JP2020189683A - Bag-opening device, and bag-opening method - Google Patents

Abstract

To simplify the structure of a bag-opening device.SOLUTION: A bag-opening device 1 is a device for opening a bag mouth 71 of a bag 7 whose bag mouth 71 is formed between a first sheet 7A and a second sheet 7B. The bag-opening device 1 comprises a first rotation body 111 and a second rotation body 112, a rotation drive device, and a movement drive device. The first rotation body 111 and the second rotation body 112 each rotationally constituted are contactable with the first sheet 7A on an outer peripheral surface. The rotation drive device rotates the first rotation body 111 so as to sandwich the first sheet 7A between the first rotation body 111 and the second rotation body 112, in a state where the first rotation body 111 and the second rotation body 112 are brought into direct or indirect contact with each other. The movement drive device moves the first rotation body 111 and the second rotation body 112 in a separation direction, in a state where the first sheet 7A is sandwiched between the first rotation body 111 and the second rotation body 112.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a bag opening device and a bag opening method. More specifically, the present disclosure relates to a bag opening device for opening a bag opening of a bag having two sheets, and a bag opening method.

Patent Document 1 describes a bag opening device (bag opening device) for transporting bags (storage bags) one by one at a predetermined position with the bag mouth (opening) open.

In the bag opening device described in Patent Document 1, the upper surface of the uppermost bag placed on the elevating plate is pressed by a roller to rotate the bag, and the upper surface side sheet of the bag is slid toward the bottom side. Only the top sheet is pulled. As a result, the upper surface side sheet is peeled off from the lower surface side sheet, the upper surface side sheet is turned up, and the bag opening is automatically opened.

Further, in the bag opening device described in Patent Document 1, the arm in the gripping and transporting device is rotated with the bag mouth opened, and at the same time, the movable gripping piece is rotated to a position where it overlaps with the fixed gripping piece. Then, the bag mouth of the bag is sandwiched between the movable grip piece and the fixed grip piece. Then, by rotating the arm, the bag is pulled out with the bag mouth wide open.

Japanese Unexamined Patent Publication No. 8-133245

In a bag opening device as described in Patent Document 1, both a roller and an arm are required to open the bag mouth of a bag having two sheets, and simplification of the structure is desired.

An object of the present disclosure is to provide a bag opening device and a bag opening method capable of simplifying the structure.

The bag opening device according to one aspect of the present disclosure is a bag opening device for opening the bag opening of a bag in which a bag opening is formed between the first sheet and the second sheet. The bag opening device includes a first rotating body and a second rotating body, a rotation driving device, and a moving driving device. The first rotating body and the second rotating body are configured to be rotatable and can come into contact with the first sheet on the outer peripheral surface. In the rotation driving device, the first rotating body and the second rotating body come into direct or indirect contact with each other so as to sandwich the first sheet between the first rotating body and the second rotating body. The first rotating body is rotated in this state. The movement driving device moves the first rotating body and the second rotating body in a separation direction with the first sheet sandwiched between the first rotating body and the second rotating body. The separation direction is a direction in which the first sheet is separated from the second sheet.

The bag opening method according to one aspect of the present disclosure is a bag opening method for opening the bag opening of a bag in which a bag opening is formed between the first sheet and the second sheet. The bag opening method includes a rotation process and a movement process. In the rotation process, the first rotating body and the second rotating body are in direct or indirect contact with each other so as to sandwich the first sheet between the first rotating body and the second rotating body. This is a process of rotating the first rotating body. The first rotating body and the second rotating body are configured to be rotatable and can come into contact with the first sheet on the outer peripheral surface. The moving process is a process of moving the first rotating body and the second rotating body in a separation direction with the first sheet sandwiched between the first rotating body and the second rotating body. .. The separation direction is a direction in which the first sheet is separated from the second sheet.

According to the present disclosure, there is an effect that the structure can be simplified.

FIG. 1 is a perspective view of the bag opening device according to the first embodiment as viewed from one direction. FIG. 2 is a perspective view of the bag opening device of the same as seen from another direction. FIG. 3 is a block diagram showing the configuration of the bag opening device of the same. 4A to 4E are schematic views for explaining the operation of the bag opening device of the same. FIG. 5 is a flowchart for explaining the operation of the bag opening device of the same. 6A to 6C are schematic views for explaining the operation of the bagging device when the product is packed in the bag in the state where the bag opening is opened by the bag opening device of the same. 7A and 7B are schematic views for explaining the operation of the bagging device of the same when ejected. 8A to 8E are schematic views for explaining the operation of the bag opening device according to the second embodiment. FIG. 9 is a flowchart for explaining the operation of the bag opening device of the above.

Hereinafter, the bag opening device according to the first and second embodiments will be described with reference to the drawings.

1, FIG. 2, FIGS. 4A to 4E, FIGS. 6A to 6C, FIGS. 7A, 7B, and 8A to 8E, which are referred to in the following embodiments 1 and 2 and the like, are all schematic views. is there. Therefore, the ratio of the size and thickness of each component in the figure does not always reflect the actual dimensional ratio.

(Embodiment 1)
(1) Overview Hereinafter, an outline of the bag opening device 1 according to the present embodiment will be described with reference to FIGS. 1 to 4E.

The bag opening device 1 according to the present embodiment is used as an example for supplying the bag 7 to the bag packing device 2. The bag opening device 1 together with the bag packing device 2 constitutes a bag packing system 100.

The bagging system 100 is a system that is introduced into retail stores such as convenience stores, supermarkets, department stores, drug stores, home appliance mass retailers, and home improvement stores, and packs products (goods) purchased by customers. .. The term "bagging" as used in the present disclosure means the work of storing (putting) one or more products 91 (see FIG. 6A) in the bag 7. The "bag" may be a bag that is large enough to hold the product 91 and has a bag opening 71 for taking in and out the product 91. For example, a shopping bag made of polyethylene or polypropylene (so-called plastic shopping bag). ..

The bagging device 2 is installed in, for example, a shopping bag counter in a store, a bagging stand, or the like, and is placed in a predetermined bagging space S1 (see FIG. 6A) set on a mounting surface 211 (see FIG. 6A). The placed product 91 is packed in a bag. As a result, the customer can receive the product 91 in the state of being housed in the bag 7 simply by placing the product 91 to be purchased in the bagging space S1. Therefore, the customer or the employee (clerk) of the store can save the trouble and time of the bagging work by using the bagging device 2.

The bagging device 2 can pack the product 91 by setting (supplying) the bag 7 with the bag opening 71 open. Therefore, the bag opening device 1 supplies the bags 7 in a state where the bag opening 71 is opened to the bag packing device 2 one by one, so that the bag of the product 91 in the bag packing device 2 is supplied. Allows packing. The "bag opening" referred to in the present disclosure means a work of opening the bag opening 71 so that the opening area of the bag opening 71 is widened for the bag 7 in the state where the bag opening 71 is closed.

As shown in FIGS. 4A to 4E, the bag opening device 1 executes bag opening for the bag 7 in a state where the bag mouth 71 is closed. The bag 7 has a first sheet 7A and a second sheet 7B, and is configured such that a bag opening 71 is formed between the first sheet 7A and the second sheet 7B. When the bag opening 71 is closed, the bag 7 is in a state in which the first sheet 7A and the second sheet 7B overlap each other. The bag opening device 1 rotates the bag 7 in this state so as to widen the bag opening 71 with the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112. The bag opening is executed by moving the body 111 and the second rotating body 112. The bag opening device 1 sets (supplies) the bag 7 with the bag opening 71 open in the bag packing device 2 in this way, thereby enabling the bag packing device 2 to pack the product 91.

The bag opening device 1 according to the present embodiment is a device for opening the bag opening 71 of the bag 7 in which the bag opening 71 is formed between the first sheet 7A and the second sheet 7B. The bag opening device 1 includes a first rotating body 111 and a second rotating body 112, a rotation driving device 15, and a moving driving device 16. The first rotating body 111 and the second rotating body 112 are configured to be rotatable and can come into contact with the first sheet 7A on the outer peripheral surface. In the rotation driving device 15, the first rotating body 111 and the second rotating body 112 come into direct or indirect contact with each other so as to sandwich the first sheet 7A between the first rotating body 111 and the second rotating body 112. The first rotating body 111 is rotated in this state. The mobile drive device 16 has the first rotating body 111 and the second rotating body 111 in the separation direction (for example, the Y-axis direction) with the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112. Move 112. The separation direction is the direction in which the first sheet 7A is separated from the second sheet 7B.

In the bag opening device 1 according to the present embodiment, the first rotating body 111 and the second rotating body 112 are separated from each other with the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112. I'm moving to. Therefore, the first sheet 7A can be separated from the second sheet 7B, and as a result, the bag opening 71 of the bag 7 can be opened. That is, according to the bag opening device 1 according to the present embodiment, the bag mouth 71 of the bag 7 can be opened by the first rotating body 111 and the second rotating body 112, and the structure can be simplified.

(2) Details Hereinafter, the bagging system 100 (bag opening device 1 and bagging device 2) according to the present embodiment will be described in detail. In the present embodiment, a convenience store will be described as an example of a store in which the bagging system 100 is introduced. Further, in the present embodiment, a polyethylene shopping bag (so-called plastic shopping bag) is taken as an example of the bag 7. Here, the main body that places the product 91 in the bagging space S1 is not limited to the customer, but may be a clerk. For example, in the case of products such as cigarettes placed in the cashier counter, the clerk, not the customer, places the product 91 in the bagging space S1.

(2.1) Overall Configuration Here, first, the overall configuration of the bagging system 100 according to the present embodiment will be described. As shown in FIG. 3, the bagging system 100 includes a bag opening device 1 and a bagging device 2.

The bagging device 2 can, for example, bag the product 91 in the shopping cart 92 (see FIG. 6A). That is, the customer puts the product 91 picked up in the store into the shopping cart 92, and puts the product 91 together with the shopping cart 92 in the bagging space S1 (see FIG. 6A), thereby packing the product 91 in the bagging device 2. Can be done. Therefore, the customer does not need to take out the product 91 from the shopping cart 92 for bagging, and can easily bag the product 91 using the bagging device 2. When a plurality of products 91 are housed in the shopping cart 92, the bagging device 2 can collectively pack the plurality of products 91.

The bag opening device 1 takes out the bags 7 one by one from the bag storage case 3 (see FIG. 1) in which a plurality of bags 7 are stocked, and supplies the taken out bags 7 to the bag packing device 2. In the present embodiment, the bag opening device 1 and the bag packing device 2 are interlocked so that one bag 7 is always set (arranged) with respect to the bag packing device 2. That is, the bagging device 2 is configured to perform bagging using one bag 7 supplied from the bag opening device 1, and each time the bagging device 2 performs bagging once. , New bags 7 are supplied one by one from the bag opening device 1 to the bag packing device 2 in preparation for the next bagging. In other words, the bag opening device 1 starts supplying the bag 7 to the bag packing device 2 triggered by the completion of bagging in the bag packing device 2.

By the way, the bagging system 100 is provided around, for example, one counter stand 8 (see FIG. 6A) installed in a cashier counter of a store. That is, a bagging system 100 (bag opening device 1 and bag packing device 2) is provided around the counter stand 8. A plurality of such counter stands 8 may be installed in one store. In the present embodiment, the bagging system 100 (bag opening device 1 and bagging device 2) is built in the counter stand 8.

Here, in the shopping cart 92, for example, the bottom plate is configured to be slidable. As a result, the bottom of the shopping cart 92 can be opened and closed, and the goods 91 housed in the shopping basket 92 can be discharged from the bottom of the shopping basket 92. When the bottom plate of the shopping cart 92 placed in the bagging space S1 is opened, the products 91 in the shopping cart 92 are discharged onto the mounting surface 211 (see FIG. 6A) of the bagging device 2. Details will be described in the column of "(2.3) Bagging device", but the bagging device 2 packs the product 91 placed on the mounting surface 211. Therefore, the product 91 in the shopping cart 92 can be packed in a bag.

The bag opening device 1 is a device that sets (supplys) the bag 7 with the bag mouth 71 open in the bag packing device 2. The bag opening device 1 operates so as to place the bag 7 with the bag mouth 71 facing upward on the mounting surface 211 (see FIG. 6A) of the support portion 21 (see FIG. 6A) in the bag packing device 2. The bagging device 2 will be described in detail in the column of "(2.3) Bagging device".

