JP2015214353A - Powder takeout device of bag - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a powder takeout device which receives a bag sealed with powder, unseals the bag, takes out the powder, and processes the empty bag, and to make the powder takeout device efficiently take out the powder.SOLUTION: A powder takeout device comprises: bag accommodation means which makes a bag fall down by an inclined chute, and accommodates the bag in a cassette; bag opening means which, in a state that an opening end of the bag in the cassette is gripped by a grip hand of a robot, (1) arranges a form of the bag by pressing a slide-type pusher thereto, (2) oscillates an upper part of the bag, (3) cuts the opening end by a cutter, (4) opens the opening end by pressing the slide-type pusher once again, and (5) accommodates ears which are gripped and cut in a vessel; suction means which sucks and takes out powder by a suction nozzle which allows the lateral movement, ascending/descending, and an oscillatory operation of a robot through the opening; and bag processing means which grips the bag from which the powder is taken out by the grip hand, and accommodates the bag into the vessel.

Description

  The present invention is an efficient apparatus for taking out powder from a bag, more specifically, receiving a bag enclosing powder, opening the bag, taking out powder inside, and processing the empty bag. The present invention relates to a bag powder take-out device that can be automatically performed.

  An apparatus for opening a bag made of paper or synthetic resin in which powder is enclosed and taking out the powder has been developed and put into practical use (see, for example, Patent Documents 1 and 2).

JP-A-8-301249 (FIG. 1) Utility Model Registration No. 3161402 (FIG. 1)

  The powder take-out device described in Patent Document 2 is a series of operations for taking out powder by making the powder take-out device for running the transport carriage on the device frame described in Patent Document 1 a simple device using a robot and a turntable. It is designed to be efficient and economical. For these devices, there is a need for further improvement, for example, the powder in the cutting part at the time of opening the bag obstructs the cutting of the cutter and also generates dust. For example, powder cannot be efficiently sucked by a nozzle.

  The present invention has been made in view of the above-mentioned fact, and its technical problem is to accept a bag in which powder is enclosed, take out the powder by opening the bag, and process the empty bag. In addition to simplifying the process, it is more efficient by preventing the influence of powder when opening the bag with a cutter and preventing dust generation, improving the fluidization of powder in the bag, and improving the efficiency of powder suction with the suction nozzle. It is an object of the present invention to provide a bag powder take-out device that can take out powder well.

According to the present invention, as a bag powder take-out device that solves the above technical problem, a flat bag filled with powder is dropped by an inclined chute and the powder at the upper end that is the end to be opened is moved downward. A bag storage means for forming a cavity and storing it in a cassette in a standing state;
Grab the ear of the opening of the bag in the cassette with the gripping hand equipped on the robot,
(1) A pair of horizontally opposed pushers adjacent to the cassette are pressed against both sides of the lower part of the bag at predetermined intervals and gradually raised to release the powder and shape the bag,
(2) Shake the top of the bag down, up and sideways to secure the top cavity,
(3) Cut the unsealed end with a cutter attached to the gripping hand,
(4) A pair of sliding pushers are again pressed against the bag and repeatedly raised and lowered to unravel the powder and squeeze the open end,
(5) a bag opening means for accommodating the cut ear that is grasped in a predetermined container;
Through this opening, a suction means equipped in the robot, which can freely traverse, elevate and swing, is inserted into the bag, and suction means for sucking and taking out the powder;
An empty bag processing means for holding an empty bag from which powder has been taken out by the gripping hand and storing it in a predetermined container;
A bag powder take-out device is provided.

  Preferably, the cassette of the bag storage means includes an inclined portion that forms a lower portion of the inclined chute, and the inclined portion is provided so as to be swingable around the lower end, and is in an upright state when the dropped bag reaches the lowermost portion. When there is no bag, it is in an inclined state.

  And a pair of slide type pusher is installed in the both sides of the wide side of a flat bag.

