JP7127800B2 - Bag feeding device and packaging machine equipped with the same - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bag feeder suitable for feeding packaging bags and a packaging machine equipped with the same.

Conventionally, as a method of supplying packaging bags to a packaging machine or the like, a conveyor method (for example, Japanese Patent No. 4011567) has been adopted in which packaging bags are sequentially supplied by a conveyor.

In bag feeding by this conveyor method, as shown in FIG. The conveyor belt 100 sequentially conveys the packaging bag a to a position where it is detected (Japanese Patent Application Laid-Open No. 2016-3038).

However, this bag feeder requires a bag supplier to stagger and obliquely load a large number of packaging bags onto the conveyor belt. .

Japanese Patent No. 4149466 Japanese Patent Application Laid-Open No. 2016-3038

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a bag feeder and a packaging machine equipped with the same, which can stagger and obliquely stack a large number of packaging bags on a conveyor belt without requiring manual labor. .

To achieve the above object, a shelf for arranging a bundle of packaging bags, a bag feeding conveyor equipped with a conveyor belt for sequentially conveying the packaging bags, and a movably provided vicinity of the shelf and the bag feeding conveyor. A bag feeding device having a pair of robot hands for taking out the bundle of packaging bags from the shelf and placing the packaging bags on the conveyor belt, wherein one of the pair of robot hands is a robot. The hand has a packaging bag holding portion and a first rotation shaft for rotating the packaging bag holding portion, and the other robot hand of the pair of robot hands is for gripping a bundle of packaging bags. and a second rotating shaft for rotating the gripping parts, and the pair of robot hands are configured such that the gripping part of the other robot hand is arranged on the shelf. After gripping and taking out the bundle of packaging bags, the gripping portion is rotated by the second rotation shaft to form an inclined surface on one end side of the bundle of packaging bags. The packaging bag holding portion abuts on one side of the bundle of packaging bags to hold the bundle of packaging bags, and the pair of robot hands forms an inclined surface on one end side of the bundle of packaging bags, and moves the conveyor along the conveyor. A bag feeding device characterized by being controlled to be placed on a belt.

The bag feeding conveyor has a last packaging bag detection unit for detecting passage of the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt. It is preferable that, when the last packaging bag detecting section detects the last packaging bag, it is controlled to start placing the bundle of packaging bags on the conveyor belt (claim 2). In the pair of robot hands, one of the robot hands moves on the conveyor belt to release the holding of the bundle of packaging bags by the packaging bag holding section, and the packaging bag is held by the gripping section of the other robot hand. It is preferable that the stack of packaging bags is placed on the conveyor belt by releasing the grip of the stack (Claim 3). The one robot hand has a running roller unit for leveling the bundle of packaging bags on the conveyor belt, and the running roller unit of the one robot hand is placed on the conveyor belt. It is preferable that the upper portion of the bundle of packaging bags is rotated so that the packaging bags are leveled (claim 4). The traveling roller portion of the one robot hand includes a pair of packaging bag leveling rollers arranged apart from each other, and a packaging bag leveling belt stretched over the pair of packaging bag leveling rollers. It is preferable to have (Claim 5). The bag feeding conveyor includes a rotary drive unit for rotating the conveyor belt, and a leading packaging bag detection unit for detecting passage of the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt. and an elevating unit that lifts the last packaging bag of the bundle of packaging bags placed first on the conveyor belt, and the bag feeding device is placed on the conveyor belt later. When the leading packaging bag detection unit detects the passage of the leading packaging bag of the bundle of packaging bags, the trailing packaging bag of the bundle of packaging bags placed on the conveyor belt first is lifted by the lifting unit. Then, the packaging bag holding portion of the one robot hand enters below the rearmost packaging bag that has been lifted, and the raised state is maintained. , the top packaging bag of the bundle of packaging bags placed on the conveyor belt later is inserted under the rearmost packaging bag that has been lifted (claim 6).

Moreover, what solves the above problems is a packaging machine comprising the bag feeding device according to any one of claims 1 to 6.

