JP2021084806A - Orientation correction system - Google Patents

Abstract

To provide an orientation correction system that enables detecting the orientation of a bag bundle while moving the bag bundle from the upstream side device to the downstream side device and smoothly providing the bag bundle in a desired orientation to the downstream side device.SOLUTION: The orientation correction system includes: an orientation detection device 13 that detects the orientation of a bag bundle; and an orientation adjustment device that adjusts the orientation of the bag bundle in accordance with the detection results of the orientation detection device 13. When the bug bundle in the first orientation held by the first holding part and a supporting surface 32 are relatively moved in a detection movement direction D1, the part of the bag bundle that includes the thickness part passes the first passing area R1. When the bag bundle in the second orientation held by the first holding part and the supporting surface 32 are moved relatively in the detection movement direction D1, the part of the bag bundle that does not include the thickness part passes the first passing area R1.SELECTED DRAWING: Figure 3

Description

The present invention relates to an orientation correction system that corrects the orientation of a bundle of bags.

Patent Document 1 discloses a device in which pouch bags are taken out one by one from a pouch bag taking-out portion, the position of an injection port body of the taken out pouch bag is detected by an optical sensor, and the pouch bag is dropped from a receiving portion. When dropping the pouch bag from the receiving part, one of the left and right operating rods is projected according to the detection result of the optical sensor, and the horizontal pouch bag that falls along the chute is rotated vertically, and the injection port body is The pouch bag is dropped onto the receiving part while being aligned upward.

Patent Document 2 discloses an apparatus in which a plurality of packages in a tray are attracted by a suction cup block, and a sideways package among the plurality of packages is rotated by 90 degrees to align all the packages in the same direction.

Patent Document 3 discloses a device for packing a bag bundle in a box, and the bag bundle is changed in a desired direction by a rotation mechanism.

JP-A-2002-104325 Japanese Unexamined Patent Publication No. 9-118432 Japanese Unexamined Patent Publication No. 2014-218268

In the device of Patent Document 1, the pouch bags are oriented one by one. Therefore, when the orientations of a large number of bags are aligned, the time required to change the orientations of the bags becomes long as a whole.

In the apparatus of Patent Document 2, individual packages such as a retort pouch are held by suction by a suction cup block. Therefore, in the apparatus of Patent Document 2, individual bags can be appropriately adsorbed and held, but the entire bag bundle composed of a plurality of stacked bags cannot be adsorbed and held. By restraining the entire bag bundle (that is, a plurality of bags) with a restraint such as a band, it is possible to adsorb and hold the bag bundle even in the device of Patent Document 2. However, when the restraint is used, it is necessary to remove the restraint from the bag bundle in order to supply the individual bags to the subsequent device (for example, a packaging machine), which increases the number of processing steps and the processing device.

The device of Patent Document 3 temporarily receives the bag bundle by the rotating mechanism while moving the bag bundle from the upstream device (stacker) to the downstream device (carton transfer means) in order to change the bag bundle in a desired direction. Need to pass.

The present invention has been made in view of the above circumstances, and the orientation of the bag bundle is detected while moving the bag bundle from the upstream device to the downstream device, and the bag bundle having a desired orientation is downstream. An object of the present invention is to provide a technology that enables smooth supply to a side device.

One aspect of the present invention includes an orientation detecting device for detecting the orientation of the bag bundle and an orientation adjusting device for adjusting the orientation of the bag bundle according to the detection result of the orientation detecting device, and the orientation detecting device is a stacking direction. A first holding portion and a first holding portion that hold a bag bundle containing a plurality of bags stacked on each other and having a thick portion locally having a large thickness in the stacking direction while sandwiching the bag bundle in the stacking direction. A support portion having a support surface on which the bag bundle held by the bag is placed, and a first movable portion that is partially arranged so as to face the support surface in a detection transverse direction perpendicular to the detection movement direction. The first movable portion, which behaves according to the thickness of the bag bundle portion passing through the first passing region between the support surface and the first movable portion, and the first movable portion, which is held by the first holding portion and placed on the support surface. A first moving mechanism that relatively moves the bag bundle held by the first holding portion and the support surface in the detection moving direction so that the bag bundle in the state of being partially passed through the first passing region. It has a first motion detection unit that detects the behavior of the first movable portion, and an orientation detection unit that detects the orientation of the bag bundle based on the detection result of the first motion detection unit, and is provided by the first movement mechanism. When the bag bundle in the first direction and the support surface held by the first holding portion are relatively moved in the detection movement direction, the portion of the bag bundle including the thick portion passes through the first passing region. When the bag bundle in the second direction and the support surface, which have passed through and are held by the first holding portion, are relatively moved in the detection movement direction by the first moving mechanism, the thick portion of the bag bundle is moved. The present invention relates to an orientation correction system in which a portion not included passes through a first passage region.

The orientation detection device is a second movable portion that is partially arranged to face the support surface in the detection transverse direction, and is a bundle of bags that passes through a second passage region between the support surface and the second movable portion. A second movable part that shows the behavior according to the thickness of the portion and a second motion detection unit that detects the behavior of the second movable part are further provided, and the orientation detection unit includes the detection result of the first motion detection unit and the detection result of the first motion detection unit. Based on the detection result of the second motion detection unit, the orientation of the bag bundle is detected, and the bag bundle in the first orientation in a state of being held by the first holding unit and mounted on the support surface by the first moving mechanism. When the support surface and the support surface are relatively moved in the detection movement direction, the portion of the bag bundle that does not include the thick portion passes through the second passage region, and is held and supported by the first holding portion by the first moving mechanism. When the bag bundle in the second direction and the support surface on the surface are relatively moved in the detection movement direction, even if the portion of the bag bundle including the thick portion passes through the second passage region. Good.

The support portion has a movement space extending in the detection movement direction, and when the bag bundle and the support surface held by the first holding portion are relatively moved in the detection movement direction by the first movement mechanism, the support portion has a movement space. 1 The holding portion may pass through a moving space.

At least in the portion of the support surface including the upstream end in the detection movement direction, the size of the support surface in the detection transverse direction may gradually increase with respect to the movement space as it advances in the detection movement direction.

The orientation correction system further includes a mounting portion on which the bag bundle whose orientation is adjusted by the orientation adjusting device is placed, and the mounting portion includes a mounting surface portion on which the bag bundle is placed and a bag bundle mounted on the mounting surface portion. It has a first regulation part and a second regulation part which are arranged on opposite sides of each other and at least one of them is provided so as to be movable, and the first regulation part and the second regulation part are mutually provided. It may be arranged at a regulation position where the distance between them is relatively small and a retracted position where the distance between them is relatively large.

