Packaging assembly and boxing machine with buffer function

Abstract

The present invention provides a packaging assembly and boxing device that can improve operational efficiency by maintaining a large buffer capacity for standby and a long-term period of periodic assembly and transportation, even when it is anticipated that there will be a surplus or shortage of packaging being transported. [Solution] If the number of bagged packages Bp being transported by the first belt conveyor 4 is excessive for assembling into a group of bagged packages, the excess packages are transferred to a buffer conveyor mechanism 80 located to the side of the first belt conveyor 4 by a parallel link robot 6 that performs transfer and aggregation. If the number of bagged packages Bp being transported is insufficient for assembling into a group of bagged packages, the bagged packages Bp waiting in the buffer conveyor mechanism 80 are directly replenished by the parallel link robot 6 onto the second belt conveyor 10 where the bagged packages Bp are aggregated.

Description

Technical Field

[0001] The present invention relates to an apparatus for collecting and boxing packages, which collects a plurality of packages manufactured by a packaging machine and successively conveyed, and boxes the collected packages, and has a buffer function for coping with surplus or shortage of packages that may occur during conveyance and collection of packages.

[0002] Conventionally, a boxing system has been put into practical use, which collects a plurality of bag packages successively manufactured by an article, for example, a bag packaging machine such as a bag-making and filling packaging machine, and boxes the collected bag packages in a box container such as a cardboard box. In such a boxing system, conveyance, collection, transfer, and boxing of bag packages are sequentially executed according to a predetermined procedure, and various forms and structures have been devised for executing each process. That is, for conveyance, conveyance means such as a conveyor, for collection, collection means such as a collection robot, and for boxing, boxing means for collectively gripping the collected bag packages and filling them into a box container have various forms and structures respectively. By collecting the bag packages manufactured by a packaging machine and successively conveyed by conveyance means by collection means, and gripping and boxing the group of collected bag packages by boxing means, it is intended to efficiently perform the collection process and boxing process of the conveyed bag packages.

[0003] As an example of such a boxing system, from the upstream side, there is proposed a cardboard box boxing system including a packaging machine for packaging a product with a packaging material to manufacture a bag package, an upwardly inclined conveyor for conveying the bag package manufactured by the packaging machine, a cardboard box manufacturing machine for unfolding a folded cardboard box to form a box, and a cardboard case for collecting the conveyed bag packages and boxing the bag packages in the cardboard box in the collected state (see Patent Document 1).

[0004] Figure 9 is a side view showing an example of a conventional vertical bag-making, filling, and packaging machine and a box-packing system installed thereafter. The corrugated cardboard box-packing system 50 shown in Figure 9 is connected to the vertical bag-making, filling, and packaging machine 51, which discharges the manufactured bag-packaged bodies Bp from the bottom, and is incorporated to constitute a bag-packaged body manufacturing and box-packing line. The vertical bag-making, filling, and packaging machine 51 is a conventionally well-known packaging machine and includes a former 52 that bends a strip of packaging material Fw unwound from a packaging material roll Fr into a roughly cylindrical shape, a filling cylinder 53 assembled to penetrate vertically through the former 52 and through which the product S to be packaged is fed, a vertical sealing device 54 that forms the strip of packaging material Fw into a cylindrical packaging material Ft by applying heat seals to both ends of the roughly cylindrical strip of packaging material Fw to form a center seal (vertical seal), a horizontal sealing device 55 disposed below the filling cylinder 53 that seals the product inside the bag by applying an end seal (horizontal seal) to the cylindrical packaging material Ft, and a discharge chute 56 that discharges the manufactured bag packaging Bp. The vertical bag-making, filling, and packaging machine 51 is connected to an upward inclined conveying conveyor 60 consisting of several upward belt conveyors 61 that transport the discharged bag packaging Bp while raising it. As the bagged packaging Bp is transported upward on the upward inclined conveyor 60, its weight is measured by a weight checker 62 and its height is measured by a height measuring device 63. Bagged packaging Bp whose measured values ​​are outside the specified range are removed from the system at this stage as defective products. The corrugated cardboard box packing system 50 is connected to the downstream end of the upward inclined conveyor 60.

[0005] At the downstream end of the upward-inclined conveyor 60, where it has reached its highest point, a consolidation conveying device 70 is connected in a horizontal position. The bagged packages Bp transported by the upward-inclined conveyor 60 are collected by the consolidation conveying device 70 as a group of bagged packages Gbp consisting of multiple bagged packages Bp. The bagged packages Gbp are, for example, in a state where multiple bagged packages Bp are stacked in a sashimi-like fashion or collected in a flat arrangement. The consolidation conveying device 70 may be equipped with a direction changing device that changes the orientation of the bagged packages Bp relative to the transport direction by suction and rotation as a preliminary processing for collecting the bagged packages Bp during transport, and a sorting device that, after the direction change, sorts the rows of bagged packages Bp into multiple rows arranged horizontally relative to the transport direction. Immediately downstream of the consolidation conveying device 70, a boxing station 71 is provided for filling the bagged package group Gbp into cardboard boxes C. The assembled corrugated cardboard boxes C are transported by a box conveyor 73 to a box input section 74 directly below the packing station 71. At the packing station 71, an input device 72 lowers the bagged package group Gbp into the corrugated cardboard box C while gripping it, and then releases the grip, thereby loading and packing the bagged package group Gbp into the corrugated cardboard box C.

[0006] The upward inclined conveying conveyor 60, the collective conveying device 70, and the boxing station 71 are arranged in a straight line from the vertical bag-making, filling, and packaging machine 51 when viewed in plan view, so the corrugated cardboard boxing system 50 has a long layout overall. The corrugated cardboard boxing system 50 is equipped with a corrugated cardboard box sealing machine 75 for sealing the boxed corrugated cardboard boxes C, a box packaging inversion device 76 for inverting the sealed box packaging Cp, and a box packaging discharge conveyor 77 for unloading the inverted box packaging Cp for post-processing.

[0007] A boxing device has been proposed that includes a boxing mechanism that transfers items transported by an upstream conveyor to another moving transport surface using a robot and aligns them, moves the items aligned on the transport surface to a boxing position using a conveyor, and fills the group of items that have reached the boxing position into a packaging box (see Patent Document 2). In this boxing apparatus, the items to be boxed are, for example, bagged packages continuously manufactured by a packaging machine located upstream, and these items are successively sent to the transfer position by an upstream conveyor. The conveyor that moves the aligned group of items to the boxing position is positioned sideways to the end of the upstream conveyor. A robot (for example, a link robot) located at the end of the upstream conveyor lifts the items and transfers them to the group of items on the conveyor. The boxing position is located downstream of the end of the upstream conveyor and to the side of the end of the conveyor. When the group of items aligned on the conveyor reaches the boxing position, the boxing mechanism lifts the group of items all at once and fills them into a packaging box. The area on the conveyor where the robot aligns the items and the adjacent boxing position are separated by the minimum distance necessary to prevent the items belonging to each area from coming into contact. This arrangement is intended to improve the processing capacity of the robot.

[0008] A packing device is known that collects products that have been transported at predetermined (for example, constant) intervals, using a product collection device to collect a predetermined number of products in a sashimi-like arrangement with some overlap or in a flat arrangement without overlap to form a product group, and then grasps the collected product group by means of suction or other means, and uses the grasping means to also serve as a loading means, thereby loading the products into a container such as a cardboard box placed outside the product collection device (see Patent Document 3). In this boxing machine, products and cardboard boxes are transported to the boxing area by a product transport conveyor that transports products from an alignment and transport mechanism, and a container transport conveyor that runs parallel to it and transports cardboard boxes. In the boxing area, a swivel servo motor is installed above a position midway between the product transport conveyor and the container transport conveyor, which intermittently reciprocates 180 degrees at a time. In the boxing area, a suction pad that captures or releases multiple products by suction is driven by the swivel servo motor to reciprocate between above the products on the product transport conveyor and above the cardboard boxes on the container transport conveyor. With each reciprocating rotation, a product is held from above by the suction pad, and the product released from the suction pad is filled into the cardboard box, so that product capture and boxing are performed simultaneously and in parallel, and the products are sequentially packed into the cardboard box.

