WO2019176883A1 - Confectionary production system comprising parallel link mechanism - Google Patents

Abstract

Provided is a confectionery production system that comprises two frames and a confectionery production unit replacably installed on the frames so as to straddle a conveyance device, the confectionery production unit performing a prescribed closed loop operation.　This confectionery production system comprising a parallel link mechanism has: two frames respectively provided to both sides of a conveyance device; and a confectionery production unit provided above the frames. At least one frame has: two servo motors; and a parallel link mechanism comprising a first link part which includes five arm parts connected in series between the two servo motors, and a second link part which includes two arm parts connected so as to form a substantially parallelogramic shape with a part of the first link part. The first and fifth arm parts respectively connected to the two servo motors extend in a direction separating from each other; and the second and fourth arm parts respectively connected to the first and fifth arm parts extend in a mutually approaching direction, and support the load of the confectionery production unit while horizontally holding the confectionery production unit above the third arm part.

Description

Confectionery manufacturing system with parallel link mechanism

The present invention relates to a confectionery manufacturing system provided with a parallel link mechanism, and in particular, includes a confectionery manufacturing unit installed on two pedestals and a pedestal so as to be able to be exchanged across a conveyor, and the confectionery manufacturing unit performs a predetermined closed-loop operation. The present invention relates to a confectionery manufacturing system provided with a parallel link mechanism capable of performing the same.

In a mass production type confectionery production line, a confectionery raw material is conveyed by a conveyor device such as a belt conveyor, and processed by various confectionery manufacturing apparatuses assembled in the conveyor device to produce a confectionery.
Even if it is a mass production type, it is a prerequisite that it is a facility that can be mass-produced efficiently in a space-saving manner, but in addition to that, the sales life of products has recently been shortened and many variations of products to be produced are also required. Became. There are only a few lines that mass-produce the same products over a long span of decades, and the majority of mass-produced lines cannot be realized without always considering product switching and line rearrangement. Furthermore, reduction of time and labor required for switching such as a shortage of labor and a request for supplying different products in a unit of 24 hours to a convenience store is also an important issue for the confectionery manufacturer. And in the food production line, safety and hygiene measures are an absolute requirement no matter what scale, whether they can be produced in large quantities, are space-saving, are easy to use, Safety and health considerations are indispensable.

Fortunately, even if the demand for products to be manufactured increases and the scale of mass production increases, as described above, the product life is short, there is a shortage of manpower, and it is not known how long the demand will last. In addition, since products are supplied in a short span after production, it is not necessary to stop the line for a long time for remodeling, and as a result, the dual-purpose elements are scraped off in order to increase the capacity with limited time and space efficiency. Therefore, it is unavoidable to use a dedicated line specialized for the specific product, but it is not easy to recombine lines that satisfy all the conditions.

By the way, in the confectionery manufacturing apparatus, there is an apparatus that needs to stay in the upper part of the confectionery for a certain period of time, such as a filling machine that fills the confectionery with cream.
Usually, the filling machine holds the filling material in a container called a hopper, and fills the confectionery transported under the filling machine with a certain amount of filling material. When the viscoelasticity is high, an extra operation such as separating the confectionery and the filling machine at the stage of filling the material and cutting the filling material may be required.

In such a case, considering the production efficiency, it is originally preferable to perform the filling operation while operating the filling machine in synchronization with the conveyance speed. However, in many cases, the product material is used from the viewpoint of the production scale and cost of the apparatus. During the filling, the conveyance is temporarily stopped, and when the filling is completed, intermittent feeding is performed so that the next row of confectionery is conveyed under the filling machine.
In this case, it may be necessary to move up and down the filling section of the filling machine every time a row of confectionery is processed, or to move the belt conveyor up and down while fixing a heavy filling machine. When such intermittent feeding is performed, the throughput (production capacity) of confectionery production is reduced by the amount that the stop operation is performed for each row of confectionery to be processed.

Further, in order to increase the commercial value, a complicated filling operation may be performed. However, as the operation becomes complicated, the time for stopping the conveyance becomes longer and the production efficiency tends to decrease.
If processing can be performed in a state where the confectionery is continuously conveyed without stopping the conveyance, the production efficiency of products with high commercial value can be improved, and the number of production can be increased more efficiently.

Patent Document 1 relates to an alignment device for aligning confectionery being conveyed, not a filling machine, but after lowering the alignment plate on the rear side of the confectionery and extruding it in the conveyance direction, An apparatus for aligning confectionery is disclosed in which an alignment plate is raised and returned to its original position to align the confectionery while being conveyed. Such a two-dimensional operation is called box motion.