The orientation adjusting device has a second holding portion for holding the bag bundle and a second moving mechanism for moving the second holding portion, and the second moving mechanism has a bag according to the detection result of the orientation detecting device. The present invention relates to the above-mentioned orientation correction system that adjusts the orientation of the bag bundle by changing the movement of the second holding portion that holds the bundle.

Each of the first regulation part and the second regulation part has a retracting space, and in the second moving mechanism, a part of the second holding part holding the bag bundle is a bag according to the detection result of the orientation detection device. The second holding portion holding the bag bundle is moved so as to be arranged between the bundle and the first regulating portion or between the bag bundle and the second regulating portion, and the second moving mechanism is the second. When a part of the holding portion is arranged between the bag bundle and the first regulating portion, the second holding portion is moved so as to move away from the bag bundle through the evacuation space of the first regulating portion. Move it so that when a part of the second holding portion is arranged between the bag bundle and the second regulating portion, the second holding portion passes through the evacuation space of the second regulating portion and moves away from the bag bundle. The second holding portion may be moved.

The gripping device that holds the bag bundle in the stacking direction operates as the first holding portion and the second holding portion, and the moving driving device that moves the gripping device three-dimensionally is the first moving mechanism and the second moving mechanism. May operate as.

According to the present invention, the orientation of the bag bundle can be detected while moving the bag bundle from the upstream device to the downstream device, and the bag bundle having a desired orientation can be smoothly supplied to the downstream device. It is possible.

FIG. 1 is a conceptual diagram showing a schematic configuration of an example of an orientation correction system. FIG. 2 is a diagram showing an example of a gripping device. FIG. 3 is a perspective view showing an example of the orientation detection device. FIG. 4 is a front view showing an example of the orientation detection device. FIG. 5 is a diagram for explaining an operation example of the orientation detection device. FIG. 6 is a diagram for explaining an operation example of the orientation detection device. FIG. 7 is a perspective view showing an example of the mounting portion. FIG. 8 is a diagram for explaining an operation example of the orientation adjusting device and the mounting portion. FIG. 9 is a diagram for explaining an operation example of the orientation adjusting device and the mounting portion. FIG. 10 is a diagram for explaining an operation example of the orientation adjusting device and the mounting portion. FIG. 11 is a diagram for explaining an operation example of the orientation adjusting device and the mounting portion. FIG. 12 is a diagram for explaining an operation example of the orientation adjusting device and the mounting portion.

FIG. 1 is a conceptual diagram showing a schematic configuration of an example of the orientation correction system 10.

The orientation correction system 10 shown in FIG. 1 includes an orientation detection device 13 and an orientation adjustment device 14, corrects the orientation of each bag bundle 21 taken out from the storage box 11, and makes the bag bundle 21 oriented in a desired orientation. It is placed on the mounting unit 15. The orientation detection device 13 detects the orientation of the bag bundle 21. The orientation adjusting device 14 adjusts the orientation of the bag bundle 21 according to the detection result of the orientation detecting device 13. According to the orientation correction system 10, the bag bundle 21 mounted on the mounting portion 15 is always oriented in a desired direction regardless of the orientation of the bag bundle 21 in the storage box 11. The bag taking-out device 16 for taking out the bags 20 one by one from the bag bundle 21 placed on the mounting portion 15 sets the bag 20 oriented in an appropriate direction to the downstream device (FIG. 6) without adjusting the orientation of the bags 20. It can be appropriately supplied to the content filling device 17) of 1.

A plurality of bag bundles 21 are stored in the storage box 11. The specific shape and size of the storage box 11 are not limited. Further, the work of accommodating the plurality of bag bundles 21 in the accommodating box 11 may be performed manually or by a device (not shown).

The bag bundle 21 includes a plurality of bags 20 stacked on each other in the stacking direction, and has a main body portion 22 and a thick portion 23 having a locally large thickness in the stacking direction. The stacking direction is a direction in which a plurality of bags 20 constituting the bag bundle 21 are stacked, and is typically a direction parallel to the vertical direction in which gravity acts, but even in a direction non-parallel to the vertical direction. Good. The storage form of the plurality of bag bundles 21 in the storage box 11 is not limited. Typically, in the storage box 11, the plurality of bag bundles 21 are stored in a state of being stacked in the stacking direction.

The bag 20 of this example has a front surface side film, a back surface side film (hereinafter, also referred to as a “film portion”), and a spout attached to the mouth portion of the film portion. The front surface side film and the back surface side film are fixed to each other without a gap by any fixing means (for example, heat welding or adhesion using an adhesive) at a portion of the edge portion other than the mouth portion. The spout is fixed to the portion of each of the front side film and the back side film which constitutes the mouth portion without a gap by any fixing means. The main body 22 of the bag bundle 21 is composed of the film portions of the plurality of bags 20 included in the bag bundle 21. The thickness portion 23 of the bag bundle 21 is composed of spouts of each of the plurality of bags 20 included in the bag bundle 21, and has a thickness larger than that of the main body portion 22 in the stacking direction.

The thick portion 23 of the bag bundle 21 may be composed of elements other than the spout of each bag bundle 21. Even when the thick portion 23 is composed of elements other than the spout, the thick portion 23 has a larger thickness than the main body portion 22. Further, the number of bags 20 included in the bag bundle 21 is not limited. In this example, each bag bundle has a number of bags 20 that can simultaneously grip the film portions of all the bags 20 included in each bag bundle 21 by the gripping device 30 (see FIG. 2 and the like) described later. 21 is included.

The bag 20 of this example has a substantially rectangular planar shape, extends in the longitudinal direction and the lateral direction forming a right angle to each other, and a spout is attached to one of the four corners (FIG. 8 described later). Etc.). The front and back surfaces of the plurality of bags 20 constituting each bag bundle 21 are aligned with each other, and the directions of the spouts are also aligned with each other. The plurality of bags 20 constituting each bag bundle 21 are stacked in the stacking direction in a state of being displaced in the longitudinal direction of each bag 20. As a result, the spouts of the plurality of bags 20 constituting each bag bundle 21 are arranged on the same straight line so as not to overlap each other. On the other hand, the film portions of the bags 20 adjacent to each other in the stacking direction partially overlap each other.

