Method and apparatus for automatically drawing out packaging material in horizontal bag-making and filling machine

Abstract

To provide a method and an apparatus for automatically drawing out a packaging material in a horizontal bag-making and filling machine in which a belt-like packaging material is drawn out from an original fabric roll and can be set as a packaging material formed into a cylindrical shape through a bag-making means.SOLUTION: The pull-out end of the belt-like film 11 of a raw material roll 10 is held by a robot hand 23 and passed between the 12a of the upper forming part and the 12b of the lower forming part of a bag making means 12. The holding of both side parts in the width direction of the belt-like film 11 by the robot hand 23 is released, both end edge parts are hung down, and the top surface of the cylindrical film formed by the bag making means 12 is held by the robot hand 23. On the downstream side of the bag making means 12, the robot hand 23 is moved downstream between the placement surface on which the packaged article supplied into the tubular film is placed and conveyed and the auxiliary feed conveyor 28 in a state in which the robot hand 23 is maintained at a height position corresponding to the height of the packaged article and tension is applied to the tubular film, and the film is pulled out to a predetermined position upstream of the lateral sealing means 15.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automatic packaging material withdrawing method and device that can automatically withdraw and set packaging material in a horizontal form-fill-seal machine. [Background technology]

[0002] In a horizontal form-fill-seal machine, as a preparatory operation before packaging, an operator pulls out a strip of packaging material from a raw roll, wraps the packaging material around various rollers along a predetermined path, and guides it to a position upstream of the packaging unit. Patent Document 1 discloses a packaging material supply device that uses a feeder to pull out the packaging material from the raw roll and send it to a position upstream of the bag making means, thereby reducing the labor required for setting up the material. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-66506 Summary of the Invention [Problem to be solved by the invention]

[0004] The supply device in Patent Document 1 is designed to pull out strip-shaped packaging material from a roll of raw material to the upstream of the bag-making means. In a horizontal bag-making and filling machine, the packaging material must be pulled out and guided through the bag-making means toward the horizontal sealing means, and this pulling must be done by an operator.

[0005] The object of the present invention is to provide a method and apparatus for automatically unwinding packaging material in a horizontal form-fill-seal machine, which allows strip-shaped packaging material to be unwound from a roll of raw material and set as packaging material to be formed into a cylindrical shape through a bag-making means. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the intended purpose, the first means is: A method for automatically drawing out packaging material in a horizontal form-fill-seal machine, in which a strip-shaped packaging material (11) in a raw roll (10) is drawn out along a predetermined path to a bag-making means (12), and a tubular packaging material (11a) formed by the bag-making means (12) is drawn out to a predetermined position upstream of a horizontal sealing means (15), The strip packaging material (11) is pulled out from the raw roll (10) while being held by the handling means (23), and the handling means (23) is moved to pass through the bag-making means (12), and both widthwise edge portions of the strip packaging material (11) held by the handling means (23) are hung down, and the both edge portions are guided to the lower forming section (12b) of the bag-making means (12) and folded in a folded state, and the handling means (23) holding the tubular packaging material (11a) obtained after passing through the bag-making means (12) moves in a straight line at a holding height of the packaging material corresponding to the height of the top surface of the tubular packaging material (11a), and the packaging material (11, 11a) under tension is pulled out to a predetermined position upstream of the transverse sealing means (15). With this configuration, the packaging material can be automatically drawn and set to a predetermined position upstream of the transverse sealing means after passing through the bag making means, so that stable and efficient production is not hindered by improper setting of the packaging material by an operator, which could cause problems with the feeding of the packaging material at the start of operation or increase the time required before operation can start due to difficulty in setting it, and packaging material can be set efficiently without being affected by the operator's experience.In addition, the packaging material formed into a cylindrical shape by the bag making means has its top surface held by the handling means and maintained at a constant height corresponding to the height of the packaged item as it is drawn downstream, so that a cylindrical packaging material of an appropriate size can be drawn and set for each packaged item.

[0007] The second means temporarily stops the forward movement of the handling means (23) when the handling means (23) reaches the introduction section (35) before guiding the strip-shaped packaging material (11) to the slit (S) provided in the lower forming section (12b) of the bag-making means (12), and hangs down both end edges of the strip-shaped packaging material (11) held by the handling means (23); When the handling means (23) resumes its downstream advance at the holding height and passes through the bag making means (12), the both end edges of the strip-shaped packaging material (11) are guided into the slit (S) by the inclined sides of the entrance at the introduction section (35) of the lower forming section (12b) and folded into a folded shape, thereby forming the strip-shaped packaging material (11) into a tubular packaging material (11a), and the both end edges extending downward from the slit (S) are clamped by feed rollers (40, 40), so that the tubular packaging material (11a) is conveyed downstream as the handling means (23) moves forward. With this configuration, the handling means that has reached the introduction section into the slit provided in the lower forming section of the bag making means is temporarily stopped, causing both widthwise end edges of the strip-shaped packaging material to hang down, and the both end edges can be well guided into the slit via the inclined sides of the entrance in the introduction section, thereby producing a good tubular packaging material.

