Packaging device and packaging method

Abstract

To provide a packaging device that appropriately suppresses friction between an object to be packaged and a packaging material when packaging the object to be packaged.SOLUTION: A conveying device includes a guide plate, a gripping unit, and a movement actuator. The guide plate has a through hole from the top surface to the bottom surface, and the gripping unit is capable of gripping a film sheet placed on the top surface of the guide plate. The movement actuator moves the gripping unit toward the through hole of the guide plate so that, as the packaging object placed on the film sheet gripped by the gripping unit falls through the through hole under its own weight, the sinking portion of the film sheet sinking through the through hole envelops the packaging object.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] FIELD OF THE INVENTION An embodiment of the present invention relates to a packaging device and a packaging method. [Background technology]

[0002] It is common to package objects such as ceramic balls with packaging material. In packaging the object, for example, a packaging bag serving as the packaging material is placed in a predetermined position using a gripping arm or the like, and an opening of the packaging bag is opened. Then, with the opening open, the object is inserted into the packaging bag through the opening, and the object is covered with the packaging bag serving as the packaging material. In packaging the object as described above, from the perspective of ensuring the quality of the object, it is required to suppress friction between the object and the packaging material and prevent damage to the object caused by friction with the packaging material. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3768286 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a packaging device and a packaging method that appropriately suppresses friction between an object to be packaged and a packaging material when packaging the object to be packaged. [Means for solving the problem]

[0005] The conveying device of the embodiment includes a guide plate, a gripping unit, and a movement actuator. The guide plate has an upper surface and a lower surface and has a through hole extending from the upper surface to the lower surface. The gripping unit is capable of gripping a film sheet placed on the upper surface of the guide plate. The movement actuator moves the gripping unit toward the through hole of the guide plate so that, as the packaging object placed on the film sheet gripped by the gripping unit falls through the through hole under its own weight, the sinking portion of the film sheet that sinks through the through hole envelops the packaging object. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic view of a packaging device according to an embodiment, viewed from one side in the depth direction, showing a state in which a packaging object is not being packaged. [Figure 2] FIG. 2 is a schematic view of the packaging device according to the embodiment, viewed from above in the height direction, showing a state in which no packaging is being performed on the packaging object. [Figure 3] FIG. 3 is a schematic view of the packaging device according to the embodiment, showing a state in which the film is further pulled out from the state shown in FIGS. 1 and 2, as viewed from one side in the depth direction. [Figure 4] FIG. 4 is a schematic diagram of the packaging device according to the embodiment, viewed from one side in the depth direction, showing the film drawn out by the drawing operation of FIG. 3 being gripped by each of the gripping sections. [Figure 5] FIG. 5 is a schematic diagram of the packaging device according to the embodiment, viewed from above in the height direction, showing the film drawn out by the drawing operation of FIG. 3 being gripped by each of the gripping sections. [Figure 6] Figure 6 is a schematic diagram showing a cross section along the height direction of the packaging device according to the embodiment, in which the film sheet has been separated from the state shown in Figures 4 and 5 and an object to be packaged on the film sheet has been placed on it. [Figure 7] FIG. 7 is a schematic diagram of the packaging device according to the embodiment, viewed from above in the height direction, showing a state in which the film sheet has been separated from the state shown in FIGS. 4 and 5 and an object to be packaged with the film sheet has been placed on it. [Figure 8] Figure 8 is a schematic diagram showing a cross section along the height direction of a packaging device according to an embodiment, in which each of the gripping parts gripping the film sheet moves toward the inner periphery of the guide plate from the state shown in Figures 6 and 7. [Figure 9] Figure 9 is a schematic diagram viewed from above in the vertical direction, showing the state in which each of the gripping parts gripping the film sheet moves toward the inner periphery of the guide plate from the state shown in Figures 6 and 7 in the packaging device of the embodiment. [Figure 10] Figure 10 is a schematic diagram showing a cross section along the height direction of the packaging device according to the embodiment, illustrating the state in which the packaging object is being rotated after being dropped from the state shown in Figures 8 and 9. [Figure 11] FIG. 11 is a schematic view of the packaging device according to the embodiment, seen from above in the height direction, showing the state in which the packaging object is being rotated after being dropped from the state shown in FIGS. 8 and 9. [Figure 12] Figure 12 is a schematic diagram showing a cross section along the height direction in a packaging device according to an embodiment, in which a twisted portion is formed in the film sheet by rotating the object to be packaged in Figures 10 and 11, and a sealing operation is being performed by a sealing device. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, embodiments will be described with reference to the drawings.

[0008] 1 and 2 show an example of a packaging device 1 according to an embodiment. FIGS. 1 and 2 show a state in which packaging objects have not yet been packaged. Examples of packaging objects include balls such as ceramic balls. In manufacturing ceramic balls, the ceramic balls are molded using a molding machine or the like, and then packaged in packaging material. The ceramic balls packaged in the packaging material are then solidified using a wet-CIP (Cold Isostatic Pressing) method. In one example, the packaging device 1 is used to package the ceramic balls before the wet-CIP method is performed. Note that the packaging objects packaged using the packaging device 1 are not limited to balls, and the configuration, operation, and processing of the packaging device 1, which will be described later, can also be applied to packaging objects other than balls.

[0009] 1 and 2, the packaging device 1 has defined height directions (directions indicated by arrows Z1 and Z2), horizontal directions (directions indicated by arrows Y1 and Y2) that intersect (orthogonal or nearly perpendicular to) the height directions, and depth directions (directions indicated by arrows X1 and X2) that intersect (orthogonal or nearly perpendicular to) both the height and horizontal directions. In the packaging device 1, one side in the height direction is the upper side (arrow Z1 side), and the side opposite the upper side in the height direction is the lower side (arrow Z2 side). Fig. 1 is a schematic diagram viewed from one side in the depth direction, and Fig. 2 is a schematic diagram viewed from above in the height direction.

