Bag Processing System

Abstract

To provide a bag processing system advantageous to suppress swinging of liquid in a bag during transportation.SOLUTION: A bag processing system has: a transport mechanism having multiple support devices 21a capable of supporting and releasing a bag B and a transport driving device moving the multiple support devices 21a intermittently; a liquid injecting device injecting liquid L into the bag B supported by the multiple support devices 21a; and a transport control device controlling the transport driving device. The transport driving device moves the multiple support devices 21a in such a way that the multiple support devices 21a show the same speed increase / decrease behavior among them. The transport control device controls the transport driving device, and increases / decreases the speed of the multiple support devices 21a to thereby reduce swinging of the liquid L in the bag B.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a bag processing system. [Background technology]

[0002] A bag processing system is known which continuously transports a large number of bags, intermittently stopping each bag at multiple stations located along the transport path to perform various processes (e.g., bag opening, content introduction, sealing, etc.) (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-8726 A [Patent Document 2] JP 2009-298418 A [Patent Document 3] Publication number 5-28169 [Patent Document 4] Japanese Patent Application Publication No. 6-156440 [Patent Document 5] JP 2000-318834 A [Patent Document 6] JP 2002-302227 A Summary of the Invention [Problem to be solved by the invention]

[0004] When liquid is poured into a bag in a bag processing system, the liquid in the bag shakes while the bag is being transferred. If the liquid in the bag shakes violently during transfer of the bag, the liquid may adhere to the mouth of the bag (e.g., the part to be sealed) or splash out of the bag.

[0005] In particular, high speed transport of bags is often required to improve productivity, but as the acceleration and deceleration of the bag transport increases, a large force of inertia acts on the liquid in the bag, causing the liquid to easily shake violently.

[0006] If the liquid in the bag shakes violently and adheres to the sealing area, the sealing process may not be performed properly, and product bags with poor sealing may be manufactured. Also, if the liquid splashes out of the bag, the splashed liquid may contaminate the processing system or the amount of liquid injected into the bag may be insufficient.

[0007] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a technology that is advantageous for suppressing the shaking of liquid in a bag. [Means for solving the problem]

[0008] One aspect of the present disclosure relates to a bag processing system comprising a transport mechanism having a plurality of support devices capable of supporting and releasing bags and a transport drive device that intermittently moves the plurality of support devices, a liquid injection device that injects liquid into bags supported by the plurality of support devices, and a transport control device that controls the transport drive device, wherein the transport drive device moves the plurality of support devices so that the plurality of support devices exhibit the same acceleration and deceleration behavior between each other, and the transport control device controls the transport drive device to accelerate and decelerate the plurality of support devices so as to reduce swaying of the liquid within the bags.

[0009] At least a portion of the movement trajectory of the bag supported by the multiple support devices includes a non-linear trajectory, and the transfer control device may control the transfer drive device to accelerate and decelerate the multiple support devices so as to reduce swaying of liquid within the bag while the bag moves along at least a portion of the non-linear trajectory.

[0010] The bag processing system may include a vibration suppression guide that suppresses vibration of the bags supported by the multiple support devices due to centrifugal force.

[0011] The multiple support devices have multiple holding portions that hold bags, and the transfer control device controls the transfer drive device to stop the multiple support devices sequentially and intermittently at the multiple stations, and three or more support devices may be stopped at each of the multiple stations at once. Effect of the Invention

[0012] The present disclosure is advantageous in reducing sloshing of the liquid within the bag. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a plan view showing a schematic configuration of an example of a bag processing system. [Diagram 2] FIG. 2 illustrates a partial cross-sectional view of an example bag processing system at a liquid injection station. [Diagram 3] FIG. 3 illustrates a partial cross-sectional view of an example bag processing system at a first sealing station. [Figure 4] FIG. 4 is a plan view showing a schematic configuration of another example of the bag processing system. [Diagram 5] FIG. 5 is a side view of the conveying device of the bag processing system shown in FIG. [Figure 6] FIG. 6 is a diagram showing an example of the state of the liquid in the bag over time when acceleration / deceleration control of the bag is performed according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing an example of the state of the liquid in the bag over time when no acceleration / deceleration control of the bag is performed according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] An embodiment of the present disclosure will be described with reference to the drawings. First, a typical example of a bag processing system to which the technology of the present disclosure can be applied will be described with reference to Figures 1 to 5, and then a specific technology for suppressing swaying of liquid in a bag during bag transfer will be described with reference to Figures 6 and 7.

[0015] Fig. 1 is a plan view showing a schematic configuration of one example of a bag processing system 10. Fig. 1 shows only a part of the bag processing system 10, and does not show, for example, devices provided above the turntable 29. Examples of devices provided above the turntable 29 will be described later with reference to Figs. 2 and 3.

[0016] The bag processing system 10 comprises a rotating table 29 that rotates intermittently around a central axis (rotation axis Ax), and a plurality of support units (not shown in Figure 1; see reference numeral "21" in Figure 2) attached at equal intervals (equal angular intervals) to the outer periphery of the rotating table 29.

[0017] The turntable 29 repeatedly rotates and stops at a predetermined angle. The support units move intermittently along a circular movement path in accordance with the intermittent rotation of the turntable 29. While the support units make one rotation along the movement path, they stop sequentially at bag supply station S1 to bag release station S9 together with the bags they support.