[0009] In conventional boxing systems, bagged packages manufactured by a packaging machine are successively discharged by an unloading device, and the bagged packages are moved to a collection and boxing location by a bagged package conveying device such as a conveyor connected to the unloading device. The collected bagged packages are then boxed together as a group at the boxing location. In other words, in the means (process) for collecting bagged packages, individual bagged packages or a small number of bagged packages are collected to form a group of bagged packages consisting of a larger number of packages, and in the means (process) for boxing the bagged packages into cases such as cardboard boxes, the collected groups of bagged packages are boxed together in batches. The bagged packages to be packed into boxes are grasped and lifted by a robot, then transferred to a conveyor belt, where they are arranged in a group of items and assembled, including stacking and piling. If a system malfunction occurs downstream of the robot performing the aggregation (including the boxing equipment), the conveyor's transport of the bagged packages and the boxing operation in the boxing equipment must also be stopped. However, the items (bagged packages) being processed from the packaging machine to the boxing equipment are either discharged outside the transport and boxing line (outside the system) or temporarily moved to a temporary storage area set up beside the line. In the former approach, the items are essentially "flyed off the line," making it difficult to return them to the line as items. In the latter approach, the temporarily moved items need to be returned to the line. If, for example, a robot is used to return them, the robot needs to grasp the moved items. This requires significant modifications to the mechanism and structure, such as increasing the range of the robot's gripping body and expanding the temporary storage space, which naturally increases the cost burden.

[0010] In relation to boxing equipment, it has been proposed to temporarily place multiple packages being transported by a conveyor onto temporary storage plates arranged along the direction in which the conveyor extends (see Patent Document 4). According to this proposal, a predetermined number of packages (one group of packages or multiple groups of packages) are picked up and held by a robot from among the multiple packages being transported by the conveyor, and temporarily placed onto temporary storage plates arranged along the direction in which the conveyor extends. Subsequently, the groups of packages on the temporary storage plates are transferred to a collection unit by the robot.

[0011] In the temporary storage plate disclosed in Patent Document 4, although the temporary storage plate is a plate positioned along the direction in which the conveyor extends, it is merely a fixed platform for placing packages on, and does not allow packages to be movably placed on the temporary storage plate. Furthermore, the items temporarily placed on the temporary storage plate are packages in units of a package group, such as one or more package groups, and do not handle surplus or shortage packages in quantities less than the number of package groups. Therefore, the temporary storage plate disclosed in the said document has limitations on the number of packages that can be handled and the manner of temporary storage, and does not enable flexible and adaptable temporary storage of packages.

[0012] In relation to a box packing device, a proposal has been made for a device comprising a first transport section for transporting articles, and a second transport section comprising a storage section and an input section, which transports articles transferred from the first transport section and puts them into boxes waiting downstream. The second transport section is configured such that when a predetermined number of articles are put into boxes, articles transferred from the first transport section are stored in the storage section without being put into boxes (Patent Document 5). The storage section of the second transport section can perform a back-feed operation when storing articles transferred from the first transport section, enabling the storage of a large number of articles transferred from the first transport section. The first transport section comprises a left first transport section and a right first transport section, each equipped with a first transport surface on which articles are placed and transported in the transport direction, and the second transport section is equipped with a second transport surface located below the first transport surface between the left first transport section and the right first transport section, which is also located below the first transport surface and is used for transporting articles. The first conveying section includes a first transfer section that transfers items to be placed in the first box to the second conveying section, and a second transfer section located upstream of the first transfer section in the conveying direction of the first conveying section and transferring items to be placed in the second box after the first box to the second conveying section. The storage section is a belt conveyor with its conveying direction arranged in the front-to-back direction. This proposal aims to suppress the decrease in packing efficiency caused by the box exchange process.

[0013] In the invention disclosed in Patent Document 5, the second transport unit comprises a storage unit that stores articles and an input unit that places articles into a box. It also needs to include a shutter unit that controls whether to allow or restrict the movement of articles on the second transport surface, and the storage unit itself needs to be moved not only during normal feed operations but also during backfeed operations. Therefore, because the storage and input of articles are not mechanically separated, handling articles is not simple, and the second transport unit, which controls both, inevitably becomes large and complex not only in its structure but also in its operation.

[0014] Recent bag-making, filling, and packaging machines have increased packaging speeds, and the assembly and boxing devices applied to them are required to have both a functional (structural) aspect that allows for the high-speed assembly and boxing of a large number of bag packages in a short time, and a layout (arrangement) aspect that minimizes space occupation when integrated into the bag-making, filling, and packaging line connected to the machine in the factory where the machine is installed. Furthermore, when assembling bag packages and boxing the assembled bag packages, it is unavoidable that there will be surplus and shortages of bag packages as they are transported sequentially at high speed, but it is also required to quickly handle any surplus or shortage of bag packages to maintain a regular cycle of bag package assembly and boxing. [Prior art documents] [Patent Documents]

[0015] [Patent Document 1] Patent No. 5753643 [Patent Document 2] International Publication No. 2016 / 185862 [Patent Document 3] Japanese Patent Publication No. 9-301305 [Patent Document 4] Japanese Patent Publication No. 2015-168480 [Patent Document 5] Japanese Patent Publication No. 2024-66789 [Overview of the Initiative] [Problems that the invention aims to solve]

[0016] Therefore, in a packaging assembly and boxing device that collects packages manufactured and sent out one after another by a packaging machine and transported sequentially by a transport means, and then collects them into groups of a predetermined number of packages and then boxes each of these groups, there is a problem to be solved in that when it is anticipated that there will be a surplus of packages being transported, the surplus packages are put into reserve, and when it is anticipated that there will be a shortage of packages during transport or assembly, the shortage is replenished from the reserved packages, thereby ensuring a buffer amount of packages during waiting and replenishment, as well as maintaining a periodic cycle of bag packaging assembly and boxing.

[0017] The object of this invention is to solve the above-mentioned problems and to provide a packaging assembly and boxing device that can improve the operational efficiency of the device by ensuring a buffer amount of packaging during standby and replenishment, even when it is anticipated that there will be a large surplus or shortage of packaging among the conveyed packaging, and by maintaining a periodic cycle of bag packaging assembly and boxing. [Means for solving the problem]

[0018] To solve the above problems, the packaging assembly and boxing apparatus with a buffer function according to this invention is A first conveying means for conveying packaged bodies manufactured and discharged by a packaging machine, A second conveying means is arranged to the side and adjacent to the first conveying means, A gripping body capable of gripping or releasing the aforementioned packaging body is provided, and the packaging body that has been transported by the first transport means is transferred to the second transport means by operation of the gripping body, and a transfer / assembly means is provided to collect the multiple packaging bodies that have been transferred to the second transport means as a group of packaging bodies during the transfer. A packing means is positioned adjacent to the downstream end in the transport direction of the second transport means, and fills the group of packages that have been transported to the downstream end by the second transport means into a box in one batch, group by group, and A buffer mechanism that is arranged adjacent to the side of the first conveying means opposite to the second conveying means and can store a plurality of the packages is provided, in response to an excess of the packages transferred from the first conveying means, the transfer and assembly means transfers the excess packages to the buffer mechanism for standby and storage, and in response to a shortage of the packages transferred from the first conveying means, the transfer and assembly means transfers the packages stored in the buffer mechanism for standby to the second conveying means as a supplement to the shortage of the packages.

[0019] According to the apparatus for assembling and boxing packages with a buffer function according to this invention, when the assembly and boxing of packages function in a normal cycle, the packages manufactured and carried out by the packaging machine are sequentially conveyed by the first conveying means, and the packages conveyed by the first conveying means are gripped and released by the operation of the gripper of the transfer and assembly means, so as to be transferred to the second conveying means arranged adjacent to and on the side of the first conveying means. When transferred, a plurality of packages transferred to the second conveying means are assembled as a package group, and the package group conveyed to the downstream end portion in the conveying direction of the second conveying means is filled into the box in a batch for each package group by the boxing means arranged adjacent to the downstream end portion, and boxing is performed. A buffer mechanism is arranged adjacent to the first conveying means and on the side opposite to the second conveying means. When the conveyance of the packages by the first conveying means is disturbed due to excess or shortage, the buffer mechanism functions to hold the excess packages conveyed by the first conveying means and supplement the shortage of the packages in the second conveying means. When the number of packages conveyed by the first conveying means is excessive for assembling as a package group, the excess packages are transferred to the buffer mechanism by the operation of the gripper of the transfer and assembly means and stored by being held in the buffer mechanism. A plurality of packages can be stored in the buffer mechanism. When the number of packages being conveyed by the first conveying means is insufficient to form a set of packages as a package group, the packages stored in the buffer mechanism are transferred to the second conveying means by operating the gripper of the transfer / aggregation means, so that they are directly replenished as the packages lacking in the package group when being aggregated (including densifying / accumulating) in the second conveying means. In the buffer mechanism, transfer for standby and transfer for replenishing shortages are carried out in units of individual packages, and it is possible to prevent the aggregation of packages in the second conveying means and the subsequent conveyance and boxing of the package group from being affected by the excess or shortage of the packages conveyed by the first conveying means, and the periodic cycle of the aggregation and boxing of the bagged packages is maintained.

