Packaging tape cutting device

Abstract

The invention provides a packaging tape cutting device capable of detecting the position of a packaging tape with high precision. Provided is a packaging tape cutting device for cutting a packaging tape wound around a packaged article of a packaged product. The packaging tape cutting device performs: a process of moving the distance sensor while measuring the distance to the distance sensor from a measurement start point at which the packaging tape is not provided in the packaged article toward a predetermined direction of the packaged article (steps S1 to S3); storing a first predetermined position of the distance sensor at which the amount of change in the distance measured by the distance sensor is equal to or greater than a first predetermined amount (steps S5 and S6); and determining the first predetermined position as one end of the packaging tape (step S11) when a period in which the amount of change in the distance measured by the distance sensor is less than a second predetermined amount is greater than or equal to a predetermined period (YES in step S10).

Description

Packaging tape cutting device Technical Field

[0001] This invention relates to a device for cutting packaging tape wrapped around packaged articles containing products such as batteries using a cutter. Background Technology

[0002] Patent Document 1 describes a device for cutting the sides of a package containing stacked sheets of paper. This cutting device holds an annular cutting blade by a pair of holding members that engage with a splined shaft rotated by a motor. That is, the cutting blade rotates together with the splined shaft and is held movable along the axial direction of the splined shaft. Therefore, when the cutting blade cuts the package, it inserts between the sheets of paper wrapped in the package and then moves up and down along the sheets. Thus, even when the conveyor surface carrying the package is tilted, the package can be cut without damaging the bundle of paper.

[0003] Patent Document 1: Japanese Patent Application Publication No. 6-156456 Summary of the Invention

[0004] The cutting device described in Patent Document 1 is configured to insert a cutting blade between the sheets of paper wrapped in the packaging paper to be cut, and simultaneously cut across the entire circumferential area of ​​the packaging paper. Therefore, the packaging paper and the cutting blade can overlap in the thickness direction, and the positional accuracy of the cutting blade for cutting the packaging paper is relatively acceptable. On the other hand, the cutter cuts by bringing the blade tip into contact with the object to be cut. Furthermore, the packaging tape, which becomes the object to be cut by the cutter, is wrapped around the packaged article at a predetermined position. Therefore, when the packaged article is tilted relative to the direction of movement of the cutter, the position of the packaging tape relative to the direction of movement of the cutter differs from that when the packaged article is not tilted, thus preventing the cutter from making proper contact with the packaging tape and potentially failing to cut the packaging tape.

[0005] This invention was made in response to the above-mentioned technical problems. The purpose of this invention is to provide a packaging tape cutting device that can detect the position of the packaging tape with high precision.

[0006] To achieve the above objectives, the present invention provides a packaging tape cutting device that cuts packaging tape wrapped around a packaged product using a cutter. The packaging tape cutting device is characterized by further comprising: a distance sensor for measuring the distance to the packaged product; a sliding mechanism for moving the distance sensor along the packaged product; and a controller for determining the position of the packaging tape. The controller comprises: a drive unit that moves the distance sensor while measuring the distance from a predetermined measurement start point not located on the packaging tape in the packaged product in a predetermined direction toward the packaged product; a first storage unit that stores a first predetermined position of the distance sensor where the change in distance measured by the distance sensor is greater than or equal to a predetermined first predetermined amount; and a tape determination unit that determines the first predetermined position as one end of the packaging tape when the period during which the change in distance measured by the distance sensor is less than a predetermined second predetermined amount is a predetermined period or more.

[0007] Furthermore, in this invention, the controller may also include a second storage unit that, when one end of the packaging tape is determined by the tape determining unit, stores a second predetermined position of the distance sensor, where the change in distance measured by the distance sensor is a predetermined third predetermined amount or more, as the other end of the packaging tape.

[0008] Furthermore, in this invention, the cutter is arranged side-by-side with the distance sensor on the sliding mechanism in the direction of movement via the sliding mechanism, and the controller may further include: a first calculation unit that calculates the position of the cutter at the start or end of cutting the packaging tape based on the distance between one end of the packaging tape and the packaging tape and the cutter determined by the tape determination unit.