[0018] Therefore, the bags supported by the support devices of each support unit move along a circular orbit (non-linear orbit) in accordance with the intermittent rotation of the turntable 29, and stop intermittently at bag supply station S1 to bag release station S9. At each of stations S1 to S9, the following process is carried out.

[0019] At bag feeding station S1, a conveyor magazine type bag feeding device 11 is disposed which supplies bags to the support units, and the bag feeding process is carried out by bag feeding device 11. The bags supplied from bag feeding device 11 are held by both side edges near the mouth by support units which stop intermittently at bag feeding station S1, and are hung with the mouth facing upward. In the example shown in Fig. 1, each support unit has four gripper pairs as the support device, and bag feeding device 11 supplies four bags to each support unit at a time, and the four bags are gripped by each of the four gripper pairs.

[0020] An opening device 12 is disposed in the opening station S2, and the opening process is performed by the opening device 12 to open the mouths of the bags supported by the support units. The opening device 12 has a pair of suction cups that can move toward and away from each other. The opening device 12 shown in Fig. 1 has four suction cup pairs and can open the mouths of four bags held by each support unit (four gripper pairs) at once.

[0021] A solid material injection device 13 having a rising and lowering hopper is disposed in the solid material injection station S3, and a solid material injection process is performed in which the contents (particularly solid materials (see symbol "S" in FIG. 2)) are injected into the inside of the bag by the solid material injection device 13. The contents supplied from a solid material supply unit (not shown) are guided by the hopper and injected into the inside of the bag through the mouth.

[0022] A liquid injection device 14 having a rising and lowering injection nozzle is disposed in liquid injection station S4, and a liquid injection process is performed in which contents (particularly liquid) are injected into the inside of the bag by liquid injection device 14. The injection nozzle is disposed at a retracted position where the entire injection nozzle is positioned outside the bag, and at an injection position where the tip of the injection nozzle is positioned inside the bag, and sprays liquid into the bag at the injection position.

[0023] In degassing station S5, a steam degassing device 15 having a blowing nozzle is disposed, and a degassing process is performed in which steam is blown into the inside of the bag by steam degassing device 15. Steam supplied from a steam supply unit (not shown) is ejected from the blowing nozzle and blown into the inside of the bag. In degassing station S5, the distance between the grippers is widened, the mouth of the bag is tensioned, and the opening area of ​​the mouth is reduced.

[0024] The first sealing station S6 is provided with a first sealing device 16 having a first seal heating unit (e.g., a pair of hot plates) that opens and closes, and the first sealing device 16 performs a first sealing process of sealing the bag (particularly the mouth portion).

[0025] A second sealing device 17 having a second seal heating unit (e.g., a pair of hot plates) that opens and closes is disposed in the second sealing station S7, and the second sealing device 17 performs a second sealing process of sealing the bag (particularly the mouth portion).

[0026] Cooling station S8 is provided with a cooling device 18 having a cooling unit (for example, a pair of cooling plates) that opens and closes, and the cooling device 18 performs a seal portion cooling step in which the bags (particularly the sealed portions) are cooled.

[0027] A bag discharge device 19 is disposed in the bag discharge station S9, and a product bag discharge process is performed in which bags with contents sealed inside (i.e., product bags) are discharged by the bag discharge device 19. When the clamping portions of each gripper pair are opened in the bag discharge station S9, the bag (product bag) is released from the gripper pair and falls under the influence of gravity to land on the conveyor of the bag discharge device 19, and is sent downstream by the conveyor.

[0028] The liquid injection station S4, the degassing station S5 and the first sealing station S6 are provided with a vibration suppression guide 28. The vibration suppression guide 28 physically suppresses movement (vibration) of the bags supported by the multiple gripper pairs due to centrifugal force. Therefore, the vibration of each bag transported by the gripper pair is suppressed by the vibration suppression guide 28 due to centrifugal force from the time when the liquid is injected by the liquid injection device 14 until the mouth of the bag is sealed by the first sealing device 16. Since the vibration suppression guide 28 suppresses the vibration of the liquid in the bag, it is possible to effectively prevent the liquid from adhering to the mouth of the bag (e.g., the part to be sealed) and the liquid from splashing out of the bag.

[0029] 1 is fixedly installed outside the movement path (circular path) of the gripper pair and bag in the radial direction of turntable 29 (i.e., the direction of centrifugal force), and suppresses the shaking of the bag by contacting the side of the bag (particularly the radially outer side). This shaking suppression guide 28 may be provided in a position where it is always in contact with the bag moving along the path, or it may be provided in a position where it does not come into contact with bags that do not shake in the radial direction but does come into contact with bags that shake significantly in the radial direction.

[0030] The vibration suppression guide 28 is not limited to the structure shown in Fig. 1. For example, two vibration suppression guides 28 may be installed on the radially outer side and the radially inner side of the bag moving along the track. In this case, not only the vibration (movement) of the bag in the radially outward direction but also the vibration of the bag in the radially inward direction is suppressed by the vibration suppression guide 28.

[0031] The vibration suppression guides 28 may also be provided in positions that support the bags moving along the track from below. For example, a vibration suppression guide 28 having an inclined surface on which the bag is placed while contacting the radially outer side surface of the bag, and a vibration suppression guide 28 having an inclined surface on which the bag is placed while contacting the radially inner side surface of the bag, may be provided. In this case, the bag is placed on the inclined surfaces of the two vibration suppression guides 28 and moves between adjacent stations with vibration in the radial direction suppressed.

