

Guide member 500 is configured as described above, the entrance of the zone by the first finger 437 and the second finger 439 of the grip member 400, the second guide belt 535 and the first guide belt ( 531, as shown in FIG. 24A, by pushing the connecting bracket 536 as the piston extends, the rotation axis angle of the second guide belt 535 rotates clockwise in FIG. 24A. As shown in 24b, the rotation axis of the first guide belt 531 and the rotation axis of the second guide belt 535 are disposed in parallel, and thus the inlet of the zone is between the first guide belt 531 and the second guide belt 535. Being stuck in

In this state, the conveyor belt 513 is driven, and the conveyor unit 510, the first guide belt 531, and the second guide belt 535 are driven together at the same rotational speed by the power transmission unit 550. The zone is transferred to the sealing member 600 by driving the first guide belt 531, the second guide belt 535, and the conveyor unit 510.

As such, the conveyor unit 510, the first guide belt 531, and the second guide belt 535 are driven together at the same rotational speed by the power transmission unit 550, so that the upper and lower portions of the zone are guided at the same speed. As a result, the upper and lower portions of the zone can be safely transferred to the sealing member 600 without twisting.

TEMAL  Operation of Robot Automatic Baler Description of the status

Hereinafter, the operating state of the TMR robot automatic packaging machine of the present invention configured as described above are as follows.

The zone supply member 100 separates the zones stacked in the frame unit 110 into sheets, and then vertically arranges the zones one by one to supply the contents to the contents supply member 200 and vertically by the zone supply member 100. The contents supply member 200 fills the contents in the arranged zone, and the zone in which the zone is aligned with the zone alignment member 300 is aligned with the entrance of the zone, and the grip member 400 guides the aligned zone. Moving to the member 500 side, the moved zone is guided along the guide member 500 and is transferred to the sealing device 600.

The operation of each member is described in detail as follows.

The sheet separator 150 of the abutment supply member 100 is hinged as the piston of the first rotating means 154 extends as shown in FIG. 27 while the first vertical movement part 152 moves downward as shown in FIG. 26. The branch portion 153 rotates clockwise in FIG. 6A to approach the zone as shown in FIG. 6B, whereby the elastic portion 155b of the second close contact portion 137 contacts the upper surface of the zone.

When the air is sucked by the air suction means in this state, the bellows-shaped elastic portion 155b is folded and in close contact with the upper surface of the zone located at the top. Thus, the piston of the first rotating means 154 is reduced in the state in which the elastic portion 155b is in close contact with the upper surface of the zone so that the hinge portion 153 rotates counterclockwise in FIG. As shown by the hinge portion 153, the end of the zone is lifted upwards.

The piston of the first cylinder portion 159 extends in the state in which the end of the zone located at the uppermost portion is lifted, and the piston end presses the end of the zone disposed at the bottom of the zone where the end is lifted.

At this time, when the second vertical movement part 135 of the transfer part 130 moves downward, and the air is sucked by the air suction means while the elastic part 137b of the second contact part 137 is in contact with the upper surface of the zone. As the elastic part 137b having a bellows shape is folded, the elastic part 137b is in close contact with the upper surface of the zone. In the state where the upper surface of the zone is in close contact with the elastic part 137b, the second vertical movement part 135 moves upward as shown in FIG. 26. As such, when the second vertical movement part 135 moves upward while the zone is in close contact with the elastic portion 137b of the second close contact portion 137, the zone is separated into a single sheet and comes up.

At this time, the zone located in the lower portion of the rising zone is pressed by the piston of the first cylinder portion 159, which is the pressing means opposite the inlet, and thus does not rise with the rising portion of the upper portion.

Then, the second before and after moving part 131 moves forward as shown in FIG. 26 to place the zone above the third contact part 173 of the supply part.

When the third contact part 173 is in close contact with the central portion of the lower surface of the zone while the second contact portion 137 is in close contact with both sides of the upper surface of the zone, the entrance of the zone is opened.

At the inlet of the opened zone, a pair of support arms 177 of the supply unit 170 rotate as shown in FIG. 26 so that the grip of the support arms 177 is fitted inside the zone inlet. That is, the grip between the support arms 177 enters the inside of the zone inlet in the closed state, and then the grip between the support arms 177 opens and is fitted inside the zone inlet.