[0010] The packaging device 1 is used with its height direction aligned with the vertical direction and its width and depth directions aligned with an imaginary horizontal plane. Therefore, the height direction of the packaging device 1 is perpendicular or nearly perpendicular to the imaginary horizontal plane. Furthermore, the packaging device 1 is used with its upper side in the height direction aligned with or nearly aligned with the vertical upper side, and its lower side in the height direction aligned with or nearly aligned with the vertical lower side.

[0011] The packaging device 1 includes a reel 11 and a film pull-out section 12. The reel 11 is rotatable about a rotation axis P1, which extends in the depth direction of the packaging device 1. A film 13 is wound in a roll around the outer circumferential surface of the reel 11. In the packaging device 1, the film 13 can be pulled out from the reel 11 to one side in the lateral direction (the side indicated by the arrow Y1).

[0012] Film pull-out portion 12 can grasp film 13. Film pull-out portion 12 is located away from reel 11 on the side where film 13 is pulled out. Even when a packaging object is not being packaged, film 13 is pulled out from reel 11 to the position where film pull-out portion 12 is located, and film pull-out portion 12 grasps the portion of film 13 that is pulled out from reel 11. Furthermore, when a packaging object is not being packaged, film 13 is not pulled out to a position beyond film pull-out portion 12, and film pull-out portion 12 grasps the pulled-out portion of film 13 at or near the end distal from reel 11.

[0013] Furthermore, film 13 has a longitudinal direction, a width direction intersecting (perpendicular or approximately perpendicular) the longitudinal direction, and a thickness direction intersecting (perpendicular or approximately perpendicular) both the longitudinal direction and the width direction. When no packaging is being performed on an object to be packaged, in the portion pulled out from reel 11, i.e., in the extended portion between reel 11 and film pull-out section 12, the longitudinal direction of film 13 is aligned with the lateral direction of packaging device 1, and the width direction of film 13 is aligned with the depth direction of packaging device 1. When no packaging is being performed on an object to be packaged, in the portion pulled out from reel 11, the thickness direction of film 13 is aligned with the height direction of packaging device 1.

[0014] 1 and 2, the film pull-out section 12 includes a pair of gripping arms 15A and 15B. In the film pull-out section 12, the gripping arms 15A and 15B are arranged apart from each other in the depth direction of the packaging device 1 and are arranged with no or little misalignment with each other in the height direction and lateral direction of the packaging device 1. The gripping arm 15A grips the pulled-out portion of the film 13 at and near one edge in the width direction. The gripping arm 15B grips the pulled-out portion of the film 13 at and near the edge on the opposite side in the width direction from the side gripped by the gripping arm 15A. Thus, the film pull-out section 12 grips the pulled-out portion of the film 13 from both sides in the width direction (depth direction of the packaging device 1) of the film 13 using the pair of gripping arms 15A and 15B.

[0015] In one example, only one gripping arm 15 is provided in film pull-out section 12. In this case, film pull-out section 12 grips the pulled-out portion of film 13 only from one side in the width direction of film 13 (depth direction of packaging device 1) with one gripping arm.

[0016] The packaging device 1 includes movement actuators 16 and 17. Each of the movement actuators 16 and 17 is, for example, a linear actuator. In one example shown in FIG. 1 , the film pull-out section 12 is attached to the movement actuator 16 and connected to the movement actuator 17 via the movement actuator 16. By operating the movement actuator 16, the film pull-out section 12 moves along the height direction of the packaging device 1. At this time, the film pull-out section 12, including the pair of gripping arms 15A and 15B, moves together along the height direction of the packaging device 1. Furthermore, by operating the movement actuator 17, the film pull-out section 12 moves along the lateral direction of the packaging device 1. At this time, the film pull-out section 12, including the pair of gripping arms 15A and 15B, moves together along the lateral direction of the packaging device 1. Note that the movement actuators 16 and 17 are omitted from FIG. 2.

[0017] Packaging device 1 includes guide plate 20, gripping portion (film gripping portion) 21, target support portion 22, sealing device 23, and cutting devices 25 and 26. In packaging device 1, cutting device 25 is disposed between guide plate 20 and reel 11 in the horizontal direction. Therefore, guide plate 20 is disposed on the opposite side of cutting device 25 from the side where reel 11 is located, and is disposed on the side where film 13 is pulled out relative to cutting device 25. Furthermore, when the target to be packaged is not being packaged, film pulling portion 12 is disposed between cutting device 25 and reel 11 in the horizontal direction, and is adjacent to cutting device 25 from the side where reel 11 is located.

[0018] 1 and 2, the sealing device 23 is disposed on the lower side in the height direction (vertically lower side) of the guide plate 20, and the cutting device 26 is disposed between the guide plate 20 and the sealing device 23 in the height direction. The cutting device 26 is adjacent to the guide plate 20 from the lower side in the height direction, and the sealing device 23 is adjacent to the sealing device 23 from the lower side in the height direction. The target support part 22 is disposed on the lower side in the height direction of the guide plate 20 and the sealing device 23. The target support part 22 is disposed with no or almost no misalignment with respect to the guide plate 20 in the lateral and depth directions of the packaging device 1.

[0019] In the packaging device 1, a plurality of gripping portions 21 are provided as the gripping portion 21, and in one example shown in FIGS. 1 and 2, four gripping portions 21A to 21D are provided. The number of gripping portions 21 provided in the packaging device 1 is not limited to four, and may be two, three, or five or more. Each of the gripping portions 21 is formed, for example, by a gripping arm, and is capable of gripping the film 13. Furthermore, each of the plurality of gripping portions 21 is arranged in the height direction of the packaging device 1 with no or almost no misalignment with respect to the guide plate 20.