[0032] Furthermore, the vibration suppression guide 28 may be provided so as to be movable together with the bag. For example, when the bag moves intermittently between adjacent stations, the vibration suppression guide 28 may move intermittently together with the bag between the adjacent stations. In this case, the vibration suppression guide 28 may return to the upstream station while the bag is intermittently stopped at the downstream station, and then move intermittently to the downstream station together with a bag newly placed at the upstream station.

[0033] For example, the bag processing system 10 shown in Fig. 1 may be provided with one or more first vibration suppressing guides 28 that reciprocate between the liquid injection station S4 and the degassing station S5, and one or more second vibration suppressing guides 28 that reciprocate between the degassing station S5 and the first sealing station S6. In this case, bags moving from the liquid injection station S4 to the degassing station S5 can move intermittently together with the first vibration suppressing guides 28. Also, bags moving from the degassing station S5 to the first sealing station S6 can move intermittently together with the second vibration suppressing guides 28.

[0034] The vibration suppression guide 28 may be provided integrally with the gripper pair. For example, the vibration suppression guide 28 may be provided integrally with the clamping portion of each gripper, and extend downward (i.e., vertically) from the clamping portion. In this case, the vibration suppression guide 28 can suppress the vibration of the portion of the bag that is located below the clamping portion of the gripper.

[0035] The vibration suppression guide 28 provided integrally with the clamping portion of each gripper may be provided to open and close together with the clamping portion. In this case, the vibration suppression guide 28 may clamp the bag so as to compress the bag (for example, the side edge portion (seal portion)), or may limit the radially outward and radially inward movement of the bag without compressing the bag. When the vibration suppression guide 28 clamps the bag so as to compress it, the bag is also supported by the vibration suppression guide 28, and the vibration of the bag in the radial direction can be more reliably suppressed. On the other hand, when the bag is positioned between the vibration suppression guide 28 located on the radially inner side of the bag and the vibration suppression guide 28 located on the radially outer side of the bag, but the bag is not compressed by these vibration suppression guides 28, it is possible to prevent a decrease in the gripping force of the clamping portion (i.e., the force applied to the bag from the clamping portion) and also to prevent the vibration suppression guide 28 from reducing the volume inside the bag.

[0036] The various devices included in the bag processing system 10 may be driven under the control of a control device (not shown), or may be driven independently without being controlled by the control device. Two or more devices driven under the control of a control device may have their drive timing adjusted by the control device so that they are driven in coordination with each other.

[0037] Figure 2 shows a partial cross-sectional view of an example of a bag processing system 10 at a liquid injection station S4. Figure 3 shows a partial cross-sectional view of an example of a bag processing system 10 at a first sealing station S6.

[0038] 2 and 3, a cylindrical stand 31 is fixedly attached to a first frame 51, and a rotary support shaft portion 35 is rotatably provided on the inside of the stand 31 via a hollow shaft 32. More specifically, the hollow shaft 32 is rotatably supported by the inside of the stand 31 via a bearing, and the rotary support shaft portion 35 is rotatably supported by the inside of the hollow shaft 32 via a bearing.

[0039] A drive gear 40 is fixed to the lower end of the rotation support shaft 35. The drive gear 40 is connected to a gear of a transfer drive device 22 (in this example, the transfer drive device 22 fixedly supported by the second frame 52) installed between the first frame 51 and the second frame 52. The transfer drive device 22 in this example transmits rotational power to the drive gear 40, and the power is transmitted to each gripper pair (support device) 21a of the support unit 21 via the drive gear 40, the rotation support shaft 35, and the rotary table 29.

[0040] The transfer drive device 22, under the control of the transfer control device 30, intermittently moves the multiple gripper pairs 21a attached to the turntable 29, and the multiple gripper pairs 21a move integrally so as to exhibit the same acceleration and deceleration behavior among each other. In other words, the transfer control device 30 controls the transfer drive device 22 to intermittently transfer the multiple gripper pairs 21a integrally and intermittently stop them sequentially at the multiple stations S1 to S9. The transfer control device 30 may be provided as part of a control device that controls other devices equipped in the bag processing system 10.

[0041] The rotary support shaft portion 35 rotates intermittently integrally with the drive gear 40. The hollow shaft 32 and the rotary support shaft portion 35 rotate independently of each other about a common rotation axis Ax.

[0042] The second frame 52 is provided at a position spaced downward from the first frame 51. In the space between the first frame 51 and the second frame 52, in addition to the transfer drive device 22 and the drive gear 40, a lever 37 and a rod 38 are provided.

[0043] A full circumference cam 34 is attached to the upper end of the hollow shaft 32. The full circumference cam 34 is provided to be slidable in the vertical direction relative to the hollow shaft 32 and engages with the hollow shaft 32 in the rotational direction, and rotates together with the hollow shaft 32 around the rotation axis Ax. The full circumference cam 34 has a substantially disk-shaped portion and a cylindrical portion extending upward from the outer periphery of the disk-shaped portion, and the upper surface of the cylindrical portion acts as a cam surface. The full circumference cam 34 is raised and lowered by a lifting device (not shown), and its position in the height direction (vertical direction) is determined. A lever 37 is fixed to the lower end of the hollow shaft 32. The tip of a rod 38 that advances and retreats due to a cam (not shown) is rotatably connected to the lever 37. As the rod 38 advances and retreats, the hollow shaft 32 and the full circumference cam 34 rotate together with the lever 37 in the forward and reverse directions around the rotation axis Ax.

