JP2021187499A - Bag opening device and robot system - Google Patents

Abstract

To provide a robot system which feeds objects, enclosed in bags varying in size, to feed destination without contacting.SOLUTION: A bag opening device comprises a support base 32 which has a support surface 33 supporting bags W, in which objects W2 are charged, with side faces in contact, and a support base drive device which can changes the angle of the support surface 33 of the support base 32 in order to feed the objects W2 enclosed in the bags W varying in size to feed destinations without touching the objects W2, and the support base 32 comprises a suction pad 34 which can fix the bags W differing in size to the support surface 33 with end parts of the bags W protruded to outside the support surface 33.SELECTED DRAWING: Figure 10

Description

The present disclosure relates to a bag opening device and a robot system.

Conventionally, an automatic bag-opening system has been known in which a palletized bag is adsorbed and conveyed, the upper end of the bag is opened, and the contents are loaded into a charging port located at a remote position (for example,). , Patent Document 1).

Japanese Unexamined Patent Publication No. 7-165223

The automatic bag-opening system of Patent Document 1 charges powder raw materials packed in a bag of a certain size to a charging destination, and cannot handle cases where the bag sizes are different. In addition, by piercing a pin from the outside near the bottom of the bag, it is possible to prevent the bag from falling when the bag is tilted when the powder raw material is put in. The powder raw material adheres to the pin.
Therefore, there is a demand for a robot system that can load the contents enclosed in bags of various sizes to the loading destination without touching the contents.

One aspect of the present disclosure is a support base having a support surface that supports the side surfaces of a bag filled with contents in close contact with each other, and a support base drive device capable of changing the angle of the support surface of the support base. The bag is open with a suction pad capable of fixing the bag to the support surface at a position where the support base projects the end of the bag to the outside of the support surface with respect to the bag of different sizes. It is a device.

It is an overall block diagram which shows the bag opening device and the robot system which concerns on one Embodiment of this disclosure. It is a figure explaining the operation which detects the information of a bag by the 1st hand of the 1st robot in the robot system of FIG. It is a figure explaining the suction pad which performs suction in the 1st hand set corresponding to the information of the bag detected by FIG. 2. It is a figure explaining the suction pad which performs suction in the 2nd hand set corresponding to the information of the bag detected by FIG. It is a figure explaining the arrangement of the exciter provided in the 2nd hand of the robot system of FIG. It is a partial enlarged view explaining the gripping mechanism and the cutter provided in the 1st hand of the robot system of FIG. It is a figure which shows the state which sucked the bag by the 1st hand of the robot system of FIG. It is a figure explaining the bag delivery operation from the 1st hand to the 2nd hand of the robot system of FIG. FIG. 8 is a diagram showing a state in which a bag is delivered from the first hand to the second hand in the delivery operation of FIG. 8. FIG. 9 is an enlarged view showing a state in which the bag delivered to the second hand is shaken and the contents are lowered in FIG. 9. FIG. 10 is a diagram illustrating an operation of opening a bag in a state where the contents are lowered in FIG. 10. 11 is an enlarged view showing a state in which an end portion of a bag is gripped by a gripping mechanism in the opening operation of FIG. 11. FIG. 12 is an enlarged view showing a state in which the end portion of the bag gripped in FIG. 12 is cut by a cutter. FIG. 13 is a diagram illustrating an operation of loading the contents from the opened bag to the loading destination in FIG. 13. It is a partial vertical sectional view which shows the modification of the 2nd hand in the robot system of FIG. It is a partial vertical sectional view which shows the state which sucked the bag by the 2nd hand of FIG. FIG. 3 is an enlarged view illustrating the operation of the first robot when the viscosity of the contents is low or the filling rate is low in the robot system of FIG. 1. It is an overall block diagram which shows the modification of the robot system of FIG. It is a block diagram which shows the modification of the robot system of FIG. It is a block diagram which shows the other modification of the robot system of FIG. It is an overall block diagram which shows the other modification of the robot system of FIG.