In this example, the directions of the front side and the back side of the plurality of bag bundles 21 housed in the storage box 11 are aligned with each other. Therefore, the bag bundle 21 of this example is in the storage box 11 in a state of being oriented in the first direction (see FIG. 8) and in a state of being oriented in a second direction different from the first direction (see FIG. 11). Take one of them. Regarding the orientation, the plurality of bag bundles 21 are not necessarily regularly housed in the storage box 11. According to the orientation correction system 10 of the present embodiment, even if the orientations of the plurality of bag bundles 21 housed in the storage box 11 are irregular, the orientations of the mounting portions 15 are basically always the same. The bag bundle 21 is placed on it.

In the illustrated example, the gripping device 30 takes out the bag bundles 21 one by one from the storage box 11. After that, each bag bundle 21 is sequentially sent to the orientation detection device 13, the orientation adjustment device 14, and the mounting portion 15 together with the gripping device 30 while maintaining the state of being gripped by the gripping device 30. As described above, the gripping device 30 of the present embodiment continues to hold (that is, grip) the bag bundle 21 after holding the bag bundle 21 in the storage box 11 until the bag bundle 21 is released in the mounting portion 15. ..

FIG. 2 is a diagram showing an example of the gripping device 30. The illustrated gripping device 30 includes a pair of gripping members, and holds the bag bundle 21 by sandwiching it in the stacking direction of the bags 20. That is, one gripping member in contact with the front surface side of the bag bundle 21 and the other holding member in contact with the back surface side of the bag bundle 21 sandwich the bag bundle 21 to grip the bag bundle 21. It is held by the device 30. The specific configuration of the pair of gripping members is not limited. Each gripping member may have a plate-like shape or may have a suction surface such as a suction cup. The gripping device 30 is three-dimensionally moved by the moving drive mechanism 35. The mobile drive mechanism 35 is configured by an articulated robot in the example shown in FIG. 2, but may be configured by another mechanism such as a parallel link robot. The gripping operation of the gripping device 30 (that is, the operation of the gripping device 30 holding and releasing the bag bundle 21) and the driving of the gripping device 30 by the moving drive mechanism 35 are performed by the control device 18 (particularly, the drive control unit 39 (see FIG. 1)). It is done under the control of.

As described above, the gripping device 30 of the present embodiment operates as a holding portion of the orientation detecting device 13 (that is, the first holding portion 26) and a holding portion of the orientation adjusting device 14 (that is, the second holding portion 27). Further, the movement drive mechanism 35 of this example operates as a second movement mechanism 29 that moves the first movement mechanism 28 that moves the first holding portion 26 and the second holding portion 27. The first holding portion 26 and the second holding portion 27 may be formed by separate bodies, and the first moving mechanism 28 and the second moving mechanism 29 may be formed by separate bodies.

[Orientation detector]
FIG. 3 is a perspective view showing an example of the orientation detection device 13. FIG. 4 is a front view showing an example of the orientation detection device 13. 5 and 6 are diagrams for explaining an operation example of the orientation detection device 13. For ease of understanding, some of the elements shown in FIGS. 3 and 4 are not shown in FIGS. 5 and 6.

The orientation detection device 13 includes a support unit 31, a first movable unit 33, a second movable unit 34, a first motion detection unit 36, a second motion detection unit 37, and a control device 18 (particularly, the orientation detection unit 38 (see FIG. 1). ))including.

The support portion 31 has a support surface 32 extending in the horizontal direction and a guide surface 48 extending in a direction non-parallel to the horizontal direction (for example, a direction parallel to the vertical direction). The illustrated support portion 31 is composed of a support member having an L-shaped cross section, and one surface of the support member constitutes a support surface 32 and a guide surface 48. The guide surface 48 is connected to the upstream end of the support surface 32 in the detection movement direction D1. The bag bundle 21 held by the gripping device 30 is placed on the support surface 32. The guide surface 48 guides the bag bundle 21 that moves in the detection moving direction D1 together with the gripping device 30 on the support surface 32.

The support portion 31 of the present embodiment has a moving space 40 extending in parallel with the detection moving direction D1. When the bag bundle 21 held by the gripping device 30 and the support surface 32 are relatively moved in the detection moving direction D1 by the moving drive mechanism 35 (see FIG. 2), a part of the gripping device 30 (this example). Then, one of the pair of gripping members) passes through the moving space 40. The illustrated support portion 31 is composed of two support members separated by a moving space 40. The moving space 40 may penetrate the support portion 31 as in the illustrated example, or may be at least partially partitioned by the support surface 32, although not shown, for example, a groove shape having a bottom portion (for example, a groove shape having a bottom portion). That is, it may have a concave shape).

At least in the portion of the support surface 32 including the upstream end of the detection movement direction D1, the size of the support surface 32 with respect to the detection transverse direction D2 gradually increases with reference to the movement space 40 as the detection movement direction D1 progresses. Become. In this example, the detection transverse direction D2 is a horizontal direction forming a right angle with the detection movement direction D1. In the illustrated example, the size of the "part of the support surface 32 including the upstream end of the detection movement direction D1" with respect to the detection transverse direction D2 gradually increases around the movement space 40 as the size advances in the detection movement direction D1. It is getting bigger. Therefore, the support surface 32 of this example has a pentagonal shape divided by the moving space 40 as a whole (see FIG. 3).

The first movable portion 33 is arranged so as to partially face the support surface 32 with respect to the detection transverse direction D2, and the bag bundle 21 passes through the first passage region R1 between the support surface 32 and the first movable portion 33. Shows behavior according to thickness. The second movable portion 34 is arranged so as to partially face the support surface 32 with respect to the detection transverse direction D2, and the bag bundle 21 passes through the second passage region R2 between the support surface 32 and the second movable portion 34. It shows the behavior according to the thickness of the part. The first movable portion 33 and the second movable portion 34 are arranged at positions that are at least partially displaced from each other with respect to the detection transverse direction D2. The first movable portion 33 and the second movable portion 34 shown are arranged at positions completely deviated from each other with respect to the detection transverse direction D2, and the first movable portion 33 faces the support surface 32 of one of the support members. The second movable portion 34 is arranged so as to face the support surface 32 of the other support member.

Each of the first movable portion 33 and the second movable portion 34 in the figure has an L-shaped cross section. The first movable portion 33 is attached to the rotating shaft 41 at the upper end portion, and is provided swingably around the rotating shaft 41. The rotating shaft 41 extends in the horizontal direction so as to penetrate the hollow shaft 42. The first movable portion 33 is fixedly attached to one side of the rotating shaft 41 via the hollow shaft 42, and the detection lever 44 is fixedly attached to the other side portion. A support plate 43 extending upward is fixed to the support portion 31. The hollow shaft 42 is fixedly supported by the support plate 43, and rotatably supports the rotating shaft 41 penetrating the inside.