[0020] In the package aggregation / boxing device having this buffer function, the buffer mechanism can include a package position changing means for changing the position of the packages stored in the buffer mechanism in order to secure a transfer destination space when transferring the packages from the first conveying means and a transfer source package when transferring the packages to the second conveying means at predetermined positions. In the buffer mechanism, it can include a package position changing means for moving the packages by driving a member on which the packages are placed. For example, when the buffer mechanism is constituted by a belt conveyor, the means for placing the packages such as the conveyor belt is driven by a driving pulley, so that the stored packages move together with the conveyor belt, and the package position changing means can be the belt conveyor itself on which the packages are placed. Also, the stored packages may be moved by driving a position changing means different from the means for placing the packages. In any case, by the operation of the position changing means, when the gripper of the transfer / aggregation means in the buffer mechanism grips or releases the packages, when transferring for standby, the space not occupied by the packages, or when transferring for replenishment, the packages to be replenished can be moved to the position on the buffer mechanism.

[0021] In this packaging assembly and boxing device equipped with a buffer function, the transfer and assembly means can be a parallel link robot equipped with a gripping device for gripping the packaging at the tip of a parallel link. Since the parallel link robot can control the three-dimensional position of the gripping device at high speed and with high precision, it can accurately handle packages even when a large number of packages are being transported at high speed by the first transport means, and can accurately arrange for packages to be placed in the buffer mechanism from the first transport means and to replenish packages from the buffer mechanism to the second transport means.

[0022] In this packaging assembly and boxing device equipped with a buffer function, the buffer mechanism may be a belt conveyor arranged in a single row adjacent to the first conveying means or arranged in multiple rows side by side. A belt conveyor is a conveyor with a finite reciprocating distance. The conveyor belt itself is the means of placing the packaged items on top. Furthermore, since the conveyor belt moves by driving the pulleys around which it is wound, the conveyor belt itself is also the direct target of the position change mechanism for changing the position of the packaged items placed on it. Increasing the length of the conveyor and the number of rows increases the buffer capacity of the packaged items, allowing the buffer mechanism to function for a longer period of time. On the other hand, belt conveyors tend to require more installation space and have larger and more complex structures. For example, by arranging the belt conveyor adjacent to and parallel to the first conveying means, and configuring it to sequentially send the waiting packaged items in the opposite direction to the conveying direction of the packaged items by the first conveying means, it is possible to increase the number of waiting and stored packaged items while keeping the installation space as small as possible.

[0023] In this packaging assembly and boxing device equipped with a buffer function, the belt conveyor can be two belt conveyors arranged in series in the conveying direction of the first conveying means and on which the packaging can be transferred. By using two belt conveyors in this buffer mechanism, one belt conveyor can be used to sequentially store packages from the first transport means for waiting, and the other belt conveyor can be used to sequentially replenish packages to the second transport means. The transfer position for waiting packages on one belt conveyor (the position where the gripping body of the transfer / collection means releases the package) and the transfer position for replenishing packages on the other belt conveyor (the position where the gripping body of the transfer / collection means grips the package) can be set close to each other, so the arrangement relationship with the working range reachable by the gripping body of the transfer / collection means is also favorable. When the storage of packages becomes full or the supply of packages runs out, unnecessary packages are discharged from the system, and then packages are transferred between the two belt conveyors. By operating the belt conveyors in this way, the buffer mechanism can continue to function for a long period of time. Furthermore, after the packages waiting on one conveyor belt are transferred to the other, the older packages can be used for replenishment first, which is also preferable from the standpoint of managing the production of packages.

[0024] In this packaging assembly and boxing device equipped with a buffer function, the buffer mechanism may be a curved conveyor having an endless or ended travel path that is curved in part, or where one end and the other end are arranged in close proximity and facing each other, and which waits for and stores the excess packaging in the first conveying means in the travel path, and transfers the packaging that is waiting and stored in the travel path to the second conveying means to replenish the shortage of packaging in the first conveying means. The curved conveyor can be a conventionally known structure that can be installed in a space-saving manner, such as a curved roller conveyor, a curved belt conveyor, or a top plate conveyor. If the transport path has ends, the packaged items are transferred from the first transport means to one end of the transport path for temporary waiting, stored and moved around the transport path, and then transferred from the other end of the transport path to the second transport means for replenishment. Since one end and the other end are positioned close to and facing each other, the arrangement relationship with the working range that the gripping body of the transfer and collection means can reach is also favorable. If the transport path is endless, the transport path is a closed circulating path, and the transfer position for temporary waiting from the first transport means and the transfer position for replenishment of the first or second transport means can be at different positions, as in the case of an ended path, but they can also be set at the same position. In either case, by making a portion of the transport path, including the transfer position, a belt conveyor section that is driven and controlled separately from the other transport paths that function solely as storage, the transfer position of the packaged items can be controlled accurately and independently of storage. Furthermore, in the case of a curved conveyor, the buffer mechanism can continue to function for a long period of time. [Effects of the Invention]

[0025] According to this packaging assembly and boxing device, when the packaging assembly and boxing are functioning in a normal cycle, the packaging manufactured and discharged by the packaging machine is sequentially transported by the first transport means, and the packaging transported by the first transport means is grasped and released by the operation of the gripping body of the transfer and assembly means and transferred to the second transport means which is located to the side and adjacent to the first transport means, and at the time of transfer the multiple packaging transferred to the second transport means are assembled as a group of packaging, and the group of packaging that has been transported to the downstream end in the transport direction of the second transport means is filled into a box all at once by the boxing means which is located adjacent to the downstream end, and boxing is performed. A buffer mechanism is positioned adjacent to the first conveying means and on the side opposite to the second conveying means. When a disruption occurs in the packaging assembly and boxing cycle, the buffer mechanism functions to eliminate an excess of packaging carried by the first conveying means and to eliminate a shortage of packaging carried by the second conveying means. If the number of packages being transported by the first transport means is excessive for assembling into a group of packages, the excess packages are transferred to the buffer mechanism by the operation of the gripping body of the transfer / assembly means, and are then stored in the buffer mechanism. The buffer mechanism can store multiple packages. If the number of packages being transported by the first transport means is insufficient to form a group of packages, the packages stored in the buffer mechanism are transferred to the second transport means by operating the gripping body of the transfer / assembly means, thereby directly replenishing the missing packages for the group when they are assembled (including densely packed and accumulated) by the second transport means. In the buffer mechanism, due to any surplus or shortage of packages transported by the first transport means, individual packages are transferred for waiting and transferred to replenish the shortage. This prevents the assembly of packages by the second transport means and the subsequent transport and boxing of the package groups from being affected, thus maintaining a cyclical cycle of bagged package assembly and boxing over a long period of time.

[0026] In this packaging assembly and boxing device, the buffer mechanism mitigates any excess or shortage of packaging conveyed by the first conveying means on a per-package basis. By employing a structure that can secure a buffer volume (for example, various conveyors) in the buffer mechanism, a large number of packaging can be stored. Packaging stored (held in reserve) in the buffer mechanism can be handled in the same way as ordinary packaging and returned to the second conveying means. In the buffer mechanism, if the buffer function is working properly, the packaging is not normally discharged from the system. However, if it is determined that the system cannot store all of the packaging, the packaging can be discharged from the system. Furthermore, the buffer mechanism can be compactly positioned adjacent to the first conveying means and on the side opposite to the side where the second conveying means is adjacent. This saves space in the layout when installing it as a line including the packaging machine and boxing machine in a factory, and improves installation efficiency. In addition, the packages transferred between the first conveying means, the second conveying means and the buffer mechanism are grasped and transferred by the transfer and collection means. The transfer distance is short, and by employing a robot with a high transfer speed as the transfer and collection means, it is possible to grasp and collect the packages in a short time without damaging them. Even if the transport of packages by the first transport means is temporarily interrupted due to the shutdown of the packaging machine or trouble with the transport of packages by the first transport means, when the transport of packages is resumed, the packages stored in the buffer mechanism can be transferred to the second transport means using the transfer and collection means. [Brief explanation of the drawing]