The bag opening device 100 and the robot system 1 according to the embodiment of the present disclosure will be described below with reference to the drawings.
As shown in FIG. 1, the robot system 1 according to the present embodiment includes a first robot 2 and a second robot (support stand driving device) 3 that are synchronously driven, and control devices 4 and 5 that control them. And have. The first robot 2 and the second robot 3 are, for example, 6-axis articulated robots.

The first robot 2 includes a first hand 22 attached to the wrist 21.
The first hand 22 has a flat support surface (first support surface) 23 on which the side surfaces of the bag W filled with the contents (see FIG. 10) W2 can be brought into close contact with each other, and a plurality of suction surfaces provided on the support surface 23. It includes a pad (first suction pad) 24, a gripping mechanism 25, and a cutter 26.

Further, the first hand 22 is provided with, for example, a visual sensor (size sensor) 27 for photographing the bags stacked on the pallet (supply position). As shown in FIG. 2, for example, the visual sensor 27 is arranged downward by a predetermined distance with respect to the bag W conveyed by the conveyor 200, and acquires an image. The acquired image is sent to the control device 4.

The content W2 is, for example, a fluid or solid such as powder or liquid. The bag W does not accommodate the content W2 in the entire internal volume without a gap, but accommodates the content W2 having a volume smaller than the internal volume together with a gas such as air.

The support surface 23 of the first hand 22 is formed in a rectangular shape as shown in FIG.
For example, six suction pads 24 are arranged along the vertical side of the support surface 23 and five are arranged along the horizontal side, and a total of 30 suction pads 24 are provided. As shown by the broken line in FIG. 3, different suction pads 24 are used depending on the size of the bag W to be handled. For example, when handling a small bag W, the central 12 suction pads 24 are used, and when handling a large bag W, all 30 suction pads 24 are used.

The second robot 3 has a second hand (support stand) 32 on the wrist 31.
The bag opening device 100 according to the present embodiment includes a second robot 3 and a second hand 32.
As shown in FIG. 4, a plurality of second hands 32 are provided on the flat support surface (second support surface) 33 on which the side surfaces of the bag W filled with the contents W2 can be brought into close contact with each other, and the support surface 33. It is provided with a suction pad (second suction pad) 34.

The support surface 33 of the second hand 32 is also formed in a rectangular shape as shown in FIG.
For example, six suction pads 34 are arranged along the vertical side of the support surface 33 and five are arranged along the horizontal side, and a total of 30 suction pads 34 are provided. As shown by the broken line in FIG. 4, different suction pads 34 are used depending on the size of the bag W to be handled.

The bag W is supported on the support surface 33 of the second hand 32 in a state where one end thereof is projected outward from the support surface 33. For example, in the case of a large bag W, as shown in FIG. 4, the end portion of the bag W is outward from one end of the support surface 33 in a state where the bag W is arranged on the entire support surface 33 of the second hand 32. It is placed in a position that protrudes from the bag. Further, even in the case of a small bag W, as shown in FIG. 4, the bag W is arranged near one end of the support surface 33 of the second hand 32, and the end portion of the bag W is outward from one end of the support surface 33. It is placed in a position that protrudes from the bag.

Further, in the second hand 32, as shown in FIG. 5, a plurality of vibration generators (vibration generators) 35 that vibrate the contents W2 in the bag W that are supported in close contact with the support surface 33. Is provided. A plurality of exciters 35 are arranged on the back surface of the support surface 33 of the second hand 32, and different exciters 35 are operated according to the position of the bag W supported by the support surface 33 and the properties of the contents W2. Will be. Further, the operating cycle of the exciter 35 may be changed.

As shown in FIG. 6, the gripping mechanism 25 of the first hand 22 is provided on one end edge of the support surface 23 of the first hand 22.
The gripping mechanism 25 includes a pair of gripping pieces 25a that are supported by the support surface 33 of the second hand 32 and grip the one end portion that protrudes outward from the support surface 33 so as not to move, and at least one gripping piece. It is provided with a drive unit 25b such as a cylinder or a plunger that drives the 25a.