[0044] The rotary table 29 is attached to the upper end of the rotary support shaft portion 35, and is supported by the rotary support shaft portion 35. The rotary table 29 is provided on the rotary support shaft portion 35 so as to be slidable within a predetermined range in the axial direction along the rotation axis Ax, and is engaged with the rotary support shaft portion 35 in the rotational direction about the rotation axis Ax, and rotates together with the rotary support shaft portion 35 about the rotation axis Ax. The rotary support shaft portion 35 rotates intermittently about the rotation axis Ax, causing the rotary table 29 to rotate intermittently about the rotation axis Ax.

[0045] A plurality of support units 21 are attached around the periphery of the rotary table 29 at equal angular intervals, and the angular interval between adjacent support units 21 is the same as the angle of one intermittent rotation of the rotary table 29.

[0046] The gripper pairs 21a of each support unit 21 are capable of supporting and releasing bags B. Each support unit 21 shown in Fig. 2 has a plurality of gripper pairs 21a (four gripper pairs 21a in the example shown in Figs. 1 and 2), and each gripper pair 21a grips a plurality of bags B (four bags in the example shown in Fig. 1). Therefore, at each of the above-mentioned plurality of stations S1 to S9, four bags B gripped by the four gripper pairs 21a of the corresponding support unit 21 are stopped at one time.

[0047] Like the gripper pair described in JP 2009-298418 A, each gripper pair 21a has a pair of left and right swing levers 44 (only one swing lever 44 is shown in Figs. 2 and 3) rotatably attached to a support shaft 43 fixed to the rotary table 29, a cylindrical gripper arm 45 fixed to the tip of each swing lever 44, and a clamping portion attached to the tip of each gripper arm 45. An air cylinder is disposed inside each gripper arm 45 as a drive source for opening and closing the clamping portion.

[0048] The two swing levers 44 of each gripper pair 21a are biased inward by a tension spring 46 and receive elastic force from the tension spring 46 in directions in which they approach each other.

[0049] A roller 48 is placed on the cam surface of the circumferential cam 34, and the roller 48 is rotatably supported by an L-shaped lever 47. The roller 48 rolls on the cam surface of the circumferential cam 34. The L-shaped lever 47 and the roller 48 are part of a mechanism for opening and closing the two swing levers 44 (and thus the two gripper arms 45 and the two clamping parts), and the mechanism has the same structure and function as the mechanism described in Japanese Utility Model Publication No. 5-28169, and is attached to the rotary table 29 corresponding to each gripper pair 21a. When the rotary table 29 and the circumferential cam 34 rotate relative to each other, the roller 48 rolls on the cam surface of the circumferential cam 34. At that time, if there is a height difference on the cam surface on which the roller 48 rolls, the L-shaped lever 47 swings, and the two swing levers 44 (and thus the two gripper arms 45 and the two clamping parts) open and close in a horizontal plane, changing the distance between the two clamping parts.

[0050] The multiple gripper pairs 21a of each support unit 21 perform the same operations and exhibit the same behavior, and operate as one unit.

[0051] When the turntable 29 rotates intermittently, the full circumference cam 34 also rotates in the forward direction following the turntable 29 by the same angle as the turntable 29, the relative rotation angle between the turntable 29 and the full circumference cam 34 is zero (0), and substantially no relative rotation occurs between the turntable 29 and the full circumference cam 34. On the other hand, when the turntable 29 stops intermittently, the full circumference cam 34 rotates in the reverse direction and returns to its original position, and substantially relative rotation occurs between the turntable 29 and the full circumference cam 34. This is the same as the packaging machine described in the Japanese Utility Model Publication No. 5-28169.

[0052] In the above-described bag processing system 10, similar to the technology disclosed in JP 2009-298418 A, an air cylinder is used as a drive source for opening and closing the clamping portion of gripper pair 21a, and the air cylinder is disposed inside gripper arm 45. However, as described in JP 6-156440 A, the clamping portion of gripper pair 21a can also be opened and closed by an opening and closing drive mechanism installed in an appropriate position (for example, bag supply station S1 or bag discharge station S9) on first frame 51 or second frame 52.

[0053] The gripper described in JP 6-156440 A includes a pair of left and right swing levers attached to an intermittently rotating table, gripper arms whose bases are fixed to the swing levers, and clamping parts arranged inwardly and facing each other at the tip of each gripper arm, and the clamping parts have a fixed clamping piece whose clamping surface faces in the radial direction and a movable clamping piece rotatably attached to the tip of the gripper arm. This gripper is similar to the gripper of the device described in JP 2009-298418 A. The gripper arm includes a connecting mechanism that transmits the power of the opening / closing drive mechanism to the movable clamping piece, and a compression spring that is installed in the gripper arm and constantly biases the movable clamping piece in the closing direction. A cylindrical member (roller) is attached to the passive member, and when the protrusion of the opening / closing drive mechanism advances and presses the cylindrical member in the radial direction of the table, the movable clamping piece opens, and when the protrusion retracts, the movable clamping piece closes due to the biasing force of the compression spring.