[0027] [Figure 1] Figure 1 is a plan view showing one embodiment of a packaging assembly and boxing device according to the present invention. [Figure 2] Figure 2 is a side view of the packaging assembly and boxing device shown in Figure 1, as seen from the direction of arrow AA. [Figure 3] Figure 3 is a side view of the packaging assembly and boxing device shown in Figure 1, as seen from the direction of arrow BB. [Figure 4] Figure 4 shows an example of a package being conveyed and an example of a group of package being assembled, relating to the packaging assembly and boxing device according to this invention. [Figure 5] Figure 5 is an enlarged explanatory diagram showing the waiting and replenishment of packaged items by a buffer mechanism composed of a belt conveyor in the packaged item assembly and boxing device according to this invention. [Figure 6] Figure 6 is a schematic diagram showing a modified example of a buffer mechanism composed of a belt conveyor in the packaging assembly and boxing device according to this invention. [Figure 7]Figure 7 is a schematic diagram showing another modified example of the buffer mechanism, which is composed of a belt conveyor, in the packaging assembly and boxing device according to this invention. [Figure 8] Figure 8 is a schematic diagram of a buffer mechanism, which consists of a curved conveyor, in the packaging assembly and boxing device according to this invention. [Figure 9] Figure 6 is a side view showing an example of a conventional vertical bag-making, filling, and packaging machine and a subsequent assembly and boxing system. [Modes for carrying out the invention]

[0028] The following describes an embodiment of the packaging assembly and boxing device according to this invention, based on the attached drawings. Figure 1 is a plan view showing one embodiment of the packaging assembly and boxing device according to this invention. In this embodiment, the packaging is a bag packaging manufactured by a bag-making, filling, and packaging machine, and the packaging assembly and boxing device is an example of a device that assembles the bag packaging and boxes such as corrugated cardboard boxes. Figure 2 is a side view taken along arrow AA shown in Figure 1, and shows the transport and subsequent transfer of the bag packaging in the packaging assembly and boxing device. Figure 3 is a side view taken along arrow BB shown in Figure 1, and shows the transfer and assembly of the bag packaging in the packaging assembly and boxing device and the subsequent transfer to the boxing station. In Figure 3, in order to simplify and clarify the drawing, the parts already shown in Figure 2 have been omitted.

[0029] One example of a packaging machine to which the packaging assembly and boxing device according to this invention is applied is a vertical bag-making, filling and packaging machine 51 that manufactures bag packaging bodies Bp, such as pillow packaging bodies, in which the product S as the packaged object is contained and sealed inside a bag formed from a strip-shaped packaging material Fw via a tubular packaging material Ft, as shown in Figure 9. The assembly and boxing device 1 shown in Figures 1 to 3 is a device that is connected to and applied to the vertical bag-making, filling and packaging machine 51. Specifically, the assembly and boxing device 1 is connected to the discharge end of the discharge means (upward inclined conveying conveyor 60) of the bag packaging bodies Bp manufactured by the vertical bag-making, filling and packaging machine 51 in a manner that is aligned with the discharge direction. All of the main components of the assembly and boxing device 1 are arranged to fit substantially within the machine frame 2, making it easy to apply the assembly and boxing device 1 to the vertical bag-making, filling and packaging machine 51. The assembly and boxing device 1 first assembles the bag packaging bodies Bp manufactured and discharged by the vertical bag-making, filling, and packaging machine 51 as a group of bag packaging bodies Gbp, and then typically fills the boxes by repeatedly filling the bag packaging body group Gbp into boxes.

[0030] The bagged packages Bp discharged by the upward inclined conveying conveyor 60 of the vertical bag-making, filling, and packaging machine 51 are sequentially transferred to the inclined belt conveyor 3 of the collection and boxing device 1, where they are raised and transported to a predetermined height within the machine frame 2. A first belt conveyor 4, having a horizontal conveying surface 4a as a first conveying means, is connected in series to the downstream end of the inclined belt conveyor 3, and the bagged packages Bp are subsequently transported horizontally and laterally by the first belt conveyor 4. The bagged packages Bp transported by the first belt conveyor 4 are discharged sequentially from the vertical bag-making, filling, and packaging machine 51 at intervals, but the transport intervals are not necessarily equal, and the transport posture is not necessarily constant. If there are bagged packages Bp discharged from the line as defective products, the transport intervals can clearly become stretched out.

[0031] A transfer and aggregation station 5 for transferring and aggregating bagged packages Bp is provided between the downstream end of the first belt conveyor 4 and the upstream end of the second belt conveyor 10, which is located adjacent to it as a second transport means. The second belt conveyor 10 is a belt conveyor located adjacent to one side of the first belt conveyor 4, and its transport direction is horizontal and parallel, similar to the transport direction of the first belt conveyor 4, but in the opposite direction. A parallel link robot 6 is provided at the transfer and aggregation station 5 as a transfer and aggregation means for transferring and aggregating bagged packages Bp from the first belt conveyor 4 to the second belt conveyor 10. The working area of ​​the parallel link robot 6 extends across the downstream end of the first belt conveyor 4 and the upstream end of the second belt conveyor 10. The circles drawn with dashed lines in Figure 1 show the approximate range of the working area of ​​the parallel link robot 6.

[0032] The parallel link robot 6 is installed in a suspended manner at the transfer and assembly station 5, with its upper end attached to the upper part of the machine frame 2 corresponding to the adjacent boundary between the first belt conveyor 4 and the second belt conveyor 10. The parallel link robot 6 is an industrial robot that includes a manipulator 7 provided at its upper end as a mechanical part, three parallel links 8a, 8b, and 8c in which two pairs of six links (axes) corresponding to multiple joints driven by the manipulator 7 are connected in parallel, and a gripping hand 9 supported at the lower ends of the parallel links 8a, 8b, and 8c, which is a gripping body capable of suction, gripping, and releasing bagged packages Bp. By devising a structure such as providing multiple suction pads on the gripping hand 9, the gripping hand 9 can also grip and release multiple bagged packages Bp at once.

[0033] Thanks to recent technological advancements in parallel link robot 6, parallel links 8a, 8b, and 8c work in coordination, enabling precise three-dimensional movement between the first belt conveyor 4 and the second belt conveyor 10. The parallel links 8a, 8b, and 8c move at high speeds, allowing for quick and efficient gripping and release of the bagged packages Bp. The timing and position of gripping the bagged packages Bp on the first belt conveyor 4 and the timing and position of releasing the bagged packages Bp on the second belt conveyor 10 can be precisely controlled. Therefore, the parallel link robot 6 can handle bagged packages Bp being transported at high speed on the first belt conveyor 4, performing tasks such as gripping the bagged packages Bp and transferring and assembling them onto the second belt conveyor 10, and accurately controlling the assembled state of the bagged package group Gbp on the second belt conveyor 10 to a predetermined state.

[0034] At the transfer and assembly station 5, the gripping hand 9 of the parallel link robot 6 grips the bagged package Bp that has been transported to the downstream end on the first belt conveyor 4, moves toward the upstream end of the second belt conveyor 10 while still gripping it, and releases its grip on the bagged package Bp at the upstream end of the second belt conveyor 10, thereby transferring the bagged package Bp onto the transport surface 10a of the second belt conveyor 10.

[0035] When gripping a bag package Bp, it is preferable that the gripping hand 9 of the parallel link robot 6 rises slightly so that the gripped (suction-gripped) bag package Bp is lifted off the conveying surface 4a of the first belt conveyor 4 and the conveying surface 10a of the second belt conveyor 10. By lifting the bag package Bp off the conveying surface 4a and the conveying surface 10a, the bag package Bp will not subsequently come into contact with or slide against the conveying surface 4a or the conveying surface 10a, and the bag package Bp will not unintentionally detach from the gripping hand 9.

[0036] When the gripping hand 9 begins transferring the bagged package Bp from the first belt conveyor 4 to the second belt conveyor 10, it is preferable that the gripping hand 9 moves with the same velocity vector (direction and speed) as the first belt conveyor 4, and then performs a uniform circular motion that traces a semicircular trajectory. By performing such an action, the change in speed of the bagged package Bp being transferred while being gripped by the gripping hand 9 after being transported on the first belt conveyor 4 is minimized, and the change in speed during the uniform circular motion while being transferred in an arc is minimized, thereby reducing the risk of the product S contained in the bagged package Bp becoming unevenly distributed within the bag due to these changes.

[0037] When the transfer of the bag packaging Bp, gripped by the gripping hand 9, to the second belt conveyor 10 is complete, it is preferable that the gripping hand 9, in the final stage of its uniform circular motion, moves with the same velocity vector (direction and speed) as the second belt conveyor 10, and releases the bag packaging Bp in that state. By performing this operation, the change in speed when the bag packaging Bp, which has been conveyed while being gripped by the gripping hand 9, is transferred onto the second belt conveyor 10 is minimized, and the risk of uneven distribution of the product S contained in the bag packaging Bp due to this change can be reduced. When releasing the bag packaging Bp, it is preferable that the gripping hand 9 of the parallel link robot 6 lowers slightly to mitigate the impact when the gripped (suction-gripped) bag packaging Bp is placed on the conveying surface 10a of the second belt conveyor 10. The above combination of the conveying directions of the first and second belt conveyors 4 and 10 and the operation of the parallel link robot 6 is advantageous in reducing the load and damage placed on the bag packaging Bp.

