Method for measuring residual oxygen concentration in packaging containers

Abstract

To provide a method for measuring the concentration of oxygen remaining in a packaging container that allows sequential measurement of the concentration of oxygen remaining in packaging containers in a downstream outline of a packaging machine.SOLUTION: In a method for measuring the concentration of oxygen in a packaging container of the present invention, a laser type gas concentration meter M is incorporated in a robot hand 21 of a robot 20 arranged in a downstream outline 11 of a packaging machine P, and packaging containers H are held by the robot hand 21, and thereby the concentration of oxygen remaining in the packaging containers H is sequentially measured by the laser type gas concentration meter M.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a method for measuring the residual oxygen concentration in a packaging container at a downstream outline of a packaging machine provided upstream. [Background technology]

[0002] When the packaged item is a food product, in particular, gas replacement packaging is carried out to extend the storage period and best-before date by removing the air remaining in the packaging container during packaging and filling it with an inert gas such as nitrogen or carbon dioxide. For example, Patent Document 1 discloses an inert gas filling method in which the packaged item is placed into the packaging container and an inert gas is filled in through a nozzle inserted into the packaging container, thereby replacing the oxygen in the packaging container with the inert gas.

[0003] As a method for measuring the oxygen concentration remaining in a packaging container that contains an item during product inspection, the applicant of the present application has proposed, for example, in Patent Document 2, a measurement method using a laser gas concentration measuring device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3742042 [Patent Document 2] Patent No. 5124719 Summary of the Invention [Problem to be solved by the invention]

[0005] The inventors of the present invention came up with the idea of ​​a method of measuring the oxygen concentration in a packaging container using the above-mentioned laser gas concentration measuring device in the downstream outline of a packaging machine located upstream, and have created this invention.In other words, the object of the present invention is to provide a method of measuring the residual oxygen concentration in a packaging container that can sequentially measure the concentration of oxygen remaining in the packaging container in the downstream outline of a packaging machine. [Means for solving the problem]

[0006] The above-mentioned problem is solved by a method for measuring the residual oxygen concentration in a packaging container, in which the residual oxygen concentration in a packaging container that has been filled with an item to be packaged and packaged by a packaging machine provided upstream and subjected to gas replacement is measured at a downstream outline, and a laser gas concentration meter is incorporated in a robot hand of a robot arranged at the downstream outline of the packaging machine, and the packaging container is gripped by the robot hand. A laser generating unit and a laser receiving unit of the laser gas concentration meter are arranged on both sides of the packaging container from above the packaging container so as to face each other. The laser gas concentration meter The packaging container The remaining oxygen concentration in the The tip of the laser generating unit and the tip of the laser receiving unit of the laser gas concentration meter have a suction mechanism that can suction the packaging container. The method for measuring the residual oxygen concentration in a packaging container is characterized by the following (claim 1).

[0007] It is preferable that the method for measuring the residual oxygen concentration in a packaging container includes, after a step of measuring the residual oxygen concentration in the packaging container using the laser gas concentration meter, a determination step of determining whether the packaging container is good or defective based on the measured residual oxygen concentration in the packaging container, and a sorting step of sorting the good products from the defective products (Claim 2).

[0008] It is preferable that the robot is a robot palletizer (claim 3). .

[0009] The robot hand is preferably configured to include a pair of bottom holding parts that enter below the bottom of the packaging container from both sides and hold the bottom with their upper surfaces, a pair of reciprocating parts that are respectively formed integrally with the pair of bottom holding parts and enable the pair of bottom holding parts to reciprocate in the horizontal direction, and a pair of packaging container gripping mechanisms that have a drive part that reciprocates the pair of reciprocating parts, and the pair of bottom holding parts enter below the bottom of the packaging container from both sides and hold the bottom with their upper surfaces, so that the packaging container is gripped by the robot hand (claim 4). ). [Effects of the Invention]

