JP2022166656A - Bag take-out method and bag take-out device - Google Patents

Abstract

To provide a bag take-out method and a bag take-out device that are advantageous in properly holding one or more bags.SOLUTION: A bag take-out method includes: acquiring height position information indicating height positions of one or more bags 80 by a height position information acquisition device 32; and holding one or more bags 80 by a holding unit 30 adjusted in at least one of a position and a posture based on the height position information acquired by the height position information acquisition device 32.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to a bag take-out method and a bag take-out device.

2. Description of the Related Art A device for taking out a bundle of bags from the inside of a storage box made of cardboard or the like is known (for example, Patent Document 1, etc.).

Japanese Unexamined Patent Application Publication No. 2020-117310

When taking out a bundle of bags one by one from a plurality of stacked bag bundles, not only is the bag bundle to be taken out properly held by a holding part such as a gripper, but also the posture of the bag bundle is disturbed and damage such as damage is caused. It is required not to give damage to the bag bundle.

In particular, when each bag contained in each bag bundle is a flexible bag (for example, a flat bag), the thickness of each bag bundle and the position and inclination of the topmost bag in each bag bundle are not constant due to the warpage of each bag. . Moreover, when each bag includes a locally thick portion (for example, a spout), it is difficult to stabilize the position between the bags, and the thickness of each bag bundle is likely to change.

It is not easy to accurately hold such a bag bundle with an unstable thickness by the holding section while preventing the bag bundle from losing its posture or damaging the bag bundle.

The present disclosure has been made in view of the circumstances described above, and provides techniques that are advantageous for properly holding one or more bags.

One aspect of the present disclosure includes a step of acquiring height position information indicating the height position of one or more bags by a height position information acquisition device, and based on the height position information acquired by the height position information acquisition device and holding one or more bags by a holding part adjusted in at least one of position and posture.

In the step of acquiring the height position information by the height position information acquisition device, the bag bundles that are stacked in the height direction and are arranged at positions adjacent to each other in the height direction are partially The height position information indicating the height position of the surface of the first bag bundle positioned at the top and the second bag bundle adjacent to each other among the plurality of overlapping bag bundles is acquired by the height position information acquisition device, and the holding unit In the step of holding one or more bags by, the preparation position derived based on the height position information, which corresponds to the height position of the surface of the portion of the second bag bundle corresponding to the edge of the first bag bundle The holding lower part of the holding part may be moved to the ready position determined by the holding part, and the holding lower part may be moved from the ready position to the holding position between the first bag bundle and the second bag bundle.

The height position information acquisition device may be attached to the holding portion and moved together with the holding lower portion.

The height position information acquisition device acquires gradient information indicating the gradient of the surface of the second bag bundle based on the height position information of the second bag bundle, and the preparation position may be derived based on the gradient information. good.

The height position information acquisition device acquires height position information indicating the height position of the surface of the first bundle of bags, and the preparation position is the height position information of the first bundle of bags and the height position of the second bundle of bags. It may be derived based on information.

The height position information acquisition device measures the height position information of the first bag bundle along a measurement path from one of the first measurement point of the first bag bundle and the second measurement point of the second bag bundle to the other. and the height position information of the second bag bundle, the holding lower part may move to the ready position along the holding-movement path, at least part of the holding-movement path corresponding to the measurement path.

The holding lower part may be moved to the ready position by pressing down on the surface of the second bag bundle.

Another aspect of the present disclosure is a retainer having a retainer lower portion for retaining one of a plurality of vertically stacked bundles of bags, the retainers positioned in adjacent height directions. The bag bundles are partially overlapped with each other, and a holding unit that holds the first bag bundle positioned at the top among the plurality of bag bundles and a second bag bundle that is adjacent to the first bag bundle among the plurality of bag bundles. a height position information acquiring device for acquiring height position information indicating the height position of the surface of the holding drive unit; and a holding driving unit for driving the holding unit. and is determined according to the height position of the surface of the portion of the second bag bundle corresponding to the edge of the first bag bundle. from a position to a holding position between a first bag stack and a second bag stack.

According to the present disclosure, it is advantageous to properly retain one or more bags.

FIG. 1 is a diagram showing an example of a storage box that stores a plurality of bag bundles. FIG. 2 is a plan view for explaining a storage example of a plurality of bag bundles in a storage box. FIG. 3 is a plan view for explaining a storage example of a plurality of bag bundles in a storage box. FIG. 4 is a plan view for explaining a storage example of a plurality of bag bundles in a storage box. FIG. 5 is a plan view for explaining a storage example of a plurality of bag bundles in a storage box. FIG. 6 is a diagram showing an example of a bag take-out device for taking out a bundle of bags from a storage box. FIG. 7 is a functional block diagram showing an example of a control device. FIG. 8 shows the horizontal movement distance (mm; X-axis) of the holding unit and the height position of the measurement target site derived from the detection result of the height position information acquisition device (i.e., "measured height position"; mm; FIG. 10 is a diagram showing an example of the relationship between the Y axis). FIG. 9 is a diagram for explaining an example of the bag takeout method. FIG. 10 is a diagram for explaining an example of the bag takeout method. FIG. 11 is a diagram for explaining an example of the bag takeout method. FIG. 12 is a diagram for explaining an example of the bag takeout method. FIG. 13 is a diagram for explaining an example of the bag takeout method. FIG. 14 is a diagram for explaining an example of the bag take-out method. FIG. 15 is a diagram for explaining an example of the bag take-out method. FIG. 16 is a diagram for explaining an example of the bag takeout method. 17A and 17B are diagrams for explaining a bag taking-out method according to the first modified example. 18A and 18B are diagrams for explaining a bag taking-out method according to the first modified example. FIG. 19 is a plan view of a bag take-out device according to a second modification. FIG. 20 is a side view of a bag take-out device according to a second modified example. FIG. 21 is a graph showing an example of the detection result of the distance detection sensor. FIG. 22 is a side view showing an example of how a bag is held by a holding portion according to a second modified example.

An apparatus and method according to an embodiment of the present disclosure will now be described.

FIG. 1 is a diagram showing an example of a storage box 70 that stores a plurality of bag bundles 81. As shown in FIG. FIG. 1 shows a cross-sectional state of the storage box 70 and a schematic state of a plurality of bag bundles 81 arranged inside the storage box 70 .

In the example shown in FIG. 1 , a plurality of bag bundles 81 are stacked in the height direction inside the storage box 70 . Each of the plurality of bag bundles 81 housed in the storage box 70 includes one or more bags 80, and the plurality of bag bundles 81 housed in each storage box 70 is a bag bundle 81 composed of two or more bags 80. Includes 2 or more. In each storage box 70, each of the plurality of bag bundles 81 partially overlaps another bag bundle 81 arranged at a position adjacent to it in the stacking direction (height direction). That is, the two bag bundles 81 arranged adjacent to each other in the stacking direction are placed in the container box 70 while being shifted in the width direction (first horizontal direction Dh1 (see FIGS. 2 to 5) to be described later). Contained.

Here, "two bag bundles 81 arranged adjacent to each other in the stacking direction" means two bag bundles 81 continuously arranged in the stacking direction, regardless of the presence or absence of contact. When stacking a plurality of bag bundles 81 while shifting them in the width direction, the bag bundle 81 that is first stacked and the bag bundle 81 that is second in stacking order are referred to here as "two adjacently arranged in the stacking direction." It corresponds to the bag bundle 81”. On the other hand, even if the bundle of bags 81 that are stacked first and the bundle of bags 81 that are stacked third are in contact with each other, the term “two bag bundles 81 arranged adjacent to each other in the stacking direction” is used. ” does not apply. In this way, the bag bundles 81 whose stacking order is continuous correspond to two bag bundles 81 arranged adjacent to each other in the stacking direction. It does not correspond to the two bag bundles 81 arranged side by side.

In the storage box 70 shown in FIG. 1, the lid is opened and the top surface is opened to form an opening. The storage box 70 is covered with a vinyl body PL extending from the inside to the outside of the storage box 70 . A plurality of bag bundles 81 in the storage box 70 are arranged on a vinyl body PL covering the inside of the storage box 70 . The bundle of bags 81 located at the lowest position in the height direction in the storage box 70 is placed on the vinyl body PL.

In each bag bundle 81 containing two or more bags 80, each of the two or more bags 80 is accommodated in the storage box 70 while partially overlapping other bags 80 arranged adjacent to each other in the stacking direction. ing. In particular, in a direction (second horizontal direction Dh2 (see FIGS. 2 to 5) described later) perpendicular to the direction in which two bag bundles 81 arranged at adjacent positions in the storage box 70 are shifted, the bag bundle Preferably, two or more bags 80 contained in 81 are staggered. In this way, the bag bundles 81 that are arranged adjacent to each other in the stacking direction are arranged to be shifted from each other, and the bags 80 that are included in the same bag bundle 81 and are arranged to be adjacent to each other in the stacking direction are shifted from each other. By arranging them, a large number of bags 80 can be stored in the storage box 70 with good space efficiency.