A sensor fixing portion 46 provided so as to project to the side opposite to the first movable portion 33 is fixed to the support plate 43. A stopper 47 and a sensor 45 are fixedly attached to the sensor fixing portion 46. The stopper 47 is provided at a position where it can come into contact with the detection lever 44 that swings around the rotation shaft 41, and by contacting the detection lever 44, the detection lever 44 can swing (move) further downward. Work to regulate. The sensor 45 detects the swinging state of the detection lever 44 and transmits the detection result to the control device 18.

The second movable portion 34 has the same configuration as the first movable portion 33 described above. That is, the second movable portion 34 is connected to the detection lever 44 via the rotating shaft 41, the rotating shaft 41 is rotatably supported by the hollow shaft 42, and the hollow shaft 42 is fixed by the support plate 43. The support plate 43 is fixed to the support portion 31. A sensor fixing portion 46 provided so as to project to the side opposite to the second movable portion 34 is fixed to the support plate 43, and a stopper 47 and a sensor 45 are attached to the sensor fixing portion 46.

In this way, each of the first movable portion 33 and the second movable portion 34 swings around the corresponding rotating shaft 41, and corresponds to each swing of the first movable portion 33 and the second movable portion 34. The detection lever 44 swings around the rotation shaft 41. The swing angle of each of the first movable portion 33 and the second movable portion 34 and the swing angle of the corresponding detection lever 44 are equal to each other.

The first motion detection unit 36 detects the behavior of the first movable unit 33 and transmits the detection result to the control device 18 (particularly the orientation detection unit 38). The second motion detection unit 37 detects the behavior of the second movable unit 34 and transmits the detection result to the control device 18 (particularly the orientation detection unit 38). The first motion detection unit 36 of this example detects the swing state of the first movable portion 33 by detecting the swing state of the detection lever 44 connected to the first movable portion 33. The second motion detection unit 37 detects the swing state of the second movable portion 34 by detecting the swing state of the detection lever 44 connected to the second movable portion 34. The sensor 45 included in each of the first motion detection unit 36 and the second motion detection unit 37 (shown) directly detects the swinging state of the detection lever 44, but the first movable unit 33 and the second movable unit 33 Each of the rocking states of 34 is indirectly detected.

The orientation detection unit 38 (see FIG. 1) of the control device 18 detects the orientation of the bag bundle 21 held by the gripping device 30 based on the detection result of the first motion detection unit 36. Further, the orientation detection unit 38 detects the orientation of the bag bundle 21 held by the gripping device 30 based on the detection result of the second motion detection unit 37. As described above, the orientation detection unit 38 of this example detects the orientation of the bag bundle 21 based on both the detection result of the first motion detection unit 36 and the detection result of the second motion detection unit 37.

In the orientation detection device 13 having the above configuration, the movement drive mechanism 35 (first movement mechanism 28 (see FIG. 2)) is supported by the bag bundle 21 held by the gripping device 30 (first holding portion 26). The surface 32 and the surface 32 are relatively moved in the detection movement direction D1. The movement drive mechanism 35 of this example slides the bag bundle 21 held by the gripping device 30 on the support surface 32 by moving the gripping device 30 in the detection movement direction D1. As a result, the bag bundle 21 held by the gripping device 30 and placed on the support surface 32 partially passes through each of the first passage region R1 and the second passage region R2.

When the "first orientation bag bundle 21 (see FIG. 8)" held by the gripping device 30 and the support surface 32 are relatively moved in the detection movement direction D1 by the movement drive mechanism 35, the bag The portion of the bundle 21 including the thick portion 23 passes through the first pass region R1, and the portion of the bag bundle 21 that does not include the thick portion 23 (main body portion 22) passes through the second pass region R2. On the other hand, when the movement drive mechanism 35 relatively moves the "second orientation bag bundle 21 (see FIG. 11)" held by the gripping device 30 and the support surface 32 in the detection movement direction D1. The portion of the bag bundle 21 that does not include the thick portion 23 passes through the first pass region R1, and the portion of the bag bundle 21 that includes the thick portion 23 passes through the second pass region R2.

The operation of the orientation detection device 13 (particularly the second movable portion 34) having the above configuration will be described with reference to FIGS. 5 and 6. In the following description, the operation of the second movable portion 34 will be mainly described, but the first movable portion 33 also operates basically in the same manner as the second movable portion 34.

When the bag bundle 21 is not located in the second passing region R2, the second movable portion 34 is arranged at a position (default position) slightly upward from the support surface 32 (see FIG. 5). This default position is determined by the stopper 47 coming into contact with the detection lever 44 to regulate the downward swing of the detection lever 44. The second movable portion 34 arranged at the default position is preferably not in contact with the support portion 31 from the viewpoint of preventing the second movable portion 34 from colliding with the support portion 31, but even if it is in contact with the support portion 31 Good.

Then, when the bag bundle 21 passes through the second passage region R2, the second movable portion 34 is swung upward by the bag bundle 21 (see FIG. 6). The degree of swing of the second movable portion 34 varies depending on the thickness of the portion of the bag bundle 21 that passes through the second passing region R2. When the thickest portion (that is, the thick portion 23) of the bag bundle 21 passes through the second passing region R2, the second movable portion 34 swings the largest, and the corresponding detection lever 44 moves upward. It swings and is placed at the highest position.

The sensor 45 of this example detects whether or not the corresponding detection lever 44 has reached a predetermined detection height position. The detection height position referred to here does not reach when the corresponding detection lever 44 (particularly the portion detected by the sensor 45) does not pass through the second passage region R2 of the thick portion 23 of the bag bundle 21. The height position is such that the thickness portion 23 reaches when it passes through the second passage region R2. The illustrated sensor 45 is oriented in the horizontal direction and is slidably provided in a pore extending in the height direction formed in the sensor fixing portion 46, and the sensor is fixed by a fixture (for example, a screw or the like) (not shown). It is fixed to the portion 46. By moving the sensor 45 along the pores to adjust the height position of the sensor 45, the detection height position can be adjusted according to the thickness of the thickness portion 23.

As described above, the bag bundle 21 of this example is held by the gripping device 30 in a state of being oriented in either the first direction or the second direction, while the first movable portion 33 and the second movable portion 33 and the second are held. It is passed between each of the movable portions 34 and the support surface 32. At this time, the sensor 45 of the first motion detection unit 36 detects that the corresponding detection lever 44 has reached the detection height position, and the sensor 45 of the second motion detection unit 37 detects the corresponding detection lever 44. When not detecting that the height position has been reached, the orientation detection unit 38 can detect that the thickness portion 23 of the bag bundle 21 has passed through the first passage region R1, and thus the bag bundle 21 is the first. It can detect that it is oriented. On the other hand, the sensor 45 of the first motion detection unit 36 does not detect that the corresponding detection lever 44 has reached the detection height position, and the sensor 45 of the second motion detection unit 37 detects the corresponding detection lever 44. When it is detected that the height position has been reached, the orientation detection unit 38 can detect that the thickness portion 23 of the bag bundle 21 has passed through the second passage region R2, and thus the bag bundle 21 is the second. It can detect that it is oriented.