[0010] According to the method for measuring the residual oxygen concentration in a packaging container described in claim 1, the concentration of oxygen remaining in the packaging container can be measured sequentially by various robots such as product transfer robots in the downstream outline of the packaging machine. According to the method for measuring the concentration of oxygen remaining in a packaging container set forth in claim 2, in addition to the effect of claim 1, after determining whether the product is good or bad, it is possible to separate the good products from the defective products. According to the method for measuring the residual oxygen concentration in a packaging container set forth in claim 3, the effects of claims 1 and 2 can be achieved by using the basic structure of a robot palletizer. According to the method for measuring the concentration of oxygen remaining in a packaging container as set forth in claim 4, the packaging container can be grasped at the tip of the robot hand. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic plan view illustrating one embodiment of a method for measuring a residual oxygen concentration in a packaging container according to the present invention (first invention). [Figure 2] 2 is a schematic front view illustrating a method for measuring the residual oxygen concentration in the packaging container shown in FIG. 1. FIG. [Figure 3] 2 is an explanatory diagram for explaining a robot hand incorporating a laser gas concentration meter in the method for measuring the residual oxygen concentration in a packaging container shown in FIG. 1. FIG. [Figure 4] FIG. 2 is a schematic plan view illustrating one embodiment of the method for measuring the residual oxygen concentration in a packaging container of the present invention (second invention). [Figure 5] 5 is a schematic front view for explaining a method for measuring the residual oxygen concentration in the packaging container shown in FIG. 4. FIG. [Figure 6] 5 is a schematic right side view illustrating a method for measuring the residual oxygen concentration in the packaging container shown in FIG. 4. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] In the present invention (first invention), a laser gas concentration meter M is incorporated into the robot hand 21 of a robot 20 arranged in the downstream outline 11 of the packaging machine P, and a packaging container H is grasped by the robot hand 21, thereby realizing a method for measuring the residual oxygen concentration in the packaging container H, in which the residual oxygen concentration in the packaging container H is sequentially measured by the laser gas concentration meter M.

[0013] In addition, in the present invention (second invention), a laser gas concentration meter M is provided on a moving section 71 that can move in synchronization with the conveyor speed of the conveyor conveyor 15 arranged on the conveying line 12 of the downstream outline 11 of the packaging machine P, and by moving the moving section 71 in synchronization with the conveyor speed of the conveyor conveyor 15, a method for measuring the residual oxygen concentration in a packaging container H is realized in which the laser gas concentration meter M measures the residual oxygen concentration in the packaging container H. [Example]

[0014] A method for measuring the residual oxygen concentration in a packaging container according to the present invention (first invention) will be described using an embodiment shown in FIGS. 1 to 3. FIG. The method for measuring the residual oxygen concentration in a packaging container in this embodiment is a method for measuring the residual oxygen concentration in a packaging container H at a downstream outline 11, in which the residual oxygen concentration in a packaging container H that has been filled with an item S to be packaged and packaged by a packaging machine P located upstream and subjected to gas replacement is measured, characterized in that a laser gas concentration meter M is incorporated in a robot hand 21 of a robot 20 located at the downstream outline 11 of the packaging machine H, and the packaging container H is gripped by the robot hand 21, thereby sequentially measuring the residual oxygen concentration in the packaging container H with the laser gas concentration meter M. This will be described in detail below.

[0015] As shown in Figure 1 or Figure 2, the packaging machine P in this embodiment is a rotary gas filling packaging machine that mass-produces products (food products) by performing 10 processes at each station (1 to 10): bag feeding process (station 1), printing process for expiration dates and the like (station 2), opening process for packaging containers (station 3), filling process for packaged items (station 4), nozzle insertion and temporary sealing process (station 5), gas replacement and kneading process (stations 6 and 7), top sealing process (station 8), seal cooling process (station 9), and product removal process (station 10).

[0016] A stand 61 is provided on the machine base 60 of the packaging machine P, which supports a vertical intermittent rotation shaft (not shown) so that it can rotate freely. A disk-shaped rotating body 62 attached to the intermittent rotation shaft has ten grip pairs g for gripping or releasing packaging containers H, which are provided so as to protrude radially at equal angular intervals.

[0017] In this embodiment, the packaging machine P is a rotary gas filling packaging machine that drives the disc-shaped rotor 62 to rotate intermittently. However, the packaging machine of the present invention is not limited to this and may be a known linear motion or track-type packaging machine. A track-type packaging machine is one in which, for example, a moving body that moves horizontally along a circular path consisting of a linear section and semicircular sections at both ends is provided with multiple grip pairs that can be freely changed between an upright and horizontal position. Each grip pair supports a packaging container supplied during a bag supply process, and the packaging container is intermittently stopped at each process, such as an opening process, a packaging product filling process, a gas filling process, and a bag opening sealing process, thereby bagging the packaged item. The packaging machine of the present invention may also be a vertical pillow packaging machine or a horizontal pillow packaging machine that forms bags from a sheet-like film while filling and packaging the packaged item into the bags.