  In addition, the suction nozzle can freely expand and contract in the direction in which the suction nozzle extends around the suction port at the tip, pressing the bag bottom and forming a gap between the suction port and the bag bottom to prevent bag adsorption A plurality of guide bars are provided.

  And a controller for controlling the operation of the robot, the gripping hand, the pair of sliding pushers, the cutter and the suction nozzle, and a series of bag storing means, bag opening means, suction means and empty bag. Processing means are automatically performed sequentially.

  The bag powder take-out device configured according to the present invention drops a bag filled with powder by an inclined chute, moves the powder at the upper end downward to form a cavity, and holds the unsealed end of the bag with a gripping hand. In a state of being gripped by, a pair of sliding pushers are used to shape the bag, shake the upper part of the bag to secure a cavity, and cut the open end with a cutter. Then, the powder is unwound by a pair of slide-type pushers, the open end is opened, and a suction nozzle that can traverse, elevate, and swing is inserted through the opening to suck the powder.

  Therefore, the powder take-out device is simplified compared to the conventional case, and the cavity formed in the upper part of the bag prevents the influence of powder when the bag is opened by the cutter, prevents the generation of dust, and further the sliding pusher. Thus, fluidization of the powder in the bag can be improved, and the powder suction efficiency can be improved by a suction nozzle that can be traversed, moved up and down, and swung freely.

The structure explanatory drawing of the powder taking-out apparatus of the bag comprised according to this invention. FIG. 2 is a detailed view of the S1 bag housing means of FIG. 1. (A) Detailed view of S2 bag opening means of FIG. 1, (b) Partial side view (C) Enlarged view of gripping hand of S2 bag opening means of FIG. 1, (d) Explanatory drawing of the state which shakes the upper part of a bag. 4A is a detailed view, FIG. 3B is a side view, and FIG. FIG. 2 is a detailed view of the S3 suction means in FIG. 1. FIG. 6 is a detailed view of the suction nozzle of FIG. 5. Operation | movement explanatory drawing of the suction nozzle of FIG. Explanatory drawing of the operation | movement which expands and opens a bag mouth by the swing operation | movement of a suction nozzle.

  Hereinafter, a bag powder take-out device constructed according to the present invention will be described in more detail with reference to the accompanying drawings illustrating a preferred embodiment.

  The outline of the powder take-out apparatus will be described with reference to FIG. The powder take-out device, indicated as a whole by number 2, comprises a bag housing means S1, a bag opening means S2, a suction means S3, and an empty bag processing means S4.

  The bag storage means S1 drops the flat bag F filled with the powder with the inclined chute 4 and moves the powder at the upper end, which is the end to be opened, downward to form a cavity and store it in the cassette 6 in a standing state. .

The bag opening means S2 grasps the ear M of the opening end of the bag F in the cassette 6 by the grasping hand 10 equipped in the robot 8, and in the grasped state,
(1) A pair of horizontally opposed pushers 12 and 12 adjacent to the cassette 6 are pressed against both sides of the lower portion of the bag F at predetermined intervals and gradually raised to release the powder and form the bag F. Arrange,
(2) Shake the upper part of the bag F downward, upward, laterally to secure the upper cavity,
(3) The open end is cut by the cutter 14 attached to the gripping hand 10,
(4) A pair of sliding pushers 12, 12 are again pressed against the bag F and repeatedly raised and lowered to unwind the powder, open the open end,
(5) The grasped cut ear M is accommodated in a predetermined container 16.

  The suction means S3, through this opening, inserts a suction nozzle 18 equipped in the robot 8 that can freely traverse, elevate, and swing into the bag F, and sucks and takes out the powder.

  The empty bag processing means S4 grips the empty bag F from which the powder has been taken out by the gripping hand 10 and stores it in a predetermined container 20.

  The bag housing means S1 will be further described with reference to FIG. 2 together with FIG. The bag accommodating means S1 includes a conveyor 5 that conveys the bags F to the upper end of the inclined chute 4, and the bags F that are carried into the conveyor 5 are flattened in a state of being stacked on a pallet or the like, or compressed and shaped. .