According to the bag feeding device described in claim 1, a large number of packaging bags can be staggered and loaded obliquely on the conveyor belt without requiring manpower. According to the bag feeding device of claim 2, the packaging bags can be continuously and accurately placed on the conveyor belt. According to the bag feeding device described in claim 3, the packaging bag can be placed on the conveyor belt in the correct posture. According to the bag feeding device described in claim 4, it is possible to disentangle a large number of packaging bags, which are stacked obliquely by shifting them little by little, so that they do not stick to each other, and convey them in the correct posture and at regular intervals. can. According to the bag feeding device described in claim 5, a large number of packaging bags that are shifted little by little and stacked obliquely are loosened so that they do not stick to each other, and are conveyed in a more correct posture and at regular intervals. be able to. According to the bag feeding device described in claim 6, the first packaging bag of the next bundle of packaging bags is continuously inserted under the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt. and can be done accurately. According to the packaging machine described in claim 7, the effects of claims 1 to 6 can be obtained.

1 is a schematic front view of an embodiment of a packaging machine equipped with a bag feeding device of the present invention; FIG. 2 is a schematic plan view of FIG. 1; FIG. 2 is a schematic back view of a bag feeding conveyor in the bag feeding device of the packaging machine shown in FIG. 1; FIG. 2 is a rear view for explaining one robot hand (left hand) in the bag feeding device of the packaging machine shown in FIG. 1; FIG. 2 is a rear view for explaining the other robot hand (right hand) in the bag feeder of the packaging machine shown in FIG. 1; FIG. 6 is a rear view for explaining the action of the other robot hand (right hand) shown in FIG. 5; FIG. FIG. 2 is a schematic perspective view for explaining the action of a bag feeding device in the packaging machine shown in FIG. 1; FIG. 2 is a schematic perspective view for explaining the action of a bag feeding device in the packaging machine shown in FIG. 1; FIG. 2 is a schematic perspective view for explaining the action of a bag feeding device in the packaging machine shown in FIG. 1; FIG. 2 is a schematic perspective view for explaining the action of a bag feeding device in the packaging machine shown in FIG. 1; FIG. 2 is a schematic perspective view for explaining the action of a bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 3 is a schematic rear view for explaining the action of the bag feeding device in the packaging machine shown in FIG. 1; FIG. 5 is a schematic front view for explaining the action of a bag feeding conveyor in a conventional bag feeding device;

In the present invention, a pair of robot hands 5 and 6 are provided movably near the shelf 2 and the bag feed conveyor 4 for taking out the bundle of packaging bags h from the shelf 2 and placing the packaging bag a on the conveyor belt 3. One robot hand 5 of the pair of robot hands 5 and 6 has a packaging bag holding portion 7 and a first rotation shaft 8 for rotating the packaging bag holding portion 7, and has a pair of The other robot hand 6 of the robot hands 5 and 6 has an openable and closable gripper 9 for gripping the bundle of packaging bags h, and a second rotation shaft 10 for rotating the gripper 9. After the gripping portion 9 of the other robot hand 6 grips and takes out the bundle of packaging bags h placed on the shelf 2 , the gripping portion 9 is rotated by the second rotating shaft 10 . In a state in which an inclined surface s is formed on one end side of the bundle of packaging bags h by rotating, the packaging bag holding portion 7 of one of the robot hands 5 comes into contact with one side of the bundle of packaging bags h and lifts the bundle of packaging bags h. A bundle of packaging bags h is held and controlled by a pair of robot hands 5 and 6 to place the bundle of packaging bags h on a conveyor belt 3, so that a large number of packaging bags are staggered and stacked obliquely on the conveyor belt. A bag feeder 1 and a packaging machine P equipped with the same are realized.