[0018] In this embodiment, the packaged item S is a food product, but is not limited to this, and also includes a wide range of items other than food, such as medical infusions. In this embodiment, the packaging container is a packaging bag, but is not limited to this, and also includes a wide range of items other than packaging bags, such as infusion bags, bottles, and plastic molded containers.

[0019] The downstream outline 11 is a line arranged downstream of the packaging machine P for transporting or sorting packaging containers H that have been filled with the packaged item S and packaged by gas replacement. In this embodiment, the downstream outline 11 has a conveying line 12 connected to the packaging machine P, a good product side line 13 arranged downstream of the conveying line 12 for transporting good products, and a defective product side line 14 arranged downstream of the conveying line 12 for transporting defective products.

[0020] The robot 20 is disposed in the outline 11 downstream of the packaging machine H and performs, for example, transfer work, sorting work, various inspections, etc. on packaging containers (gas-filled packages) H that have been filled with packaged items S and packaged by gas replacement, and in this embodiment is a robot palletizer. However, the robot in this application is not limited to robot palletizers, but broadly includes robots that perform some kind of work on packaging containers (gas-filled packages) H in the downstream outline 11 and that can be equipped with a robot hand that grips the packaging container H. For example, vertical articulated robots, horizontal articulated robots (SCARA robots), Cartesian coordinate robots, parallel robots such as parallel link robots, and the like are also broadly included in the category of robots in the present invention.

[0021] In this embodiment of the method for measuring the residual oxygen concentration in a packaging container H, a laser gas concentration meter M is incorporated into the robot hand 21 of a robot 20 arranged in the downstream outline 11 of the packaging machine H, and the packaging container H is grasped by the robot hand 21, and the residual oxygen concentration in the packaging container H is sequentially measured by the laser gas concentration meter M.

[0022] The laser gas concentration meter M measures the oxygen concentration in a packaging container H that has been packaged by replacing the gas with an inert gas such as nitrogen or carbon dioxide, and is incorporated below the tip 22 of the robot hand 21, as shown in Figure 2 or Figure 3.

[0023] The laser gas concentration meter M has a laser generating unit 32 having a transmitter 31 that emits laser light L of a specific wavelength, and a laser receiving unit 34 having a receiver 33 that receives the laser light L emitted from the transmitter 31, and when the tip 22 of the robot hand 21 grasps the packaging container H, the remaining oxygen concentration in the packaging container H is measured sequentially.

[0024] Specifically, when the tip 22 of the robot hand 21 grasps the packaging container H, the laser generating unit 32 and the laser receiving unit 34 are arranged opposite each other on both sides from above the packaging container H, as shown in Figure 3, and the remaining oxygen concentration in the packaging container H is measured sequentially.

[0025] The laser gas concentration meter M uses infrared absorption spectroscopy with a semiconductor laser as a light source. When light of a specific frequency is applied to the molecules to be measured (oxygen gas), the molecules absorb the light energy, and by measuring this, the gas concentration is displayed.

[0026] More specifically, the laser light L emitted from the transmitter 31 of the laser generating unit 32 passes through the tip 36 of the laser generating unit 32, enters the packaging container H, and is received by the receiver 33 of the laser receiving unit 34. The laser light L of a specific wavelength emitted from the transmitter 31 is selected from a wavelength (natural frequency) range of 760 to 770 nm in the case of oxygen gas. When the laser light L of the specific wavelength is absorbed by the oxygen gas remaining in the packaging container H, the gas concentration of the oxygen gas remaining in the packaging H is measured based on the absorbance of the laser light received by the receiver 33 of the laser receiving unit 34.

[0027] Furthermore, the tip 36 of the laser generating unit 32 and the tip 37 of the laser receiving unit 34 have suction mechanisms 42, 43 that enable them to suction the packaging container H. This ensures close contact between the tip 36 of the laser generating unit 32, the tip 37 of the laser receiving unit 34 and the object to be measured (packaging container H), and also ensures sufficient detection space within the packaging container H, improving measurement accuracy.

[0028] Specifically, as shown in FIG. 3, the tip 36 of the laser generating unit 32 and the tip 37 of the laser receiving unit 34 have suction mechanisms 42 and 43, respectively, which are capable of suction by connecting communication passages 46 and 47 having suction holes 44 and 45 to which a vacuum source (not shown) such as a vacuum pump is attached via a flow control valve (not shown) and a pressure gauge (not shown).

