JP2008081198A - Bag feeder of powdery granule filling machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bag feeder which enables complete unmanned feeding work of a packaging bag to a powdery granule filling machine and does not cause the decrease of working efficiency due to automatic stop of the bag feeder. <P>SOLUTION: The bag feeder includes a detecting means for detecting whether the filling port of the packaging bag is suitably opened before the filling port of the packaging bag 14 is externally fitted to the filling pipe 20 of an automatic quantitative bagging device 18 and has a rejecting part 22 for receiving an empty packaging bag in the work area of a robot 10. When the faulty opening of the filling port of the packaging bag is detected by the detecting means, the bag feeder controls a robot to stop the external fitting operation of the filling port of the packaging bag into the filling pipe of the powder filling machine, to release the packaging bag to the rejecting part, and to immediately transfer to the feeding operation of the packaging bag without interrupting the work. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  According to the present invention, a single packaging bag is taken out from a bag stacking unit in which a plurality of empty packaging bags are collected, and the taken-out packaging bag is opened to a powder filling machine by a robot to open a filling port of the packaging bag. In particular, the present invention relates to a bag feeder for a powder filling machine, in which the filling port of the packaging bag is extrapolated to the filling pipe of the powder filling machine.

  Some packaging bags with a valve filled with powder or granules through a filling port (valve port) have various forms as shown in FIG. For example, the packaging bag shown in FIG. 13 (a) is called a pleatless double bottomed bag (B-1), and decorative papers 1a and 2a are pasted to both bottoms. An inner valve 4a is formed on the back side. The packaging bag shown in (b) of FIG. 13 is called a foldable double-fold bag (B-2), and has reinforcing papers 1b and 2b on the upper and lower sides, respectively, and both left and right sides. Are formed with crease lines 3b and 4b, respectively, and a valve 6b is formed in the vicinity of the filling port 5b. The packaging bag shown in (c) of FIG. 13 is called a pleatless double-sewn bag (D-1), and has crepe tapes 3c and 4c having seam lines 1c and 2c on the upper and lower sides, respectively. A check valve 6c is formed in the vicinity of the filling port 5c. Further, the packaging bag shown in FIG. 13 (d) is called a double-sewn sewed bag (D-2), and crepe tapes 3d and 4d having seam lines 1d and 2d are provided on the upper and lower sides, respectively. In addition, crease lines 5d and 6d are formed on the left and right sides, respectively, and a check valve 8d is formed in the vicinity of the filling port 7d. When filling these various types of packaging bags with a granular material, the packaging bags can be removed from the bag stacking unit one by one using a bag take-out mechanism, bag holding mechanism, filling port opening mechanism, etc. Take out the packaging bag taken out, open the filling port, transport the packaging bag to the powder filling machine, and extrapolate the filling port of the packaging bag to the filling tube of the powder filling machine (For example, refer to Patent Document 1).

  In order to perform a series of operations from taking out the packaging bag to inserting the filling port of the packaging bag into the filling tube quickly and smoothly, the bag removing mechanism reliably takes out the packaging bags one by one, and the bag holding mechanism. Therefore, it is essential to extrapolate the filling port to the filling tube in a state in which the filling port of the packaging bag is reliably opened. For this reason, various bag supply apparatuses that can reliably open the filling port of the packaging bag have been devised (for example, see Patent Document 2).

By the way, in recent years, industrial robots (multi-joint robots) have come to be used for bag-saving devices for labor saving and unmanned operation. With this robot, the packaging bags taken out one by one from the bag stacking unit by the bag take-out mechanism are supplied to the powder filling machine with the filling port opened, and the filling port of the packaging bag is filled with the powder. Extrapolated to the filling tube of the machine.
Japanese Examined Patent Publication No. 7-35163 (page 2-4, FIGS. 1 to 6) JP-A-8-169420 (4th page, 6th page, FIG. 5, FIG. 12)

  However, even if a robot is used, a bag supply mistake due to a defective opening of the filling port of the packaging bag can occur. When such a bag feeding mistake occurs, conventionally, the bag feeding device automatically stops, and an alarm device such as an alarm buzzer or an alarm lamp notifies the operator of the occurrence of the bag feeding mistake. For this reason, although there are few workers in the work place, it is necessary to restore the robot work. Therefore, even if a robot is used, complete unmanned operation is impossible, and there is a problem that work efficiency is reduced due to automatic stop of the apparatus.