[0020] Grippers 21A and 21B are disposed between guide plate 20 and reel 11 in the horizontal direction, and between guide plate 20 and cutting device 25. In one example such as in Figures 1 and 2, grippers 21A and 21B are adjacent to cutting device 25 from the side where film 13 is pulled out. Grippers 21A and 21B are disposed apart from each other in the depth direction of packaging device 1, and are disposed with no or very little misalignment with each other in the height and horizontal directions of packaging device 1.

[0021] Grip portions 21C and 21D are arranged on the opposite side of guide plate 20 from the side on which grip portions 21A and 21B and reel 11 are located in the horizontal direction. In other words, grip portions 21C and 21D are arranged on the side of guide plate 20 from which film 13 is pulled out. Grip portions 21C and 21D are arranged apart from each other in the depth direction of packaging device 1, and are arranged with no or very little misalignment with each other in the height and horizontal directions of packaging device 1.

[0022] The guide plate 20 has a defined thickness direction, and is arranged with the thickness direction aligned with the height direction of the packaging device 1. The guide plate 20 has a pair of main surfaces, an upper surface 31 and a lower surface 32. The guide plate 20 has the upper surface 31 facing one side in the thickness direction, and the lower surface 32 facing the opposite side in the thickness direction to the side to which the upper surface 31 faces. In the packaging device 1, the guide plate 20 is arranged with the upper surface 31 facing upward in the height direction (vertically upward) and the lower surface 32 facing downward in the height direction.

[0023] The guide plate 20 also has a through hole 33 extending from the upper surface 31 to the lower surface 32. The through hole 33 is formed along the thickness direction of the guide plate 20, and is formed along the height direction of the packaging device 1 from the upper surface 31 to the lower surface 32. The through hole 33 defines a central axis C1, and the central axis C1 of the through hole 33 is aligned with the height direction of the packaging device 1.

[0024] Here, the through hole 33, the guide plate 20, and their vicinity define an axial direction along the central axis C1 and a circumferential direction around the central axis C1. Furthermore, the through hole 33, the guide plate 20, and their vicinity define a radial direction intersecting (perpendicular or substantially perpendicular to) both the axial and circumferential directions. The through hole 33, the guide plate 20, and their vicinity define the inner circumferential side toward the central axis C1 in the radial direction, and the outer circumferential side defines the radial side away from the central axis C1. The axial direction of the guide plate 20, etc., is aligned with the height direction of the packaging device 1. In one example, the guide plate 20 is arranged such that the axial direction of the guide plate 20, etc., is aligned with the vertical direction, and the circumferential and radial directions of the guide plate 20, etc., are aligned with an imaginary horizontal plane.

[0025] The guide plate 20 has an outer peripheral edge 35 formed as its outer peripheral end. The guide plate 20 surrounds the through hole 33 from the outer peripheral side around the entire circumference. Therefore, when projected from the height direction of the packaging device 1, the entire through hole 33 is located within the area surrounded by the outer peripheral edge 35 of the guide plate 20. Note that, in the example shown in FIG. 2 etc., the cross-sectional shape of the through hole 33 is circular or approximately circular, but the cross-sectional shape of the through hole 33 is not limited to a circular shape. However, in either case, the through hole 33 is formed so that the packaging object can pass through the through hole 33. Therefore, the through hole 33 is formed with a cross-sectional shape and cross-sectional area that allow the packaging object to pass through the through hole 33.

[0026] The packaging device 1 is provided with the same number of installation stands 36 as the number of gripping units 21, one installation stand 36 corresponding to each gripping unit 21. The packaging device 1 is also provided with the same number of movement actuators 37 and elastic members 38 as the number of gripping units 21. The packaging device 1 is also provided with one movement actuator 37 corresponding to each gripping unit 21, and one elastic member 38 corresponding to each gripping unit 21. The packaging device 1 is formed with the same number of film gripping mechanisms 30 as the number of gripping units 21. Each film gripping mechanism 30 is provided with one gripping unit 21, one installation stand 36, one movement actuator 37, and one elastic member 38.

[0027] In each of the film gripping mechanisms 30, a gripping unit 21 such as a gripping arm is attached to an installation base 36, and a movement actuator 37 is mounted on the installation base 36. In each of the film gripping mechanisms 30, the gripping unit 21 is movably attached to the installation base 36 and is movable relative to the installation base 36 along the radial direction of the guide plate 20 and the through hole 33. In each of the film gripping mechanisms 30, the movement direction of the gripping unit 21 is perpendicular or substantially perpendicular to the height direction of the packaging device 1, for example, perpendicular or substantially perpendicular to the vertical direction. In addition, in an example such as FIGS. 1 and 2, in each of the film gripping mechanisms 30, the movement direction of the gripping unit 21 is inclined with respect to both the lateral direction and the depth direction of the packaging device 1. Note that in one example, in each of the film gripping mechanisms 30, the movement direction of the gripping unit 21 is along an imaginary horizontal plane.

[0028] Each of the movement actuators 37 is configured, for example, by a linear actuator. In each of the film gripping mechanisms 30, by operating the movement actuator 37, the gripping section 21 moves relative to the installation base 36. In each of the film gripping mechanisms 30, the movement actuator 37 is operated in response to which the gripping section 21 moves toward the outer periphery or inner periphery of the guide plate 20, etc., within its movable range.

[0029] Each of the gripping portions 21 is disposed on the outer peripheral side of the guide plate 20, and is disposed on the outer peripheral side of the guide plate 20 with respect to an outer peripheral edge 35 of the guide plate 20, regardless of the position within the movable range. The multiple gripping portions 21 are disposed spaced apart from one another in the circumferential direction of the guide plate 20. In one example shown in FIGS. 1 and 2, the four gripping portions 21A to 21D are disposed at intervals (angular intervals) of 90° or approximately 90° along the circumferential direction of the guide plate 20.