If both the sensors 45 of the first motion detection unit 36 and the second motion detection unit 37 detect or do not detect that the corresponding detection lever 44 has reached the detection height position, a detection error occurs. It is thought that it has occurred. As such detection errors, for example, when the bag bundle 21 is moving below the support portion 31 together with the gripping device 30 in the detection movement direction D1, and the orientations of the plurality of bags 20 included in the bag bundle 21 are different from each other. It is conceivable that the items are not aligned. When it is considered that a detection error has occurred, the orientation detection unit 38 may issue an alarm indicating the occurrence of the error. The type of such alarm is not limited. For example, the orientation detection unit 38 may display an error message on a display (not shown) or may issue a voice alarm.

[Orientation adjustment device]
The orientation adjusting device 14 (see FIG. 1) has a second holding portion for holding the bag bundle 21 and a second moving mechanism for moving the second holding portion. The second moving mechanism adjusts the orientation of the bag bundle 21 by changing the movement of the second holding portion holding the bag bundle 21 according to the detection result of the orientation detecting device 13.

In this example, as described above, the gripping device 30 and the moving drive mechanism 35 shown in FIG. 2 operate as the second holding portion and the second moving mechanism. That is, while the gripping device 30 maintains the bag bundle 21, the bag bundle 21 is taken out from the storage box 11, and the bag bundle 21 is directed to the orientation detection device 13 (in this example, the first pass region R1 and the second pass region). The movement drive mechanism 35 moves the gripping device 30 so as to pass through R2) and adjust the direction of the bag bundle 21 according to the detection result of the orientation detection device 13.

A specific example of changing the movement of the gripping device 30 in order to adjust the orientation of the bag bundle 21 will be described later (see FIGS. 8 to 12).

[Orientation adjustment device and mounting unit]
The orientation correction system 10 further includes a mounting portion 15 on which the bag bundle 21 whose orientation has been adjusted by the orientation adjusting device 14 is placed (see FIG. 1).

FIG. 7 is a perspective view showing an example of the mounting portion 15.

The mounting portion 15 of the present embodiment includes a mounting surface portion 50 on which the bag bundle 21 is placed, a first regulating portion 51 arranged on opposite sides of the bag bundle 21 mounted on the mounting surface portion 50, and the first regulating portion 51. It has a second regulatory unit 52.

The illustrated mounting surface portion 50 is composed of an endless transport belt. The transport belt constituting the mounting surface portion 50 is hung on the first roller 61, the second roller 62, the third roller 63, and the fourth roller 64. The upper belt portion between the first roller 61 and the third roller 63 of the mounting surface portion 50 constitutes a mounting surface that comes into contact with the bag bundle 21 mounted on the mounting surface portion 50. The first roller 61 is fixed to the rotation drive shaft 65 and rotates together with the rotation drive shaft 65. The second roller 62 is rotatably supported by a fixed shaft (not shown). The third roller 63 and the fourth roller 64 are rotatably supported by the first fixed shaft 66 and the second fixed shaft 67, respectively. The rotary drive shaft 65 is rotatably supported by the frame 60. A fixed shaft (not shown) that supports the first fixed shaft 66, the second fixed shaft 67, and the second roller 62 is fixedly supported by the frame 60 so as not to rotate.

A belt holding upper portion 70 is fixedly attached to the frame 60. The belt holding upper portion 70 is provided below a part of the upper belt portion of the mounting surface portion 50. The upper belt portion 70 and the upper belt portion of the mounting surface portion 50 may or may not be in contact with each other. The belt holding upper portion 70 ensures that the main body portion 22 of the bag bundle 21 mounted on the mounting surface portion 50 is in appropriate contact with the mounting surface of the mounting surface portion 50 and is appropriately supported by the mounting surface portion 50. It is provided to do so. Further, by providing the belt holding upper portion 70, a space for the gripping device 30 for holding the bag bundle 21 mounted on the mounting surface portion 50 can be secured between the bag bundle 21 and the frame 60. As a result, the bag bundle 21 can be placed on the mounting surface portion 50 while the bag bundle 21 is being held by the gripping device 30, or the bag bundle 21 can be sufficiently brought close to the mounting surface portion 50.

When the belt holding upper portion 70 is not provided, the thick portion 23 of the bag bundle 21 is placed on the frame 60, so that the main body portion 22 of the bag bundle 21 is not properly supported by the mounting surface of the mounting surface portion 50 (that is, the main body). There is a concern that the part 22 does not properly contact the mounting surface). On the other hand, when the belt holding upper portion 70 is provided, the mounting surface of the mounting surface portion 50 can be maintained at a position higher than that of the frame 60, and the main body portion 22 of the bag bundle 21 can be maintained by the mounting surface of the mounting surface portion 50. Can be properly supported.

A power source (motor in this example) 74 is attached to the frame 60 via an attachment 73. A connecting portion 75 having the form of an endless belt is hung between the drive output shaft 72 of the power source 74 and one end of the rotary drive shaft 65 protruding outward from the frame 60 in the horizontal direction. ing. When the power source 74 is driven by the control device 18 (particularly the drive control unit 39 (see FIG. 1)) to rotate the drive output shaft 72, rotational power is transmitted from the drive output shaft 72 to the rotation drive shaft via the connecting unit 75. It is transmitted to 65, and the rotation drive shaft 65 is rotated. The first roller 61 rotates with the rotation of the rotation drive shaft 65, and the mounting surface portion (endless transport belt) 50 travels.

At least one of the first regulation unit 51 and the second regulation unit 52 is provided so as to be movable in the horizontal direction, and the distance between the first regulation unit 51 and the second regulation unit 52 is relatively small between the regulation position Pr2 (see FIG. 10) and the mutual. It is arranged at the retracted position Pr1 (see FIG. 8 and the like) where the distance between the two is relatively large. In the illustrated example, the first regulation unit 51 and the second regulation unit 52 are provided so as to be symmetrically movable with respect to the mounting surface portion 50. The first regulation unit 51 and the second regulation unit 52 are driven and moved by a drive device (not shown) under the control of the control device 18 (particularly, the drive control unit 39 (see FIG. 1)).