  The present invention has been made in view of the circumstances as described above, and can be completely unmanned in the operation of supplying the packaging bag to the powder filling machine, and the work efficiency can be reduced due to the automatic stop of the apparatus. An object of the present invention is to provide a bag feeder for a powder filling machine that does not occur.

  According to the first aspect of the present invention, a plurality of empty packaging bags are taken out one by one from a bag stacking unit in which flat packaging bags are stacked, and the packaging bag is transferred from the bag stacking unit to the powder filling machine by a robot. In the bag feeder of the powder filling machine, the filling port of the powder filling machine is extrapolated to the filling pipe of the powder filling machine. A bag having a detecting means for detecting whether or not the filling port of the packaging bag is well opened before being extrapolated to the filling tube of the powder filling machine, and receiving an empty packaging bag in the working area of the robot When a defective opening of the filling port of the packaging bag is detected by the detection means, the extrapolation operation of the filling port of the packaging bag to the filling tube of the powder filling machine is stopped, The packaging bag is discharged to the bag receiving part, and the next packaging is immediately performed without stopping the work. To migrate into the supply operation, characterized by comprising control means for controlling the robot.

  The invention according to claim 2 is the bag supply apparatus according to claim 1, wherein the packaging bag is a pleated double-bottomed bag, and a plurality of packaging bags are stacked in a bag stacking portion, A suction pad for adsorbing the outer surface near the filling port of the packaging bag positioned at the top of the plurality of packaging bags, and a lifting means for raising and lowering the suction pad. In the state where the outer surface in the vicinity of the filling port is adsorbed, the suction pad is lifted by the elevating means, thereby providing a bag removing mechanism for lifting the upper side of the packaging bag provided with the filling port, and by the bag removing mechanism. A presser bar that engages near the filling port of the packaging bag being lifted and opens the filling port, and the robot keeps the upper side of the packaging bag from both sides and the filling port of the packaging bag remains open. Hold and hold A pair of clamps and opening / closing means for opening and closing the pair of clamps, and the detection means is an optical sensor that optically detects whether or not the opening shape of the filling port of the packaging bag held by the clamps is normal. It is characterized by being.

  The invention according to claim 3 is the bag supply apparatus according to claim 1, wherein the packaging bag has a form in which the filling port is opened by pulling the outer surface of the upper side portion away from both sides, and the robot is the upper side portion of the packaging bag. A pair of suction pads that are respectively sucked from both sides of the suction surface, a vacuum suction path that is connected to each suction pad, a vacuum suction means that vacuum-sucks each suction pad through the vacuum suction path, and the pair Drive means for moving the suction pads closer to and away from each other, and the detection means is a pressure sensor that detects a pressure in the vacuum suction path and detects an opening failure of the filling port of the packaging bag due to an abnormality in the pressure. And

In the bag supply apparatus of the invention according to claim 1, before the filling port of the packaging bag is extrapolated to the filling tube of the powder filling machine by the robot, the filling port of the packaging bag is satisfactorily opened by the detecting means. When the detection means detects a defective opening of the filling port of the packaging bag, the robot is controlled by the control means, and the filling port of the packaging bag to the filling tube of the granular material filling machine is controlled. The extrapolation operation is stopped, and the packaging bag is discharged to the bag receiving portion. Then, the robot immediately moves to the next packaging bag supply operation without stopping the operation. This eliminates the need for an operator to return the robot work when a bag feeding error occurs.
Therefore, when the bag supply apparatus of the invention according to claim 1 is used, it becomes possible to perform unmanned supply of the packaging bag to the powder filling machine, and the apparatus does not automatically stop. Work efficiency can be improved.

  In the bag supply apparatus of the invention according to claim 2, the invention according to claim 1 detects whether or not the opening shape of the pleatless double-bottomed bag held by the pair of clamps of the robot is normal by the optical sensor. The above-mentioned operational effects are reliably exhibited.

  In the bag supply apparatus according to the third aspect of the invention, the pair of suction pads are moved away from each other by the driving means while the outer surfaces of the upper side portions of the packaging bag are sucked from both sides by the pair of suction pads of the robot. By doing so, the filling port of the packaging bag is opened. Then, the pressure of the vacuum suction path connected to the suction pad and connected to the vacuum suction means is detected by the pressure sensor, and the opening failure of the filling port of the packaging bag is detected by the detected pressure abnormality. Thus, the above-described effects of the invention according to claim 1 can be reliably achieved.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the best embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows an example of an embodiment of the present invention, and is a plan view showing a schematic configuration of a bag supply device together with a powder and particle filling device (automatic quantitative bagging device) and an accumulator.