[0030] Each of the elastic members 38 is, for example, a spring member. In each of the film gripping mechanisms 30, the gripping portion 21 is connected to the installation base 36 via the elastic member 38. Therefore, in each of the film gripping mechanisms 30, one end of the elastic member 38 is connected to the gripping portion 21, and the other end of the elastic member 38 is connected to the installation base 36. In each of the film gripping mechanisms 30, the elastic member 38 extends or contracts as the gripping portion 21 moves relative to the installation base 36. That is, in each of the film gripping mechanisms 30, the elastic member 38 extends or contracts in response to the movement of the gripping portion 21.

[0031] The object support portion 22 is capable of supporting a packaging object such as a ball, as will be described later. The object support portion 22 includes, for example, a support piece portion 41, and in one example shown in Figs. 1 and 2, three support piece portions 41 are provided. In one example, in the object support portion 22, the multiple support piece portions 41 are arranged spaced apart from one another in the circumferential direction of the guide plate 20. In one example shown in Figs. 1 and 2, the three support piece portions 41 are arranged at intervals (angular intervals) of 120° or approximately 120° along the circumferential direction of the guide plate 20.

[0032] The packaging device 1 includes a rotation actuator 42. The rotation actuator 42 is, for example, a rotation motor, which is an electric motor that is operated by supplying power. By operating the rotation actuator 42, the target support portion 22 including the support piece portion 41 rotates about a rotation axis P2. The rotation axis P2 of the target support portion 22 extends along the height direction of the packaging device 1 and passes through the through hole 33 of the guide plate 20. In one example, the rotation axis P2 extends along the vertical direction. In one example, such as in FIGS. 1 and 2, the rotation axis P2 of the target support portion 22 is coaxial or approximately coaxial with the central axis C1 of the through hole 33 of the guide plate 20.

[0033] In the packaging device 1, the sealing device 23 is actuated to perform a sealing operation (sealing operation) described later. Also, each of the cutting devices 25 and 26 is, for example, a cutter, and is actuated to perform a cutting operation (sealing operation) described later.

[0034] The packaging device 1 includes a control unit 40. The control unit 40 controls the overall operation of the packaging device 1. The control unit 40 includes a processor or integrated circuit (control circuit) including a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like, and a storage medium such as a memory. The control unit 40 may include only one integrated circuit or multiple integrated circuits. The control unit 40 performs processing and performs control, which will be described later, by executing programs stored in a storage medium or the like. The processing by the control unit 40 may be performed by an integrated circuit or the like of a single computer, or may be performed by integrated circuits or the like of multiple computers working together. The processing by the control unit 40 may also be performed by a server or the like in a cloud environment. In this case, the processing by the control unit 40 is performed by a virtual processor or the like of the cloud server.

[0035] Control unit 40 controls the movement of film pull-out unit 12 by controlling the operation of movement actuators 16, 17. This controls the operation of film pull-out unit 12 to pull out film 13 from reel 11. Control unit 40 also controls the operation of movement actuators 37 in each film gripping mechanism 30. This controls the movement of gripping unit 21 in each film gripping mechanism 30. Control unit 40 also controls the operation of rotation actuator 42 to control the rotation of target support unit 22. Control unit 40 also controls the sealing operation of sealing device 23 and the cutting operations of cutting devices 25, 26.

[0036] In one example, a user interface (not shown) is provided, and a user of the packaging device 1 or the like can input commands related to the packaging of the packaging target using an operating member of the user interface. In this case, the control unit 40 or the like may control the operation of the packaging device 1 based on the commands input using the operating member of the user interface. Examples of operating members through which commands are input include a button, a mouse, a keyboard, and a touch panel. In addition, a notification unit may be provided in the user interface, and the notification unit may notify the user of the packaging device 1 or the like of information related to the packaging of the packaging target. In this case, the notification unit notifies the information by either a screen display, a voice, or the like.

[0037] The operation of the packaging device 1 when packaging an object to be packaged will be described below. When using the packaging device 1 to package an object to be packaged, such as a ball, the film 13 is further pulled out from the state shown in FIGS. 1 and 2 toward the side opposite the side where the reel 11 is located. FIG. 3 shows a state in an embodiment in which the film 13 has been further pulled out from the state shown in FIGS. 1 and 2. FIG. 3 is a schematic view from one side in the depth direction. As shown in FIG. 3, in the packaging device 1, while the gripping arms 15A, 15B of the film pulling section 12 are gripping the film 13, the film 13 is pulled out from the state shown in FIGS. 1 and 2 by moving the film pulling section 12 toward the side opposite the side where the reel 11 is located. At this time, by operating the movement actuator 17, the film pulling section 12 gripping the film 13 moves laterally toward the side opposite the side where the reel 11 is located (arrow A1).

[0038] Furthermore, while film 13 is being pulled out, the position of film pull-out section 12 in the height direction is adjusted by operating movement actuator 16 to move film pull-out section 12 in the height direction. This adjusts the position of film pull-out section 12 in the height direction so that film pull-out section 12 does not interfere with gripping sections 21A, 21B, etc. For example, the position of film pull-out section 12 in the height direction is adjusted so that film pull-out section 12 passes through an area above gripping sections 21A, 21B in the height direction.

[0039] Film 13 passes over guide plate 20 and is pulled out to the side opposite to the side where reel 11 is located, until gripping portions 21C and 21D can grip film 13. When film 13 is pulled out to a state where gripping portions 21C and 21D can grip it, each of gripping portions 21A to 21D grips pulled-out film 13. At this time, each of gripping portions 21 pinches film 13 from both sides in the thickness direction of film 13 (height direction of packaging device 1).

