JP5606937B2 - Method for setting forward path of packaging processing member in separate packaging processing apparatus - Google Patents

Description

The present invention is prescribed in a bag disposed adjacent to intermittently transfer rotary type bag transport device for intermittently transporting the bag by a predetermined angle along an arc-shaped transport path is transferred to the arcuate transfer path by the packaging processing member The present invention relates to a method for setting the forward path of the packaging processing member in a separate packaging processing apparatus that performs the packaging processing.

As a component of a packaging machine, a packaging processing apparatus that performs a predetermined packaging process while synchronously moving a packaging processing member to a container that is transferred along a circular transfer path on a horizontal plane by an intermittent transfer type rotary container transfer device It has been known. The packaging processing member moves from the initial position (forward movement start point) on the arc-shaped transfer path to a predetermined range along the arc-shaped transfer path (forward movement) in synchronization with the container to be transferred. After stopping at, return to the forward movement start point (return). And a predetermined packaging process is performed with respect to the said container in a forward movement process (including the time of a stop).
Note that there are intermittent transfer type rotary container transfer devices having an arcuate transfer path having a circular transfer path (arc transfer path only) or a racetrack transfer path (arc transfer paths at both ends). .

For example, in the bottle filling machine described in Patent Document 1, a liquid filling device ( packaging processing device ) is installed above a table ( rotary container transfer device ) that intermittently transfers bottles along a circular transfer path. The filling device includes a support shaft located at the center of the table (also the center of the circular transfer path), a fan-shaped nozzle support member fixed to the support shaft, and a predetermined arc shape around the periphery of the nozzle support member. A plurality of liquid filling nozzles ( packaging processing members ) arranged at intervals are provided. Along with the reciprocating rotation of the support shaft, the filling nozzle intermittently moves (forward movement) along the circular (arc-shaped) transfer path of the bottle in synchronism with the transfer of the bottle, stops at the end point of the forward movement, and initially Move back (return) toward the position (starting point). The filling nozzle descends at the forward movement start point and rises at the forward movement end point. A mechanism for reciprocating the support shaft, that is, a mechanism for reciprocating the filling nozzle along the arcuate transfer path is incorporated in the intermittent drive mechanism of the table.

In the packaging machine described in Patent Document 2, an opening holding device ( packaging processing device ) is installed in the vicinity of a table ( rotary container (bag) transfer device ) that intermittently transfers bags along a circular transfer path. The opening holding device includes an arcuate guide rail installed concentrically outside the circular transfer path, a slider capable of reciprocating along the guide rail, and a pair of opening claws ( packaging) installed on the slider. Processing member ) and its opening / closing mechanism. Along with the reciprocal movement of the slider, the pair of opening claws move intermittently (forward movement) in synchronization with the bag transfer along the circular (arc-shaped) transfer path of the bag. Move back (return) toward the position (starting point). Further, the opening pawl or the like descends at the forward movement start point, opens immediately after the forward movement start, rises at the forward movement end point, and closes just before reaching the forward movement start point. A mechanism for reciprocating and moving the slider back and forth, that is, a mechanism for reciprocating and elevating the opening pawl along the arcuate transfer path is incorporated in the intermittent drive mechanism of the table.

  The reciprocating movement of the packaging processing member, such as the reciprocating rotation around the support shaft in the bottle filling machine described in Patent Document 1, and the reciprocating movement along the guide rail in the packaging machine described in Patent Document 2 The route is determined structurally. A drive mechanism for reciprocating the packaging processing member is incorporated in the drive mechanism of the rotary container transfer device. For this reason, it is relatively easy mechanically to move the packaging processing member forward in synchronization with the transfer of the container along the arc-shaped transfer path by the rotary type container transfer device and to return to the initial position.

On the other hand, the devices of Patent Documents 1 and 2 have the following problems.
(1) It is not possible to freely separate the packaging processing device from the rotary container transfer device as necessary. Therefore, for example, in the apparatus of Patent Document 1, when the filling nozzle is washed along with the replacement of the filling liquid, it is necessary to stop the entire bottling machine, and a reduction in productivity due to this is inevitable.
(2) The packaging processing member always passes the same path during forward movement and backward movement. Therefore, for example, in the apparatus of Patent Document 1, when the filling nozzle moves backward, there is a possibility that the liquid dripping from the nozzle passes through the transfer path of the bottle and adheres to the bottle.

(3) The packaging processing device corresponds to a specific rotary type container transfer device and has no versatility. For example, the same packaging processing apparatus cannot be applied to a rotary type container transfer apparatus having arc-shaped transfer paths with different radii.
(4) Similarly, although it is a kind of versatility, the reciprocating range of the packaging processing member is always constant and cannot be changed. Therefore, for example, in the apparatus of Patent Document 1, when it is desired to increase the filling time according to the properties of the liquid to be filled and the filling amount, it is only possible to slow down the bottle transfer speed or increase the stop time, resulting in a decrease in productivity. Unavoidable.

  On the other hand, there is also a packaging processing apparatus that is separated from the rotary container transfer device by a drive mechanism. However, this type of packaging processing apparatus is applied to the container when the container transferred by the intermittent transfer type rotary container transfer apparatus stops or is a rotary container transfer apparatus having a linear transfer path. There is only one that is applied to the container transferred through the linear transfer path (moves the packaging processing member in synchronization with the transfer of the container on the linear transfer path). In the former case, the packaging processing apparatus operates only at the stop position of the container (for example, the filling nozzle moves up and down at the stop position) and does not move in synchronization with the transfer of the container. The latter can be exemplified by Patent Document 3, for example. The packaging processing apparatus described in Patent Document 3 is separated from the rotary type container transfer device in terms of drive mechanism, but is installed inside the container transfer path, and in that sense, the rotary type container transfer It cannot be structurally separated from the device.

Japanese Patent Publication No.59-46874 JP 2009-13222 A Japanese Patent No. 4190067

On the other hand, the applicant first arranges adjacent to an intermittent transfer type rotary bag transfer device for transferring a bag along an arcuate transfer path, and performs a predetermined packaging process on the bag transferred through the arcuate transfer path. A separate packaging processing apparatus has been proposed (Japanese Patent Application No. 2010-041182 ( Japanese Patent No. 5396706) ). This separate type packaging processing apparatus can be freely arranged adjacent to or separated from the intermittent transfer type rotary bag transfer apparatus. Further, it is possible to assume a different backward path and forward path to the packaging process member. Furthermore, depending on the case, the diameter of the bag transfer path and the synchronous transfer angle (the angle θ on the transfer path where the packaging processing member moves forward in synchronization with the bag transfer path, or, in the case of the intermittent transfer type, usually one transfer angle or It has versatility that can be applied to various intermittent transfer type rotary type bag transfer devices having different multiples).

When the separate packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device, as long as it can be installed with high accuracy at all times, as long as the radius of the bag transfer path and the single intermittent transfer angle are the same, the packaging processing Once the forward movement path of the member is set, it is not necessary to adjust each time of installation, but accurate installation requires complicated work and takes time.
On the other hand, if it is installed roughly, the installation work itself can be performed easily, but the forward path of the packaging processing member does not match the transport path of the bag , so this time it is necessary to adjust the forward path every time it is installed. . This adjustment work is extremely complicated and difficult at the packaging factory level.
Furthermore, the separate packaging processing apparatus can be applied to various intermittent transfer type rotary type bag transfer apparatuses having different bag transfer forms ( differences in the radius of the transfer path and one intermittent transfer angle ). It is desirable, but there is no idea to embody it.

  The present invention has been made in view of the above-described problems relating to the separate packaging processing apparatus, and an object thereof is to facilitate the setting of the forward movement path of the packaging processing member of the separate packaging processing apparatus.

The present invention is prescribed in a bag disposed adjacent to intermittently transfer rotary type bag transport device for intermittently transporting the bag by a predetermined angle along an arc-shaped transport path is transferred to the arcuate transfer path by the packaging processing member The present invention relates to a method for setting a forward path of the packaging processing member of a separate packaging processing apparatus that performs the packaging processing.
In this forward path setting method, the target separate packaging processing apparatus has the following characteristic configuration.