A packaging machine equipped with the bag feeding device of the present invention will be described with reference to an embodiment shown in FIGS. 1 to 17. FIG. A packaging machine P equipped with the bag feeding device 1 of this embodiment includes a shelf 2 for arranging a bundle of packaging bags h, a bag feeding conveyor 4 having a conveyor belt 3 for sequentially conveying the packaging bags a, A pair of robot hands 5 and 6 are provided movably in the vicinity of the shelf 2 and the bag feed conveyor 4 for taking out the bundle of packaging bags h from the shelf 2 and placing the packaging bag a on the conveyor belt 3. One robot hand 5 of the robot hands 5 and 6 has a packaging bag holding portion 7 and a first rotation shaft 8 for rotating the packaging bag holding portion 7. The other robot hand 6 of 6 has an openable and closable gripper 9 for gripping the bundle of packaging bags h, and a second rotating shaft 10 for rotating the gripper 9. After the gripping portion 9 of the other robot hand 6 grips and takes out the bundle of packaging bags h placed on the shelf 2 , the gripping portion 9 is rotated by the second rotating shaft 10 . In a state where an inclined surface s is formed on one end side of the bundle of packaging bags h, the packaging bag holding portion 7 of one of the robot hands 5 abuts on one side of the bundle of packaging bags h to hold the bundle of packaging bags h. 1 is a packaging machine P equipped with a bag feeding device 1 controlled to place a bundle of packaging bags h on a conveyor belt 3 by robot hands 5 and 6 of FIG. Each configuration will be described in detail below.

In the packaging machine P of this embodiment, as shown in FIG. Ten grip pairs g for gripping the packaging bag a are provided on the mounted moving body (disk-shaped rotating body) 83 so as to protrude in the radial direction at equal angular intervals around the intermittent rotation shaft 80. ing.

The packaging machine P is a device that opens the opening of the packaging bag a, fills it with an object to be packaged, and seals it. As shown in FIG. Bag feeding process to supply, chuck opening of the packaging bag with chuck and printing process, printing inspection and bar code authentication process, opening the bag opening of the packaging bag filling process of filling the packaging bag with the items to be packaged; vibration process of vibrating the items to be packaged; pushing and blowing off the items to be packaged; 10 steps are performed: a top seal/air vent step for venting air, a seal cooling step for cooling the top seal and ejecting the packaging bag a in which the items to be packaged are packed, and a product ejection step. Although this embodiment is a rotary type packaging machine P, the present invention can also be applied to a known linear movement type packaging machine.

As shown in FIG. 1 or FIG. 2, the bag feeder 1 of the packaging machine P of this embodiment includes a shelf 2 for placing bundles of packaging bags h and a conveyor belt for sequentially conveying the packaging bags a. 3, and a pair of conveyor belts 3 which are provided movably in the vicinity of the shelf 2 and the bag feeding conveyor 4 for taking out the bundle of packaging bags h from the shelf 2 and placing the packaging bags a on the conveyor belt 3. Robot hands 5 and 6, a bag catching unit 11 for catching packaging bags a successively conveyed by bag feeding conveyor 4 one by one, and a bag in which one packaging bag a caught by catching unit 11 is placed. It has an arrangement section 12 and a bag supply section 13 for holding one packaging bag a arranged in the bag arrangement section 12 and supplying it to the grip pair g of the packaging machine P. As shown in FIG.

The shelf 2 is for arranging the bundles of packaging bags h. are placed. As described above, according to the present invention, since the bag supplier only places the bundle h of packaging bags on the shelf 2, there is no need to stagger a large number of packaging bags on the conveyor belt and stack them obliquely. The burden on suppliers is significantly reduced. The scope of the present invention also includes an automated arrangement of the bundle of packaging bags h on the shelf 2 .

The bag feeding conveyor 4 is for sequentially conveying the packaging bags a. As shown in FIG. 3, the bag feeding conveyor 4 of this embodiment includes a conveyor belt 3 for sequentially conveying the packaging bags a, It has a rear pulley 4a and a front pulley 4b over which the conveyor belt 3 is stretched, and a rotary drive section (bag conveying motor) 4c for rotating the conveyor belt 3 by driving the rear pulley 4a.