As shown in FIG. 1, the bag opening device 1 executes bag opening for the bag 7 in a state of being folded so that the bag mouth 71 is closed. As shown in FIGS. 4A to 4E, the bag 7 has a first sheet 7A and a second sheet 7B, and a bag mouth 71 is formed between the first sheet 7A and the second sheet 7B. When the bag mouth 71 is closed, the bag 7 is in a state in which the first sheet 7A and the second sheet 7B overlap each other in the thickness directions of the first sheet 7A and the second sheet 7B. That is, when the bag 7 is folded, the two sheets (first sheet 7A and second sheet 7B) are overlapped with each other, so that the first sheet 7A, which is one surface thereof, and the second sheet 7B, which is the other surface, are formed. The bag mouth 71 formed between the two is in a closed state. The first sheet 7A and the second sheet 7B form at least a part of the side peripheral portion 73 continuous with the bottom portion 72 (see FIG. 7B) of the bag 7.

(2.2) Bag Opening Device Next, the configuration of the bag opening device 1 according to the present embodiment will be described with reference to FIGS. 1 to 3. In the following description, as shown in FIG. 1, the longitudinal direction of the bag 7 set (arranged) in the bag opening device 1 is the Z-axis direction, the width direction of the bag 7 is the X-axis direction, and the thickness direction of the bag 7. (The direction in which the first sheet 7A and the second sheet 7B are aligned) is defined as the Y-axis direction. However, these directions are not intended to limit the directions when the bag opening device 1 is used. Further, the arrows indicating the "X-axis direction", "Y-axis direction", and "Z-axis direction" in the drawings are shown only for the sake of explanation and are not accompanied by an entity.

As shown in FIG. 3, the bag opening device 1 according to the present embodiment includes a first rotating unit 11, a second rotating unit 12, a third rotating unit 13, and a fourth rotating unit 14. .. Further, the bag opening device 1 includes a rotation drive device 15, a mobile drive device 16, a control device 17, and a storage device 18.

As shown in FIG. 1, the first rotating unit 11 includes a plurality of (two in the present embodiment) first rotating bodies 111, a plurality of (two in the present embodiment) second rotating bodies 112, and a shaft 113. , 114 and. The plurality of first rotating bodies 111 and the plurality of second rotating bodies 112 have a one-to-one correspondence. The first rotating body 111 and the second rotating body 112 are configured to be in contact with the first sheet 7A on the outer peripheral surface.

Each of the plurality of first rotating bodies 111 is, for example, a roller. On the outer peripheral surface of each first rotating body 111, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of first rotating bodies 111 are attached to both ends of a round bar-shaped shaft 113 extending along the X-axis direction.

Each of the plurality of second rotating bodies 112 is, for example, a roller having the same outer diameter as the first rotating body 111. On the outer peripheral surface of each second rotating body 112, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of second rotating bodies 112 are attached to both ends of a round bar-shaped shaft 114 extending along the X-axis direction. In addition, each second rotating body 112 includes a one-way clutch. That is, each second rotating body 112 is a one-way clutch roller that can rotate in only one direction.

As shown in FIG. 1, the second rotating unit 12 includes a plurality of (two in the present embodiment) third rotating body 121, a plurality of (two in the present embodiment) fourth rotating body 122, and a shaft 123. , 124 and. The plurality of third rotating bodies 121 and the plurality of fourth rotating bodies 122 have a one-to-one correspondence. The third rotating body 121 and the fourth rotating body 122 are configured to be in contact with the second sheet 7B on the outer peripheral surface. The third rotating body 121 and the fourth rotating body 122 face the first rotating body 111 and the second rotating body 112, respectively, in the separation direction. In the present embodiment, the third rotating body 121 and the fourth rotating body 122 face the first rotating body 111 and the second rotating body 112 in the Y-axis direction, respectively (see FIG. 4B). The separation direction is, for example, the Y-axis direction.

Each of the plurality of third rotating bodies 121 is, for example, a roller. On the outer peripheral surface of each third rotating body 121, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of third rotating bodies 121 are attached to both ends of a round bar-shaped shaft 123 extending along the X-axis direction.

Each of the plurality of fourth rotating bodies 122 is, for example, a roller having the same outer diameter as the third rotating body 121. On the outer peripheral surface of each fourth rotating body 122, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of fourth rotating bodies 122 are attached to both ends of a round bar-shaped shaft 124 extending along the X-axis direction. In addition, each fourth rotating body 122 includes a one-way clutch. That is, each fourth rotating body 122 is a one-way clutch roller that can rotate in only one direction.

As shown in FIG. 1, the third rotating unit 13 includes a plurality of (two in the present embodiment) fifth rotating body 131, a plurality of (two in the present embodiment) sixth rotating body 132, and a shaft 133. , 134 and. The plurality of fifth rotating bodies 131 and the plurality of sixth rotating bodies 132 have a one-to-one correspondence. The fifth rotating body 131 and the sixth rotating body 132 come into contact with the first sheet 7A at positions different from those of the first rotating body 111 and the second rotating body 112 on the outer peripheral surface. In the present embodiment, the fifth rotating body 131 and the sixth rotating body 132 come into contact with the first sheet 7A at positions different from those of the first rotating body 111 and the second rotating body 112 in the Z-axis direction (see FIG. 4C). ..

Each of the plurality of fifth rotating bodies 131 is, for example, a roller. On the outer peripheral surface of each fifth rotating body 131, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of fifth rotating bodies 131 are attached to both ends of a round bar-shaped shaft 133 extending along the X-axis direction.

Each of the plurality of sixth rotating bodies 132 is, for example, a roller having the same outer diameter as the fifth rotating body 131. On the outer peripheral surface of each sixth rotating body 132, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of sixth rotating bodies 132 are attached to both ends of a round bar-shaped shaft 134 extending along the X-axis direction. In addition, each sixth rotating body 132 includes a one-way clutch. That is, each sixth rotating body 132 is a one-way clutch roller that can rotate in only one direction.

As shown in FIG. 1, the fourth rotating unit 14 includes a plurality of (two in this embodiment) seventh rotating body 141, a plurality of (two in this embodiment) eighth rotating body 142, and a shaft 143. , 144 and. The plurality of seventh rotating bodies 141 and the plurality of eighth rotating bodies 142 have a one-to-one correspondence. The seventh rotating body 141 and the eighth rotating body 142 are configured to be in contact with the second sheet 7B on the outer peripheral surface. The seventh rotating body 141 and the eighth rotating body 142 face the fifth rotating body 131 and the sixth rotating body 132, respectively, in the intersecting direction. In the present embodiment, the 7th rotating body 141 and the 8th rotating body 142 face the 5th rotating body 131 and the 6th rotating body 132 in the Y-axis direction, respectively (see FIG. 4C). The intersecting direction is a direction intersecting the surface of the first sheet 7A, for example, the Y-axis direction. That is, the separation direction is the intersection direction.

Each of the plurality of seventh rotating bodies 141 is, for example, a roller. On the outer peripheral surface of each seventh rotating body 141, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of seventh rotating bodies 141 are attached to both ends of a round bar-shaped shaft 143 extending along the X-axis direction.

Each of the plurality of eighth rotating bodies 142 is, for example, a roller having the same outer diameter as the seventh rotating body 141. On the outer peripheral surface of each of the eighth rotating bodies 142, a plurality of teeth having a triangular shape when viewed from the X-axis direction are provided over the entire circumference. The plurality of eighth rotating bodies 142 are attached to both ends of a round bar-shaped shaft 144 extending along the X-axis direction. In addition, each eighth rotating body 142 includes a one-way clutch. That is, each eighth rotating body 142 is a one-way clutch roller that can rotate in only one direction.

Here, as shown in FIG. 4B, the third rotating body 121 and the fourth rotating body 122 face the first rotating body 111 and the second rotating body 112 in the Y-axis direction. Then, as shown in FIG. 4C, the third rotating body 121 and the fourth rotating body 122 sandwich the second sheet 7B at positions corresponding to the first rotating body 111 and the second rotating body 112 in the Y-axis direction. It is configured in. That is, the third rotating body 121 has the same structure as the first rotating body 111 with respect to the first sheet 7A with respect to the second sheet 7B. Further, the fourth rotating body 122 has the same structure as the second rotating body 112 with respect to the first sheet 7A with respect to the second sheet 7B.

Further, as shown in FIG. 4C, the 7th rotating body 141 and the 8th rotating body 142 face the 5th rotating body 131 and the 6th rotating body 132 in the Y-axis direction. Then, as shown in FIG. 4D, the 7th rotating body 141 and the 8th rotating body 142 sandwich the second sheet 7B at positions corresponding to the 5th rotating body 131 and the 6th rotating body 132 in the Y-axis direction. It is configured in. That is, the seventh rotating body 141 has the same structure as the fifth rotating body 131 with respect to the first sheet 7A with respect to the second sheet 7B. Further, the eighth rotating body 142 has the same structure as the sixth rotating body 132 with respect to the first sheet 7A with respect to the second sheet 7B.

The rotation drive device 15 is configured to rotate the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141 separately. As shown in FIG. 3, the rotation drive device 15 includes a first rotation drive unit 151, a second rotation drive unit 152, a third rotation drive unit 153, and a fourth rotation drive unit 154. ..

The first rotation drive unit 151 includes, for example, a motor and a gear attached to the output shaft of the motor. In the first rotation drive unit 151, one of the first rotation bodies 111 out of the plurality of first rotation bodies 111 meshes with the gear, and the rotational force of the motor is transmitted to the one first rotation body 111 via the gear. Will be done. Since the plurality of first rotating bodies 111 are integrally connected via the shaft 113, the rotation of one first rotating body 111 also rotates the other first rotating body 111. That is, the first rotation drive unit 151 is configured to rotate the first rotating body 111.

The second rotation drive unit 152, like the first rotation drive unit 151, has a motor and a gear attached to the output shaft of the motor. In the second rotation drive unit 152, one of the third rotation bodies 121 among the plurality of third rotation bodies 121 meshes with the gear, and the rotational force of the motor is transmitted to the one third rotation body 121 via the gear. Will be done. Since the plurality of third rotating bodies 121 are integrally connected via the shaft 123, the rotation of one third rotating body 121 causes the other third rotating body 121 to rotate as well. That is, the second rotation drive unit 152 is configured to rotate the third rotation body 121.

The third rotary drive unit 153, like the first rotary drive unit 151, has a motor and a gear attached to the output shaft of the motor. In the third rotation drive unit 153, one of the fifth rotation bodies 131 and the gear are meshed with each other, and the rotational force of the motor is transmitted to the one fifth rotation body 131 via the gear. Will be done. Since the plurality of fifth rotating bodies 131 are integrally connected via the shaft 133, the rotation of one fifth rotating body 131 causes the other fifth rotating body 131 to rotate as well. That is, the third rotation drive unit 153 is configured to be able to rotate the fifth rotation body 131.

The fourth rotary drive unit 154, like the first rotary drive unit 151, has a motor and a gear attached to the output shaft of the motor. In the fourth rotation drive unit 154, one of the plurality of seventh rotation bodies 141, the seventh rotation body 141, and the gear are meshed with each other, and the rotational force of the motor is transmitted to the one seventh rotation body 141 via the gear. Will be done. Since the plurality of seventh rotating bodies 141 are integrally connected via the shaft 143, the rotation of one seventh rotating body 141 also rotates the other seventh rotating body 141. That is, the fourth rotation drive unit 154 is configured to be able to rotate the seventh rotation body 141.

The movement drive device 16 is configured to be able to move the movement frame 62, which will be described later, along the separation direction. That is, the movement drive device 16 is configured to be able to move the first rotation unit 11 and the third rotation unit 13 attached to the movement frame 62 along the separation direction. In the present embodiment, the separation direction is the Y-axis direction. As shown in FIG. 3, the mobile drive device 16 includes a first mobile drive unit 161, a second mobile drive unit 162, a third mobile drive unit 163, and a fourth mobile drive unit 164. ..

The first mobile drive unit 161 includes, for example, a motor and a rack and pinion. In the first moving drive unit 161, the rotational force of the motor is transmitted to the shaft 114 via the rack and pinion to move the shaft 114 with respect to the moving frame 62 along the separation direction (Y-axis direction). be able to. That is, the first movement drive unit 161 can move at least the second rotating body 112 in the separation direction. In other words, the movement drive device 16 can move the second rotating body 112 to a position where it does not come into contact with the first sheet 7A. In the present embodiment, the separation direction is the intersection direction (Y-axis direction) that intersects the surface of the first sheet 7A.

The second mobile drive unit 162, like the first mobile drive unit 161, has a motor and a rack and pinion. In the second moving drive unit 162, the rotational force of the motor is transmitted to the shaft 124 via the rack and pinion, so that the shaft 124 is moved along the separation direction (Y-axis direction) with respect to the fixed frame 63 described later. Can be moved. That is, the second moving drive unit 162 can move the fourth rotating body 122 of the second rotating unit 12 that functions as the holding device 10 in the separation direction.