[0054] The bag processing system 10 further includes a fixed support shaft portion 33 fixedly attached to the second frame 52 via a support fastening portion 53, and a fixed support portion 50 fixedly attached to the fixed support shaft portion 33. The fixed support shaft portion 33 extends in the height direction so as to penetrate the inside of the rotating support shaft portion 35, and is disposed on the rotation axis Ax. A bearing is provided between the rotating support shaft portion 35 and the fixed support shaft portion 33. Even if the rotating support shaft portion 35 (and thus the rotating table 29) rotates about the rotation axis Ax, the fixed support shaft portion 33 does not rotate.

[0055] The disk-shaped fixed support part 50 supported by the fixed support shaft part 33 is attached to the top of the fixed support shaft part 33 and positioned above the turntable 29 and the multiple gripper pairs 21a. As described above, even if the rotary support shaft part 35 supporting the turntable 29 rotates, the fixed support shaft part 33 supporting the fixed support part 50 does not rotate, so that even if the turntable 29 rotates, the fixed support part 50 does not rotate.

[0056] Any device can be attached to the fixed support part 50, and any device provided in association with each station may be supported by the fixed support part 50. For example, in the example shown in Fig. 2, a nozzle driving device (not shown) that moves injection nozzle 26 of liquid injection device 14 up and down may be supported by the fixed support part 50. In the example shown in Fig. 3, the first sealing device 16 is supported by the fixed support part 50.

[0057] Figure 4 is a plan view showing a schematic configuration of another example of bag processing system 10. Figure 5 is a side view of a conveying device of bag processing system 10 shown in Figure 4. Of the components of bag processing system 10 shown in Figures 4 and 5, elements that are the same as or correspond to the elements shown in Figures 1 to 3 above are given the same reference numerals, and detailed description thereof will be omitted.

[0058] The bag processing system 10 shown in Figures 4 and 5 also includes a plurality of support units 21. Each support unit 21 includes a plurality of gripper pairs 21a (two gripper pairs 21a in the example shown in Figure 4) supported at equal intervals by an endless conveyor chain (upper conveyor chain 64 and lower conveyor chain 65). At each of stations S1 to S9, two bags B gripped by the two gripper pairs 21a of the corresponding support unit 21 are stopped at one time.

[0059] A transfer drive device 22 is provided as a drive source for moving the gripper pairs 21a along the transfer direction of the bag B. The multiple gripper pairs 21a move by rotating chains 64, 65 with the transfer drive device 22. The basic structure of the transport device of the bag processing system 10 is substantially the same as the transport device described in JP 2000-318834 A, but will be briefly described below.

[0060] The conveying device is mounted on a stand 75 via a support 76. The conveying device of this example includes a frame 77 attached to the support 76, a support shaft 63 rotatably attached to the frame 77 via a bearing 62 and a bearing 67, a support shaft 70 rotatably attached to the frame 77 via a bearing 68 and a bearing 69, sprockets 71 to 74 fixed to the support shaft 63 and the support shaft 70, an endless upper conveyor chain 64 hung on the upper sprockets 71 and 73, and an endless lower conveyor chain 65 hung on the lower sprockets 72 and 74.

[0061] A large number of gripper pairs 21a (support units 21) are attached outward at equal intervals (pitch=p) to the upper conveyor chain 64 and the lower conveyor chain 65. Power output from the transfer drive device 22 is transmitted to the support shaft 63 via the drive gear 40, and rotates the conveyor chains 64, 65 via sprockets 71, 72, thereby transferring each gripper pair 21a along a circular track. Details of the attachment structure and operation of the gripper pairs 21a to the conveyor chains 64, 65 are described in JP 2002-302227 A.

[0062] In the example shown in Figures 4 and 5 above, the transfer drive device 22 is driven under the control of the transfer control device 30, causing each gripper pair 21a to move intermittently along the circular track and stop intermittently at stations S11 to S20.

[0063] In stations S11 to S20 shown in FIG. 4, the same processes as those in stations S1 to S9 shown in FIG. 1 are carried out.

[0064] That is, in the bag supply station S11, a bag supply process is performed by the bag supply device 11, a bag B is supplied to each support unit 21, and the bag B is gripped by the gripper pair 21a. In the opening station S12, an opening process is performed by the opening device 12, and the mouth of the bag B gripped by each gripper pair is opened.

[0065] At the first solid input station S13 and the second solid input station S14, a solid input process is performed by the solid input device 13, and the contents (particularly solids) are input into the inside of the bag B through the mouth of the bag B gripped by each gripper pair 21a. At the first liquid injection station S15 and the second liquid injection station S16, a liquid injection process is performed by the liquid injection device 14, and the contents (particularly liquid) are injected into the inside of the bag.

[0066] At the first solid input station S13 and the second solid input station S14, the same type of solid may be input into the inside of the bag B, or different types of solid may be input into the inside of the bag B. Similarly, at the first liquid injection station S15 and the second liquid injection station S16, the same type of liquid may be injected into the inside of the bag B, or different types of liquid may be injected into the inside of the bag B. When the same type of solid / liquid is supplied to the inside of each bag B at a plurality of stations, a desired amount of solid / liquid can be introduced into each bag B even if the stop time of each gripper pair 21a and each bag B at each station is short, so that the processing time of the entire system can be shortened.

[0067] At the first sealing station S18 and the second sealing station S19, a sealing process is performed by the first sealing device 16 and the second sealing device 17, and the mouth of each bag B is sealed. At the cooling and discharging station S20, a cooling process is performed by the cooling device 18 to cool the sealed portion of each bag B, and a discharging process is performed by the bag discharging device 19 to send each bag B downstream.