The illustrated frame 60 includes one upper plate portion forming the upper surface and two side plate portions forming both side surfaces. The belt holding upper portion 70 is provided on the upper plate portion. The rotary drive shaft 65 and the above-mentioned three fixed shafts (including the first fixed shaft 66 and the second fixed shaft 67) are supported by two side plate portions. The attachment body 73 is attached to one side plate portion. The first regulation unit 51 and the second regulation unit 52 are provided so as to project upward from the upper plate portion. The first regulation portion 51 is provided so as to be movable along the first regulation space 68 formed in the upper plate portion. The second regulation portion 52 is provided so as to be movable along the second regulation space 69 formed in the upper plate portion.

Each of the first regulation unit 51 and the second regulation unit 52 has an evacuation space 53. The evacuation space 53 is a space for the gripping device 30 (second holding portion 27) to pass through, as will be described later. Therefore, the evacuation space 53 has a size larger than that of the gripping device 30 so that the gripping device 30 can pass through. The illustrated first regulation unit 51 is composed of two regulation members divided by the evacuation space 53. Similarly, the illustrated second regulation unit 52 is composed of two regulation members divided by the evacuation space 53. However, each of the first regulation unit 51 and the second regulation unit 52 may be composed of a single regulation member, and the evacuation space 53 may be composed of a notch formed in the regulation member.

8 to 12 are views for explaining an operation example of the orientation adjusting device 14 and the mounting portion 15. In FIGS. 8 and 11, the bag bundle 21 after the orientation is detected by the orientation detecting device 13 and before the orientation is adjusted by the orientation adjusting device 14 (particularly the gripping device 30 in this example) is displayed below. It is shown by a dotted line.

The moving drive mechanism 35 (second moving mechanism 29 (see FIG. 2)) is a part of the gripping device 30 (second holding portion 27) holding the bag bundle 21 according to the detection result of the orientation detecting device 13. The gripping device 30 holding the bag bundle 21 is moved so that the bag bundle 21 is arranged between the bag bundle 21 and the first regulation unit 51 or between the bag bundle 21 and the second regulation unit 52.

When a part of the gripping device 30 is arranged between the bag bundle 21 and the first regulation unit 51, the movement drive mechanism 35 passes the gripping device 30 through the evacuation space 53 of the first regulation unit 51. The gripping device 30 is moved away from the bag bundle 21. Further, in the moving drive mechanism 35, when a part of the gripping device 30 is arranged between the bag bundle 21 and the second regulation unit 52, the gripping device 30 passes through the evacuation space 53 of the second regulation unit 52. The gripping device 30 is moved away from the bag bundle 21.

As shown in FIG. 8, for example, when the orientation of the bag bundle 21 is the first orientation P1 (see the bag bundle 21 shown by the dotted line at the bottom of FIG. 8), the gripping device holding the bag bundle 21. 30 swivels and moves in the first swivel direction Dr1. As a result, the orientation of the bag bundle 21 is adjusted, and in the example shown in FIG. 8, the thick portion 23 is positioned at the upper right of the bag bundle 21. Then, the movement drive mechanism 35 moves the gripping device 30 downward while the bag bundle 21 is located directly above the mounting surface portion 50, and the bag bundle 21 held by the gripping device 30 (particularly, the main body portion 22). ) Is placed on the mounting surface portion 50. As a result, a part of the gripping device 30 is arranged between the bag bundle 21 and the second regulating unit 52. The first regulation unit 51 and the second regulation unit 52 are arranged at the retracted position Pr1 while at least the gripping device 30 is moved downward and the bag bundle 21 is placed on the mounting surface portion 50.

After that, as shown in FIG. 9, the moving drive mechanism 35 retracts the gripping device 30 from the second regulating unit 52 in a state where the first regulating unit 51 and the second regulating unit 52 are arranged at the retracting position Pr1. It is moved horizontally together with the bag bundle 21 toward the space 53. Then, the gripping device 30 releases the bag bundle 21 and retracts the bag bundle 21 so as to be separated from the bag bundle 21 through the evacuation space 53 of the second regulation unit 52. From the viewpoint of preventing the position and posture of each bag 20 from being disturbed due to the movement of the gripping device 30, the gripping device 30 has a side portion of the bag bundle 21 close to the second regulating portion 52 or a second regulating portion 52. It is preferable to release the bag bundle 21 in the state of contact. For example, the gripping device 30 is moved together with the bag bundle 21 to a position where the bag bundle 21 and the second regulating portion 52 come into contact with each other (hereinafter, also referred to as “regulated contact position”), and the bag bundle 21 is released at the regulated contact position. After that, it may be evacuated from the regulated contact position through the evacuation space 53. Alternatively, the gripping device 30 passes through the evacuation space 53 of the second regulation unit 52 without actively releasing the bag bundle 21, and the bag bundle 21 is regulated by the second regulation unit 52. It may be released by sliding from the gripping device 30. In this case, the gripping device 30 may promote the release of the bag bundle 21 from the gripping device 30 by weakening the force for holding the bag bundle 21 before or when the regulated contact position is reached.

After that, as shown in FIG. 10, the first regulation unit 51 and the second regulation unit 52 are moved from the retracted position Pr1 to the regulation position Pr2. As a result, the bag bundle 21 is positioned by the first regulation unit 51 and the second regulation unit 52, and is placed on the mounting surface portion 50 at an appropriate position and posture.

On the other hand, when the orientation of the bag bundle 21 is the second orientation P2, the orientation of the bag bundle 21 is adjusted in the same manner as when the orientation of the bag bundle 21 is the first orientation P1.

That is, as shown in FIG. 11, the gripping device 30 holding the bag bundle 21 oriented in the second direction P2 swivels in the second swivel direction Dr2. The second turning direction Dr2 is a turning direction (counterclockwise direction) different from the turning direction (clockwise direction) of the first turning direction Dr1 (see FIG. 8) described above. As a result, the orientation of the bag bundle 21 is adjusted, and in the example shown in FIG. 11, the thick portion 23 is positioned at the upper right of the bag bundle 21. Then, the moving drive mechanism 35 puts the bag bundle 21 on the mounting surface portion 50 in a state where the first regulating portion 51 and the second regulating portion 52 are arranged at the retracted position Pr1. After that, as shown in FIG. 12, the moving drive mechanism 35 retracts the gripping device 30 from the first regulating unit 51 in a state where the first regulating unit 51 and the second regulating unit 52 are arranged at the retracting position Pr1. It is moved horizontally together with the bag bundle 21 toward the space 53. Then, the gripping device 30 releases the bag bundle 21 and retracts the bag bundle 21 away from the bag bundle 21 through the evacuation space 53 of the first regulation unit 51. After that, the first regulation unit 51 and the second regulation unit 52 are moved from the retracted position Pr1 to the regulation position Pr2, and the bag bundle 21 is positioned by the first regulation unit 51 and the second regulation unit 52 to an appropriate position. It is placed on the mounting surface portion 50 in a posture and posture (see FIG. 10).

