Tofu packaging device

Abstract

A tofu packaging device (1) is provided with a packaging covering device (20) that covers a plurality of tofu blocks with inverted packages P, respectively, the plurality of tofu blocks being aligned at a predetermined interval in the front-rear direction and the left-right direction on a conveying surface of a conveying conveyor (5), and a package supply conveyor (40) that continuously supplies packages from a side of the conveying conveyor (5) to the packaging covering device (20). Therefore, empty packages are continuously supplied to the packaging covering device (20), thereby stabilizing the tofu packaging work.

Description

TECHNICAL FIELD

[0001] The present application relates to a tofu packing apparatus that continuously and automatically performs cutting to packing of continuously manufactured sheet tofu. BACKGROUND

[0002] Generally, in the case of soft tofu, after coagulating and ripening soy milk as a raw material in a mold in a state in which a coagulating agent is added to the soy milk, or in the case of hard tofu, after coagulating and ripening soy milk in the same manner in a suitable container (e.g., a tub, a vat, a mold, etc.) and pouring the coagulum into a mold to press the coagulum and shape the coagulum, the coagulum is removed from the mold, cut into a predetermined size, and packed, to manufacture tofu.

[0003] In recent years, the number of continuous mass production lines has increased. In the continuous mass production line, continuously coagulated and ripened sheet soft tofu or hard tofu obtained by pulverizing soft tofu and continuously pressing the pulverized soft tofu and shaping the pulverized soft tofu is cut into pieces one by one, and each of the tofu pieces is packed by packing each piece.

[0004] As an example of a related art tofu packing apparatus, an apparatus is disclosed in Patent Literature 1 and Patent Literature 2, for example. Patent Literature 1 discloses a tofu automatic continuous packing apparatus including a first transfer conveyor that transfers molds of tofu into a water tank, a cutting unit that sequentially cuts molded tofu transferred into the water tank in a longitudinal direction and a lateral direction, a second transfer conveyor that sequentially transfers the cut tofu to the outside of the water tank, and a packing device that is installed downstream of the second transfer conveyor and sequentially or simultaneously packs the transferred tofu.

[0005] Patent Literature 2 discloses a tofu product conveying apparatus provided with a clamp having a pair of clamping bodies arranged to face each other, the tofu product conveying apparatus including a holding head that clamps and holds a tofu product by bringing the pair of clamping bodies close to each other, and a head moving device that moves the holding head, the tofu product conveying apparatus holding and conveying the tofu product. The clamp is provided with an anti-slip device provided on a contact surface of each tofu product with the pair of clamping bodies for preventing the held tofu product from slipping.

[0006] LIST OF CITATIONS

[0007] PATENT LITERATURE

[0008] Patent Literature 1: Japanese Patent Application Publication No. 2007-006759

[0009] Patent Literature 2: Japanese Patent Application Laid-Open No. 2014-226759 SUMMARY

[0010] PROBLEM TO BE SOLVED BY THE INVENTION

[0011] In a tofu packing device, by grasping the relative relationship (including relative positioning) of the tofu blocks and the empty pack in which the tofu blocks are not packed, smooth work can be achieved. In Patent Literature 1, the posture information of the empty pack and the like is not grasped by a camera or the like, and even when the packing is missing or the position or posture of the packing is deviated, the robot performs the operation of covering the tofu as if the robot grips the empty pack. Therefore, it can not be possible to perform a smooth covering operation. Since Patent Literature 2 adopts a method of gripping the soft tofu and dropping the soft tofu into the empty pack, it is naturally impossible to operate at high speed, and the processing capacity is limited.

[0012] The present application provides a tofu packing device that enables smooth processing by preparing an empty pack in which tofu is not packed.

[0013] SOLUTION TO PROBLEM

[0014] The tofu packing device according to one aspect of the present application includes a pack covering device configured to cover a plurality of tofu blocks with a pack in a state in which the pack is inverted, the plurality of tofu blocks being aligned at predetermined intervals in front, rear, left, and right directions on a conveyance surface of a conveyance conveyor; and a pack supply device configured to continuously supply the pack to the pack covering device from a lateral side of the conveyance conveyor.

[0015] For example, the pack supply device extends up to a position above the conveyance conveyor, and is configured to supply the pack to a position at which the pack covering device is provided.

[0016] For example, the pack supply device is configured to supply the pack in a direction intersecting with a traveling direction of the conveyance conveyor.

[0017] For example, the pack supply device is configured to supply the pack in a direction perpendicular to the traveling direction of the conveyance conveyor.

[0018] For example, the pack supply device includes a first pack conveyor provided on a lateral side of the conveyance conveyor, and a second pack conveyor provided above the conveyance conveyor and configured to supply the pack supplied from the first pack conveyor to the pack covering device.

[0019] For example, the pack supply device further includes a stopper device configured to temporarily stop the travel of the pack on the first pack conveyor.

[0020] For example, the package supply device further includes a package supply box configured to hold a plurality of empty packages, and the package supply device continuously supplies the packages taken out from the package supply box.

[0021] For example, the package supply device further includes a package taking-out robot capable of taking out the packages one by one from the package supply box.