[0068] 4 and 5, the movement trajectories of each gripper pair 21a and each bag B include two straight trajectories and two semicircular (arc) trajectories (non-straight trajectories) connecting the ends of the two straight trajectories. On one of the straight trajectories, a bag supply station S11, an opening station S12, a first sealing station S18, a second sealing station S19, and a cooling and discharging station S20 are provided. On the other straight trajectory, a first solid input station S13, a second solid input station S14, a first liquid injection station S15, and a second liquid injection station S16 are provided.

[0069] No station is provided on the semicircular orbit. This allows various processes to be performed in each station S11 to S20 while reducing the influence of centrifugal force that each gripper pair 21a and each bag B receive while moving on the non-linear orbit. Note that a vibration suppression guide 28 is provided on the semicircular orbit between the second liquid injection station S16 and the degassing station S17 to suppress vibration of the bag B supported by each gripper pair 21a due to centrifugal force.

[0070] Next, an example of controlling the swaying of the liquid L in the bag B will be described.

[0071] Fig. 6 is a diagram showing an example of the state of liquid L in bag B over time when acceleration / deceleration control of bag B is performed according to an embodiment of the present disclosure. Fig. 7 is a diagram showing an example of the state of liquid L in bag B over time when acceleration / deceleration control of bag B is not performed according to an embodiment of the present disclosure.

[0072] 6 and 7 focus on one bag B among a plurality of bags B transferred by a plurality of gripper pairs 21a, and show a case where the bag B moves from the liquid injection station S4 shown in Fig. 1 to the degassing station S5. When the bag B moves together with the gripper pair 21a from the second liquid injection station S16 shown in Fig. 4 to the degassing station S17, the liquid L in the bag B behaves basically in the same way as shown in Fig. 6. When moving between other stations (for example, the degassing station S5 to the bag release station S9 shown in Fig. 1 and the degassing station S17 to the cooling release station S20 shown in Fig. 4), the liquid L in the bag B behaves basically in the same way as shown in Fig. 6.

[0073] In this embodiment, when bag B moves between adjacent stations, gripper pair 21a and bag B go through an intermittent stop process (FIG. 6(a): liquid injection process), an acceleration process (FIG. 6(b)), a constant speed process (FIG. 6(c)), a deceleration process (FIG. 6(d)), and an intermittent stop process (FIG. 6(e): degassing process). In other words, the intermittent movement process between the intermittent stop processes includes the acceleration process (FIG. 6(b)), the constant speed process (FIG. 6(c)), and the deceleration process (FIG. 6(d)).

[0074] In liquid injection station S4, when injection of liquid L into bag B from injection nozzle 26 of liquid injection device 14 is completed, the liquid level of liquid L in bag B in a stopped state is basically located at reference liquid level position Hr (FIG. 6(a)). In reality, liquid L may sway in bag B, in which case the liquid level of liquid L in bag B moves up and down based on reference liquid level position Hr.

[0075] In the acceleration process (FIG. 6(b)) in which the gripper pair 21a and bag B gradually accelerate, the liquid level of the liquid L in bag B drops below the reference liquid level position Hr on the side in the direction of travel (right side in FIG. 6(b)) due to inertia, while it rises above the reference liquid level position Hr on the side opposite the direction of travel (left side in FIG. 6(b)). Therefore, during the acceleration process, the liquid L in bag B approaches the mouth of bag B (the upper edge in FIG. 6(b)) on the side opposite the direction of travel.

[0076] In the constant speed process (Figure 6(c)) in which the gripper pair 21a and the bag B are transported at a constant speed, the liquid level of the liquid L in the bag B is located at the reference liquid level position Hr throughout or moves up and down regularly with the reference liquid level position Hr as the reference.

[0077] During the deceleration process (FIG. 6(d)) in which the gripper pair 21a and bag B are decelerated, the liquid level of the liquid L in bag B rises above the reference liquid level position Hr on the traveling direction side (right side in FIG. 6(d)) due to inertia, while it falls below the reference liquid level position Hr on the opposite side to the traveling direction (left side in FIG. 6(d)). Therefore, during the deceleration process, the liquid L in bag B approaches the mouth of bag B (the upper edge in FIG. 6(d)) on the traveling direction side.

[0078] When the gripper pair 21a and bag B are stopped at the degassing station S5, the liquid level of the liquid L in the bag B is positioned at the reference liquid level position Hr throughout or moves up and down regularly with reference to the reference liquid level position Hr (Figure 6(e)).

[0079] In the series of steps described above (FIGS. 6(a) to (e)) (particularly during acceleration (FIG. 6(b)) and / or deceleration (FIG. 6(d)) of the gripper pairs 21a and bag B), the transfer control device 30 (see FIG. 2) controls the transfer drive device 22 to accelerate and decelerate the multiple gripper pairs 21a so as to reduce the swaying of the liquid L in the bag B. This prevents the liquid L in the bag B from unintentionally adhering to the mouth of the bag B (e.g., the area to be sealed) or from unintentionally splashing out of the bag B.

[0080] The specific method for accelerating and decelerating the multiple gripper pairs 21a so as to reduce the shaking of the liquid L in the bag B is not limited.