[0009] Furthermore, the present invention may also include: a driving device that moves the sliding mechanism and causes the cutter to move back and forth; the controller may also include: a second calculation unit that calculates the position of the cutter in the back and forth direction at the start of cutting the packaging tape or at the end of cutting the packaging tape based on the measured value of the time point when the change of the distance measured by the distance sensor becomes more than or equal to the first predetermined amount and the distance between the end face of the distance sensor and the tip of the cutter.

[0010] Invention Effects

[0011] The packaging tape cutting device of this invention measures the distance between the packaging tape and the packaged article from a pre-set measurement start point (where the tape is not positioned) in a predetermined direction toward the packaged article while simultaneously moving a distance sensor. It stores the change in distance as a first predetermined position equal to or greater than a first predetermined amount. If the change in distance measured by the distance sensor is less than a second predetermined amount for a predetermined period or longer, the first predetermined position is defined as one end of the packaging tape. Therefore, even when the packaged article is tilted, the position where the change in measurement value is greater than or greater than the first predetermined amount is limited to the packaging tape. Thus, the position of the packaging tape can be determined based on the change in the distance sensor's measurement value, allowing the cutter to contact the packaging tape for cutting. Attached Figure Description

[0012] Figure 1 is a schematic diagram illustrating an example of a packaging tape cutting device according to an embodiment of the present invention. Figure 1(a) is a top view showing the state in which packaged articles are loaded on a conveyor, and Figure 1(b) is a side view viewed from the right side of Figure 1(a).

[0013] Figure 2 is a flowchart illustrating a control example for determining the position of the packaging tape.

[0014] Figure 3 is a diagram showing the coordinates stored in the controller, the distance between these coordinates, the cutting start position of the ultrasonic cutter tip, and the cutting end position of the ultrasonic cutter tip.

[0015] Figure 4 is a flowchart illustrating a control example for determining the cutting start position, cutting end position, and moving speed of the ultrasonic cutter tip.

[0016] Figure 5 is a flowchart illustrating a control example for cutting the packaging tape. Detailed Implementation

[0017] The present invention will be described based on the embodiments shown in the figures. Furthermore, the embodiments described below are merely examples embodying the present invention and do not limit the scope of the invention.

[0018] In an embodiment of the present invention, a packaging tape cutting device cuts packaging tape wrapped around a product such as a battery for a packaged vehicle. The packaging tape cutting device 1 shown in FIG1 is configured to cut packaging tape 5 wrapped around an upper cover 3 and a lower cover 4 arranged in the vertical direction of an inner box 2 containing the product.

[0019] The upper cover 3 and lower cover 4 are provided as cushioning materials to suppress external forces acting on the inner box 2. They are composed of flat portions 3a and 4a with areas larger than the upper and lower surfaces of the inner box 2, and vertical portions 3b and 4b that bend vertically from the outer periphery of the flat portions 3a and 4a opposite to the side wall surface 2a of the inner box 2. Therefore, when a load is applied from the side wall surface 2a of the inner box 2, the vertical portions 3b and 4b are deformed to absorb the load, so that the external force does not act on the inner box 2. Furthermore, the upper cover 3 and lower cover 4 are formed of corrugated paper. Therefore, when a load is applied from the vertical direction of the inner box 2, the load is absorbed by the compression of the gaps in the thickness direction of the corrugated paper, so that the external force does not act on the inner box 2. In addition, the inner box 2, upper cover 3, and lower cover 4 in FIG1 are rectangular in shape when viewed from above.

[0020] Then, two packaging strips 5 are wound around the upper cover 3 and the lower cover 4, spaced at a predetermined interval along their length. As mentioned above, the outer dimensions of the upper cover 3 and the lower cover 4 are larger than those of the inner box 2. Therefore, the packaging strips 5 are positioned to span across the upper cover 3 and the lower cover 4 in the vertical direction, leaving a predetermined gap on the side wall 2a of the inner box 2. In addition, the packaging strips 5 are formed into a loop by winding, for example, a strip of resin material such as polypropylene and heat-pressing its ends.

[0021] As described above, the packaged item 6, which is bundled together by the packing straps 5, is transported from the manufacturer or manufacturing plant to the assembly plant by truck or ship, and then unpacked. The packaged item 6, thus transported to the assembly plant, is then moved to a process where the packing straps 5 are cut via a conveyor or the like.