[0022] For example, when all the packages held in a certain package supply box are taken out, the package taking-out robot takes out the packages from a spare package supply box present within the operating range of the package taking-out robot.

[0023] For example, the package supply device includes a package supply box configured to hold a plurality of empty packages, a package taking-out conveyor configured to convey the packages discharged from the package supply box in a state in which the opening faces upward, and an inversion conveyor configured to invert the opening of the packages conveyed by the package taking-out conveyor so as to face downward.

[0024] For example, at least one of the package supply device and the conveyance conveyor is IP65 or higher.

[0025] Advantages of the Invention

[0026] According to the present invention, since the package supply device continuously supplies the empty packages before the package-covered tofu to the package covering device, the tofu can be smoothly packaged. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 An overall side view of a tofu packaging device to which the present invention is applied and operations thereof are shown, in which (a) shows an operation of cutting a continuous sheet-shaped tofu in a traveling direction and cutting the tofu transversely into a size of a plurality of blocks, (b) shows an operation of finally cutting the cut tofu transversely into a size of one block, and (c) shows an operation of placing a package on the tofu finally cut into a size of one block.

[0028] Figure 2 A tofu packaging device according to a first embodiment is shown, and is a side view of the tofu packaging device at the positions of a package covering device and a package supply conveyor.

[0029] Figure 3 A tofu packaging device according to a second embodiment is shown, in which (a) is a side view of the tofu packaging device at the positions of a package covering device and a package supply conveyor, and (b) is a plan view of the tofu packaging device including the package covering device, the package supply conveyor, and a second conveyance conveyor.

[0030] Figure 4(a) is a side view of a tofu packaging apparatus according to the second embodiment at the positions of a package covering apparatus and a package supply conveyor, and (b) is a plan view of the tofu packaging apparatus including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0031] Figure 5 (a) is a side view of a tofu packaging apparatus according to the third embodiment at the positions of a package covering apparatus and a package supply conveyor, and (b) is a plan view of the tofu packaging apparatus including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0032] Figure 6 (a) is a side view of a tofu packaging apparatus according to the third embodiment at the positions of a package covering apparatus and a package supply conveyor, and (b) is a plan view of the tofu packaging apparatus including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0033] Figure 7 is a side view of a tofu packaging apparatus according to the fourth embodiment at the positions of a package covering apparatus and a package supply conveyor.

[0034] Figure 8 is a plan view of a tofu packaging apparatus according to the fourth embodiment including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0035] Figure 9 is a side view of a tofu packaging apparatus according to the fifth embodiment at the positions of a package covering apparatus and a package supply conveyor.

[0036] Figure 10 is a plan view of a tofu packaging apparatus according to the fifth embodiment including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0037] Figure 11 is a side view of a tofu packaging apparatus according to the sixth embodiment at the positions of a package covering apparatus and a package supply conveyor.

[0038] Figure 12 is a plan view of a tofu packaging apparatus according to the sixth embodiment including the package covering apparatus, the package supply conveyor, and a second transfer conveyor.

[0039] Figure 13 is a side view of a tofu packaging apparatus according to the sixth embodiment at the positions of a package covering apparatus and a package supply conveyor.

[0040] Figure 14is a plan view of a tofu packaging apparatus according to the sixth embodiment including a package covering device, a package supply conveyor, and a second conveying conveyor.

[0041] Figure 15 is an enlarged side view of a portion of the package supply conveyor in the tofu packaging apparatus according to the sixth embodiment.

[0042] Figure 16 is an enlarged side view of a portion of the package supply conveyor of the tofu packaging apparatus according to the seventh embodiment, in which (a) shows a first step of taking out a package, (b) shows a second step of taking out a package, and (c) shows a third step of taking out a package.

[0043] Figure 17 is an overall side view of the tofu packaging apparatus according to the eighth embodiment.

[0044] Figure 18 is an overall side view of the tofu packaging apparatus according to the ninth embodiment.

[0045] Figure 19 is a side view of the tofu packaging apparatus according to the tenth embodiment at the positions of the package covering device and the package supply conveyor.

[0046] Figure 20 is a plan view of a tofu packaging apparatus according to the tenth embodiment including a package covering device, a package supply conveyor, and a second conveying conveyor.

[0047] Figure 21 is a side view of the tofu packaging apparatus according to the tenth embodiment at the positions of the package covering device and the package supply conveyor.

[0048] Figure 22 is a plan view of a tofu packaging apparatus according to the tenth embodiment including a package covering device, a package supply conveyor, and a second conveying conveyor. DETAILED DESCRIPTION

[0049] Hereinafter, embodiments of a tofu packaging apparatus to which the present application is applied will be described in detail with reference to the accompanying drawings.

[0050] Figure 1 (a) to (c) of FIG. 1 show a tofu packaging apparatus to which the present application is applied. The tofu packaging apparatus 1 includes a first conveying conveyor 3 that is endless, a cutting device 4, a second conveying conveyor 5 that is endless, a package covering device 20, a package supply conveyor (package supply device) 40, an ascending conveyor 60, an inversion device 30, and a third conveying conveyor 50 that is endless.