The cutter 26 is provided at a position arranged between the gripping piece 25a and one end of the support surface 33 of the second hand 32 in a state where one end of the bag W is gripped by the gripping mechanism 25. By the operation of the cutter 26, the bag W can be cut along the one end edge of the support surface 23 over the entire length, and the end portion of the bag W can be cut off to open the bag W.

Next, the operations of the control devices 4 and 5 will be described.
The control devices 4 and 5 are connected to the first robot 2 and the second robot 3, respectively, as shown in FIG. The control device 4 of the first robot 2 and the control device 5 of the second robot 3 are connected to each other and exchange signals. Each of the control devices 4 and 5 includes at least one processor, a memory having a non-volatile storage, a ROM, a RAM, and the like, a transmission / reception unit for transmitting / receiving signals, and a servo controller.

The control device 4 connected to the first robot 2 recognizes the bag W and measures its size and the position of the center of gravity by processing the image sent from the visual sensor 27. Then, the suction pad 24 of the first hand 22 and the suction pad 34 of the second hand 32 suitable for the measured size and the position of the center of gravity are set.

When the image sent from the visual sensor 27 includes the image of the label attached to the bag W, the control device 4 may recognize the description content of the label by image processing. If the description content of the label includes, for example, information on the content W2 such as the type and weight of the content W2, this may be recognized.

Further, as shown in FIG. 7, the control device 4 operates the first robot 2 to operate the set suction pad 24, and is arranged downward on the bag W arranged on the conveyor 200. The support surface 23 of the first hand 22 is brought close to each other, and the bag W is sucked by the suction pad 24. At this time, the first hand 22 is arranged at a position where the set suction pad 24 faces the upward side surface of the bag W, and the first hand 22 is lowered vertically downward to the bag by the set suction pad 24. W is adsorbed.

On the other hand, as shown in FIG. 8, the control device 5 connected to the second robot 3 operates the second robot 3 to arrange the support surface 33 of the second hand 32 upward and substantially horizontally. .. Then, the control device 4 operates the first robot 2 to convey the bag W adsorbed on the first hand 22 to the support surface 33 of the second hand 32 of the second robot 3.

That is, the bag W is conveyed vertically above the suction pad 34 of the second hand 32 set by the control device 5, and the first hand 22 is lowered vertically downward as shown in FIG. At this time, the bag W is placed on the support surface 33 with the end of the bag W protruding outward from one end of the support surface 33 of the second hand 32, and is sucked by the set suction pad 34. To. After that, the bag W can be handed over to the second hand 32 by releasing the suction by the suction pad 24 of the first hand 22.

Next, the control device 5 operates the second robot 3 and inclines the support surface 33 of the second hand 32 at an angle such that one end of the bag W supporting the second hand 32 faces upward, as shown in FIG. Let me. Since the bag W is sucked by the suction pad 34, it is supported so as not to move on the support surface 33 without sliding down.

In this state, the control device 5 operates the exciter 35. As a result, the content W2 in the bag W is vibrated and moves downward in the bag W due to gravity. Therefore, as shown in FIG. 10, on the end side protruding upward from one end of the support surface 33. Gas gathers in the bag W to form a cavity W1. In the figure, reference numeral W2 is a content.

The control device 4 is in a state where the pair of gripping pieces 25a of the gripping mechanism 25 provided at the end of the first hand 22 are separated from each other, and as shown in FIG. 11, the first robot 2 is operated to operate the first robot 2. The first hand 22 is moved, and the end portion of the bag W supported by the second hand 32 is arranged between the pair of gripping pieces 25a.
In this state, as shown in FIG. 12, the control device 4 operates the gripping mechanism 25 to grip the end of the bag W, and also operates the cutter 26 to hold the end of the bag W to the first hand 22. Cut along one end of the support surface 23 of.