A pair of robot hands 5 and 6 are for taking out the bundle of packaging bags h from the shelf 2 and placing the packaging bag a on the conveyor belt 3. It is

A pair of robot hands 5 and 6 of this embodiment are composed of robot hands (left hand) 5 and (right hand) 6 of a humanoid robot 14, as shown in FIG.

The humanoid robot 14 includes a lower body 15, an upper body 16 rotatably connected to the lower body 15 near the waist, an upper left arm 17 rotatably connected near the left shoulder of the upper body 16, A right upper arm 18 rotatably connected near the right shoulder of the upper body 16, a left forearm 19 rotatably connected near the elbow of the left upper arm 17, and near the elbow of the right upper arm 18. A rotatably connected right forearm 20, one robot hand (left hand) 5 rotatably connected near the wrist of the left forearm 19, and a rotatable near the wrist of the right forearm 20. It has the other connected robot hand (right hand) 6 (the head is omitted and not shown).

One robot hand (left hand) 5 and the other robot hand (right hand) 6 are configured to be movable in the vicinity of the rack 2 and the bag supply conveyor 4 by controlling rotation between the above parts. .

One robot hand (left hand) 5, as shown in FIG. 4, has a packaging bag holding portion 7 (in this embodiment, extending in the same direction as shown in FIG. 8) for contacting and holding the packaging bag a. 3 rod-shaped portions arranged spaced apart from each other), the left-hand main body portion 5a to which the packaging bag holding portion 7 is fixed, and the left-hand main body portion 5a are rotated relative to the left forearm portion 19. The left hand main body portion 5a and the packaging bag holding portion 7 are configured to rotate with rotation about the first rotation shaft 8 as a central axis.

The other robot hand (right hand) 6, as shown in FIG. 5 or FIG. It has a right body portion 6b and a second rotation shaft 10 for relatively rotating the right body portion 6b with respect to the right forearm portion 20, and rotates about the second rotation shaft 10 as a central axis. The right hand body portion 6b and the grip portion 9 are configured to rotate accordingly.

Then, as shown in FIG. 7(A), the pair of robot hands 5 and 6 gripped and took out the bundle of packaging bags h placed on the shelf 2 with the grip part 9 of the other robot hand 6 (right hand). Thereafter, as shown in FIG. 7(B), the gripping portion 9 is controlled to rotate by the second rotating shaft 10 to form an inclined surface s on one end side of the bundle of packaging bags h. In this manner, the inclined surface s is formed on one end side of the bundle of packaging bags h (on the side of the mouth of the bag that is not gripped), so that the plurality of packaging bags a are conveyed by the conveyor belt 3 as shown in FIG. 9(A). It can be placed on top in a sashimi shape (a state in which a large number of stacked packaging bags are gradually shifted in the traveling direction of the conveyor belt as they go upward).

Next, as shown in FIG. 8A, the packaging bag holder 7 of one of the robot hands (left hand) 5 holds the bundle of packaging bags h in such a state that the inclined surface s is formed on one end side of the bundle of packaging bags h. It is controlled to hold the bundle of packaging bags h in contact with one side of the packaging bag h.

Further, as shown in FIGS. 8B and 9A, a pair of robot hands (left hand) 5 and (right hand) 6 are controlled to place the bundle of packaging bags h on the conveyor belt 3. be.

Specifically, first, as shown in FIG. 8B, the bag supply conveyor 4 detects the passing of the last packaging bag a1 of the bundle of packaging bags h1 previously placed on the conveyor belt 3. A pair of robot hands (left hand) 5 and (right hand) 6 having a tail packaging bag detector 21 (photoelectric sensor) detects the tail packaging bag a1 when the tail packaging bag detector 21 detects the tail packaging bag a1, as shown in FIG. While maintaining the state of (A), it is controlled to start placing the bundle of packaging bags h2 on the conveyor belt 3 in cooperation. As a result, the packaging bags a can be placed on the conveyor belt 3 continuously and accurately.