[0038] While it is preferable to avoid abrupt changes in the velocity vector by making the trajectory of the gripping hand 9 a semicircular trajectory that is tangent to the transport of the bag packaging Bp when gripping and releasing the bag packaging Bp, it does not necessarily have to be a circular arc trajectory; an approximate trajectory consisting of a smooth curve close to a circular arc, such as an ellipse, may also be used. If the approximate trajectory is a smooth curve close to a circular arc, the radial and circumferential acceleration changes acting on the bag packaging Bp during transfer can be reduced. Even in this case, it is preferable to reduce the risk of uneven distribution of the product S contained in the bag packaging Bp by matching the movement speed of the gripping hand 9 when gripping and releasing the bag packaging Bp with the transport speed of the first belt conveyor 4 or the second belt conveyor 10.

[0039] Figure 4 shows examples of a packaging assembly and boxing device, specifically for bagged packages transported by a first conveying means and groups of bagged packages assembled on a second conveying means. As shown in Figure 4(a), the orientation of each bagged package Bp transported by the first belt conveyor 4 is such that, according to the manufacturing process in the bag-making, filling, and packaging machine 51, the center seal portion Sc extends in a direction along the transport direction of the first belt conveyor 4, and the end seal portions Se,Se extend in a direction perpendicular to the transport direction of the first belt conveyor 4. In Figure 4(b), the group of bagged packages Gbp assembled on the second belt conveyor 10 is shown as an accumulated bagged package group Gbp1, where the assembled state is an accumulated state.

[0040] As shown in Figure 4(b), when the parallel link robot 6 transfers the bagged packages Bp1 to Bp3 to the second belt conveyor 10, the bagged packages Bp2 and Bp3 being transferred are partially or completely overlapped with the bagged package Bp1 or Bp1 and Bp2 that have been transferred earlier. Therefore, the group of bagged packages here is the accumulated bagged package group Gbp1, which is a collection of these bagged packages Bp. The second belt conveyor 10 transports the bagged package group Gbp1 on the transport surface 10a to the boxing station 20 located at its downstream end.

[0041] The group of bagged packages Gbp1, which is in an accumulated state, consists of three bagged packages Bp1 to Bp3, as shown in Figure 4(b). The parallel link robot 6 sequentially accumulates the two consecutive bagged packages Bp1 and Bp2, which are transported by the first belt conveyor 4, so that when they are transferred to the transport surface 10a of the second belt conveyor 10, they are side by side and parts of their side portions overlap. For the third bagged package Bp3, the parallel link robot 6 transfers and accumulates it in a position perpendicular to the two previously transferred and accumulated bagged packages Bp1 and Bp2, and so that parts of its side portion overlaps with the vertical ends of these two bagged packages Bp1 and Bp2. While the parallel link robot 6 is transferring each bag package Bp1 to Bp3, the second belt conveyor 10 may continue its transfer operation. By controlling the transfer position and timing of each bag package Bp1 to Bp3 in the control of the parallel link robot 6, the bag packages are transferred and accumulated as a group Gbp1 having the accumulation configuration shown in the figure. The bag package group Gbp1 is transported by the second belt conveyor 10 in an accumulated state with the two bag packages Bp1 and Bp2 at the front and the third bag package Bp3 at the rear. Note that the illustrated example of the bag package group Gbp is just one example, and other accumulation configurations are also possible.

[0042] For the bag packaging group Gbp1, in which the bag packaging units Bp are gathered in an aggregated state, the conveying surface 10a of the second belt conveyor 10 is set to a height lower than the conveying surface 4a of the first belt conveyor 4 by the amount of height increase due to the accumulation of the bag packaging units Bp. That is, when the three bag packaging units Bp1 to Bp3 are each stacked on top of each other, the height of the bag packaging group Gbp can reach up to nearly three times the height of the bag packaging units Bp, so the height of the conveying surface 10a is set to be lower than the conveying surface 4a by the amount of this increase in height (ΔH; see Figure 3). With this height setting, when the parallel link robot 6 sequentially grips the bag packaging units Bp1 to Bp3 on the second belt conveyor 10 and releases them, placing them on the conveying surface 10a for transfer and accumulation, the bag packaging units Bp do not interfere with the bag packaging units Bp that have already been transferred and accumulated, and the bag packaging group Gbp1 is formed smoothly and appropriately. If the bagged packages Bp are simply packed together in a flat position without being stacked, the bagged packages Bp on the conveying surface 4a of the first belt conveyor 4 will be transferred to the conveying surface 10a of the second belt conveyor 10, which is at the same height. Therefore, the conveying surface 10a is set to the same height as the conveying surface 4a.

[0043] Below the second belt conveyor 10, a supply and transport line for corrugated cardboard boxes C used for packing bagged packages Bp is installed. Outside the machine frame 2, in an area adjacent to the downstream end of the second belt conveyor 10, is a stack 21 (see Figure 1) in which multiple folded corrugated cardboard boxes C are stacked horizontally in a vertically upright position. Near the stack 21 of corrugated cardboard boxes C is a box-making machine 22 that feeds out one folded corrugated cardboard box C from the stack 21 using a feeding means such as suction, and opens and forms it into a corrugated cardboard box C ready for packing. In the box-making machine 22, the folded corrugated cardboard box C is opened into a square shape, and the flap that will become the bottom of the box is then folded to form the bottom of the corrugated cardboard box C. The flap that will become the top of the box is kept open so that the bagged packages Gbp are filled from above. Once the cardboard boxes C are ready for packing, they are transported by a roller conveyor 23 (see Figure 3) as a box transport means to the packing station 20 via the space below the second belt conveyor 10.

[0044] As shown in Figure 3, at the boxing station 20, the bagged packaged goods Gbp that have been transported by the second belt conveyor 10 are grasped collectively by the boxing robot 30 and packed from above into the waiting corrugated cardboard boxes C that have been transported to the boxing station 20. The boxing robot 30 includes a vertical shaft 31 that extends in the vertical direction, a gripping part 32 attached to the lower end of the vertical shaft 31 that can grasp and release the bagged packaged goods Gbp, a vertical drive mechanism 33 that can reciprocate the vertical shaft 31 in the vertical direction, and a horizontal drive mechanism 34 that can move the vertical shaft 31, including the vertical drive mechanism 33, back and forth horizontally between an upper position above the downstream end of the second belt conveyor 10 and an upper position above the boxing station 20. The vertical drive mechanism 33 drives the vertical shaft 31 to grasp and lift the bagged package group Gbp at the downstream end of the second belt conveyor 10, packs the bagged package group Gbp into the waiting corrugated cardboard boxes C at the packing station 20, and then drives the vertical shaft 31 vertically to return to the top. The packing robot 30 packs several batches of bagged package group Gbp into the waiting corrugated cardboard boxes C. The packed boxed packages Cp are then sent by the boxed package delivery conveyor 35, which is a boxed package delivery means, to the box unloading station 36 located outside the machine frame 2.

[0045] In the assembly and boxing device 1, the space Sd below the second belt conveyor 10 (see Figure 3) is efficiently used for transporting corrugated cardboard boxes C to the boxing station 20 by the roller conveyor 23, and for transporting completed boxed packages Cp outside the machine frame 2. Even if the roller conveyor 23, which is a box feeding means, and the boxed package delivery conveyor 35, which is a boxed package delivery means, are added, it does not lead to an increase in the space of the assembly and boxing device 1, thus saving space. In the illustrated example, the boxed package delivery conveyor 35 is depicted as a belt conveyor, but it may also be constructed as a roller conveyor so that heavy boxed packages Cp can be delivered to the box unloading station 36 with little force. In addition, the space Sd below the second belt conveyor 10 can also be used to install the weight checker 62 and height measuring device 63 used in the example shown in Figure 9.

[0046] The roller conveyor 23 and the box packaging delivery conveyor 35 are arranged in the opposite direction to the transport direction of the second belt conveyor 10. The box packaging delivery conveyor 35 delivers box packaging Cp from the boxing station 20 in the opposite direction to the transport direction of the second belt conveyor 10, that is, in a direction parallel to the transport direction of bag packaging Bp by the first belt conveyor 4. Although the supply and transport line for corrugated cardboard boxes C itself is well known, when we focus on the transport of bag packaging Bp by the first belt conveyor 4 and the transport of box packaging Cp by the box packaging delivery conveyor 35 in the collection and boxing device 1, even though they are arranged in the opposite order to the transport direction of the second belt conveyor 10, the flow of bag packaging Bp and box packaging Cp within the factory in the entire line takes a natural form. Furthermore, once the boxed packages Cp are packed, they undergo post-processing such as shipping after the flaps are closed and the boxes are sealed as appropriate from the box unloading station 36. These processes, which are connected to the box unloading station 36, are also easily adapted to the layout of the assembly and boxing device 1.