The third mobile drive unit 163, like the first mobile drive unit 161, has a motor and a rack and pinion. In the third moving drive unit 163, the rotational force of the motor is transmitted to the shaft 134 via the rack and pinion to move the shaft 134 with respect to the moving frame 62 along the separation direction (Y-axis direction). be able to. That is, the third moving drive unit 163 can move at least the sixth rotating body 132 in the crossing direction (Y-axis direction).

The fourth mobile drive unit 164 has a motor and a rack and pinion, like the first mobile drive unit 161. In the fourth moving drive unit 164, the shaft 144 is moved along the separation direction (Y-axis direction) with respect to the fixed frame 63 by transmitting the rotational force of the motor to the shaft 144 via the rack and pinion. be able to. That is, the fourth moving drive unit 164 can move at least the eighth rotating body 142 in the crossing direction (Y-axis direction).

The control device 17 is configured to control the rotary drive device 15 and the mobile drive device 16 separately. The control device 17 outputs a first rotation signal for rotating the first rotating body 111 to the first rotation driving unit 151 of the rotation driving device 15. The first rotation drive unit 151 rotates the first rotating body 111 in the first rotation direction or the second rotation direction according to the first rotation signal from the control device 17. The first rotation direction is the direction in which the first sheet 7A is sandwiched between the second rotating body 112 and the second rotating body 112. The second rotation direction is a direction for releasing the sandwiched state of the first sheet 7A in a state of being sandwiched between the second rotating body 112 and the second rotating body 112. Further, the control device 17 outputs a second rotation signal for rotating the third rotating body 121 to the second rotation driving unit 152. The second rotation drive unit 152 rotates the third rotating body 121 in the third rotation direction or the fourth rotation direction according to the second rotation signal from the control device 17. The third rotation direction is the direction in which the second sheet 7B is sandwiched between the fourth rotating body 122 and the fourth rotating body 122. The fourth rotation direction is a direction for releasing the sandwiched state of the second sheet 7B in a state of being sandwiched between the fourth rotating body 122 and the fourth rotating body 122. Further, the control device 17 outputs a third rotation signal for rotating the fifth rotating body 131 to the third rotation driving unit 153. The third rotation drive unit 153 rotates the fifth rotating body 131 in the first rotation direction or the second rotation direction according to the third rotation signal from the control device 17. Further, the control device 17 outputs a fourth rotation signal for rotating the seventh rotating body 141 to the fourth rotation driving unit 154. The fourth rotation drive unit 154 rotates the seventh rotating body 141 in the third rotation direction or the fourth rotation direction according to the fourth rotation signal from the control device 17.

The control device 17 outputs a frame movement signal for moving the movement frame 62 along the separation direction (Y-axis direction) to the movement drive device 16. The movement drive device 16 moves the movement frame 62 along the Y-axis direction according to the frame movement signal from the control device 17. Further, the control device 17 outputs a movement signal for the first shaft for moving the shaft 114 including the second rotating body 112 along the separation direction (Y-axis direction) to the first movement drive unit 161. .. The first movement drive unit 161 moves the shaft 114 along the Y-axis direction according to the movement signal for the first shaft from the control device 17. Further, the control device 17 outputs a movement signal for the second shaft to the second movement drive unit 162 for moving the shaft 124 including the fourth rotating body 122 along the separation direction (Y-axis direction). .. The second movement drive unit 162 moves the shaft 124 along the Y-axis direction according to the movement signal for the second shaft from the control device 17. Further, the control device 17 outputs a movement signal for the third shaft to the third movement drive unit 163 for moving the shaft 134 including the sixth rotating body 132 along the separation direction (Y-axis direction). .. The third movement drive unit 163 moves the shaft 134 along the Y-axis direction according to the movement signal for the third shaft from the control device 17. Further, the control device 17 outputs a movement signal for the fourth shaft for moving the shaft 144 including the eighth rotating body 142 along the separation direction (Y-axis direction) to the fourth movement drive unit 164. .. The fourth moving drive unit 164 moves the shaft 144 along the Y-axis direction according to the moving signal for the fourth shaft from the control device 17. Here, the moving direction of the shaft 114 including the second rotating body 112 and the shaft 134 including the sixth rotating body 132, and the movement of the shaft 124 including the fourth rotating body 122 and the shaft 144 including the eighth rotating body 142. The direction is opposite to the direction.

The control device 17 mainly includes, for example, a computer system having one or more processors and one or more memories. Then, the function of the control device 17 is realized by executing the program recorded in the memory of the computer system by the processor of the computer system. The program may be pre-recorded in a memory, may be recorded through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The storage device 18 is composed of a device selected from, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), and the like. The storage device 18 stores the rotation direction, rotation speed, number of rotations, etc. of each of the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141. The storage device 18 has the first rotation number, which is the number of rotations when the bag 7 is conveyed, as the number of rotations of each of the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141. The number of rotations and the number of rotations when the first sheet 7A or the second sheet 7B is sandwiched are stored. Here, the number of first rotations of the fifth rotating body 131 is set so that the first sheet 7A can be loosened between the first rotating body 111 and the fifth rotating body 131 when the bag 7 is conveyed. , It is preferable that the number of rotations of the first rotating body 111 or more is equal to or greater than the number of first rotations. In other words, it is preferable that the third rotation drive unit 153 rotates the fifth rotation body 131 in the same direction as the first rotation body 111 more than the number of rotations of the first rotation body 111. Further, the number of first rotations of the seventh rotating body 141 is set so that the second sheet 7B can be loosened between the third rotating body 121 and the seventh rotating body 141 when the bag 7 is conveyed. It is preferably equal to or more than the first rotation number of the third rotating body 121.

As shown in FIGS. 1 and 2, the bag opening device 1 according to the present embodiment further includes a bag storage case 3, a bag transport unit 4, a support frame 61, a moving frame 62, and a fixed frame 63. I have.

The bag storage case 3 has a body 31, a cover 32, and a discharge roller. Each of the body 31 and the cover 32 has a rectangular box shape long in the Y-axis direction. Each of the body 31 and the cover 32 has substantially the same external dimensions when viewed from the Z-axis direction. One surface (upper surface of FIG. 1) of the body 31 in the Z-axis direction is open. The cover 32 has an open other surface (lower surface in FIG. 1) in the Z-axis direction. The bag storage case 3 is assembled by combining the body 31 and the cover 32 with the opening side of the body 31 and the opening side of the cover 32 facing each other.

The discharge roller is provided around the bag discharge port formed by combining the body 31 and the cover 32. The discharge roller rotates in one direction according to the discharge command signal from the control device 17. As a result, the bags 7 can be discharged one by one from the bag bundle 70 (see FIG. 1). As shown in FIGS. 1 and 2, the bag storage case 3 is housed in the support frame 61.

The bag transport unit 4 includes a first transport body 41, a second transport body 42, and a plurality of (four in this embodiment) roller units 43. Each of the first transport body 41 and the second transport body 42 has a rectangular plate shape long in the Z-axis direction. Each of the first carrier 41 and the second carrier 42 is formed in a shape in which both ends in the Z-axis direction are curved along the Y-axis direction when viewed from the X-axis direction. The first carrier 41 and the second carrier 42 are arranged with a predetermined gap in the Y-axis direction. The predetermined gap is set to a size slightly larger than the thickness of the bag 7, for example.

Each roller unit 43 includes a plurality of (two in this embodiment) transfer rollers 431 and a round bar-shaped shaft 432 long in the X-axis direction. The plurality of transfer rollers 431 are attached to both ends of the shaft 432, respectively. As shown in FIG. 1, two of the plurality of roller units 43 are arranged on the opposite side of the second transport body 42 from the first transport body 41 and at intervals in the Z-axis direction. ing. Further, as shown in FIG. 2, the remaining two roller units 43 of the plurality of roller units 43 are spaced apart from the first transport body 41 on the opposite side of the second transport body 42 in the Z-axis direction. It is placed open. Of the plurality of roller units 43, the two roller units 43 on the side of the first transport body 41 pass through the plurality of first openings 411 (see FIG. 2) provided in the first transport body 41 to form the first sheet 7A of the bag 7. Can be contacted with. Of the plurality of roller units 43, the two roller units 43 on the side of the second transport body 42 can come into contact with the second sheet 7B of the bag 7 through the plurality of second openings provided in the second transport body 42.

The plurality of roller units 43 rotate in one direction according to a transfer command signal from the control device 17. As a result, the bag 7 passing through the gap between the first transport body 41 and the second transport body 42 can be transported to a predetermined position. Here, the predetermined position is a position where at least the fifth rotating body 131 comes into contact with the first sheet 7A and the seventh rotating body 141 comes into contact with the second sheet 7B.

The support frame 61 includes a plurality of (four in the present embodiment) first vertical members 611, a plurality of (three in the present embodiment) first horizontal members 612, and a plurality of (four in the present embodiment) first. It has one height member 613. Each of the plurality of first vertical members 611 is, for example, a square timber long in the Y-axis direction. Each of the plurality of first lateral members 612 is, for example, a square timber long in the X-axis direction. Each of the plurality of first height members 613 is, for example, a square timber long in the Z-axis direction. The support frame 61 is formed by a plurality of first vertical members 611, a plurality of first horizontal members 612, and a plurality of first height members 613 in a size capable of accommodating the bag storage case 3. That is, the bag storage case 3 is housed in the inner space of the support frame 61 formed by the plurality of first vertical members 611, the plurality of first horizontal members 612, and the plurality of first height members 613. ..

The moving frame 62 includes a plurality of (two in the present embodiment) second vertical members 621, one second horizontal member 622, and a plurality of (four in the present embodiment) second support members 623. doing. Each of the plurality of second vertical members 621 is, for example, a square timber long in the Z-axis direction. One second horizontal member 622 is, for example, a square timber long in the X-axis direction. Each of the plurality of second support members 623 is, for example, a square timber long in the Y-axis direction. The moving frame 62 is formed by a plurality of second vertical members 621 and one second horizontal member 622 in a rectangular frame shape when viewed from the Y-axis direction. The movement frame 62 can be moved along the longitudinal direction (Y-axis direction) of the two first vertical members 611 of the support frame 61 by the movement drive device 16.

Two of the plurality of second support members 623, the second support member 623, movably support the shaft 114 including the plurality of second rotating bodies 112. These two second support members 623 are attached to a plurality of second vertical members 621 at first height positions in the Z-axis direction. Further, the remaining two second support members 623 of the plurality of second support members 623 movably support the shaft 134 including the plurality of sixth rotating bodies 132. These two second support members 623 are attached to a plurality of second vertical members 621 at second height positions in the Z-axis direction. In the present embodiment, the second height position is higher than the first height position.

Further, the plurality of second vertical members 621 rotatably hold the shaft 113 including the plurality of first rotating bodies 111 and the shaft 133 including the plurality of fifth rotating bodies 131. When the shaft 114 including the plurality of second rotating bodies 112 is in the first position, each of the plurality of first rotating bodies 111 and the corresponding second rotating body 112 come into contact with each other. Further, in the state where the shaft 114 including the plurality of second rotating bodies 112 is in the second position, each of the plurality of first rotating bodies 111 and the corresponding second rotating body 112 are separated from each other. Similarly, when the shaft 134 including the plurality of sixth rotating bodies 132 is in the first position, each of the plurality of fifth rotating bodies 131 and the corresponding sixth rotating body 132 come into contact with each other. Further, in the state where the shaft 134 including the plurality of sixth rotating bodies 132 is in the second position, each of the plurality of fifth rotating bodies 131 and the corresponding sixth rotating body 132 are separated from each other.

The fixed frame 63 includes a plurality of (two in the present embodiment) third vertical member 631, one third horizontal member 632, a plurality of (four in the present embodiment) third support member 633, and a plurality of (four). In this embodiment, it has four) third holding members 634 and. Each of the plurality of third vertical members 631 is, for example, a square timber long in the Z-axis direction. One third horizontal member 632 is, for example, a square timber long in the X-axis direction. Each of the plurality of third support members 633 and the plurality of third holding members 634 is, for example, a square timber long in the Y-axis direction. The fixed frame 63 is formed by a plurality of third vertical members 631 and one third horizontal member 632 in a rectangular frame shape when viewed from the Y-axis direction.

Two of the plurality of third support members 633 movably support the shaft 124 including the plurality of fourth rotating bodies 122. These two third support members 633 are attached to a plurality of third vertical members 631 at first height positions in the Z-axis direction. Further, the remaining two third support members 633 of the plurality of third support members 633 movably support the shaft 144 including the plurality of eighth rotating bodies 142. These two third support members 633 are attached to a plurality of third vertical members 631 at second height positions in the Z-axis direction.