Each bag bundle 81 includes a plurality of bags 80 stacked in the height direction (stacking direction). In the example shown in FIG. 1, each of all bag bundles 81 housed in each housing box 70 includes two or more bags 80 . All bag bundles 81 housed in each housing box 70 contain the same number of bags 80 as each other. Each bag 80 has a thickened portion 84 that is locally thicker than other portions. The illustrated thick portion 84 is formed by a so-called spout, and is located at one of the four corner portions of each bag 80 (especially the body portion of each bag 80) having a substantially rectangular planar shape. In the bag bundle 81 including the plurality of bags 80, each storage box 70 includes a plurality of bag bundles 81 (that is, a plurality of The bags 80) are stacked.

In the example shown in FIG. 1, in a bag bundle 81 including two or more bags 80, the two or more bags 80 have the same orientation. In the storage box 70 , each of the front and back surfaces of each bag 80 is oriented in a common stacking direction between the bags 80 . For example, all the bags 80 in the storage box 70 may have their front surfaces facing upward and their back surfaces facing downward, or all the bags 80 may have their front surfaces facing downward and their back surfaces facing upward. may

2 to 5 are plan views for explaining an example of accommodation of a plurality of bag bundles 81 in the accommodation box 70. FIG. 2 to 5, illustration of the vinyl body PL is omitted.

FIG. 3 shows a state after the uppermost bundle of bags 81 (that is, the first bundle of bags 81a) has been removed from the storage box 70 shown in FIG. FIG. 4 shows the state after the uppermost bundle of bags 81 has been removed from the storage box 70 shown in FIG. FIG. 5 shows the state after the uppermost bundle of bags 81 has been removed from the storage box 70 shown in FIG. FIG. 2 shows the state after the uppermost bundle of bags 81 is removed from the storage box 70 shown in FIG.

In the present embodiment, one set includes bag bundles 81 of four types (first mode P1 to fourth mode P4). A plurality of bag bundles 81 are housed in the storage box 70 by repeatedly and regularly stacking this set (that is, four types) in the stacking direction (that is, height direction).

Among the plurality of bag bundles 81 accommodated in the storage box 70, the four bag bundles 81 continuously stacked in the stacking direction are respectively a first mode P1, a second mode P2, a third mode P3 and a third mode P3. It has 4 aspects P4.

Each bag 80 included in the bag bundle 81 of the first aspect P1 is displaced in the first horizontal direction Dh1 from each bag 80 included in the bag bundle 81 of the second aspect P2, In addition, the directions of the second horizontal direction Dh2 perpendicular to the first horizontal direction Dh1 are the same (see FIGS. 2 and 3). Each bag 80 included in the bag bundle 81 of the second aspect P2 is displaced in the first horizontal direction Dh1 from each bag 80 included in the bag bundle 81 of the third aspect P3, and The orientation with respect to the second horizontal direction Dh2 is opposite (see FIGS. 3 and 4).

Each bag 80 included in the bag bundle 81 of the third aspect P3 is displaced in the first horizontal direction Dh1 from each bag 80 included in the bag bundle 81 of the fourth aspect P4, and The directions with respect to the second horizontal direction Dh2 are the same (see FIGS. 4 and 5). Each bag 80 included in the bag bundle 81 of the fourth mode P4 is displaced in the first horizontal direction Dh1 from each bag 80 included in the bag bundle 81 of the first mode P1, and The orientation with respect to the second horizontal direction Dh2 is opposite (see FIGS. 5 and 2).

In the examples shown in FIGS. 2 to 5, the bundle of bags 81 in the first mode P1 and the bundle of bags 81 in the third mode P3 are positioned substantially at the same position (FIGS. 2 to 5) with respect to the first horizontal direction Dh1 and the second horizontal direction Dh2. 5). Further, the bag bundle 81 in the second mode P2 and the bag bundle 81 in the fourth mode P4 are arranged at substantially the same position (left side position in FIGS. 2 to 5) with respect to the first horizontal direction Dh1 and the second horizontal direction Dh2. ing. Also, between the first mode P1 and the second mode P2, the thick portion 84 is arranged at the same directional position (upper right position in FIGS. 2 to 5) in each bag 80. As shown in FIG. Also, between the third mode P3 and the fourth mode P4, the thick portion 84 is arranged at the same directional position (lower left position in FIGS. 2 to 5) in each of the bags 80. As shown in FIG.

The space inside each storage box 70 shown has a rectangular planar shape. Each bag 80 has a generally rectangular planar shape. The plurality of bags 80 included in each of the bag bundles 81 of the first aspect P1 to the fourth aspect P4 are arranged in the storage box 70 over substantially the same range with respect to the second horizontal direction Dh2. It is arranged over substantially the entire second horizontal direction Dh2 of the inner space of the storage box 70 .

Therefore, among the plurality of bag bundles 81 accommodated in the storage box 70, the bag bundle 81 positioned highest in the stacking direction (that is, the first bag bundle 81a) and the bag bundle 81 adjacent to the first bag bundle 81a in the stacking direction. The bundle of bags 81 (that is, the second bundle of bags 81b) arranged at the matching position is arranged as follows. That is, the first bundle of bags 81a is stacked on the second bundle of bags 81b inside the storage box 70, and is shifted from the second bundle of bags 81b in the first horizontal direction Dh1. Also, each of the first bag bundle 81a and the second bag bundle 81b includes two or more bags 80 stacked so as to be mutually shifted in the second horizontal direction Dh2.

As described above, in each storage box 70 in the illustrated example, there are two forms of bag bundles 81 (for example, the third form P3 and the fourth form P4) of the bag bundle 81 adjacent to each other in the stacking direction. Furthermore, there are two other forms of the bag bundle 81 (for example, the bag bundle 81 of the first form P1 and the bag bundle 81 of the second form P2 ) are listed. As a result, the horizontal position of the thick portion 84 can be shifted between the bag bundles 81 of the first mode P1 to the fourth mode P4, and a plurality of bag bundles 81 (that is, a plurality of bags 80) can be space efficiently stored in the storage box 70. can be well accommodated.

On the other hand, the storage space of the storage box 70 has a location where the thick portion 84 exists and a location where the thick portion 84 does not exist (see the location indicated by symbol “Q” in FIG. 2). As described above, the thickness of each bundle of bags 81 and the thickness of the entire bundle of bags 81 stacked are not constant, and the height position of the bundle of bags 81 stacked within the storage box 70 is uneven.

FIG. 6 is a diagram showing an example of the bag take-out device 10 that takes out the bag bundle 81 from the storage box 70. As shown in FIG. FIG. 6 shows the holding unit 29 (see dotted line) before the horizontal movement and the holding unit 29 after the horizontal movement.

The bag takeout device 10 includes a holding section 30 , a position detection section 31 and a height position information acquisition device 32 . In the example shown in FIG. 6, the holding section 30, the position detection section 31, and the height position information acquisition device 32 are integrally provided, and are integrally moved by the movement mechanism 22 (see FIG. 2), and the orientation adjustment mechanism integrally deflected by 23 (see FIG. 2). The holding section 30 , the position detection section 31 and the height position information acquisition device 32 having an integrated structure are also referred to as a holding unit 29 as a whole.

The holding part 30 is provided so as to be able to hold each of the plurality of bag bundles 81 stored in the storage box 70 and stacked in the stacking direction. The holding part 30 shown in the figure has a chuck structure that grips each bag bundle 81 by sandwiching it in the stacking direction (that is, in the height direction).

A moving mechanism 22 is attached to the holding portion 30 via an orientation adjusting mechanism 23 . The moving mechanism 22 and the orientation adjusting mechanism 23 can move the holding unit 29 under the control of the control device (see FIG. 7).

The movement mechanism 22 shown in FIG. 6 is configured by an articulated robot, and includes a plurality of arms and a plurality of joints that oscillatably connect adjacent arms. A direction adjustment mechanism 23 is attached to the distal arm portion. The proximal arm portion is supported by a base. A drive device such as a servomotor is provided at each joint and base. An angle between adjacent arms can be adjusted by a drive device provided at each joint. A driving device provided on the base can rotate the moving mechanism 22 around a pivot shaft extending in the vertical direction. The movement mechanism 22 three-dimensionally moves the holding unit 29 by driving these driving devices under the control of the control device. The configuration of the moving mechanism 22 is not limited to the illustrated example. For example, the movement mechanism 22 may be wholly or partly configured by other multi-joint robots (for example, other horizontal multi-joint robots (SCARA robots), etc.), parallel link robots, or orthogonal robots.

A holding unit 29 is attached to the orientation adjusting mechanism 23, and the horizontal orientation of the holding unit 29 can be changed under the control of the control device (see FIG. 7). The illustrated orientation adjustment mechanism 23 includes a rotating body. This rotating body is fixedly attached to the holding unit 29 and rotates together with the holding unit 29 . On the other hand, this rotating body is rotatably attached to the moving mechanism 22 (particularly, the distal arm portion). By rotating the rotating body of the orientation adjusting mechanism 23 under the control of the control device, the holding unit 29 can be rotated without rotating the moving mechanism 22 to change the orientation of the holding unit 29 .