  This bag feeding apparatus is an industrial articulated robot having a bag holding mechanism 12 (details will be described later) for holding a packaging bag (in this embodiment, a pleatless double-bottom-attached bag (see FIG. 13A)). And an accumulator having a bag magazine in which a plurality of empty packaging bags 14 are stacked in a flat shape in an area (indicated by a two-dot chain line in FIG. 1) where the robot 10 operates. A device 16 and a bag take-out mechanism (not shown in FIG. 1) for taking out the packaging bags 14 one by one from the bag magazine are provided, and a powder filling device, that is, a powder or a granule A filling tube 20 of an automatic quantitative bagging apparatus 18 that fills a packaging bag with a certain amount of powder and particles is measured. Empty (released) from the robot 10 A reject portion (bag receiving portion) 22 for receiving a bag is provided, and a reference numeral 24 in Fig. 1 denotes a belt for carrying the packaging bag after the powder is filled by the automatic quantitative bag filling device 18. The reference numeral 26 denotes a tipping guide unit for supporting the packaging bag after filling the granular material and causing it to fall down properly onto the belt conveyor 24.

  2 to 4 are a front view, a plan view, and a side view, respectively, showing an example of the configuration of the bag holding mechanism 12 of the robot 10 together with some components of the bag take-out mechanism. The bag take-out mechanism has a pair of suction pads 28 for sucking one ship bottom-like portion 14a on which the decorative paper is pasted, of the packaging bag 14 positioned at the top of the plurality of packaging bags 14 stacked in a bag magazine. 30. One of the suction pads 28 is arranged so as to suck the outer surface near the filling port 14b of the packaging bag 14. The suction pads 28 and 30 are attached to a lifting mechanism (not shown), and are reciprocated in the vertical direction by the lifting mechanism. And when the suction pads 28 and 30 are raised while adsorbing the ship bottom 14a of the packaging bag 14, the upper side of the packaging bag 14 provided with the filling port 14b is lifted. A presser bar 32 is disposed at a height position in the middle of the stroke of the suction pads 28 and 30 that reciprocate in the vertical direction. The presser bar 32 is attached to the cylinder 34, and the cylinder 34 causes the retracted position indicated by the solid line and the operating position indicated by the two-dot chain line in FIGS. 3 and 4, that is, near the filling port 14 b of the packaging bag 14. It is reciprocated in the horizontal direction between the engaged positions. The presser bar 32 is engaged with the vicinity of the filling port 14b of the packaging bag 14 that is adsorbed by the suction pads 28 and 30 and lifted on the upper side at the operating position indicated by the two-dot chain line, and opens the filling port 14b. Works to let you.

  The bag holding mechanism 12 of the robot 10 opens and closes the pair of clamps 36 and 36 that grip the upper side of the packaging bag 14 from both sides, and the pair of clamps 36 and 36, and the gripping position indicated by a solid line in FIG. And an actuator 38 that rotates between a retracted position indicated by a two-dot chain line. The clamp 36 includes a flat plate-shaped gripping portion 36a that contacts and grips the vicinity of the base of the ship bottom-shaped portion 14a of the packaging bag 14, and the filling port by the cooperative operation of the bag takeout mechanism and the presser bar 32 as described above. It has a "<"-shaped intermediate arm portion 36b that wraps the ship bottom-like portion 14a of the packaging bag 14 with the opening 14b open so as to keep the filling port 14b open. By the pair of clamps 36, 36 of the bag holding mechanism 12, the bottom portion 14a is sucked to the suction pads 28, 30 and the upper side is lifted, and the vicinity of the filling port 14b is pressed by the presser bar 32, and the filling port 14b is opened. The packaging bag 14 is held while maintaining its shape.