Next, one of the pair of robot hands (left hand) 5 and (right hand) 6 moves on the conveyor belt 3, and the holding of the bundle of packaging bags h by the packaging bag holding unit 7 is released. As shown in FIG. 9(A), the gripping portion 9 of the other robot hand (right hand) 6 releases the bundle of packaging bags h, thereby placing the bundle of packaging bags h on the conveyor belt 3. is controlled so that As a result, the packaging bag a can be placed on the conveyor belt 3 in a correct posture.

One robot hand (left hand) 5, as shown in FIG. As shown in FIG. 9(B) or FIG. 10(A), the running roller portion 22 moves above the bundle of packaging bags h2 placed on the conveyor belt 3 in the conveying direction of the bag feeding conveyor 4. By doing so, a plurality of packaging bags a are controlled to be leveled. As a result, the packaging bags a stacked on the conveyor belt 3 with a slight shift can be loosened so that they do not adhere to each other, and can be transported in the correct posture at regular intervals.

As shown in FIG. 4, the traveling roller portion 22 of one of the robot hands (left hand) 5 of this embodiment includes a pair of packaging bag leveling rollers 23 and 24 spaced apart, and a pair of packaging bag leveling rollers. It has a packaging bag leveling belt 25 stretched over rolling rollers 23 and 24, and their width (the length in the depth direction in FIG. 4) is formed to be substantially the same as the width of the packaging bag a. , and run over the bundle of packaging bags h placed on the conveyor belt 3 to level the packaging bags a.

The rotation of the pair of packaging bag leveling rollers 23 and 24 and the packaging bag leveling belt 25 is such that the rotation of the first rotating shaft 8 causes the roller 26 to rotate, and the rotation of the roller 26 causes the tension belt 27 and the tension belt 27 to rotate. The power is transmitted to the packaging bag leveling roller 24 via the roller 28 and the packaging bag leveling roller 23 rotates via the packaging bag leveling belt 25 . However, it is not limited to the one in which the running rollers (packaging bag leveling rollers 23 and 24) rotate with the rotation of the first rotating shaft 8, and the present invention may also rotate the running rollers by other actuators. included in the category of

Further, as shown in FIG. 3 or FIG. 10(B), the bag feeding conveyor 4 includes a rotation driving section 4c for rotating the conveyor belt 3, and a bundle of packaging bags h2 placed on the conveyor belt 3 later. A leading packaging bag detection unit (photoelectric sensor) 29 that detects the passage of the leading packaging bag a2 (specifically, the passage of the tip side of the packaging bag a2), and a package placed earlier on the conveyor belt 3 It has elevating units 30a and 30b for elevating the last packaging bag a1 of the bag bundle h1 and an elevating cylinder 31 for elevating the elevating units 30a and 30b.

Then, as shown in FIG. 10(B), the bag feeder 2 detects the passage of the leading packaging bag a2 of the bundle h2 of packaging bags placed later on the conveyor belt 3 by the leading packaging bag detection unit 29. , the rearmost packaging bag a1 of the bundle of packaging bags h1 placed on the conveyor belt 3 first is lifted by the elevating units 30a and 30b arranged on both sides in the width direction of the conveyor belt 3, as shown in FIG. As shown, the packaging bag holder 7 of one of the robot hands 5 enters below the raised packaging bag a1 to maintain the raised state, and the conveyor belt 3 is driven to rotate by the rotary drive unit 4c. It is controlled so that the top packaging bag a2 of the bundle h2 of packaging bags placed on the conveyor belt 3 later is inserted under the raised packaging bag a1. As a result, it is possible to continuously and accurately insert the leading packaging bag a2 of the next bundle of packaging bags h2 under the last packaging bag a1 of the bundle of packaging bags h1 previously placed on the conveyor belt 3. is configured so that