[0008] In order to solve the above problems and achieve the intended purpose, the third means is: An automatic packaging material withdrawing device for a horizontal form-fill-seal machine, which withdraws a strip-shaped packaging material (11) from a raw roll (10) along a predetermined path to a bag-making means (12), and withdraws a tubular packaging material (11a) formed by the bag-making means (12) to a predetermined position upstream of a horizontal sealing means (15), a handling means (23) for holding the drawn-out end of the strip-shaped packaging material (11) from the raw roll (10) and drawing it out to a predetermined position upstream of the transverse sealing means (15) after passing through the bag-making means (12); a height adjusting means (29) for vertically moving an auxiliary feed conveyor (28) disposed downstream of the bag making means (12) and above the conveying path for the tubular packaging material (11a) between an open position and an auxiliary feed position; The handling means (23) has a holding section (45) that holds the strip-shaped packaging material (11) and hangs down both widthwise edge portions of the strip-shaped packaging material (11) before the strip-shaped packaging material (11) passes through the bag-making means (12), The bag-making means (12) has a lower forming section (12b) that guides both widthwise edge portions of the strip-shaped packaging material (11) that is suspended and held by the holding section (45) so as to join together when the handling means (23) passes through the bag-making means (12), When the handling means (23) holding the strip-shaped packaging material (11) moves in a straight line, the handling means (23) is controlled to move in a straight line while applying tension to the packaging material (11, 11a) at a holding height of the packaging material corresponding to the height of the top surface of the tubular packaging material (11a) formed by the bag making means (12), at least from the introduction section (35) of the lower forming section (12b) of the bag making means (12) to move below the auxiliary feed conveyor (28) in the open position and to a predetermined position upstream of the horizontal sealing means (15). With this configuration, the packaging material can be automatically drawn and set to a predetermined position upstream of the transverse sealing means after passing through the bag making means, so that stable and efficient production is not hindered by improper setting of the packaging material by an operator, which could cause problems with the feeding of the packaging material at the start of operation or increase the time required before operation can start due to difficulty in setting it, and packaging material can be set efficiently without being affected by the operator's experience.In addition, the packaging material formed into a cylindrical shape by the bag making means has its top surface held by the handling means and maintained at a constant height corresponding to the height of the packaged item as it is drawn downstream, so that a cylindrical packaging material of an appropriate size can be drawn and set for each packaged item.

[0009] The fourth means is provided with an upper forming section (12a) in the bag making means (12) that forms the strip-shaped packaging material (11) into a cylindrical shape by means of the lower forming section (12b), and height changing means (27) that supports the upper forming section (12a) and moves it up and down between an open position and a forming position; The height changing means (27) and the height adjusting means (29) are characterized in that they are capable of adjusting the height positions of the upper forming section (12a) of the bag making means (12) and the auxiliary feed conveyor (28) in accordance with the height of the packaged goods, which differs for each type. According to this configuration, the height change means and height adjustment means that move the upper forming section and auxiliary feed conveyor in the bag making means to the open position when setting the packaging material also serve as means for adjusting the height of the upper forming section and auxiliary feed conveyor to a position corresponding to the height of the packaging item, which differs for each type of packaging item.Therefore, by storing setting values ​​according to the height of different packaging items, there is no need to adjust the height each time packaging items of different heights are packaged, and height setting can be done easily.

[0010] The fifth means is that the bag making means (12) comprises a pair of lower forming sections (12b, 12b) supported so as to be movable toward and away from each other in a width direction intersecting with the conveying direction of the strip-shaped packaging material (11), and an opening / closing means for moving the lower forming sections (12b, 12b) between an open position and a closed position. a slit (S) formed by a gap between the pair of lower molding portions (12b, 12b) when the pair of lower molding portions (12b, 12b) are in a closed position, The opening and closing means is characterized in that it widens the gap between the slits (S) by setting the lower molding portions (12b, 12b) in the open position, receives the both end edges of the strip packaging material (11) that is hung down and held by the holding portion (45) into the slits (S), and brings the both end edges of the strip packaging material (11) into a folded state by narrowing the gap between the slits (S) by setting the lower molding portions (12b, 12b) in the closed position. According to this configuration, both widthwise edge portions of the strip-shaped packaging material can be fed smoothly between the pair of lower forming portions, thereby making it possible to obtain a good tubular packaging material.

[0011] The sixth means is characterized in that after the upper forming section (12a) of the bag making means (12) is positioned at the forming position, which forms the strip packaging material (11) into a cylindrical shape using the lower forming sections (12b, 12b), the opening and closing means is controlled to move the pair of lower forming sections (12b, 12b) from the open position to the closed position. According to this configuration, both widthwise edge portions of the strip-shaped packaging material can be sandwiched between the slits of the pair of lower molding portions, and the both widthwise edge portions can be aligned correctly.

[0012] The seventh means is a pair of pay-out rollers (31, 32) that are disposed in a path along which the packaging material (11) is drawn from the raw roll (10) to the bag-making means (12), and that sandwich and feed the strip-shaped packaging material (11) drawn from the raw roll (10) downstream; a moving means for moving the pair of feed rollers (31, 32) between a clamping position for conveying the packaging material (11) and an open position in which the distance between the pair of feed rollers (31, 32) is increased to allow the handling means (23) to pass through; and feed rollers (40, 40) disposed below the bag-making means (12), which overlap and clamp both end edges of the strip-shaped packaging material (11) and feed the tubular packaging material (11a) toward the transverse sealing means (15), When the handling means (23) moves straight through the bag-making means (12), the operation of the handling means (23) is controlled so that it moves forward at a speed synchronized with the rotational speed of the feed rollers (31, 32) and the feed rollers (40, 40). According to this configuration, the packaging material that is automatically drawn out by the handling means is fed with appropriate tension by the feed roller and the feed roller, and the packaging material can be set automatically and satisfactorily.

[0013] The eighth means includes an adjusting roller (18) whose position can be adjusted to guide the strip-shaped packaging material (11) toward the bag-making means (12); A feature of the present invention is that moving means (18a, 18b) are provided for moving the position of the adjustment roller (18) so as to secure a passage (N) for the handling means (23) when the handling means (23) moves toward the bag-making means (12). With this configuration, the handling means holding the strip packaging material can efficiently move in a straight line toward the bag making means without detouring around the position where the adjustment roller is located, and the strip packaging material can be automatically transported to the bag making means.