The position detection section 31 detects the position of the holding unit 29 (including the holding section 30) in the stacking direction (that is, the height direction). Specifically, the position detection section 31 directly or indirectly detects the position of the holding unit 29 (holding section 30 ) with respect to the bundle of bags 81 in the storage box 70 . The position detection section 31 shown in FIG. 6 detects the height position of the holding unit 29 (holding section 30) on the basis of the height position of the uppermost bundle of bags 81 in the storage box 70, as will be described later.

A connecting plate 38 is attached to the distal arm portion of the moving mechanism 22 via the orientation adjusting mechanism 23 . A mounting frame 36 is fixed to the connecting plate 38 . The mounting frame 36 has a first mounting frame and a second mounting frame with a symmetrical structure that are arranged side by side in the horizontal direction (that is, the depth direction of the paper surface of FIG. 6). Each of the first mounting frame and the second mounting frame has a vertical portion extending in the height direction and a horizontal portion extending horizontally from the lower end of the vertical portion.

A common opening/closing driving portion 33 is fixed to the first mounting frame and the second mounting frame (especially the vertical portion). The opening/closing drive unit 33 is preferably composed of an air cylinder, and has a drive shaft that advances and retreats in the height direction under the control of the control device. A holding movable portion 34 is fixed to the drive shaft. The height position of the holding movable portion 34 is determined according to the advance and retreat of the drive shaft in the height direction.

A holding fixing portion (holding lower portion) 35 is attached to the first mounting frame and the second mounting frame (especially the horizontal portion). The holding fixed portion 35 is arranged at a position facing the holding movable portion 34 in the height direction. The illustrated holding fixture 35 has a first holding fixture and a second holding fixture. The first holding fixing portion is provided integrally with the first mounting frame and extends in the horizontal direction. The second holding fixing portion is provided integrally with the second mounting frame and extends in the horizontal direction. The first holding/fixing portion and the first mounting frame may be made of the same member. Also, the second holding/fixing portion and the second mounting frame may be made of the same member.

The holding part 30 includes a holding movable part 34 and a holding fixed part 35 as a chuck structure. Each bag bundle 81 housed in the storage box 70 is movably held by being sandwiched in the stacking direction (that is, the height direction) by the holding movable part 34 and the holding fixed part 35 .

A guide surface 40b for guiding the first bag bundle 81a onto the holding and fixing portion 35 is formed at the tip of the horizontal portion of the first mounting frame and the second mounting frame. The guide surface 40b is composed of an inclined surface whose height direction position changes smoothly. When the holding portion 30 moves from the preparation position to the holding position, the first bag bundle 81a is smoothly guided onto the holding/fixing portion 35 after riding on the guiding surface 40b.

A mounting plate 37 is fixed to the first mounting frame (especially the vertical portion). The illustrated mounting plate 37 has a vertically extending vertical plate portion and a horizontal plate portion extending horizontally from the lower end of the vertical plate portion. For example, by partially folding a single plate, it is possible to form a mounting plate 37 having a vertical plate portion and a horizontal plate portion. A vertical plate portion of the mounting plate 37 is fixed to the first mounting frame (especially the vertical portion). A swing detection sensor 39 is fixed to the horizontal plate portion of the mounting plate 37 .

A swing shaft 41 is fixed to the first mounting frame and the second mounting frame. The swing shaft 41 is positioned between the first mounting frame and the second mounting frame. In the illustrated example, the swing shaft 41 is connected to the portion where the vertical portion and the horizontal portion of each of the first mounting frame and the second mounting frame are connected. Via the swing shaft 41, the swing body 40 is swingably supported with respect to the first mounting frame and the second mounting frame.

The rocking body 40 rocks around the rocking shaft 41 by receiving a force acting in the height direction. A detection plate 40 a is provided as a part of the rocking body 40 . The detection plate 40a is positioned on one side of the swing shaft 41 in the horizontal direction, and faces the swing detection sensor 39 in the height direction. The distance between the detection plate 40a and the swing detection sensor 39 changes according to the swing state of the swing body 40 (that is, the swing angle of the swing body 40 about the swing shaft 41). When the swinging body 40 is not subjected to external force, the detection plate 40a is positioned relatively upward under the influence of gravity, and the distance between the detection plate 40a and the swing detection sensor 39 is relatively small. On the other hand, when the oscillating body 40 (especially the portion of the oscillating body 40 on the side opposite to the detection plate 40a in the horizontal direction with respect to the oscillation axis 41) receives a force from below, the detection plate 40a moves toward the oscillation detection sensor 39. , the detection plate 40a is relatively positioned downward, and the distance between the detection plate 40a and the swing detection sensor 39 increases.

In this manner, the rocking body 40 has a lever structure that moves integrally with the holding portion 30 (for example, the movable holding portion 34 and the fixed holding portion 35) and rocks according to the force acting in the stacking direction (that is, the height direction). have

The rocking detection sensor 39 detects the rocking state of the rocking body 40 . As described above, the distance between the swing detection sensor 39 and the detection plate 40a changes according to the swinging state of the swinging body 40. FIG. The swing detection sensor 39 of this embodiment is switched on and off according to the distance between the swing detection sensor 39 and the detection plate 40a. That is, the swing detection sensor 39 is turned on when the distance between the detection plate 40a and the swing detection sensor 39 is greater than or equal to a predetermined distance, and is turned off when the distance is less than the predetermined distance. Therefore, the rocking state of the rocking body 40 can be detected from the on-off state of the rocking detection sensor 39 . Information regarding the on-off state of the swing detection sensor 39 is sent from the swing detection sensor 39 to the control device.

A first rotating body 42a, a second rotating body 42b, and a swing stopper 43 are provided between the horizontal portion of the first mounting frame and the horizontal portion of the second mounting frame. The first rotor 42a is rotatably supported by a first rotation support shaft 42c fixed to the first mounting frame and the second mounting frame. The second rotor 42b is rotatably supported by a second rotation support shaft 42d fixed to the first mounting frame and the second mounting frame. The swing stopper 43 is directly fixed to the first mounting frame and the second mounting frame between the first rotating body 42a and the second rotating body 42b. The first rotating body 42a, the second rotating body 42b, and the swing stopper 43 are positioned on the opposite side of the swing shaft 41 from the detection plate 40a in the horizontal direction.

When the holding unit 30 is moved from the preparation position to the holding position as described later, the first rotating body 42a and/or the second rotating body 42b apply pressure to the bag bundle 81 (that is, the second bag bundle described later). Rotate. When the swinging body 40 slides on the bag bundle 81 in this manner, the first rotating body 42a and/or the second rotating body 42b are allowed to rotate while allowing the first rotating body 42a and/or the second rotating body 42b to rotate. is pressed against the bag bundle 81, it is possible to effectively prevent the bag bundle 81 from being damaged by the rocking body 40. - 特許庁

The rocking body 40 has a first rotating body hole 44a, a second rotating body hole 44b, and a stopper hole 45 at positions corresponding to the first rotating support shaft 42c, the second rotating supporting shaft 42d, and the rocking stopper 43, respectively. formed. The first rotor hole 44a, the second rotor hole 44b, and the stopper hole 45 are located on the opposite side of the swing shaft 41 from the detection plate 40a in the horizontal direction. A first rotation support shaft 42c can be arranged in the first rotation body hole 44a, a second rotation support shaft 42d can be arranged in the second rotation body hole 44b, and a rocking stopper 43 can be arranged in the stopper hole 45. Can be placed. Each of the first rotating body hole 44a, the second rotating body hole 44b, and the stopper hole 45 may be entirely surrounded by the rocking body 40, or may be partially cut away and only partially surrounded by the rocking body 40. May be surrounded. The illustrated first rotary body hole 44a has a partially cut-out groove shape, and the first rotation support shaft 42c extends inside and outside the first rotary body hole 44a according to the rocking state of the rocking body 40. / or placed outside. Each of the illustrated second rotating body hole 44b and the stopper hole 45 has no notch and is entirely surrounded by the rocking body 40. As shown in FIG. The second rotation support shaft 42d and the rocking stopper 43 are always arranged in the second rotating body hole 44b and the stopper hole 45 regardless of the rocking state of the rocking body 40. As shown in FIG.

When the oscillating body 40 oscillates within the previously assumed oscillating range, the oscillating body 40 oscillates without colliding with the first rotation support shaft 42c, the second rotation support shaft 42d, and the oscillation stopper 43. can do. The swingable range of the swinging body 40 is defined as a boundary position where the swinging stopper 43 arranged in the stopper hole 45 collides with the swinging body 40 .

The position detection unit 31 has the above-described oscillating body 40 (including the detection plate 40a) and the oscillating detection sensor 39, and detects the position of the holding part 30 in the stacking direction (that is, in the height direction) with respect to the object with which the oscillating body 40 contacts. , can be detected according to the on-off state of the swing detection sensor 39 .