  In addition, the bag supply device is provided with detection means for confirming the opening state of the filling port 14 b of the packaging bag 14. By this detection means, the filling port 14b of the packaging bag 14 is good before the filling port 14b of the packaging bag 14 held by the clamp 36 of the bag holding mechanism 12 is extrapolated to the filling tube 20 of the automatic quantitative bagging device 18. It is detected whether or not it is open. FIG. 5 shows an example of a schematic configuration of the detection means. This detection means is an optical sensor that optically detects whether or not the opening shape of the filling port 14b of the packaging bag 14 is normal, and includes a light projecting element such as a light emitting diode and a light receiving element such as a photodiode. 1 sensor 40 and 2nd sensor 42 are comprised. The first sensor 40 and the second sensor 42 are respectively connected to the CPU 44, as shown in a block diagram of a control system of the bag feeder in FIG. Each sensor 40, 42 outputs a detection signal and sends it to the CPU 44 when light emitted from the light projecting element is not received by the light receiving element. Then, the CPU 44 determines whether or not the opening shape of the filling port 14b of the packaging bag 14 is normal based on the input detection signal. That is, as shown in FIG. 5A, when detection signals are output from both the first sensor 40 and the second sensor 42 and input to the CPU 44, the opening shape of the filling port 14b of the packaging bag 14 is formed. Is determined to be normal. On the other hand, as shown in FIG. 5B, when no detection signal is output from the second sensor 42, or as shown in FIG. 5C, no detection signal is output from the first sensor 40. If it is, it is determined that the opening state of the filling port 14b of the packaging bag 14 is defective.

  Connected to the CPU 44 are a control device 46 that controls the robot 10 and an alarm device 48 such as an alarm buzzer or an alarm lamp that issues an alarm when the filling port 14b of the packaging bag 14 is not well opened. . Then, the control device 46 extrapolates the filling port 14b of the packaging bag 14 into the filling tube 20 of the automatic quantitative bagging device 18 when the opening failure of the filling port 14b of the packaging bag 14 is detected by the optical sensor. The operation is stopped, the packaging bag 14 is released to the reject unit 22, and the robot 10 is controlled so as to immediately shift to the next packaging bag supply operation without stopping the operation.

  Next, a series of operations for supplying the packaging bag 14 to the automatic quantitative bagging apparatus 18 by the bag supply apparatus having the above-described configuration will be described with reference to FIGS. In FIGS. 7-1 to 7-3, (a) in each figure shows a front view, (b) shows a side view, and (c) shows a plan view, respectively.

  First, as shown in FIG. 7A, the suction pads 28 and 30 are lowered by the lifting mechanism, and the suction pads 28 and 30 are used to lay out the plurality of packaging bags 14 stacked in the bag magazine of the accumulator device 16. One ship bottom-like part 14a of the packaging bag 14 located at the top is adsorbed. Subsequently, as shown in FIG. 7-2, the upper side of the packaging bag 14 provided with the filling port 14b is lifted by the suction pads 28 and 30 being lifted while adsorbing the bottom portion 14a of the packaging bag 14. Lifted. Then, in the process of lifting the packaging bag 14, the cylinder 34 is operated, the presser bar 32 advances toward the filling port 14 b of the packaging bag 14, and the presser bar 32 engages in the vicinity of the filling port 14 b of the packaging bag 14. . Even after the presser bar 32 comes into contact with the vicinity of the filling port 14b of the packaging bag 14, the upper side of the packaging bag 14 is lifted by the suction pads 28, 30, thereby filling the packaging bag 14 as shown in FIG. The mouth 14b opens.

  When the filling port 14b of the packaging bag 14 is opened, the packaging bag 14 is held by the bag holding mechanism 12 of the robot 10 as shown in a front view in FIG. That is, the actuator 38 of the bag holding mechanism 12 is actuated to close the pair of clamps 36, 36, and this operation maintains the state of the bottom 14a of the packaging bag 14 with the filling port 14b opened. In this way, both the intermediate arm portions 36b are wrapped, and the vicinity of the base of the bottom portion 14a of the packaging bag 14 is gripped by both flat plate-shaped gripping portions 36a. When the packaging bag 14 is held by the bag holding mechanism 12, the presser bar 32 is detached from the packaging bag 14 and retracted to the original position. Subsequently, the robot 10 conveys the packaging bag 14 and arranges the filling port 14b of the packaging bag 14 so as to face the filling tube 20 of the automatic quantitative bagging device 18 as shown in a partial side view in FIG. . Then, the robot 10 extrapolates the filling port 14b of the packaging bag 14 into the filling tube 20 as shown in a partial side view in FIG. 10, but in this bag feeding apparatus, the filling port 14b of the packaging bag 14 is filled with the filling tube. Before being extrapolated to 20, it is confirmed whether the filling port 14b of the packaging bag 14 is well open.