[0051] The first conveying conveyor 3 conveys the leading end of the continuous sheet tofu A into the water tank 2. The cutting device 4 cuts the continuous sheet tofu A in the longitudinal direction and the lateral direction appropriately and sequentially in a state where a part of the tofu A is exposed from the water (a semi-submerged state), and cuts the tofu A into tofu pieces Al. The second conveying conveyor 5 arranges and conveys the tofu pieces Al that have been obtained by the cutting in the semi-submerged state sequentially at intervals. The package covering device 20, which is installed above the second conveying conveyor 5, covers and packages the package P conveyed by the package supply conveyor 40 on the tofu pieces Al sequentially. The ascending conveyor 60 takes out each of the tofu pieces Al covered with the package P from the water tank 2. The inversion device 30 is provided on the downstream side of the ascending conveyor 60 and vertically inverts the package P (in a state of covering the tofu piece Al). The third conveying conveyor 50 conveys the package P that has been vertically inverted to the next processing step (the packaging step). In the present application, the direction of travel of the continuous sheet tofu is defined as the longitudinal direction or the column direction, and the direction perpendicular to the direction of travel is defined as the lateral direction or the row direction.

[0052] The first conveying conveyor 3 is used to convey the leading end of the continuous sheet tofu A into the water tank 2, and guide the sheet tofu A from the water tank 2 into the water tank 2 from the vicinity of the outer peripheral edge on the rear side of the water tank 2 via the delivery plate 6. The sheet tofu A is further guided to the second conveying conveyor 5, and cut into pieces by the cutting device 4 from the downstream portion of the delivery plate 6 to the upstream portion of the second conveying conveyor 5. The cutting device 4 includes a roller cutter 4a that cuts the continuous sheet tofu A in the direction of travel (the longitudinal direction), a lateral cutter 4b that cuts the tofu A into a plurality of pieces (two pieces in this example; see (b) and (c) of FIG. 6) in the lateral direction, and a lateral cutting element 4c that finally cuts the tofu A cut into pieces by the lateral cutter 4b into one piece (see (d) of FIG. 6) in the lateral direction. Figure 1 Figure 1 The cutting device 4 includes a roller cutter 4a that cuts the continuous sheet tofu A in the direction of travel (the longitudinal direction), a lateral cutter 4b that cuts the tofu A into a plurality of pieces (two pieces in this example; see (b) and (c) of FIG. 6) in the lateral direction, and a lateral cutting element 4c that finally cuts the tofu A cut into pieces by the lateral cutter 4b into one piece (see (d) of FIG. 6) in the lateral direction.

[0053] The second conveying conveyor 5 is installed inside the water tank 2, and conveys the tofu pieces Al that have been obtained by the cutting in the semi-submerged state (i.e., in a state where only the upper portion of the tofu piece Al is exposed from the water) while arranging the tofu pieces Al sequentially at intervals. The package covering device 20 covers the package P on the portion of each of the tofu pieces Al conveyed by the second conveying conveyor 5 that is exposed from the water. The package P is continuously supplied to the package covering device 20 by the package supply conveyor 40. The package covering device 20 and the package supply conveyor 40 will be described in detail later. In Figure 1 ​In (a) to (c) of FIG. 10, the package supply conveyor 40 is shown as being provided in parallel with the advancing direction of the second conveying conveyor 5 (the advancing direction of the tofu), but in an actual embodiment, as shown in the subsequent drawings, the package supply conveyor 40 is provided so as to intersect the advancing direction of the second conveying conveyor 5, more specifically, is provided so as to be perpendicular to the advancing direction of the second conveying conveyor 5. Figure 2 In (a) to (c) of FIG. 10, the package supply conveyor 40 is shown as being provided in parallel with the advancing direction of the second conveying conveyor 5 (the advancing direction of the tofu), but in an actual embodiment, as shown in the subsequent drawings, the package supply conveyor 40 is provided so as to intersect the advancing direction of the second conveying conveyor 5, more specifically, is provided so as to be perpendicular to the advancing direction of the second conveying conveyor 5.

[0054] The ascending conveyor 60 takes out each tofu block Al covered with the package P from the water tank 2 and conveys the tofu block Al to the inverting device 30. The inverting device 30 is provided on the downstream side of the ascending conveyor 60 and inverts the package P (in the state of covering the tofu block Al) vertically. The third conveying conveyor 50 conveys the vertically inverted package P to the next processing step (the packaging step). Tofu in which a defect such as a chip is found is not covered with the package P and is directly conveyed to the inverting device 30 by the second conveying conveyor 5 or the like. Therefore, by providing a gap in the guide of the inverting device 30, the defective tofu can be removed by collapsing and falling down. The gap of the guide is obtained, for example, by forming the guide in a fence shape, but the fence in the fence shape can have a fineness or a sharpness that easily bites into the tofu, for example, a cross section of a circular shape, a square shape, a triangular shape, or the like. The shape of the guide is not limited to the fence shape, and can be, for example, a lattice shape or the like, and there can be a mechanism in which the tofu is finely collapsed and falls into a receiving tray or a spiral processing conveyor below.

[0055] In the tofu packaging device 1, generally, the various devices are not stopped during production and are continuously operated in synchronization with each other at a constant speed, but can be intermittently operated in synchronization with each other.