After the bag bundle 21 adjusted in the desired orientation as described above is placed on the mounting surface portion 50, the bag removal device 16 (see FIG. 1) picks up the bags 20 included in the bag bundle 21 one by one. Then, it is supplied to the content filling device 17. The bag taking-out device 16 may pick up the bag 20 with the bag bundle 21 mounted on the mounting surface portion 50, or the bag sent on the mounting surface portion 50 after the mounting portion 15 by traveling. The bag 20 may be picked up from the bundle 21.

As described above, according to the orientation correction system 10 of the present embodiment, the orientation of the bag bundle 21 while moving the bag bundle 21 from the storage box 11 (upstream side device) toward the mounting portion 15 (downstream side device). Is detected, and the bag bundle 21 having a desired orientation can be smoothly supplied to the mounting portion 15.

In particular, the orientation of the bag bundle 21 can be detected based on mechanical contact while the bag bundle 21 is held by the gripping device 30 (first holding portion 26). Therefore, the orientation of the bag bundle 21 can be detected with high accuracy by a simple device configuration while preventing the positions and postures of the plurality of bags 20 included in the bag bundle 21 from collapsing.

Further, by using a plurality of movable parts (first movable part 33 and second movable part 34), the orientation of the bag bundle 21 can be detected with high accuracy, and the presence or absence of a detection error can also be detected. ..

Further, by forming the moving space 40 in the support portion 31, the gripping device 30 can smoothly move the bag bundle 21 along the support surface 32 while preventing the bag bundle 21 from colliding with the support portion 31.

Further, in general, the bag bundle 21 gripped by the gripping device 30 has the smallest thickness of a portion gripped by the gripping device 30 (hereinafter, also referred to as a “grasping portion”). The bag bundle 21 tends to gradually expand in the stacking direction and gradually increase in thickness as the bag bundle 21 moves away from the gripped portion in the detection transverse direction D2. Therefore, in the process of moving the bag bundle 21 in the detection moving direction D1, it is relatively easy to place the gripped portion of the bag bundle 21 on the support surface 32, but the portion of the bag bundle 21 that is separated from the gripped portion is It is relatively difficult to hit the support portion 31 (particularly the side portion) and ride on the support surface 32. According to the support portion 31 of the present embodiment described above, the size of the support surface 32 with respect to the detection transverse direction D2 gradually increases with reference to the movement space 40 as the detection movement direction D1 is reached. Therefore, the bag bundle 21 can be smoothly placed on the support surface 32 while moving the bag bundle 21 in the detection moving direction D1.

Further, since the mounting portion 15 includes the first regulating portion 51 and the second regulating portion 52 that can be arranged at the retracted position Pr1 and the regulated position Pr2, the bag bundle 21 can be easily mounted on the mounting surface portion 50, and the bag bundle 21 can be easily mounted. The bag bundle 21 on the mounting surface portion 50 can be arranged in an appropriate position and posture.

Further, the orientation of the bag bundle 21 can be appropriately changed by changing the movement of the gripping device 30 (second holding portion 27). Therefore, the orientation of the bag bundle 21 can be adjusted while moving the gripping device 30 and the bag bundle 21 toward the mounting portion 15.

Further, by forming the evacuation space 53 in each of the first regulation unit 51 and the second regulation unit 52, the position of the bag bundle 21 is regulated by the first regulation unit 51 or the second regulation unit 52 and the bag from the gripping device 30. The bundle 21 can be released smoothly and appropriately.

Further, by operating a single device (that is, the gripping device 30) as the first holding portion 26 and the second holding portion 27, the number of devices can be reduced. Further, the holding of the bag bundle 21 can be maintained from the storage box 11 to the mounting portion 15, and it is possible to effectively prevent the positions and postures of the plurality of bags 20 in each bag bundle 21 from being disturbed.

[Modification example]
The present invention is not limited to the above-described embodiments and modifications. For example, various modifications may be added to each element of the above-described embodiment and modification. Further, the configurations of the above-described embodiments and modifications may be combined in whole or in part.

The orientation detection device 13 includes two movable portions (that is, a first movable portion 33 and a second movable portion 34) in the example shown in FIG. 3, but may include three or more movable portions. Further, the orientation detection device 13 may include a single movable portion.

For example, in the orientation detection device 13 shown in FIG. 3, one of the first movable portion 33 and the second movable portion 34 may not be provided. The orientation detection device 13 may include only the first movable portion 33 and may not include the second movable portion 34. In such a case, even though the bag bundle 21 has passed through the first passage region R1 together with the gripping device 30, the sensor 45 of the first motion detection unit 36 has reached the detection height position of the corresponding detection lever 44. If this is not detected, the orientation detection unit 38 can detect that the bag bundle 21 is oriented in the second direction. On the other hand, when the sensor 45 of the first motion detection unit 36 detects that the corresponding detection lever 44 has reached the detection height position as the bag bundle 21 passes through the first passage region R1, the orientation detection unit 38 Can detect that the bag bundle 21 is oriented in the first direction.

The control device 18 (particularly the orientation detection unit 38) can grasp whether or not the bag bundle 21 has passed through the first passage region R1 based on the position information of the gripping device 30. The position information of the gripping device 30 moved by the movement drive mechanism 35 can be provided to the orientation detection unit 38 from the drive control unit 39 that controls the drive of the movement drive mechanism 35.

Further, the sensor 45 may detect the degree of swing of the corresponding detection lever 44. That is, even if a sensor capable of detecting a specific height position (or a specific swing angle of the detection lever 44) of the corresponding detection lever 44 (particularly a portion detected by the sensor 45) is used as the sensor 45. Good. In this way, the first motion detection unit 36 and the second motion detection unit 37 may detect the degree of motion of the first movable unit 33 and the second movable unit 34. In this case, the first movable portion 33 swings relatively small when the main body portion 22 of the bag bundle 21 passes through the first passing region R1, and when the thick portion 23 passes through the first passing region R1. May be provided so as to swing relatively large. Similarly, the second movable portion 34 swings relatively small when the main body portion 22 of the bag bundle 21 passes through the second passing region R2, and the thick portion 23 swings relatively small when the thick portion 23 passes through the second passing region R2. May be provided so as to swing relatively large. In such a case, it is possible to accurately determine which of the "portion including the thickness portion 23" and the "portion not including the thickness portion 23" of the bag bundle 21 has passed through the first pass region R1 / second pass region R2. It can be detected well.