[0014] The ninth means is characterized in that the handling means (23) controls the operation so that when hanging down both end edges of the held strip-shaped packaging material (11), the end edges are temporarily lowered to a position lower than the holding height of the packaging material (11a) corresponding to the height of the packaged item. With this configuration, both widthwise edge portions of the strip-shaped packaging material can be securely sandwiched between the slits provided in the pair of lower molding portions. [Effects of the Invention]

[0015] According to the present invention, since the setting of packaging material can be performed automatically, the setting of packaging material can be performed efficiently without being affected by the experience level of the operator. Furthermore, since the top surface of the tubular packaging material is held by the handling means and maintained at a constant height corresponding to the height of the packaged article as it is pulled downstream, it is possible to pull out and set a tubular packaging material of an appropriate size for each packaged article. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic side view showing a horizontal bag making and filling machine. [Figure 2] FIG. 2 is a schematic plan view of a horizontal bag-making and filling machine with the lower forming section in the open position. [Figure 3] FIG. 2 is a schematic front view of a main part showing the relationship between the bag making means and the handling means. [Figure 4] FIG. 2 is a schematic front view showing the bag making means. [Figure 5] FIG. 10 is an explanatory diagram showing a film setting path by a handling means. DETAILED DESCRIPTION OF THE INVENTION

[0017] Next, a method and apparatus for automatically withdrawing packaging material from a horizontal bag-making and filling machine according to the present invention will be described below by way of a preferred embodiment with reference to the accompanying drawings. [Example]

[0018] The horizontal bag form-fill-seal machine shown in Figure 1 comprises a bag making means 12 that forms a strip of film (strip-shaped packaging material) 11 pulled out from a raw roll 10 into a tubular shape by folding both widthwise edge portions together during the conveying process, a supply conveyor 13 that supplies packaging items (items to be packaged) at predetermined intervals toward the tubular film (tubular packaging material) 11a formed by the bag making means 12, a vertical sealing means 14 that applies a vertical seal to the overlapping portion 11b of the folded tubular film 11a, and a horizontal sealing means 15 that sandwiches the tubular film 11a at the front and rear of the packaging items fed into the tubular film 11a and horizontally seals and cuts the tubular film 11a in a direction (width direction) intersecting the conveying direction. Furthermore, the horizontal form-fill-seal machine is provided with a transfer conveyor 16 and an output conveyor 17, on which packaged items fed into tubular film 11a are placed and which support tubular film 11a from below and transport it downstream, at the front and rear of transverse sealing means 15 in the film transport direction; packaged items separated from continuous tubular film 11a by transverse sealing and cutting are transported to the next process by output conveyor 17. In the horizontal form-fill-seal machine, an adjustment roller 18 is provided in the film transport path between raw web roll 10 and bag making means 12, and is movable to any position to draw strip film 11 from above bag making means 12 at a predetermined approach angle. Also provided in the film transport path between raw web roll 10 and adjustment roller 18 are a first payout roller 19 and a second payout roller 20 that transport strip film 11 pulled from raw web roll 10 toward bag making means 12, and a plurality of guide rollers 21 around which strip film 11 is wound and guided. The horizontal form-fill-seal machine of this embodiment is surrounded by transparent panels or the like and is placed in a portal frame 22 equipped with an opening and closing door. One side of the film transport path for strip film 11 and tubular film 11a is set as the operating side of the horizontal form-fill-seal machine, and this operating side will be referred to as the front, and the opposite side as the back.

[0019] As shown in FIG. 5, the automatic film drawing device according to the embodiment includes a handling means constituted by a robot hand 23 of a hanging robot so as to suck and hold the drawing end of the strip film 11 from the raw roll 10 and draw it out; the bag making means 12 which forms the strip film 11 into a tubular film 11a using an upper forming section 12a and a lower forming section 12b; a height changing means 27 which adjusts the height position of the upper forming section 12a spaced above the lower forming section 12b in the vertical direction according to the height of the packaged article; conveying beds 47, 47 downstream of the bag making means 12 on which the packaged article fed into the tubular film 11a is placed and conveyed; and a tubular film forming means 27. The system is equipped with an auxiliary feed conveyor 28 that, on the conveying path for film 11a, lightly contacts via tubular film 11a to apply a conveying force to packaged articles placed on conveying beds 47, 47, and height adjustment means 29 that adjusts the height of auxiliary feed conveyor 28. During film setting, the robot hand 23 sucks and holds the unwound end of strip film 11 from raw roll 10, and moves downstream along a predetermined path to pull out strip film 11 to bag making means 12, while sucking and holding the central portion in the width direction that will become the upper surface of strip film 11 and the top surface of tubular film 11a formed by bag making means 12. Then, the robot hand 23 moves straight downstream from bag making means 12, and automatically pulls out tubular film 11a at a low speed to a predetermined position upstream of the transverse sealing means 15. Height change means 27 is configured to be controlled to move between an open position (see FIG. 3) in which upper forming section 12a is lifted upward from lower forming section 12b, forming an open space between upper forming section 12a and lower forming section 12b through which robot hand 23 can pass bag-making means 12, and a forming position (see FIG. 4) in which it approaches lower forming section 12b and can form strip film 11 into tubular film 11a. Height adjustment means 29 is configured to be controlled to move the height of auxiliary feed conveyor 28 between an auxiliary feed position (see FIG. 1) in which packaged articles supplied in tubular film 11a can be auxiliary-fed, and an open position (see FIG. 5) in which the height of auxiliary feed conveyor 28 is set to allow robot hand 23, which holds tubular film 11a and moves toward lateral sealing means 15, to pass below auxiliary feed conveyor 28.The height changing means 27 and the height adjusting means 29 are configured to adjust the height positions of the upper forming section 12a and the auxiliary feed conveyor 28 relative to the lower forming section 12b and the loading surface of the transport beds 47, 47 to positions according to the height of the packaged goods, which changes due to changes in type, etc.

[0020] 1 and 2, a loading shaft 30 is disposed inside the portal frame 22, extending from the rear side of the device frame toward one side (the front side) in the width direction so as to be capable of supporting multiple raw film rolls 10. The first and second payout rollers 19, 20 are disposed such that a driven roller 32 can move toward and away from a drive roller 31 that is driven to rotate by a drive motor such as a servo motor, and the drive roller 31 and the driven roller 32 are closed and pressed against each other, thereby applying a conveying force to the sandwiched strip film 11. The drive roller 31 and the driven roller 32 are moved by a moving means between a clamping position (FIG. 1) in which the strip film 11 is clamped, and an upper open position (FIG. 5) in which the rollers 31, 32 are separated, leaving an open passage to allow the robot hand 23 holding the strip film 11 to pass through. At an appropriate timing after the robot hand 23 passes between the drive roller 31 and the driven roller 32, the moving means moves the driven roller 32 to the clamping position. The rotational speed of the drive roller 31 is set to a speed synchronized with the speed at which the robot hand 23, holding the top surface of the tubular film 11a, moves in a straight line downstream from the bag-making means 12. The adjustment roller 18 is supported for free rotation at the tip end of a second swing arm 18b, which is supported for vertical swinging at the tip end of a first swing arm 18a, which is supported on the apparatus frame for vertical swinging around one end of the swing fulcrum. The swinging movement of the first swing arm 18a and the second swing arm 18b creates a passage (space) N that allows the robot hand 23 to pass toward the bag-making means 12. In this embodiment, the first swing arm 18a and the second swing arm 18b constitute a moving means for moving the adjustment roller 18, and the adjustment roller 18 is automatically returned to its normal operating position by the moving means at an appropriate timing after the robot hand 23 has passed. In addition, the multiple guide rollers 21 arranged on the film transport path are all spaced apart to allow the robot hand 23 to pass as it wraps and guides the strip film 11 around each guide roller 21 while holding the strip film 11 and pulling it out to the bag-making means 12.