For the configuration and action of the holding portion 30 and the position detection portion 31 of the present embodiment, reference is made to the holding portion and the position detection portion described in Japanese Patent Application Laid-Open No. 2020-117310.

The height position information acquisition device 32 acquires height position information indicating the height position of the part to be measured (bag bundle 81). A height position information acquiring device 32 shown in FIG. 6 has a light incident/exiting surface 32a for emitting measurement light and receiving reflected measurement light. The measurement light travels straight along the vertical direction from the light entrance/exit surface 32a and is reflected by the measurement target site. Then, part or all of the measurement light reflected by the measurement target site is received by the light entrance/exit surface 32a. The height position information acquisition device 32 calculates the distance from the light incident/exiting surface 32a to the measurement target site according to the light incident/exiting surface 32a emitting and receiving the measurement light (for example, the time from emergence to light reception). To detect. Then, the height position information acquiring device 32 acquires the height position information of the measurement target parts (the first bag bundle 81a and the second bag bundle 81b in this embodiment) based on the detection result.

FIG. 7 is a functional block diagram showing an example of the control device 60. As shown in FIG.

The control device 60 of the present embodiment includes a movement position derivation unit 61, a movement control unit 62, an orientation control unit 63, and a holding control unit 64, the position detection unit 31 (particularly the swing detection sensor 39), height position information An acquisition device 32, a moving mechanism 22, an orientation adjusting mechanism 23, and an opening/closing driving section 33 are connected.

The movement position derivation section 61 derives the movement position of the holding unit 29 (that is, the holding section 30, the position detection section 31, and the height position information acquisition device 32). In this embodiment, in order to take out one bag bundle 81 (especially the first bag bundle 81a) from the storage box 70, the holding unit 29 moves through a plurality of moving positions (including a preparation position and a holding position, which will be described later). be moved. The movement position derivation section 61 calculates these movement positions to which the holding unit 29 is moved based on the detection result of the position detection section 31 and the height of the bundle of bags 81 in the storage box 70 acquired by the height position information acquisition device 32. Derived based on location information.

The movement position derived by the movement position derivation unit 61 is determined based on the height direction distance and the horizontal direction distance before and after movement in the present embodiment, but may be determined based on other information. For example, each movement position may be determined based on coordinate information such as three-dimensional coordinates.

The movement control section 62 controls the movement mechanism 22 based on information on a plurality of movement positions derived by the movement position deriving section 61 to move the holding unit 29 . Thereby, the holding unit 29 moves through a plurality of movement positions. The holding unit 29 may stop at each movement position or may pass through each movement position without stopping.

The orientation control section 63 controls the orientation adjustment mechanism 23 to adjust the orientation of the holding unit 29 . That is, the orientation adjustment mechanism 23 adjusts the orientation of the holding unit 29 with respect to the bundle of bags 81 to be taken out (that is, the first bundle of bags 81 a ) in the storage box 70 under the control of the orientation control section 63 .

In this embodiment, as described above, the orientation of the bundle of bags 81 to be taken out from the storage box 70 is regularly changed, so the orientation of the holding unit 29 adapted to the bundle of bags 81 to be taken out is also regularly changed. Therefore, the optimum orientation of the holding unit 29 (particularly the orientation with respect to the first horizontal direction Dh1) according to the removal of the bundle of bags 81 from the storage box 70 can be determined in advance. The orientation control unit 63 of this embodiment controls the orientation adjustment mechanism 23 according to a predetermined program, and regulates the orientation of the holding unit 29 in the first horizontal direction Dh1 according to the operation of the holding unit 29 that takes out the bundle of bags 81. The orientation of the holding unit 29 is adapted to the bundle of bags 81 to be taken out by changing the orientation of the holding unit 29 dynamically.

The holding control section 64 controls the opening/closing driving section 33 to move the holding movable section 34 . By moving the holding movable portion 34 and adjusting the distance between the holding movable portion 34 and the holding fixed portion 35, the bag bundle 81 can be held by the holding movable portion 34 and the holding fixed portion 35, or the holding movable portion 34 can be moved. Also, the bundle of bags 81 can be released from the holding and fixing portion 35 .

The holding part 30 of this embodiment holds the bundle of bags 81 in the lying posture by gripping it from above and below. Specifically, the movable holding portion 34 and the holding/fixing portion 34 are positioned above the bundle of bags 81 to be taken out and the holding/fixing portion (lower holding portion) 35 is positioned below while the movable holding portion (upper holding portion) 34 is positioned above. The bag bundle 81 is gripped by the portion 35 . Therefore, prior to the step of gripping the bag bundle 81 to be taken out (gripping step), a step of positioning the holding movable part 34 and the holding fixed part 35 above and below the bag bundle 81 (grasping preparation step) is performed. .

In the gripping preparation step described above, the holding control section 64 controls the opening/closing driving section 33 to place the holding movable section 34 at the release position, and the gap between the holding movable section 34 and the holding fixed section 35 is the object to be taken out. The interval between the holding movable portion 34 and the holding fixed portion 35 is relatively increased so as to be larger than the thickness of the bundle of bags 81 in the height direction. On the other hand, in the gripping step described above, the holding control unit 64 controls the opening/closing driving unit 33 to place the movable holding unit 34 at the gripping position, and the bag bundle 81 to be taken out is gripped from the movable holding unit 34 and the holding fixed unit 35 . The distance between the holding movable portion 34 and the holding fixed portion 35 is made relatively small so that the holding force acts.

As described above, the moving mechanism 22, the orientation adjusting mechanism 23, and the opening/closing drive section 33 of this embodiment work as a holding drive section that drives the holding section 30 (including the holding movable section 34 and the holding fixed section 35).

The control device 60 may be configured by a single device, or may be configured by combining a plurality of devices. Therefore, two or more of the movement position deriving section 61, the movement control section 62, the orientation control section 63, and the holding control section 64 may be realized by a common device. Further, the movement position derivation unit 61, the movement control unit 62, the orientation control unit 63, and the holding control unit 64 may be implemented by separate devices. The movement position derivation unit 61, the movement control unit 62, the orientation control unit 63, and the holding control unit 64 are connected so as to be able to transmit and receive each other as necessary, and can share various information (data).

Further, the control device 60 may control other elements constituting the bag removing device 10, and may transmit and receive information (data) to and from sensors and devices (not shown).

Next, an example of a bag take-out method performed by the bag take-out device 10 described above will be described.

The bag take-out method described below is performed by properly driving various devices (for example, the movement mechanism 22, the orientation adjustment mechanism 23, and the opening/closing drive unit 33) that constitute the bag take-out device 10 under the control of the control device 60. .

FIG. 8 shows the horizontal movement distance (mm; X-axis) of the holding unit 29 and the height position of the measurement target site derived from the detection result of the height position information acquisition device 32 (that is, the “measurement height position”; mm; Y-axis). 9 to 16 are diagrams for explaining an example of the bag take-out method.

The relationship example shown in FIG. 8 corresponds to the states shown in FIGS. 9 and 10, and the states shown in FIGS. 11 to 16 are not shown in FIG. 11 to 16 show the first bundle of bags 81a and the second bundle of bags 81b, but the illustration of the other bundle of bags 81 is omitted. 11 to 16, only the topmost bag 80a and the bottommost bag 80b of the first bag bundle 81a are illustrated, only the topmost bag 80a of the second bag bundle 81b is illustrated, and the thickness portion 84 is illustrated. is omitted.

First, as shown in FIG. 9, the holding unit 29 is lowered by the moving mechanism 22, and the first bundle of bags 81a arranged at the highest position in the storage box 70 (especially, the first bundle of bags 81a arranged at the highest position in the exposed state) is lowered. The swinging body 40 is brought into contact with the upper bag 80a). In the example shown in FIG. 9, the holding unit 29 moves vertically straight toward the first bag bundle 81a at the horizontal reference position (that is, "horizontal movement distance (horizontal axis in FIG. 8)=0 mm"). and come into contact with the first bag bundle 81a.

Then, when the swinging body 40 in contact with the first bag bundle 81a swings around the swing shaft 41 and the distance between the detection plate 40a and the swing detection sensor 39 becomes equal to or greater than a predetermined size, the swinging body 40 swings. The detection sensor 39 switches from the off state to the on state. Under the control of the control device 60 (especially the movement control section 62), the movement mechanism 22 stops the lowering of the holding unit 29 at the timing when the swing detection sensor 39 is switched from the OFF state to the ON state.

In this way, the height position of the first bag bundle 81a (that is, the "measured height position”) is indicated by reference numeral “A1” in FIG.

In this embodiment, the height position of the part irradiated with the measurement light emitted from the height position information acquisition device 32 is acquired as the "measurement height position". In the example shown in FIG. 9, the height position of the first measurement point M1 on the uppermost bag 80a of the first bag bundle 81a is acquired as the "measurement height position" denoted by symbol "A1" in FIG. .