In the alignment apparatus of Patent Document 1, the vertical movement of the alignment plate is performed by an air cylinder, and the feeding in the conveyance direction is performed by changing the rotation of the rotary actuator to a linear operation via a crank. When a relatively lightweight alignment plate such as an alignment device is operated, it can be realized with a simple driving device as described above, but it is not easy to move a heavy filling machine in the vertical direction and the conveying direction.

Although the box motion can be realized by combining the vertical motion and transport direction motion with a linear motion drive system such as a ball screw, the accuracy of the components is required when applied to a heavy filling machine. However, there are many backlashes and vibrations, and the life of parts is short, which is not preferable for long-term stable operation. In addition, due to the complexity of the device, adjustment tends to be complicated, and there are many things that are difficult to clean, and it is difficult to ensure safety and health. Moreover, it is expensive and it is not easy for many producers to make investments.
Even when box motion is applied to the filling machine, the operation required for the alignment plate of the alignment apparatus and the operation of the filling machine are not necessarily the same, and the operation must be changed according to the product.

In this way, when the mass production scale increases, it becomes a line dedicated to specific products, and it becomes difficult to produce by combining multiple products, but even so, with sufficient safety and health measures taken, There is a need to realize a mass production confectionery manufacturing system that can easily be replaced and that can be easily set, with the transport device at the center.

JP 2016-44062 A

The present invention has been made in view of the above problems in the conventional confectionery manufacturing system, and the object of the present invention is compatible with various confectionery manufacturing apparatuses including large-scale confectionery manufacturing apparatuses, and each optimum Confectionery manufacturing unit equipped with a mechanism that can realize various operations, easy to install and recombine, and easy to handle including cleaning and maintenance And providing a high-capacity confectionery production system having a parallel link mechanism that allows the confectionery production unit to perform a predetermined closed-loop operation.

The confectionery manufacturing system provided with the parallel link mechanism according to the present invention, which has been made to achieve the above object, faces both sides of a conveying device that conveys the confectionery being produced in a certain direction, in a direction perpendicular to the conveying direction of the conveying device. A confectionery production system comprising a parallel link mechanism having two cradles installed and a confectionery production unit installed on the gantry so as to be able to be exchanged across the transport device, wherein at least one of the two cradles The first is to connect two servo motors having a rotation axis in a direction orthogonal to the transport direction of the transport device and spaced apart along the transport direction, and the two servo motors connected in series in order. A first link portion comprising the five arm portions and the first to fourth node portions that pivotably connect the arm portions, and a part of the second arm portion and the third arm portion. And a nearly parallelogram And an eighth arm portion including a sixth arm portion and a fifth arm portion that connect the sixth arm portion and the fifth arm portion connected to each other while interlocking with the first arm portion. The two servo motors are controlled so that the confectionery manufacturing unit performs a predetermined closed-loop operation corresponding to the transport speed of the transport device via the parallel link mechanism. A first and fifth arm portions connected to the two servo motors, respectively, extending in directions away from each other, and connected to the first and fifth arm portions, respectively. The fourth arm part extends in a direction approaching each other, thereby supporting the load while holding the confectionery manufacturing unit installed on the third arm part horizontally.

The control unit stores a program for controlling the two servo motors for each confectionery manufacturing unit installed so as to be replaceable, and a program adapted to the confectionery manufacturing unit installed so as to be replaceable on a display panel included in the control unit. Is preferably displayed in a selectable manner.
The confectionery manufacturing unit installed so as to be replaceable is a combination device, a disinfection liquid dropping device, a filling device, an alignment device, a die cutting device, a cutting device, a transfer device, a stacking device, a pitch conversion device, a branding device, and a direction changing device. Any one of them is preferable.

Each of the two platforms has the two servo motors and the parallel link mechanism, and the control unit has a predetermined closed loop in which the confectionery manufacturing unit corresponds to the transport speed of the transport device via the parallel link mechanism. Control two servo motors of each of the two pedestals to perform the operation, the confectionery manufacturing unit is a filling machine, the filling machine is a dough hopper that holds the dough to be filled, and the predetermined closed loop operation It is preferable to provide a valve and a piston for supplying a constant amount of cloth in conjunction with each other.

According to the confectionery manufacturing system provided with the parallel link mechanism according to the present invention, a confectionery manufacturing unit having various functions can be easily selected and installed later so that the existing transport device can be covered without remodeling.・ As a control program that can be moved / removed and that gives optimal operation to the installed confectionery production unit can be selected, the confectionery production line manager can easily reconfigure and configure the production line. It can be carried out.