As a result, the bag W is opened as shown in FIG. As shown in FIG. 14, the control device 5 operates the second robot 3 to convey the opened bag W to the insertion destination, and the angle of the support surface 33 of the second hand 32 is set to the opened end. By inclining the portion at an angle facing downward, the contents W2 in the bag W can be loaded into the loading destination.

In this case, according to the bag opening device 100 and the robot system 1 according to the present embodiment, as shown in FIG. 10, in the second robot 3, the end of the bag W is the support surface 33 of the second hand 32. The bag W is received from the first robot 2 and supported at a position protruding from one end. As a result, as shown in FIG. 12, the gripping mechanism 25 and the cutter 26 can be easily arranged at the end of the bag W to be cut when the bag W is opened.

In particular, since the side surface of the bag W is sucked and supported by the suction pad 34 provided on the support surface 33, the end portion of the bag W is projected from the support surface 33 even if the size of the bag W is different. Can be placed in and maintained in that state. Therefore, regardless of the size of the bag W to be handled, the bag W can be easily opened and the contents W2 can be taken out.

Further, since the side surface of the bag W is sucked by the suction pad 34, it is possible to prevent the contents W2 from adhering to the pin as compared with the case where the pin is pierced into the bag W to support it, and the bag W is damaged during support. Therefore, there is an advantage that the contents W2 in the bag W can be prevented from leaking.

Further, since the content W2 near the protruding end is lowered by the operation of the exciter 35 in the state where the bag W is tilted by the operation of the second robot 3, the content W2 is placed in the portion to be cut by the cutter 26. It is possible to form the cavity W1 in which the space is not present. As a result, the bag W can be opened while preventing the contents W2 from adhering to the cutter 26.

Further, since the opened end portion of the bag W is also arranged on the outside of the support surface 33, the content W2 supports the content W2 when the content W2 is discharged from the inside of the bag W as shown in FIG. It can also be prevented from adhering to the surface 33. This has the advantage that it is not necessary to wash or switch the second hand 32 to be used each time the product type of the content W2 to be handled is switched.

In the present embodiment, as shown in FIG. 15, the suction pad 34 is arranged in the recess 36 provided in the support surface 33, and the suction pad 34 is provided at the tip of the expandable bellows 37 to provide a bag. In the state before sucking W, the suction pad 34 may be projected from the support surface 33.

The suction pad 34 provided with the bellows 37 is limited to the suction pad 34 in which suction is performed in common to all the bags W, as shown by hatching in FIG. 4, and the other suction pads 34 are the bellows 37. It is preferable to arrange the suction surface flush with the support surface 33 without providing the support surface 33.
As a result, the side surface of the bag W can be sucked by the suction pad 34 while the side surface of the bag W is spaced from the support surface 33, and the suction position can be visually recognized until the moment of suction by the suction pad 34. Can be. Further, after the side surface of the bag W is sucked by the suction pad 34, as shown in FIG. 16, the side surface of the bag W is changed to the support surface 33 of the second hand 32 by contracting the bellows 37 by reducing the internal pressure. It can be brought into close contact with the surface and can be reliably supported by friction.

Then, by contracting the bellows 37, the suction pad 34 can be retracted into the recess 36 of the support surface 33 to a position where it does not protrude from the support surface 33, and the support surface 33 can be flattened. For example, a scraper (extruded piece) 28 is provided on the edge of the first hand 22 opposite to the cutter 26, the first robot 2 is operated, and the scraper 28 opens the scraper 28 along the support surface 33 of the second hand 32. By handling the bag W in the direction of the end portion, the content W2 can be pushed out from the inside of the bag W.

This is effective when the content W2 is a substance that is difficult to be released from the bag W only by gravity and easily remains in the bag W. As the scraper 28, in addition to the rollers shown in FIG. 16, a rubber spatula-like one may be adopted. Further, the bellows 37 may be provided on all the suction pads 34.
Further, instead of the bellows 37, a stretchable pipe structure, for example, a rubber pipe or a telescopic pipe may be adopted.