  The detection of the opening state of the filling port 14b of the packaging bag 14 is performed by an optical sensor including the first sensor 40 and the second sensor 42 as described above with reference to FIG. Then, as shown in the flowchart of FIG. 11A, when a defective opening of the filling port 14b of the packaging bag 14 is detected, that is, due to an opening mistake of the packaging bag 14, (b) and (c) of FIG. ), When no detection signal is output from the first sensor 40 or the second sensor 42 and the CPU 44 determines that the opening state of the filling port 14b of the packaging bag 14 is defective, the CPU 44 determines whether the robot 10 A signal is sent to the controller 46. Thereby, the robot 10 determines that the packaging bag 14 should be discharged, and stops the extrapolation operation of the filling port 14b of the packaging bag 14 into the filling tube 20 of the automatic quantitative bagging device 18. Then, the packaging bag 14 is released to the reject unit 22, and the process immediately shifts to the operation for taking out the next packaging bag 14 from the accumulator device 16 without stopping the operation. The empty packaging bag 14 released to the reject unit 22 is directly carried out of the apparatus by a roller conveyor or the like, or is temporarily stored in the reject unit 22 and then taken out from the reject unit 22 as needed when the operation is stopped. It is.

  Next, FIG. 12 shows another embodiment of the present invention, in which the opening means for opening the filling port of the packaging bag having the form as shown in FIGS. 13 (b), (c) and (d) is shown. It is a partial front view which shows the example of a structure. This packaging bag 50 has the form which the filling port 50b opens by pulling apart the outer surface of the upper side part 50a to both sides.

  The opening means shown in FIG. 12 has a pair of suction pads 52 and 52 that are sucked from both sides on the outer surface of the upper side portion 50a of the packaging bag 50, and although not shown, each suction pad 52 is fixed to each other. A cylinder is provided for reciprocating the support arms 54 to bring the pair of suction pads 52 and 52 closer to and away from each other. The bag holding mechanism 12 of the robot 10 includes the suction pad 52 and the cylinder. Each suction pad 52 is connected to a tube 56, and as shown in FIG. 6, the tube 56 is connected to a vacuum pump 62 through a pipe 60 in which a control valve 58 is inserted. Yes. Then, the vacuum pump 62 is driven to suck the suction pad 52 through the pipe 60 and the tube 52, whereby the outer surface of the upper side portion 50 a of the packaging bag 50 is sucked to the suction pad 52.

  A pressure sensor 64 that detects the pressure in the pipe 60 is provided in the middle of the pipe 60 that connects the suction pad 52 and the vacuum pump 62. The pressure sensor 64 detects whether or not the vacuum pressure has dropped when the outer surface of the packaging bag 50 is sucked by the suction pad 52. Then, as shown in the flowchart in FIG. 11B, when the suction of the outer surface of the packaging bag 50 by the suction pad 52 is not properly performed and an opening error of the packaging bag 50 occurs, the pressure sensor 64 causes the vacuum pressure to be reduced. Is detected, the detection signal is sent to the CPU 44, the CPU 44 determines that the opening state of the filling port 50b of the packaging bag 50 is defective, and a signal is sent from the CPU 44 to the control device 46 of the robot 10. Thereby, the robot 10 determines that the packaging bag 50 should be discharged, and stops the extrapolation operation of the filling port 50b of the packaging bag 50 into the filling tube 20 of the automatic quantitative bagging device 18. Then, the packaging bag 50 is released to the reject unit 22, and the process immediately shifts to the operation for taking out the next packaging bag 50 from the accumulator device 16 without stopping the operation.

  In the above-described embodiment, an example in which a plurality of empty packaging bags 14 are stacked in a flat shape on the accumulator 16 has been shown, but a plurality of packaging bags may be stacked vertically in the bag stacking portion. The configuration of the bag take-out mechanism is not limited to that of the above embodiment. Further, the configuration of the bag holding mechanism of the robot is not limited to that of the above-described embodiment, and the detection means for detecting whether the filling port of the packaging bag is well opened is the optical sensor shown in the embodiment. It may be other than the pressure sensor.