  The inclined chute 4 has a relatively steep slope, for example, 45 degrees from the horizontal, and is formed in a wide groove shape in which the bag F can be accommodated. The cassette 6 includes a flat inclined portion 4 a that forms the lower side of the inclined chute 4. The inclined portion 4a is provided so as to be swingable between an inclined state and a vertical state around the lower end 4b (indicated by an arrow). When the dropped bag F reaches the lowermost part, the inclined portion 4a is in an upright state and there is no bag F. Inclined state.

  The bag opening means S2 will be further described with reference to FIGS. 3 and 4 together with FIG. The robot 8 is a well-known vertical articulated multi-axis robot. A gripping hand 10 is attached to the tip of the arm 8a.

  A description will be given mainly with reference to FIG. The gripping hand 10 includes a pair of arms 10c and 10c which are attached to face each other so as to freely swing around a pair of pins 10b and 10b on a frame 10a attached to the arm 8a of the robot 8 downward. The pneumatic cylinder 10d is provided on the side of the frame 10a that swings the arms 10c and 10c and is connected to the robot 8.

  Each of the pair of arms 10c and 10c is opposite to the pneumatic cylinder 10d with the pin 10b interposed therebetween, and has a T-shaped portion that is formed in a T-shape that extends toward the opposite arm 10c and horizontally extends at the tip. An upper clamp 10e and a lower clamp 10f that hold the opening end of the bag F are attached. The upper clamp 10e is attached to a pneumatic cylinder so as to freely move forward and backward so that the unsealed end of the bag F can be grasped only by the lower clamp 10f when the upper part of the bag F is swung downward, upward and laterally. Fig. 3-2 (d)).

  Two sets of these arms 10c, 10c, upper clamp 10e, and lower clamp 10f are provided in the width direction of the bag F.

  Description will be given mainly with reference to FIG. The pair of sliding pushers 12 and 12 are formed in a rotatable columnar shape, and are moved up and down in the vertical direction (arrow Z) and horizontally with respect to the bag F (arrow X) on both sides of the flat bag F on the wide side. ) Is freely mounted on a support base 22 attached to the cassette 6.

  The pair of sliding pushers 12 and 12 are advanced in the horizontal X direction toward the bag F to a predetermined interval W for compressing the bag F, and are raised in the up and down arrow Z direction to release the powder and to remove the cross section of the bag F. Is substantially rectangular (FIG. 4C), and the slide type pushers 12 and 12 are returned to their original positions after ascending.

  The sliding pusher 12 is formed in a rotatable columnar shape, but may not rotate depending on the material and shape of the bag F, the kind of enclosed powder, etc. It may be a thing.

  The sliding pusher 12 is installed on both sides of the flat bag F on the wide long side, but the narrow and short sides of the bag F depend on the material and shape of the bag F, the kind of the enclosed powder, and the like. You may make it install in the both sides of a side.

  Returning to FIG. Next, the upper portion of the bag F is moved by moving the gripping hand 10 downward and upward (in the direction of the arrow Z) and laterally (in the direction of the arrow X) to secure an upper cavity. In this case, if the bag F is gripped only by the lower clamp 10f of the gripping hand 10, the bag F can be shaken more efficiently (FIG. 3 (d)).

  In this state, the open end is cut by the cutter 14. The cutter 14 is attached between the upper clamp 10e and the lower clamp 10e of the frame 10a of the gripping hand 10 so as to be movable in the horizontal direction (arrow X) that is in contact with and away from the bag F and in the direction parallel to the bag F. ing. The bag F is accurately cut between the upper clamp 10e and the lower clamp 10f. The cutter 14 may be a known one such as a disk cutter.

  When the ear M is cut, the pair of sliding pushers 12 and 12 are again pressed against the bag F, repeatedly raised and lowered (Z direction), the powder is pushed up, and when pushed up, it is returned to its original position. The unsealed end is opened by pushing up the powder. Also, make the powder softer and softer. Next, the cut ear M grasped by moving the grasping hand 10 of the robot 8 is accommodated in the container 16 (FIG. 1).