Further, the plurality of third vertical members 631 rotatably hold the shaft 123 including the plurality of third rotating bodies 121 and the shaft 143 including the plurality of seventh rotating bodies 141. In a state where the shaft 124 including the plurality of fourth rotating bodies 122 is in the first position, each of the plurality of third rotating bodies 121 and the corresponding fourth rotating body 122 come into contact with each other. Further, in the state where the shaft 124 including the plurality of fourth rotating bodies 122 is in the second position, each of the plurality of third rotating bodies 121 and the corresponding fourth rotating body 122 are separated from each other. Similarly, when the shaft 144 including the plurality of eighth rotating bodies 142 is in the first position, each of the plurality of seventh rotating bodies 141 and the corresponding eighth rotating body 142 come into contact with each other. Further, in the state where the shaft 144 including the plurality of eighth rotating bodies 142 is in the second position, each of the plurality of seventh rotating bodies 141 and the corresponding eighth rotating body 142 are separated from each other.

Two of the plurality of third holding members 634, the third holding member 634, rotatably hold the two roller units 43 located on the lower side of the plurality of roller units 43. These two third holding members 634 are attached to a plurality of third vertical members 631 at a third height position in the Z-axis direction. The third height position is lower than the first height position. Further, the remaining two third holding members 634 of the plurality of third holding members 634 rotatably hold the two roller units 43 located on the upper side of the plurality of roller units 43. These two third holding members 634 are attached to a plurality of third vertical members 631 at a fourth height position in the Z-axis direction. The fourth height position is lower than the second height position and higher than the first height position.

(2.3) Bagging Device Next, the configuration of the bagging device 2 according to the present embodiment will be described with reference to FIGS. 6A to 6C. As shown in FIGS. 6A to 6C, the bagging device 2 includes a support portion 21, a guide portion 22, and an elevating portion.

The support portion 21 is formed in a rectangular plate shape when viewed from the Z-axis direction. The upper surface of the support portion 21 constitutes a mounting surface 211 on which the product (article) 91 is placed. In the present embodiment, the mounting surface 211 has a rectangular shape with rounded corners.

The guide portion 22 is formed in a tubular shape in which at least the upper surface of the upper surface and the lower surface is open. In the present embodiment, the guide portion 22 is formed in a square tubular shape with both the upper surface and the lower surface open. The opening surface of the guide portion 22 is formed to be one size larger than the mounting surface 211, and the guide portion 22 is arranged around the support portion 21 along the outer peripheral edge of the mounting surface 211. Here, the shape of the inner peripheral edge of the upper end surface of the guide portion 22 and the shape of the outer peripheral edge of the mounting surface 211 have a similar relationship.

The elevating portion changes the relative positional relationship between the support portion 21 and the guide portion 22 from the first state to the second state. Here, the state in which the support portion 21 is located at the upper end portion of the guide portion 22 is defined as the first state. When the relative positional relationship between the support portion 21 and the guide portion 22 is in the first state, the upper surface (mounting surface 211) of the support portion 21 is located above the upper end surface of the guide portion 22. In the first state, the opening on the upper surface side of the guide portion 22 is closed by the support portion 21. The second state is a state in which the relative position of the support portion 21 with respect to the guide portion 22 is lower than that of the first state.

In other words, the support portion 21 moves in the vertical direction relative to the guide portion 22 in the space surrounded by the guide portion 22. In the present embodiment, the elevating part moves only the support part 21 of the support part 21 and the guide part 22 downward, so that the relative positional relationship between the support part 21 and the guide part 22 is changed from the first state to the first state. Change to 2 states. That is, the support portion 21 is configured to move in the vertical direction by the elevating portion in the tubular guide portion 22 fixed at a fixed position.

(3) Operation (3.1) Operation of the bag opening device First, the bag opening operation of the bag opening device 1 according to the present embodiment will be described with reference to FIGS. 4A to 4E and FIG.

The control device 17 outputs a discharge command signal to the discharge roller of the bag storage case 3. The discharge roller rotates in one direction according to the discharge command signal from the control device 17. As a result, one bag 7 is discharged from the bag storage case 3 (first step ST1). The bag 7 discharged from the bag storage case 3 moves to the bag transport unit 4. Next, the control device 17 outputs a transport command signal to the plurality of roller units 43 of the bag transport unit 4. The plurality of roller units 43 rotate in one direction according to a transfer command signal from the control device 17. Here, the rotation direction of the two roller units 43 located on the first transport body 41 side of the plurality of roller units 43, and the remaining two rollers located on the second transport body 42 side of the plurality of roller units 43. The direction is opposite to the rotation direction of the unit 43. As a result, one bag 7 is conveyed to the above-mentioned predetermined position through the gap between the first conveying body 41 and the second conveying body 42 (second step ST2).

The control device 17 outputs a frame movement signal to the movement drive device 16 to move the movement frame 62 to a position where the fifth rotating body 131 comes into contact with the first sheet 7A (third step ST3). Here, in a state where each of the plurality of sixth rotating bodies 132 is in contact with the corresponding fifth rotating body 131, the bag 7 cannot be conveyed even if the fifth rotating body 131 is rotated, so that the control device 17 is , The third shaft movement signal is output to the third movement drive unit 163. Similarly, in a state where each of the plurality of eighth rotating bodies 142 is in contact with the corresponding seventh rotating body 141, the bag 7 cannot be conveyed even if the seventh rotating body 141 is rotated, so that the control device 17 , The fourth shaft movement signal is output to the fourth movement drive unit 164. As a result, the sixth rotating body 132 moves to a position where it does not come into contact with the fifth rotating body 131, and the eighth rotating body 142 moves to a position where it does not come into contact with the seventh rotating body 141 (third step ST3). Further, the control device 17 outputs a movement signal for the first shaft to the first movement drive unit 161 and outputs a movement signal for the second shaft to the second movement drive unit 162. As a result, the second rotating body 112 moves to a position where it does not come into contact with the first rotating body 111, and the fourth rotating body 122 moves to a position where it does not come into contact with the third rotating body 121 (third step ST3). At this time, as shown in FIG. 4A, the fifth rotating body 131 is in contact with the first sheet 7A, and the seventh rotating body 141 is in contact with the second sheet 7B.

The control device 17 outputs a third rotation signal to the third rotation drive unit 153 and outputs a fourth rotation signal to the fourth rotation drive unit 154. As a result, as shown in FIG. 4A, the fifth rotating body 131 rotates in the direction of the arrow A1, and the seventh rotating body 141 rotates in the direction of the arrow A2 (fourth step ST4). At this time, the sixth rotating body 132 is separated from the fifth rotating body 131, and the eighth rotating body 142 is separated from the seventh rotating body 141. That is, in the sixth rotating body 132, when the fifth rotating body 131 is in contact with the first sheet 7A and the third rotating drive unit 153 rotates the fifth rotating body 131 to convey the bag 7. It is configured not to rotate together with the fifth rotating body 131. Further, in the eighth rotating body 142, when the fourth rotating body 141 rotates the seventh rotating body 141 in a state where the seventh rotating body 141 is in contact with the second sheet 7B, the bag 7 is conveyed. It is configured not to rotate together with the seventh rotating body 141. Here, the rotation direction A1 of the fifth rotating body 131 and the rotation direction A2 of the seventh rotating body 141 are opposite directions, whereby the bag 7 can be moved in the direction of the arrow B1.

When the bag 7 moves to a position where it comes into contact with the first rotating body 111 and the third rotating body 121, the control device 17 outputs a first rotation signal to the first rotation drive unit 151 and outputs a first rotation signal to the second rotation drive unit 152. The second rotation signal is output to. As a result, as shown in FIG. 4B, the first rotating body 111 rotates in the direction of the arrow A1, and the third rotating body 121 rotates in the direction of the arrow A2 (fifth step ST5). At this time, the second rotating body 112 is separated from the first rotating body 111, and the fourth rotating body 122 is separated from the third rotating body 121. That is, in the second rotating body 112, when the first rotating body 111 is in contact with the first sheet 7A and the first rotating driving unit 151 rotates the first rotating body 111 to convey the bag 7. It is configured not to rotate together with the first rotating body 111. Further, in the fourth rotating body 122, when the third rotating body 121 is in contact with the second sheet 7B and the second rotating drive unit 152 rotates the third rotating body 121 to convey the bag 7. It is configured not to rotate together with the third rotating body 121.

In this way, the first rotating body 111 and the fifth rotating body 131 are rotated in the direction of the arrow A1, and the third rotating body 121 and the seventh rotating body 141 are rotated in the direction of the arrow A2, thereby showing in FIG. The bag 7 can be transported to the position. When the bag 7 reaches the position shown in FIG. 1, the control device 17 outputs a stop signal to the first rotation drive unit 151 to the fourth rotation drive unit 154. The rotation of the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141 is stopped by the first rotation driving unit 151 to the fourth rotation driving unit 154.

In the structure for transporting the bag 7 as described above, it is preferable that a sensor for detecting that the bag 7 has reached the position shown in FIG. 1 is provided. Further, it is preferable that a sensor for detecting that a plurality of bags 7 are being conveyed at the same time is provided.

Next, the control device 17 outputs a movement signal for the first shaft to the first movement drive unit 161 and outputs a movement signal for the second shaft to the second movement drive unit 162. As a result, as shown in FIG. 4C, the second rotating body 112 moves to a position where it contacts the first rotating body 111, and the fourth rotating body 122 moves to a position where it comes into contact with the third rotating body 121 (sixth). Step ST6). At this time, the first rotating body 111, the second rotating body 112, and the fifth rotating body 131 come into contact with the first sheet 7A, and the third rotating body 121, the fourth rotating body 122, and the seventh rotating body 141 are the first. 2 It is in contact with the sheet 7B (see FIG. 4C).

The control device 17 outputs the first rotation signal to the first rotation drive unit 151. As a result, as shown in FIG. 4C, the first rotating body 111 rotates in the direction of the arrow A1, and the second rotating body 112 rotates in the direction of the arrow A2 with the rotation of the first rotating body 111 (7th). Step ST7). At this time, the third rotating body 121 and the fourth rotating body 122 are stopped and locked. At this time, the fifth rotating body 131 can rotate along the first sheet 7A. Then, the first rotating body 111 rotates in the direction of the arrow A1, and the second rotating body 112 rotates in the direction of the arrow A2, so that the first sheet is between the first rotating body 111 and the second rotating body 112. 7A is sandwiched (see FIG. 4D). That is, the rotation drive device 15 (first rotation drive unit 151) sandwiches the first sheet 7A between the first rotation body 111 and the second rotation body 112, so that the first rotation body 111 and the second rotation body 111 are sandwiched between the first rotation body 111 and the second rotation body 112. The first rotating body 111 is rotated in a state where it is in direct or indirect contact with 112.

Next, the control device 17 outputs a stop signal to the first rotation drive unit 151 to stop the rotation of the first rotation body 111 and the second rotation body 112. At this time, the first rotating body 111 and the second rotating body 112 are locked so as to be able to hold the first sheet 7A in a state of being sandwiched between the first rotating body 111 and the second rotating body 112. Further, the control device 17 outputs a second rotation signal to the second rotation drive unit 152. As a result, as shown in FIG. 4C, the third rotating body 121 rotates in the direction of the arrow A2, and the fourth rotating body 122 rotates in the direction of the arrow A1 with the rotation of the third rotating body 121 (7th). Step ST7). Then, the third rotating body 121 rotates in the direction of the arrow A2, and the fourth rotating body 122 rotates in the direction of the arrow A1, so that the second sheet is between the third rotating body 121 and the fourth rotating body 122. 7B is sandwiched (see FIG. 4D). That is, in the second rotation drive unit 152, the third rotation body 121 and the fourth rotation body 122 are directly or directly so as to sandwich the second sheet 7B between the third rotation body 121 and the fourth rotation body 122. The third rotating body 121 is rotated in a state of indirect contact.

After that, the control device 17 outputs a stop signal to the second rotation drive unit 152 to stop the rotation of the third rotation body 121 and the fourth rotation body 122. At this time, the third rotating body 121 and the fourth rotating body 122 are sandwiched between the third rotating body 121 and the fourth rotating body 122, similarly to the first rotating body 111 and the second rotating body 112. 2 It is locked so that the sheet 7B can be held. In the present embodiment, as described above, the start timing of the rotation of the first rotating body 111 by the first rotation driving unit 151 and the start timing of the rotation of the third rotating body 121 by the second rotation driving unit 152 are different. ing. As a result, the first sheet 7A can be sandwiched between the first rotating body 111 and the second rotating body 112, and the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122. be able to.