(1) A separate packaging processing apparatus according to claim 1, wherein a main arm having a swing fulcrum on the outside of the arc-shaped transfer path, swingable in a horizontal plane and extendable and retractable, A sub arm that is pivotally supported at the front end so as to be rotatable in a horizontal plane; and a plurality of packaging processing members that are vertically movable with respect to the main arm and that are installed at predetermined intervals on the sub arm; A drive source for reciprocatingly swinging the main arm, a drive source for expanding and contracting the main arm, a drive source for rotating the sub arm about an axis, a drive source for moving the packaging processing member up and down, and the above drive The source is controlled so that the plurality of packaging processing members are moved forward on the forward path in synchronization with the plurality of bags transferred through the arcuate transfer path, and each packaging processing member reaches the forward end point. And then return to the forward movement start point. And a control device that moves up and down at a predetermined timing of the reciprocating process , wherein each drive source is composed of an independent servo motor, and the plurality of packaging processing members are arranged in a plurality of bags on the forward path. At the same time, a predetermined packaging process is performed.
The drive source may be one that raises and lowers the packaging processing member relative to the main arm via the sub arm (directly raises and lowers the sub arm relative to the main arm).
If the interval between the plurality of packaging processing members on the sub-arm coincides with the interval between the bags on the transfer path, this separate type packaging processing apparatus has a radius of the bag transfer path, a single intermittent transfer angle, etc. However, the present invention can also be applied to intermittent transfer type rotary type bag transfer devices.

(2) Separately installed packaging processing apparatus according to claim 2 A main arm having a swing fulcrum outside the arcuate transfer path and installed so as to be swingable within a horizontal plane, and a horizontal plane at the tip of the main arm A sub-arm that is pivotally supported inside, a single packaging processing member that is installed on the sub-arm and is vertically movable with respect to the main arm, and swings the main arm back and forth. A driving source for rotating the sub arm around the axis, a driving source for moving the packaging processing member up and down, and the above driving source to control the above-mentioned driving source to transfer the packaging processing member along the arcuate transfer path. A control device that moves forward on the forward movement path in synchronization with the bag to be moved, moves the packaging processing member back to the forward movement end point, moves back to the forward movement start point, and moves up and down at a predetermined timing of the reciprocation process. Each of the drive sources Each package is composed of an independent servo motor, and the packaging processing member performs a predetermined packaging process on the bag on the forward path.
The drive source may be one that raises and lowers the packaging processing member relative to the main arm via the sub arm (directly raises and lowers the sub arm relative to the main arm).
This separate packaging processing apparatus has high versatility such that it can be applied to an intermittent transfer type rotary bag transfer apparatus having different transfer path radii, one intermittent transfer angle, and the like.

(3) Separately installed packaging processing apparatus according to claim 3 An arm having a swing fulcrum outside the arcuate transfer path, and swingable and extendable in a horizontal plane, and a tip of the arm A packaging processing member installed in a vertically movable manner, a driving source for reciprocatingly swinging the arm, a driving source for expanding and contracting the arm, a driving source for lifting and lowering the packaging processing member, and the above driving sources And the packaging processing member is moved forward on the forward movement path in synchronization with the bag transferred through the arcuate transfer path. After the packaging processing member reaches the forward movement end point, the packaging processing member is restored to the forward movement starting point. And a control device that moves up and down at a predetermined timing of the reciprocating process , wherein each drive source is composed of an independent servo motor, and the packaging processing member performs a predetermined packaging process on the bag on the forward path. .
This separate packaging processing apparatus has high versatility such that it can be applied to an intermittent transfer type rotary bag transfer apparatus having different transfer path radii, one intermittent transfer angle, and the like.

In the separate packaging processing apparatus of the above (1), the method of setting the forward path of the packaging processing member is divided into items as follows.
(A) The separate type packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device,
(B) The diameter r and the synchronous forward movement angle θ of the virtual forward path of the packaging processing member corresponding to the transfer path (the angle θ on the virtual forward path that travels in synchronization with the bag to which the packaging processing member is transported) )
(C) Manually move each packaging processing member to the forward movement start point,
(D) Based on the position information acquired from each drive source, the forward movement start point position control data corresponding to the coordinate position of each forward movement start point (the swing angle Qi and length Li of the main arm and the rotation angle Ri of the sub arm) And calculating the coordinate position of each forward movement start point from the forward movement start point position control data,
(E) Manually move each packaging processing member to the forward end point,
(F) Based on the position information acquired from each drive source, the forward end position control data (main arm swing angle Qt and length Lt and sub arm rotation angle Rt) corresponding to the coordinate position of each forward end point Calculating the coordinate position of each forward movement end point from the forward movement end point position control data,
(G) Based on the coordinate position of each forward movement start point, calculate the coordinate position of the center of an arc passing through all forward movement start points and having the same diameter as the diameter r of the virtual forward movement path;
(H) Based on the coordinate position of each forward movement start point and the coordinate position of the center of the arc, the coordinate position is defined as a virtual forward movement end point at a point advanced on the arc from the forward movement start point by the synchronous forward movement angle θ. Calculating, setting a portion connecting each forward movement start point and virtual forward movement end point of the arc as a virtual forward path,
(I) Position control data (main arm swing angle) respectively corresponding to the coordinate positions of n points including virtual forward end points distributed on the virtual forward path at a predetermined minute interval from each forward start point Qm, length Lm, and sub arm rotation angle Rm), position control data corresponding to the virtual forward end point (main arm swing angle Qn, length Ln, sub arm rotation angle Rn), N on the virtual forward path according to the magnitude (ΔQ, ΔL, ΔR) of the deviation from the forward end point position control data (main arm swing angle Qt and length Lt and sub arm rotation angle Rt). A correction value proportional to the distance from the forward movement starting point is added to the position control data (main arm swing angle Qm and length Lm and sub arm rotation angle Rm) corresponding to the coordinate position of each point. ,
(J) This sets a forward path that connects the forward movement start point and the forward movement end point in a substantially arc shape.
In the above method, m is a natural number of 1 to n, and Qm, Lm, and Rm are the arm swing angle Q corresponding to the coordinate position of the m-th point from the forward movement start point on each virtual forward path. It means the expansion / contraction length L and the rotation angle R of the sub arm.

In the separate type packaging processing apparatus of (2), the method for setting the forward path of the packaging processing member is divided into items as follows.
(A) The separate type packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device,
(B) setting the virtual forward path diameter r and the synchronous forward angle θ of the packaging processing member corresponding to the transfer path;
(C) Manually move the packaging processing member to the forward movement start point,
(D) Based on the position information acquired from each drive source, forward movement start point position control data (main arm swing angle Qi and sub arm rotation angle Ri) corresponding to the coordinate position of the forward movement start point is calculated, Calculate the coordinate position of the forward movement start point from the forward movement start position control data,
(E) Manually move the packaging processing member to the forward movement end point,
(F) Based on the position information acquired from each drive source, forward movement end point position control data (main arm swing angle Qt and sub arm rotation angle Rt) corresponding to the forward movement end point coordinate position is calculated, Calculate the coordinate position of the forward end point from the forward end point position control data,
(G) Based on the coordinate positions of the forward movement start point and the forward movement end point, calculate the coordinate position of the center of an arc passing through both points and having the same diameter as the diameter r of the virtual forward movement path;
(H) Based on the coordinate position of the forward movement start point and the coordinate position of the center of the arc, the coordinate position is calculated with a point that has advanced on the arc by the synchronous forward movement angle θ from the forward movement start point as a virtual forward movement end point; Set a portion connecting the forward movement start point and the virtual forward movement end point of the arc as a virtual forward path,
(I) Position control data (main arm swing angle Qm) respectively corresponding to coordinate positions of n points including a virtual forward end point distributed on a virtual forward path at a predetermined minute interval from the forward start point. And the sub arm rotation angle Rm), position control data (main arm swing angle Qn and sub arm rotation angle Rn) corresponding to the virtual forward end point, and the forward end position control data (main arm). Position control data (main arm) corresponding to the coordinate positions of n points on the virtual forward path in accordance with the magnitude (ΔQ, ΔR) of deviation from the swing angle Qt of the arm and the rotation angle Rt of the sub arm Correction value proportional to the interval from the forward movement start point is added to the swing angle Qm and the sub-arm rotation angle Rm),
(J) This sets a forward path that connects the forward movement start point and the forward movement end point in an arc shape.
In the above method, m is a natural number of 1 to n, and Qm and Rm are the swing angle Q of the main arm corresponding to the m-th point from the forward movement start point on each virtual forward path and the rotation of the sub-arm. The angle R is meant.