[0022] Figure 1 schematically shows the state in which the packaged item 6 is transported to the position where the packaging tape cutting device 1 is provided by the conveyor 7. Figure 1(a) is a top view showing the state in which the packaged item 6 is placed on the conveyor 7, and Figure 1(b) is a side view viewed from the right side of Figure 1(a). In addition, by providing guide walls or the like (not shown) at both ends of the conveyor 7 on the upstream side of the conveyor 7, the tilt angle of the packaged item 6 relative to the travel direction of the conveyor 7 is limited to within a specified angle. Furthermore, when the packaged item 6 is detected to have been transported to the position where the packaging tape cutting device 1 is provided by a non-contact sensor or the like, the conveyor 7 is temporarily stopped, and in this state, the packaging tape 5 is cut.

[0023] The packaging tape cutting device 1 shown in Figure 1 consists of a guide section 8 arranged parallel to the travel direction of the conveyor 7, a drive device 9 that can move along the travel direction of the conveyor 7 and is installed on the side of the conveyor 7 in the guide section 8, and an ultrasonic cutter 10 and a laser distance sensor 11 installed side by side on the side of the conveyor 7 of the drive device 9.

[0024] The drive unit 9 is configured to move along the length direction of the guide section 8 (the travel direction of the conveyor 7) via a sliding mechanism such as a belt or chain (not shown) provided on the guide section 8. Furthermore, the drive unit 9 is configured to move the ultrasonic cutter 10 back and forth toward the conveyor 7, for example, by means of a hydraulic actuator or an electromagnetic actuator.

[0025] The ultrasonic cutter 10 has a blade tip 10a that is as sharply formed as that of a conventional cutter. It is configured to cut by moving the blade tip 10a back and forth at a high frequency by an actuator (not shown), thereby generating friction between the blade tip 10a and the component that contacts the blade tip 10a. In addition, the blade tip 10a is formed at an angle to one side (the right side in FIG. 1(b)) from a reference line orthogonal to the travel direction of the conveyor 7.

[0026] The laser distance sensor 11, for example, has an irradiation section (not shown) that irradiates a laser beam onto an object and a light-receiving section (not shown) that receives reflected light from the object, and is configured to measure the distance to the object based on the angle of the reflected light received by its light-receiving section.

[0027] A controller 12 is provided for controlling the sliding mechanism, the drive device 9, and the ultrasonic cutter 10 based on signals input from the laser distance sensor 11. The controller 12 is mainly composed of a microcomputer and is configured to control the movement of the drive device 9 based on the signals input from the laser distance sensor 11 and pre-stored formulas (control flow), and to control the movement of the ultrasonic cutter 10 based on the drive device 9, thereby controlling the opening / closing of the ultrasonic cutter 10.

[0028] The packaging tape cutting device 1 first measures the posture (tilt angle relative to the direction of travel) of the packaged item 6 and the position of the packaging tape 5. A flowchart illustrating an example of this control is shown in Figure 2. Furthermore, as shown in Figures 1(b) and 3, the case where the packaged item 6 is tilted relative to the direction of travel with the leading side closer to the guide section is explained.

[0029] The control example shown in Figure 2 is executed by stopping the conveyor 7 when the packaged item 6 is moved to the position where the packaging tape cutting device 1 is located. In the control example shown in Figure 2, firstly, the drive device 9 is moved to the measurement start point (step S1). This measurement start point is the portion between the packaging tapes 5 in the direction of travel of the packaged item 6 (i.e., the portion where the packaging tape 5 is not set), and is pre-stored in the controller 12. This measurement start point is determined in advance based on the length dimension of the packaged item 6, the allowable tilt angle, and the number of packaging tapes 5, by pre-calculating the portion where the packaging tape 5 is not set. In addition, the packaging tape 5 is wound within a pre-set predetermined area, and the positional accuracy of the packaging tape 5 when wound around the packaged item 6 is not required. That is, although the error in the position where the packaging tape 5 is wound is large, the position where the packaging tape 5 is not wound can be determined.

[0030] Next, the coordinates of the measurement start point are stored (step S2). Specifically, the amount of movement from the standby position of the drive unit 9 and the measurement value detected by the laser distance sensor 11 are stored. In FIG3, the coordinates stored in step S2 are shown as point A. Next, the drive unit 9 is moved at a constant speed to one side (left side in the example shown in FIG3) in the direction of travel of the packaged item 6 by the sliding mechanism (step S3). Thus, the measurement value of the laser distance sensor 11 is also read during the movement of the drive unit 9. This step S3 functions as the "drive unit" in the embodiment of the present invention.