Next, the control device 17 outputs a third shaft signal to the third mobile drive unit 163, and outputs a fourth shaft movement signal to the fourth mobile drive unit 164. As a result, as shown in FIG. 4D, the sixth rotating body 132 moves to a position where it contacts the fifth rotating body 131, and the eighth rotating body 142 moves to a position where it comes into contact with the seventh rotating body 141 (the eighth). Step ST8). At this time, the fifth rotating body 131 and the sixth rotating body 132 are in contact with the first sheet 7A, and the seventh rotating body 141 and the eighth rotating body 142 are in contact with the second sheet 7B (see FIG. 4D).

The control device 17 outputs a third rotation signal to the third rotation drive unit 153. As a result, as shown in FIG. 4D, the fifth rotating body 131 rotates in the direction of arrow A1, and the sixth rotating body 132 rotates in the direction of arrow A2 with the rotation of the fifth rotating body 131 (9th). Step ST9). At this time, the 7th rotating body 141 and the 8th rotating body 142 are stopped and locked. Then, the fifth rotating body 131 rotates in the direction of the arrow A1, and the sixth rotating body 132 rotates in the direction of the arrow A2, so that the first sheet is between the fifth rotating body 131 and the sixth rotating body 132. 7A is sandwiched (see FIG. 4E). That is, in the third rotation drive unit 153, the fifth rotation body 131 and the sixth rotation body 132 are directly or directly so as to sandwich the first sheet 7A between the fifth rotation body 131 and the sixth rotation body 132. The fifth rotating body 131 is rotated in a state of indirect contact.

Next, the control device 17 outputs a stop signal to the third rotation drive unit 153 to stop the rotation of the fifth rotation body 131 and the sixth rotation body 132. At this time, the fifth rotating body 131 and the sixth rotating body 132 are locked so as to be able to hold the first sheet 7A in a state of being sandwiched between the fifth rotating body 131 and the sixth rotating body 132. In the present embodiment, as described above, the start timing of rotation of the first rotating body 111 by the first rotation driving unit 151 and the start timing of rotation of the fifth rotating body 131 by the third rotation driving unit 153 are different. ing. As a result, the first sheet 7A can be sandwiched between the first rotating body 111 and the second rotating body 112, and the first sheet 7A is sandwiched between the fifth rotating body 131 and the sixth rotating body 132. be able to.

Further, the control device 17 outputs a fourth rotation signal to the fourth rotation drive unit 154. As a result, as shown in FIG. 4D, the 7th rotating body 141 rotates in the direction of the arrow A2, and the 8th rotating body 142 rotates in the direction of the arrow A1 with the rotation of the 7th rotating body 141 (9th). Step ST9). Then, the 7th rotating body 141 rotates in the direction of the arrow A2, and the 8th rotating body 142 rotates in the direction of the arrow A1, so that the second sheet is between the 7th rotating body 141 and the 8th rotating body 142. 7B is sandwiched (see FIG. 4E). After that, the control device 17 outputs a stop signal to the fourth rotation drive unit 154 to stop the rotation of the seventh rotation body 141 and the eighth rotation body 142. At this time, the 7th rotating body 141 and the 8th rotating body 142 are sandwiched between the 7th rotating body 141 and the 8th rotating body 142, like the 5th rotating body 131 and the 6th rotating body 132. 2 It is locked so that the sheet 7B can be held.

After that, the control device 17 outputs a frame movement signal to the movement drive device 16. As a result, the moving frame 62 moves in a direction away from the fixed frame 63 along the Y-axis direction (10th step ST10). At this time, the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112, and the first sheet 7A is sandwiched between the fifth rotating body 131 and the sixth rotating body 132. It has been. Therefore, the first sheet 7A moves away from the second sheet 7B (direction of arrow B2) as the moving frame 62 moves (see FIG. 4E). As a result, the bag mouth 71 of the bag 7 can be opened. That is, the moving drive device 16 moves the first rotating body 111 and the second rotating body 112 in the separation direction with the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112. .. Further, the moving drive device 16 moves the fifth rotating body 131 and the sixth rotating body 132 in the intersecting direction with the first sheet 7A sandwiched between the fifth rotating body 131 and the sixth rotating body 132. ..

At this time, the third rotating body 121 and the fourth rotating body 122 hold the second sheet 7B, and the seventh rotating body 141 and the eighth rotating body 142 hold the second sheet 7B. That is, in the present embodiment, the holding device 10 is composed of the third rotating body 121, the fourth rotating body 122, the seventh rotating body 141, and the eighth rotating body 142. In other words, in the bag opening device 1, the moving drive device 16 has the first rotating body 111 and the second rotating body 111 in the separation direction in a state where the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112. A holding device 10 for holding the second sheet 7B when the rotating body 112 is moved is further provided.

Here, the third step ST3 is executed after the first step ST1 and the second step ST2 are executed. For example, the third step ST3 is executed before the first step ST1 is executed. Alternatively, the third step ST3 may be executed between the first step ST1 and the second step ST2. Further, the first step ST1 and the third step ST3 may be executed at the same time, or the second step ST2 and the third step ST3 may be executed at the same time.

Here, it is assumed that a customer or a store clerk takes out a bag 7 in a state where the bag opening 71 is opened by the bag opening device 1. As described above, immediately after the bag opening 71 of the bag 7 is opened by the bag opening device 1, the first sheet 7A and the second sheet 7B are sandwiched between the first rotating bodies 111 to the eighth rotating bodies 142. .. Therefore, if the bag 7 is to be taken out in this state, there is a problem that the sandwiched portion in the first sheet 7A and the second sheet 7B becomes a resistance and cannot be easily taken out. Therefore, when the customer or the clerk takes out the bag 7, it is preferable to release the locked state of the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141. In other words, it is preferable that the rotation driving device 15 releases the rotation restriction of the first rotating body 111 after the moving driving device 16 moves the first rotating body 111 and the second rotating body 112 in the separation direction. Specifically, the rotation drive device 15 locks the first rotating body 111, the third rotating body 121, the fifth rotating body 131, and the seventh rotating body 141 at the stage where the customer or the clerk takes out the bag 7. Release it to make it rotatable. As a result, the bag 7 is not pinched by the first rotating bodies 111 to 8th rotating bodies 142, so that the customer or the clerk can easily take out the bag 7.

As another method, the mobile drive device 16 separates the first rotating body 111 and the second rotating body 112, and the first sheet sandwiched between the first rotating body 111 and the second rotating body 112. The pinched state of 7A may be released. Specifically, the first moving drive unit 161 of the moving drive device 16 moves the shaft 114 including the second rotating body 112 in a direction away from the first rotating body 111 (separation direction) along the Y-axis direction. Further, the second moving drive unit 162 moves the shaft 124 including the fourth rotating body 122 in the direction away from the third rotating body 121 along the Y-axis direction. Further, the third moving drive unit 163 moves the shaft 134 including the sixth rotating body 132 in the direction away from the fifth rotating body 131 along the Y-axis direction. Further, the fourth moving drive unit 164 moves the shaft 144 including the eighth rotating body 142 in the direction away from the seventh rotating body 141 along the Y-axis direction. As a result, the state in which the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112 and between the fifth rotating body 131 and the sixth rotating body 132 can be released. Further, the state in which the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122 and between the seventh rotating body 141 and the eighth rotating body 142 can be released. As a result, the customer or the clerk can easily take out the bag 7.

Further, as another method, the rotation driving device 15 rotates the first rotating body 111 in the second rotation direction, and the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112. You may release the pinched state of. Specifically, the first rotation drive unit 151 of the rotation drive device 15 rotates the first rotating body 111 in the second rotation direction opposite to the first rotation direction, which is the direction in which the first sheet 7A is sandwiched. Further, the second rotation drive unit 152 rotates the third rotating body 121 in the direction opposite to the direction in which the second seat 7B is sandwiched. Further, the third rotation drive unit 153 rotates the fifth rotating body 131 in the direction opposite to the direction in which the first sheet 7A is sandwiched. Further, the fourth rotation drive unit 154 rotates the seventh rotating body 141 in the direction opposite to the direction in which the second seat 7B is sandwiched. As a result, the state in which the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112 and between the fifth rotating body 131 and the sixth rotating body 132 can be released. Further, the state in which the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122 and between the seventh rotating body 141 and the eighth rotating body 142 can be released. As a result, the customer or the clerk can easily take out the bag 7.

In the bag opening device 1 according to the present embodiment, the bag opening 71 of the bag 7 can be opened by the first rotating unit 11, the second rotating unit 12, the third rotating unit 13, and the fourth rotating unit 14, and thus has a structure. Can be simplified. Further, in the structure for transporting the bag 7 like the bag opening device 1 according to the present embodiment, the device can be miniaturized and the power can be saved.

(3.2) Operation of the bagging device Next, the bagging operation of the bagging device 2 according to the present embodiment will be described with reference to FIGS. 6A to 6C, 7A, and 7B.

6A to 6C show the process in which the product 91 is housed in the bag 7 when the relative positional relationship between the support portion 21 and the guide portion 22 changes from the first state to the second state. .. Although FIGS. 6A to 6C exemplify a plurality of products 91 such as PET bottled beverages, boxed confectionery, and canned beverages, the number of products 91 may be one. Further, here, as an example, the shopping cart 92 is removed from the bagging device 2 in the process of FIG. 6B, but the timing of removing the shopping cart 92 may be the process of FIG. 6C, or It may be later.

First, when the relative positional relationship between the support portion 21 and the guide portion 22 is in the first state, as shown in FIG. 6A, the bag 7 with the bag mouth 71 opened is the mounting surface of the support portion 21. It is placed on the mounting surface 211 so as to cover the 211. At this time, the handle 74 of the bag 7 is located outside the guide portion 22 while being held by the holding mechanism. The bagging device 2 sets the state shown in FIG. 6A as a standby state, and waits in a standby state until the shopping cart 92 containing the product 91 is placed in the bagging space S1 on the mounting surface 211. In the present embodiment, when the shopping cart 92 is placed in the bagging space S1, the bottom of the shopping basket 92 is opened, and the product 91 in the shopping basket 92 is discharged onto the mounting surface 211 of the bagging device 2. .. As a result, the product 91 is placed on the mounting surface 211 through the bag 7.

From this state (first state), the support portion 21 moves downward relative to the guide portion 22 in the elevating portion, so that the bag 7 is moved inside the guide portion 22 as shown in FIG. 6B. Gradually drawn in. At this time, the side peripheral portion 73 of the bag 7 continuous with the bottom portion 72 of the bag 7 is pulled into the inside of the guide portion 22 while being squeezed by the upper end surface of the guide portion 22. Therefore, the side peripheral portion 73 of the bag 7 is raised upward from the outer peripheral edge of the bottom portion 72 by the guide portion 22 around the support portion 21. Further, even in the state shown in FIG. 6B, the handle 74 of the bag 7 is held by the holding mechanism.

Then, the holding state of the handle 74 by the holding mechanism is released before the relative positional relationship between the support portion 21 and the guide portion 22 becomes the second state. After that, when the relative positional relationship between the support portion 21 and the guide portion 22 is in the second state, the product 91 is housed in the bag 7 in the space surrounded by the guide portion 22, as shown in FIG. 6C. become. That is, the bag packing device 2 moves the support portion 21 on which the product 91 is placed on the mounting surface 211 downward through the bag 7 in which the bag opening 71 is opened by the bag opening device 1, thereby moving the bag. 7 is configured to accommodate the product 91. At this time, the side peripheral portion 73 is in a state of standing up along the inner peripheral surface of the guide portion 22. Here, in the second state, the bag packing device 2 is configured such that the height difference from the mounting surface 211 to the upper end surface of the guide portion 22 is equal to or greater than the total length of the bag 7 in the vertical direction. The "total length in the vertical direction of the bag 7" referred to in the present disclosure is the total length including the pair of handles 74 of the bag 7, that is, the dimension from the bottom 72 of the bag 7 to the tip of the handle 74. As a result, the bag 7 fits in the space surrounded by the guide portion 22 up to the tip of the handle 74. Therefore, the bag 7 is in a standing state including not only the side peripheral portion 73 but also the handle 74.

Next, the bagging device 2 drives the support portion 21 at the elevating portion and changes the relative positional relationship between the support portion 21 and the guide portion 22 from the second state to the first state to guide the bag. The bag 7 is discharged from the space surrounded by the portion 22.