[0047] Although the parallel link robot 6 basically handles only one bag package Bp or bag package group Gbp at a time, its high-speed operation allows it to repeat operations within a short predetermined time to operate as if handling multiple bag packages Bp at once (performing gripping, moving, releasing, and returning operations).

[0048] Figure 4(c) shows an example of a bag packaging group Gbp when multiple (four in the illustrated example) bag packaging bodies Bp1 to Bp4 are transferred and assembled onto the second belt conveyor 10, and the assembled state is a flat-lay state in which adjacent bag packaging bodies Bp are closely spaced and arranged. Further explanation of the center seal portion Sc and end seal portions Se,Se of each bag packaging body Bp is omitted. The bag packaging group at this time is a flat-lay bag packaging group Gbp2. To accommodate the assembled state of stacked state and flat-lay state, it is preferable to configure the system so that the position of the gripping device of the transfer and assembly means on the conveying surface can be controlled and switched as appropriate.

[0049] In the embodiment of the assembly and boxing apparatus shown in Figures 1 to 3, the buffer mechanism, the buffer conveyor 80, is a conventional belt conveyor equipped with a drive pulley 81, a driven pulley 82, and a conveyor belt 83, which is a single flat belt wrapped around both pulleys 81 and 82. The buffer conveyor 80 is arranged alongside the first belt conveyor 4 on the side opposite to the side where the second belt conveyor 10 is adjacent to the first belt conveyor 4. The height of the mounting surface 83a of the conveyor belt 83 of the buffer conveyor 80 may be the same as the height of the conveying surface 4a of the first belt conveyor 4. By driving the buffer conveyor 80, the position of the bagged packages Bp placed on the conveyor belt 83 is moved in the longitudinal direction of the buffer conveyor 80. The direction of movement of the bagged packages Bp by the buffer conveyor 80 may be the same as the conveying direction of the first belt conveyor 4, or it may be the opposite direction. The buffer conveyor 80 drives the drive pulley 81, causing the bagged packages Bp placed on the conveyor belt 83 to move together with the conveyor belt 83. Therefore, the buffer conveyor 80 itself acts as a position-changing means, changing the position of the waiting bagged packages Bp along the longitudinal direction of the buffer conveyor 80. The buffer conveyor 80 functions to eliminate the excess bagged packages Bp transported by the first belt conveyor 4 and to eliminate the shortage of bagged packages Bp on the second belt conveyor 10.

[0050] In relation to the first belt conveyor 4, as shown in Figures 1 and 2, a packaging pitch detection means 85 for the bag packaging Bp is positioned just before it enters the machine frame 2. The packaging pitch detection means 85 is, for example, a sensor capable of detecting the bag packaging Bp from the side at the loading end of the first belt conveyor 4 as it is loaded, and is capable of detecting the pitch P in the transport direction of the bag packaging Bp being transported to the first belt conveyor 4 based on the detection information. A packaging posture detection means 86 for the bag packaging Bp is positioned slightly upstream of the position where the parallel link robot 6 is installed. The packaging posture detection means 86 is, for example, a camera capable of photographing the bag packaging Bp being transported just before the parallel link robot 6 from above, and is capable of detecting the posture of the bag packaging Bp as it advances to just before the parallel link robot 6 (the inclination of the bag packaging Bp on the transport surface 4a of the first belt conveyor 4) based on the photographed information. Based on this photographic information, even if the orientation of the bag packaging Bp deviates from its original orientation, the gripping hand 9 of the parallel link robot 6 can grip the bag packaging Bp in a position corresponding to the detached orientation, and when transferring it to the buffer conveyor 80 or the second belt conveyor 10, it can correct the bag packaging Bp to its original orientation and transfer it accurately.

[0051] Figure 5 illustrates the process of transferring bagged packages from the first belt conveyor 4 to the buffer conveyor 80 to create a waiting area for the bagged packages, and then transferring them from the buffer conveyor 80 to the second belt conveyor 10 to replenish the bagged packages, as shown in Figures 1 to 3 of the assembly and boxing apparatus. Figure 5(a) illustrates the process of transferring surplus bagged packages Bp from the first belt conveyor 4 to the buffer conveyor 80 to create a waiting area for the bagged packages Bp on the buffer conveyor 80. Figure 5(b) illustrates the process of transferring bagged packages Bp from the buffer conveyor 80 to the second belt conveyor 10 to replenish the insufficient bagged packages on the second belt conveyor 10. In the assembly and boxing apparatus 1, one end region 84 of the buffer conveyor 80 is located within the working area of ​​the parallel link robot 6, that is, within the range reachable by the gripping head 9 (the area roughly indicated by the solid circle; the same applies to Figures 6 to 8). This configuration allows the parallel link robot 6 to transfer the bagged packages Bp between the first belt conveyor 4 and the buffer conveyor 80, or between the buffer conveyor 80 and the second belt conveyor 10.

[0052] If the packaging pitch detection means 85 detects that there are too many bagged packages Bp being transported by the first belt conveyor 4 to be assembled as a group of packaged packages Gbp, and it is deemed preferable to have the surplus bagged packages Bp wait on the buffer conveyor 80, the following operation as shown in Figure 5(a) is performed. First, if there are one or more bagged packages Bp already waiting in the buffer conveyor 80, the bagged packages Bp are moved in the opposite direction (direction D) to the conveying direction of the first belt conveyor 4. The bagged packages Bp are then kept waiting in the buffer conveyor 80 while maintaining predetermined equal intervals Pb. In the buffer conveyor 80, a transfer position (completion position of waiting transfer) P1 is set for the position control of the gripping head 9 of the parallel link robot 6, where the gripping head 9 releases a new bagged package Bp. The transfer position P1 is adjusted to be a position where a predetermined interval Pb is placed upstream of the bagged package Bp that was transferred before it. Through this operation of the buffer conveyor 80, an empty space Sv is secured at the transfer position P1 that does not hinder the transfer of newly waiting bagged packages Bp. The gripping head 9 of the parallel link robot 6 grips any excess bagged packages Bp on the first belt conveyor 4, and the bagged packages Bp are moved to a transfer position P1 which is an empty space Sv on the conveyor belt 83 of the buffer conveyor 80. At the transfer position P1, the gripping head 9 releases the bagged packages Bp, and the bagged packages Bp are moved onto the mounting surface 83a of the conveyor belt 83 of the buffer conveyor 80 and stored in a standby state.

[0053] If the packaging pitch detection means 85 detects that there are insufficient bagged packages Bp being transported by the first belt conveyor 4 to be assembled as a group of packaged packages Gbp, and it is deemed preferable to return the bagged packages Bp directly from the buffer conveyor 80 to the second belt conveyor 10 for assembly, the following operation as shown in Figure 5(b) is performed. The bagged packages Bp waiting on the buffer conveyor 80 are moved in the opposite direction to the direction D (direction E). On the buffer conveyor 80, a transfer position (starting position for replenishment transfer) P2 is set for the gripping head 9 of the parallel link robot 6 to grip the bagged packages Bp. The bagged package Bp that most recently became available among the waiting bagged packages Bp (the bagged package Bp located at the leading edge in direction E among the group of bagged packages Bp waiting on the buffer conveyor 80) is moved to the transfer position P2 by the operation of the buffer conveyor 80 in order to be adapted to being gripped by the gripping head 9 of the parallel link robot 6. The bagged packages Bp that have been moved to the transfer position P2 are grasped by the gripping head 9 of the parallel link robot 6 and transferred directly to the second belt conveyor 10, replenishing the bagged packages Bp that were insufficient to form the bagged package group Gbp. The replenished bagged packages Bp gather together with other bagged packages Bp on the second belt conveyor 10 to form the bagged package group Gbp.