[0031] If the drive unit 9 moves to the position where the laser beam irradiates the packaging tape 5, the measurement value of the laser distance sensor 11 changes drastically, thereby allowing the position of the packaging tape 5 to be determined based on the measurement value of the laser distance sensor 11. Therefore, in step S3, it is determined whether the difference between the previous value and the current value of the laser distance sensor 11 within the control cycle, i.e., the change in the measurement value, is greater than or equal to a preset first predetermined amount (step S4). That is, it is determined whether the laser beam irradiates the packaging tape 5. In addition, the first predetermined amount in step S4 can be set, for example, as an amount based on the maximum allowable tilt angle of the packaged item 6 and the moving speed of the drive unit 9.

[0032] If the change in the measured value is less than the first predetermined amount and is determined negatively in step S4, it is assumed that the drive device 9 has not moved to the position where the laser beam irradiates the packaging tape 5. Therefore, if the determination is negative in step S4, the process returns to step S3, and the drive device 9 continues to move. Conversely, if the change in the measured value is greater than or equal to the first predetermined amount and is determined positively in step S4, the previous coordinates are stored (step S5), and the current coordinates are stored (step S6). Specifically, the amount of movement from the standby position of the drive device 9 and the measured value detected by the laser distance sensor 11 are stored. In Figure 3, the coordinates stored in step S5 are shown as point B, and the coordinates stored in step S6 are shown as point C. Furthermore, point C corresponds to the "first predetermined position" in the embodiment of the present invention, and step S6 functions as the "first storage unit" in the embodiment of the present invention.

[0033] On the other hand, sometimes a foreign object may adhere to the packaged item 6, leading to a positive determination in step S4. In this case, it is assumed that the measurement value of the laser distance sensor 11 changes significantly immediately due to the movement of the drive device 9. In contrast, when measuring the distance to the packaging strip 5, it is assumed that the measurement value of the laser distance sensor 11 is within the range of changes corresponding to the tilt angle of the packaged item 6 during the period when the drive device 9 moves the width of the packaging strip 5. Therefore, in step S6, it is determined whether the change in the measurement value is greater than or equal to a second predetermined amount (step S7). The second predetermined amount in step S7 can be the same as the first predetermined amount, or it can be a value slightly larger than the first predetermined amount, taking into account factors such as the material or surface roughness of the packaging strip 5.

[0034] If the change in the measured value is greater than or equal to the second specified amount and is determined to be positive in step S7, it is assumed that the foreign object is attached to the packaged item 6 and is determined to be positive in step S4 above. Therefore, the coordinates stored in steps S5 and S6 are cleared (step S8), and the process returns to step S5.

[0035] Conversely, if the change in the measured value is less than the second predetermined amount and is determined to be negative in step S7, the tape determination counter is incremented (step S9). Then, it is determined whether the tape determination counter is above a predetermined value (step S10). That is, it is determined whether the drive device 9 has moved a distance equivalent to the width of the packaging tape 5. Therefore, the predetermined value in step S10 is set to a value obtained by dividing the width of the packaging tape 5 by the moving speed of the drive device 9 and the control cycle, or a value slightly smaller than that value.

[0036] If the determination counter is less than a predetermined value and the result is negative in step S10, the process returns to step S7. That is, steps S7, S9, and S10 are repeated during the period when the drive device 9 moves the width of the packaging tape 5.

[0037] Conversely, if the determination counter is above a predetermined value and the determination is affirmative in step S10, the object to be measured is determined to be the packaging tape 5 (step S11). That is, the coordinates stored in step S6 are determined, specifically the position of the laser distance sensor 11, to be one end of the packaging tape 5. This step S11 functions as the "tape determination unit" in the embodiment of the present invention.

[0038] Next, it is determined whether the change in the measured value is greater than or equal to the third predetermined amount (step S12). This step S12 is used to determine whether the drive device 9 has moved to the position irradiated by the laser beam until it becomes the end of the packaging tape 5. That is, it is determined whether the change in the measured value has changed to a level equivalent to the distance between the packaging tape 5 and the inner box 2. Therefore, the third predetermined amount in step S12 can be set to the same value as the first predetermined amount mentioned above.