[0021] 1 and 2, a splicer 33 is disposed between the raw fabric roll 10 and the first payout roller 19, which automatically splices together the strip film between the raw fabric roll 10 currently in use in the horizontal form-fill-seal machine and a spare raw fabric roll 10. In addition, a storage section 34 is disposed between the first payout roller 19 and the second payout roller 20, in which a plurality of (two in this embodiment) movable rollers 34b are configured to move upward relative to a plurality of (two in this embodiment) fixed position rollers 34a, and when the splicer 33 splices together the strip film, the plurality of (two in this embodiment) movable rollers 34b are configured to move upward as the strip film 11 being packaged is pulled out. The movable roller 34b is moved by a lifting means to a set position spaced above the fixed position roller 34a, so that the robot hand 23 holding the strip film 11 between the rollers 34a, 34b can pass in a straight line between the multiple movable rollers 34b and the fixed position roller 34a (see Figure 5).

[0022] As shown in Figures 2, 3, and 4, the upper forming section 12a of the bag making means 12 comprises a pair of side walls 37, 37 arranged opposite each other on either side of the center of the film conveying line and connected by a connecting member 36, and bag making wings 38, 38 arranged on both side walls 37, 37 on the upstream side of the film feed, extending outward from both side walls 37, 37 and having downwardly inclined guide surfaces.The robot hand 23 holding the strip film 11 passes through the space below the upper forming section 12a, which has moved to the open position relative to the lower forming section 12b of the bag making means 12, and while holding the center of the strip film 11 by the robot hand 23, releases the suction hold on both widthwise sides.Compressed air is then sprayed downward from inside the suction box of the robot hand 23 on both sides, causing both edge portions of the strip film 11 to droop. In this state, upper forming section 12a is lowered to the forming position by height changing means 27 so that upper forming section 12a covers tubular film 11a. Lower forming section 12b is a forming bottom plate consisting of a pair of plate-like members that are divided into left and right halves by a slit S provided in the center of the conveying line for tubular film 11a, and the pair of lower forming sections 12b, 12b are equipped with opening and closing means that moves toward and away from each other in the left-right direction (width direction) by driving means such as an air cylinder, and the opening and closing means is configured to move the pair of lower forming sections 12b, 12b between a closed position where they approach each other to form a gap between both lower forming sections 12b, 12b to form slit S through which overlapped section 11b of tubular film 11a can pass, and an open position where they move away from the closed position to widen the spacing of slit S. On the introduction side of the pair of lower molding sections 12b, 12b, the sections are inclined so that they move away from each other as they move upstream, and in the closed position, an introduction section 35 is defined between the pair of lower molding sections 12b, 12b, with a V-shaped cutout, and the introduction section 35 is configured to guide the film into the slit S by the inclined side of the entrance.Lower forming sections 12b double as beds that form the placement surfaces on which packaged articles fed into tubular film 11a are placed in the conveying path of tubular film 11a, and each lower forming section 12b is integrally provided with a conveying bed 47 that extends to the upstream end of conveyor 16, which is disposed upstream of transverse sealing means 15, so that the underside of the packaged article is supported by lower forming section 12b and conveying bed 47 and fed to conveyor 16. The pair of conveying beds 47, 47 are moved toward and away from lower forming sections 12b, 12b by opening / closing means, and in the closed position, the slit S is formed so as to continue between the pair of conveying beds 47, 47. The downstream ends of lower forming sections 12b, 12b are located upstream of the positions of feed rollers 40, 40, which will be described later in this embodiment.

[0023] The opening and closing means is configured to position a pair of lower forming sections 12b, 12b in an open position before the strip film 11 held by the robot hand 23 reaches the bag making means 12, and to accept the hanging down both widthwise edge portions of the strip film 11 by partially releasing the holding by the robot hand 23 between the lower forming sections 12b, 12b in the open position, and to form the strip film 11 into a tubular shape by moving the pair of lower forming sections 12b, 12b to a closed position after the upper forming section 12a has descended to the forming position.

[0024] 1 and 5, above the conveyance path of tubular film 11a from bag making means 12 to transverse sealing means 15, auxiliary feed conveyor 28 is disposed. Auxiliary feed conveyor 28 supports tubular film 11a with a support member from above the packaged articles fed into tubular film 11a and travels forward together with tubular film 11a, thereby assisting in conveying tubular film 11a toward transverse sealing means 15. Auxiliary feed conveyor 28 is disposed above the conveyance path of tubular film 11a, above conveyor beds 47, 47 and conveyor 16. The height adjustment means 29 is controlled to position the auxiliary feed conveyor 28 in the open position when setting the strip film 11, and to move the auxiliary feed conveyor 28 to the auxiliary feed position at an appropriate timing after the robot hand 23 holding the strip film 11 has advanced below the auxiliary feed conveyor 28 to complete the feeding operation and the robot hand 23 has retreated to a position separated from one side of the film transport path.