[0081] For example, when the liquid L in the bag B is swaying in the liquid injection station S4, it is possible to reduce the swaying of the liquid L in the bag B by starting to accelerate the gripper pair 21a and the bag B at a timing to reduce the swaying of the liquid L. Specifically, by accelerating the gripper pair 21a and the bag B while the liquid level of the liquid L in the bag B is rising on the traveling direction side or just before it starts to rise, the degree of rise in the liquid level of the liquid L on the side opposite the traveling direction in the acceleration process can be suppressed.

[0082] Similarly, when the liquid L in the bag B is swaying in the constant speed step (FIG. 6(c)), it is possible to reduce the swaying of the liquid L in the bag B by starting to decelerate the gripper pair 21a and the bag B at a timing to reduce the swaying of the liquid L. Specifically, by decelerating the gripper pair 21a and the bag B while the liquid level of the liquid L in the bag B is rising on the side opposite to the traveling direction or just before it starts to rise, the degree of rise in the liquid level of the liquid L on the traveling direction side in the deceleration step can be suppressed.

[0083] As shown in Fig. 7, in the constant speed process (Fig. 7(c)), when the liquid L in bag B is swaying, if the gripper pair 21a and bag B are decelerated while the liquid level of the liquid L in bag B is rising in the traveling direction, the sway caused by the deceleration acts on the liquid L in bag B in a superimposed manner on the original sway. As a result, the liquid L in bag B rises significantly in the traveling direction and adheres to the mouth of bag B (especially the area to be sealed) or splashes out from the mouth of bag B (Fig. 7(d)).

[0084] As described above, the shaking of the liquid L in the bag B can be reduced by accelerating and decelerating the multiple gripper pairs 21a according to the shaking state of the liquid L in the bag B. The shaking state of the liquid L in the bag B may be detected in real time by a sensor (not shown), may be estimated based on the shaking state of the liquid L in the bag B detected in advance by a sensor, or may be estimated based on the shaking state of the liquid L in the bag B known by an operator through prior observation. When the multiple gripper pairs 21a are accelerated and decelerated based on the shaking state of the liquid L estimated in advance by a sensor or an operator, the acceleration start timing, constant speed start timing, deceleration start timing, and stop timing of the multiple gripper pairs 21a can be determined in advance. Therefore, the transfer control device 30 may control the transfer drive device 22 to accelerate and decelerate the multiple gripper pairs 21a at predetermined timing.

[0085] Note that the "method of accelerating and decelerating the multiple gripper pairs 21a so as to reduce the swaying of the liquid L in the bag B" is not limited to the above example. For example, the swaying of the liquid L in the bag B can be reduced by accelerating and decelerating the gripper pairs 21a and the bag B using any method based on the principle of input shaping.

[0086] The principle of input shaping is realized by reducing (canceling) the swaying of the liquid by applying a force to the liquid so as to reduce (cancele) the swaying of the liquid immediately before. When accelerating and decelerating the multiple gripper pairs 21a so as to reduce the swaying of the liquid L in the bag B, it is preferable that the magnitude of the force (e.g., inertial force) applied to the liquid L in the bag B and the duration of the force application (i.e., impulse) be determined taking into consideration the natural frequency and damping ratio of the gripper pairs 21a (support units 21) supporting the bag B.

[0087] Therefore, during one intermittent movement step, there may be two or more acceleration steps, there may be two or more deceleration steps, or there may be no constant speed step. In each acceleration step, the degree of rise in the level of the liquid L on the side opposite the traveling direction can be suppressed by starting acceleration of the gripper pair 21a and the bag B while the level of the liquid L in the bag B is rising on the side opposite the traveling direction or just before it starts to rise. On the other hand, in each deceleration step, the degree of rise in the level of the liquid L on the side opposite the traveling direction can be suppressed by starting deceleration of the gripper pair 21a and the bag B while the level of the liquid L in the bag B is rising on the side opposite the traveling direction or just before it starts to rise.

[0088] When accelerating and decelerating multiple gripper pairs 21a as described above, the force acting on the liquid L to reduce the swaying of the liquid L immediately prior to the movement within each bag B is typically an inertial force, but may also be any other force (e.g., an external force applied instantaneously to the bag B and the liquid L).

[0089] As described above, the bag processing system 10 of this embodiment comprises a transfer mechanism 20 having a plurality of gripper pairs (support devices) 21a capable of supporting and releasing a bag B and a transfer drive device 22 that intermittently moves the plurality of gripper pairs 21a, a liquid injection device 14 that injects liquid L into the bag B supported by the plurality of gripper pairs 21a, and a transfer control device 30 that controls the transfer drive device 22, and the transfer drive device 22 moves the plurality of gripper pairs 21a so that the plurality of gripper pairs 21a exhibit the same acceleration and deceleration behavior between each other, and the transfer control device 30 controls the transfer drive device 22 to accelerate and decelerate the plurality of gripper pairs 21a so as to reduce the swaying of the liquid L within the bag B.

[0090] According to this bag processing system 10, the force (e.g., inertial force) acting on the liquid L in the bag B when the gripper pair 21a accelerates or decelerates can be used to reduce the shaking of the liquid L in the bag B, thereby effectively suppressing the shaking of the liquid L in the bag B during bag transfer. As a result, it is possible to effectively prevent the liquid L from adhering to the mouth of the bag B (e.g., the location to be sealed) or splashing out of the mouth of the bag B during bag transfer.

[0091] Furthermore, by moving the multiple gripper pairs 21a so that the multiple gripper pairs 21a exhibit the same acceleration and deceleration behavior relative to each other, the swaying of the liquid L in the multiple bags B supported by the multiple gripper pairs 21a can be effectively suppressed with an inexpensive device configuration.

