JP7411497B2 - Grapple, contained material discharge device, and contained material discharge method - Google Patents

Description

The present invention relates to a grapple, a contained material discharging device, and a contained material discharging method.

In facilities that discharge, store, preserve, or detoxify a large number of bag-like containers filled with hazardous materials such as radioactive or infectious contaminants, the materials are removed from the bag-like containers. In order to discharge the contents, the bag-like container is opened manually or mechanically, and then the bag-like container is picked up by heavy machinery and swung around to discharge the contents from the bag-like container.

However, the operation of swinging the bag-like container requires skill. In addition, in order to avoid the risk of radiation exposure and infection for heavy equipment operators when the contained material is radioactive or infectious, measures such as protective clothing for heavy equipment operators, air conditioning in operation rooms, and the establishment of extensive controlled areas must be implemented. Some ingenuity was needed.

Patent Document 1 proposes a bag tearing device that can cut the bottom of a flexible container bag containing an object and discharge the object without leaving the object inside the flexible container bag.

Specifically, the bag breaking device includes a flexible container bag that has a floor on which a flexible container bag containing stored items is placed, and a cylindrical body that surrounds the periphery of the floor and extends upward. a container bag placement section; and a cutting device for cutting the bottom of the flexible container bag placed on the floor of the flexible container bag placement section through the cylindrical body of the flexible container bag placement section. ing.

The floor of the flexible container bag placement section is composed of a plurality of movable floors, and the floor surface of the plurality of movable floors is in a closed state in which the floor surface of the plurality of movable floors can support the bottom surface of the flexible container bag, and in a closed state where the floor surface of the plurality of movable floors can support the bottom surface of the flexible container bag. The plurality of movable floors can be set to an open state in which the bottom surface of the flexible container bag is not supported, and the plurality of movable floors have a gap between the edge of one movable floor and the edge of the other movable body that are adjacent to each other in the closed state. are formed so as to face each other with a gap between them, and the gaps function as a plurality of cutting guide grooves through which the cutting means of the cutting device passes.

The cutting guide groove is formed in a straight line passing through the center of the floor in the closed state, and the cutting device is configured such that the cutting means reciprocates between one end side and the other end side of the linear cutting guide groove. after the cutting means cuts the bottom of the flexible container bag placed on the floor in the closed state, the floor is set to the open state, thereby cutting the inside of the flexible container bag. It is configured so that the stored items fall naturally.

The device is configured to hook a hanging hook of a lifting machine such as a crane to a hanging string of the flexible container bag, lift the flexible container bag with the lifting machine, and place the flexible container bag on the flexible container bag placement part.

Moreover, Patent Document 2 discloses a grapple used when grasping and lifting a bag-like container. The grapple is a flexible container bag grapple that is attached to the front of a work machine and has a plurality of opening/closing gripping claws, and the gripping claws are composed of an upper arm part and a side arm part, and the inner surface of the side arm part is connected to the side surface of the grapple. It is characterized in that it is formed so that it looks straight and has a structure for attaching it to the front so that the side arm can assume a vertical posture when the grapple is opened.

JP2017-71435A Japanese Patent Application Publication No. 2011-73863

However, as described in Patent Document 1, bag-like storage is carried out by lifting a hanging cord provided on a bag-like container with a hanging hook provided on a lifting machine and cutting the bottom of the bag-like container with a cutting device. When opening the body and dropping the contents, it is necessary to float the hanging cord upward from the top of the flexible container bag and hang it on the hanging hook. There was a risk of exposure to radiation and infection. In addition, if the bag-like container has a double structure of an outer bag and an inner bag, the inner bag will fall from the outer bag together with the contents, so there is the inconvenience that the contents cannot be discharged from the bag-like container. there were.

Therefore, it is conceivable to grasp and lift the flexible container bag using a grapple as disclosed in Patent Document 2, but the gripping force decreases as the contents fall from the cut point at the bottom of the flexible container bag. There was also the problem that the flexible container bag would fall along with the contents.

In addition, when the cutting device is configured with a sharp blade, the contents of flexible container bags that have been stacked and stored for a long time are hardened and the bag-like container cannot be opened properly. If the bag is opened insufficiently, there is a possibility that some of the contents may remain in the bag-like container.

From the perspective of discharging the contents from the bag-shaped container, the same applies to bag-shaped containers filled with earth and sand used for flood and landslide recovery work, and the method of discharging the contents such as earth and sand from the bag-shaped container is similar. I had a similar issue. In addition, similar problems arise when cement, flour, etc. are packaged in bags from a manufacturing factory and collected at the factory, and when the contents are discharged from the bag-shaped container and put into processing equipment.