In addition, as described above, the confectionery manufacturing system provided with the parallel link mechanism according to the present invention has a structure that can be installed independently of the transport device, and can be installed so as to cover the transport device. Compared with a normal confectionery manufacturing system, there are few structures which block a conveyance apparatus and an apparatus lower surface, and cleaning and an inspection can be performed easily.

According to the confectionery production system provided with the parallel link mechanism according to the present invention, the confectionery production unit can perform an operation combining the movement along the conveyance direction of the conveyance device and the vertical movement, so that the belt conveyor of the conveyance device is intermittently fed. Or the height of the belt conveyor does not need to be changed periodically, and the process for producing confectionery can be processed efficiently.

Moreover, when using the confectionery production system provided with the parallel link mechanism according to the present invention as a filling machine, a filling operation (for example, for producing a biscuit shape) that requires a unique shape and beauty without reducing the ability. Star-shaped rotary squeeze, ring-like / squeeze squeezing cream, decoration filling that moves up and down while filling, etc.), and switching is easy, so it is not dedicated to specific products, although it is large-scale Moreover, even if the product cycle can be shortened, the manufacturing apparatus system can be used for a long time.

Furthermore, according to the confectionery manufacturing system provided with the parallel link mechanism according to the present invention, the box motion can be realized without controlling the rotation of the servo motor to convert it into a linear reciprocating motion. Even if a heavy weight (650 kg in the embodiment) is selected, an apparatus that can operate smoothly and has little vibration can be provided.

It is a figure which shows roughly the stand and confectionery manufacturing unit of the confectionery manufacturing system provided with the parallel link mechanism by embodiment of this invention. It is the schematic which shows the stand of FIG. 1, and a confectionery manufacturing unit planarly. It is a figure explaining the closed loop operation | movement of the parallel link mechanism by embodiment of this invention. It is a figure which shows the example of a display of the touchscreen of the confectionery manufacturing system provided with the parallel link mechanism by embodiment of this invention. It is a figure which shows the structure of the confectionery manufacturing system provided with the parallel link mechanism by embodiment of this invention.

Next, the specific example of the form for implementing the confectionery manufacturing system provided with the parallel link mechanism which concerns on this invention is demonstrated in detail, referring drawings.
FIG. 1 is a diagram schematically showing a confectionery manufacturing system and a confectionery manufacturing unit provided with a parallel link mechanism according to an embodiment of the present invention, and FIG. 2 is a plan view of the confectionery manufacturing unit and the confectionery manufacturing unit of FIG. FIG.

1 and 2, the confectionery manufacturing system 1 according to the embodiment of the present invention includes two confections that are opposed to each other on both sides orthogonal to the transport direction of the transport device 50 including the transport belt 51 for transporting the confectionery 55. The confectionery manufacturing unit 40 is installed on the gantry (10, 15) and the two gantry (10, 15) so as to be able to be exchanged across the transport device 50.

The gantry (10, 15) serves as a platform for mounting the confectionery manufacturing unit 40 on the top, and also has a drive mechanism, and serves as a drive device for operating the confectionery manufacturing unit 40 mounted thereon in a predetermined closed loop. Therefore, at least one of the two mounts (10, 15) includes two servo motors (11, 12). The two servo motors (11, 12) have a rotation axis in a direction orthogonal to the transport direction of the transport device 50 and are separated along the transport direction. The first to fifth five arm portions (21, 22, 23, 24, 25) and the first to fifth arms are rotatably connected in series between the two servo motors (11, 12). The fourth four nodes (31, 32, 33, 34) are connected. The first to fifth five arm portions (21, 22, 23, 24, 25) and the first to fourth node portions (31, 32, 33, 34) constitute the first link portion. To do.

The first link portion will be described in more detail. One end of the first arm portion 21 is connected to the first motor 11, and the second end of the first arm portion 21 is connected to the node portion 31 at the other end of the first arm portion 21. One end of the arm portion 22 is connected. One end of the third arm portion 23 is connected to the node portion 32 at the other end of the second arm portion 22, and the fourth arm portion 24 is connected to the node portion 33 at the other end of the third arm portion 23. Are connected at one end. Furthermore, one end of the fifth arm portion 25 is connected to the node portion 34 at the other end of the fourth arm portion 24, and the other end of the fifth arm portion 25 is connected to the second servomotor 12.

Of the arm portions thus connected, the first arm portion 21 and the fifth arm portion 25 that are directly connected to the servo motors (11, 12) are respectively started from the servo motor (11, 12). The second arm part 22 and the fourth arm part 24, which extend in the direction away from each other and are connected to the first arm part 21 and the fifth arm part 25, are respectively connected to the node part 31 to which they are connected. And 34 are extended in directions approaching each other. The 3rd arm part 23 connected with the 2nd arm part 22 and the 4th arm part 24 is a part used as the base which mounts the confectionery manufacturing unit 40 on it.