That is, as shown in FIG. 7A, the bag 7 on the mounting surface 211 protrudes upward from the opening on the upper surface side of the guide portion 22 as the support portion 21 moves upward. Further, as the support portion 21 moves upward, the bag 7 is completely discharged from the space surrounded by the guide portion 22, as shown in FIG. 7B. At this time, the bag 7 maintains an independent posture including the handle 74.

By the operation as described above, the bagging device 2 accommodates the product 91 placed in the bagging space S1 on the mounting surface 211 in the bag 7, and the product is in a state where the handle 74 of the bag 7 is upright. It is possible to deliver 91 to the customer. When the product 91 disappears from the mounting surface 211, the bagging device 2 newly sets the bag 7 and stands by in a standby state.

(4) Modified Example The first embodiment is only one of the various embodiments of the present disclosure. The first embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as the bag opening device 1 may be realized by a bag opening method, a computer program, a non-temporary recording medium on which a computer program is recorded, or the like.

The bag opening method according to one aspect is a bag opening method for opening the bag opening 71 of the bag 7 in which the bag opening 71 is formed between the first sheet 7A and the second sheet 7B. The bag opening method includes a rotation process and a movement process. In the rotation process, the first rotating body 111 and the second rotating body 112 are in direct or indirect contact with each other so as to sandwich the first sheet 7A between the first rotating body 111 and the second rotating body 112. This is a process of rotating the first rotating body 111 (7th step ST7). The first rotating body 111 and the second rotating body 112 are configured to be rotatable and can come into contact with the first sheet 7A on the outer peripheral surface. The moving process is a process of moving the first rotating body 111 and the second rotating body 112 in the separation direction with the first sheet 7A sandwiched between the first rotating body 111 and the second rotating body 112 (10th). Step ST10). The separation direction is the direction in which the first sheet 7A is separated from the second sheet 7B.

Hereinafter, modifications of the above-described embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The bag opening device 1 in the present disclosure includes, for example, a computer system in the control device 17. The main configuration of a computer system is a processor and memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the bag opening device 1 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. readable by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

Further, it is not essential for the bag opening device 1 that a plurality of components of the bag opening device 1 are integrated in one housing, and the components of the bag opening device 1 are dispersed in a plurality of housings. It may be provided. Further, at least a part of the functions of the bag opening device 1 (for example, the control device 17) may be realized by a cloud (cloud computing) or the like.

In the first embodiment, the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112, and then the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122. However, the opposite may be true. Further, in the first embodiment, after the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112, the first sheet 7A is sandwiched between the fifth rotating body 131 and the sixth rotating body 132. Is sandwiched between them, but the opposite may be true.

In the first embodiment, the bag opening device 1 includes a first rotating unit 11, a second rotating unit 12, a third rotating unit 13, and a fourth rotating unit 14, but the bag opening device 1 is provided. , At least the first rotating unit 11 and the second rotating unit 12 may be provided. Also in this case, the bag 7 is moved by moving the first rotating unit 11 in the separation direction with the first rotating unit 11 sandwiching the first sheet 7A and the second rotating unit 12 sandwiching the second sheet 7B. The bag mouth 71 can be opened.

In the first embodiment, the first moving drive unit 161 is configured so that only the second rotating body 112 can move along the Y-axis direction, but the first moving drive unit 161 has the first rotating body 111 and the first rotating body 111. Both of the two rotating bodies 112 may be configured to be movable along the Y-axis direction. Further, as for the second moving drive unit 162, both the third rotating body 121 and the fourth rotating body 122 may be configured to be movable along the Y-axis direction. Further, as for the third moving drive unit 163, both the fifth rotating body 131 and the sixth rotating body 132 may be configured to be movable along the Y-axis direction. Further, as for the fourth moving drive unit 164, both the seventh rotating body 141 and the eighth rotating body 142 may be configured to be movable along the Y-axis direction.

In the first embodiment, when the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112, the fifth rotating body 131 is stopped, but in the same direction as the first rotating body 111. The fifth rotating body 131 may be rotated. Further, in the first embodiment, when the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122, the seventh rotating body 141 is stopped, but it is the same as the third rotating body 121. The seventh rotating body 141 may be rotated in the direction.

In the first embodiment, when the bag 7 is conveyed by the fifth rotating body 131, the seventh rotating body 141 is also rotated, but the seventh rotating body 141 may be stopped. However, in this case, it is necessary that the seventh rotating body 141 can also rotate with the rotation of the fifth rotating body 131 so that the bag 7 can be conveyed. Further, in the first embodiment, when the bag 7 is conveyed by the first rotating body 111, the third rotating body 121 is also rotated, but the third rotating body 121 may be stopped. However, in this case, it is necessary that the third rotating body 121 can also rotate with the rotation of the first rotating body 111 so that the bag 7 can be conveyed.

In the first embodiment, the first rotation drive unit 151 that rotates the first rotation body 111, the second rotation drive unit 152 that rotates the third rotation body 121, and the third rotation drive unit that rotates the fifth rotation body 131. The 153 and the fourth rotation drive unit 154 that rotates the seventh rotating body 141 are integrated. On the other hand, the first rotation drive unit 151, the second rotation drive unit 152, the third rotation drive unit 153, and the fourth rotation drive unit 154 may be separate bodies.

In the first embodiment, the first moving drive unit 161 for moving the second rotating body 112, the second moving drive unit 162 for moving the fourth rotating body 122, and the third moving driving unit for moving the sixth rotating body 132. The 163 and the fourth moving drive unit 164 that moves the eighth rotating body 142 are integrated. On the other hand, the first moving drive unit 161, the second moving drive unit 162, the third moving drive unit 163, and the fourth moving drive unit 164 may be separate bodies.

In the first embodiment, when the bag mouth 71 of the bag 7 is opened, the first sheet 7A is held between the first rotating body 111 and the second rotating body 112 by locking the rotation of the first rotating body 111. ing. On the other hand, for example, the first sheet 7A may be held between the first rotating body 111 and the second rotating body 112 by rotating the first rotating body 111 in the direction of sandwiching the first sheet 7A. .. In other words, the rotation driving device 15 sandwiches the first sheet 7A between the moving driving device 16 and the second rotating body 112 when the moving driving device 16 moves the first rotating body 111 and the second rotating body 112 in the separation direction. The rotation of the first rotating body 111 in the state may be restricted at least in the second rotation direction. Thereby, when the first sheet 7A is moved in the separation direction, the first sheet 7A can be held between the first rotating body 111 and the second rotating body 112. The second rotation direction is the direction opposite to the first rotation direction, which is the direction in which the first sheet 7A is sandwiched.

In the first embodiment, after the first sheet 7A is sandwiched between the first rotating body 111 and the second rotating body 112, the second sheet 7B is sandwiched between the third rotating body 121 and the fourth rotating body 122. I'm out. On the other hand, the first rotating body 111 and the third rotating body 121 may be rotated at the same time. In this case, the first rotation speed, which is the rotation speed of the first rotating body 111 by the first rotation driving unit 151, and the second rotation speed, which is the rotation speed of the third rotating body 121 by the second rotation driving unit 152, are It is preferable that they are different. By making the speed of sandwiching the first sheet 7A different from the speed of sandwiching the second sheet 7B in this way, it is possible to sandwich both the first sheet 7A and the second sheet 7B. In the first embodiment, the third rotating body 121 is stopped when the first rotating body 111 is rotating, and the first rotating body 111 is stopped when the third rotating body 121 is rotating. That is, in the first embodiment, when the first rotation speed is larger than zero, the second rotation speed is zero, and when the first rotation speed is zero, the second rotation speed is larger than zero.

In the first embodiment, after the first rotating body 111 is rotated to sandwich the first sheet 7A, the fifth rotating body 131 is rotated to sandwich the first sheet 7A, but the first rotating body 111 and the fifth A period during which the rotating body 131 and the rotating body 131 rotate at the same time may be provided. In other words, the bag opening device 1 may have a period in which the first rotating body 111 and the fifth rotating body 131 rotate at the same time. For example, when the slack of the first sheet 7A is provided between the first rotating unit 11 and the third rotating unit 13 in the Z-axis direction, the first rotating body 111 and the fifth rotating body 131 are simultaneously used. You may rotate it. Even in this case, the first sheet 7A can be sandwiched between the first rotating body 111 and the second rotating body 112, and the first sheet 7A can be sandwiched between the fifth rotating body 131 and the sixth rotating body 132. Can be pinched. Further, the time required for the work of sandwiching the first sheet 7A by the first rotating unit 11 and the third rotating unit 13 can be shortened.

In the first embodiment, the positions of the first rotating body 111 and the second rotating body 112 in the X-axis direction are fixed, but the positions of the first rotating body 111 and the second rotating body 112 in the X-axis direction can be changed. You may. In other words, the first rotating body 111 and the second rotating body 112 are attached to the bag 7 in a direction (X-axis direction) parallel to the rotation axes (shafts 113 and 114) of the first rotating body 111 and the second rotating body 112. The contact position may be variable. According to this configuration, it is possible to handle a plurality of types of bags 7 having different width dimensions.

In the first embodiment, the holding device 10 is formed by the second rotating unit 12 (third rotating body 121 and the fourth rotating body 122) and the fourth rotating unit 14 (the seventh rotating body 141 and the eighth rotating body 142). It is configured. On the other hand, the holding device 10 may have at least the second rotating unit 12. Further, the holding device 10 is not limited to the rotating unit, and may have any other structure as long as it has a structure for holding the second sheet 7B.

In the first embodiment, the first rotating body 111, the second rotating body 112, the third rotating body 121, the fourth rotating body 122, the fifth rotating body 131, the sixth rotating body 132, the seventh rotating body 141, and the eighth rotating body. A plurality of teeth are provided on each outer peripheral surface of the rotating body 142. On the other hand, the first rotating body 111, the second rotating body 112, the third rotating body 121, the fourth rotating body 122, the fifth rotating body 131, the sixth rotating body 132, the seventh rotating body 141, and the eighth. If each of the rotating bodies 142 is, for example, a rubber roller, a plurality of teeth may not be provided.

In the first embodiment, the separation direction is the Y-axis direction, but the separation direction is not limited to the Y-axis direction, and may be, for example, an arbitrary angle direction (YZ direction) in the YZ plane.

(Embodiment 2)
Hereinafter, the bag opening device 1 according to the second embodiment will be described with reference to FIGS. 8 and 9. The bag opening device 1 according to the second embodiment is different from the bag opening device 1 according to the first embodiment in that the rotating unit 20 moves the first sheet 7A away from the second sheet 7B (separation direction). The same components as those of the bag opening device 1 according to the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

The bag opening device 1 according to the present embodiment includes a rotating unit 20 and a driving unit capable of moving the rotating unit 20 along the Y-axis direction. As shown in FIG. 8A, the rotating unit 20 has a first rotating body 201 and a second rotating body 202.

The first rotating body 201 is, for example, a roller. The first rotating body 201 is fixed to the central portion of the rotating shaft 203 extending along the X-axis direction, and is configured to be rotatable around the rotating shaft 203. The first rotating body 201 is configured to come into contact with the first sheet 7A of the bag 7 on the outer peripheral surface.

The second rotating body 202 is, for example, a roller having the same outer diameter as the first rotating body 201. The first rotating body 201 is fixed to the central portion of the rotating shaft 204 extending along the X-axis direction, and is configured to be rotatable around the rotating shaft 204. The second rotating body 202 is configured to come into contact with the first sheet 7A on the outer peripheral surface. The second rotating body 202 includes a one-way clutch. That is, the second rotating body 202 is a one-way clutch roller that can rotate in only one direction.

Here, the first rotating body 201 and the second rotating body 202 are in contact with each other on the outer peripheral surface as shown in FIG. 8A. Therefore, by restricting the direction of rotation of the second rotating body 202 in one direction, the direction of rotation of the first rotating body 201 is also restricted in one direction.

The drive unit is configured so that the rotating unit 20 can be moved along the Y-axis direction. That is, the drive unit can move the first rotating body 201 and the second rotating body 202 along the Y-axis direction in a state where the first rotating body 201 and the second rotating body 202 are in contact with each other.

Next, the bag opening operation of the bag opening device 1 according to the present embodiment will be described with reference to FIGS. 8A to 8E and FIG.

When the drive unit moves the rotating unit 20 to the right (first direction) along the Y-axis direction (first step ST11), as shown in FIG. 8A, the first rotating body 201 and the second rotating body 202 also also move. It moves to the right along the Y-axis direction. When the rotating unit 20 moves to a position where the first rotating body 201 contacts the first sheet 7A, as shown in FIG. 8B, the first rotating body 201 rolls on the first sheet 7A while rotating (second step ST12). ). At this time, the second rotating body 202 rotates in the opposite direction to the first rotating body 201, but since the second rotating body 202 is not in contact with the first sheet 7A, the first sheet 7A is not dragged. The rotating body 201 moves to a predetermined position (position shown in FIG. 8B).