[0025] As shown in Figures 1 and 2, a pair of feed rollers 40 are disposed below the transport beds 47, 47. The feed rollers 40 sandwich the overlapped portion 11b of the tubular film 11a extending downward from the slit S defined between the transport beds 47 when the lower forming sections 12b, 12b are in the closed position. The pair of feed rollers 40 are configured to rotate in opposite directions to transport the tubular film 11a downstream with the overlapped portion 11b sandwiched between the feed rollers 40. The rotational speed of the feed rollers 40, 40 is set to the speed at which the robot hand 23 moves linearly while holding the tubular film 11a, and is synchronized with the speed at which the tubular film 11a moves downstream under tension. The vertical sealing means 14 includes a pair of sealing rollers 41, 41 that rotate downstream and sandwich the overlapped portion 11b of the tubular film 11a. A vertical seal is applied to thermally weld overlapping portion 11b of tubular film 11a by sealing rollers 41, 41. The rotational speed of sealing rollers 41, 41, like the speed of feed rollers 40, 40, is set to a speed synchronized with the speed at which tubular film 11a moves forward downstream while under tension.

[0026] 1 and 5, the horizontal sealing means 15 has a pair of sealing bodies that move toward and away from each other, facing each other across the conveyance path of the tubular film 11a conveyed on the conveyor 16 to the sealing position by the sealing bodies, and the pair of sealing bodies clamps the tubular film 11a at a position between the articles, thereby transversely sealing the tubular film 11a in the width direction, which intersects with the conveyance direction. The upper sealing body has a knife that cuts the tubular film 11a, and when the tubular film 11a is clamped between the pair of sealing bodies, the knife cuts the tubular film 11a in the width direction.

[0027] 1 to 3, a running rail 42 is provided on the front side of the gate-shaped frame 22, which is the operating side of the horizontal form-fill-seal machine, and extends horizontally from the position where the raw fabric roll 10 supported by the loading shaft 30 is disposed to a predetermined position downstream of the position where the horizontal sealing means 15 is disposed, and the film setting robot 43 is suspended from the running rail 42. The robot 43 is a so-called ceiling-suspended robot that moves back and forth along the running rail 42 by a movement mechanism 44 operated by a drive motor such as a servo motor. The robot 43 is an articulated robot, and the robot hand 23, which serves as handling means, is attached to the tip of an arm 43a. Robot hand 23 has holding section 45 that can suction and hold strip film 11, and holding section 45 has central holding section 45a that holds the center section in the width direction of strip film 11, and side holding sections 45b, 45b that hold both sides in the width direction. Central holding section 45a and side holding sections 45b, 45b release suction at different times. The holding unit 45 is controlled so that the timing of suction release is different when the robot hand 23, holding the strip film 11, passes a position where the top of the strip film 11 is covered by the upper forming unit 12a of the bag making means 12 and formed into a tubular film 11a, and temporarily stops at a position facing the inclined side of the entrance of the introduction unit 35, with the center holding unit 45a holding the center of the width of the strip film 11, the side holding units 45b, 45b release their hold on both widthwise edge portions of the strip film 11, and then the robot hand 23 moves just before the horizontal sealing means 15 and completes the feeding operation. Furthermore, when the side holding units 45b, 45b release their suction, compressed air is blown from inside the holding units 45 toward the side holding positions of the holding units 45 to assist in drooping both edge portions of the strip film 11.The suction holding by the central holding portion 45a and the side holding portions 45b, 45b is configured by an adsorption body arranged at each holding position and an ejector that generates negative pressure by the adsorption body, and with regard to the timing of suction holding by the holding portion 45, it is preferable to set the suction start timing of the central holding portion 45a and the side holding portions 45b, 45b to be the same and control the operation so that the suction release timing is different.

[0028] The robot 43 sucks and holds the strip film 11 with the holding portion 45 of the robot hand 23, pulls it out from the raw roll 10, and passes through the position where the upper forming portion 12a of the bag making means 12 covers the top of the strip film 11 and forms it into a tubular film 11a (the position where the upper forming portion 12a moves up and down). After the robot 43 reaches the introduction portion 35 before passing through the slits S of the pair of lower forming portions 12b, 12b, the robot hand 23 is controlled to temporarily stop moving forward in the conveyance direction of the strip film 11. Before the robot hand 23 is temporarily stopped, it temporarily descends to a position lower than the holding height position, which is the height of the top surface of the tubular film 11a that should be set according to the height of the packaged item, and releases the holding of both widthwise edge portions of the strip film 11 by the side holding portions 45b, 45b. Furthermore, the robot 43 moves the robot hand 23 downward with both widthwise edge portions of the strip film 11 hanging down, raises it to the holding height corresponding to the height of the packaged item, and then moves straight ahead while applying a predetermined tension to the tubular film 11a, moving to a position just before the horizontal sealing means 15 between the auxiliary feed conveyor 28 in the open position and the loading surface, completing the feeding operation. In this way, the automatic film unwinding process can be performed, placing the strip film 11 in a pre-packaging standby state and completing the setting. The end position of the movement of the robot hand 23, where the holding portion 45 of the robot hand 23 adsorbs the top surface of the tubular film 11a, needs only to be at least the position where the overlapped portion 11b of the tubular film 11a is sandwiched between the sealing rollers 41, 41 of the vertical sealing means 14, and may be a position where the robot hand 23 has passed the auxiliary feed conveyor 28.

[0029] Next, the operation of the automatic film pulling-out device in the horizontal form-fill-seal machine according to the embodiment will be described in relation to the automatic pulling-out method.

[0030] As shown in Figure 5, the driven roller 32, the movable roller 34b of the storage section 34, the upper forming section 12a of the bag-making means 12, and the auxiliary feed conveyor 28 are all positioned in open positions that do not hinder the movement of the robot hand 23, thereby ensuring a path through which the robot hand 23 holding the leading end of the strip film 11 can pass. The adjustment roller 18 is also moved downward to ensure path N that allows the robot hand 23 to pass toward the bag-making means 12. The lower forming sections 12b, 12b of the bag-making means 12 are also positioned in the open position. The robot 43 moves along the running rail 42 to a position close to the raw roll 10, and with the robot hand 23 attached to the arm 43a in a position extending horizontally from the front side to the back side, the holding section 45 of the robot hand 23 sucks and holds the leading end of the strip film 11 from the raw roll 10.