Further, in the present embodiment, the second robot 3 directly supports the opened bag W on the support surface 33 of the second hand 32, transports the opened bag W to the insertion destination, and inserts the bag W. Instead of this, after the bag W is opened, the bag W may be handed over from the second hand 32 to the first hand 22 again, and may be conveyed to the loading destination by the first robot 2 and loaded.
In this case, the suction pad 24 provided on the support surface 23 of the first hand 22 is provided at the tip of the bellows that can be expanded and contracted in the recess, and the scraper (extruded piece) is provided at one end edge of the second hand 32. You just have to.

Further, the first hand 22 may be provided with a temperature sensor (not shown) for measuring the temperature of the content W2 in the bag W in close contact with the support surface 23. Then, the control device 4 may switch the operation of at least one of the first robot 2 and the second robot 3 based on the temperature of the content W2 detected by the temperature sensor.

For example, when the content W2 is a substance whose properties change depending on the temperature, if the temperature detected by the temperature sensor is lower than a predetermined threshold value, it is treated as a solid substance, and if the detected temperature is equal to or higher than the threshold value. May be treated as a fluid. When the content W2 in the bag W is a solid material, the shape of the bag W in a state of being adsorbed and suspended by the first hand 22 does not change significantly, but when the content W2 is a low-viscosity fluid. The shape of the bag W changes greatly in the suspended state.

Therefore, when the temperature is lower than the predetermined threshold value, the bag W supported by the first hand 22 may be lowered vertically while maintaining a substantially horizontal posture and handed over to the second hand 32. Further, when the temperature is equal to or higher than a predetermined threshold value, as shown in FIG. 17, the bag W supported by the first hand 22 is tilted in a posture in which one end thereof faces downward, so that the bag W is deformed. It is preferable to lower one end while preventing it from being folded and hand it over to the second hand 32.

Further, the first robot 2 may be provided with a force sensor (force sensor: not shown). The force sensor is arranged, for example, between the first hand 22 and the wrist 21, and the content in the bag W is determined by the magnitude of the force detected when the bag W is attracted and supported by the first hand 22. The weight of the object W2 can be detected.

In this case, the control device 4 calculates the filling rate of the contents W2 in the bag W from the weight of the contents W2 detected by the force sensor and the size of the bag W detected by the visual sensor 27. , The operation of at least one of the first robot 2 and the second robot 3 may be set according to the filling rate.

That is, when the filling rate is high, the deformation of the bag W when suspended by the first hand 22 is small, so that the bag W is handled in the same manner as when the temperature is low, and when the filling rate is low, the bag W is handled. Since the deformation is large, it may be handled in the same manner as in the case where the temperature is high as described above.
Further, the weight of the bag W is not measured by the force sensor, but a numerical value or a pattern indicating the weight is displayed on the bag W by printing or a sticker, and is recognized by image processing from the image acquired by the visual sensor 27. You may.

Further, the structures of the gripping mechanism 25 and the cutter 26 may be arbitrary.
Further, although the case where the gripping mechanism 25 and the cutter 26 are provided on the first hand 22 is illustrated, the gripping mechanism 25 and the cutter 26 may be fixed to the floor surface. In this case, the second robot 3 that has received the bag W may convey the bag W to the positions of the gripping mechanism 25 and the cutter 26 installed on the floor surface to perform the opening operation.

Further, the control devices 4 and 5 may have a learning function. For example, a learning program (learning unit) is stored in the memory, and the processor may perform learning based on the learning program.

For example, learning is performed when the bag W is handed over from the first hand 22 to the second hand 32. The processor uses the learning information to match at least one of the size of the bag W, the variety, weight and temperature of the contents W2 with the angle of the support surface 23 of the first hand 22 at the time of delivery. And store the created table or expression in memory. Creating such a table or expression is the result of learning to improve the delivery state.

When the learning is performed in the control devices 4 and 5 in this way, the bag W can be more appropriately delivered from the first robot 2 to the second robot 3.