When the confectionery manufacturing unit 40 is mounted on the third arm portion 23 and the load of the confectionery manufacturing unit 40 is applied vertically downward, the second arm portion 22 has a watch centered on the first node 31. Rotational force is applied to the fourth arm portion 24, and rotational force is applied to the fourth arm portion 24 counterclockwise around the fourth node portion 34. However, the rotation is constrained by the third arm portion 23. Moreover, the load of the confectionery manufacturing unit 40 can be supported by the first link part.

Further, the gantry 10 further includes a second link portion that restricts the operating range of the first link portion. Specifically, the second link part plays a role of keeping the third arm part 23 horizontal, and has a substantially parallelogram shape with the second arm part 22 and a part of the third arm part 23. The sixth arm portion (26, 27) and the fifth node portion 35 that connects the sixth arm portion 26 and the seventh arm portion 27 are connected to each other so as to form the first arm portion 21. And an eighth arm portion 28 that supports the second arm portion 28 while interlocking with the second arm portion.

One end of the sixth arm portion 26 is connected to the first arm portion 21 and the second arm portion 22 by the first node portion 31, and the fifth node at the other end of the sixth arm portion 26. One end of the seventh arm portion 27 and one end of the eighth arm portion 28 are connected to the portion 35. The other end of the seventh arm portion 27 is connected to a sixth node portion 36 located substantially at the center of the two node portions (32, 33) located at both ends of the third arm portion 23. At this time, the length of each arm portion configured such that the quadrangle having the first node portion 31, the second node portion 32, the sixth node portion 36, and the fifth node portion 35 as apexes becomes a parallelogram. Adjust the height. The arm portion is not necessarily limited to a linear shape, and a curved shape or a bent shape can perform the same function.

The other end of the eighth arm portion 28 is rotatably connected to a node portion 37 located substantially at the center of the two servo motors (11, 12). Since the eighth arm portion 28 is connected to the first arm portion 21 via the sixth arm portion 26, the eighth arm portion 28 is configured to rotate the first arm portion 21 in accordance with the rotation operation of the servo motor 11. It rotates in conjunction. As a result, the sixth arm portion 26 can be kept horizontal even when the servo motor 11 is rotated, and the sixth arm portion 26 and the third arm portion 23 that is opposite to the parallelogram is also kept horizontal. can do.

Thus, the gantry 10 can drive the confectionery manufacturing unit 40 while supporting the load of the confectionery manufacturing unit 40 by the first link part and maintaining the level of the confectionery manufacturing unit 40 by the second link part. That is, a predetermined operation can be realized by combining the first link portion and the second link portion. Here, the combination of the first link portion and the second link portion is referred to as a parallel link mechanism.
The gantry 10 includes a control unit that controls the two servo motors so that the confectionery manufacturing unit performs a predetermined closed loop operation corresponding to the transport speed of the transport device via a parallel link mechanism.
The other gantry 15 facing the carrier device 50 may be the same as the gantry 10 described above, or the servo motor is changed to a node when the weight of the confectionery manufacturing unit 40 to be mounted is not heavy. It does not matter if it is configured. When the gantry 15 also has two servo motors (13, 14), the control unit controls the two gantry units so that the confectionery manufacturing unit performs a predetermined closed loop operation corresponding to the conveying speed of the conveying device via the parallel link mechanism. Control each of the two servo motors.

1 and 2 show an embodiment in which the confectionery manufacturing unit 40 to be mounted is a filling machine 41. Referring to FIG. 1, the filling machine 41 includes a dough hopper 42 that holds dough to be filled, a valve 43 for supplying a certain amount of dough, and a piston 44. The filling machine 41 supplies a filling dough such as cream for sandwiching the confectionery 55 every other row of the confectionery 55 baked and conveyed. As shown in FIG. 2, the confectionery 55 that is conveyed is usually aligned in the previous processing step and regularly arranged and conveyed, but the position is slightly shifted during conveyance due to vibration of the conveyance belt 51 and the like. Can also happen. Therefore, although not shown, the filling machine 41 includes a positioning pin that corrects the position of the confectionery 55 that is transported before filling. In the embodiment, the positioning pin may be lowered after the confectionery 55 and then pushed out in the conveying direction to correct the position, so that a closed loop operation mechanism may be performed by a motor provided in the filling machine 41.