At this time, the air suction of the elastic portion 137b of the second contact portion 137 is released, the contact of the second contact portion 137 is released, and the grip of the support arm 177 is fitted inside the zone inlet. The support arm 177 is rotated as shown in FIG. 28 so that the zone is vertically disposed, and the inlet of the zone is fitted to the outside of the guide means 230 of the contents supply member 200. When the zone is arranged vertically, the inlet of the zone is fitted to the outside of the guide means 230, the lower end of the zone is placed on the feed roller unit 190.

In addition, when the inlet of the zone is fitted to the outside of the guide means 230, the support arm 177 is separated from the inside of the zone while being raised more than the horizontal state as shown in FIG.

Thus, when the zone inlet is fitted to the outside of the guide means 230 of the contents supply member 200, the inlet of the zone is disposed on the outside of the guide means 230 when the pair of guide means 230 is closed Then, when the space between the pair of guide means 230, a pair of guide means 230 is fitted inside the zone. At this time, the support roller 213 supports the zone on the outside of the zone. Therefore, the inlet of the zone is supported by the guide means 230 and the support rollers 213, respectively, so that when the contents are filled in the zone, the guide means 230 and the support rollers 213 are inside and outside the zone. It serves to hold.

In addition, by the support portion moving means 275, both support portions 270 are moved in the direction in which the two sides of the hopper 210 abut, so that the front and rear surfaces of the zone inlet is sandwiched between the guide means 230 and the support roller 213. When supported, both side surfaces of the zone inlet may be supported on the outside by both side supports 270.

As described above, when the front and rear surfaces and both sides of the zone inlet are supported, the gap between the guide means 230 is opened, and the lower portion of the hopper 210 is opened so that the contents in the hopper 210 are poured into the lower portion and the contents inside the zone. This is filled.

At this time, while moving up and down the compaction means 515 provided on the transport roller 512 on which the lower surface of the rent is placed, the contents may be evenly filled within the territory when the contents are filled in the rent.

When the filling of the contents in the zone is completed, both support portions 270 are moved outwardly from both sides of the hopper 210 by the support movement means 275, the support of both sides of the zone is released, a pair of guide means The lower portion of the hopper 210 is closed as the space between the 230 is closed, and the contents supply in the hopper 210 is stopped.

When the contents filling of the zone is completed by the contents supply member 200, as shown in FIG. 15, the first link 310 as the piston of the third cylinder portion 350 of the zone alignment member 300 expands and contracts. Is rotated based on the hinge axis 320a hinged to the mounting frame 320, the second alignment portion 332 while the first alignment portion 331 is moved downward by the rotation of the first link (310). Enter inside the zone entrance. In this case, when the first link 310 rotates, the second link 370 also interlocks as the first alignment unit 331 moves, and the second link 370 is hinged to the mounting frame 320. Rotation based on 320b).

Thus, the zone inlet is pulled to both sides by the zone alignment member 300 so that the two surfaces facing each other of the zone inlet are in contact with each other and aligned.

In this way, the grip member 400 grips the entrance of the zone, which is aligned by the zone alignment member 300, and moves to the guide portion 530 of the guide member 500.

The robot part 410 of the grip member 400 has a first robot link rotatably mounted on the base frame to allow left and right movement, and the robot link includes a first robot link, a second robot link, and a third robot. The links are hinged, so they can move up and down as they interlock.

That is, the first finger 437 and the second finger 439 grip the zone filled with the contents even more firmly, and the second guide belt 535 of the guide member 500 by the robot unit 410. It may be moved between the first guide belt (531).

Thus, when the entrance of the zone is disposed between the second guide belt 535 and the first guide belt 531 by the first finger 437 and the second finger 439 of the grip member 400, FIG. 24A. As shown in the figure, by pushing the connecting bracket 536 as the piston extends, the rotation axis angle of the second guide belt 535 is rotated clockwise in FIG. 24A, so that the first guide belt 531 as shown in FIG. 24B. The rotating shaft of the second guide belt 535 and the rotating shaft is disposed in parallel, accordingly the entrance of the zone is sandwiched between the first guide belt 531 and the second guide belt 535.

In this state, the conveyor belt 513 is driven, and the conveyor unit 510, the first guide belt 531, and the second guide belt 535 are driven together at the same rotational speed by the power transmission unit 550. The zone is transferred to the sealing member 600 by driving the first guide belt 531, the second guide belt 535, and the conveyor unit 510.