[0039] If the change in the measured value is less than the third predetermined amount and the determination in step S12 is negative, step S12 is repeated. That is, the drive device 9 is moved until the position irradiated by the laser beam becomes the end of the packaging tape 5. Conversely, if the change in the measured value is greater than or equal to the third predetermined amount and the determination in step S12 is positive, the current coordinates are stored (step S13), and the routine is temporarily terminated. In Figure 3, the coordinates stored in step S13 are shown as point D. This point D corresponds to the "second predetermined position" in the embodiment of the present invention, and step S13 functions as the "second storage unit" in the embodiment of the present invention.

[0040] As described above, based on the measured position of the packaging tape 5, the forward and backward movement trajectory and speed of the ultrasonic cutter 10 based on the drive device 9 are determined. Figure 4 shows a control example for determining the movement trajectory and speed of the ultrasonic cutter 10. In the example shown in Figure 4, firstly, based on the coordinates of point A stored in step S2 and the coordinates of point B stored in step S5, the slope A of the packaged item 6 is calculated (step S41). Specifically, the slope A is calculated by subtracting the measurement value of the laser distance sensor 11 in point A stored in step S2 from the measurement value of the laser distance sensor 11 in point B stored in step S5, and dividing the distance B in Figure 3 by subtracting the movement amount of the drive device 9 in point A stored in step S2 from the movement amount of the drive device 9 in point B stored in step S5, and then dividing the distance A in Figure 3 by subtracting the movement amount of the drive device 9 in point A stored in step S2 from the movement amount of the drive device 9 in point B stored in step S5.

[0041] Next, the cut position of the ultrasonic cutter 10 tip 10a is calculated (step S42). Specifically, the position of the ultrasonic cutter 10 tip 10a in the front-back direction is determined by subtracting the distance between the end face of the laser distance sensor 11 and the ultrasonic cutter 10a from the measurement value of the laser distance sensor 11 at point C stored in step S6 above. Furthermore, the position of the ultrasonic cutter 10a in the movement direction of the ultrasonic cutter 10 is determined by subtracting the distance between the measured position of the laser distance sensor 11 and the ultrasonic cutter 10a in the movement direction of the drive device 9 from the movement amount of the drive device 9 at point B stored in step S5 above. This step S42 functions as the "first calculation unit" and "second calculation unit" in the embodiments of the present invention.

[0042] Next, the position of the ultrasonic cutter 10 tip 10a before cutting is calculated (step S43). Specifically, the distance D in FIG3 is calculated by multiplying the slope A calculated in step S41 by the distance C obtained by subtracting the movement amount of the drive device 9 at point C stored in step S6 from the movement amount of the drive device 9 at point D stored in step S13. Then, the position of the ultrasonic cutter 10a in the front-back direction before cutting is obtained by adding this distance D to the position of the ultrasonic cutter 10a in the front-back direction calculated in step S42. Furthermore, the position of the ultrasonic cutter 10a in the movement direction of the drive device 9 before cutting is obtained by adding the distance C to the position of the ultrasonic cutter 10a in the movement direction of the drive device 9 calculated in step S42.

[0043] Then, in order to move the tip 10a of the ultrasonic cutter 10 along the packaging belt 5, the forward and backward movement speed of the ultrasonic cutter 10 is calculated (step S44), and the routine ends. Specifically, the forward and backward movement speed of the ultrasonic cutter 10 is calculated by multiplying the distance D by the movement speed of the drive device 9 and dividing by the distance C.

[0044] Furthermore, as described above, when the blade tip 10a of the ultrasonic cutter 10 is formed at an angle to the left in Figure 1(b) from a reference line orthogonal to the travel direction of the conveyor 7, the moving direction of the drive device 9 for cutting the packaging tape 5 becomes the opposite direction. That is, in step S42, the position before cutting is calculated, and in step S43, the position after cutting is calculated.

[0045] As described above, after determining the movement trajectory and speed of the ultrasonic cutter tip 10a, the sliding mechanism and drive device 9 are driven to move the ultrasonic cutter tip 10a along the movement trajectory. FIG5 shows a flowchart illustrating a control example for cutting the packaging tape 5. In the control example shown in FIG5, firstly, the ultrasonic cutter tip 10a is moved to the pre-cutting position determined in step S43 (step S51). That is, the sliding mechanism and drive device 9 are controlled based on the position of the ultrasonic cutter tip 10a determined in step S43.

