JP7127801B2 - Method of supplying packaging bags to bag feeding conveyor - Google Patents

Description

The present invention relates to a method of supplying packaging bags to a bag feeding conveyor.

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. . In addition, it is required that a large number of stacked packaging bags be loosened and transported so that they do not stick to each other, and the next packaging bag is placed under the last packaging bag of the packaging bag bundle previously placed on the conveyor belt. It was necessary to insert the leading packaging bag of the bag bundle. Furthermore, in order to continuously and accurately supply packaging bags to a packaging machine or the like, it is necessary to align the postures and intervals of the bags, which cannot be sufficiently achieved by manual placement.

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 allow a large number of packaging bags to be staggered and stacked obliquely on a conveyor belt without requiring manual labor, and to allow the large number of packaging bags loaded on the conveyor belt to be stacked on each other. It can be loosened so that it does not stick to the belt and can be conveyed in the correct posture and at equal intervals. To provide a method of supplying a packaging bag to a bag feeding conveyor into which the packaging bag of the above can be inserted.

To achieve the above object, there is provided a method of supplying packaging bags to a bag feeding conveyor using a pair of robot hands having one robot hand and the other robot hand, wherein the packaging bag is fed from a shelf on which a bundle of packaging bags is arranged. a step of taking out the bundle of packaging bags by the other robot hand having an openable and closable gripping portion for gripping the bundle of bags, and rotating the other robot hand having the gripping portion to grip the package. a step of forming an inclined surface on one end side of a bundle of bags; a packaging bag holding portion for holding the packaging bag in contact with the packaging bag; The packaging bag holding portion of the one robot hand equipped with a running roller portion for leveling is brought into contact with the bundle of packaging bags to maintain a state in which an inclined surface is formed on one end side of the bundle of packaging bags. placing the bundle of packaging bags on the conveyor belt by the pair of robot hands; and placing the running roller portion of the one robot hand having the running roller portion on the conveyor belt. a step of leveling the packaging bags by rotating the upper portion of the bundle of packaging bags placed on the conveyor belt; and a step of inserting the first packaging bag of the bundle of packaging bags placed later on the belt.

In the step of placing the bundle of packaging bags on the conveyor belt by the pair of robot hands, passage of the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt is detected. It is preferable that the process is started when the last packaging bag detection unit detects the last packaging bag (claim 2). In the step of placing the bundle of packaging bags on the conveyor belt by the pair of robot hands, one of the robot hands provided with the packaging bag holding unit moves on the conveyor belt to move the packaging bag holding unit. and a step of releasing the grip of the bundle of packaging bags by the gripping section of the other robot hand (Claim 3).

The step of inserting the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt under the last packaging bag of the bundle of packaging bags placed earlier on the conveyor belt. a step of detecting passage of the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt by a leading packaging bag detecting unit; and the bundle of packaging bags placed earlier on the conveyor belt. The rearmost packaging bag is lifted by the lifting part of the bag feeding conveyor, and the packaging bag holding part of the one robot hand enters below the lifted rearmost packaging bag, and the lifting state is maintained. a step of holding, and rotating the conveyor belt by a rotation drive part of the bag feeding conveyor, and the package placed later on the conveyor belt below the rearmost packaging bag that has been lifted. and inserting the packaging bag at the head of the bundle of bags (Claim 4).

According to the method for supplying packaging bags to the bag feeding conveyor described in claim 1, a large number of packaging bags can be staggered little by little and stacked on the conveyor belt obliquely without requiring manpower. A large number of packaging bags stacked on top can be loosened so that they do not stick to each other, and can be conveyed in the correct posture and at equal intervals. Underneath the bag, the leading packaging bag of the next bundle of packaging bags can be inserted. According to the method of supplying the packaging bags to the bag feeding conveyor described in claim 2, the packaging bags can be continuously and accurately placed on the conveyor belt. According to the method of supplying the packaging bags to the bag feeding conveyor described in claim 3, the packaging bags can be placed on the conveyor belt in the correct posture. According to the method of supplying packaging bags to the bag feeding conveyor described in claim 4, the first package of the next bundle of packaging bags is placed under the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt. Inserting the bag can be performed continuously and accurately.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic front view of an embodiment of a packaging machine equipped with a bag feeding device to which the method of supplying packaging bags to a bag feeding conveyor of the present invention is applied; 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 feeding device 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 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 a robot hand 6 having a gripping portion 9 that can be opened and closed for gripping the bundle of packaging bags h, and the gripping portion 9 are provided. a step of forming an inclined surface s on one end side of the bundle h of packaging bags gripped by rotating the robot hand 6; A packaging bag holding part 7 of a robot hand 5 having a traveling roller part 22 for leveling the packaging bag bundle h on the conveyor belt 3 of the bag supply conveyor 4 is brought into contact with the packaging bag bundle h to hold the packaging bag. a step of holding the inclined surface s formed on one end side of the bundle h; A step of leveling a plurality of packaging bags a by running the traveling roller portion 22 of the robot hand 5 above the bundle h of packaging bags placed on the conveyor belt 3; and a step of inserting the leading packaging bag a2 of the bundle of packaging bags h2 placed later on the conveyor belt 3 under the rearmost packaging bag a1 of the bundle of packaging bags h1 placed on the conveyer belt 3. A large number of packaging bags a can be staggered little by little and stacked obliquely on a conveyor belt 3 without requiring a large number of packaging bags a, and the large number of packaging bags a loaded on the conveyor belt 3 can be prevented from adhering to each other. It can be loosened and conveyed in a correct posture and at equal intervals. A method of supplying the packaging bag a to the bag feeding conveyor 4 into which the packaging bag h2 can be inserted is realized.