[0056] Next, the package covering device 20 will be described. As shown in FIG. 11, the package covering device 20 is provided on the downstream side of the ascending conveyor 60 and covers the package P (in the state of being inverted vertically) with the package P. Figure 2As shown, in the package covering device 20, above the second conveyance conveyor 5 driven by the motor 5m, a support rail 21 serving as a base is suspended in the conveyor width direction. A moving base 22 is slidably provided on the support rail 21, and a parallel link mechanism 23 is provided on the moving base 22. That is, the package covering device 20 is a robot including the parallel link mechanism 23 having three link shafts 23a that three-dimensionally drive a distal end gripping portion 23b that grips the package P. The distal end gripping portion 23b can be a suction type that sucks and adsorbs the package P with a suction pad, a chuck type provided with two to four fingers to grip the package P, or a combination thereof, and is not particularly limited as long as the distal end gripping portion 23b can firmly grip the package P in the same orientation of the package. A horizontal rotation axis or a vertical rotation axis can also be provided in the moving base 22 or the distal end gripping portion 23b, and a total of four to six control axes can be provided. The parallel link mechanism is preferable, but a SCARA robot as described later can also be used, and a high-speed robot capable of operating 100 or more reciprocations (cycles) per minute (100 CPM; an abbreviation for cycles per minute) over a horizontal distance of 200 mm to 300 mm can be used. More preferably, the robot is a high-speed robot capable of operating 100 or more reciprocations (100 CPM; an abbreviation for cycles per minute) per minute over a horizontal distance of 0.5 m to 1.5 m.

[0057] Since the support rail 21 serving as a base is located at a higher position than the second conveyance conveyor 5, space saving is achieved, and, for example, the space surrounded by the support rail 21 is covered with a cover or the like to facilitate cleaning of the second conveyance conveyor 5 and other devices inside. For example, by cleaning the space with a cleaning nozzle or the like capable of performing CIP cleaning sterilization or SIP sterilization (steam sterilization), cleaning sterilization or sterilization of the conveyors or various components that come into direct contact with the tofu can be performed, and dust, dirt, foreign matter, and the like can also be washed away. Preferably, various robots and conveyors are provided with a standard of IP65 or higher (JIS C0920-1993) having high corrosion resistance against food cleaning agents and disinfectants and high dust and water resistance. It is preferable to blow in steam during production and maintain the inside of the container at 60°C to 100°C by controlling the temperature. A member such as a receiving tray for preventing entry of foreign matter can be provided below the parallel link mechanism 23, or the parallel link mechanism 23 itself can have a foreign matter-free specification for the food industry.

[0058] An image sensor (camera device) 24 that captures an image of each block of tofu A1 flowing on the conveying surface 5s is provided on the moving base 22 of the package covering device 20. Based on the position of each block of tofu A1 captured by the image sensor 24, each block of tofu A1 can be accurately covered with the package P. The illumination member of the image sensor can be appropriately provided as necessary.

[0059] The image of the tofu A1 is analyzed based on the detection signal from the image sensor 24. Therefore, when an abnormality of the tofu A1 is detected based on the image analysis, processing is performed so that the tofu A1 is not covered with the package P. The abnormality of the tofu A1 referred to here means, for example, a block of tofu A1 having a small size (cut size), a block of tofu A1 that is cut and deformed into a trapezoidal shape or a diamond shape, a block of tofu A1 that is damaged or broken, a block of tofu A1 having a large number of air bubbles in the cut surface, or a block of tofu A1 having a foreign object attached thereto. By immediately performing image analysis on the image signal of each block of tofu A1 before it on the second conveyance conveyor 5, even if each block of tofu A1 is slightly displaced, the position of the distal end clamping portion 23b of the package P covered is corrected with respect to the tofu A1, and the package is accurately covered.

[0060] The two parallel link mechanisms 23 are installed on the left and right sides in the conveyor width direction. Therefore, the working areas of the two package covering devices 20 are divided into two in the left and right width directions of the conveyor. Here, since the arrangement width of the blocks of tofu A1 is, for example, in the range of 1.0 to 3.0 meters, and the operation accuracy is within ±2.0 millimeters, preferably within ±0.2 millimeters, more preferably within ±0.02 millimeters, the horizontal movement range of the package covering device 20 is set in the range of 0.5 to 1.5 meters. However, the number of parallel link mechanisms 23 is not particularly limited.

[0061] In addition, the parallel link mechanism 23 (of the robot) and the SCARA mechanism (not shown) (of the robot) according to the present embodiment desirably are robots having a high-speed processing capability (ability to perform high-speed driving) of 100 or more reciprocations (100 CPM) in horizontal reciprocation over a horizontal distance of, for example, 0.2 m to 3 m, preferably 0.5 m to 1.5 m. In the present specification, "high-speed processing" means a processing capability of 4,000 to 6,000 or more blocks per hour in one package covering device 20. If two devices are provided, the processing capability is doubled. It should be noted that a multi-joint (serial link mechanism) robot can be used as long as the robot can perform processing at an equal or higher high speed.