[0029] Furthermore, in the laser gas concentration meter M of this embodiment, the communication paths 46, 47 communicate with the laser paths 48, 49, respectively, and the insides of the laser paths 48, 49 of the laser emitter 32 and the laser receiver 34 are also configured to be under a vacuum atmosphere by suction using the suction mechanisms 42, 43. This makes it possible to reduce the residual oxygen rate in the laser paths 48, 49 to approximately 0%, further improving measurement accuracy.

[0030] The packaging container H is gripped by a pair of packaging container gripping mechanisms 50a, 50b with the tip 22 of the robot hand 21. Specifically, the packaging container gripping mechanism 50 of this embodiment has a pair of bottom holding parts 51a, 51b that enter below the bottom of the packaging container H from both sides and hold the bottom with their upper surfaces, a pair of reciprocating parts 52a, 52b that are formed integrally with the bottom holding parts 51a, 51b, respectively, and enable the bottom holding parts 51a, 51b to reciprocate in the horizontal direction, and a drive part (not shown) that reciprocates the reciprocating parts 52a, 52b, and is configured so that the packaging container H is gripped by the tip 22 of the robot hand 21 by the bottom holding parts 51a, 51b entering below the bottom of the packaging container H from both sides and holding the bottom with their upper surfaces.

[0031] 1, the robot (palletizer in this embodiment) 20 is disposed near the downstream end of the conveyor line 12. The robot (palletizer in this embodiment) 20 has a rotatably arranged base 23, a robot hand 21 for holding packaging containers H, a rotation shaft 24 that pivots on the base end of the robot hand 21 and enables the tip end 22 side of the robot hand 21 to rotate in an arc in the vertical direction, and an elevator 25 for moving the tip end 22 side of the robot hand 21 up and down.

[0032] Furthermore, the robot 20 of this embodiment is configured to, after a process in which the residual oxygen concentration in the packaging container H is measured by the laser gas concentration meter M, determine whether the packaging container H is a good product or a defective product based on the measured residual oxygen concentration in the packaging container H. Specifically, this determination process is performed by a control unit (not shown) determining that the packaging container H is a good product if the residual oxygen concentration in the packaging container H is lower than a set reference value, and determining that the packaging container H is a defective product if the residual oxygen concentration in the packaging container H is equal to or higher than the set reference value.

[0033] Furthermore, the robot 20 of this embodiment is configured to determine whether the packaging container H is good or bad based on the measured residual oxygen concentration in the packaging container H, and then perform a sorting process to separate the good products from the bad products.

[0034] Next, the operation of the method for measuring the residual oxygen concentration in a packaging container in this embodiment will be described. Packaging containers H, which have been filled with packaged items S and packaged by gas replacement, are sequentially conveyed along conveyor line 12 connected to packaging machine P and positioned at the downstream end. As shown in FIG. 1, robot hand 21 is positioned along conveyor line 12, and tip end 22 of robot hand 21 is lowered to the horizontal level of conveyor line 12 by lifting unit 25. In this state, as shown in FIG. 2, bottom holding units 51a and 51b of packaging container gripping mechanisms 50a and 50b respectively enter below the bottom of packaging container H from both sides and hold the bottom with their upper surfaces. When tip end 22 of robot hand 21 holds packaging container H with packaging container gripping mechanisms 50a and 50b, tip end 22 of robot hand 21 is raised by lifting unit 25. During this upward movement, the residual oxygen concentration in packaging container H is measured by laser gas concentration meter M, and then it is determined whether the product is good or bad.

[0035] 1, the tip 22 of the robot hand 21 moves above the tip of the non-defective product line 13 to transport the non-defective product. In this state, the tip 22 of the robot hand 21 is lowered by the lifting unit 25 to place the packaging container H at the tip of the non-defective product line 13, and the bottom holding units 51a and 51b of the packaging container gripping mechanisms 50a and 50b move to both sides of the packaging container H, respectively, to release the holding of the packaging container H. The packaging container H placed at the tip of the non-defective product line 13 is transported along the non-defective product line 13 and packed into a box. In this embodiment, the non-defective products are transported along the non-defective product line 13, but they may also be transported directly to a pallet.

[0036] 1, the tip 22 of the robot hand 21 moves above the tip of the defective product side line 14 to transport the defective product. In this state, the tip 22 of the robot hand 21 is lowered by the lifting unit 25 to place the packaging container H at the tip of the defective product side line 14, and the bottom holding units 51a, 51b of the packaging container gripping mechanisms 50a, 50b move to either side of the packaging container H, thereby releasing the hold on the packaging container H. The packaging container H placed at the tip of the defective product side line 14 is transported along the defective product side line 14 and discharged to the outside.