[0040] 4 and 5 show a state in which each of gripping portions 21 grips film 13 that has been pulled out by the pulling operation of FIG. 3 in an embodiment. FIG. 4 is a schematic view from one side in the depth direction, and FIG. 5 is a schematic view from above in the height direction. As shown in FIGS. 4 and 5, each of gripping portions 21A and 21B grips pulled-out film 13 at a position closer to reel 11 with respect to guide plate 20. Each of gripping portions 21C and 21D grips pulled-out film 13 at a position farther from reel 11 with respect to guide plate 20. In addition, pulled-out film 13 is placed on upper surface 31 of guide plate 20, covering through-hole 33 of guide plate 20 from above in the height direction.

[0041] As described above, once each of the gripping portions 21 has gripped the drawn-out film 13, gripping arms 15A, 15B of film pull-out portion 12 release their grip on film 13. Then, while film pull-out portion 12 is no longer gripping film 13, movement actuator 17 is operated or the like to move film pull-out portion 12 horizontally toward the side where reel 11 is located. At this time, movement actuator 16 is operated or the like to adjust the position of film pull-out portion 12 in the height direction so that film pull-out portion 12 does not interfere with gripping portions 21A, 21B, etc.

[0042] As shown in Figures 4 and 5, the film pull-out section 12, which has released its grip on the film 13, moves laterally until it is positioned between the reel 11 and the cutting device 25. For example, the film pull-out section 12 moves to the same position as in Figures 1 and 2. When the film pull-out section 12 has moved as described above, it is positioned closer to the reel 11 than the guide plate 20, the gripping section 21, the cutting device 25, etc. Then, with the film pull-out section 12 positioned between the reel 11 and the cutting device 25, the gripping arms 15A and 15B of the film pull-out section 12 grip the film 13.

[0043] 4 and 5, cutting device 25 is activated to package the target. As a result, each of gripping sections 21 grips the pulled-out film 13, and film pulling section 12 grips film 13 at a position between reel 11 and cutting device 25, and cutting device 25 performs a cutting operation on film 13 (arrow A2). As a result of the cutting operation by cutting device 25, the portion of film 13 located on top surface 31 of guide plate 20 is separated from the portion wound around reel 11. The portion of film 13 separated by the cutting operation of cutting device 25 is also referred to as a "film sheet."

[0044] When packaging an object to be packaged, the object to be packaged, such as a ball, is placed on a film sheet. For example, the object to be packaged is placed on the surface of the film sheet. FIGS. 6 and 7 show an embodiment in which the film sheet 45 has been separated from the state shown in FIGS. 4 and 5 and an object to be packaged 46 has been placed on the film sheet 45. FIG. 6 is a schematic diagram showing a cross section along the height direction, and FIG. 7 is a schematic diagram viewed from above in the height direction. As shown in FIGS. 6 and 7, the film sheet 45 separated by the cutting operation of the cutting tool 25 is placed on the upper surface 31 of the guide plate 20, covering the through-holes 33 of the guide plate 20 from above in the height direction. Each of the gripping portions 21 grips the film sheet 45 placed on the upper surface 31 of the guide plate 20.

[0045] A thickness direction is defined for the film sheet 45. The thickness direction of the film sheet 45 corresponds to the thickness direction of the film 13. In the state shown in FIGS. 6 and 7 , the film sheet 45 is placed on the upper surface 31 of the guide plate 20 with the thickness direction of the film sheet 45 aligned with the height direction of the packaging device 1. Therefore, the film sheet 45 is placed on the upper surface 31 of the guide plate 20 with the thickness direction of the film sheet 45 aligned with the thickness direction of the guide plate 20.

[0046] 6 and 7, the film sheet 45 protrudes from the outer peripheral edge 35 of the guide plate 20 toward the outer periphery around the entire circumferential direction of the guide plate 20. Each of the gripping portions 21 grips the film sheet 45 at a position on the outer periphery of the outer peripheral edge 35 of the guide plate 20. In the example shown in FIGS. 6 and 7, the film sheet 45 has a quadrangular or approximately quadrangular shape when viewed in the thickness direction (height direction of the packaging device 1). Each of the four gripping portions 21A to 21D grips the film sheet 45 at or near one of the four corners of the quadrangular or approximately quadrangular shape.

[0047] When packaging the packaging object 46, the packaging object 46 is placed from above in the height direction of the packaging device 1 on the film sheet 45 gripped by the gripping portion 21. The packaging object 46 is placed on a portion of the film sheet 45 that covers the through-hole 33 of the guide plate 20. The packaging object 46 is then placed facing the through-hole 33 of the guide plate 20 from above in the height direction, with the film sheet 45 sandwiched therebetween. In the example shown in FIGS. 6 and 7 , a target conveying tool 47 is provided in the packaging device 1. In the packaging device 1, the target conveying tool 47 is capable of holding the packaging object 46, and the target conveying tool 47 is movable by operating a movement actuator (not shown). In one example, the target conveying tool 47 is a suction pad that holds the packaging object 46 by suction.

[0048] When packaging the packaging object 46, the target conveying tool 47 holds the packaging object 46, and the movement actuator is operated to move the target conveying tool 47 to a position where the packaging object 46 is placed on the film sheet 45. At this time, the control unit 40 controls the operation of the movement actuator to control the movement of the target conveying tool 47 holding the packaging object 46. This controls the operation of conveying the packaging object 46 to a position where it is placed on the film sheet 45. Note that in one example, the target conveying tool 47 or the like may not be provided, and the user of the packaging device 1 may manually place the packaging object 46 on the film sheet 45.

[0049] 6 and 7, a photographing unit 48 such as a camera is provided in the packaging device 1, and the photographing unit 48 photographs the position on the film sheet 45 where the packaging object 46 will be placed and the vicinity thereof. The control unit 40 acquires the image photographed by the photographing unit 48 and analyzes the photographed image. The control unit 40 then determines whether the packaging object 46 has been placed on the film sheet 45 based on the analysis result of the photographed image. In one example, a load sensor is provided that detects the load on the film sheet 45, and the control unit 40 determines whether the packaging object 46 has been placed on the film sheet 45 based on the detection result of the load sensor. In another example, the control unit 40 determines whether the packaging object 46 has been placed on the film sheet 45 based on a control command related to the movement of the object carrier 47.