In the separate type packaging processing apparatus of (3), the method for setting the forward path of the packaging processing member is divided into items as follows.
(A) The separate type packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device,
(B) setting the virtual forward path diameter r and the synchronous forward angle θ of the packaging processing member corresponding to the transfer path;
(C) Manually move the packaging processing member to the forward movement start point,
(D) Based on the position information acquired from each drive source, forward movement start point position control data (arm swing angle Qi and length Li) corresponding to the coordinate position of the forward movement start point is calculated, and the forward movement start point position Calculate the coordinate position of the forward movement start point from the control data,
(E) Manually move the packaging processing member to the forward movement end point,
(F) Based on the position information acquired from each drive source, forward movement end position control data (arm swing angle Qt and length Lt) corresponding to the coordinate position of the forward movement end point is calculated, and the forward movement end position Calculate the coordinate position of the forward movement end point from the control data,
(G) Based on the coordinate positions of the forward movement start point and the forward movement end point, calculate the coordinate position of the center of an arc passing through both points and having the same diameter as the diameter r of the virtual forward movement path;
(H) Based on the coordinate position of the forward movement start point and the coordinate position of the center of the arc, the coordinate position is calculated with the point on the arc advanced from the forward movement start point by the synchronous forward movement angle θ as a virtual forward movement end point. , A portion connecting the forward start point and the virtual forward end point of the arc is set as a virtual forward path,
(I) Position control data corresponding to the coordinate positions of n points including a virtual forward end point distributed on the virtual forward path at a predetermined minute interval from the forward start point (the arm swing angle Qm and Length Lm) is calculated, and virtual forward end point position control data (arm swing angle Qn and length Ln) and forward end point position control data (arm swing angle Qt and length Lt) are calculated. For the position control data (arm swing angle Qm and length Lm) corresponding to the coordinate position of n points on the virtual forward path according to the magnitude of deviation (ΔQ, ΔL), the forward movement start point Add a correction value proportional to the interval from
(J) This sets a forward path that connects the forward movement start point and the forward movement end point in an arc shape.
In the above method, m is a natural number of 1 to n, and Qm and Lm are the swing angle Q and length L of the main arm corresponding to the m-th point from the forward start point on each virtual forward path. means.

The intermittent transfer type rotary bag transfer device referred to in the present invention includes at least a part of an arcuate transfer path such as a circular transfer path (arc transfer path only) or a racetrack transfer path (arc transfer path at both ends). An intermittent transfer type rotary type bag transfer device is included.
The packaging processing device (packaging processing member) referred to in the present invention includes all packaging processing devices (packaging processing members) used for bag packaging processing. Examples thereof include a liquid filling device (liquid filling nozzle), a gas filling device (gas blowing nozzle), a capping device (capping head), and the like.

In the separate packaging processing apparatus according to the present invention, the backward movement path of the packaging processing member may be the same as or different from the forward movement path. Forward path becomes substantially along the arcuate transfer path of the bag, but backward path can be removed deliberately arcuate transfer path of the bag, it can also be selected linear path. Alternatively, it is possible to change the mode in which the packaging processing member is intermittently moved in synchronization with the transfer of the bag in the forward stroke, and is returned to the initial position by continuous movement in the backward stroke.

According to the present invention, it is possible to obtain a separate packaging processing apparatus that can easily set the forward movement path of the packaging processing member by a simple operation of manually guiding the packaging processing member to the forward movement start point and the forward movement end point. . Therefore, it is possible to easily obtain the forward movement path of the packaging processing member along the bag transfer path of the intermittent transfer type rotary bag transfer apparatus without performing the installation operation of the separate type packing processing apparatus too severely.
Or, regardless of the type of the intermittent transfer type rotary bag transfer device (for example, even if the radius of the bag transfer route or the single transfer angle is changed), the intermittent transfer type rotary bag transfer device is in line with the bag transfer route of the intermittent transfer type rotary bag transfer device. The forward movement path of the packaging processing member can be easily obtained.
In addition, according to the present invention, a position detection sensor, a positioning device, and the like are not required for setting the forward movement path.

1 is an overall perspective view of a packaging machine including a separate packaging processing apparatus according to the present invention. It is a top view of the stand-alone packaging processing apparatus which is a part of the said packaging machine. It is a side view of the said stand-alone packaging processing apparatus. It is a top view of another stand-alone packaging processing apparatus. It is a top view of another separate type packaging processing apparatus. It is a figure explaining the setting method of the forward path | route of the packaging process member in the stand-alone packaging processing apparatus described in FIG. It is a figure explaining the setting method of the forward path | route of the packaging process member in the stand-alone packaging processing apparatus described in FIG. It is a figure explaining the setting method of the forward path | route of the packaging process member in the separate-type packaging processing apparatus described in FIG.

First, with reference to FIGS. 1-5, the separate-type packaging processing apparatus which concerns on this invention is demonstrated.
FIG. 1 is a perspective view of a bag packing and packaging machine provided with a separate packaging processing apparatus (separate liquid filling apparatus 1) according to the present invention. This bagging and packaging machine is provided with an intermittent transfer type rotary type bag transfer device 2 as a part of which is a table 3 that intermittently rotates in one direction (counterclockwise in FIG. 1) and a plurality of pairs of grippers 4 and 4 around it. It is arranged at equal intervals.

As the table 3 rotates intermittently, the grippers 4 and 4 move intermittently along a circular movement path in the horizontal plane, and while the table 3 (grippers 4 and 4) rotates once, Various packaging processing steps such as supply of the bag 5 (see FIGS. 2 and 3), filling of the bag 5 with both edges held by the grippers 4 and 4 and sealing of the opening (bag opening) of the bag 5 To be implemented. The moving path of the grippers 4 and 4 is also a transfer path of the bag 5, and the bags 5 are transferred intermittently at regular angular intervals one by one.
One rotation of the table 3 consists of 10 stops and movements, and various packaging processing steps are performed over a total of 10 steps.

More specifically, referring to FIG. 1, the first step is a bag feeding step, and the bag 5 is supplied to the grippers 4, 4 near the stop position (first stop position) of the grippers 4, 4. A conveyor magazine type bag feeder 6 is disposed. The supplied bag 5 is a bag whose upper edge is open, and is gripped by grippers 4 and 4 on both side edges in the vicinity of the opening (bag opening) and suspended with the opening facing upward.
The second step is a printing step, in which a date and the like are printed on the bag surface of the bag 5 sandwiched between the grippers 4 and 4 near the stop position (second stop position) of the grippers 4 and 4 (illustrated). Is omitted).

The third step is a print inspection step, in which a print inspection device (inspection for inspecting the print applied to the bag 5 sandwiched between the grippers 4 and 4 near the stop position (third stop position) of the grippers 4 and 4 ( (Not shown) is arranged.
The fourth step is an opening step, and an opening device 7 that opens the bag mouth of the bag 5 sandwiched between the grippers 4 and 4 is disposed in the vicinity of the stop position (fourth stop position) of the grippers 4 and 4. Yes. The opening device 7 has a pair of suction members (suction cups) that can contact and separate from each other.

The fifth to seventh steps are liquid filling steps. In this process, one bag 5 is transferred (intermittent transfer) from the fifth stop position of the grippers 4 and 4 to the sixth stop position, and at the same time, the other bag 7 is moved from the sixth stop position of the grippers 4 and 4 to 7th. While being transferred to the second stop position (intermittent transfer), each bag 5 is continuously performed.
The separate liquid filling device 1 is disposed outside the arcuate transfer path of the bag 5 where the liquid filling process is performed, and includes two filling nozzles 8 and 9, pipes 11 and 12 corresponding to the filling nozzles 8 and 9, and flow paths. The switching valves 13 and 14, volumetric pumps 15 and 16, a common liquid storage tank 17, a control device (only the control panel 18 is shown) and the like are provided from the intermittent rotary rotary bag transfer device 2 in terms of structure and drive mechanism. Is also independent.

The eighth step is a first sealing step, and the first heat sealing is performed on the bag mouth of the bag 5 sandwiched between the grippers 4 and 4 in the vicinity of the stop position (eighth stop position) of the grippers 4 and 4. A first sealing device 19 is arranged. The first sealing device 19 has a pair of seal bars.
The ninth step is a second sealing step, and the second heat sealing is performed on the bag mouth of the bag 5 sandwiched between the grippers 4 and 4 in the vicinity of the stop position (the ninth stop position) of the grippers 4 and 4. A second sealing device 21 is arranged. The second sealing device 21 has a pair of seal bars.