[0062] Next, the package supply conveyor (package supply device) 40 will be described. The package supply conveyor 40 includes Figure 2The tofu packaging apparatus 1 of the packaging supply conveyor 40 shown in FIG. 1 is a first embodiment, and embodiments of the tofu packaging apparatus of the packaging supply conveyor 40 including various embodiments will be described below.

[0063] In the present embodiment, the packages P are supplied by the packaging supply conveyors 40 disposed adjacent to both sides in the width direction of the second transfer conveyor 5. The packaging supply conveyors 40 supply the packages continuously to the package covering apparatus 20 from the lateral sides of the second transfer conveyor 5. This makes it possible to smoothly package the tofu.

[0064] For example, the same number of packaging supply conveyors 40 as the number of the package covering apparatuses 20 can be provided. As will be described later, since at least one packaging supply box that stores a large number of empty packages can be provided in one packaging supply conveyor 40, the operator who supplies the empty packages is able to work on one box centrally, and thus the burden is alleviated. Once the box is replenished to a certain extent, the packages P can be replenished to the packaging supply units on the opposite side, or other work can be performed for a certain period of time. The packaging supply conveyors can be provided with an image sensor that is able to detect the state of the packages P.

[0065] Figure 3 and Figure 4 A tofu packaging apparatus 1 according to a second embodiment is shown. The packages P are supplied by the packaging supply conveyors 40 disposed adjacent to the second transfer conveyor 5 in the width direction. The packaging supply conveyors 40 supply the packages continuously to the package covering apparatuses 20 from the lateral sides of the second transfer conveyor 5. For example, the same number of packaging supply conveyors 40 as the number of the package covering apparatuses 20 can be provided. As will be described later, since at least one packaging supply box that stores a large number of empty packages can be provided in one packaging supply conveyor 40, the operator who supplies the empty packages is able to work on one box centrally, and thus the burden is alleviated. Once the box is replenished to a certain extent, the packages P can be replenished to the packaging supply units on the opposite side, or other work can be performed for a certain period of time. The packaging supply conveyors can be provided with an image sensor that is able to detect the state of the packages P.

[0066] The packaging supply conveyors 40 according to the present embodiment extend above the second transfer conveyor 5, and supply the packages P continuously to the positions where the package covering apparatuses 20 (three parallel link mechanisms 23) are disposed. Thereby, the package covering apparatuses 20 (three parallel link mechanisms 23) are able to grip the packages P without making a large movement, and the working time can be shortened.

[0067] The package supply conveyor 40 supplies the packages P in a direction intersecting the direction of travel of the second conveyance conveyor 5, and in particular, in the present embodiment, the package supply conveyor 40 supplies the packages P in a direction perpendicular to the direction of travel of the second conveyance conveyor 5. Thereby, the package supply conveyor 40 can efficiently supply the packages P to the package covering device 20.

[0068] The package supply conveyor 40 includes a first package conveyor 41 disposed on one side of the second conveyance conveyor 5, and a second package conveyor 42 disposed above the second conveyance conveyor 5 and configured to supply the packages P supplied from the first package conveyor 41 to the package covering device 20. A stopper 43 that temporarily stops the travel of the packages P is provided at an end portion of the first package conveyor 41 on a side adjacent to the second package conveyor 42. The stopper 43 includes a motor 44 and a stopper member 45, and the motor 44 drives the stopper member 45 in the vertical direction at a predetermined time to stop the movement of the packages P, and advances the packages P at an appropriate time. In this way, by providing the two package conveyors 41, 42 and the stopper 43, the packages P can be supplied to the package covering device 20 at an appropriate speed.

[0069] Figure 3 A state in which the parallel link mechanisms 23 grip and lift the packages P from the second package conveyor 42 is shown, and Figure 4 A state in which the package P is covered with each of the tofu blocks Al being gripped by the parallel link mechanisms 23 is shown.

[0070] Figure 5 And Figure 6 A tofu package device 1 according to a third embodiment is shown. In the second embodiment, three parallel link mechanisms 23 are provided on one support rail 21, and the three parallel link mechanisms 23 are provided at the same position in the direction of travel of the second conveyance conveyor 5. On the other hand, in the third embodiment, three support rails 21 are provided at staggered positions in the direction of travel of the second conveyance conveyor 5, and accordingly, three parallel link mechanisms 23 are provided on the support rails 21 so that the three parallel link mechanisms 23 are provided at staggered positions in the direction of travel of the second conveyance conveyor 5. Figure 5 A state in which the parallel link mechanisms 23 grip and lift the packages P from the second package conveyor 42 is shown, and Figure 6 A state in which the package P is covered with each of the tofu blocks Al being gripped by the parallel link mechanisms 23 is shown.