Next, a method of supplying the packaging bags a to the bag supply conveyor 4 in the packaging machine P of this embodiment will be described. The method of supplying the packaging bags a to the bag supply conveyor 4 of this embodiment is the same as that of the other robot hand provided with the openable and closable gripper 9 for gripping the bundle of packaging bags h from the shelf 2 on which the bundle of packaging bags h is arranged. A step of taking out the bundle of packaging bags h by the (right hand) 6, and a step of forming an inclined surface s on one end side of the bundle of packaging bags h gripped by rotating the other robot hand (right hand) 6 provided with a grip portion 9. , a packaging bag holding portion 7 for holding the packaging bag a in contact with the packaging bag a, and a traveling roller portion 22 for leveling the bundle of packaging bags on the conveyor belt 3 of the bag feeding conveyor 4. a step of bringing the packaging bag holding portion 7 of the one robot hand (left hand) 5 into contact with the bundle of packaging bags h to maintain a state in which an inclined surface s is formed on one end side of the bundle of packaging bags h; a step of moving a pair of robot hands (left hand) 5 and (right hand) 6 to a predetermined position above the conveyor belt 3 while maintaining the state in which the inclined surface s is formed on one end side of h; A step of placing a bundle of packaging bags h on a conveyor belt 3 with a pair of robot hands (left hand) 5 and (right hand) 6, and a traveling roller portion of one robot hand (left hand) 5 having a traveling roller portion 22. 22 runs above the bundle of packaging bags h placed on the conveyor belt 3 to level the packaging bag a; and a step of inserting the leading packaging bag a2 of the bundle of packaging bags h2 placed later on the conveyor belt 3 below the packaging bag a1. Each step will be described in detail below.

FIG. 12 shows the step of taking out the bundle of packaging bags h from the shelf 2 on which the bundle of packaging bags h is arranged by the other robot hand (right hand) 6 having an openable and closable gripper 9 for gripping the bundle of packaging bags h. , the gripping portion 9 of the other robot hand (right hand) 6 is opened and closed to grip and take out the bundle of packaging bags h placed on the shelf 2 .

In the step of forming an inclined surface s on one end side of a bundle h of packaging bags gripped by rotating the other robot hand (right hand) 6 provided with a gripping portion 9, as shown in FIG. At 9, the second rotating shaft 10 of the other robot hand (right hand) 6 that has gripped the bundle of packaging bags h is rotated counterclockwise by 90 degrees, and the gripping portion 9 is rotated counterclockwise 90 degrees together with the right hand main body portion 6b. By rotating it by degrees, an inclined surface s is formed on one end side of the bundle of packaging bags h. That is, in this process, a state is formed in which a large number of packaging bags a are shifted little by little above the conveyor belt 3 .

One comprising a packaging bag holding portion 7 for holding the packaging bag a in contact with the packaging bag a, and a running roller portion 22 for leveling the bundle of packaging bags on the conveyor belt 3 of the bag feeding conveyor 4. In the step of bringing the packaging bag holding portion 7 of the robot hand (left hand) 5 into contact with the bundle of packaging bags h to hold the state in which the inclined surface s is formed on one end side of the bundle of packaging bags h, FIG. , one robot hand (left hand) 5 is moved below the other robot hand (right hand) 6, and then the packaging bag holding portion 7 of one robot hand (left hand) 5 is placed on the packaging bag bundle h. The state in which the inclined surface s is formed on one end side of the bundle of packaging bags h is maintained by bringing them into contact with each other.

A predetermined position above the conveyor belt 3 (a pair of robot hands (left hand) 5 and (right hand) 6 is placed above the conveyor belt 3 while maintaining the state in which the inclined surface s is formed on one end side of the bundle of packaging bags h). and the direction in which the first rotating shaft 8 of one robot hand (left hand) 5 and the second rotating shaft 10 of the other robot hand (right hand) 6 extend is in the traveling direction of the conveyor belt 3. 14(A), a pair of robot hands (left hand) 5 and (right hand) 6 cooperate with each other at a predetermined position above the conveyor belt 3. As it moves, the first rotating shaft 8 of one robot hand (left hand) 5 and the second rotating shaft 10 of the other robot hand (right hand) 6 cooperate to rotate, and the bundle of packaging bags h is rotated. It waits in a state where it can be placed on the conveyor belt 3.