[0050] When packaging the object 46 to be packaged, the object 46 placed on the film sheet 45 falls through the through-hole 33 of the guide plate 20 under its own weight. As the object 46 placed on the film sheet 45 falls through the through-hole 33, the control unit 40 activates the movement actuators 37 of the film gripping mechanisms 30. As a result, in each of the film gripping mechanisms 30, the gripping units 21 gripping the film sheet 45 move toward the inner periphery of the guide plate 20, i.e., toward the through-hole 33 of the guide plate 20. FIGS. 8 and 9 show a state in which, in this embodiment, the gripping units 21 gripping the film sheet 45 have moved toward the inner periphery of the guide plate 20 from the states shown in FIGS. 6 and 7. FIG. 8 is a schematic diagram showing a cross section along the height direction, and FIG. 9 is a schematic diagram viewed from above in the height direction.

[0051] 8 and 9, as each of the gripping portions 21 gripping the film sheet 45 moves toward the through-hole 33 of the guide plate 20 (arrow A3), the position of the film 13 gripped by each of the gripping portions 21 moves toward the inner periphery of the guide plate 20. As a result, the film sheet 45 is drawn toward the inner periphery of the guide plate 20, i.e., toward the through-hole 33. As the film sheet 45 is drawn toward the through-hole 33, the object 46 to be packaged placed on the film sheet 45 at a position opposite the through-hole 33 falls through the through-hole 33 under its own weight (arrow A4). That is, as the object 46 to be packaged moves downward in the height direction of the packaging device 1 (vertically downward) through the through-hole 33, the film sheet 45 is drawn toward the inner periphery.

[0052] Furthermore, as the film sheet 45 is pulled toward the through holes 33, as the packaging object 46 falls, a portion of the film sheet 45 sinks downward in the height direction of the packaging device 1 through the through holes 33. As a result, a sunken portion 51 that sinks downward in the height direction of the packaging device 1 from the through holes 33 is formed in the film sheet 45. The sunken portion 51 of the film sheet 45 is formed in a bag shape or a substantially bag shape. As the packaging object 46 falls through the through holes 33 as described above, and a portion of the film sheet 45 sinks through the through holes 33, the fallen packaging object 46 is wrapped in the sunken portion 51 of the film sheet 45. Therefore, as the packaging object 46 falls through the through holes 33, each of the gripping portions 21 moves toward the through holes 33 of the guide plate 20 so as to wrap the packaging object 46 in the sunken portion 51 of the film sheet 45.

[0053] Furthermore, as the gripping portions 21 move toward the respective through holes 33, the packaging target 46 falls to a position where it is supported by the target support portions 22. By providing the target support portions 22, the packaging target 46 is prevented from falling beyond the target support portions 22. In other words, the packaging target 46 is prevented from moving downward in the height direction beyond the target support portions 22. Even when the packaging target 46 has fallen to a position where it is supported by the target support portions 22, each of the gripping portions 21 is positioned on the outer periphery side with respect to the outer periphery 35 of the guide plate 20, and grips the film sheet 45 at a position on the outer periphery side with respect to the outer periphery 35 of the guide plate 20.

[0054] Furthermore, in each of the film gripping mechanisms 30, the movement of the gripping portions 21 toward the through-hole 33 stretches the elastic member 38. Therefore, when each of the gripping portions 21 moves toward the through-hole 33 as the packaging object 46 falls, in each of the film gripping mechanisms 30, a force acting on the gripping portions 21 in a direction away from the through-hole 33 is exerted by the elastic force of the elastic member 38 (arrow F1). Therefore, when each of the gripping portions 21 moves toward the through-hole 33, a pulling force acts from each of the gripping portions 21 on the film sheet 45 toward the outer periphery of the guide plate 20. As a result, even when the film sheet 45 is pulled toward the through-hole 33 in response to the movement of each of the gripping portions 21 toward the inner periphery, the tension in the film sheet 45 is maintained, and slack in the film sheet 45 is suppressed.

[0055] In packaging the object 46, while the object support unit 22 is supporting the dropped object 46, the object support unit 22 is rotated to rotate the object 46 about a rotation axis P2 along the height direction. Figures 10 and 11 show a state in which the object 46 is rotated after being dropped from the state shown in Figures 8 and 9 in this embodiment. Figure 10 is a schematic diagram showing a cross section along the height direction, and Figure 11 is a schematic diagram viewed from below in the height direction.

[0056] 10 and 11 , the object support portion 22 supports the packaging object 46 by pressing the outer periphery of the dropped packaging object 46 with the support pieces 41. At this time, each of the support pieces 41 presses the packaging object 46 with the sunken portion 51 of the film sheet 45 interposed between the support pieces 41 and the packaging object 46.

[0057] 10 and 11, in the embodiment and the like, after the packaging target 46 is dropped to a position where it is supported by the target support part 22, the rotation actuator 42 is operated, for example, to rotate the target support part 22 (arrow A5). As a result, the packaging target 46 supported by the target support part 22 rotates together with the target support part 22 about the rotation axis P2. At this time, the sunken portion 51 of the film sheet 45 wrapping the dropped packaging target 46 also rotates about the rotation axis P2.

[0058] Here, the sunken portion 51, which is formed in a bag shape or a substantially bag shape, opens upward in the height direction. In the embodiment and the like, by rotating the packaging object 46 and the sunken portion 51 around the rotation axis P2, air flows out from the inside of the sunken portion 51, where the packaging object 46 is placed, through the opening. In other words, air escapes from the inside of the sunken portion 51, where the packaging object 46 is placed. As the air escapes from the inside of the sunken portion 51, the sunken portion 51 of the film sheet 45 comes into close contact with the entire outer surface of the packaging object 46.