[0037] As described above, according to the method for measuring the residual oxygen concentration in a packaging container of this embodiment, the basic structure of a robot palletizer is used to sequentially measure the concentration of oxygen remaining in the packaging containers H in the downstream outline 11 of the packaging machine P, and then the containers can be judged as good or bad and sorted. Note that in this embodiment, there is one downstream outline 11, but this is not limiting, and multiple downstream outlines 11 may be provided. [Example]

[0038] Furthermore, a method for measuring the residual oxygen concentration in a packaging container (second invention) of the present invention will be described using an embodiment shown in FIGS. The method for measuring the residual oxygen concentration in a packaging container in this embodiment is a method for measuring the residual oxygen concentration in a packaging container H at a downstream outline 11, in which the residual oxygen concentration in a packaging container H that has been filled with a packaged item S and packaged by a packaging machine P located upstream and replaced with gas is measured.The method for measuring the residual oxygen concentration in a packaging container is characterized in that a laser gas concentration meter M is provided on a moving part 71 that can move in synchronization with the conveyor speed of a transport conveyor 15 arranged on the conveying line 12 of the downstream outline 11 of the packaging machine P, and the moving part 71 moves in synchronization with the conveyor speed of the transport conveyor 15, thereby measuring the residual oxygen concentration in the packaging container H by the laser gas concentration meter M.

[0039] The basic difference between the method for measuring the residual oxygen concentration in a packaging container of this embodiment (second invention) and the above-mentioned method for measuring the residual oxygen concentration in a packaging container (first invention) is that, in the method for measuring the residual oxygen concentration in a packaging container (first invention), the residual oxygen concentration in the packaging container H is measured by a robot (e.g., a transfer robot) 20 or the like arranged at the end of the conveyor line 12, whereas in the method for measuring the residual oxygen concentration in a packaging container (second invention) of this embodiment, a laser gas concentration meter M is provided on a moving unit 71 that can move in synchronization with the conveyor speed of the conveyor 15 arranged on the conveyor line 12, and the residual oxygen concentration in the packaging container H is measured by the laser gas concentration meter M while the moving unit 71 moves in synchronization with the conveyor speed of the conveyor 15. Although detailed description will be given below, the same components as those in the device applying the above-mentioned method for measuring the residual oxygen concentration in a packaging container (first invention) are designated by the same reference numerals and description thereof will be omitted.

[0040] In this embodiment, the moving part 71 is a slider 71 of a single-axis unit 70 arranged upward along the conveying direction of the conveying conveyor 15, and the laser gas concentration meter M is attached to the slider 71 via a laser gas concentration meter attachment part 74.

[0041] The single-axis unit 70 has a rail (ball screw) 72 arranged to extend horizontally, a motor (servo motor) 73 for rotating the rail (ball screw) 72 forward and reverse, and a slider 71 that moves the rail (ball screw) 72 horizontally as the rail (ball screw) 72 rotates forward and reverse, and the laser gas concentration meter M is configured to be able to move back and forth in the direction of the arrow in Figure 5 along the conveying direction of the conveyor 15 as the slider 71 moves horizontally.

[0042] Specifically, the laser gas concentration meter M is held by a laser gas concentration meter mounting portion 74 that is attached to the slider 71 so as to hang down from it, and is configured to be movable up and down by a lifting mechanism (cylinder) 75 provided on the slider 71. This lifting mechanism 75 allows the laser gas concentration meter M to be lowered from above onto the packaging containers H that are sequentially transported by the transport conveyor 15, thereby bringing the tip 36 of the laser generating unit 32 and the tip 37 of the laser receiving unit 34 into contact with the packaging containers H, and can be lifted to release the contact with the packaging containers H.

[0043] The transport conveyor 15 is a conveyor equipped with an encoder 16, and is configured so that the conveyor speed of a conveyor belt 18 driven by a drive motor 17 can be adjusted based on an output signal from the encoder 16.