The filling machine 41 includes an open hopper type piston filling machine as shown in FIG. 1 and a manifold type filling machine that pressurizes the dough placed in a container and fills the dough by controlling opening and closing of a valve. Manifold-type filling machines can transfer the dough into tubes, so that the container can be placed on a fixed base, and the operating part can be lightened accordingly. However, it takes time until the filling amount stabilizes after the dough is put into the container. There is a demerit that the loss of the fabric is large. On the other hand, the piston filling machine draws the filling dough into the piston case by a fixed volume, and after dividing, pushes the piston to discharge the filling dough, so that the filling amount is stabilized immediately after the filling operation is started. However, since the dough is not pressurized, it is difficult to convey the tube, and the dough hopper 42 needs to be positioned above the confectionery 55. When mass production is performed, the amount of dough that is put into the dough hopper 42 is also large, and the total weight of the filling machine 41 in the state that the dough is put in may exceed 600 kg, for example, 650 kg in one embodiment.
Since a heavy driving force is required to operate a heavy object at a high speed in accordance with the speed of the conveyor belt 51, in the embodiment, each of the two mounts (10, 15) has two servo motors. Prepare. That is, a predetermined closed loop operation is given to the filling machine 41 by a total of four servo motors (11, 12, 13, 14). The combination operation of the gantry (10, 15) and the filling machine 41 will be described later with reference to FIG.

The confectionery manufacturing unit 40 mounted on the two mounts (10, 15) can select various types according to the type of the confectionery 55 to be manufactured. Examples of the type of the confectionery manufacturing unit 40 include an aligning device, a disinfecting droplet dropping device, a filling device, an aligning device, a die cutting device, a cutting device, a transfer device, a stacking device, a pitch changing device, a branding device, and a direction changing device. . Since the confectionery manufacturing unit 40 is installed so as to be replaceable, when the type of the confectionery 55 to be manufactured is changed, the confectionery manufacturing unit 40 once installed is changed to another confectionery manufacturing unit 40 necessary for the confectionery 55 to be newly manufactured. be able to. Even when such a configuration of the production line is changed, the pedestal (10, 15) can be used in common, so that the investment cost for changing the production line can be suppressed.

Moreover, since the confectionery manufacturing system 1 combining the gantry (10, 15) and the confectionery manufacturing unit 40 is configured to straddle the conveying device 50, the installation position can be freely adjusted. Further, since there is no need to install a mechanism for driving the confectionery manufacturing apparatus under the conveyor belt 51 as in the conventional equipment, the conveyor belt 51 can be easily cleaned and maintenance can be easily performed.
In a confectionery manufacturing apparatus, maintaining cleanliness in terms of safety and health is one of the most important management items, and ensuring the cleaning and maintenance performance of the conveyor belt 51 is very effective in performing such management. is there.

FIG. 3 is a diagram illustrating the closed-loop operation of the parallel link mechanism according to the embodiment of the present invention, and is a diagram illustrating the operation position and the content of the operation in the order of (a), (b), (c), and (d). is there.
Referring to FIG. 3A, the filling machine 41 installed on the gantry 10 is installed so as to cover the confectionery 55 conveyed on the conveyance belt 51. In addition, in order to make it easy to understand, the gantry 10 shows only the parallel link part, and the main body part is omitted. In addition, the reference numerals are representatively shown only in FIG. 3A, but the constituent elements in FIGS. 3B, 3C, and 3D are the same as those in FIG. 3A, and the reference numerals in FIG. Use and explain.

FIG. 3A shows the position at the start point of the closed loop operation, specifically, the raised position with respect to the transport belt 51 and the upstream position with respect to the transport direction of the transport belt 51. It is a state.
The dough hopper 42 holds the filling dough, and the valve 43 is rotated to a position where the upper passage is closed so that no new dough is supplied. Since the lower passage is released at this position, the filling material can be supplied by pushing the piston 44 in this state. The piston 44 is pulled down to draw a predetermined amount of filling dough.

Arrows 16 and 17 indicate the next operation of the servo motors 11 and 12, respectively, and an arrow 18 indicates the next operation of the third arm unit 23 and the filling machine 41 installed in the third arm unit 23. In accordance with the transport position of the confectionery 55 that supplies the filling dough, the filling machine 41 descends from the position of FIG. 3A as shown by the arrow 18 and moves to FIG. 3B. At this time, the servo motor 11 rotates counterclockwise as indicated by an arrow 16 and the servo motor 12 rotates clockwise as indicated by an arrow 17.