10 Orientation correction system 11 Storage box 13 Orientation detection device 14 Orientation adjustment device 15 Mounting unit 16 Bag removal device 17 Contents filling device 18 Control device 20 Bag 21 Bag bundle 22 Main body 23 Thick part 26 First holding part 27 Second Holding unit 28 1st moving mechanism 29 2nd moving mechanism 30 Gripping device 31 Supporting part 32 Supporting surface 33 1st movable part 34 2nd movable part 35 Moving drive mechanism 36 1st motion detecting unit 37 2nd motion detecting unit 38 Orientation detection Part 39 Drive control part 40 Moving space 41 Rotating shaft 42 Hollow shaft 43 Support plate 44 Detection lever 45 Sensor 46 Sensor fixing part 47 Stopper 48 Guide surface 50 Mounting surface part 51 First regulation part 52 Second regulation part 53 Evacuation space 60 Frame 61 1st roller 62 2nd roller 63 3rd roller 64 4th roller 65 Rotating drive shaft 66 1st fixed shaft 67 2nd fixed shaft 68 1st regulation space 69 2nd regulation space 70 Belt holding upper part 72 Drive output shaft 73 Mounting Body 74 Power source 75 Connecting part D1 Detection moving direction D2 Detection crossing direction Dr1 First turning direction Dr2 Second turning direction P1 First direction P2 Second direction Pr1 Retracting position Pr2 Restricted position R1 First passing area R2 Second passing region

Claims (8)

An orientation detector that detects the orientation of the bag bundle and
A direction adjusting device for adjusting the direction of the bag bundle according to the detection result of the direction detecting device is provided.
The orientation detection device is
A first holding portion that holds a bag bundle containing a plurality of bags stacked on each other in the stacking direction and having a thick portion locally having a large thickness in the stacking direction while sandwiching the bag bundle in the stacking direction.
A support portion having a support surface on which the bag bundle held by the first holding portion is placed, and a support portion.
A first movable portion that is partially arranged to face the support surface with respect to a detection transverse direction forming a right angle to the detection movement direction, and passes through a first passage region between the support surface and the first movable portion. A first movable part that behaves according to the thickness of the bag bundle portion
The bag bundle held by the first holding portion so that the bag bundle held by the first holding portion and placed on the support surface partially passes through the first passing region. A first movement mechanism that relatively moves the support surface and the support surface in the detection movement direction, and
A first motion detection unit that detects the behavior of the first movable unit,
It has an orientation detection unit that detects the orientation of the bag bundle based on the detection result of the first motion detection unit.
When the bag bundle in the first direction and the support surface held by the first holding portion are relatively moved in the detection movement direction by the first movement mechanism, the bag bundle is among the bag bundles. The portion including the thick portion passes through the first passing region,
When the bag bundle in the second direction and the support surface held by the first holding portion are relatively moved in the detection movement direction by the first movement mechanism, the bag bundle is among the bag bundles. An orientation correction system in which a portion not including the thick portion passes through the first passage region. The orientation detection device is
A portion of the bag bundle that is a second movable portion that is partially arranged to face the support surface in the detection transverse direction and passes through a second passage region between the support surface and the second movable portion. The second movable part that shows the behavior according to the thickness of
A second motion detection unit that detects the behavior of the second movable unit is further provided.
The orientation detection unit detects the orientation of the bag bundle based on the detection result of the first motion detection unit and the detection result of the second motion detection unit.
By the first movement mechanism, the bag bundle in the first direction and the support surface in a state of being held by the first holding portion and mounted on the support surface are relatively moved in the detection movement direction. If this is the case, the portion of the bag bundle that does not include the thick portion passes through the second passage region, and the bag bundle passes through the second passage region.
By the first movement mechanism, the bag bundle in the second direction and the support surface in a state of being held by the first holding portion and mounted on the support surface are relatively moved in the detection movement direction. The orientation correction system according to claim 1, wherein a portion of the bag bundle including the thick portion passes through the second passing region. The support portion has a movement space extending in the detection movement direction.
When the bag bundle and the support surface held by the first holding portion are relatively moved in the detection moving direction by the first moving mechanism, the first holding portion passes through the moving space. The orientation correction system according to claim 1 or 2. At least in the portion of the support surface including the upstream end in the detection movement direction, the size of the support surface with respect to the detection transverse direction gradually increases with reference to the movement space as it advances in the detection movement direction. The orientation correction system according to claim 3. Further provided with a mounting portion on which the bag bundle whose orientation has been adjusted by the orientation adjusting device is placed.
The above-mentioned place is
The mounting surface on which the bag bundle is placed and
It has a first regulation portion and a second regulation portion which are arranged on opposite sides of each other via the bag bundle placed on the above-mentioned mounting surface portion and at least one of them is movably provided.
Any one of claims 1 to 4, wherein the first regulation unit and the second regulation unit are arranged at a regulation position where the distance between each other is relatively small and a retracted position where the distance between each other is relatively large. The orientation correction system described in item 1. The orientation adjusting device is
A second holding portion for holding the bag bundle and
It has a second moving mechanism for moving the second holding portion, and has.
Claims 1 to 5 in which the second moving mechanism adjusts the orientation of the bag bundle by changing the movement of the second holding portion holding the bag bundle according to the detection result of the orientation detecting device. The orientation correction system according to any one of the above. Each of the first regulation section and the second regulation section has an evacuation space.
In the second moving mechanism, a part of the second holding portion holding the bag bundle is between the bag bundle and the first regulating portion or the bag, depending on the detection result of the orientation detection device. The second holding portion holding the bag bundle is moved so as to be arranged between the bundle and the second regulating portion.
In the second moving mechanism, when a part of the second holding portion is arranged between the bag bundle and the first regulating portion, the second holding portion is retracted from the first regulating portion. The second holding portion is moved so as to move away from the bag bundle through the space, and when a part of the second holding portion is arranged between the bag bundle and the second regulating portion, the said The orientation correction system according to claim 6, wherein the second holding portion is moved so as to move away from the bag bundle through the evacuation space of the second regulating portion. The gripping device that sandwiches and holds the bag bundle in the stacking direction operates as the first holding portion and the second holding portion.
The orientation correction system according to claim 6 or 7, wherein the moving drive device for three-dimensionally moving the gripping device operates as the first moving mechanism and the second moving mechanism.

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