According to the TMR robot automatic packaging machine of the present invention, the following effects.

A packaging device that uses a small polyethylene (PE) sheet of packaging (20 kg / bag) for the production of TMR, and the stacked layers are different from each other due to the static electricity due to the thin sheet material. Solving the problem that it is difficult to supply the sheet by sheet, it is possible to separate the zone into sheets by the sheet separator and to supply the contents supply member one by one accurately.

In addition, the supply portion of the zone supply member supports the inside of the zone inlet while opening the zone inlet so that the inlet of the zone is precisely disposed under the hopper of the contents supply member, thereby preventing the failure of the zone supply position.

Furthermore, in contrast to the prior art, in which the operator manually transfers the filled zone by the contents supply member to the sealing member, the alignment member is aligned so that the inlet of the filled zone is accurately aligned, and the inlet in which the grip member is aligned is accurately aligned. By grasping and moving in the guide member, unmanned processes that require at least two working people can reduce production costs, solve labor shortages in the 3D working environment, and improve production speeds. Productivity can be greatly improved.

By the effects as described above, by completely unmanned in the conventional method of supplying the zone and filling the feed in the zone to the sealing device depending on the manual operation, it is possible to maximize the productivity in the feed packaging operation.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

[Description of the code]

100: zone supply member 110: frame portion

130: transfer unit 131: second before and after moving unit

135: the second vertical moving part 137: the second contact part

150: sheet separator 151: first before and after the moving part

152: first up and down moving part 153: hinge part

154: first rotating means 155: first close contact

158: fixing unit 159: first cylinder

170: supply part 171: third vertical moving part

173: third contact portion 174: the second rotation means

175: support 176: rotary bar

177: support arm 178: second cylinder portion

179: link bar 200: contents supply member

210: hopper 230: guide means

250: opening and closing means 270: support on both sides

300: zone alignment member 310: first link

320: mounting frame 330: alignment unit

350: third cylinder unit 370: second link

400: grip member 410: robot part

430 grip part 431 grip base

432: stretch part 433: frame

434: uneven portion 435: finger base

437: first finger 436: first auxiliary finger

438: second auxiliary finger 439: second finger

500: guide member 510: conveyor

511: feed roller 513: conveyor belt

530: guide portion 531: first guide belt

535: second guide belt 550: power transmission means

551: first cross gear 552: second cross gear

553: first pulley 554: second pulley

555: timing belt 556: first spur gear

557: second spur gear

Claims (12)