[0031] 5, with the robot 43 holding the pulling end of the strip film 11 with the robot hand 23, the robot 43 moves the robot hand 23 along a predetermined path that can wrap and guide the strip film 11 around the guide rollers 21, drive roller 31, position fixing roller 34a of the storage unit 34, and adjustment roller 18, to a position where the upper part of the strip film 11 is covered by the upper forming unit 12a of the bag making means 12 to form it into a tubular film 11a, and where the robot 43 faces the upper side of the inclined side of the entrance of the introduction unit 35, and then temporarily stops.In addition, by the time the robot hand 23 temporarily stops, the holding unit 45 of the robot hand 23 is lowered to a position lower than the holding height of the top surface of the tubular film 11a corresponding to the height of the packaged item, and after the temporary stop, the side holding units 45b, 45b are released from their holding positions, causing both widthwise edge portions of the strip film 11 to hang down, as shown in FIG. Furthermore, the robot hand 23 holding the strip film 11 is positioned at a height corresponding to the height of the packaged article.

[0032] After the robot hand 23 is temporarily stopped, the height changing means 27 lowers the upper molding section 12a in the open position to the molding position, so that the hanging portion of the strip film 11 faces the inside of the side walls 37, 37 of the upper molding section 12a, and the edge of the hanging portion faces between the introduction sections 35 of the lower molding sections 12b, 12b in the open position. Then, by moving the lower molding sections 12b, 12b in the open position to the closed position, the hanging portion of the strip film 11 is sandwiched between the slits S of the lower molding sections 12b, 12b in a folded state, and the strip film 11 is molded into a tubular shape. Both widthwise edge portions of the strip film 11 extend downward from the slits S of the lower molding sections 12b, 12b (transport beds 47, 47) and are overlapped in a folded state (see FIG. 4).

[0033] The top surface of the tubular film 11a formed by the bag-making means 12 is held by a central holding portion 45a of the holding portion 45 of the robot hand 23. When the temporarily stopped movement of the robot hand 23 is resumed, the holding portion 45 of the robot hand 23 moves forward in the conveyance direction of the packaging material at a height position preset according to the height of the packaged item. The robot hand 23 also moves horizontally so as to move in a straight line while applying a predetermined tension to the tubular film 11a. The robot hand 23, which has adsorbed the top surface of the tubular film 11a by the holding portion 45, then moves forward below the auxiliary feed conveyor 28, which has moved to its open position, and moves to a predetermined position upstream of the horizontal sealing means 15, completing the automatic withdrawal of the packaging material and releasing the adsorption of the top surface of the tubular film by the holding portion 45. In this way, the robot hand 23 sucks and holds the strip film 11 from the raw roll 10, winds it around the guide rollers 21 and adjustment rollers 18 along the predetermined path of the strip film 11, and guides it. The packaging material is then automatically drawn upstream of the horizontal sealing means 15 as a tubular film 11a formed through the bag-making means 12, allowing the packaging material to be automatically set for packaging without manual intervention. Both widthwise edge portions of the strip film 11 supplied from above to the bag-making wings 38 of the upper forming section 12a at the forming position are guided by the inclined sides of the entrance of the V-shaped introduction section 35 and guided toward the undersides of the lower forming sections 12b, thereby forming the strip film 11 into a tubular shape. Furthermore, both widthwise edge portions of the strip film 11 are guided into the slit S by the inclined sides of the introduction section 35, and the both edge portions overlap in a palm-to-palm manner, forming the overlapped portion 11b. The polymerized portion 11b extends downward through the slit S formed between the lower forming portions 12b, 12b (transport beds 47, 47) and is transported downstream. The polymerized portion 11b is sandwiched between the feed rollers 40, 40, which are controlled to rotate at a speed synchronized with the speed at which the robot hand 23 moves downstream from the bag-making means 12, and a transport force is applied in the transport direction of the packaging material. The tubular film 11a is transported while being pulled toward the horizontal sealing means 15 by the transport force of the feed rollers 40, 40, with a predetermined tension applied to the upper and lower portions, in addition to the pulling force of the robot hand 23.

[0034] When the tubular film 11a has been unwound to a position upstream of the horizontal sealing means 15, where the overlapping portion 11b of the tubular film 11a has passed the position of the sealing rollers 41, 41, the robot 43 stops the downstream movement of the robot hand 23 and stops the rotation of the first and second payout rollers 19, 20 and the feed rollers 40, 40, which are provided in the path along which the strip film 11 is unwound, thereby completing the automatic film unwound process. The robot 43 also releases the hold of the robot hand 23 by the center holding portion 45a. In preparation for the next film unwound, the robot hand 23 retreats to a position away from one side of the film transport path, and then returns to the unwound start position, where it has moved to one side of the raw film roll 10, and waits there.

[0035] The automatic film unwinding method and apparatus of the embodiment automatically sets the film through the bag making means 12 to a predetermined position below the downstream auxiliary feed conveyor and upstream of the horizontal sealing means 15 as a pre-packaging preparatory operation. This prevents improper film setting by an operator from interfering with film feeding at the start of operation or lengthening the time required for start-up due to time-consuming setting. This allows for efficient film setting, regardless of the operator's experience. Furthermore, the tubular film 11a formed into a cylindrical shape by the bag making means 12 is held at its top by the robot hand 23 and maintained at a constant height corresponding to the height of the packaged item as it is pulled downstream. Therefore, the appropriate size tubular film 11a can be pulled and set for each packaged item. Furthermore, because no manual intervention is required in film setting, operational safety is ensured.

[0036] According to the automatic film pulling method and apparatus of the embodiment, the robot hand 23 pulling out the strip film 11 from the raw roll 10 is temporarily stopped downstream of the upper molding section 12a in the bag making means 12 at a position corresponding to the introduction section 35 of the lower molding sections 12b, 12b, so that both widthwise edge portions of the strip film 11 hang down.Therefore, both widthwise edge portions of the film can be guided well into the slits S of the lower molding sections 12b, 12b by the inclined edges of the introduction section 35, and a good tubular film 11a can be obtained.