When the filling dough is lowered to the position for supplying the dough, the piston 44 is pushed in as shown in FIG. At this time, the filling machine 41 moves in the conveying direction of the conveying belt 51 in accordance with the conveying speed of the conveying belt 51 while maintaining the height while supplying the filling material by the piston 44. Thereby, the position in which the confectionery 55 supplied with filling dough is above the confectionery 55 can be maintained even during conveyance. For this reason, it is not necessary to stop the conveyance of the confectionery 55 for the time required from the start to the end of the supply of the filling dough, and high productivity can be obtained.

3B, the servo motors 11 and 12 rotate clockwise as indicated by arrows 16 and 17, respectively, to move the filling machine 41 horizontally. FIG. 3C shows the point in time when the supply of the filling dough is completed. At this point, the valve 43 of the filling machine 41 rotates counterclockwise to close the lower passage and open the upper passage. In order to return from this state to the state of FIG. Therefore, the servo motor 11 rotates clockwise as indicated by an arrow 16 and the servo motor 12 rotates counterclockwise as indicated by an arrow 17. FIG. 3D shows a state where the height has been raised to the same height as the state of FIG.

From the state of FIG. 3 (d), it moves in the direction opposite to the conveying direction of the conveying belt 51 and returns to the position that becomes the starting point of the closed loop operation. Pulled down to draw the amount of filling dough.
As shown in FIGS. 3A to 3D, the rotation of the valve 43 and the back-and-forth movement of the piston 44 are performed in conjunction with the closed loop operation, so that the confectionery 55 can be conveyed without stopping the confectionery 55. Filling operation can be performed.
As for the horizontal movement of the conveyor belt 51 in the direction opposite to the conveying direction, both the servomotors 11 and 12 rotate counterclockwise as indicated by arrows 16 and 17 in FIG.

As described above, the closed-loop operation in the case of the filling machine 41 includes four operations, that is, descending, horizontally moving, ascending, and horizontally moving. This operation is also called a box motion because the locus draws a square.
As described here, in the embodiment, since the box motion can be realized without controlling the rotation of the servo motor to convert it into the linear reciprocating motion, the operation is smooth even in the confectionery manufacturing unit 40 having a weight exceeding 600 kg. There is little vibration.

As shown in FIGS. 3A to 3D, during the closed-loop operation, the first arm portion 21 and the fifth arm portion 25 that are directly connected to the servo motor (11, 12) are connected to the servo motor (11, 12). The second arm portion 22 and the fourth arm portion 24 that extend in directions away from each other and are connected to the first arm portion 21 and the fifth arm portion 25 are respectively The positional relationship of extending in the direction approaching each other starting from the connected joints 31 and 34 is maintained.

Such movement is realized by a control unit (not shown). 1 to 3, the case where the confectionery production unit 40 is the filling machine 41 has been described as an embodiment. However, as described above, various confectionery production apparatuses can be applied as the confectionery production unit 40. Depending on the type of the confectionery manufacturing unit 40, the same box motion as that of the filling machine 41 is not necessarily the optimum operation. Even if the same box motion is performed, the height and the movable range in the horizontal direction may be different.
Therefore, in the embodiment, the control unit stores a program for controlling the two servo motors (11, 12) for each type of the confectionery manufacturing unit 40 to be mounted, and confectionery manufacturing is installed so as to be replaceable on a display panel provided in the control unit. A program tailored to the unit 40 is displayed so as to be selectable.

FIG. 4 is a diagram illustrating a display example of the touch panel of the confectionery manufacturing system including the parallel link mechanism according to the embodiment of the present invention.
Referring to FIG. 4, a touch panel 90, which is a display panel that also serves as an input device, has a device selection button 91 for selecting a device, an operation selection button 92 for selecting the operation of the selected device, and respective operation settings as necessary. And an adjustment button 93 that can be adjusted.

In the embodiment of FIG. 4, four selectable devices are displayed: a matching device, a disinfecting liquid dropping device, a filling machine, and an aligning device. Alternatively, only the confectionery manufacturing unit 40 that may be applied may be selectively displayed.
In the operation selection, four operations of matching operation, filling operation, horizontal reciprocation operation, and alignment operation are displayed according to the selectable device, but if the operation differs depending on the characteristics of the filling dough, for example, high viscosity filling operation Alternatively, it may be displayed in a selectable manner such as a low viscosity filling operation.