A frame portion in which the zones are stacked, A transfer part disposed at an upper portion of the inlet side of the zone stacked on the frame unit and in close contact with an upper surface of the zone, and moving the zone in a close state forward; It is disposed on the upper side opposite the inlet of the zone to be laminated to the frame portion, the close contact means for lifting up the end of the zone in close contact with the upper surface of the zone, the lower portion of the zone lifted by the close means A sheet separator including a pressing means for pressing an end of the prepared zone, A zone supply member disposed in front of the transfer unit and including a supply unit which opens an inlet of the zone moved by the transfer unit so that the inlet of the zone is disposed upwards; A content supply member disposed in front of the zone supply member and configured to supply contents to the zone; A zone alignment member disposed at both sides of the contents supply member, the zone alignment members allowing two surfaces of the zone inlet to face each other; A conveyor unit disposed to extend from one side of the lower portion of the contents supply member to the one side and transferring the zone placed on the upper side; A guide member disposed on an upper portion of the conveyor unit and including a guide unit for guiding two abutting surfaces of the zone inlet; And a grip member disposed on one side of the guide member, the grip member which grips two abutting surfaces of the zone inlet and moves to the guide unit. The method of claim 1, The contact means, A first vertical moving part provided to be movable in the vertical direction in the frame part; A hinge part provided to be hinged to one end of the first vertical movement part; First rotating means for rotating the hinge portion; A first contact part provided on one side of the hinge part, First air suction means for providing a suction force to the first contact portion, The pressing means, A fixing part fixed to the first vertical moving part, TMR robot automatic packaging machine is mounted to the fixed portion, characterized in that it comprises a flexible first cylinder. The method of claim 2, The contact means, Further comprising a first front and rear moving part provided to be movable in the front and rear direction in the frame portion, The first vertical movement unit is a TMR robot automatic packaging machine, characterized in that provided to be movable in the vertical direction. The method of claim 1, The transfer unit, A second front and rear moving part provided to be movable in the front and rear direction in the frame part; A second vertical moving part provided to be movable in the vertical direction in the second front and rear moving part; A second contact part provided at one end of the second vertical movement part, A second air suction means for providing a suction force to the second close contact portion; The supply unit, A third vertical moving part provided to be movable in the vertical direction in the frame part; A third close contact portion for bringing the lower surface of the zone into close contact with the upper surface of the zone by the second close portion and moving downward; Third air suction means for providing a suction force to the third close contact portion; And a support part configured to support both sides of the zone inlet in the state where the inlet of the zone is opened by the third close contact, so that the inlet of the zone is disposed upward. The method of claim 1, The zone alignment member, A first link having one end hingeably connected to a mounting frame mounted to the contents supply member; The other end of the first link is hingedly connected, and the alignment portion is provided so as to enter the inside of the zone inlet according to the movement of the first link, The cylinder body is provided to be hinged to one side of the contents supply member, the piston end includes a third cylinder portion that is hingedly connected to any portion of the first link, As the piston of the third cylinder portion expands and contracts, the first link rotates about a hinge axis hinged to the mounting frame, and the alignment portion can enter the inside of the zone inlet by the rotation of the first link. TML robot automatic packaging machine, characterized in that. The method of claim 1, The grip member, The lower end is rotatably provided in front of the contents supply member, and the left and right movement is possible, consisting of a plurality of robot links and the robot unit capable of vertical movement; And a grip unit mounted to an end of the robot unit, the grip unit gripping two abutting surfaces of the zone inlet. The method of claim 6, The grip part, A grip base rotatably mounted at one end of the robot unit; It is mounted on the other side of the grip base, the frame of the straight form, A pair of finger bases disposed at both ends of the frame toward the contents supply member, respectively; A pair of first fingers respectively provided on the finger base and supporting any one surface of the inlet of the zone; And a pair of second fingers provided rotatably on the finger base and disposed to face the first finger when rotating, and supporting a second surface of the inlet of the zone. The method of claim 7, wherein The first finger and the second finger, The TMR robot automatic packaging machine, characterized in that the irregularities are formed to be engaged when the first finger and the second finger are disposed to face each other. The method of claim 7, wherein The first auxiliary finger disposed upward from the first finger is provided in any one first finger disposed far from the guide member among the pair of first fingers. A second auxiliary finger disposed upward from the second finger is provided at any one of the pair of second fingers disposed far from the guide member. When the first finger and the second finger hold the two abutting surfaces of the zone inlet, the first auxiliary finger and the second auxiliary finger support the upper side of the portion held by the first finger and the second finger. Tiemal robot automatic packaging machine, characterized in that. The method of claim 7, wherein One end of the frame, which is disposed far from the guide member, is provided with a stretchable portion that can stretch from the frame. One of the finger base of the pair of finger base is a TMR robot automatic packaging machine, characterized in that is provided at the end of the elastic portion. The method of claim 1, The guide unit, A first guide belt rotatably supporting one side of the zone inlet, A second guide belt rotatably supporting the other side of the zone inlet, The rotating shaft of the second guide belt is provided to be able to adjust the angle, one end of the second guide belt is a TMR robot automatic packaging machine, it characterized in that it is possible to move away from or close to the first guide belt. The method of claim 11, The guide member further includes a power transmission means for transmitting the power of the conveyor unit to the guide unit, The power transmission means, A first intersecting shaft gear connected to a rotating shaft of a driving means for driving the conveyor unit; A second cross shaft gear meshed with the first cross shaft gear; A first pulley mounted to a rotation shaft of the second cross shaft gear; A second pulley mounted on a rotating shaft of the first guide belt; A timing belt connecting the first pulley and the second pulley; A first spur gear mounted to a rotating shaft of the first guide belt; A second spur gear that is mounted to the rotation shaft of the second guide belt and meshes with the first spur gear, The end of the second spur gear meshes with the first spur gear even when the angle of the rotation axis of the second guide belt is adjusted so that one end of the second guide belt moves away from the first guide belt. The conveyor robot, the first guide belt and the second guide belt is driven by the power transmission means characterized in that the TMR robot automatic packaging machine.

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