[0071] Figure 7 And Figure 8A packaging apparatus 1 according to a fourth embodiment is shown. In the present embodiment, in addition to the configurations equivalent to those of the packaging apparatus 1 according to the second embodiment, the packaging supply conveyor 40 further includes a support rail 71, a moving base 72, a parallel link mechanism 73, and a packaging supply box 75. The support rail 71, the moving base 72, and the parallel link mechanism 73 have configurations similar to those of the support rail 21, the moving base 22, and the parallel link mechanism 23. That is, above the first packaging conveyor 41, the support rail 71 serving as a base is erected in the conveyor travel direction. The moving base 72 is slidably provided on the support rail 71, and the parallel link mechanism 73 is provided on the moving base 72. That is, the packaging supply conveyor 40 includes the parallel link mechanism 73 having three link shafts 73a that three-dimensionally drive a distal end gripping portion 73b that grips the packaging P. The distal end gripping portion 73b can be suction type that sucks and adsorbs the packaging P with a suction pad, chuck type that is provided with a pair of pincers having two to four fingers to grip the packaging P, or a gripping structure combining them, and is not particularly limited as long as the distal end gripping portion 73b can firmly grip the packaging P in the same orientation of the packaging. A horizontal rotation axis or a vertical rotation axis can also be provided in the moving base 72 or the distal end gripping portion 73b, and a total of four to six control axes can be provided. The parallel link mechanism is preferable, but a SCARA robot can also be used, and a high-speed type robot capable of operating 100 reciprocations (cycles) per minute (100 CPM; an abbreviation for cycles per minute) over a horizontal distance of 200 mm to 300 mm can be used. More preferably, the robot is a high-speed robot capable of operating 100 reciprocations (100 CPM; an abbreviation for cycles per minute) per minute or more over a horizontal distance of 0.5 m to 1.5 m.

[0072] The packaging supply box 75 holds a plurality of empty packaging P stacked in a straight line inclined upward. The parallel link mechanism 73 serves as a packaging taking-out robot capable of continuously supplying the packaging P taken out one by one from the packaging supply box 75. The supply efficiency of the packaging P can thereby be improved.

[0073] The parallel link mechanism 73 as a package taking-out robot adjusts the position and angle of the distal end gripping portion 73b in accordance with image information of the camera that captures the posture of the empty package such as the position and orientation at the taking-out position of the package supply magazine 75. After gripping the package P, the parallel link mechanism 73 moves the package P to a fixed position above the first package conveyor 41, and similarly adjusts the position and angle of the distal end gripping portion 73b in accordance with information from the camera to place the package P on the first package conveyor 41. Thus, the parallel link mechanism 73 is able to accurately take out the empty packages one by one from the package supply magazine 75, and accurately and reliably place the empty packages at the fixed position of the first package conveyor 41. By monitoring the state in which the packages are placed at the fixed position by the camera, error processing including removal of the package in an abnormal state at the fixed position is performed, and the empty fixed position is compensated for the empty package, so that the loss can be further improved. However, even if the position and posture of the empty package taken out by the parallel link mechanism 73 on the first package conveyor 41 is slightly random, the stopper device on the downstream side functions as a temporary buffer for the packages, and is able to smoothly supply the packages. A plurality of parallel link mechanisms 73 can be provided for one package supply conveyor 40.

[0074] In the package supply magazine 75 shown, the packages P are stacked in a state in which the opening faces upward, and the parallel link mechanism 73 grips and takes out the package P at the lowermost layer. However, the packages P can be stacked in a state in which the opening faces downward (a state in which the packages P face downward), and the parallel link mechanism 73 can grip and take out the package P at the uppermost layer.

[0075] Figure 9 and Figure 10 A package device 1 according to a fifth embodiment is shown. In the present embodiment, in addition to the configurations equivalent to those of the package device 1 according to the third embodiment, the package supply conveyor 40 further includes a support rail 71, a moving base 72, a parallel link mechanism 73, a package supply magazine 75, and a spare package supply magazine 75a. In the present embodiment, the moving base 72 is slidably provided on one support rail 71, and the parallel link mechanism 73 is provided on the moving base 72. The moving base 72, the parallel link mechanism 73, and the package supply magazine 75 have the same configurations as those of the fourth embodiment.

[0076] Further, in the present embodiment, the spare package supply magazine 75a is provided between the plurality of package supply magazines 75, and when all the packages P held in a certain package supply magazine 75 are taken out, the parallel link mechanism 73 as a package taking-out robot is able to take out the package P from the spare package supply magazine 75a present within the operation range of the parallel link mechanism 73. Thereby, it is possible to continuously supply the packages P without interruption.

[0077] Figures 11 to 15 A packaging device 1 according to a sixth embodiment is shown. In the present embodiment, in addition to configurations equivalent to those of the packaging device 1 according to the second embodiment, a continuously circulating packaging take-out conveyor 81, an inversion conveyor 82, and a packaging supply box 76 are provided. In Figure 12 and Figure 14 The packaging supply box 76 is not shown in

[0078] In the fourth and fifth embodiments, the parallel link mechanism 73 takes out the packaging P in a state in which the packaging P is inverted and the opening faces downward (in a state in which the packaging P faces downward) and arranges the packaging P on the first packaging conveyor 41. On the other hand, in the present embodiment, the packaging supply box 76 discharges the packaging P in a manner in which the opening of the packaging faces upward, and the packaging P is disposed on the packaging take-out conveyor 81 in a manner in which the opening faces upward.