When a desired button is selected from the device selection button 91 and the operation selection button 92, the set value of the programmed basic operation is displayed in the operation setting column. When such a preset setting value is changed, adjustment can be performed with the adjustment button 93.
Here, the device and the operation are selected by the device selection button 91 and the operation selection button 92. However, when the operation is confirmed by the device, the operation selection button 92 may be a simple operation display lamp. When a filling machine is selected from the buttons 91, an operation display lamp for the filling operation is turned on, and an operation setting value necessary for the filling operation may be displayed in the operation setting column. Furthermore, a unique identification code such as a two-dimensional code is provided for each confectionery manufacturing unit 40, and when installing the confectionery manufacturing unit 40 on the gantry (10, 15), an identification means such as a reader provided on the gantry (10, 15). The identification code may be identified by the program, and the program or setting value corresponding to the identified confectionery manufacturing unit 40 may be displayed on the touch panel 90.

Further, when the setting of the closed loop operation is different for each type of confectionery 55 to be manufactured even in the same confectionery manufacturing unit 40, a setting value can be registered for each type of the confectionery 55, and the confectionery 55 can be registered on the touch panel 90. A selection button may be displayed in a selectable manner.
Since the closed loop operation applied to the confectionery manufacturing unit 40 is basically matched to the conveyance speed of the conveyance device 50, the setting value displayed in the operation setting column is a setting value for the reference conveyance speed or the current setting. It is preferable to use one of the set values converted according to the transport speed.

FIG. 5 is a diagram illustrating a configuration of a confectionery manufacturing system including a parallel link mechanism according to an embodiment of the present invention.
Referring to FIG. 5, four confectionery production systems in which different confectionery production units 40 are installed are arranged in order along the conveyance direction of the conveyance device 50. The baked confectionery 55 is conveyed from left to right in FIG. In the confectionery manufacturing system in the uppermost stream of conveyance, an alignment device 80 is installed as a confectionery manufacturing unit 40.

The alignment device 80 is a device that aligns the confectionery 55 at a constant pitch by lowering an alignment plate having a substantially semicircular opening behind the confectionery 55 to be conveyed and then extruding it in the conveyance direction. Also in the case of the aligning device 80, the closed loop operation is a box motion that repeats descending, horizontally moving (pushing out), ascending, and horizontally moving (returning). Unlike the box motion of the filling machine 41, the horizontal movement (extrusion) is controlled to move at a speed faster than the conveyance speed of the conveyance belt 51.

The aligned confections 55 are further transported by the transport belt 51 to the confectionery manufacturing system in which the disinfecting droplet dropping device 70 is installed. The disinfection droplet dropping device 70 is a device that drops alcohol for disinfection, descends to just above the confectionery 55 being transported, drops the disinfection alcohol onto the confectionery 55 while moving with the confectionery 55, and rises when the dropping is completed. To move back to the original position and return.

The confectionery 55 that has been disinfected is then conveyed to the filling machine 41. The operation of the filling machine 41 is as described with reference to FIGS.
Lastly, the aligning device 60 is installed. The pastry 55 that has been processed by the filling machine 41 is supplied with a filling dough such as cream for sandwiching every other row. The aligning device 60 is a device that picks up the confectionery 55 to which the filling dough is not supplied and places the confectionery 55 on the confectionery 55 to which the filling dough is supplied to finish it into the shape of a confectionery sandwiched with the filling dough. Therefore, for example, as shown in FIG. 5, the pick-up is performed while following the confectionery 55 that has been lowered and the filling dough is not supplied, and moved to the confectionery 55 supplied with the filling dough to consider the amount of the filling dough. Since the confectionery 55 picked up while being lowered and moved by the descending amount is placed, a complicated closed loop operation is performed.
In the example of FIG. 5, it has been described that the confectionery 55 that has finished the processing of the filling machine 41 is conveyed to the aligning device 60 as it is. However, before the alignment, the filling machine 41 and the filling machine 41 are used to disinfect the top of the filled dough. An antiseptic droplet dropping device 70 may be added between the mating device 60.
When filling the dough with the filling machine 41, the confectionery may be shifted when the filling machine is raised due to the characteristics of the dough. Therefore, the disinfection droplet dropping device 70 may also include a positioning pin for correcting the position of the confectionery 55 as described above with respect to the filling machine 41.

In this way, a series of production lines is configured by combining different types of confectionery manufacturing units 40, and the bases (10, 15) shown in FIGS. 1 to 3 can be used in common as bases. it can.
Further, even when the lines configured as shown in FIG. 5 are rearranged, the gantry (10, 15) can be used as it is, so that the configuration can be easily changed by simply replacing the confectionery manufacturing unit 40.

The confectionery manufacturing system according to the embodiment can be installed later on the existing transport device 50, but requires an operation synchronized with the transport speed of the transport belt 51. In the embodiment of FIG. 5, a belt speed detector 100 is provided above the conveyor belt 51 to detect the conveyor speed. The detected transport speed is fed back to the control unit of each confectionery manufacturing system, and the servo motors of the respective gantry (10, 15) are controlled in accordance with the fed back transport speed.