The tenth step is a seal portion cooling and product releasing step, and the seal portion for cooling the seal portion of the bag 5 sandwiched between the grippers 4 and 4 in the vicinity of the stop position (the 10th stop position) of the grippers 4 and 4. A cooling device 22 is arranged. The sealing device cooling device 22 has a pair of cooling bars that sandwich and cool the sealing portion.
In the tenth step, the grippers 4 and 4 are opened, then the cooling bar is opened, and the product bag 5 is dropped and discharged outside the machine via a belt conveyor or the like.
Reference numeral 20 denotes a control panel of the bag filling and packaging machine.

Subsequently, the separate liquid filling apparatus 1 will be described in more detail with reference to FIGS.
The separate-type liquid filling apparatus 1 has a swing fulcrum on the outer side of the arcuate transfer path of the bag 5, a main arm 23 that is swingable and extendable in a horizontal plane, and a distal end portion of the main arm 23 A vertical lift shaft 24 installed on the top of the lift shaft 24, a substantially V-shaped sub arm 25 pivotally supported on the upper end of the lift shaft 24, and a predetermined interval (circular transfer path of the arc-shaped transfer path) at both ends of the sub arm 25. A pair of the filling nozzles 8 and 9 are provided with an interval between two adjacent stop positions. A drive source for swinging the main arm 23 and a drive source for extending and retracting the main arm 23 are accommodated in the box 26 of the separate liquid filling apparatus 1, and the drive source for moving the lifting shaft 24 up and down relative to the main arm 23. Is housed in the tip of the main arm 23, and a drive source for rotating the sub arm 25 is housed in a case 27 installed in the sub arm 25. Each drive source is composed of servo motors independent of each other.

The main arm 23 can be horizontally swung and expanded / contracted by the operation of each drive source, the sub arm 25 and the filling nozzles 8 and 9 rotate in a horizontal plane with respect to the shaft 24 (main arm 23), and the main arm 23 Move up and down.
Instead of moving the elevating shaft 24 up and down, the filling nozzles 8 and 9 can be moved up and down on the sub arm 25, and the filling nozzles 8 and 9 can be moved up and down by a drive source installed on the sub arm 25. Further, instead of rotatably installing the sub arm 25 at the upper end of the lifting shaft 24, the sub arm 25 is fixed to the upper end of the lifting shaft 24 and the lifting shaft 24 is rotatably mounted on the main arm 23. The elevating shaft 24 can be rotated by a drive source installed at 23 and the sub arm 25 can be rotated accordingly. In any case, it is only necessary that the sub arm 25 can be rotated with respect to the main arm 23 in a horizontal plane, and the filling nozzles 8 and 9 can be moved up and down with respect to the main arm 23.

  The separate liquid filling apparatus 1 controls the four driving sources (servo motors) described above, and moves the two filling nozzles 8 and 9 along the arcuate transfer paths of the two bags 5 and 5. The upper part is moved forward in synchronization with the transfer of the two bags 5 and 5 and, after reaching the forward movement end point, is moved back to the initial position (forward movement start point) and lowered at a predetermined timing of the reciprocating stroke. A control device for raising is provided. Here, the forward movement start point of the filling nozzle 8 is the fifth stop position (indicated by V in FIG. 2) on the arcuate transfer path, and the forward movement end point is the sixth stop position (indicated by VI in FIG. 2). Set to The initial position (forward movement start point) of the filling nozzle 9 is the sixth stop position (indicated by VI in FIG. 2) on the arcuate transfer path, and the forward movement end point is the seventh stop position (VII in FIG. 2). Is set).

The separate liquid filling apparatus 1 changes the mounting interval of the pair of filling nozzles 8 and 9 by changing the length of the sub arm 25 or changing the installation position of the filling nozzles 8 and 9 on the sub arm 25, for example. Therefore, it is possible to cope with intermittent transfer type rotary type bag transfer devices of different types (for example, different radii of transfer paths and transfer angles of one intermittent transfer).
The separate liquid filling apparatus 1 is a so-called W-type bag filling and packaging machine that performs a packaging operation on two bags simultaneously in all processes by installing four filling nozzles, two on each side, in the sub arm 25. (For example, refer to JP 2004-244085 A). The intermittent transfer type rotary bag transfer device in this case is a W type that transfers two bags at the same time along the circular transfer path.

Referring to FIGS. 2 and 3, the reciprocating motion and elevating operation of the filling nozzles 8 and 9 will be described in time series, for example, as follows.
(1) The filling nozzles 8 and 9 are in the raised position at the forward movement starting point. Here, the bags 5 and 5 having the bag mouth opened are transferred to the fifth and sixth stop positions and stopped.
(2) The filling nozzles 8 and 9 are lowered, and the discharge ports thereof reach near the bag bottoms of the bags 5 and 5 (see the phantom line in FIG. 3).
(3) The flow path switching valves 13 and 14 are switched, and the flow path between the volumetric pumps 15 and 16 and the filling nozzles 8 and 9 communicates (the volumetric pumps 15 and 16 and the liquid storage tank 17 are connected to each other). And the filling of the liquid into the bags 5 and 5 from the filling nozzles 8 and 9 is started.

(4) As the bags 5 and 5 are transferred toward the next stop position, the filling nozzles 8 and 9 move in synchronization with the bags 5 and 5 on the forward movement path along the arcuate transfer path. (Forward movement) and reach the forward movement end point together with the bags 5 and 5. While the filling nozzles 8 and 9 are stopped on the forward path during the forward stroke and at the forward end point, the filling nozzles 8 and 9 rise as the liquid level in the bag rises. In the forward stroke, the main arm 23 swings horizontally and contracts from the extended state and then extends again, while the sub-arm 25 (and the filling nozzles 8 and 9) rotate relative to the main arm 23 (see FIG. These operations are combined and the filling nozzles 8 and 9 move forward on the forward movement path. In FIG. 2, the solid arm shows the swinging and expanding / contracting state of the main arm 23 and the rotating state of the sub arm 25 when the filling nozzles 8 and 9 are at the forward movement start position, and the filling nozzles 8 and 9 move forward. The oscillating and expanding / contracting state of the main arm 23 and the rotating state of the sub arm 25 when the intermediate position and the forward end point are reached are shown by phantom lines, respectively.

(5) The filling by the volumetric pumps 15 and 16 is completed, the flow path switching valves 13 and 14 are switched, and the flow path between the volumetric pumps 15 and 16 and the filling nozzles 8 and 9 is blocked. (The flow path between the volumetric pumps 15 and 16 and the liquid storage tank 17 communicates), and the filling nozzles 8 and 9 rise and come out of the bags 5 and 5. Note that a predetermined amount of the liquid in the liquid storage tank 17 is drawn into the volumetric pumps 15 and 16 until the filling starts.
(6) Subsequently, the bags 5 and 5 are transferred to the next process, and during that time, the filling nozzles 8 and 9 return (return) to the forward movement start point. The backward movement path may be the same as or different from the forward movement path. When detached, the liquid dripping from the filling nozzles 8 and 9 can be prevented from adhering to the bag 5. Further, the main arm 23 can be moved backward without expansion and contraction.

Next, another separate liquid filling apparatus 1A will be described with reference to FIG. In FIG. 4, parts that are substantially equivalent to the constituent parts of the liquid filling apparatus 1 shown in FIGS.
Another postfix expression liquid filling apparatus 1A, similarly to another postfix expression liquid filling apparatus 1 shown in FIGS. 1-3, are arranged on the outside of the arc-shaped transport path of the bag 5 to the liquid filling process is performed, the intermittent transfer rotary type bag transport device 2 is independent in structure and drive mechanism. Although not shown in FIG. 4, the separate liquid filling apparatus 1A includes a flow path switching valve, a volumetric pump, a liquid storage tank, and the like.

  The separately-installed liquid filling apparatus 1A has a swing fulcrum outside the arcuate transfer path of the bag 5, and can be moved up and down at the front end of the main arm 23 that is swingably installed in a horizontal plane. An installed vertical elevating shaft (a member equivalent to the elevating shaft 24 of the separate liquid filling apparatus 1), a sub arm 25 installed rotatably at the upper end of the elevating shaft, and a filling installed at the tip of the sub arm 25 A nozzle 8 is provided. A drive source for swinging the main arm 23 is housed in the box 26 of the separate liquid filling apparatus 1A, and a drive source for lifting the lifting shaft with respect to the main arm 23 is housed in the distal end portion of the main arm 23. A drive source for rotating the sub arm 25 with respect to the lifting shaft is housed in a case 27 above the sub arm 25. Each drive source is composed of servo motors independent of each other. Thus, the stand-alone liquid filling apparatus 1A has substantially the same basic structure as the stand-alone liquid filling apparatus 1 shown in FIGS. 1 to 3 except that the main arm 23 does not expand and contract and the number of filling nozzles is one. It is.