[0054] In the buffer conveyor 80, as described above, transfers are made to the buffer conveyor 80 for waiting and transfers are made from the buffer conveyor 80 to replenish any shortages, on a unit of one bag package Bp. This prevents the cyclical impact on the collection of bag package Bp and the subsequent transport and boxing of the bag package group Gbp caused by an excess or shortage of bag package Bp transported by the first belt conveyor 4, and ensures that bag package Bp are accurately collected and transported over a long period of time. Furthermore, in the buffer conveyor 80, a transfer position P1 is set where the parallel link robot 6 releases gripping of the bag package Bp in order to have the bag package Bp waiting on the buffer conveyor 80, and a transfer position P2 is set where the bag package Bp is gripped in order to replenish the bag package Bp on the second belt conveyor 10. Transfer positions P1 and P2 may be set to different fixed positions by controlling the drive pulley 81 of the buffer conveyor 80, but from the viewpoint of simplifying the position control of the gripping head 9 of the parallel link robot 6, it is preferable that they be set to the same fixed position on the buffer conveyor 80. Similarly, from the viewpoint of drive control of the buffer conveyor 80, it is preferable that the waiting bag packaging bodies Bp be placed regularly at equal intervals (predetermined intervals Pb) in the longitudinal direction on the conveyor belt 83. The placement position of the waiting bag packaging bodies Bp on the buffer conveyor 80 is adjusted and changed by driving the buffer conveyor 80 each time the bag packaging bodies Bp are waiting from the first belt conveyor 4 or replenished to the second belt conveyor 10, and according to the conveying status of the bag conveying bodies Bp on the first belt conveyor 4.

[0055] The gripping head 9 of the parallel link robot 6 does not need to reach all parts of the buffer conveyor 80. As long as the buffer mechanism, such as the buffer conveyor 80, can move the bag packaging Bp through its operation, it is sufficient for the gripping head 9 to reach any part within the range of movement of the bag packaging Bp. In the buffer conveyor 80, it is preferable that the waiting configuration of the bagged packages Bp be arranged in a regular pattern with equal intervals and the same orientation. This arrangement simplifies the position control of the parallel link robot 6 for gripping and releasing, as well as the movement control of the gripping heads 9 waiting in the buffer conveyor 80. It is difficult to determine in advance whether the waiting of bagged packages Bp on the buffer conveyor 80 is temporary or not. Even if they wait for a long period of time, they may eventually be discharged from the system. Therefore, for example, if the surplus bagged packages Bp increase because they cannot be used for replenishment, the buffer conveyor 80 can be driven beyond the normal range of position changes, and the buffer conveyor 80 can also be used as a means to discharge the waiting bagged packages Bp from the conveying, assembling, and boxing lines, starting with the oldest manufactured ones.

[0056] Figure 6 shows a modified example of the packaging assembly and boxing device according to this invention, where the buffer mechanism is composed of a belt conveyor. In the modified example shown in Figure 6(a), the buffer mechanism 90 is a belt conveyor in which multiple conveyor belts 91, 92… are arranged in multiple parallel rows adjacent to the first belt conveyor 4. With a single conveyor belt, the length and stroke are finite, and increasing the conveyor length may result in a large installation space. However, by arranging them in multiple rows, the storage capacity of bagged packaging Bp can be increased while considering the installation space. Each of the conveyor belts 91, 92… may be equivalent to the buffer conveyor 80 shown in Figures 1 and 2, but at least a portion of each should extend within the range reach of the gripping body 9 of the parallel link robot 6. When the amount of excess bagged packages Bp or the amount of bagged packages Bp to be replenished increases on the conveyor belt 91, which is located closest to the first belt conveyor 4, and it becomes unable to process them, the adjacent conveyor belts 92... are used in the same manner as conveyor belt 91.

[0057] In the modified buffer mechanism shown in Figure 6(b), newly placed bagged packages Bp on the buffer conveyor 95 are placed in a sashimi arrangement, partially overlapping the bagged packages Bp already waiting on the mounting surface 96a of the conveyor belt 96 of the buffer conveyor 95. By placing them in a sashimi arrangement, the buffer capacity of the buffer conveyor 95, which has a conveyor belt 96 of finite length, can be increased. The bagged packages Bp replenished from the buffer conveyor 95 are placed in reverse order from the newly placed bagged packages Bp.

[0058] In the above example, the buffer conveyor 80 replenishes the most recently waiting bagged packages Bp, but from the viewpoint of manufacturing timing management, it may be preferable to replenish the bagged packages Bp that have been waiting longer and have been waiting longer. In the modified example shown in Figure 7, the buffer mechanism 100 consists of two belt conveyors 101 and 102 that are connected in series along the conveying direction of the first belt conveyor 4 and arranged side by side so that bagged packages Bp can be transferred between them. One of the two belt conveyors 101 and 102 (for example, belt conveyor 101) is a belt conveyor that functions only in the direction of sequentially waiting for bagged packages Bp from the first belt conveyor 4 to be put into storage, and the other belt conveyor (belt conveyor 102) is a belt conveyor that functions only in the direction of replenishing the waiting bagged packages Bp to the second belt conveyor 10 (Figure 7(a)). Several bagged packages Bp are placed on belt conveyor 102 in advance for replenishment.

[0059] The transfer position P1 for waiting for the bagged packages Bp on one belt conveyor (the position where the gripping body of the transfer / assembly means releases the bagged packages Bp) and the transfer position P2 for replenishing the bagged packages Bp on the other belt conveyor (the position where the gripping body of the transfer / assembly means grips the bagged packages Bp) can be set in close proximity to each other, thus providing a favorable arrangement relationship with the working range of the parallel link robot 6, which is the transfer / assembly means. When the belt conveyor 101 reaches its waiting limit for bagged packages Bp, or when the bagged packages Bp on the belt conveyor 102 are completely replenished (Figure 7(b)), the bagged packages Bp that were waiting and stored on the belt conveyor 101 are transferred to the belt conveyor 102 as indicated by arrow J and provided as replenishment bagged packages Bp (Figure 7(c)). The process of transferring bagged packages Bp that were waiting and stored on the belt conveyor 101 to the belt conveyor 102 as replenishment bagged packages Bp is repeated in the same manner. When the belt conveyor 101 reaches its waiting limit for bagged packages Bp, if there are any bagged packages Bp remaining on the belt conveyor 102, the remaining bagged packages Bp are discharged from the system. By configuring and operating the buffer mechanism 100 in this manner, the width of the buffer mechanism 100 can be set to the same extent as the conveyor width of the belt conveyors 101 and 102, thereby minimizing the increase in space required, and allowing the buffer mechanism 100 to continue functioning for a long period of time. Furthermore, the bagged packages Bp transferred from belt conveyor 101 to belt conveyor 102 can be used for replenishment in order of the earliest-to-be-available, i.e., the oldest-to-be-manufactured, which is also preferable from the standpoint of manufacturing management of the waiting bagged packages Bp. The control of transferring the packaged packages Bp is substantially the same as in the cases of Figures 5(a) and (b), so a similar explanation will be omitted.

[0060] Figure 8 shows a package assembly and boxing device according to the present invention, in which the buffer mechanism 110 has a curved ended travel path that is at least partly curved, and the bagged packages transferred from the first belt conveyor 4 to the travel path are held there, and then moved further along the travel path so that they can be transferred to the second belt conveyor 10 for replenishment. The buffer mechanism 110 shown in Figure 8(a) is a hybrid conveyor composed of a combination of belt conveyor sections 111 and 112 having straight travel paths and a curved conveyor section 113 having a curved travel path. The buffer mechanism 110 is configured such that the part into which the bagged packages Bp are transferred for waiting is the belt conveyor section 111, the part into which the bagged packages Bp are transferred for replenishment is the belt conveyor section 112, and both ends of the curved conveyor section 113 are connected to both belt conveyor sections 111 and 112, respectively. It is preferable to pre-place several replenishment bagged packages Bp on the replenishment belt conveyor section 112. Both belt conveyor sections 111 and 112 can be driven independently of each other and independently of the curved conveyor section 113. The curved conveyor section 113 can wait for, store, move, and send the bagged packages Bp sent from the belt conveyor section 111 to the belt conveyor section 112.

[0061] The bagged packages Bp transferred on the standby belt conveyor section 111 are further moved to the curved conveyor section 113 for standby and storage. When bagged packages Bp are needed for replenishment, they are moved from the curved conveyor section 113 to the replenishment belt conveyor section 112 as replenishment bagged packages Bp. In this example, the bagged packages Bp transferred on the standby belt conveyor section 111 are moved to the replenishment belt conveyor section 112 in order of their standby time, and are used for replenishment, which is convenient for manufacturing management of bagged packages Bp.