Next, the process shifts to the process of placing the bundle of packaging bags h on the conveyor belt 3 with a pair of robot hands (left hand) 5 and (right hand) 6. This process is shown in FIG. 14(B). , is started when the trailing packaging bag detector 21 detects that the trailing packaging bag a1 of the packaging bag bundle h1 placed on the conveyor belt 3 has passed. As a result, the packaging bags a can be placed on the conveyor belt 3 continuously and accurately.

Specifically, when the trailing packaging bag detection unit 21 detects that the trailing packaging bag a1 of the bundle of packaging bags h1 has passed, a pair of robot hands (left hand) 5 and (right hand) 6 holding the bundle of packaging bags h2 are detected. descends to bring a portion of the bundle of packaging bags h2 into contact with the conveyor belt 3.

Furthermore, in the step of placing the bundle of packaging bags h on the conveyor belt 3 with a pair of robot hands (left hand) 5 and (right hand) 6, as shown in FIG. A step in which one robot hand (left hand) having a holding part 7 is moved to release the packaging bag bundle h2 held by the packaging bag holding part 7, and the other robot hand (right hand) having a gripping part 9. 6 is released from the gripping of the bundle of packaging bags h2 by the gripping portion 9. As shown in FIG.

The step of leveling the packaging bag a by causing the traveling roller portion 22 of one robot hand (left hand) 5 having the traveling roller portion 22 to travel above the bundle of packaging bags h2 placed on the conveyor belt 3, As shown in FIG. 15(B), a pair of robot hands (left hand) 5 and (right hand) 6 respectively move, and the first rotation shaft 8 of one robot hand (left hand) 5 rotates to travel. After the roller portion 22 is placed on the upper portion of the bundle of packaging bags h2 placed on the conveyor belt 3, as shown in FIG. This is done by running

The step of inserting the leading packaging bag a2 of the bundle of packaging bags h2 placed later on the conveyor belt 3 below the rearmost packaging bag a1 of the bundle of packaging bags h1 placed earlier on the conveyor belt 3. 16(B), a step of detecting the passage of the leading packaging bag a2 of the packaging bag bundle h2 placed later on the conveyor belt 3 by the leading packaging bag detection unit 29; ), the rearmost packaging bag a1 of the bundle of packaging bags h1 placed first on the conveyor belt 3 is lifted by the lifting units 30a and 30b of the bag feeding conveyor 4, and the lifted packaging bag a1 One robot hand (left hand) 5 having a packaging bag holding part 7 below enters the packaging bag holding part 7 and maintains the raised state; is rotationally driven, and the leading packaging bag a2 of the bundle of packaging bags h2 placed later on the conveyor belt 3 is inserted under the raised packaging bag a1. Through these steps, the leading packaging bag a2 of the next bundle h2 of packaging bags is continuously and accurately inserted under the last packaging bag a1 of the bundle of packaging bags h1 previously placed on the conveyor belt 3. It can be carried out.

Further, as shown in FIG. 17(B), the lifting parts 30a and 30b of the bag feeding conveyor 4 are lowered to move one robot hand (left hand) 5 above the belt conveyor 3. After the supply of the packaging bags a to the above is completed, these operations are repeated to sequentially transport the packaging bags a in the correct posture and at regular intervals.

As described above, according to the method of supplying the packaging bags a to the bag feeding conveyor 4 of this embodiment, a large number of packaging bags a can be stacked on the conveyor belt 3 at an angle while being shifted little by little, without the need for manual labor. In addition, a large number of packaging bags a, which are shifted little by little and stacked obliquely on the conveyor belt 3, can be loosened so that they do not adhere to each other, and can be transported in the correct posture and at regular intervals. It is configured to continuously and accurately insert the leading packaging bag a2 of the next bundle of packaging bags h2 under the last packaging bag a1 of the bundle of packaging bags h1 arranged on the conveyor belt 3. It is