Regarding the "measurement height position" shown on the vertical axis of FIG. A reference height position at a predetermined distance is represented by "measured height position=0 mm". The height position of the part to be measured (that is, the “measurement height position”) is represented by the height direction distance from this reference height position. A position above the reference height position is represented as a plus (+) "measurement height position", and a position below the reference height position is represented as a minus (-) "measurement height position". .

The height position of the first bundle of bags 81a varies depending on the state of the first bundle of bags 81a itself and the state of the bundle of bags 81 positioned below the first bundle of bags 81a. height position=0 mm"). In the example shown in FIG. 8, the height position of the first bag bundle 81a (especially the first measurement point M1) indicated by symbol "A1" is indicated by a minus (-) numerical value.

From the viewpoint of efficiently moving the holding unit 29 to take out the bag bundle 81, in this process, the holding unit 29 may be lowered toward the end near the edge of the first bag bundle 81a. preferable. In this case, when moving the holding unit 29 from the range directly above the first bundle of bags 81a to the range directly above the second bundle of bags 81b in a process described later, the amount of movement of the holding unit 29 can be kept small.

Thereafter, as shown in FIG. 10, the holding unit 29 is lifted straight by a predetermined distance along the height direction by the moving mechanism 22 (see the holding unit 29 indicated by the dashed line in FIG. 10), and then horizontally moved. It is moved by a predetermined distance straight in the direction (see holding unit 29 shown in solid lines in FIG. 10).

The "measured height position" (that is, the height position information of the bundle of bags 81 in the storage box 70) acquired by the height position information acquisition device 32 while the holding unit 29 is making a series of movements is The locations indicated by symbols "A1", "A2", "A3" and "A4" in FIG. 8 are sequentially followed.

That is, while the holding unit 29 rises by a predetermined distance in the height direction after the swing detection sensor 39 is switched from the OFF state to the ON state, the "measured height position" derived from the measurement result of the height position information acquisition device 32 ' remains at the location indicated by symbol 'A1' in FIG. This is because the portion to be measured by the height position information acquisition device 32 is the same portion (that is, the first measurement point M1) of the first bag bundle 81a while the holding unit 29 is ascending, and the height position of the portion is changed. because there is no

Note that as the holding unit 29 rises, the "distance between the light entrance/exit surface 32a and the first bag bundle 81a (first measurement point M1)" measured by the height position information acquisition device 32 increases. The “measurement height position” derived from the measurement result of the height position information acquisition device 32 represents the height position of the location irradiated with the measurement light. does not necessarily depend on the distance between When the height position information acquisition device 32 (holding unit 29 in the present embodiment) rises or falls straight along the height direction, the height position information acquisition device 32 determines that “the location irradiated with the measurement light and the light By subtracting or adding the “movement distance in the height direction of the height position information acquisition device 32” to the “distance to the incident/emission surface 32a,” the “measured height position” can be derived. .

While the holding unit 29 moves horizontally after rising in the height direction, the first bag bundle 81a is irradiated with the measurement light emitted from the height position information acquisition device 32, and the measurement light is applied to the second bag. and irradiating the bundle 81b.

While the first bag bundle 81a (especially the uppermost bag 80a) is irradiated with the measurement light, the "measured height position" derived from the measurement result of the height position information acquisition device 32 is from "A1" in FIG. Go to "A2". As shown in FIG. 9, "A1" in FIG. 8 corresponds to the first measurement point M1, and "A2" corresponds to the edge portion of the uppermost bag 80a of the first bag bundle 81a. 8 and 9, the height position of the first bag bundle 81a (especially the uppermost bag 80a) gradually increases in the horizontal movement direction of the holding unit 29. In the example shown in FIGS.

After the measuring light reaches the edge of the uppermost bag 80a of the first bag bundle 81a, the height position The "measured height position" derived from the measurement result of the information acquisition device 32 goes from "A2" to "A3" in FIG. That is, the height position of the first bundle of bags 81 a acquired by the height position information acquisition device 32 gradually decreases in the horizontal movement direction of the holding unit 29 . This is because, as the holding unit 29 moves in the horizontal direction, the position of the measurement light emitted from the height position information acquisition device 32 is sequentially shifted to the lower bag 80 in the first bag bundle 81a. to move.

The timing at which the portion irradiated with the measurement light shifts from the first bag bundle 81a to the second bag bundle 81b corresponds to "A3" in FIG. 9 and 10, the edge portion of the lowermost bag 80b of the first bag bundle 81a is shown at a position separated from the uppermost bag 80a of the second bag bundle 81b in FIGS. However, in the example shown in FIG. 8, the edge portion of the lowest bag 80b of the first bag bundle 81a is in contact with the highest bag 80a of the second bag bundle 81b (" A3”).

While the uppermost bag 80a of the second bag bundle 81b is being irradiated with the measurement light and the holding unit 29 moves in the horizontal direction, the "measured height position" derived from the measurement result of the height position information acquisition device 32 is , from "A3" to "A4" in FIG. In the example shown in FIG. 8, the height position of the second bag bundle 81b (especially the uppermost bag 80a) gradually decreases in the horizontal movement direction of the holding unit 29. In the example shown in FIG.

The location of the second bag bundle 81b (especially the uppermost bag 80a) irradiated with the measurement light when the horizontal movement of the holding unit 29 is stopped is the second measurement point M2, which is indicated by the symbol " A4". Thus, the first bag bundle 81a and the second bag bundle 81a positioned between the first measurement point M1 (corresponding to "A1") and the second measurement point M2 (corresponding to "A4") and exposed upward The portion of the bag bundle 81b is the measurement range of the height position information acquisition device 32. As shown in FIG.

Thereafter, as shown in FIG. 11, the holding unit 29 is lowered by the moving mechanism 22, and the second bag bundle 81b is pushed downward by the holding unit 29 (especially the first rotor 42a). In FIG. 11, the position of the uppermost bag 80a of the second bag bundle 81b before being pushed down by the holding unit 29 is indicated by a dashed line, and the position of the uppermost bag 80a of the second bag bundle 81b after being pushed down by the holding unit 29 is indicated by a dashed line. The position of bag 80a is indicated by a solid line.

The descending distance of the holding unit 29 is determined by the control device 60 (especially the movement position derivation section 61) based on the “measured height position” derived from the measurement result of the height position information acquisition device 32.

As an example, the height position of the second measurement point M2 (see "A4" in FIG. 8) derived by the height position information acquisition device 32 in a state where the holding unit 29 is not in contact with the second bag bundle 81b. The holding unit 29 is lowered so that the second measurement point M2 is located a distance (for example, about 2 to 3 mm) below. At this time, the "measurement height position" derived by the height position information acquisition device 32 may be used as feedback information, and the height position of the portion of the second bag bundle 81b irradiated with the measurement light is While monitoring based on the "measured height position" derived by the height position information acquisition device 32, it may be pushed down to the desired position. Alternatively, regardless of the pressing down of the second bundle of bags 81b by the holding unit 29, the holding unit 29 descent distances may be determined.

Thereafter, as shown in FIG. 12, the holding unit 29 is horizontally moved by the moving mechanism 22, and the holding/fixing part 35 and the swinging body 40 are moved to the preparation position below the edge portion of the first bag bundle 81a. At this time, the holding unit 29 pushes down the second bundle of bags 81b and advances below the edge portion of the first bundle of bags 81a. As a result, a space is formed between the first bundle of bags 81a (especially the lowest bag 80b) and the second bundle of bags 81b (especially the highest bag 80a) in the forward direction of the holding unit 29. A holding unit 29 can enter. As a result, the holding/fixing part 35 and the rocking body 40 can smoothly enter below the first bag bundle 81a while preventing the first bag bundle 81a and the second bag bundle 81b from being displaced and damaged.

The holding unit 29 of this example is actually moved from the position shown in FIG. placed in That is, the moving direction of the holding unit 29 is determined according to the slope of the surface of the second bundle of bags 81b. As described above, while the holding unit 29 is moving from the range directly above the first bundle of bags 81a to the range directly above the second bundle of bags 81b, the height position information acquiring device 32 detects the surface of the first bundle of bags 81a and the surface of the second bundle of bags 81a. The height position information of the surface of the bundle of bags 81b is obtained (see FIG. 8). As shown in FIG. 8, this height position information includes gradient information indicating the gradient of the surface of the first bundle of bags 81a (inclination information between "A1" and "A2" in FIG. 8) and second bundle of bags. 81b includes slope information (slope information between "A3" and "A4" in FIG. 8) indicating the slope of the surface of 81b.

The holding unit 29 is moved according to the slope of the surface of the second bag bundle 81b based on the slope information of the second bag bundle 81b acquired by the control device 60 (for example, the movement position derivation unit 61). As a result, when the holding unit 29 moves toward the preparation position, it is possible to avoid applying an excessive downward force from the holding unit 29 to the second bag bundle 81b.