Further, the learning is performed when the exciter 35 is operated and the content W2 moves downward in the bag W. The processor uses the learning information to combine at least one of the size of the bag W, the type of the contents W2, the weight and temperature, the angle of the support surface 23 of the first hand 22 at the time of delivery, and the exciter 35. Create a table or expression that corresponds to the operating cycle, and store the created table or expression in memory. The creation of such a table or expression is the result of learning to improve the moving state of the content W2.

When learning is performed in the control devices 4 and 5 in this way, the contents W2 can be moved more appropriately.

As shown in FIG. 18, a plurality of control devices 4 may be connected to the host control system 300. The host control system 300 is, for example, a computer connected to a plurality of control devices 4 by wire, a computer arranged on the same site as the plurality of control devices 4, and the like. The host control system 300 is sometimes referred to as a fog computer. The upper control system 300 may be a production management system, a shipping management system, a robot management system, a department management system, or the like.

As shown in FIG. 19, a plurality of higher control systems 300 may be connected to another higher control system 400 or the like. The host control system 400 is, for example, a cloud server connected to a plurality of host control systems 300 by wire or wirelessly. For example, a management system is formed by the plurality of control devices 4 and the host control system 300.
The host control system 400 includes at least one processor and memories such as non-volatile storage, ROM, and RAM, respectively.

Such a system may include, for example, a plurality of edge computers, a plurality of superior control systems 300 and a single or plurality of superior control systems 400, as shown in FIG. In the system of FIG. 20, the control device 40 and the first robot 2 can be an edge computer. A part of the control device 40 and the first robot 2 may be the upper control system 300.

A plurality of edge computers may transmit learning information to another edge computer having a learning function, a higher control system 300, or a higher control system 400. In this case, another edge computer having a learning function, the upper control system 300 or the upper control system 400, performs learning using the received learning information. Then, it is possible to automatically and accurately obtain the operation parameters (learning result), the operation program (learning result), and the like for the control of the first robot 2 by each edge computer.

Further, another edge computer having a learning function, the upper control system 300 or the upper control system 400 uses the received learning information. This makes it possible to obtain common operation parameters (learning results), operation programs (learning results), and the like of the plurality of robots 2 controlled by the plurality of edge computers. That is, the plurality of first robots 2 have a common operation parameter or operation program. According to this system, it is possible to improve the learning speed, reliability, etc. by using various data sets.

Further, a plurality of edge computers having a learning function and a plurality of upper control systems 300 have information for learning, a learning model created, and learning results on another edge computer having a learning function, the upper control system 300 or the upper control system 400. At least one may be sent. Another edge computer having a learning function, a superordinate control system 400 or a superordinate control system 400, performs processing for optimizing and improving the efficiency of knowledge based on the received information, and newly optimizing or streamlining the learning model or learning. Produce a result. The generated learning model or learning result is distributed to the edge computer that controls the first robot 2. When the learning result is distributed, the distribution destination edge computer does not have to have the learning function.

It is possible to share learning information, learning models, and learning results between edge computers. This leads to an improvement in the efficiency of machine learning. Further, the learning function is implemented in some edge computers among a plurality of edge computers connected to each other by a network, and the learning results of some edge computers are used for the control of the first robot 2 by the other edge computers. Is also possible. This leads to a reduction in the cost required for machine learning.

An example according to the above embodiment will be described below.
For example, as shown in FIG. 21, the control device 4 may be connected to another control device 4. In this case, the table or formula obtained by learning as described above may be sent to another control device 4 together with necessary information by the wireless or wired transmission / reception unit of the control device 4. The necessary information includes the specifications of the first robot 2 related to the creation of the table or the formula, the specifications of the first hand 22, and the information of the bag W and its contents W2. The other control device 4 also transmits the learning result to the control device 4.

The control device 4 and other control devices 4 can use the received table or formula for the delivery work of the bag W and the vibration work by the shaker 35. Further, the control device 4 and other control devices 4 can use the received table or expression as learning information.