In FIG. 5, feedback is shown directly from the belt speed detector 100 to the control unit of each confectionery manufacturing system. However, when configuring a production line combining a plurality of confectionery production systems, the plurality of confectionery production systems are integrated. A control computer is further provided, and the detection signal from the belt speed detector 100 is converted into a rotation speed of an electronic cam commonly used for timing control in a plurality of confectionery production systems by the control computer, and then fed back to each confectionery production system. You may make it do.
In another embodiment, belt speed setting information or a control signal may be directly extracted from the control unit of the conveying device 50 and fed back to each confectionery manufacturing system.

As described above, according to the embodiment of the present invention, it can be retrofitted to the existing transport device 50, and it is necessary to synchronize with the transport speed of the transport device 50. Can be provided. Thereby, the workability of cleaning and maintenance of the transfer device 50 is not impaired.
Also, the base (10, 15) serving as the base is common, and various confectionery production lines can be constructed by selecting the confectionery manufacturing unit 40 that can be installed on the base (10, 15). Since a preset program is displayed so as to be selectable, even an unskilled person can easily set the program.

As mentioned above, although embodiment of this invention was described in detail, referring drawings, this invention is not limited to the above-mentioned embodiment, In the range which does not deviate from the technical scope of this invention, it changes variously. Is possible.

DESCRIPTION OF SYMBOLS 1 Confectionery production system 10, 15 Mount 11, 12, 13, 14 (1st-4th) servo motor 21, 22, 23, 24, 25, 26, 27, 28 (1st-8th) arm part 31, 32, 33, 34, 35, 36, 37 (first to seventh) nodes 40 confectionery production unit 41 filling machine 42 dough hopper 43 valve 44 piston 50 conveying device 51 conveying belt 55 confectionery 60 aligning device 70 disinfection Droplet dropping device 80 Alignment device,
90 Touch Panel 91 Device Selection Button 92 Operation Selection Button 93 Adjustment Button 100 Belt Speed Detector

Claims (4)

On two sides of the transport device that transports the confectionery being manufactured in a certain direction, two stands installed opposite to the direction perpendicular to the transport direction of the transport device, and installed so that the transport device can be crossed over the stand A confectionery production system comprising a parallel link mechanism having a confectionery production unit,
At least one of the two mounts is
Two servo motors having a rotation axis in a direction orthogonal to the transport direction of the transport device and spaced apart along the transport direction;
A first link comprising five first to fifth arm portions for sequentially connecting the two servo motors in series, and first to fourth node portions for rotatably connecting the arm portions. The fifth and sixth arms connected to each other so as to form a substantially parallelogram with a portion of the second arm and the third arm. A second link portion including an eighth arm portion that supports the joint portion of the second arm portion in conjunction with the first arm portion, and a parallel link mechanism comprising:
A control unit that controls the two servo motors so that the confectionery manufacturing unit performs a predetermined closed-loop operation corresponding to the conveying speed of the conveying device via the parallel link mechanism;
The first and fifth arm portions respectively connected to the two servo motors extend in directions away from each other, and the second and fourth arm portions respectively connected to the first and fifth arm portions are A confectionery manufacturing system provided with a parallel link mechanism, wherein the confectionery manufacturing unit installed on the third arm portion is horizontally supported by supporting the load while extending in a direction approaching each other. The control unit stores a program for controlling the two servo motors for each confectionery manufacturing unit installed so as to be replaceable, and a program adapted to the confectionery manufacturing unit installed so as to be replaceable on a display panel included in the control unit. The confectionery manufacturing system provided with the parallel link mechanism according to claim 1, wherein: The confectionery manufacturing unit installed so as to be replaceable is a combination device, a disinfection liquid dropping device, a filling device, an alignment device, a die cutting device, a cutting device, a transfer device, a stacking device, a pitch conversion device, a branding device, and a direction changing device. The confectionery manufacturing system provided with the parallel link mechanism according to claim 1, wherein the confectionery manufacturing system is a confectionery manufacturing system. Each of the two platforms has the two servo motors and the parallel link mechanism, and the control unit has a predetermined closed loop in which the confectionery manufacturing unit corresponds to the transport speed of the transport device via the parallel link mechanism. Controlling two servo motors on each of the two platforms to perform the operation,
The confectionery production unit is a filling machine;
The said filling machine is provided with the dough hopper holding the dough to be filled, and a valve and a piston for supplying a certain amount of dough in conjunction with the predetermined closed loop operation. Confectionery manufacturing system with parallel link mechanism.

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