[0092] In addition, at least a portion of the movement trajectory of the bag B supported by the multiple gripper pairs 21a includes a non-linear trajectory, and the transfer control device 30 controls the transfer drive device 22 to accelerate and decelerate the multiple gripper pairs 21a so as to reduce swaying of the liquid L within the bag B while the bag B moves along at least a portion of the non-linear trajectory.

[0093] Centrifugal force acts on bag B and liquid L moving on a non-linear trajectory, and the swaying of liquid L in bag B tends to become large and complicated. In this embodiment, the swaying of liquid L in bag B is reduced even while bag B and liquid L move on a non-linear trajectory, so that the magnitude of the swaying of liquid L in bag B can be suppressed, and the swaying of liquid L can be suppressed from becoming complicated.

[0094] The bag processing system 10 also includes a vibration suppression guide 28 that suppresses the vibration of the bag B supported by the multiple gripper pairs 21a due to centrifugal force.

[0095] This reduces the effect of centrifugal force acting on the bag B and the liquid L, thereby reducing the swaying of the liquid L in the bag B, and also prevents the swaying of the liquid L in the bag B from becoming complicated.

[0096] The transfer control device 30 also controls the transfer drive device 22 to stop the multiple gripper pairs 21a sequentially and intermittently at the multiple stations S1 to S9 (S11 to S20), so that three or more gripper pairs 21a are stopped at each of the multiple stations at one time.

[0097] In general, the more gripper pairs 21a each support unit 21 has, the greater the distance each gripper pair 21a and bag B moves in one intermittent movement step, and the more likely the liquid L in each bag B will sway. Even in such a case, the bag processing system 10 of the present embodiment can effectively suppress the swaying of the liquid L in the bag B during bag transfer.

[0098] Various modifications may be made to each element of the above-mentioned embodiment and modified examples, and the configurations of the above-mentioned embodiment and modified examples may be combined partially or entirely. In addition, the effects achieved by the present disclosure are not limited to the above-mentioned effects, and unique effects according to the specific configuration of each embodiment may also be achieved. In this way, various additions, modifications, and partial deletions are possible for each element described in the claims, specification, and drawings, within the scope of the technical idea and intent of the present disclosure. [Explanation of symbols]

[0099] 10 bag processing system, 11 bag feeding device, 12 opening device, 13 solid material input device, 14 liquid injection device, 15 steam degassing device, 16 first sealing device, 17 second sealing device, 18 cooling device, 19 bag discharge device, 20 transfer mechanism, 21 support unit, 21a gripper pair, 22 transfer drive device, 26 injection nozzle, 28 vibration suppression guide, 29 rotating table, 30 transfer control device, 31 stand, 32 hollow shaft, 34 full circumference cam, 35 rotating support shaft portion, 37 lever, 38 rod, 40 drive gear, 43 support shaft, 44 swing lever, 45 gripper arm, 46 tension spring, 47 L-shaped lever, 48 roller, 50 fixed support portion, 51 first frame, 52 second frame 52, 53 support fixed portion, 62 bearing, 63 support shaft, 64 Upper conveyor chain, 65 Lower conveyor chain, 67 Bearing, 68 Bearing, 69 Bearing, 70 Support shaft, 71 Sprocket, 72 Sprocket, 73 Sprocket, 74 Sprocket, 75 Frame, 76 Support, 77 Frame, S1 Bag supply station, S2 Opening station, S3 Solids input station, S4 Liquid injection station, S5 Degassing station, S6 First sealing station, S7 Second sealing station, S8 Cooling station, S9 Bag discharge station, S11 Bag supply station, S12 Opening station, S13 First solids input station, S14 Second solids input station, S15 First liquid injection station, S16 Second liquid injection station, S17 Degassing station, S18 First sealing station, S19 Second sealing station, S20 Cooling discharge station, Ax Rotation axis, B Bag, Hr Reference liquid level position, L liquid, solid

Claims

1. a transfer mechanism including a plurality of support devices capable of supporting and releasing bags, and a transfer drive device for intermittently moving the plurality of support devices; a liquid injection device that injects liquid into the bag supported by the plurality of support devices; A transfer control device that controls the transfer drive device; a sensor for detecting a state of the liquid swaying in the bag; the transport drive device moves the plurality of support devices so that the plurality of support devices exhibit the same acceleration / deceleration behavior with respect to each other; The transfer control device controls the transfer drive device based on the detection results of the sensor, and accelerates and decelerates the multiple support devices so as to apply a force to the liquid that reduces the swaying of the liquid within the bag.This is a bag processing system.

2. At least a portion of a movement path of the bag supported by the plurality of support devices includes a non-linear path; The bag processing system of claim 1, wherein the transfer control device controls the transfer drive device to accelerate and decelerate the multiple support devices to reduce swaying of the liquid within the bag while the bag moves along at least a portion of the non-linear trajectory.

3. The bag processing system according to claim 1 or 2, further comprising a vibration suppression guide that suppresses vibration of the bags supported by the plurality of support devices due to centrifugal force.

4. The plurality of support devices each include a plurality of holding portions for holding the bag, the transfer control device controls the transfer drive device to sequentially and intermittently stop the plurality of support devices at a plurality of stations; A bag processing system according to any one of claims 1 to 3, wherein three or more supporting devices are stopped at one time at each of the plurality of stations.

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