[0037] According to the automatic film drawing device of the embodiment, the height change means 27 and height adjustment means 29, which move the upper forming section 12a and auxiliary feed conveyor 28 of the bag making means 12 to the open position when setting the film, also serve as means for adjusting the height of the upper forming section 12 and auxiliary feed conveyor 28 to positions corresponding to the height of the packaged goods, which differ for each type of package.By storing set values ​​according to the heights of different packaged goods, it is not necessary to adjust the height each time packaged goods of different heights are packaged, and the height can be easily set. Furthermore, the opening / closing means for opening and closing the pair of lower forming sections 12b, 12b in the bag-making means 12 receives both hanging edge portions of the strip film 11 between the pair of lower forming sections 12b, 12b positioned in the open position, and after the upper forming section 12a has lowered to the forming position, moves the pair of lower forming sections 12b, 12b to the closed position, so that both edge portions of the strip film 11 can be fed smoothly between the pair of lower forming sections 12b, 12b, and the both edge portions are sandwiched between the slits S of the pair of lower forming sections 12b, 12b, with both edge portions in the width direction facing correctly, thereby forming the overlapped section 11b without misalignment. Furthermore, when the robot 43 hangs both edge portions of the strip film 11 from the robot hand 23, the robot 43 temporarily lowers the robot hand 23 to a position lower than the holding height of the packaging material, so that the hanging portion of the strip film 11 can be smoothly drawn between the pair of lower forming sections 12b, 12b.

[0038] According to the automatic film feeding device of the embodiment, the rotational speed of the drive roller 31 and feed rollers 40, 40 after the robot hand 23 passes the bag making means 12 is set to a speed that is synchronized with the speed at which the robot hand 23 moves downstream from the bag making means 12 with tension applied to the tubular film 11a, so that the film is always pulled downstream at a constant height with appropriate tension, and good guide is provided during film setting, allowing the film to be set in a taut state, resulting in good packaging when operation is started after setting. Furthermore, as the robot hand 23 moves toward the bag making means 12, the adjustment roller 18, which draws the strip film 11 into the bag making means 12 at a predetermined angle, moves to ensure a path N that allows the robot hand 23 to pass through. Therefore, the robot hand 23 holding the strip film 11 can efficiently move in a straight line toward the bag making means 12 without detouring around the position of the adjustment roller 18, and the strip film 11 can automatically be transferred to the bag making means 12.

[0039] (Example of change) The present invention is not limited to the configurations of the examples, and can be modified as follows, for example: Furthermore, the configurations described in the examples are not limited to the following modifications, and various embodiments can be adopted within the scope of the gist of the present invention. (1) The specific opening and closing mechanism for opening the passage at points where the robot hand 23 blocks the passage as it follows a predetermined path is not limited to the form of the embodiment, and various forms and moving (opening and closing) mechanisms can be adopted. (2) The arrangement of the payout rollers 19, 20 arranged in the path along which the film is pulled out, the approaching and separating form of the drive roller 31 and driven roller 32, the position fixing roller 34a, movable roller 34b, and moving means for the adjustment roller 18 in the storage section 34, the support form of the raw roll 10, and the provision of the first and second payout rollers 19, 20 are not limited to the forms shown in the examples, and various other forms can be adopted, such as selectively adopting the moving means and arrangement depending on the film pulling form. (3) The method of adsorbing tubular film 11a by holding unit 45 of robot hand 23 is not limited to a configuration using an adsorbent and an ejector, and various other methods can be used. Furthermore, holding unit 45 is not limited to adsorbing strip film 11 separately at the center and at both sides, and any configuration can be used as long as it can differentiate the timing of releasing adsorption at the center and at both sides. The configuration of blowing compressed air from holding unit 45 to assist in sagging both end edges of strip film 11 can be adopted as needed. Furthermore, instead of adsorbing, various other holding methods can be used for holding the pull-out end of tubular film 11 by robot hand 23, such as clamping the pull-out end of strip film 11 or wrapping the pull-out end around robot hand 23. (4) The positioning form (moving means) of the adjustment roller 18 may be other than the two-arm positioning form. Also, if the positioning form does not block the passage of the robot hand 23, the movement of the adjustment roller 18 may be omitted. (5) The robot hand 23 temporarily lowers the holding height of the widthwise center of the strip film 11 (the part that becomes the top surface of the tubular film 11a) downstream of the upper forming section 12a in the bag making means 12 at the introduction section 35 of the lower forming sections 12b, 12b, and then raises the holding height of the top surface of the tubular film 11a to a position corresponding to the height of the packaged item, but this operation may be adopted as needed. (6) The area in which the robot hand 23 moves in a straight line at a holding height corresponding to the height of the packaged item may be at least the area downstream from the introduction section 35 of the lower forming section 12b of the bag making means 12, and may move in a straight line from upstream of the bag making means 12 beyond the adjustment roller 18 to downstream at a holding height of the top surface of the tubular film 11a corresponding to the height of the packaged item. (7) The lifting structure of the bag making means 12 and the auxiliary feed conveyor 28 is not limited to the lifting structure of the embodiment, and various known structures can be used. (8) Instead of raising and lowering the upper forming section 12a of the bag making means 12, the upper forming section 12a can be made detachable. In this case, the robot hand 23 holding the strip film 11 moves forward toward a position upstream of the horizontal sealing means 15 to a position where it has passed through an area where the separately placed upper forming section 12a is placed to cover the packaging material conveying path from above, and then the separately placed upper forming section 12a can be placed to cover the packaging material conveying path from above. (9) The lower molding section 12b of the bag making means 12 is not limited to a length extending downstream from the upper molding section 12a, but may be the same length as the upper molding section 12a, as long as it is long enough to form a slit S of a predetermined length downstream from the introduction section 35. (10) In the embodiment, the lower forming portion 12b of the bag making means 12 is formed integrally with the conveying bed 47 so as to extend to the horizontal sealing means 15, but the two components 12b and 47 may be separate and the downstream conveying bed may be fixed in place without opening or closing. (11) A configuration can be adopted in which both sides of the robot hand 23 are bent downward to cause both edge portions of the strip film 11 to hang down without releasing the hold on both sides of the strip film 11 held by the robot hand 23. [Explanation of symbols]

[0040] 10 Raw roll, 11 Strip film (strip packaging material) 11a tubular film (tubular packaging material), 12 bag making means, 12a upper forming section 12b lower forming portion, 15 horizontal sealing means, 18 adjustment roller 18a First swing arm (moving means), 18b Second swing arm (moving means) 23 Robot hand (handling means), 27 Height change means 28 Auxiliary feed conveyor, 29 Height adjustment means, 31 Driving roller (feed-out roller) 32 driven roller (feed-out roller), 35 introduction portion (entrance), 40 feed roller, N passage S slit