[0079] The packaging supply box 76 holds a plurality of empty packagings P stacked vertically and linearly upward. For example, the packaging supply box 76 is of a type in which the packagings P are taken out one by one from the lower side with a rotating rubber, and the packaging supply box 76 is a mechanism in which a gripper is caught on a flange of the packaging P, and when one packaging is taken out downward, the gripper is caught on the packaging flange directly above, becomes a stopper, and then is separated. The packaging take-out conveyor 81 conveys the taken-out packaging P to the inversion conveyor 82, the inversion conveyor 82 inverts the packaging P with the opening facing upward so that the opening faces downward (in a state in which the packaging P faces downward), and supplies the packaging P to the first packaging conveyor 41. Thus, the packaging P can be efficiently supplied.

[0080] Figure 11 and Figure 12 A state in which the parallel link mechanism 23 grips and lifts the packaging P from the second packaging conveyor 42 is shown, and Figure 13 and Figure 14 A state in which each block of tofu Al is covered by the packaging P gripped by the parallel link mechanism 23 is shown. Figure 15 is an enlarged side view of a part of the packaging supply conveyor 40 in the tofu packaging device 1 according to the sixth embodiment.

[0081] Figure 16 is an enlarged side view of a part of the packaging supply conveyor 40 in the tofu packaging device 1 according to a seventh embodiment, in which (a) shows a first step of taking out a packaging, (b) shows a second step of taking out a packaging, and (c) shows a third step of taking out a packaging. In addition to the components shown in Figure 15 In addition to the components shown in Figure 16In the first step of (a), the package P has not yet been lowered to the position of the package take-out conveyor 81, as shown by the dotted line. In the second step of (b), the package take-out tool 85 takes out the package P from the package supply box 76 and lowers the package P to the position of the package take-out conveyor 81. In the third step of (c), the package P is supplied by the package push-out tool 86 being pushed out to the position of the package take-out conveyor 81. Figure 16 Figure 16

[0082] Figure 17 A tofu package apparatus 1 according to an eighth embodiment is shown. In this embodiment, the parallel link mechanism 23 of the package covering apparatus 20 directly grips the package P from the package supply conveyor 40 and carries the package P to the second conveyance conveyor 5. In this figure, the package supply conveyor 40 is shown as being disposed in parallel with the direction of travel of the second conveyance conveyor 5 (the direction of travel of the tofu), but in fact, as in the other embodiments, the package supply conveyor 40 is disposed so as to intersect the direction of travel of the second conveyance conveyor 5, more specifically, so as to be perpendicular to the direction of travel of the second conveyance conveyor 5.

[0083] The package supply box 76 according to this embodiment includes a pneumatic cylinder mechanism that pushes a plurality of empty packages P that are linearly stacked and have their opening faces facing downward upward.

[0084] Figure 18 A tofu package apparatus 1 according to a ninth embodiment is shown. This embodiment is similar to the eighth embodiment, but uses a package supply box 75 in place of the package supply box 76. In this figure, the package supply conveyor 40 is also shown as being disposed in parallel with the direction of travel of the second conveyance conveyor 5 (the direction of travel of the tofu), but in fact, as in the other embodiments, the package supply conveyor 40 is disposed so as to intersect the direction of travel of the second conveyance conveyor 5, more specifically, so as to be perpendicular to the direction of travel of the second conveyance conveyor 5.

[0085] Figures 19 to 22 A tofu package apparatus 1 according to a tenth embodiment is shown. In this embodiment, in place of the support rail 21 and the parallel link mechanism 23 according to the sixth embodiment, a support rail 25 that functions as a base and two SCARA robots 26 are provided. The SCARA robots 26 use arms 26a to grip the packages P. The other functions are the same as those of the fifth embodiment. Figure 19 Figure 20 A state in which the SCARA robots 26 are gripping and lifting the packages P from the second package conveyor 42 is shown, and Figure 21 Figure 22 A state in which each of the tofu blocks Al is covered by the package P that is gripped by the SCARA robots 26 is shown. ​​​​

[0086] Note that the present application is not limited to the above-described embodiments, and can be modified, improved, and the like as appropriate. In addition, the materials, shapes, sizes, numerical values, forms, numbers, arrangement positions, and the like of the components in the above-described embodiments are optional and are not limited, as long as the present application can be achieved.

[0087] This application is based on Japanese Patent Application (Japanese Patent Application No. 2019-236830) filed on December 26, 2019, the content of which is incorporated herein by reference in its entirety.

[0088] List of Reference Signs

[0089] 1: Tofu packaging device

[0090] 3: First conveyance conveyor

[0091] 5: Second conveyance conveyor (conveyance conveyor)

[0092] 20: Packaging covering device

[0093] 21: Support rail

[0094] 22: Moving base

[0095] 23: Parallel link mechanism

[0096] 24: Image sensor

[0097] 26: SCARA robot

[0098] 30: Inverting device

[0099] 40: Packaging supply device (packaging supply conveyor)