Further, the table or formula obtained by learning may be sent from the control device 4 to the upper control system 300 together with necessary information (FIG. 19). The necessary information is the specifications of the first robot 2, the specifications of the first hand 22, the specifications of the bag W, the information of the contents W2 of the bag W, and the like, which are related to the creation of the table or the formula.

The superordinate control system 300 or the superordinate control system 400 can learn using a plurality of tables or formulas related to the specifications of the first hand 22 of the same or the same type, and can create a new table or formula.
The upper control system 300 or the upper control system 400 transmits the created table or expression to the control device 4.
The control device 4 can use the received table or formula for delivery of the bag W and vibration by the shaker 35. Further, the other control device 4 can also use the received table or expression as learning information when the control device 4 performs learning.

Further, the control device 4, the upper control system 300, or the upper control system 400 shown in FIG. 19 can transmit the created table or expression to the control device 4 having no learning function. As a result, the delivery of the bag W by the first hand 22 of the control device 4 having no learning function and the corresponding first robot 2 and the vibration by the exciter 35 are improved.

1 Robot system 2 1st robot (robot)
3 Second robot (support stand drive device)
22 1st hand 23 Support surface (1st support surface)
24 Suction pad (1st suction pad)
26 Cutter 27 Visual sensor (size sensor)
28 Scraper (extruded piece)
31 Wrist 32 2nd hand (support stand)
33 Support surface (second support surface)
34 Suction pad (second suction pad)
35 Vibration exciter (vibration generator)
36 Recess 100 Bag opening device W bag W2 Contents

Claims (10)

A support base with a support surface that supports the sides of the bag filled with the contents in close contact with each other.
A support pedestal driving device capable of changing the angle of the support surface of the support pedestal is provided.
A bag opening device including a suction pad capable of fixing the bag to the support surface at a position where the support base projects the end portion of the bag to the outside of the support surface with respect to the bag of different sizes. The bag opening device according to claim 1, wherein the support base includes a vibration generator that vibrates the contents in the bag that is adsorbed at an arbitrary position on the support surface. The bag opening device according to claim 1 or 2, wherein the support base driving device is a robot in which the support base is fixed to the tip of a wrist. A first robot equipped with a first hand capable of adsorbing a bag filled with contents,
A second robot including a second hand that receives and supports the bag from the first robot is provided.
The first robot includes a size sensor for detecting the size of the bag arranged at the supply position.
The first hand comprises a first suction pad capable of sucking the bags of different sizes.
The second hand supports the side surface of the bag filled with the contents in close contact with the second support surface, and the bag is outside the second support surface with respect to the bag having a different size. A robot system including a second suction pad capable of fixing the bag to the second support surface at a position where the end of the bag is projected. The robot system according to claim 4, wherein the first robot includes a cutter for cutting the end portion of the bag supported by the second support surface of the second hand and protruding from the second support surface of the bag. The first robot includes a force sensor capable of detecting the weight of the contents of the bag sucked by the first hand, and the weight of the contents and the size of the bag detected by the force sensor. The robot system according to claim 4 or 5, wherein the operation is determined based on the filling rate of the contents obtained from Sato. The first robot includes a temperature sensor capable of detecting the temperature of the contents of the bag sucked by the first hand, and determines an operation based on the temperature of the contents detected by the temperature sensor. The robot system according to any one of claims 4 to 6. The first hand comprises a first support surface that supports the sides of the bag filled with the contents in close contact with each other.
The robot system according to any one of claims 4 to 7, wherein the first suction pad is housed in a recess provided on the first support surface in a state where the side surface of the bag is sucked. The robot system according to claim 8, wherein the second hand includes an extruded piece that pushes out the contents in the bag, which is supported in close contact with the first support surface, from the opened end portion. The second suction pad is housed in the recess provided on the second support surface in a state where the side surface of the bag is sucked.
6. The robot system described.

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