[0044] In the method for measuring the residual oxygen concentration in a packaging container of this embodiment, the conveyor speed of the transport conveyor 15 arranged on the transport line 12 is synchronized with the speed in the transport direction of the moving unit 71 that can move the laser gas concentration meter M, and further, the laser gas concentration meter M is lowered from above by the lifting mechanism 75, so that the residual oxygen concentration in the packaging container H is measured while the moving unit 71 is moving in the transport direction with the tip 36 of the laser generating unit 32 and the tip 37 of the laser receiving unit 34 in contact with the packaging container H. Thereafter, as in the method for measuring the residual oxygen concentration in a packaging container (first invention) described above, each packaging container H is judged to be non-defective or defective, and is sorted by a sorting robot (for example, a general palletizer without a laser gas concentration meter) arranged downstream.

[0045] When the residual oxygen concentration in a packaging container H is measured while the moving unit 71 is moving in the conveying direction, the moving unit 71 returns in the opposite direction and repeats the same operation for the next packaging container H, thereby measuring the residual oxygen concentration in packaging containers that are conveyed sequentially. Note that in the method for measuring the residual oxygen concentration in a packaging container of this embodiment, four sets of moving units 71 and laser gas concentration meters M simultaneously repeat the above operation, thereby measuring the residual oxygen concentration in four packaging containers H at once, but this is not limited to this, and the number of packaging containers H to be measured simultaneously can be changed as appropriate. Also, in this embodiment, there is one downstream outline 11 or conveying line 12, but this is not limited to this, and multiple downstream outlines 11 or multiple conveying lines 12 may be provided.

[0046] As described above, according to the method for measuring the residual oxygen concentration in a packaging container (second invention), the concentration of oxygen remaining in the packaging container H during transport in the downstream outline 11 of the packaging machine P can be measured sequentially. [Explanation of symbols]

[0047] M Laser Gas Concentration Meter P packaging machine H Packaging container g Grip vs. S Packaged item 11 Downstream Outline 12 Conveyor line 13 Good product line 14 Defective product line 15 Transport conveyor 16 Encoders 17 Drive motor 18 Conveyor Belt 20. Robot 21 Robot Hand 22 Tip 23 Base 24 Rotation shaft 25 Lifting section 31 Transmitter 32 Laser generating unit 33 Receiver 34 Laser receiver 36 Tip of laser generating unit 37 Tip of laser receiving unit 42,43 Adsorption mechanism 44,45 Suction hole 46,47 Communication path 48,49 Laser Path 50a,50b Packaging container gripping mechanism 51a,51b Bottom holding part 52a, 52b Reciprocating part 60 machines 61 Stand 62 Rotating disc 70 Single Axis Unit 71 Slider 72 Rail 73 Motor 74 Laser gas concentration meter mounting part 75 Lifting mechanism

Claims

1. A method for measuring the residual oxygen concentration in a packaging container, in which a packaging container is filled with an item to be packaged and packaged by a packaging machine provided upstream, and the residual oxygen concentration in the packaging container is measured at a downstream outline, a laser gas concentration meter is incorporated in a robot hand of a robot arranged on the downstream outline of the packaging machine; When the packaging container is gripped by the robot hand, a laser generating unit and a laser receiving unit of the laser gas concentration meter are disposed on both sides of the packaging container from above the packaging container so as to face each other, and the residual oxygen concentration in the packaging container is measured by the laser gas concentration meter; A method for measuring the residual oxygen concentration in a packaging container, characterized in that the tip of the laser generating unit and the tip of the laser receiving unit of the laser gas concentration meter have an adsorption mechanism that enables the packaging container to be adsorbed.

2. The method for measuring the residual oxygen concentration in a packaging container according to claim 1, further comprising, after a step of measuring the residual oxygen concentration in the packaging container using the laser gas concentration meter, a determination step of determining whether the packaging container is good or defective based on the measured residual oxygen concentration in the packaging container, and a sorting step of sorting the packaging container into good and defective products.

3. The method for measuring the residual oxygen concentration in a packaging container according to claim 2, wherein the robot is a robot palletizer.

4. A method for measuring the residual oxygen concentration in a packaging container as described in any one of claims 1 to 3, wherein the robot hand comprises a pair of bottom holding parts that enter below the bottom of the packaging container from both sides and hold the bottom at the top surface, a pair of reciprocating parts that are respectively formed integrally with the pair of bottom holding parts and enable the pair of bottom holding parts to move back and forth horizontally, and a pair of packaging container gripping mechanisms that have a drive part that reciprocates the pair of reciprocating parts, and wherein the pair of bottom holding parts enter below the bottom of the packaging container from both sides and hold the bottom at the top surface, thereby allowing the packaging container to be gripped by the robot hand.

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