[0062] The conveyor used in the curved conveyor section 113 can be a conventionally known structure that can be installed in a small space, such as a curved roller conveyor, a curved belt conveyor, or a top plate conveyor. The curved conveyor section 113 only needs to have a curved travel path in part, and may include a straight travel path section. Rather, from the viewpoint of saving installation space, the curved conveyor section 113 can be composed of curved conveyor sections 113a and 113b that provide semicircular travel path sections connected to belt conveyors 111 and 112 at both ends, as shown in the figure, and a straight conveyor section 113c (a belt conveyor section parallel to the first belt conveyor 4, with a relatively long travel path section that can hold and store a large number of bagged packages Bp) that connects both curved conveyor sections 113a and 113b. These conveyor sections 113a to 113c can each be controlled independently from the viewpoint of controlling the waiting and replenishment of the bagged packaging Bp. The transfer positions P1 and P2 for waiting and replenishment are preferably set as fixed positions on the belt conveyors 111 and 112 which have straight movement paths.

[0063] As shown in Figure 8(b), the buffer mechanism 120, as in the example shown in Figure 8(a), can be configured as a single, seamless straight belt conveyor section 121, instead of the straight belt conveyor sections 111 and 112 shown in Figure 8(a). In this case, the transfer position P1 for standby from the first belt conveyor 4 and the transfer position P2 for replenishment to the second belt conveyor 10 can be at different positions, as in the example shown in Figure 8(a), but they can also be set to the same position, as shown in Figure 8(b). In either case, by driving the single straight belt conveyor section 121, including the transfer positions P1 and P2, in the forward or reverse direction, and combining this with the drive control of the curved conveyor section 113 which is independent of it, the drive control for standby and replenishment of the bagged packages Bp and the position control for transfer can be performed with high precision, and the bagged packages Bp that have been transferred for standby can be used for replenishment directly from the single straight belt conveyor section 121, or they can be used for replenishment after circling the movement path.

[0064] Another embodiment of the buffer mechanism is a turret (turntable). When the buffer mechanism is a turret, the buffer configuration ensures that the bagged packages that are previously placed in standby mode are allocated for replenishment first. The turret is rotated according to standby and replenishment, and control is performed to align the transfer position P1 of the space to be standby or the transfer position P2 for replenishment on the turret with the gripping and release positions of the parallel link robot 6. Yet another embodiment of the buffer mechanism is a parts feeder in which bagged packages are sequentially fed out first by vibration. The bagged packages to be standby are released by the parallel link robot at the center position of the parts feeder, and then moved along the outer circumference towards the front of the return replenishment by vibration. When using a parts feeder, it is preferable that the contents (packaged goods) are not damaged by vibration. Furthermore, when a buffer mechanism such as a turret or parts feeder is adopted, from the standpoint of saving space, the standby transfer position P1 and the replenishment transfer position P2 are arranged on the side outside the first belt conveyor 4 so that the parallel link robot 6 can access them, while most of the turret or parts feeder body can be placed in the space below the first belt conveyor 4 or the second belt conveyor 10. Moreover, considering space, the buffer mechanism can also be configured by arranging multiple belt conveyors in an up-and-down direction and arranging them so as to be able to move up and down relative to the first belt conveyor 4.

[0065] The above describes an embodiment of the packaging assembly and boxing device according to the present invention, but various modifications are possible. Regarding the gripping and releasing of the packaging, it is not only possible for the transfer and assembly means to operate, but also for them to cooperate with a buffer mechanism. That is, the gripping and releasing positions that the gripping head can reach are fixed, and the buffer mechanism is activated to move the packaging and the empty space between the packaging, but the gripping and releasing positions may also be changed within the range that the robot can reach depending on the state of the packaging stored in the buffer mechanism. Furthermore, both operations may be performed in cooperation to perform gripping and releasing. As an example of a means for changing the position of a bagged package, a conveyor belt or similar means was given in the explanation. However, the means for placing the packaged package is not a transport means; the packaged package placed on a placement plate may be repositioned by another means such as a pusher. Furthermore, the packages from the buffer mechanism can be returned to the first transport means instead of the second transport means. For example, the buffer mechanism can replenish the first transport means with any missing packages, and the packages on the first transport means can be grasped collectively and then transferred to the second transport means for collection. While bag packaging was mentioned as an example of packaging, it is not limited to this; any general packaging that can be grasped by a parallel link robot is acceptable. [Explanation of Symbols]

[0066] 1. Assembly and boxing machine 2. Machine frame 3. Inclined belt conveyor 4. First belt conveyor 4a. Conveying surface 5 Transfer / assembly station 6 Parallel link robot 7 Manipulators 8a, 8b, 8c Parallel Link 9. Gripping Hand 10. Second belt conveyor 10a Conveying surface 20 Packing stations 21 Stacks 22 Box-making machine 23 Roller conveyor 30 Packing robot 31 Vertical axis 32 Gripping part 33 Up / down drive mechanism 34 Horizontal drive mechanism 35 Box packaging delivery conveyor 36 Box Removal Station 50 Cardboard box packing system 51 Vertical bag making, filling and packaging machine 52 Former 53 Filling tube 54 Vertical sealing device 55 Horizontal sealing device 56 Discharge Chute 60 Upward inclined conveyor 61 Upward belt conveyor 62 Weight checker 63 Height measuring device 70. Collecting and conveying device 71. Packing station 72 Input device 73 Box conveyor 74 Box input section 75 Cardboard box sealing machine 76 Box packaging inversion device 77 Box packaging unloading conveyor 80 Buffer conveyor 81 Drive pulley 82 Driven pulley 83 Conveyor belt 83a Mounting surface 84 End area 85 Packaging pitch detection means 86 Packaging posture detection means 95 Buffer Conveyor 96 Conveyor belt 96a Mounting surface 100 Buffer mechanism 101,102 Belt conveyor 110 Buffer mechanism 111,112 Belt conveyor section 113 Curved conveyor section 113a,113b Curved conveyor section 113c Straight conveyor section 120 Buffer mechanism 121 Belt conveyor section Fr Packaging Material Roll Fw Strip packaging material Ft Cylindrical packaging material Sc Center seal section Se,Se End seal section S Product Bp,Bp1,Bp2,Bp3 Bag packaging Gbp bag packaging group Gbp1: Group of stacked bag packaging units Gbp2: Group of flat-lay bag packaging units C cardboard box Cp box packaging Sd Lower space Sv Empty space D, E, J Buffer conveyor movement direction Pb packaging Bp pitch in the transport direction P1 Transfer position (release of grip for temporary waiting) P2 Transfer position (gripping for replenishment)

Claims

1. A first conveying means for conveying packaged bodies manufactured and discharged by a packaging machine, A second conveying means is arranged to the side and adjacent to the first conveying means, The transfer and assembly means includes a gripping body capable of gripping or releasing the aforementioned packaging body, and transfers the packaging body that has been transported by the first transport means to the second transport means by operating the gripping body, and during the transfer, the transfer and assembly means collects the multiple packaging bodies that have been transferred to the second transport means as a group of packaging bodies. A packing means is positioned adjacent to the downstream end in the transport direction of the second transport means, and fills the group of packages that have been transported to the downstream end by the second transport means into a box in one batch, group by group, and A buffer mechanism is positioned adjacent to the first transport means on the side opposite to the second transport means and capable of storing a plurality of the packages. It is equipped with, The transfer and collection means, in response to an excess of packages being transferred from the first transport means, transfers the surplus packages to the buffer mechanism for standby and storage, and in response to a shortage of packages being transferred from the first transport means, transfers the packages stored in the buffer mechanism to the second transport means to replenish the shortage of packages. A packaging assembly and boxing device equipped with a buffer function.

2. The buffer mechanism includes a package position changing means for changing the position of the package stored in the buffer mechanism in order to secure a transfer destination space when transferring the package from the first transport means and a source package when transferring the package to the second transport means at predetermined positions. A packaging assembly and boxing apparatus equipped with a buffer function according to claim 1, comprising the above.

3. The transfer and assembly means is a parallel link robot equipped with a gripping device for gripping the packaged body at the tip of the parallel link. A packaging assembly and boxing apparatus equipped with a buffer function as described in claim 1.

4. The buffer mechanism is a belt conveyor arranged in a single row adjacent to the first conveying means, or arranged in multiple rows side by side. A packaging assembly and boxing apparatus equipped with a buffer function according to claim 1, comprising the above.

5. The aforementioned belt conveyor consists of two belt conveyors arranged in series in the conveying direction of the first conveying means and positioned so that the packaged items can be transferred between them. A packaging assembly and boxing apparatus equipped with a buffer function according to claim 4.

6. The buffer mechanism is a curved conveyor having an endless or ended travel path that is curved in part, with one end and the other end positioned close together and facing each other, and waiting and storing the surplus packages in the first conveying means in the travel path, and transferring the packages waiting and stored in the travel path to the second conveying means to replenish any shortage of packages in the first conveying means. A packaging assembly and boxing apparatus equipped with a buffer function according to claim 1, comprising the above.

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