When the driving unit moves the rotating unit 20 to the left (second direction) along the Y-axis direction from the state shown in FIG. 8B (third step ST13), as shown in FIG. 8C, the first rotating body 201 And the second rotating body 202 also moves to the left along the Y-axis direction. Here, the first rotating body 201 is allowed to rotate only in one direction, that is, clockwise, and does not rotate counterclockwise. Therefore, when the first rotating body 201 moves to the left along the Y-axis direction, the first rotating body 201 is in a locked state without rotating, and the first rotating body 201 holds the first sheet 7A. Move to the left while dragging. In this way, the drive unit moves the first rotating body 201 in contact with the first sheet 7A of the bag 7 at the top of the bag bundle 70 toward the bottom 72 side (left side) along the Y-axis direction. Will let you. As a result, in the bag 7 at the top of the bag bundle 70, the first sheet 7A is pulled to the left, and only the first sheet 7A is separated from the bag bundle 70 by the cut line provided on the bag 7 ( Fourth step ST14).

From the state shown in FIG. 8C, when the driving unit moves the rotating unit 20 to the right again along the Y-axis direction (fifth step ST15), as shown in FIG. 8D, the first rotating body 201 and the second rotation The body 202 also moves to the right along the Y-axis direction. At this time, the first rotating body 201 is in contact with the first sheet 7A, and the first rotating body 201 and the second rotating body 202 rotate, so that the first opening end portion 71A of the first sheet 7A becomes the first. It is sandwiched between the rotating body 201 and the second rotating body 202 (sixth step ST16).

When the drive unit moves the rotating unit 20 to the left along the Y-axis direction from the state shown in FIG. 8D (7th step ST17), as shown in FIG. 8E, the first rotating body 201 and the second rotating body 201 and the second rotating body. 202 also moves to the left along the Y-axis direction. At this time, as described above, since the first rotating body 201 is in a locked state without rotating, the first opening end portion 71A of the first sheet 7A is a combination of the first rotating body 201 and the second rotating body 202. It is sandwiched between them. Therefore, by moving the first rotating body 201 and the second rotating body 202 to the left along the Y-axis direction, the bag mouth 71 of the bag 7 can be opened in the Y-axis direction (8th step ST18).

By moving the first rotating body 201 and the second rotating body 202 further to the left along the Y-axis direction from the state shown in FIG. 8E, the second sheet 7B is also bagged by the cut line provided on the bag 7. Separated from the bundle 70.

In the bag opening device 1 according to the present embodiment, the bag 7 is simply moved along the Y-axis direction with the first rotating body 201 and the second rotating body 202 sandwiching the first opening end portion 71A of the first sheet 7A. The bag mouth 71 can be opened. That is, according to the bag opening device 1 according to the present embodiment, the bag opening 71 of the bag 7 can be opened only by the rotating unit 20, and the structure can be simplified.

(Summary)
As described above, in the bag opening device (1) according to the first aspect, the bag (7) in which the bag mouth (71) is formed between the first sheet (7A) and the second sheet (7B). This is a bag opening device (1) for opening the bag opening (71). The bag opening device (1) includes a first rotating body (111) and a second rotating body (112), a rotation driving device (15), and a moving driving device (16). The first rotating body (111) and the second rotating body (112) are configured to be rotatable and are in contact with the first sheet (7A) on the outer peripheral surface. The rotation drive device (15) has a first rotating body (111) and a second rotating body so as to sandwich the first sheet (7A) between the first rotating body (111) and the second rotating body (112). The first rotating body (111) is rotated in a state where it is in direct or indirect contact with (112). The mobile drive device (16) is first in the separation direction (for example, the Y-axis direction) with the first sheet (7A) sandwiched between the first rotating body (111) and the second rotating body (112). The rotating body (111) and the second rotating body (112) are moved. The separation direction is the direction in which the first sheet (7A) is separated from the second sheet (7B).

According to this aspect, the bag mouth (71) of the bag (7) is simply moved by moving the first rotating body (111) and the second rotating body (112) with the first sheet (7A) sandwiched in the isolation direction. Can be opened. That is, according to this aspect, the bag mouth (71) of the bag (7) can be opened by the first rotating body (111) and the second rotating body (112), and the structure can be simplified.

In the bag opening device (1) according to the second aspect, in the first aspect, in the rotation driving device (15), the moving driving device (16) is separated from the first rotating body (111) and the second rotating body. When moving (112), rotation in at least the second rotation direction with respect to the first rotating body (111) in a state where the first sheet (7A) is sandwiched between the second rotating body (112). To regulate. The second rotation direction is opposite to the first rotation direction, which is the direction in which the first sheet (7A) is sandwiched.

According to this aspect, the state in which the first sheet (7A) is sandwiched between the first rotating body (111) and the second rotating body (112) can be maintained.

In the bag opening device (1) according to the third aspect, in the second aspect, in the rotation driving device (15), the moving driving device (16) is separated from the first rotating body (111) and the second rotating body. After moving (112), the rotation restriction of the first rotating body (111) is released.

According to this aspect, the bag (7) with the bag mouth (71) opened can be removed from the bag opening device (1).

In the bag opening device (1) according to the fourth aspect, in any one of the first to third aspects, the separation direction is the crossing direction (for example, the Y-axis direction) intersecting the surface of the first sheet (7A). ..

According to this aspect, the first sheet (7A) can be moved in a direction away from the second sheet (7B).

In the bag opening device (1) according to the fifth aspect, in any one of the first to fourth aspects, the mobile drive device (16) has the first rotating body (111) and the second rotating body (112). Separated to release the sandwiched state of the first sheet (7A) sandwiched between the first rotating body (111) and the second rotating body (112).

According to this aspect, the bag (7) with the bag mouth (71) opened can be removed from the bag opening device (1).

In the bag opening device (1) according to the sixth aspect, in any one of the first to fourth aspects, the rotation driving device (15) rotates the first rotating body (111) in the second rotation direction. The sandwiched state of the first sheet (7A) sandwiched between the first rotating body (111) and the second rotating body (112) is released. The second rotation direction is opposite to the first rotation direction, which is the direction in which the first sheet (7A) is sandwiched.

According to this aspect, the bag (7) with the bag mouth (71) opened can be removed from the bag opening device (1).

The bag opening device (1) according to the seventh aspect further includes a holding device (10) in any one of the first to sixth aspects. In the holding device (10), the moving drive device (16) is first in the separation direction with the first sheet (7A) sandwiched between the first rotating body (111) and the second rotating body (112). The second sheet (7B) is held when the rotating body (111) and the second rotating body (112) are moved.

According to this aspect, the bag mouth (71) of the bag (7) can be opened in the separation direction.

In the bag opening device (1) according to the eighth aspect, in the seventh aspect, the holding device (10) includes a third rotating body (121) and a fourth rotating body (122). The third rotating body (121) and the fourth rotating body (122) are rotatably configured, are in contact with the second sheet (7B) on the outer peripheral surface, and are the first rotating body (111) and the first rotating body (111) in the separation direction. It faces the two rotating bodies (112), respectively. The rotation drive device (15) includes a first rotation drive unit (151) and a second rotation drive unit (152). The first rotation drive unit (151) rotates the first rotating body (111). The second rotation drive unit (152) has the third rotation body (121) and the fourth rotation body (121) so as to sandwich the second sheet (7B) between the third rotation body (121) and the fourth rotation body (122). The third rotating body (121) is rotated in a state where it is in direct or indirect contact with the rotating body (122).

According to this aspect, the second sheet (7B) can be held by the third rotating body (121) and the fourth rotating body (122), and as a result, the bag mouth (71) of the bag (7) is separated. Can be opened in the direction.

In the bag opening device (1) according to the ninth aspect, in the eighth aspect, the start timing of rotation of the first rotating body (111) by the first rotation driving unit (151) and the second rotation driving unit (152). ) Is different from the start timing of rotation of the third rotating body (121).

According to this aspect, the first sheet (7A) can be sandwiched between the first rotating body (111) and the second rotating body (112), and the third rotating body (121) and the fourth rotating body (121) and the fourth rotating body can be sandwiched. The second sheet (7B) can be sandwiched between (122) and.

In the bag opening device (1) according to the tenth aspect, in the eighth or ninth aspect, the first rotation drive unit (151) rotates the first rotating body (111) and the second rotation drive unit (152). ) Rotates the third rotating body (121), the first rotation speed and the second rotation speed are different. The first rotation speed is the rotation speed of the first rotating body (111) by the first rotation driving unit (151). The second rotation speed is the rotation speed of the third rotating body (121) by the second rotation driving unit (152).

According to this aspect, the first sheet (7A) can be sandwiched between the first rotating body (111) and the second rotating body (112), and the third rotating body (121) and the fourth rotating body (121) and the fourth rotating body can be sandwiched. The second sheet (7B) can be sandwiched between (122) and.

In the bag opening device (1) according to the eleventh aspect, in the eighth or ninth aspect, when the first rotation speed is larger than zero, the second rotation speed is zero, and the first rotation speed is zero. , The second rotation speed is greater than zero. The first rotation speed is the rotation speed of the first rotating body (111) by the first rotation driving unit (151). The second rotation speed is the rotation speed of the third rotating body (121) by the second rotation driving unit (152).

According to this aspect, by stopping one of the first rotating body (111) and the third rotating body (121), the first sheet (7A) or the second sheet (7B) is placed between the two rotating bodies. Can be pinched.

In the bag opening device (1) according to the twelfth aspect, in any one of the seventh to eleventh aspects, the mobile drive device (16) has a first mobile drive unit (161) and a second mobile drive unit (162). ) And, including. The first moving drive unit (161) moves at least the second rotating body (112) in the separation direction. The second moving drive unit (162) can move the holding device (10).

According to this aspect, the bag mouth (71) of the bag (7) can be opened.

In the bag opening device (1) according to the thirteenth aspect, in any one of the first to twelfth aspects, the first rotating body (111) and the second rotating body (112) are the first rotating body (111) and The contact position of the second rotating body (112) with the bag (7) in the direction parallel to the rotation axis (51, 52) is variable.

According to this aspect, it is possible to deal with a plurality of types of bags (7) having different width dimensions.

In the bag opening device (1) according to the fourteenth aspect, in any one of the first to thirteenth aspects, the rotation driving device (15) is in a state where the first rotating body (111) is in contact with the first sheet (7A). ) Rotates the first rotating body (111) so that the second rotating body (112) does not rotate together with the first rotating body (111) when the bag (7) is conveyed.

According to this aspect, the bag (7) can be conveyed by the rotation driving device (15) rotating the first rotating body (111).

In the bag opening device (1) according to the fifteenth aspect, in the fourteenth aspect, the moving drive device (16) moves the second rotating body (112) to a position where it does not come into contact with the first sheet (7A).

According to this aspect, the bag (7) can be conveyed by the rotation driving device (15) rotating the first rotating body (111).

The bag opening device (1) according to the sixteenth aspect further includes a third rotating body (121) and a fourth rotating body (122) in the 14th or 15th aspect. The third rotating body (121) and the fourth rotating body (122) are rotatably configured, are in contact with the second sheet (7B) on the outer peripheral surface, and are the first rotating body (111) and the first rotating body (111) in the separation direction. It faces the two rotating bodies (112), respectively. The third rotating body (121) has the same structure as the first rotating body (111) with respect to the first sheet (7A) with respect to the second sheet (7B). The fourth rotating body (122) has the same structure as the second rotating body (112) with respect to the first sheet (7A) with respect to the second sheet (7B).

According to this aspect, the bag (7) can be conveyed by rotating the first rotating body (111) and the third rotating body (121).

The bag opening device (1) according to the seventeenth aspect further includes a fifth rotating body (131) and a sixth rotating body (132) in the fourth aspect. The fifth rotating body (131) and the sixth rotating body (132) are configured to be rotatable, and the first sheet (the first sheet (112) is located at a position different from that of the first rotating body (111) and the second rotating body (112) on the outer peripheral surface. Contact 7A). The rotation drive device (15) includes a first rotation drive unit (151) and a third rotation drive unit (153). The first rotation drive unit (151) rotates the first rotating body (111). The third rotation drive unit (153) sandwiches the first sheet (7A) between the fifth rotation body (131) and the sixth rotation body (132), so that the fifth rotation body (131) and the sixth rotation body (131) sandwich the first sheet (7A). The fifth rotating body (131) is rotated in a state where it is in direct or indirect contact with the rotating body (132). The mobile drive device (16) includes a first mobile drive unit (161) and a third mobile drive unit (163). The first moving drive unit (161) moves at least the second rotating body (112) in the crossing direction. The third moving drive unit (163) holds at least the sixth rotating body (132) in a state where the first sheet (7A) is sandwiched between the fifth rotating body (131) and the sixth rotating body (132). Move in the direction of intersection.