When moving the holding unit 29 in the horizontal direction in this manner, the "measured height position" derived by the height position information acquisition device 32 may also be used as feedback information. That is, while monitoring the height position of the location irradiated with the measurement light based on the “measurement height position” derived by the height position information acquisition device 32, the holding unit 29 is adjusted according to this height position. A height position may be adjusted by the moving mechanism 22 . As a result, the holding unit 29 can move toward the preparation position while pushing down the second bag bundle 81b to a desired position with high accuracy.

Thereafter, as shown in FIG. 13, the holding unit 29 is horizontally moved by the moving mechanism 22, the holding/fixing part 35 is positioned below the first bag bundle 81a (especially the lowest bag 80b), and the holding unit 29 is Stopped at holding position. As a result, the first bundle of bags 81a is positioned between the movable holding portion 34 and the fixed holding portion 35 arranged at the release position. The timing at which the movable holding portion 34 is arranged at the release position is not limited. placed in the release position.

When the holding unit 29 moves from the position (preparation position) shown in FIG. 12 to the position (holding position) shown in FIG. 13, the moving direction of the holding unit 29 is not limited, and the holding unit 29 moves along the horizontal direction. It may be moved in an oblique direction that is inclined with respect to the horizontal direction and the height direction. From the viewpoint of ensuring that the holding and fixing portion 35 enters between the first bundle of bags 81a and the second bundle of bags 81b, the holding and fixing portion 35 is placed at the preparation position (see FIG. 12). It is preferable that the distance in the height direction between the portion 35 and the first bag bundle 81a (especially the lowest bag 80b) is large. On the other hand, from the viewpoint of appropriately gripping the first bundle of bags 81a by the holding portion 30, the holding and fixing portion 35 and the first bundle of bags 81a are separated from each other in a state where the holding and fixing portion 35 is arranged at the holding position (see FIG. 13). (Particularly, the lowest bag 80b) is preferably small, and the holding/fixing part 35 may be in contact with the first bag bundle 81a (particularly, the lowest bag 80b).

Therefore, when the holding/fixing portion 35 is moved from the preparation position (see FIG. 12) to the holding position (FIG. 13), by moving the holding/fixing portion 35 in an oblique direction, the first bag bundle 81a and the second bag bundle It is possible to achieve both the secure entry of the holding/fixing portion 35 between the first bag bundle 81b and the holding portion 30 appropriately gripping the first bag bundle 81a.

After that, as shown in FIG. 14, the movable holding portion 34 is lowered by the opening/closing driving portion 33 to be placed at the gripping position, and the first bag bundle 81a is Grasped.

Thereafter, as shown in FIG. 15, the holding unit 29 is moved while maintaining the state in which the holding section 30 holds the first bag bundle 81a (that is, the state in which the holding movable section 34 is arranged at the holding position). It is lifted by mechanism 22 . As a result, the first bag bundle 81a rises together with the holding unit 29 and separates from the second bag bundle 81b.

The first bundle of bags 81a separated from the second bundle of bags 81b in this way moves to the outside of the storage box 70 together with the holding unit 29, and moves to the outside of the storage box 70. device (not shown)) from the holding unit 29 . The method of passing the bag bundle 81 (that is, the first bag bundle 81a) from the holding unit 29 to the subsequent device is not limited. Typically, the bag bundle 81 held by the holding unit 30 is also held by the subsequent device, and then the holding movable unit 34 is placed at the release position to release the bag bundle 81 from the holding by the holding unit 30. As a result, the bundle of bags 81 is passed from the holding unit 29 to the subsequent device.

After that, the holding unit 29 is arranged in a position and attitude for taking out the next bag bundle 81 (that is, the first bag bundle 81a positioned at the top in the storage box 70 at this point). In this embodiment, the orientation adjustment mechanism 23 rotates the holding unit 29 by 180 degrees, and the holding unit 29 is positioned directly above the first bag bundle 81a in the storage box 70 (see FIG. 16).

After that, the holding unit 29 is lowered by the moving mechanism 22, the series of processes described above (see FIGS. 9 to 15) are performed, and the first bag bundle 81a is transferred to the subsequent device.

By repeating the series of processes described above (see FIGS. 9 to 16), the bag bundle 81 in the storage box 70 is taken out one by one from the storage box 70 and transferred to the subsequent device.

As described above, in the method of taking out bags according to the present embodiment, the height position indicating the height position of the surface of the first bag bundle 81a positioned at the top of the plurality of bag bundles 81 and the adjacent second bag bundle 81b is A step of acquiring position information by the height position information acquisition device 32; a step of moving the holding/fixing portion 35 (holding lower portion) of the holding portion 30 to the preparation position (see FIG. 12) determined according to the height position of the surface of the portion; ) to a holding position (see FIG. 13) between the first bag bundle 81a and the second bag bundle 81b.

Further, the bag take-out device 10 of this embodiment has a holding/fixing portion 35, and the holding portion 30 holds the first bag bundle 81a positioned at the highest position among the plurality of bag bundles 81 stacked in the height direction. a height position information acquiring device 32 for acquiring height position information indicating the height position of the surface of a second bag bundle 81b adjacent to the first bag bundle 81a among the plurality of bag bundles 81; A holding drive unit (the moving mechanism 22, the orientation adjustment mechanism 23, and the opening/closing drive unit 33) that drives is provided. The holding driving section (especially the moving mechanism 22) moves the holding and fixing section 35 to the preparation position derived based on the height position information of the second bundle of bags 81b, and the position of the first bundle of bags 81a in the second bundle of bags 81b. to a preparation position determined according to the height position of the surface of the portion corresponding to the edge of , and the holding and fixing portion 35 is moved from the preparation position to the holding position between the first bundle of bags 81a and the second bundle of bags 81b. move to

According to the bag removing method and the bag removing apparatus described above, the holding and fixing portion 35 can be accurately entered into the space between the first bag bundle 81a and the second bag bundle 81b. In particular, the preparation position is determined according to the height position of the surface of the portion of the second bag bundle 81b corresponding to the edge of the first bag bundle 81a. Therefore, a position suitable for reliably entering and arranging the holding/fixing portion 35 between the first bag bundle 81a and the second bag bundle 81b can be determined as the preparation position.

The "surface of the portion of the second bundle of bags 81b corresponding to the edge of the first bundle of bags 81a" referred to here is the surface portion of the second bundle of bags 81b corresponding to the position of the edge of the first bundle of bags 81a. is. Typically, the surface of the portion of the second bundle of bags 81b positioned immediately below the edge of the first bundle of bags 81a is "the surface of the portion of the second bundle of bags 81b corresponding to the edge of the first bundle of bags 81a." correspond to However, the surface of the portion of the second bundle of bags 81b that is located in the vicinity of the edge of the first bundle of bags 81a but not immediately below the edge of the first bundle of bags 81a is also referred to as "the surface of the second bundle of bags 81b that corresponds to the edge of the first bundle of bags 81a." part surface”.

Further, the height position information acquisition device 32 is attached to the holding portion 30 (including the holding movable portion 34 and the holding fixed portion 35) via the connecting plate 38, the opening/closing drive portion 33 and the mounting frame 36, and the holding fixed portion 35 is moved with

Thereby, the moving drive system of the holding part 30 and the height position information acquisition device 32 can be simplified. Further, the relative position of the height position information acquisition device 32 with respect to the holding unit 30 can be fixed, and the measurement performed by the height position information acquisition device 32 can be always associated with the position of the holding unit 30, and the measurement The height position information of the target parts (that is, the first bag bundle 81a and the second bag bundle 81b) can be obtained with high accuracy.

Further, the height position information acquisition device 32 acquires gradient information indicating the gradient of the surface of the second bundle of bags 81b based on the height position information of the second bundle of bags 81b, and the preparation position is determined based on the gradient information. derived by The height position information acquisition device 32 of this embodiment measures the first measurement point M1 of the first bag bundle 81a and the height position information of the second bag bundle 81b based on the height position information of the first bag bundle 81a and the height position information of the second bag bundle 81b. , and the second measurement point M2 of the second bag bundle 81b, and the preparation position is derived based on the gradient information.

As a result, even if the surface of the second bag bundle 81b (especially the upper surface of the uppermost bag 80a) is inclined, it is possible to derive an appropriate position as the preparation position. Moreover, it is also possible to move the holding and fixing part 35 in the horizontal direction and the height direction according to the inclination of the surface of the second bundle of bags 81b, so that an excessive pressing down force from the holding unit 29 to the second bundle of bags 81b can be avoided. can be effectively avoided from working.

Further, the height position information acquisition device 32 acquires height position information indicating the height position of the surface of the first bag bundle 81a, and the preparation position is the height position information of the first bag bundle 81a and the height position information of the second bag. It is derived based on the height position information of the bundle 81b.

In this way, by deriving the preparation position in consideration of not only the height position information of the second bag bundle 81b but also the height position information of the first bag bundle 81a, a more appropriate position can be assigned to the preparation position. .

In addition, the height position information acquisition device 32 measures the first measurement point M1 of the first bag bundle 81a and the second measurement point M2 of the second bag bundle 81b along the measurement route from one to the other. Acquiring the height position information of the bag bundle 81a and the height position information of the second bag bundle 81b, the holding/fixing part 35 moves to the preparation position along the holding/moving path, and at least part of the holding/moving path is Corresponds to the measurement path.