The main arm 23 can swing horizontally by the operation of each drive source, and the sub arm 25 and the filling nozzle 8 rotate with respect to the main arm 23 in a horizontal plane and move up and down.
Instead of moving the lifting shaft up and down, the filling nozzle 8 can be moved up and down on the sub arm 25 and the filling nozzle 8 can be moved up and down by a drive source installed on the sub arm 25. Further, instead of rotatably installing the sub arm 25 on the upper end of the lifting shaft, the sub arm 25 is fixed to the upper end of the lifting shaft, and the lifting shaft is rotatably installed on the main arm 23 and installed on the main arm 23. The raising / lowering shaft can be rotated by the drive source, and the sub arm 25 can be rotated accordingly. In any case, it is only necessary that the sub arm 25 can be rotated with respect to the main arm 23 in a horizontal plane, and the filling nozzle 8 can be moved up and down with respect to the main arm 23. These points are also the same as the separate liquid filling apparatus 1 shown in FIGS.

The separate liquid filling apparatus 1A controls the three driving sources (servo motors) described above, and the filling nozzle 8 is synchronized with the transfer of the bag 5 on the forward movement path along the arcuate transfer path. A control device is provided that moves forward, reaches the forward end point, moves back to the initial position, and lowers and rises at a predetermined timing of the reciprocating stroke. If the intermittent transfer type rotary bag transfer device 2 is the same as that shown in FIGS. 1 and 2, the initial position (forward start point) of the filling nozzle 8 is the fifth stop on the arc-shaped transfer path. At the position (indicated by V in FIG. 4), the forward end point is set at the sixth stop position (indicated by VI in FIG. 4).

In the separate liquid filling apparatus 1A, the reciprocating motion and the raising / lowering operation of the filling nozzle 8 may be considered substantially the same as those of the separate liquid filling apparatus 1 shown in FIGS. In FIG. 4, the state of the main arm 23 and the sub arm 25 when the filling nozzle 8 reaches the forward movement start point is indicated by a solid line, and the state of the main arm 23 and the sub arm 25 when the filling nozzle 8 reaches the forward movement end point is indicated by an imaginary line. Show.
Since the separate liquid filling apparatus 1A has one filling nozzle 8, the filling nozzle 8 needs to return (return) to the forward movement start point while the bag 5 is stopped at the sixth stop position. Yes, the filling time and the backward movement time are shorter than those of the separate liquid filling apparatus 1 shown in FIGS. Instead, the seventh stop position (indicated by VII in FIG. 4) used in the filling process in the separate liquid filling apparatus 1 shown in FIGS. 1 to 3 is used for other packaging processes such as steam blowing, for example. be able to.

Next, another separate liquid filling apparatus 1B will be described with reference to FIG. In FIG. 5, parts that are substantially equivalent to the constituent parts of the separate liquid filling apparatus 1 shown in FIGS.
Another postfix expression liquid filling apparatus 1B, as with other postfix expression liquid filling apparatus 1 shown in FIG. 2 and 3, it is disposed outside the arc-shaped transport path of the bag 5 to the liquid filling process is performed, the intermittent transfer rotary type bag transport device 2 is independent in structure and drive mechanism. Although not shown in FIG. 5, the separate liquid filling apparatus 1B includes a flow path switching valve, a volumetric pump, a liquid storage tank, and the like.

  The separately-installed liquid filling apparatus 1B has an oscillating fulcrum on the outside of the arcuate transfer path of the bag 5, and can be moved up and down in a horizontal plane, and can be raised and lowered at the tip of the arm 23. A filling nozzle 8 is provided which can be installed. Further, a drive source for swinging the arm 23 and a drive source for extending and retracting the arm 23 are accommodated in the box 26 of the separate liquid filling apparatus 1B, and a drive source for raising and lowering the filling nozzle 8 is accommodated at the distal end of the arm 23. Has been. Each drive source is composed of servo motors independent of each other.

By the operation of each drive source, the arm 23 can swing horizontally and extend and retract, and the filling nozzle 8 moves up and down with respect to the arm 23.
The separate liquid filling apparatus 1B controls the three driving sources (servo motors) described above, and causes the filling nozzle 8 to move the bag 5 along the forward path along the arcuate transfer path of the bag 5. A control device is provided that moves forward in synchronization, moves back to the forward movement start point after reaching the forward movement end point, and lowers and rises at a predetermined timing of the reciprocating stroke. Here, if the intermittent transfer type rotary type bag transfer device 2 is the same as that shown in FIG. 2, the forward movement start point of the filling nozzle 8 is the fifth stop position (V in FIG. 5). The forward end point is set at the sixth stop position (indicated by VI in FIG. 5).

In the separate liquid filling apparatus 1B, the reciprocating movement and the raising / lowering operation of the filling nozzle 8 are substantially the same as those of the separate liquid filling apparatus 1A shown in FIG. In FIG. 5, the state of the arm 23 when the filling nozzle 8 reaches the forward movement start point is indicated by a solid line, and the state of the arm 23 when the filling nozzle 8 reaches the forward movement end point is indicated by a virtual line.
In the separate liquid filling apparatus 1B, since there is only one filling nozzle 8, the forward movement start point of the forward movement process is performed while the bag 5 is stopped at the sixth stop position (the forward movement end point of the filling nozzle 8). Therefore, the filling time and the backward movement time are shorter than those of the separate liquid filling apparatus 1 shown in FIG. Instead, the seventh stop position (indicated by VII in FIG. 5) used in the filling process in the separate liquid filling apparatus 1 shown in FIG. 2 can be used for other packaging processes such as steam blowing. it can.

Next, the setting method of the forward movement path | route of the filling nozzles 8 and 9 of the separate liquid filling apparatus 1 demonstrated above and the filling nozzle 8 in the separate liquid filling apparatuses 1A and 1B is demonstrated.
First, FIG. 6 is a schematic diagram for explaining a method for setting the forward movement path of the filling nozzles 8 and 9 in the separate liquid filling apparatus 1. In FIG. 6, the bag 5 is intermittently transferred counterclockwise on the transfer path 31 (circular arc of radius r centered on the point S) indicated by a one-dot chain line while stopping at every angle θ. In the case of this example, it is assumed that the radius and the forward movement angle of a virtual forward path, which will be described later, are set equal to the radius r of this transfer path and the angle θ of one intermittent transfer. The bag 5 is drawn at the fifth to seventh stop positions (V, VI, VII) on the transfer path 31.

The forward movement path setting of the filling nozzles 8 and 9 of the separate liquid filling apparatus 1 is performed in the following procedure.
(1) the installation process by postfix expression liquid filling apparatus 1 of another postfix expression liquid filling apparatus, adjacent the intermittent transfer rotary type bag transport device 2, the the intermittent transfer rotary type bag transport device 2 for transporting path 31 of the bag Install it so that it faces the sixth stop position. No special rigor is required for this installation. In the separate liquid filling apparatus 1, the interval between the filling nozzles 8 and 9 needs to coincide with the interval between the bags 5 and 5 on the transfer path 31.
In the separate liquid filling apparatus 1, for example, the center position (position indicated by a two-dot chain line in FIG. 6) of the movable range of the main arm 23 and the sub arm 25 is set as the initial position, and position control data (main The swing angle Q and the extension / contraction length L of the arm 23 and the rotation angle R of the sub arm 25 are registered in the control device as initial values (Q ₀ , L ₀ , R ₀ ).

(2) Transfer route information input step The operator selects the model of the intermittent transfer type rotary bag transfer device 2 on the touch panel of the control panel 18 of the separate type liquid filling device 1. In the control device of the separate liquid filling device 1, information on the bag transfer route (the diameter of the transfer route, the angle of one intermittent transfer on the transfer route, etc.) of various intermittent transfer type rotary bag transfer devices is registered in advance. By this selection, the information related to the transfer path of the intermittent transfer type rotary bag transfer device 2 is read out, and based on this information, the diameter r and the synchronization of the virtual forward path described later in the separate liquid filling device 1 are synchronized. The forward movement angle θ is set.
Instead of selecting a model on the touch panel, a two-dimensional barcode nameplate such as a QR code (registered trademark) in which the above information is stored is attached to the body of the intermittent transfer type rotary bag transfer device, and this is installed as a separate type liquid filling device It can also be read by a two-dimensional bar code reader attached to and registered in the control device.