[0100] 41: First packaging conveyor

[0101] 42: Second packaging conveyor

[0102] 43: Stopper device

[0103] 73: Parallel link mechanism

[0104] 75: Packaging supply box

[0105] 76: Packaging supply box

[0106] 81: Packaging take-out conveyor

[0107] 82: Inverting conveyor

[0108] A: Continuous sheet-shaped tofu

[0109] A1: One-toblock unit

[0110] P: Package

Claims

1. A tofu packing apparatus comprising: a packing covering apparatus configured to cover a plurality of tofu blocks with a packing in a state where the packing is inverted, the plurality of tofu blocks being aligned at predetermined intervals in front, rear, left, and right directions on a conveying surface of a conveying conveyor; a packing supply apparatus configured to take out the packing from a packing supply magazine that holds a plurality of empty packings, and to supply the packing to the packing covering apparatus continuously from a lateral side of the conveying conveyor through a packing supply conveyor; a first camera apparatus configured to capture an image of the plurality of tofu blocks on the conveying surface of the conveying conveyor; and a second camera apparatus configured to capture an image of each of the plurality of empty packings taken out from the packing supply magazine and to be placed on the packing supply conveyor, wherein the packing covering apparatus is configured to adjust an operation for covering the packing with respect to each of the plurality of tofu blocks based on an image analysis result of the image captured by the first camera apparatus and the image captured by the second camera apparatus, wherein the packing supply apparatus further comprises a packing taking-out robot capable of taking out the packing from the packing supply magazine one by one, wherein the operation for covering the packing with respect to each of the plurality of tofu blocks comprises: the packing taking-out robot adjusts a position and an angle of a distal end gripping portion of the packing taking-out robot according to the image analysis result, moves the packing to a fixed position above the packing supply conveyor to place the packing on the packing supply conveyor; and a state where the packing is placed at the fixed position is monitored by the second camera apparatus, an error process including removal of a packing in an abnormal state at the fixed position is performed, and an empty fixed position is compensated for an empty packing. 2.The tofu packing apparatus according to claim 1, the packing supply apparatus extends up to a position above the conveying conveyor, and is configured to supply the packing to a position where the packing covering apparatus is disposed. wherein 3.The tofu packing apparatus according to claim 1 or 2, the packing supply apparatus is configured to supply the packing in a direction intersecting a traveling direction of the conveying conveyor. wherein 4.The tofu packing apparatus according to claim 3, the packing supply apparatus is configured to supply the packing in a direction perpendicular to the traveling direction of the conveying conveyor. wherein 5.The tofu packing apparatus according to claim 1 or 2, the packing supply apparatus comprises: wherein a first packing conveyor disposed at the lateral side of the conveying conveyor; and a second packing conveyor disposed above the conveying conveyor and configured to supply the packing supplied from the first packing conveyor to the packing covering apparatus. 6.The tofu packing apparatus according to claim 5, ​ wherein, The package supply device further includes a stopper configured to temporarily stop the travel of the package on the first package conveyor.

7. The tofu packaging apparatus according to claim 1 or 2, wherein, The package supply device further includes the package supply magazine configured to hold the plurality of empty packages, and wherein the package supply device is configured to continuously supply the packages taken out from the package supply magazine.

8. The tofu packaging apparatus according to claim 1, wherein When all the packages held in the package supply magazine are taken out, the package taking-out robot takes out a package from a spare package supply magazine present within the operation range of the package taking-out robot.

9. The tofu packaging apparatus according to claim 1 or 2, wherein The package supply device includes: a package supply magazine configured to hold a plurality of empty packages; a package taking-out conveyor configured to convey the packages discharged from the package supply magazine in a state in which an opening face of the package faces upward; and an inversion conveyor configured to invert the package P conveyed by the package taking-out conveyor with the opening face facing downward.

10. The tofu packaging apparatus according to claim 1 or 2, wherein At least one of the package supply device and the transfer conveyor is IP65 or higher.

11. A tofu packaging apparatus comprising: a cutting device configured to cut a continuous sheet of tofu to form a plurality of tofu blocks; an alignment device configured to align the plurality of tofu blocks at predetermined intervals in front, rear, left, and right directions on a conveying surface of a transfer conveyor; a package covering device configured to cover each of the plurality of tofu blocks with a package in an inverted state; a package supply device configured to take out the package from a package supply magazine holding a plurality of empty packages, and continuously supply the package to the package covering device by a package supply conveyor; an inversion device configured to invert the plurality of tofu blocks each of which is covered with the package in the inverted state; a first camera device configured to capture an image of the plurality of tofu blocks on the conveying surface of the transfer conveyor; and a second camera device configured to capture an image of each of the plurality of empty packages taken out from the package supply magazine and to be placed on the package supply conveyor, wherein the package covering device is configured to adjust an operation for covering the package with respect to each of the plurality of tofu blocks based on an image analysis result of the image captured by the first camera device and the image captured by the second camera device, wherein the package supply device further includes a package taking-out robot capable of taking out the package one by one from the package supply magazine, ​ wherein the operation of covering the package with respect to each of the plurality of tofu blocks includes: the package taking-out robot adjusts the position and angle of the distal end gripping portion of the package taking-out robot according to the image analysis result, moves the package to a fixed position above the package supply conveyor, and places the package on the package supply conveyor; and a state in which the package is placed at the fixed position is monitored by the second camera device, error processing including removal of a package in an abnormal state at the fixed position is performed, and an empty fixed position is compensated for an empty package.

Images