Claims

1. A method for automatically drawing out packaging material in a horizontal form-fill-seal machine, which draws out a strip-shaped packaging material in a raw roll along a predetermined path to a bag making means, and draws out a tubular packaging material formed by the bag making means to a predetermined position upstream of a horizontal sealing means, The unwinding end of the strip packaging material is held by a handling means and pulled out from the raw roll, and the handling means is moved to pass the bag making means, and both end edges in the width direction of the strip packaging material held by the handling means are in a hanging state, and the both end edges are guided to a lower forming section of the bag making means and folded together, and the handling means holding the tubular packaging material obtained after passing through the bag making means is moved straight ahead at a holding height of the packaging material corresponding to the height of the top surface of the tubular packaging material, and the packaging material in a tensioned state is pulled out to a predetermined position upstream of the transverse sealing means. A method for automatically withdrawing packaging material in a horizontal form-fill-seal machine.

2. When the handling means reaches an introduction section before guiding the strip-shaped packaging material to the slit provided in the lower forming section of the bag making means, the forward movement of the handling means is temporarily stopped, and both end edges of the strip-shaped packaging material held by the handling means are allowed to hang down; 2. The method for automatically drawing out packaging material in a horizontal form-fill-seal machine according to claim 1, wherein, when the handling means resumes its downstream advance at the holding height and passes through the bag making means, the both end edges of the strip-shaped packaging material are guided into the slit by the inclined edges of the entrance at the introduction section of the lower forming section and folded together, thereby forming the strip-shaped packaging material into a tubular packaging material, and the both end edges extending downward from the slit are clamped by feed rollers, so that the tubular packaging material is transported downstream as the handling means advances.

3. An automatic packaging material withdrawing device for a horizontal form-fill-seal machine, which withdraws a strip-shaped packaging material from a raw roll along a predetermined path to a bag making means, and withdraws a tubular packaging material formed by the bag making means to a predetermined position upstream of a horizontal sealing means, a handling means for holding the pulled-out end of the strip-shaped packaging material in the raw roll and pulling it out to a predetermined position upstream of the transverse sealing means after passing through the bag making means; a height adjusting means for vertically moving an auxiliary feed conveyor disposed downstream of the bag making means and above the conveying path for the tubular packaging material between an open position and an auxiliary feed position; the handling means has a holding section that holds the strip-shaped packaging material and hangs down both widthwise edge portions of the strip-shaped packaging material before the strip-shaped packaging material passes through the bag-making means; the bag making means has a lower forming section that guides both widthwise edge portions of the strip-shaped packaging material that is hung down and held by the holding section so as to join together when the handling section passes through the bag making means, When the handling means holding the strip-shaped packaging material moves in a straight line, the handling means is controlled so that it moves in a straight line at least from the introduction section of the lower forming section of the bag making means, moving below the auxiliary feed conveyor in the open position, to a predetermined position upstream of the transverse sealing means, while applying tension to the packaging material at a holding height corresponding to the height of the top surface of the tubular packaging material formed by the bag making means. An automatic packaging material withdrawal device for a horizontal bag form-fill-seal machine.

4. an upper forming section in the bag making means for forming the strip-shaped packaging material into a cylindrical shape by the lower forming section, and height changing means for supporting the upper forming section and moving it up and down between an open position and a forming position; 4. The automatic packaging material withdrawing device for a horizontal bag form-fill-seal machine according to claim 3, wherein the height changing means and the height adjusting means are capable of adjusting the height positions of the upper forming section of the bag making means and the auxiliary feed conveyor in accordance with the height of the packaged articles, which differ for each type.

5. The bag making means includes a pair of lower forming sections supported so as to be movable toward and away from each other in a width direction intersecting with the conveying direction of the strip-shaped packaging material, and an opening / closing means for moving the lower forming sections between an open position and a closed position. a slit formed by a gap between the pair of lower molding parts when the pair of lower molding parts is in a closed position, 4. The automatic packaging material withdrawing device for a horizontal form-fill-seal machine according to claim 3, wherein the opening and closing means widens the spacing of the slit when the lower forming section is in the open position, receives the both end edges of the strip-shaped packaging material held hanging down by the holding section into the slit, and brings the both end edges of the strip-shaped packaging material into a palm-to-palm shape by narrowing the spacing of the slit when the lower forming section is in the closed position.

6. 6. An automatic packaging material withdrawing device for a horizontal bag form-fill-seal machine according to claim 5, wherein after the upper forming section of the bag making means is positioned at a forming position, where the strip-shaped packaging material is formed into a cylindrical shape by the lower forming section, the opening / closing means is controlled to move the pair of lower forming sections from the open position to the closed position.

7. a pair of pay-out rollers that are disposed in a path along which the packaging material is drawn from the raw roll to the bag-making means, and that sandwich and feed the strip-shaped packaging material drawn from the raw roll downstream; a moving means for moving the pair of feed rollers to a clamping position for conveying the packaging material and an open position in which the gap between the pair of feed rollers is widened to allow the handling means to pass through; a feed roller disposed below the bag making means, which overlaps and clamps both end edges of the strip-shaped packaging material and feeds the tubular packaging material toward the transverse sealing means; 4. An automatic packaging material withdrawing device for a horizontal bag form-fill-seal machine according to claim 3, wherein the operation of the handling means is controlled so that, when the handling means moves straight ahead past the bag making means, the handling means advances at a speed synchronized with the rotational speed of the feed roller and the feed roller.

8. a position-adjustable adjustment roller for guiding the strip packaging material toward the bag-making means; 4. An automatic packaging material withdrawing device for a horizontal bag making and filling machine according to claim 3, further comprising a moving means for moving the position of the adjustment roller so as to ensure a passage for the handling means when the handling means moves toward the bag making means.

9. An automatic packaging material withdrawing device for a horizontal bag form-fill-seal machine as described in any one of claims 3 to 8, characterized in that the handling means controls the operation so that when hanging down both end edges of the held strip-shaped packaging material, they are temporarily lowered to a position lower than the holding height of the packaging material corresponding to the height of the packaged item.

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