[0059] Furthermore, by rotating the packaging target 46 and the sunken portion 51 around the rotation axis P2, the portion of the sunken portion 51 of the film sheet 45 between the packaging target 46 and the guide plate 20 is twisted around the rotation axis P2. As a result, a twisted portion 52 is formed in the film sheet 45 between the packaging target 46 and the guide plate 20 in the sunken portion 51 of the film sheet 45. Therefore, by operating the rotation actuator 42, the supported packaging target 46 rotates so as to form a twisted portion 52 between the packaging target 46 and the guide plate 20 in the sunken portion 51 of the film sheet 45. The twisted portion 52 is formed in a twisted wire shape along the height direction of the packaging device 1. Note that in the sunken portion 51, the twisted portion 52 is formed adjacent to the packaging target 46 from the upper side in the height direction.

[0060] Furthermore, while the packaging target 46 and the sunken portion 51 are being rotated, the operation of the movement actuator 37 is stopped in each film gripping mechanism 30. However, in each film gripping mechanism 30, an expandable elastic member 38 is connected to the gripping portion 21. Therefore, while the packaging target 46 and the sunken portion 51 are being rotated, in each film gripping mechanism 30, the elastic member 38 expands or contracts in response to the deformation of the film sheet 45. Therefore, in each film gripping mechanism 30, the gripping portion 21 gripping the film sheet 45 can move in response to the deformation of the film sheet 45.

[0061] For example, suppose that the rotation of sunken portion 51 about rotation axis P2 causes deformation of film sheet 45, generating a force toward through-hole 33 in the portion of film sheet 45 that is located on upper surface 31 of guide plate 20. In this case, in each film gripping mechanism 30, elastic member 38 stretches in response to the deformation of film sheet 45, and gripping portion 21 moves toward the inner periphery of guide plate 20 in response to the deformation of film sheet 45. Therefore, in each film gripping mechanism 30, even if operation of movement actuator 37 is stopped, gripping portion 21 gripping film sheet 45 moves in response to the deformation of film sheet 45.

[0062] When packaging the object 46 to be packaged, the rotation actuator 42 rotates the object 46 to form a twisted portion 52 in the sunken portion 51 of the film sheet 45, which then activates the sealing device 23, causing the sealing device 23 to perform a sealing operation. Figure 12 shows a state in which the sealing device 23 is performing a sealing operation in a state in which the twisted portion 52 has been formed in the film sheet 45 by the rotation of the object 46 to be packaged in Figures 10 and 11. Figure 12 is a schematic view showing a cross section along the height direction.

[0063] 12, when packaging object 46, sunken portion 51 of film sheet 45 is sealed between twisted portion 52 and guide plate 20 by the sealing operation of sealing device 23. By being sealed by sealing device 23, the sealed portion of sunken portion 51 becomes airtight, and the opening of sunken portion 51 is closed. This prevents air from entering sunken portion 51 through the opening.

[0064] In packaging the object 46 to be packaged, after the recessed portion 51 is sealed by the sealing device 23, the cutting device 26 is activated to cut the film sheet 45. The cutting operation by the cutting device 26 cuts the film sheet 45 between the sealed portion and the guide plate 20. At this time, the film sheet 45 is cut while the seal of the sealed portion is maintained. The cutting operation by the cutting device 26 separates the recessed portion 51 of the film sheet 45 that encloses the object 46 to be packaged from the portion located on the upper surface 31 of the guide plate 20. The cutting operation by the cutting device 26 completes the packaging of the object 46 to be packaged.

[0065] In one example, the cutting tool 26 is not provided, and the sealing tool 23 seals the sunken portion 51 and also cuts the film sheet 45. In this case, the sealing tool 23 also seals the sunken portion 51 of the film sheet 45 between the twisted portion 52 and the guide plate 20. However, in this example, the sealing tool 23 cuts the film sheet 45 while sealing the sunken portion 51. Then, by the cutting action of the sealing tool 23, the sunken portion 51 enclosing the packaging object 46 in the film sheet 45 is separated from the portion located on the upper surface 31 of the guide plate 20.

[0066] As described above, in this embodiment, in packaging the packaging object 46, the film sheet 45 is placed on the upper surface 31 of the guide plate 20, and the film sheet 45 placed on the guide plate 20 is gripped by each of the gripping portions 21. Then, as the packaging object 46 placed on the film sheet 45 gripped by the gripping portions 21 falls through the through holes 33 under its own weight, each of the gripping portions 21 is moved toward the through holes 33 of the guide plate 20 so that the sunken portions 51 of the film sheet 45 that have sunk from the through holes 33 wrap around the packaging object 46. Because the packaging object 46 is packaged as described above, friction between the packaging object 46 and the film sheet 45, which is the packaging material, is appropriately suppressed during the operation of wrapping the packaging object 46 in the film sheet 45.

[0067] Suppressing friction between the packaging object 46 and the film sheet 45 effectively prevents damage to the packaging object 46 caused by friction with the packaging material, film sheet 45. Preventing damage to the packaging object 46 ensures the quality of the packaging object 46.

[0068] Furthermore, in this embodiment, since the packaging object 46 is packaged as described above, there is no need to perform steps such as placing the packaging bag that will serve as the packaging material in a predetermined position and opening the opening of the packaging bag. By eliminating the need for the steps described above, it is possible to reduce the effort and cost involved in packaging the packaging object 46. Furthermore, in this embodiment, the packaging device 1 does not require a mechanism for placing the packaging bag that will serve as the packaging material in a predetermined position and a mechanism for opening the opening of the packaging bag. This makes it possible to simplify the equipment configuration of the packaging device 1.