(3) Teaching mode setting process On the touch panel of the control panel 18, the operator sets the separate liquid filling apparatus 1 to the teaching mode. As a result, the drive source for swinging the main arm 23, the drive source for expanding and contracting the main arm 23, and the drive source for rotating the sub arm 25 are switched to a free state. The drive source is, for example, a servo motor.

(4) Forward movement start point registration step The operator manually guides and positions the pair of filling nozzles 8 and 9 at the fifth stop position and the sixth stop position on the bag transfer path. This position is set as the forward movement start points A1 and A2 of the filling nozzles 8 and 9. In this example, the forward movement start points A1 and A2 are slightly deviated from the ideal forward movement start point (the center position of the bag 5 drawn at the fifth and sixth stop positions on the transfer path 31). In FIG. 6, the main arm 23 and the sub arm 25 after manual operation (when the forward movement start points A1 and A2 are set) are indicated by solid lines on the left side of the initial position. Reference numeral 32 denotes a swing fulcrum shaft of the sub arm 25. O is the swing fulcrum axis of the main arm 23, and is the origin position of the coordinates.
After the positioning, the operator operates the touch panel of the control panel 18 so that the forward movement start point position control data corresponding to the coordinate positions of the forward movement start points A1 and A2 (the swing angle Qi of the main arm 23 and the extension length Li, The rotation angle Ri) of the sub arm 25 is calculated based on the position information acquired from each drive source (servo motor) with the initial value (Q ₀ , L ₀ , R ₀ ) as a reference, and is registered in the control device. Is done. Further, the coordinate positions of the two forward movement start points A1 and A2 with respect to the origin O are calculated from the forward movement start point position control data.

(5) Forward movement end point registration process The operator manually guides and positions the pair of filling nozzles 8 and 9 at the sixth stop position and the seventh stop position on the bag transfer path. This position is set as the actual forward movement end points B1 and B2 of the filling nozzles 8 and 9. The main arm 23 and the sub arm 25 after manual operation (when the forward end points B1 and B2 are set) are indicated by solid lines on the right side of the initial position.
After positioning, the operator operates the touch panel of the control panel 18 to move forward end point position control data corresponding to the coordinate positions of the forward end points B1 and B2 (the swing angle Qt of the main arm 23, the extension length Lt, and the sub arm 25 rotation angles Rt) are calculated based on position information acquired from each drive source (servo motor) and registered in the control device.

(6) Virtual forward path setting step Based on the calculated coordinate positions of the forward start points A1 and A2 and the initially set virtual forward path diameter r, the coordinate position of the center T of the virtual forward path is calculated. Further, from the forward movement angle θ, the coordinate positions of the virtual forward movement end points (theoretical forward movement end points assuming the forward movement starting points A1 and A2) b1 and b2 of the filling nozzles 8 and 9 are calculated by the control device. The virtual forward movement end points b1 and b2 exist on an arc having a diameter r passing through the forward movement start points A1 and A2, and the virtual forward movement end point b1 is at the same position as the forward movement start point A2. The path from the forward movement start point A1 to the virtual forward movement end point b1 on the arc is the virtual forward movement path 33 of the filling nozzle 8, and the path from the forward movement start point A2 to the virtual forward movement end point b2 is the virtual of the filling nozzle 9. Set as the forward path 34.
In this example, since the forward movement start points A1 and A2 are slightly shifted from the ideal forward movement start point, the centers T of the virtual forward movement paths 33 and 34 are shifted from the center S of the transfer path 31, and the virtual forward movement end points b1 and b1 are detected. b2 is deviated from the ideal forward end point (the center position of the bag 5 drawn at the sixth and seventh stop positions on the transfer path 31).

(7) Forward path calculation step On the virtual forward paths 33 and 34 from the forward movement start points A1 and A2 to the virtual forward movement end points b1 and b2, at predetermined angular intervals (for example, every minute angle Δθ), each n -1 point is set, and its coordinate position is calculated by the control device. In each virtual forward path 33, 34, each virtual forward end point b1, b2 is the nth point from the forward start points A1, A2.
Next, the m-th point on the virtual forward path 33 and the m-th point on the virtual forward path 34 are taken as a set, and the filling nozzle 8 is positioned at the m-th point on the virtual forward path 33, and the virtual forward path 33 Assuming that the filling nozzle 9 is located at the mth point on the movement path 34, position control data corresponding to the coordinate position (the swing angle Qm and length Lm of the main arm 23 and the rotation angle Rm of the sub arm 25). ) Is calculated by the control device. Here, m is a natural number from 1 to n, and Qm, Lm, and Rm are position control data corresponding to the m-th point from the forward movement starting points A1 and A2 on the virtual forward movement paths 33 and 34 (main arm It means the swing angle Q, the expansion / contraction length L, and the rotation angle R of the sub arm. Although n can be set arbitrarily, for example, a value of about 50 to 10,000 is selected.
Next, position control data (Qn, Ln, Rn) corresponding to the coordinate positions of the virtual forward end points b1, b2, and position control data (Qt, Lt, Rt) corresponding to the coordinate positions of the forward end points B1, B2. For each of the position control data (Qm, Lm, Rm) corresponding to the coordinate positions of the n points on the virtual forward paths 33, 34 in accordance with the magnitude of the deviation (ΔQ, ΔL, ΔR) A correction value proportional to the angular interval from the forward movement start points A1 and A2 is added from the control device. Specifically, the position control data (Qm, Lm, Rm) corresponding to the coordinate position of the m (m: 1 to n) th point from the forward movement starting points A1 and A2 on the virtual forward movement paths 33 and 34, ΔQ × (m / n), ΔL × (m / n), and ΔR × (m / n) are added as correction values, respectively.
Position control data corresponding to the coordinate positions of the forward movement start points A1 and A2 on the virtual forward movement paths 33 and 34, the mth point on each of the virtual forward movement paths 33 and 34, and the virtual forward movement end points b1 and b2. Table 1 shows the corrected position control data. The corrected position control data corresponds to the points on the forward paths 35 and 36 that connect the forward movement start points A1 and A2 and the forward movement end points B1 and B2 set manually by the operator in a substantially arc shape. This is set as the actual forward path.

(8) Operation mode switching step The operator switches and sets the separate liquid filling apparatus 1 from the teaching mode so far to the operation mode on the touch panel of the control panel 18. As a result, each drive source is maintained in the holding state by the control device, and the filling nozzles 8 and 9 are moved to the registered forward movement starting points A1 and A2.

(9) operation start process operator to instruct a start operation by operating the control panel 20 of the intermittent transfer rotary type bag transport device 2, the intermittent transfer rotary type bag transport device 2 starts operation. At the same time, the control device of the separate type liquid filling device 1 includes the control signal from the intermittent transfer type rotary bag transfer device 2 (forward movement and backward movement speed, start timing of forward movement and backward movement, etc.) Each drive mechanism is operated based on the position control data corresponding to each point on the forward movement paths 35 and 36, and the filling nozzles 8 and 9 are intermittently transferred by the intermittent transfer type rotary bag transfer device 2. Synchronously with each other, the forward movement paths 35 and 36 are moved forward by circular interpolation. The backward movement path may be the same path (in the reverse direction) as the forward movement paths 35 and 36, or may be a different path. The control signal from the intermittent transfer type rotary bag transfer device 2 includes control signals such as the raising / lowering timing of the filling nozzles 8 and 9.

Next, FIG. 7 is a schematic diagram for explaining a method for setting the forward movement path of the filling nozzle 8 in the separate liquid filling apparatus 1A.
In FIG. 7, the bag 5 is intermittently transferred counterclockwise while stopping at every angle θ on a transfer path 31 (circular arc having a radius r centered on the point S) indicated by a one-dot chain line. The bag 5 is drawn at the fifth and sixth stop positions (V, VI) on the transfer path 31.

The forward movement path setting of the filling nozzle 8 of the separate liquid filling apparatus 1A is performed in substantially the same procedure as the separate liquid filling apparatus 1 as illustrated below.
(1) the installation process by postfix expression liquid filling apparatus 1A of another postfix expression liquid filling apparatus, adjacent the intermittent transfer rotary type bag transport device 2, the transfer path of the bag the intermittent transfer rotary type bag transport device 2 6 Install it so that it is almost directly opposite the stop position. No special rigor is required for this installation.
In the separate liquid filling apparatus 1A, for example, the center position of the movable range of the main arm 23 and the sub arm 25 is set as the initial position, and position control data (the swing angle Q of the main arm 23 and the sub arm 25) at this initial position are set. The rotation angle R) is registered in the control device as an initial value (Q ₀ , R ₀ ).