In view of the above-mentioned problems, an object of the present invention is to provide a grapple that can appropriately support a bag-like container when discharging the contents from the bag-like container, and can appropriately discharge the contents from the bag-like container. The object of the present invention is to provide a contained material discharging device and a contained material discharging method.

In order to achieve the above-mentioned object, a first characteristic configuration of the grapple according to the present invention is a grapple that grips a bag-like container in which an object is stored, and a gripping state in which the side surface of the bag-like container is pressed; , a gripping member that is operable between an open state and an open state where it is spaced from a side surface of the bag-like container; and an insertion member that is fixed to the gripping member and drives an insertion member to protrude and pierce the side surface of the bag-like container. and a non-inserted state in which the inserter is driven backward from the side surface of the bag-like container and separated.

The bag-like container can be lifted by operating the grip member provided on the grapple to the grip state, and the bag-shaped container can be removed by operating the grip member to the open state. Furthermore, the insertion member can be inserted into the bag-like container from the insertion member fixed to the grip member while the bag-like container is being gripped by the gripping member, and the insertion member can be inserted into the bag-like container appropriately and reliably. Can be done. By operating the insertion member into the inserted state, the bag-like container can be hung so that it does not come off, for example, downward, and by operating the insertion member into the non-insertion state, the hung bag-like container can be removed. can do.

The second characteristic configuration is that, in addition to the above-mentioned first characteristic configuration, in the inserted state, the insertion body is thrust into the bag-like container in a horizontal direction or in an upward direction from the horizontal direction. It is in.

Because the inserter is inserted into the bag-like container in a horizontal direction or above the horizontal direction, the bag-like container slides from the tip of the inserter even if the weight of the bag-like container is applied to the inserter. There is no such thing.

In addition to the above-mentioned first or second characteristic configuration, the third characteristic configuration is that the gripping member includes a pressing surface portion that presses a side surface of the bag-like container in the gripping state, and The insertion body is inserted into the bag-like container from the pressing surface portion or the vicinity of the pressing surface portion.

Since the side surface of the bag-like container is pressed planarly through the pressing surface in the gripped state, no local force that would cause breakage is applied to the bag-like container, and the pressure surface or its vicinity is prevented from acting on the bag-like container. The insertion body can be appropriately and reliably pierced into the bag-like container.

A first feature of the contained object discharging device according to the present invention is a bag-like container bottom opening mechanism that opens the bottom of a bag-like container in which stored objects are stored; a conveyance mechanism for conveying the bag-like container to the bottom opening mechanism; a grapple having any of the features described in the first to third aspects above; suspended in a space above the bag-like container bottom opening mechanism; a control device; a laser sensor that captures the shape of the bag-like container while the bag-like container is being transported by a mechanism; After adjusting the attitude of the grapple, the bag-like container is gripped and lifted, and placed on the bag-like container bottom opening mechanism.

The control device transports the bag-shaped container to the bag-shaped container bottom opening mechanism using the transport mechanism, grips the bag-shaped container with a grapple, and places the bag-shaped container on the bag-shaped container bottom opening mechanism. At this time, the control device can appropriately grip the bag-like container by adjusting the attitude of the grapple to match the shape of the bag-like container captured by the laser sensor while being transported by the transport mechanism. It can also be placed on the bottom opening mechanism of the bag-like container.

The second feature, in addition to the first feature described above, is that the grapple includes a load cell.

Based on the weight measured by the load cell installed in the grapple, the state in which the stored object is discharged from the bag-shaped container supported by the grapple is determined, and when the weight of the bag-shaped container that is assumed in advance is reached, the stored object is properly adjusted. It can be seen that the water was discharged.

A first feature of the method for discharging stored items according to the present invention is a method for discharging stored items from a bag-like container in which the stored items are stored, in which a gripping member provided on a grapple is used to A first process of driving a penetrating body provided in the grapple to project from the side surface of the bag-like container to pierce the bag-like container while pressing the side surface of the body, and opening the bottom of the bag-like container. and a second process of discharging the stored items.

In the first process, the insertion member is inserted through the side surface of the bag-like container, and in the second process, the bottom of the bag-like container is opened and only the contents are discharged. Since the bag-shaped container is pierced by the insertion member in the first process, even if the gripping force of the gripping member decreases as the stored object falls, the bag-shaped container detaches from the grapple and falls together with the stored object. There's nothing to do. Further, the side surface of the bag-like container is pressed by the gripping member, and the insertion member is inserted into an appropriate position of the bag-like container in a positioned state.

In addition to the first characteristic configuration described above, the second characteristic configuration is that the second process is performed when the bag-shaped housing is placed in a closed state on a movable floor that can be freely opened and closed. After the movable floor is opened, the contents are discharged by opening the movable floor.

When the movable floor is in the open state, the stored items are discharged from the open portion of the bag-like container.