FIG. 1 is a plan view showing an example of an embodiment of the present invention and showing a schematic configuration of a bag feeding device together with an automatic quantitative bagging device and an accumulator device. It is a front view which shows one example of a structure of the bag holding | maintenance mechanism of the robot in the bag supply apparatus shown in FIG. Similarly, it is a plan view. Similarly, it is a side view. It is a front view which shows one example of schematic structure of the detection means which is one of the components of the bag feeding apparatus shown in FIG. 1, Comprising: It is a figure for demonstrating the detection operation by a detection means. It is a block diagram which shows schematic structure of the control system of the bag feeding apparatus shown in FIG. It is a figure for demonstrating a series of operation | movement which supplies a packaging bag to an automatic fixed quantity bagging apparatus with the bag supply apparatus shown in FIG. 1, (a) shows a front view, (b) shows a side view. , (C) shows a plan view. It is a figure for demonstrating a series of operation | movement which supplies a packaging bag similarly, Comprising: (a) shows a front view, (b) shows a side view, (c) shows a top view. It is a figure for demonstrating a series of operation | movement which supplies a packaging bag similarly, Comprising: (a) shows a front view, (b) shows a side view, (c) shows a top view. It is a front view of the bag holding mechanism for demonstrating a series of operation | movement which supplies a packaging bag similarly. It is a partial side view of a bag holding mechanism and a filling tube for explaining a series of operations for supplying a packaging bag. It is a partial side view of a bag holding mechanism and a filling tube for explaining a series of operations for supplying a packaging bag. It is a flowchart for demonstrating the control operation | movement by the bag feeding apparatus shown in FIG. It is a partial front view which shows another embodiment of this invention and shows the structural example of the opening means of a packaging bag. It is a figure which shows the various forms of the packaging bag with a valve with which a granular material is filled through a filling port (valve port).

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Robot 12 Bag holding mechanism 14, 50 Packaging bag 14a Ship bottom part 14b, 50b Packing bag filling port (valve port)
16 Accumulator 18 Automatic quantitative bagging device 20 Filling tube 22 Reject part (bag receiving part)
28, 30 Suction pad 32 Presser bar 34 Cylinder 36 Clamp 36a Flat plate gripping portion 36b Clamp intermediate arm portion 38 Actuator 40 First sensor 42 Second sensor 44 CPU
46 Robot Control Device 50a Upper Side of Packaging Bag 52 Adsorption Pad 56 Tube 60 Piping 62 Vacuum Pump 64 Pressure Sensor

Claims (3)

A plurality of empty packaging bags are collected one by one from a bag stacking unit in which flat packagings are stacked, and a robot opens the packing port from the bag stacking unit to the powder filling machine by a robot. In the bag supply device of the powder filling machine, sequentially supplying and extrapolating the filling port of the packaging bag to the filling pipe of the powder filling machine,
A detecting means for detecting whether or not the filling port of the packaging bag is satisfactorily opened before extrapolating the filling port of the packaging bag to the filling tube of the powder filling machine is provided in the work area of the robot. A bag receiving portion for receiving an empty packaging bag is provided, and when the opening of the filling port of the packaging bag is detected by the detecting means, the filling port of the packaging bag is removed from the filling port of the powder filling machine. Control means for controlling the robot so as to stop the insertion operation, discharge the packaging bag to the bag receiving portion, and immediately shift to the operation for supplying the next packaging bag without stopping the operation. A pouch feeder for a powder filling machine. The packaging bag is a fold-free double-sided affixed bag, and a plurality of packaging bags are stacked in the bag stacking part,
A suction pad for adsorbing an outer surface near a filling port of a packaging bag positioned at the top of the plurality of packaging bags flatly stacked on the bag stacking unit; and an elevating means for raising and lowering the suction pad. The bag is provided with a bag removal mechanism for lifting the upper side of the packaging bag provided with the filling port by raising the suction pad by the elevating means in a state where the outer surface near the filling port of the packaging bag is adsorbed to the pad. A presser bar that engages the vicinity of the filling port of the packaging bag lifted by the bag take-out mechanism and opens the filling port,
The robot includes a pair of clamps for holding the packaging bag from the both sides of the upper side of the packaging bag while keeping the filling port of the packaging bag open, and an opening / closing means for opening and closing the pair of clamps,
The bag feeding device for a granular material filling machine according to claim 1, wherein the detection means is an optical sensor that optically detects whether or not the opening shape of the filling port of the packaging bag held by the clamp is normal. The packaging bag is a form in which the filling port is opened by pulling the outer surface of the upper side part apart on both sides,
The robot includes a pair of suction pads that are sucked from both sides to the outer surface of the upper side of the packaging bag, a vacuum suction path that is connected to each suction pad, and a vacuum suction path that sucks each suction pad through the vacuum suction path. Vacuum suction means, and driving means for moving the pair of suction pads closer to and away from each other,
The bag feeding device for a granular material filling machine according to claim 1, wherein the detecting means is a pressure sensor that detects a pressure of the vacuum suction path and detects an opening failure of a filling port of the packaging bag due to an abnormality in the pressure. .

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