(2) Transfer route information input step The operator selects the model of the intermittent transfer type rotary bag transfer device 2 to which the separate liquid filling device 1A is applied. By this selection, information on the transfer path of the intermittent transfer type rotary bag transfer device 2 (the diameter of the transfer path, the angle of one intermittent transfer on the transfer path, etc.) is read out, and based on this information, the separately placed liquid A virtual forward path diameter r and a synchronous forward angle θ described later in the filling apparatus 1A are set.

(3) Teaching mode setting step The operator sets the separate liquid filling apparatus 1A to the teaching mode. As a result, the drive source for swinging the main arm 23 and the drive source for rotating the sub arm 25 are switched to a free state. The drive source is, for example, a servo motor.

(4) Forward movement start point registration step The operator guides the filling nozzle 8 to the fifth stop position on the transfer path 31 by manual operation and positions it. This position is set as the forward movement start point A1 of the filling nozzle 8. In FIG. 7, reference numeral 32 denotes a swing fulcrum shaft of the sub arm 25. O is the swing fulcrum axis of the main arm 23, and is the origin position of the coordinates.
After the positioning, the forward start point position control data (the swing angle Qi of the main arm 23 and the rotational angle Ri of the sub arm 25) corresponding to the coordinate position of the forward start point A1 are determined by the operator's operation. ) And is registered in the control device. Further, the coordinate position of the forward movement start point A1 with respect to the origin O is calculated from the forward movement start point position control data.

(5) Forward movement end point registration process The operator guides and positions the filling nozzle 8 at the sixth stop position on the transfer path 31 by manual operation. This position is set as the forward movement end point B1 of the filling nozzle 8.
After the positioning, the position control data (the swing angle Qt of the main arm 23 and the rotation angle Rt of the sub arm 25) corresponding to the coordinate position of the forward movement end point B1 are set to the initial values (Q ₀ , R) by the operator's operation. ₀ ) is calculated based on position information acquired from each drive source (servo motor) and registered in the control device. Further, the coordinate position of the forward movement end point B1 with respect to the origin O is calculated from the position control data.

(6) Virtual forward route setting step The coordinate position of the center T of the virtual forward route based on the calculated coordinate positions of the forward start point A1 and the forward destination end point B1 and the initially set radius r of the virtual forward route. Further, from the forward movement angle θ, the coordinate position of the virtual forward movement end point (theoretical forward movement end point assuming the forward movement starting point A1) b1 of the filling nozzle 8 is calculated by the control device. A path from the forward movement start point A1 on the arc to the virtual forward movement end point b1 is set as the virtual forward movement path 33 of the filling nozzle 8.

(7) Forward path calculation step On the virtual forward path 33 from the forward movement start point A1 to the virtual forward movement end point b1, n−1 points are respectively provided at regular angular intervals (for example, every minute angle Δθ). The coordinate position is set and calculated by the control device. In the virtual forward path 33, the virtual forward end point b1 is the nth point from the forward start point A1.
Next, assuming that the filling nozzle 8 is positioned at the mth point on the virtual forward movement path 33, position control data corresponding to the coordinate position (the swing angle Qm of the main arm 23 and the rotation angle Rm of the sub arm 25). ) Is calculated by the control device. Here, m is a natural number of 1 to n, and Qm and Rm are position control data corresponding to the m-th point from the forward movement starting point A1 on the virtual forward movement path 33 (the swing angle Q of the main arm and the sub arm). It means the rotation angle R). Although n can be set arbitrarily, for example, a value of about 50 to 10,000 is selected.
Next, the magnitude of the difference (ΔQ) between the position control data (Qn, Rn) corresponding to the coordinate position of the virtual forward end point b1 and the position control data (Qt, Rt) corresponding to the coordinate position of the forward end point B1. , ΔR), a correction value proportional to the angular interval from the forward movement start point A1 for each of the position control data (Qm, Rm) corresponding to the coordinate positions of the n points on the virtual forward movement path 33. Is added from the control device. Specifically, the position control data (Qm, Rm) corresponding to the coordinate position of the m (m: 1 to n) th point from the forward movement starting point A1 on the virtual forward movement path 33 is respectively ΔQ × (m / n) and ΔR × (m / n) are added as correction values.
The corrected position control data corresponds to each point on the forward path 35 (overlapping the arc of the virtual forward path 33) connecting the forward start point A1 and the forward end point B1 set manually by the operator. This is set as the actual forward path.

  Of the method for setting the forward path of the filling nozzle 8 in the separate liquid filling apparatus 1A, description of the operation mode switching step and the operation start step is omitted.

Next, FIG. 8 is a schematic diagram for explaining a method for setting the forward movement path of the filling nozzle 8 in the separate liquid filling apparatus 1B.
In FIG. 8, the bag 5 is intermittently transferred counterclockwise on the transfer path 31 (circular arc of radius r centered on the point S) indicated by a one-dot chain line while stopping at every angle θ. The bag 5 is drawn at the fifth and sixth stop positions (V, VI) on the transfer path 31. In FIG. 8, A1 is the forward movement start point, b1 is the virtual forward movement end point, B1 is the forward movement end point, 33 is the virtual forward movement path (the arc from the forward movement starting point A1 to the virtual forward movement end point b1), and 35 is the forward movement path. (A circular arc from the forward movement start point A1 to the forward movement end point B1).
The forward path of the filling nozzle 8 of the separate liquid filling apparatus 1B is set in exactly the same procedure as the separate liquid filling apparatus 1A (the position control data at each point is composed of the swing angle Q and the length L of the arm 23). The details are omitted.

1, 1A, 1B Liquid filling device 2 Intermittent transfer type rotary type bag transfer device 4 Gripper 5 Bag 8, 9 Filling nozzle 23 Main arm 24 Lifting shaft 25 Sub arm 33, 34 Virtual forward path 35, 36 Forward path A1, A2 Forward movement start point b1, b2 Virtual forward movement end point B1, B2 Forward movement end point O Coordinate position origin

Claims (5)