According to this aspect, the bag mouth (71) of the bag (7) can be opened even when the length of the bag (7) is long.

In the bag opening device (1) according to the eighteenth aspect, in the seventeenth aspect, the third rotation driving unit (153) is in contact with the first sheet (7A) in a state where the fifth rotating body (131) is in contact with the first sheet (7A). The sixth rotating body (132) is configured not to rotate together with the fifth rotating body (131) when the bag (7) is conveyed by rotating the five rotating body (131).

According to this aspect, the bag (7) can be conveyed by the third rotation driving unit (153) rotating the fifth rotating body (131).

In the bag opening device (1) according to the nineteenth aspect, in the 17th or eighteenth aspect, the start timing of rotation of the first rotating body (111) by the first rotation driving unit (151) and the third rotation driving unit. The start timing of rotation of the fifth rotating body (131) according to (153) is different.

According to this aspect, the first sheet (7A) can be sandwiched between the first rotating body (111) and the second rotating body (112), and the fifth rotating body (131) and the sixth rotating body (131) can be sandwiched. The first sheet (7A) can be sandwiched between (132) and.

In the bag opening device (1) according to the twentieth aspect, in any one of the 17th to 19th aspects, the first rotation driving unit (151) rotates the first rotating body (111) to rotate the first rotating body (11). When the first sheet (7A) is sandwiched between the 111) and the second rotating body (112), the fifth rotating body (131) can rotate along the first sheet (7A).

According to this aspect, the first sheet (7A) can be sandwiched between the first rotating body (111) and the second rotating body (112).

In the bag opening device (1) according to the 21st aspect, in any one of the 17th to 19th aspects, the third rotation driving unit (153) is the first rotating body in the same direction as the first rotating body (111). The fifth rotating body (131) is rotated more than the number of rotations of (111).

According to this aspect, the first sheet (7A) can be loosened between the first rotating body (111) and the fifth rotating body (131), whereby the fifth rotating body (131) and the sixth rotating body (131) can be loosened. The first sheet (7A) can be sandwiched between the rotating body (132) and the rotating body (132).

In the bag opening device (1) according to the 22nd aspect, in the 19th aspect, the first rotating body (111) and the fifth rotating body (131) have a period of simultaneous rotation.

According to this aspect, the time required for the work of sandwiching the first sheet (7A) can be shortened.

The bag opening device (1) according to the 23rd aspect further includes a 7th rotating body (141) and an 8th rotating body (142) in any one of the 17th to 22nd aspects. The seventh rotating body (141) and the eighth rotating body (142) are rotatably configured, are in contact with the second sheet (7B) on the outer peripheral surface, and are the fifth rotating body (131) and the fifth rotating body (131) in the crossing direction. It faces each of the 6 rotating bodies (132).

According to this aspect, the bag (7) can be conveyed by rotating the fifth rotating body (131) and the seventh rotating body (141).

In the bag opening device (1) according to the 24th aspect, in the 23rd aspect, the 7th rotating body (141) is a 5th rotating body with respect to the 2nd sheet (7B) and the 1st sheet (7A). It has the same structure as (131). The eighth rotating body (142) has the same structure as the sixth rotating body (132) with respect to the first sheet (7A) with respect to the second sheet (7B).

According to this aspect, the bag (7) can be conveyed by rotating the fifth rotating body (131) and the seventh rotating body (141).

The bag opening method according to the 25th aspect is for opening the bag opening (71) of the bag (7) in which the bag opening (71) is formed between the first sheet (7A) and the second sheet (7B). This is how to open the bag. The bag opening method includes a rotation process and a movement process. In the rotation process, the first rotating body (111) and the second rotating body (112) sandwich the first sheet (7A) between the first rotating body (111) and the second rotating body (112). Is a process of rotating the first rotating body (111) in a state of direct or indirect contact. The first rotating body (111) and the second rotating body (112) are configured to be rotatable and are in contact with the first sheet (7A) on the outer peripheral surface. In the moving process, the first rotating body (111) and the second rotating body (111) and the second rotating body are separated from each other with the first sheet (7A) sandwiched between the first rotating body (111) and the second rotating body (112). This is a process of moving (112). The separation direction is the direction in which the first sheet (7A) is separated from the second sheet (7B).

According to this aspect, the bag mouth (71) of the bag (7) is simply moved by moving the first rotating body (111) and the second rotating body (112) with the first sheet (7A) sandwiched in the isolation direction. Can be opened. That is, according to this aspect, the bag mouth (71) of the bag (7) can be opened by the first rotating body (111) and the second rotating body (112), and the structure can be simplified.

The configuration according to the second to 24th aspects is not an essential configuration for the bag opening device (1) and can be omitted as appropriate.

1 Bag opening device 7 Bag 7A 1st sheet 7B 2nd sheet 10 Holding device 15 Rotational drive device 16 Mobile drive device 51, 52 Shaft (rotary shaft)
71 Bag mouth 111 1st rotating body 112 2nd rotating body 121 3rd rotating body 122 4th rotating body 131 5th rotating body 132 6th rotating body 141 7th rotating body 142 8th rotating body 151 1st rotating drive unit 152 2nd rotation drive unit 153 3rd rotation drive unit 161 1st movement drive unit 162 2nd movement drive unit 163 3rd movement drive unit

Claims (25)

A bag opening device for opening the bag opening of a bag in which a bag opening is formed between the first sheet and the second sheet.
A first rotating body and a second rotating body which are rotatably configured and can come into contact with the first sheet on the outer peripheral surface,
The first rotating body is in direct or indirect contact with the first rotating body so as to sandwich the first sheet between the first rotating body and the second rotating body. A rotary drive device that rotates the rotating body,
With the first sheet sandwiched between the first rotating body and the second rotating body, the first rotating body and the first rotating body and the first rotating body are separated in a direction in which the first sheet is separated from the second sheet. A mobile drive device for moving a two-rotating body is provided.
Bag opening device. The rotation drive device is in a state in which the first sheet is sandwiched between the first rotating body and the second rotating body when the moving driving device moves the first rotating body and the second rotating body in the separation direction. The rotation of the first rotating body in the second rotation direction opposite to the first rotation direction, which is the direction in which the first sheet is sandwiched, is restricted.
The bag opening device according to claim 1. The rotation driving device releases the rotation restriction of the first rotating body after the moving driving device moves the first rotating body and the second rotating body in the separation direction.
The bag opening device according to claim 2. The separation direction is an intersection direction that intersects the surface of the first sheet.
The bag opening device according to any one of claims 1 to 3. The moving drive device separates the first rotating body and the second rotating body to release the sandwiched state of the first sheet sandwiched between the first rotating body and the second rotating body. ,
The bag opening device according to any one of claims 1 to 4. The rotation drive device rotates the first rotating body in a second rotation direction opposite to the first rotation direction, which is a direction for sandwiching the first sheet, and causes the first rotating body and the second rotating body to rotate. Release the sandwiched state of the first sheet sandwiched between
The bag opening device according to any one of claims 1 to 4. When the moving drive device moves the first rotating body and the second rotating body in the separation direction with the first sheet sandwiched between the first rotating body and the second rotating body. A holding device for holding the second sheet is further provided.
The bag opening device according to any one of claims 1 to 6. The holding device is
Includes a third rotating body and a fourth rotating body which are rotatably configured, can contact the second sheet on the outer peripheral surface, and face the first rotating body and the second rotating body, respectively, in the separation direction.
The rotary drive device
The first rotation drive unit that rotates the first rotating body and
The third in a state where the third rotating body and the fourth rotating body are in direct or indirect contact so as to sandwich the second sheet between the third rotating body and the fourth rotating body. Including a second rotation drive unit that rotates a rotating body,
The bag opening device according to claim 7. The start timing of the rotation of the first rotating body by the first rotation driving unit and the start timing of the rotation of the third rotating body by the second rotation driving unit are different.
The bag opening device according to claim 8. When the first rotation drive unit rotates the first rotating body and the second rotation drive unit rotates the third rotation body, the rotation speed of the first rotation body by the first rotation drive unit. The first rotation speed, which is the rotation speed of the third rotation body by the second rotation drive unit, is different from the second rotation speed.
The bag opening device according to claim 8 or 9. When the first rotation speed, which is the rotation speed of the first rotating body by the first rotation driving unit, is larger than zero, the second rotation speed, which is the rotation speed of the third rotating body by the second rotation driving unit, is Zero,
When the first rotation speed is zero, the second rotation speed is larger than zero.
The bag opening device according to claim 8 or 9. The mobile drive device is
At least the first moving drive unit that moves the second rotating body in the separation direction, and
A second moving drive unit capable of moving the holding device, and the like.
The bag opening device according to any one of claims 7 to 11. The first rotating body and the second rotating body have variable contact positions with the bag in a direction parallel to the rotation axis of the first rotating body and the second rotating body.
The bag opening device according to any one of claims 1 to 12. When the rotation driving device rotates the first rotating body to convey the bag while the first rotating body is in contact with the first sheet, the second rotating body is the first rotating body. It is configured not to rotate with,
The bag opening device according to any one of claims 1 to 13. The movement drive device moves the second rotating body to a position where it does not come into contact with the first sheet.
The bag opening device according to claim 14. Further provided with a third rotating body and a fourth rotating body which are rotatably configured, can contact the second sheet on the outer peripheral surface, and face the first rotating body and the second rotating body, respectively, in the separation direction. ,
The third rotating body has the same structure as the first rotating body with respect to the first sheet with respect to the second sheet.
The fourth rotating body has the same structure as the second rotating body with respect to the first sheet with respect to the second sheet.
The bag opening device according to claim 14 or 15. It is further provided with a fifth rotating body and a sixth rotating body which are rotatably configured and come into contact with the first sheet at positions different from those of the first rotating body and the second rotating body on the outer peripheral surface.
The rotary drive device
The first rotation drive unit that rotates the first rotating body and
The fifth in a state where the fifth rotating body and the sixth rotating body are in direct or indirect contact so as to sandwich the first sheet between the fifth rotating body and the sixth rotating body. Includes a third rotation drive unit that rotates the rotating body,
The mobile drive device is
At least the first moving drive unit that moves the second rotating body in the crossing direction, and
A third moving drive unit that moves at least the sixth rotating body in the crossing direction with the first sheet sandwiched between the fifth rotating body and the sixth rotating body.
The bag opening device according to claim 4. When the third rotation drive unit rotates the fifth rotation body to convey the bag while the fifth rotation body is in contact with the first sheet, the sixth rotation body is the fifth rotation body. It is configured not to rotate with the rotating body,
The bag opening device according to claim 17. The start timing of rotation of the first rotating body by the first rotation driving unit and the start timing of rotation of the fifth rotating body by the third rotation driving unit are different.
The bag opening device according to claim 17 or 18. When the first rotation driving unit rotates the first rotating body and sandwiches the first sheet between the first rotating body and the second rotating body, the fifth rotating body is the first sheet. Can rotate along,
The bag opening device according to any one of claims 17 to 19. The third rotation drive unit rotates the fifth rotating body in the same direction as the first rotating body more than the number of rotations of the first rotating body.
The bag opening device according to any one of claims 17 to 19. The first rotating body and the fifth rotating body have a period of simultaneous rotation.
The bag opening device according to claim 19. It is further provided with a seventh rotating body and an eighth rotating body which are rotatably configured, can contact the second sheet on the outer peripheral surface, and face the fifth rotating body and the sixth rotating body, respectively, in the crossing direction. ,
The bag opening device according to any one of claims 17 to 22. The seventh rotating body has the same structure as the fifth rotating body with respect to the first sheet with respect to the second sheet.
The eighth rotating body has the same structure as the sixth rotating body with respect to the first sheet with respect to the second sheet.
The bag opening device according to claim 23. A bag opening method for opening the bag opening of a bag in which a bag opening is formed between the first sheet and the second sheet.
The first rotating body and the second rotating body are configured so as to sandwich the first sheet between the first rotating body and the second rotating body which are rotatably configured and can come into contact with the first sheet on the outer peripheral surface. The rotation process of rotating the first rotating body in a state of direct or indirect contact with
With the first sheet sandwiched between the first rotating body and the second rotating body, the first rotating body and the first rotating body and the first rotating body are separated in a direction in which the first sheet is separated from the second sheet. Including a movement process for moving a two-rotating body,
How to open the bag.

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