As a result, the holding/fixing part 35 can be moved to the preparation position along the measurement path, and can be accurately moved toward the desired preparation position. In addition, by moving the holding/fixing part 35 along the portion of the second bag bundle 81b where the height position information is directly acquired by the height position information acquiring device 32, the second bag bundle is removed from the holding unit 29. It is possible to avoid applying an excessive downward force to 81b.

Note that the relationship that "at least a part of the holding and moving path corresponds to the measuring path" here means, for example, a projection of at least a part of the holding and moving path (especially a downward projection) and a projection of the measurement path (especially a downward projection). (projection of

Further, the holding/fixing portion 35 is moved to the preparation position while pushing down the surface of the second bag bundle 81b.

As a result, the periphery of the portion of the surface of the second bundle of bags 81b that is directly pushed down by the holding and fixing portion 35 is also pushed down, and the holding and fixing portion 35 is pushed down between the first bundle of bags 81a and the second bundle of bags 81b. can create a space that can be entered by Therefore, the holding and fixing portion 35 can smoothly enter between the first bundle of bags 81a and the second bundle of bags 81b without applying excessive force or damage to the first bundle of bags 81a. .

As described above, according to the present embodiment, in the step of acquiring the height position information by the height position information acquisition device 32, the plurality of bag bundles 81 stacked in the height direction and adjacent to each other in the height direction The height indicating the height position of the surface of the first bag bundle 81a positioned at the top and the second bag bundle 81b adjacent to each other among the plurality of bag bundles 81 in which the bag bundles 81 arranged at the same position partially overlap each other. In the step of acquiring the position information by the height position information acquisition device 32 and holding one or more bags 80 by the holding unit 30, the preparation position derived based on the height position information, the second bag bundle 81b The holding/fixing portion 35 (holding lower portion) of the holding portion 30 is moved to a preparation position determined according to the height position of the surface of the portion corresponding to the edge of the first bag bundle 81a, and the holding/fixing portion 35 is It is moved from the preparation position to the holding position between the first bag bundle 81a and the second bag bundle 81b.

[First modification]
In this modified example, the same reference numerals are given to the same or corresponding elements as in the above-described embodiment, and detailed description thereof will be omitted.

17 and 18 are diagrams for explaining the bag take-out method according to the first modified example.

The configuration of the bag take-out device 10 shown in FIGS. 17 and 18 is the same as the configuration of the bag take-out device 10 according to the above-described embodiment.

In the bag picking method according to this modification, as in the above-described embodiment, the holding unit 29 is first lowered, the rocking body 40 in contact with the first bag bundle 81a rocks, and the rocking detection sensor 39 turns off. The lowering of the holding unit 29 is stopped at the timing when the state is switched to the ON state (see FIG. 17).

After that, the holding unit 29 is horizontally moved by a predetermined distance by the moving mechanism 22, comes out of the range directly above the first bundle of bags 81a, and is positioned in the range directly above the second bundle of bags 81b (see FIG. 18).

After that, the holding unit 29 is vertically lowered by a predetermined distance by the moving mechanism 22, and is placed at a position where it pushes down the second bag bundle 81b (particularly, the uppermost bag 80a) while contacting the second bag bundle 81b. be.

After that, the holding unit 29 is horizontally moved by the moving mechanism 22 for a predetermined distance, and is positioned between the first bag bundle 81a (particularly the lowest bag 80b) and the second bag bundle 81b (particularly the highest bag 80a). A holding/fixing part 35 is arranged.

After that, as in the above-described embodiment, the first bag bundle 81a is held by the holding section 30 (holding movable section 34 and holding fixed section 35), and the holding unit 29 is lifted together with the first bag bundle 81a. The one-bag bundle 81a is transferred from the holding section 30 to the subsequent device.

[Second modification]
FIG. 19 is a plan view of a bag take-out device 100 according to a second modified example. FIG. 20 is a side view of the bag take-out device 100 according to the second modification.

A bag take-out device 100 according to this modification includes a bag conveying device 110, a trigger sensor 111, a distance detection sensor 112, and a holding section 120 (see FIG. 22 described later).

Bag conveying device 110 conveys bag 190 . The bag conveying device 110 of this example can convey two or more bags 190 . Two or more bags 190 are placed on the bag conveying device 110 one by one without being stacked, and adjacent bags 190 on the bag conveying device 110 are spaced apart.

A bag 190 shown in FIG. 19 has a rectangular front side sheet member and a back side sheet member. The front sheet member forms the exposed surface (upper surface) of bag 190 , and the back sheet member forms the lower surface that contacts bag conveying device 110 . The front side sheet member and the back side sheet member are sealed (for example, fused) to each other at the peripheral edge portions other than the mouth portion, and are not bonded to each other at the mouth portion. A portion of the front side sheet member and the back side sheet member that constitutes the opening of the bag 190 can be opened and closed. The front side sheet member and the back side sheet member may be integrally formed of the same material, or may be inherently connected to each other.

In the inner space of the bag 190 (ie, the space surrounded by the front sheet member and the back sheet member), contained items 199 (a plurality of rectangular solid objects in the example shown in FIG. 19) are arranged. Due to the thickness of the container 199 , the portion of the bag 190 corresponding to the inner space has a greater thickness than the peripheral portion of the bag 190 . Therefore, when the bag 190 is placed on the bag conveying device 110, the periphery of the bag 190 is at least partially positioned above the bag conveying device 110 and is not directly supported by the bag conveying device 110. .

In this modified example, a part of the periphery of the bag 190 (particularly, both side periphery near the mouth) constitutes a holding portion 195 . The planned holding portion 195 of this example has a sheet shape at the end of the bag 190 and is not directly supported by the bag conveying device 110 . Therefore, the position and orientation (inclination angle, etc.) of the planned holding portion 195 are not constant among the bags 190, and the position and orientation of the planned holding portion 195 in each bag 190 may change due to various influences.

The bag conveying device 110 shown in FIGS. 19 and 20 is composed of a belt conveyor, and an endless belt is supported by two rollers. One or both of the two rollers are actively rotated by a driving device (not shown) such as a motor, so that the endless belt runs and is placed on the upward facing surface of the endless belt. A bag 190 is transported in the transport direction.

The bag conveying device 110 may convey the bags 190 continuously or may convey the bags 190 intermittently. When the bag 190 is continuously conveyed, the bag 190 is held by the holding section 120 and taken out from the bag conveying device 110 during conveyance. On the other hand, when the bags 190 are conveyed intermittently, the bags 190 on the bag conveying device 110 may be held by the holding section 120 and taken out from the bag conveying device 110 in a stopped state.

In this modification, a combination of the trigger sensor 111 and the distance detection sensor 112 is used as a "height position information acquisition device for acquiring height position information indicating the height position of the exposed surface (the surface exposed upward) of the bag 190. ” is constructed.

The trigger sensor 111 is positioned upstream of the distance detection sensor 112 in the bag 190 conveying direction. The bag 190 (especially the planned holding point 195) conveyed by the bag conveying device 110 passes through the detection point (first detection point) of the trigger sensor 111 and then passes through the detection point (second detection point) of the distance detection sensor 112. pass.

In the examples shown in FIGS. 19 and 20, the detection point of the trigger sensor 111 and the detection point of the distance detection sensor 112 do not overlap the bag conveying device 110 in the height direction. Each bag 190 conveyed by the bag conveying device 110 partially protrudes from the bag conveying device 110 in the horizontal direction. are conveyed by the bag conveying device 110 so as not to overlap each other.

The trigger sensor 111 is a sensor that detects whether or not the bag 190 has passed through the first detection point, and sends the detection result to the control device 60 (see FIG. 7). A specific configuration of the trigger sensor 111 is not limited, and typically, the trigger sensor 111 can be configured by a combination of a light emitter and a light receiver.

The distance detection sensor 112 acquires height position information indicating the height position of the exposed surface (surface exposed upward) of the bag 190 passing through the second detection point. Although the specific configuration of the distance detection sensor 112 is not limited, it can have, for example, the same configuration as the above-described height position information acquisition device 32 (see FIG. 6, etc.).

The distance detection sensor 112 of this modified example starts detection under the control of the control device 60 in accordance with the timing at which the trigger sensor 111 detects the bag 190 . The method of determining the timing of the end of detection by the distance detection sensor 112 is not limited. For example, the distance detection sensor 112 may terminate detection after a predetermined time has elapsed since the distance detection sensor 112 started detection, or may perform detection according to the detection results of the trigger sensor 111 and/or the distance detection sensor 112. may be terminated.

Note that the distance detection sensor 112 may continue detection without ending detection. In this case, installation of the trigger sensor 111 is unnecessary.