A bag is disposed adjacent to an intermittent transfer type rotary bag transfer device that intermittently transfers a bag at a certain angle along the arc-shaped transfer path, and a predetermined packaging process is performed on the bag transferred by the packing processing member through the arc-shaped transfer path. In the forward path setting method of the packaging processing member of the separate packaging processing apparatus to be performed, the separate packaging processing apparatus has a swing fulcrum outside the arcuate transfer path, and is swingable in a horizontal plane. A main arm that can be extended and retracted, a sub arm that is pivotally supported at the tip of the main arm so as to be rotatable in a horizontal plane, and can be moved up and down in a vertical direction with respect to the main arm, and a predetermined amount is provided on the sub arm. A plurality of packaging processing members installed at intervals, a drive source for reciprocatingly swinging the main arm, a drive source for extending and retracting the main arm, and the sub arm being rotated about an axis. And that the drive source, a drive source for lifting the wrapping process member, by controlling the above driving source, synchronously with the plurality of packaging processing member into a plurality of bags being transported to the arcuate transfer path Each drive source includes a control device that moves forward on the forward path, and after each packaging processing member reaches the forward movement end point, moves back to the forward movement start point, and moves up and down at a predetermined timing of the reciprocation process. Each consisting of an independent servo motor, and the plurality of packaging processing members simultaneously perform a predetermined packaging processing on a plurality of bags on the forward path,
The separate packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device,
Setting the virtual forward path diameter r and the synchronous forward angle θ of the packaging processing member corresponding to the transfer path;
Each package processing member is manually moved to the forward movement start point, and based on the position information acquired from each drive source, the swing angle of the main arm, which is forward movement start point position control data corresponding to the coordinate position of each forward movement start point Qi, length Li, and rotation angle Ri of the sub arm are calculated, and the coordinate position of each forward movement start point is calculated from the forward movement start point position control data,
Each package processing member is manually moved to the forward end point, and based on the position information acquired from each drive source, the swing angle of the main arm which is forward end point position control data corresponding to the coordinate position of each forward end point Qt, length Lt, and rotation angle Rt of the sub arm are calculated, and the coordinate position of each forward end point is calculated from the forward end point position control data,
Based on the coordinate position of each forward movement start point, calculate the coordinate position of the center of an arc passing through all forward movement start points and having the same diameter as the diameter r of the virtual forward movement path;
Based on the coordinate position of each forward movement start point and the coordinate position of the center of the arc, the coordinate position is calculated as a virtual forward movement end point at a point advanced on the arc from the forward movement start point by the synchronous forward movement angle θ, A portion connecting each forward movement start point and virtual forward movement end point of the arc is set as a virtual forward path,
The swing angle Qm of the main arm, which is position control data corresponding to the coordinate positions of n points including the virtual forward end points distributed on the virtual forward path at a predetermined minute interval from each forward start point, and The length Lm and the sub arm rotation angle Rm are calculated, and the main arm swing angle Qn, the length Ln, the sub arm rotation angle Rn, and the forward end point position are position control data corresponding to the virtual forward end point. Position control corresponding to the coordinate position of n points on the virtual forward path according to the magnitude of deviation between the swing angle Qt and length Lt of the main arm and the rotation angle Rt of the sub arm as control data A correction value proportional to the interval from the forward movement start point is added to the swing angle Qm and length Lm of the main arm, which is data, and the rotation angle Rm of the sub arm,
Thus, the forward path of the packaging processing member in the separate packaging processing apparatus is characterized by setting the forward path that connects the forward movement start point and the forward movement end point in a substantially arc shape.
However, m is a natural number of 1 to n, and Qm, Lm, and Rm are the main arm swing angle Q and length L corresponding to the coordinate position of the m-th point from the forward start point on each virtual forward path. And the rotation angle R of the sub arm. A bag is disposed adjacent to an intermittent transfer type rotary bag transfer device that intermittently transfers a bag at a certain angle along the arc-shaped transfer path, and a predetermined packaging process is performed on the bag transferred by the packing processing member through the arc-shaped transfer path. In the method of setting the forward movement path of the packaging processing member of the separate packaging processing apparatus to be performed, the separate packaging processing apparatus has a swing fulcrum outside the arcuate transfer path and is installed so as to be swingable in a horizontal plane. A main arm, a sub arm pivotally supported on the tip of the main arm so as to be rotatable in a horizontal plane , and a packaging process installed on the sub arm and vertically movable with respect to the main arm. a member, a drive source for reciprocating oscillating the main arm, a driving source for rotating said auxiliary arm around the axis, a drive source for lifting the wrapping process member, by controlling the above driving source, The serial wrapping process member is forward of the forward movement on the path in synchronization with the bag being transported to the arcuate transfer path, after the packaging process member reaches the forward end point, with is backward to forward start point, the reciprocating Comprising a control device that moves up and down at a predetermined timing of the movement process, each drive source is composed of an independent servo motor, and the packaging processing member performs a predetermined packaging process on the bag on the forward path,
The separate packaging processing device is disposed adjacent to the intermittent transfer type rotary bag transfer device,
Setting the virtual forward path diameter r and the synchronous forward angle θ of the packaging processing member corresponding to the transfer path;
The package processing member is manually moved to the forward movement start point, and based on the position information acquired from each drive source, the main arm swing angle Qi, which is forward movement start point position control data corresponding to the coordinate position of the forward movement start point, The rotation angle Ri of the sub arm is calculated, the coordinate position of the forward movement start point is calculated from the forward movement start point position control data,
The package processing member is manually moved to the forward movement end point, and based on the position information acquired from each drive source, the main arm swing angle Qt, which is forward movement end point position control data corresponding to the coordinate position of the forward movement end point, and The rotation angle Rt of the sub arm is calculated, the coordinate position of the forward movement end point is calculated from the forward movement end position control data,
Based on the coordinate position of the forward movement start point and the forward movement end point, calculate the coordinate position of the center of the arc passing through both points and having the same diameter as the diameter r of the virtual forward movement path;
Based on the coordinate position of the forward movement start point and the coordinate position of the center of the arc, the coordinate position is calculated with the virtual forward movement end point being a point advanced on the arc from the forward movement start point by the synchronous forward movement angle θ, The part connecting the forward movement start point and the virtual forward movement end point is set as the virtual forward path,
The swing angle Qm of the main arm and the sub-arm which are position control data corresponding to the coordinate positions of n points including the virtual forward end point distributed on the virtual forward path at a predetermined minute interval from the forward start point The rotation angle Rm of the main arm is calculated, and the main arm swing angle Qn and the sub arm rotation angle Rn, which are position control data corresponding to the virtual forward end point, and the arm swing angle, which is the forward end point position control data. The main arm swing angle Qm and the rotation of the sub arm, which are position control data corresponding to the coordinate positions of n points on the virtual forward path, according to the magnitude of the deviation from Qt and the rotation angle Rt of the sub arm. A correction value proportional to the interval from the forward movement start point is added to the moving angle Rm,
Thus, the forward path of the packaging processing member in the separate packaging processing apparatus is characterized in that a forward path that connects the forward movement start point and the forward movement end point in an arc shape is set.
However, m is a natural number of 1 to n, and Qm and Rm mean the swing angle Q of the main arm and the rotation angle R of the sub arm corresponding to the m-th point from the forward movement start point on each virtual forward path. To do. A bag is disposed adjacent to an intermittent transfer type rotary bag transfer device that intermittently transfers a bag at a certain angle along the arc-shaped transfer path, and a predetermined packaging process is performed on the bag transferred by the packing processing member through the arc-shaped transfer path. In the forward path setting method of the packaging processing member of the separate packaging processing apparatus to be performed, the separate packaging processing apparatus has a swing fulcrum outside the arcuate transfer path, and is swingable in a horizontal plane. and telescopically installed arms, and packaging processing member which is vertically movably installed in the vertical direction on the tip portion of the arm, a driving source for reciprocally oscillating the arm, a drive source for stretching the arm, the A drive source for raising and lowering the packaging processing member, and the above driving sources are controlled so that the packaging processing member is moved forward on the forward movement path in synchronization with the bag transferred through the arcuate transfer path. Reached the forward end point After, causes the backward to forward starting point, a control device for raising and lowering at a predetermined timing reciprocation step consists servomotor each driving source is independent, the bag packaging process member on the forward movement path To perform a predetermined packaging process,
Placing the separate packaging processing device adjacent to the rotary bag transfer device;
Setting the virtual forward path diameter r and the synchronous forward angle θ of the packaging processing member corresponding to the transfer path;
The package processing member is manually moved to the forward movement start point, and the arm swing angle Qi and the length of the forward movement start point position control data corresponding to the coordinate position of the forward movement start point based on the position information acquired from each drive source Li is calculated, the coordinate position of the forward movement start point is calculated from the forward movement start point position control data,
The package processing member is manually moved to the forward movement end point, and the arm swing angle Qt and length Lt, which are position control data corresponding to the coordinate position of the forward movement end point, are obtained based on the position information acquired from each drive source. Calculating the coordinate position of the forward end point from the forward end point position control data,
Based on the coordinate position of the forward movement start point and the forward movement end point, calculate the coordinate position of the center of the arc passing through both points and having the same diameter as the diameter r of the virtual forward movement path;
Based on the coordinate position of the forward movement start point and the coordinate position of the center of the arc, the coordinate position is calculated with the virtual forward movement end point being a point advanced on the arc from the forward movement start point by the synchronous forward movement angle θ, The part connecting the forward movement start point and the virtual forward movement end point is set as the virtual forward path,
The arm swing angle Qm and length, which are position control data corresponding to the coordinate positions of n points including the virtual forward end point distributed on the virtual forward path at a predetermined minute interval from the forward start point, respectively. The difference between the arm swing angle Qn and length Ln, which are position control data corresponding to the virtual forward movement end point, and the arm swing angle Qt and length Lt, forward movement end position control data, by calculating Lm. The arm swing angle Qm and length Lm, which are position control data corresponding to the coordinate positions of n points on the virtual forward path, are proportional to the distance from the forward start point. Add a correction value,
Thus, the forward path of the packaging processing member in the separate packaging processing apparatus is characterized in that a forward path that connects the forward movement start point and the forward movement end point in an arc shape is set.
However, m is a natural number of 1 to n, and Qm and Lm mean the swing angle Q and the length L of the main arm corresponding to the m-th point from the forward movement starting point on each virtual forward movement path. The said packaging processing member is a liquid filling nozzle, The setting method of the forward path | route of the packaging processing member in the stand-alone packaging processing apparatus described in any one of Claims 1-3 characterized by the above-mentioned. 5. The packaging processing member in the separate packaging processing apparatus according to claim 1 , wherein the diameter r and the angle θ are equal to the diameter of the bag transfer path and the angle of one intermittent transfer. How to set the forward path of

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