P Packaging machine a Packaging bag h Bundle of packaging bags g Grip pair 1 Bag feeding device 2 Shelf 3 Conveyor belt 4 Bag feeding conveyor 5 One robot hand (left hand) 6 The other robot hand (right hand) 7 Packaging bag holder 8 First Rotating shaft 9 Grasping portion 10 Second rotating shaft 11 Bag catching portion 12 Bag placement portion 13 Bag supplying portion 14 Humanoid robot 15 Lower body portion 16 Upper body portion 17 Upper left arm 18 Upper right arm 19 Left forearm 20 Right forearm 21 trailing packaging bag detector (sensor) 22 traveling rollers 23, 24 pair of packaging bag leveling rollers 25 packaging bag leveling belt 26 roller 27 tension belt 28 tension roller 29 leading packaging bag detector (sensor) 30a , 30b lifting unit 31 lifting cylinder

Claims (7)

a shelf for arranging a bundle of packaging bags; a bag feeding conveyor provided with a conveyor belt for sequentially conveying the packaging bags; A bag feeding device having a pair of robot hands for removing the packaging bag from the conveyor belt and placing the packaging bag on the conveyor belt,
one of the pair of robot hands has a packaging bag holding portion and a first rotation shaft for rotating the packaging bag holding portion;
The other robot hand of the pair of robot hands has an openable and closable gripping portion for gripping the bundle of packaging bags and a second rotation shaft for rotating the gripping portion,
After the gripping portion of the other robot hand grips and takes out the bundle of packaging bags placed on the shelf, the gripping portion of the pair of robot hands is rotated by the second rotation shaft . The packaging bag holding portion of the one robot hand abuts on one side of the bundle of packaging bags to hold the bundle of packaging bags in a state in which an inclined surface is formed on one end side of the bundle of packaging bags. wherein the robot hand of (1) places the bundle of packaging bags on the conveyor belt in a state where one end side of the bundle of packaging bags has an inclined surface . The bag feeding conveyor has a last packaging bag detection unit for detecting passage of the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt. 2. The bag feeding apparatus according to claim 1, wherein when the last packaging bag detection unit detects the last packaging bag, the packaging bag bundle is started to be placed on the conveyor belt. In the pair of robot hands, one of the robot hands moves on the conveyor belt to release the holding of the bundle of packaging bags by the packaging bag holding section, and the packaging bag is held by the gripping section of the other robot hand. 3. The bag feeding apparatus according to claim 1, wherein the stack of packaging bags is controlled to be placed on the conveyor belt by releasing the grip of the stack. The one robot hand has a running roller unit for leveling the bundle of packaging bags on the conveyor belt, and the running roller unit of the one robot hand is placed on the conveyor belt. 4. The bag feeder according to any one of claims 1 to 3, wherein said packaging bags are controlled to be leveled by rotating the upper portion of the bundle of packaging bags. The traveling roller portion of the one robot hand includes a pair of packaging bag leveling rollers arranged apart from each other, and a packaging bag leveling belt stretched over the pair of packaging bag leveling rollers. 5. The bag feeder of claim 4, comprising: The bag feeding conveyor includes a rotary drive unit for rotating the conveyor belt, and a leading packaging bag detection unit for detecting passage of the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt. and an elevating unit for elevating the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt,
When the leading packaging bag detection unit detects the passage of the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt, the bag feeding device detects that the leading packaging bag has been placed on the conveyor belt first. The rearmost packaging bag of the bundle of packaging bags is lifted by the elevating unit, and the packaging bag holding unit of the one robot hand enters below the lifted rearmost packaging bag to maintain the lifted state. Further, the conveyor belt is rotationally driven by the rotational drive unit, and the leading package of the bundle of packaging bags placed later on the conveyor belt is placed below the lifted rearmost packaging bag. 6. The bag feeding device according to any one of claims 1 to 5, wherein the bag is controlled to be inserted. A packaging machine comprising the bag feeding device according to any one of claims 1 to 6.

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