  The suction means S3 will be further described with reference to FIGS. 5 and 6 together with FIG. The suction nozzle 18 includes a round pipe-shaped nozzle body 18a having a suction port 19 at the tip, a cylinder 18b surrounding the outer periphery of the tip of the nozzle body 18a with a space between the nozzle body 18a and the cylinder 18b. A plurality of injection nozzles 18c (four in the embodiment) for injecting pressurized air around the suction port 19, a grid 18d provided at the tip of the cylinder 18b and covering the suction port 19, and a cylinder 18b Is provided at regular intervals on the periphery of the front end of the bag, and can freely expand and contract in the direction in which the suction nozzle 18 extends, presses the bottom of the bag F, forms a gap T between the lattice 18d and the bottom of the bag F, and sucks the bag F A plurality of guide bars 18e (four in the embodiment) for prevention are provided.

  The guide bar 18e includes a cylinder 18f extending in the direction in which the cylinder 18b extends, a piston 18g formed so as to be slidable in the cylinder 18f, protruding from the lower end of the cylinder 18f, and having a spherical bowl-shaped guide at the tip, and the cylinder 18f Provided with a spring 18h for urging the piston 18g downward. The guide bar 18e moves the nozzle 18 while pressing the bottom of the bag F when the powder at the bottom of the bag F is low. Without sucking the powder.

  The injection nozzle 18c facilitates the suction of the powder by injecting the pressure air when the remaining amount of the powder in the bag F becomes less than a predetermined amount.

  The suction nozzle 18 will be further described with reference to FIGS. As shown in FIG. 7, the suction nozzle 18 is attached to the tip of the arm 8a of the robot 8, and can be freely operated in a traversing (arrow X) / lifting / lowering (arrow Z) / swinging (arrow Y). . The suction nozzle 18 is put into and out of the bag F from above through the opening (arrow Z), and the bag F is moved horizontally and swinging (arrows X and Y) to connect the known powder suction device (for example, a suction blower). To suck out the powder. By this swinging operation, the powder that forms a bridge on the side surface of the bag F can be broken, so that suction can be performed without remaining.

  As shown in FIG. 8, the suction nozzle 18 has an opening formed by pressing the pair of sliding pushers 12, 12 of the bag opening means S2 against the bag F and repeatedly raising and lowering the powder. The piston 18g of the guide bar 18e is inserted into the nozzle 18 and the nozzle 18 is swung to expand the size to facilitate the suction of the powder.

  Returning to FIG. The powder take-out device 2 includes a controller 24, which controls the operation of the robot 8, the gripping hand 10, the pair of sliding pushers 12, 12, the cutter 14 and the suction nozzle 18, and a series of bags The container means S1, the bag opening means S2, the suction means S3, and the empty bag processing means S4 are automatically and sequentially performed, and the powder is sucked and taken out fully automatically.

  The effect of the bag powder take-out device 2 as described above will be described.

  The bag powder take-out device 2 configured in accordance with the present invention drops the bag F filled with powder by the inclined chute 4, moves the powder at the upper end downward, and forms a cavity at the upper end to be opened, In a state where the open end of the bag F, which has become hollow and easy to grip, is gripped by the gripping hand 10, the powder is broken by a pair of sliding pushers 12 and 12, the shape of the bag F is adjusted, and the upper portion of the bag F is swallowed. Then, a cavity is secured, and the opening end is cut by the cutter 14. Then, the powder is unwound by a pair of slide type pushers 12 and 12, the open end is opened, and a suction nozzle 18 that can traverse, elevate and swing is inserted through the opening to suck and take out the powder.

  Therefore, the powder take-out device 2 is simplified as compared with the conventional device using the device frame and the transport carriage or the robot and the turntable, and the cutter 14 is formed by the powder-free cavity formed in the upper portion of the bag F. Suction nozzle that prevents the influence of powder when opening the bag, prevents the generation of dust, and improves the fluidization of the powder in the bag F by the slide type pushers 12 and 12, allowing the traversing, lifting, and swinging freely. The powder can be taken out more efficiently by improving the efficiency of powder suction by 18.