[0046] Next, it is determined whether the blade tip 10a of the ultrasonic cutter 10 has moved to the pre-cutting position (step S52). If it has not moved to the pre-cutting position and the determination in step S52 is negative, the process returns to step S51. Conversely, if it has moved to the pre-cutting position and the determination in step S52 is positive, the ultrasonic cutter 10 is activated (step S53) and moved to the post-cutting position determined in step S42 (step S54). That is, cutting of the packaging tape 5 begins.

[0047] Next, it is determined whether the blade tip 10a of the ultrasonic cutter 10 has moved to the cut-off position (step S55). If it has not moved to the cut-off position and the determination in step S55 is negative, the process returns to step S54. Conversely, if it has moved to the cut-off position and the determination in step S55 is positive, the packaging tape 5 is cut, the ultrasonic cutter 10 is switched off (step S56), the drive device 9 is moved to the initial position (step S57), and the routine ends.

[0048] In addition, in the example shown in Figure 1, since two packaging strips 5 are wrapped around the packaged item 6, the control examples of Figures 2, 4 and 5 are executed for each packaging strip 5.

[0049] As described above, by moving the laser distance sensor 11 along the side of the packaged item 6 from the portion between the packaging strips 5 in the packaged item 6 while measuring the distance to the packaged item 6, even when the packaged item 6 is tilted, the position where the change in the measured value is greater than or equal to a first predetermined amount is limited to the packaging strip 5. Therefore, the position of the packaging strip 5 can be determined based on the change in the measured value of the laser distance sensor 11. In other words, at the boundary portion between the front surface and the side surface of the packaged item 6 in the direction of travel, i.e., the corner, when the change in the measured value of the laser distance sensor 11 is greater than or equal to a first predetermined amount, it is possible to suppress the misidentification of this portion as the position of the packaging strip 5, or to eliminate the need to set a reference for determining that this portion is not the packaging strip 5.

[0050] Symbol Explanation

[0051] 1-Packaging tape cutting device, 2a-Side wall, 2-Inner box, 3-Top cover, 3a, 4a-Flat part, 3b, 4b-Vertical part, 4-Lower cover, 5-Packaging tape, 6-Packaged items, 7-Conveyor, 8-Guide part, 9-Drive device, 10-Ultrasonic cutter, 10a-Knife tip, 11-Laser distance sensor, 12-Controller.

Claims

1. A packaging tape cutting device for cutting packaging tape wrapped around a packaged product by means of a cutter, the packaging tape cutting device being characterized in that it further comprises: a distance sensor for measuring the distance to the packaged product; a sliding mechanism for moving the distance sensor along the packaged product; and a controller for determining the position of the packaging tape, the controller comprising: a drive unit for moving the distance sensor while measuring the distance from a predetermined measurement start point not provided on the packaging tape in the packaged product toward a predetermined direction of the packaged product; a first storage unit for storing a first predetermined position of the distance sensor where the change in the distance measured by the distance sensor is greater than or equal to a predetermined first predetermined amount; and a tape determining unit for determining the first predetermined position as one end of the packaging tape when the period during which the change in the distance measured by the distance sensor is less than a predetermined second predetermined amount is a predetermined period or more.

2. The packaging tape cutting device according to claim 1, characterized in that, The controller further includes a second storage unit that, when one end of the packaging tape is determined by the tape determining unit, stores a second predetermined position of the distance sensor as the other end of the packaging tape, where the change in distance measured by the distance sensor is a preset third predetermined amount or more.

3. The packaging tape cutting device according to claim 1, characterized in that, The cutter is arranged side-by-side with the distance sensor on the sliding mechanism in the direction of movement via the sliding mechanism. The controller further includes a first calculation unit that calculates the position of the cutter at the start or end of cutting the packaging tape based on the distance between one end of the packaging tape and the packaging tape and the cutter determined by the tape determination unit.

4. The packaging tape cutting device according to claim 1, characterized in that, It also includes: a drive device that moves via the sliding mechanism and causes the cutter to move back and forth; the controller further includes: a second calculation unit that calculates the position of the cutter in the back and forth direction at the start of cutting the packaging tape or at the end of cutting the packaging tape based on the measured value of the change in distance measured by the distance sensor at a point when the change in distance becomes more than or equal to the first predetermined amount and the distance between the end face of the distance sensor and the tip of the cutter.

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