FIG. 21 is a graph showing an example of the detection result of the distance detection sensor 112. As shown in FIG. In FIG. 21, the horizontal axis indicates the horizontal movement distance (mm) of the bag 190 conveyed by the bag conveying device 110, and the vertical axis indicates the height position ( That is, the "measurement height position" (mm; Y axis) is indicated.

The horizontal movement distance (horizontal axis) shown in FIG. The measurement height position (vertical axis) shown in FIG. 21 represents the height direction distance of the part to be measured from the bag conveying device 110 (especially the mounting surface on which the bag 190 is placed (that is, the upper surface of the endless belt)). .

The distance detection sensor 112 of this example detects the height position of the exposed surface (surface exposed upward) of the bag 190 on the bag conveying device 110 . In particular, in the graph shown in FIG. 21, both ends of one line indicating a value other than zero (0) in the measurement height position (vertical axis) (see the circles indicated by the dotted line) are the bag 190 to be detected. , and the inclination of both ends indicates the inclination of the planned holding area 195 .

The control device 60 of this modified example analyzes the detection result of the distance detection sensor 112 as illustrated in FIG.

Then, the control device 60 adjusts at least one of the position and posture of the corresponding holding portion 120 according to the derived inclination of each planned holding portion 195 (see FIG. 22). Thereby, each holding part 120 can appropriately hold the corresponding planned holding portion 195 in a state adapted to the actual position and/or orientation of the corresponding planned holding portion 195 .

A specific configuration of the holding part 120 is not limited, and a specific method of holding the bag 190 by the holding part 120 is not limited. The holding part 120 shown in FIG. 22 grips the sheet-shaped holding portions 195 on both side edges of the bag 190, but uses means other than gripping (for example, suction of the bag surface (holding based on negative pressure), etc.). bag 190 may be held. The retention force of retainer 120 can be created in any manner. For example, the holding part 120 may have a chuck structure using air pressure (for example, a gripping mechanism using an air cylinder).

As described above, the planned holding portion 195 of each bag 190 does not overlap the bag conveying device 110 in the height direction. Therefore, each holding part 120 can be moved without colliding with the bag conveying device 110 at the holding position, and the position and posture of each holding part 120 can be freely changed. A device that adjusts the position and orientation of each holding unit 120 under the control of the control device 60 is not limited, and the position and orientation of each holding unit 120 may be adjusted by a robot (for example, an articulated robot or a parallel link robot). .

In this modification, the position where the bag 190 is arranged indicated by the two-dot chain line in FIG. take-out position). Each bag 190 is held and lifted by the holding portion 120 in this holding position and sent to a downstream device (not shown).

[Other Modifications]
The bag extraction method described above comprises a step of acquiring height position information indicating the height position of one or more bags 80, 190 by means of the height position information acquiring devices 32, 112; and holding the one or more bags 80, 190 by the holding parts 30, 120 adjusted in at least one of the position and orientation based on the height position information acquired by. However, the bag take-out method and bag take-out device are not limited to the above examples.

The height position information acquisition device 32 described above uses the measurement light to obtain height position information of the measurement target site, but the configuration and measurement method of the height position information acquisition device 32 are not limited. For example, the height position information acquisition device 32 may include an imaging device (not shown) and acquire the height position information of the measurement target site based on the photographed image acquired by the imaging device. The height position information acquisition device 32 and/or the control device 60 analyzes the photographed image acquired by the imaging device, and determines the height of the bag bundle 81 (especially the first bag bundle 81a and the second bag bundle 81b) in the storage box 70. You can get location information. The specific method of image analysis performed here is not limited, and the height position information of the bundle of bags 81 can be obtained from the photographed image using any image processing method.

Although the height position information acquisition device 32 of the above-described embodiment is provided integrally with the holding unit 30, the installation mode of the height position information acquisition device 32 is not limited, and the height position information acquisition device 32 can be installed independently of the holding unit 30. A location information acquisition device 32 may be provided. Further, the height position information acquisition device 32 may be provided at only one location, or may be provided at a plurality of locations. The height position information of the measurement target site may be obtained based on the detection results of the height position information obtaining devices 32 provided at a plurality of locations.

The shape and size of the storage box 70 (especially the inner storage space), the shape and size of each bag 80, and the shape and size of each bag bundle 81 are not limited. Further, the manner in which the bag 80 (bag bundle 81) is stored in the storage box 70 is not limited.

In the above-described embodiments, the measurement path from the first measurement point M1 to the second measurement point M2 is a straight line, but the measurement path may be a curve or any other line (e.g., a line containing straight and curved portions). may be Further, in the above-described embodiment, the holding/fixing portion 35 has a straight path from the push-down start position to the preparation position (i.e., the holding/moving path). good. Further, in the above-described embodiment, the path along which the holding/fixing part 35 travels from the preparation position to the holding position is a straight line, but the path may be a curved line or any other line.

The present disclosure is not limited to the embodiments and variations described above. For example, various modifications may be added to each element of the above-described embodiments and modifications, and configurations may be partially or wholly combined between the above-described embodiments and modifications. Further, the effects achieved by the present disclosure are not limited to the above-described effects, and specific effects according to the specific configurations of each embodiment can also be exhibited. In this way, various additions, changes, and partial deletions can be made to each element described in the claims, specification, abstract, and drawings without departing from the technical idea and spirit of the present disclosure. is.

10 bag take-out device 22 movement mechanism 23 orientation adjustment mechanism 29 holding unit 30 holding section 31 position detection section 32 height position information acquisition device 32a light input/output surface 33 open/close driving section 34 holding movable section , 35 holding and fixing portion, 36 mounting frame, 37 mounting plate, 38 connecting plate, 39 rocking detection sensor, 40 rocking body, 41 rocking shaft, 42a first rotating body, 42b second rotating body, 42c first rotation support shaft 42d second rotation support shaft 43 rocking stopper 44a first rotating body hole 44b second rotating body hole 45 stopper hole 60 control device 61 movement position derivation section 62 movement control section 63 orientation control 64 holding control unit 70 storage box 80 bag 80a top bag 80b bottom bag 81 bag bundle 81a first bag bundle 81b second bag bundle 84 thickness portion Dh1 first horizontal direction, Dh2 Second horizontal direction, M1 First measurement point, M2 Second measurement point, P1 First mode, P2 Second mode, P3 Third mode, P4 Fourth mode, PL Vinyl body

Claims (8)

a step of acquiring height position information indicating height positions of one or more bags by a height position information acquisition device;
a step of holding the one or more bags by a holding unit adjusted in at least one of position and posture based on the height position information acquired by the height position information acquisition device;
bag removal method including; In the step of acquiring the height position information by the height position information acquisition device, a plurality of bag bundles stacked in the height direction and arranged at positions adjacent to each other in the height direction are separated from each other. The height position information indicating the height position of the surface of the first bag bundle positioned at the top and the second bag bundle adjacent to each other among the plurality of bag bundles that are physically overlapped is acquired by the height position information acquisition device. death,
In the step of holding the one or more bags by the holding part,
At the preparation position derived based on the height position information and determined according to the height position of the surface of the portion of the second bag bundle corresponding to the edge of the first bag bundle, the holding Move the holding lower part of the part,
moving the holding lower part from the ready position to a holding position between the first bag bundle and the second bag bundle;
The bag extraction method according to claim 1. 3. The bag extraction method according to claim 2, wherein the height position information acquisition device is attached to the holding portion and moved together with the lower holding portion. The height position information acquisition device acquires gradient information indicating a gradient of the surface of the second bag bundle based on the height position information of the second bag bundle,
4. The bag unloading method according to claim 2, wherein the preparation position is derived based on the gradient information. The height position information acquisition device acquires height position information indicating a height position of the surface of the first bag bundle,
The bag unloading method according to any one of claims 2 to 4, wherein the preparation position is derived based on the height position information of the first bag bundle and the height position information of the second bag bundle. The height position information acquiring device measures the height of the first bag bundle along a measurement path from one of the first measurement point of the first bag bundle and the second measurement point of the second bag bundle to the other. Acquiring the height position information and the height position information of the second bag bundle,
said holding lower portion moves to said ready position along a holding movement path;
6. The bag picking method according to claim 5, wherein at least part of said holding/moving path corresponds to said measuring path. The bag unloading method according to any one of claims 2 to 6, wherein the holding lower part is moved to the preparation position while pushing down the surface of the second bag bundle. A holding part that has a holding lower part and holds one of a plurality of bag bundles stacked in the height direction, wherein the bag bundles arranged at positions adjacent to each other in the height direction are partial a holding unit that holds a first bundle of bags positioned at the highest position among the plurality of bundles of bags;
a height position information acquisition device for acquiring height position information indicating a height position of a surface of a second bag bundle adjacent to the first bag bundle among the plurality of bag bundles;
a holding drive unit that drives the holding unit;
The holding drive unit
The holding lower portion is a preparation position derived based on the height position information, and is determined according to the height position of the surface of the portion of the second bag bundle corresponding to the edge of the first bag bundle. Move to the ready position,
A bag unloading device for moving the holding lower part from the ready position to a holding position between the first bag bundle and the second bag bundle.

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