  The cassette 6 of the bag storage means S1 includes an inclined portion 4a that forms the lower portion of the inclined chute 4, and this inclined portion 4a is provided so as to be swingable around the lower end 4b, and the dropped bag F reaches the lowermost portion. Then, it becomes an upright state, and when there is no bag F, it becomes an inclined state. Therefore, the inclined portion 4 and the cassette 6 can be effective with a simple configuration.

  The pair of sliding pushers 12 and 12 are installed on both sides of the flat bag F on the wide side. Therefore, the powder in the bag F can be crushed and fluidized more effectively.

  The suction nozzle 18 can freely expand and contract in the direction in which the suction nozzle 18 extends around the suction port 19 at the tip, presses the bottom of the bag F, forms a gap between the suction port 19 and the bottom of the bag F, and forms the bag F Are provided with a plurality of guide bars 18e. Therefore, the guide bar 18e moves the nozzle 18 while pressing the bottom of the bag F when the powder at the bottom of the bag F is reduced, and thus prevents the inner bag made of resin from being sucked. The powder can be sucked without remaining amount, and the powder can be sucked and taken out more efficiently.

  Further, a controller 24 is provided. The controller 24 controls the operation of the robot 8, the gripping hand 10, the pair of sliding pushers 12 and 12, the cutter 14 and the suction nozzle 18, and a series of bag accommodating means S 1, bag The opening means S2, the suction means S3 and the empty bag processing means S4 are automatically performed in sequence. Therefore, the bag F powder can be efficiently sucked out.

2: Powder take-out device 4: Inclined chute 6: Cassette 8: Robot 10: Grasping hand 12: Slide pusher 14: Cutter 18: Suction nozzle S1: Bag storage means S2: Bag opening means S3: Suction means S4: Empty bag Processing means F: bag M: ear

Claims (5)

A bag containing means for dropping a flat bag filled with powder by an inclined chute and moving the powder at the upper end, which is the end to be opened, downward to form a cavity and store it in a cassette in a standing state;
Grab the ear of the opening of the bag in the cassette with the gripping hand equipped on the robot,
(1) A pair of horizontally opposed pushers adjacent to the cassette are pressed against both sides of the lower part of the bag at predetermined intervals and gradually raised to release the powder and shape the bag,
(2) Shake the top of the bag down, up and sideways to secure the top cavity,
(3) Cut the unsealed end with a cutter attached to the gripping hand,
(4) A pair of sliding pushers are again pressed against the bag and repeatedly raised and lowered to unravel the powder and squeeze the open end,
(5) a bag opening means for accommodating the cut ear that is grasped in a predetermined container;
Through this opening, a suction means equipped in the robot, which can freely traverse, elevate and swing, is inserted into the bag, and suction means for sucking and taking out the powder;
An empty bag processing means for holding an empty bag from which powder has been taken out by the gripping hand and storing it in a predetermined container;
A device for taking out powder from a bag, comprising: The cassette of the bag storage means includes an inclined portion that forms the lower portion of the inclined chute,
This inclined part is provided so as to be able to swing around the lower end, and when the fallen bag reaches the bottom, it is in an upright state, and when there is no bag, it is in an inclined state.
The bag powder take-out device according to claim 1. A pair of sliding pushers
Installed on both sides of the wide side of the flat bag,
The bag powder take-out device according to claim 1. The suction nozzle
A plurality of guide bars that can freely expand and contract in the direction in which the suction nozzle extends around the suction port at the tip, hold the bag bottom, and form a gap between the suction port and the bag bottom to prevent bag adsorption With
The bag powder take-out device according to claim 1. Equipped with a controller,
The controller controls the operation of the robot, the gripping hand, the pair of sliding pushers, the cutter and the suction nozzle, and automatically and sequentially performs a series of bag storing means, bag opening means, suction means and empty bag processing means. Carry out,
The bag powder take-out device according to claim 1.