[0069] Furthermore, in this embodiment, since the packaging object 46 is packaged as described above, multiple types of packaging objects 46 that differ in size, etc. can be packaged using the same film 13. This reduces the effort required to prepare a different type of packaging bag, etc. for each size of the packaging object 46. Furthermore, since multiple types of packaging objects 46 that differ in size, etc. can be packaged using the same film 13, the procurement costs of the film 13 used as packaging material, etc. can be reduced.

[0070] Furthermore, in this embodiment, when the gripping portions 21 are moving toward the through-holes 33 as the packaging object 46 falls, each of the elastic members 38 applies a force to the corresponding one of the gripping portions 21 in a direction away from the through-holes 33 of the guide plate 20. Therefore, when the gripping portions 21 are moving toward the through-holes 33, a pulling force is applied from each of the gripping portions 21 to the film sheet 45 toward the outer periphery of the guide plate 20. This maintains tension on the film sheet 45, preventing slack in the film sheet 45 even when the film sheet 45 is being pulled toward the through-holes 33 in response to the movement of the gripping portions 21 toward the inner periphery, thereby preventing slack in the film sheet 45. Preventing slack in the film sheet 45 allows the packaging object 46 to fall appropriately through the through-holes 33. Preventing slack in the film sheet 45 also more effectively prevents damage to the packaging object 46 as it falls.

[0071] In this embodiment, the object support unit 22 supports the dropped packaging target 46. The rotation actuator 42 rotates the packaging target 46 supported by the object support unit 22 about a rotation axis P2 along the height direction so as to form a twisted portion 52 between the packaging target 46 and the guide plate 20 in the sunken portion 51 of the film sheet 45. By rotating the packaging target 46 and the sunken portion 51 surrounding the packaging target 46 about the rotation axis P2, air is properly released from inside the sunken portion 51, and the sunken portion 51 of the film sheet 45 is properly attached to the entire outer surface of the packaging target 46. This reduces the amount of air remaining inside the sunken portion 51 where the packaging target 46 is placed.

[0072] In manufacturing ceramic balls, ceramic balls to be packaged 46 are packaged as described above, and then the ceramic balls are hardened by wet cold isostatic pressing. In this case, the amount of air remaining inside the sunken portion 51 that encases the ceramic balls is reduced, so that pressure is applied uniformly to the packaged ceramic balls by wet cold isostatic pressing. The uniform pressure applied to the ceramic balls allows the ceramic balls to be properly hardened in the hardening process by wet cold isostatic pressing.

[0073] Furthermore, in this embodiment, each of the elastic members 38 allows the corresponding one of the gripping portions 21 to move in accordance with the deformation of the film sheet 45 when the dropped packaging object 46 is rotating around the rotation axis P2. Therefore, when the packaging object 46 is rotating, each of the gripping portions 21 moves in accordance with the deformation of the film sheet 45 even without operating the movement actuator 37. This effectively prevents the film sheet 45 from being stretched when the packaging object 46 is rotating.

[0074] According to at least one of these embodiments or examples, the gripping portion grips the film sheet placed on the upper surface of the guide plate. Then, as the packaging object placed on the film sheet gripped by the gripping portion falls through the through hole under its own weight, the movement actuator moves the gripping portion toward the through hole of the guide plate so that the sunken portion of the film sheet that has sunk through the through hole envelops the packaging object. This makes it possible to provide a packaging device and a packaging method that appropriately suppresses friction between the packaging object and the packaging material when packaging the packaging object.

[0075] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0076] 1...packaging device, 11...reel, 12...film pull-out section, 13...film, 20...guide plate, 21 (21A to 21D)...gripping section, 22...target support section, 23...sealing device, 25, 26...cutting device, 30...film gripping mechanism, 31...upper surface, 32...lower surface, 33...through hole, 37...moving actuator, 38...elastic member, 42...rotating actuator, 45...film sheet, 46...packaging target, 51...sinking section, 52...twisting section.

Claims

1. a guide plate having an upper surface and a lower surface, the guide plate having a through hole extending from the upper surface to the lower surface; a gripping portion capable of gripping a film sheet placed on the upper surface of the guide plate; a movement actuator that moves the gripping portion toward the through hole of the guide plate so that the packaging target placed on the film sheet gripped by the gripping portion falls through the through hole under its own weight, and the film sheet sinks from the through hole to enclose the packaging target; A packaging device comprising:

2. an elastic member having one end connected to the gripping portion and extending or contracting in response to movement of the gripping portion; the elastic member applies a force to the gripping portion in a direction away from the through hole when the gripping portion is moving toward the through hole as the packaging object falls. The packaging device of claim 1.

3. an object support unit that supports the dropped packaging object; a rotation actuator that rotates the packaging object supported by the object support portion about a rotation axis along a height direction so that a twisted portion in which the film sheet is twisted is formed between the packaging object and the guide plate at the sunken portion of the film sheet; The packaging device of claim 1 further comprising:

4. an elastic member having one end connected to the gripping portion and extending or contracting in response to movement of the gripping portion; The elastic member allows the gripping portion to move in accordance with deformation of the film sheet when the dropped packaging object is being rotated by the rotation actuator. The packaging device of claim 3.

5. 5. The packaging device of claim 3 or 4, further comprising a sealing device that seals the sunken portion between the twisted portion of the film sheet and the guide plate when the twisted portion is formed by rotation of the packaging object by the rotary actuator.

6. a guide plate having a through hole from an upper surface to a lower surface, a film sheet being placed on the upper surface, and the film sheet placed on the upper surface of the guide plate being gripped by a gripping portion; As the packaging object placed on the film sheet gripped by the gripping portion falls through the through hole under its own weight, the gripping portion is moved toward the through hole of the guide plate so that the packaging object is wrapped in a sunken portion of the film sheet that has sunk through the through hole; A packaging method comprising:

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