A method of supplying packaging bags a to the bag feeding conveyor 4 of the present invention will be described using a packaging machine P equipped with the bag feeding device 1 shown in FIGS. 1 to 17 to which the method is applied. 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/closable gripper 9 for gripping the bundle of packaging bags h and a second rotation shaft 10 for rotating the gripper 9 . 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, the packaging bag a is 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 feeding 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 part 10 Second rotating shaft 11 Bag capturing part 12 Bag placement part 13 Bag supply part 14 Humanoid robot 15 Lower body part 16 Upper body part 17 Left upper arm part 18 Right upper arm part 19 Left forearm part 20 Right forearm part 21 Last wrapping Bag detection unit (sensor) 22 Running roller units 23, 24 Pair of packaging bag leveling rollers 25 Packaging bag leveling belt 26 Roller 27 Tension belt 28 Tension roller 29 Top packaging bag detection unit (sensor) 30a, 30b Lifting unit 31 lifting cylinder

Claims (4)

A method of supplying packaging bags to a bag supply conveyor using a pair of robot hands having one robot hand and the other robot hand, comprising:
a step of taking out the bundle of packaging bags from the shelf on which the bundle of packaging bags is arranged by the other robot hand having an openable and closable grasping part for gripping the bundle of packaging bags;
a step of forming an inclined surface on one end side of the bundle of packaging bags gripped by rotating the other robot hand having the gripping portion;
Said one robot comprising: a packaging bag holding part for holding said packaging bag in contact with said packaging bag; and a running roller part for leveling said bundle of packaging bags on the conveyor belt of said bag feeding conveyor. a step of bringing the packaging bag holding portion of the hand into contact with the bundle of packaging bags to hold a state in which an inclined surface is formed on one end side of the bundle of packaging bags;
placing the bundle of packaging bags on the conveyor belt by the pair of robot hands;
a step of leveling the packaging bags by rotating the upper portion of the bundle of packaging bags placed on the conveyor belt by the traveling roller portion of the one robot hand having the traveling roller portion;
a step of inserting the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt under the last packaging bag of the bundle of packaging bags placed earlier on the conveyor belt; A method of supplying packaging bags to a bag feeding conveyor. In the step of placing the bundle of packaging bags on the conveyor belt by the pair of robot hands, passage of the last packaging bag of the bundle of packaging bags previously placed on the conveyor belt is detected. 2. The method of supplying packaging bags to the bag feeding conveyor according to claim 1, wherein the supply of packaging bags to the bag feeding conveyor is started when the last packaging bag detection unit detects the last packaging bag. In the step of placing the bundle of packaging bags on the conveyor belt by the pair of robot hands, one of the robot hands provided with the packaging bag holding unit moves on the conveyor belt to move the packaging bag holding unit. and a step of releasing the gripping of the bundle of packaging bags by the gripping portion of the other robot hand. A method of supplying packaging bags to a bag conveyor. The step of inserting the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt under the last packaging bag of the bundle of packaging bags placed earlier on the conveyor belt. a step of detecting passage of the leading packaging bag of the bundle of packaging bags placed later on the conveyor belt by a leading packaging bag detecting unit; and the bundle of packaging bags placed earlier on the conveyor belt. The rearmost packaging bag is lifted by the lifting part of the bag feeding conveyor, and the packaging bag holding part of the one robot hand enters below the lifted rearmost packaging bag, and the lifting state is maintained. a step of holding, and rotating the conveyor belt by a rotation drive part of the bag feeding conveyor, and the package placed later on the conveyor belt below the rearmost packaging bag that has been lifted. 3. The method of supplying packaging bags to the bag feeding conveyor according to claim 1, further comprising the step of inserting the packaging bag at the head of the bag bundle.

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