As explained above, according to the present invention, there is provided a grapple that can appropriately support the bag-like container when discharging the stored object from the bag-like container, and that can appropriately discharge the stored object from the bag-like container. It is now possible to provide a discharge device and a method for discharging stored materials.

(a) to (f) are explanatory diagrams showing the flow of the contained material discharge method (a) to (c) are explanatory diagrams of the process of detecting the attitude of the bag-shaped container using a laser sensor. Explanatory diagram of control device (a) is a front view of the grapple, (b) is a side view of the same (a) is an explanatory diagram of the grapple in the open position, (b) is an explanatory diagram of the grapple in the grasping position Flowchart illustrating the steps of a method for discharging contents from a bag-like container, which is executed by a control device. (a) and (b) are explanatory diagrams of a jig for adjusting the posture of the hanging cord of the bag-shaped container.

Hereinafter, a grapple, a contained material discharging device, and a contained material discharging method according to the present invention will be explained.

[Contained material discharge device]
The contained material discharging device is a device used to open the bottom of a flexible container bag, which is a plurality of bag-like containers carried into a processing plant, to discharge the contained material, and to perform final processing on the discharged contained material. . The contained material discharged from the bag-like container by the contained material discharging device is subjected to particle size adjustment using a crusher or the like, and after addition of auxiliary agents necessary for processing, it is melted in a melting furnace.

A flexible container bag is a rectangular parallelepiped storage bag that is formed into a bag shape by sewing sheets woven from strong chemical fibers such as polyethylene or polypropylene, and has a hanging string on the top surface. They are filled with soot and dust containing radioactive materials and incinerated ash, and then piled up in storage areas for long periods of time. Therefore, the hanging string is in close contact with the top surface of the flexible container bag.

As shown in FIGS. 1(a) to 1(f), the contained material discharging device 1 includes a receiving yard 2 that receives the bag-like containers 10, and a transport mechanism that transports the bag-like containers 10 carried into the receiving yard 2. 3, an elevating mechanism 4 for transporting to the upper floor, and a contained object discharging mechanism 20 for receiving the bag-like container 10 transported to the upper floor by the elevating mechanism 4 and discharging the stored object from the bag-like container 10. ing.

The contents contained in the bag-shaped container 10 are generated when construction waste materials, plants, soil, etc. contaminated with radiation (mainly radioactive cesium) are heat-treated in an incinerator, melting furnace, gasification melting furnace, etc. These are tobacco dust, incineration ash, etc., and are stored in the bag-shaped container 10 after being separated according to their origins. The materials to be stored are not limited to those contaminated by radioactive materials leaked from plant accidents such as nuclear power plants, but can also include medical waste that has the risk of infection, and powdery materials such as cement and flour. It is.

The conveyance mechanism 3 is composed of a roller-type conveyance path 3A and a conveyance table 3B installed on the upper surface of the conveyance path 3A, and the conveyance table 3B is moved in the rotational direction by the rotation of the rollers forming the conveyance path 3A. Each bag-shaped container 10 is mounted on each transport platform 3B and transported.

The elevating and lowering mechanism 4 includes a drive mechanism that locks both side edges of the transport platform 3B on which the bag-like container 10 is mounted and moves it up and down using a motor. The bag-shaped container 10 that has been transported to the upper floor by the lifting mechanism 4 is transported to the contained object discharge mechanism 20 by the transport mechanism 3.

A grapple 30 is suspended in the space above the stored object discharge mechanism 20 so as to be able to rise and fall freely, and the bag-shaped container 10 on the conveyance table 30B is gripped and lifted by the grapple 30 (see FIG. 1(a)). After 3B is evacuated, it is placed on the upper part of the contained object discharge mechanism 20 (see FIG. 1(b)). The stored material discharge mechanism 20 is partitioned into a closed space equipped with a double door 5 and the like.

The grapple 30 includes a plurality of gripping members 32 (two gripping members in this embodiment) that press against and grip the side surface of the bag-like container 10, and a plurality of gripping members 32 that protrude or retreat from the bag-like container 10. The insertion member 34 is attached to the gripping member 32 so that the insertion member 34A, which is provided in the insertion member 34, protrudes from the gripping member 32 to the bag-like container 10, so that the distal end portion is inserted into the bag-like container 10 in a horizontal position or in an inclined position tilted upward from the horizontal. The insertion member 34 includes an insertion body 34A and a hydraulic cylinder 33 (see FIG. 4(a)) that drives the insertion body 34A to protrude or retreat.

The grapple 30 is movably suspended along a guide rail arranged in the upper space via a suspension mechanism. The suspension mechanism is provided with a grapple 30 and a load cell that detects the weight of the bag-like container 10 lifted by the grapple 30.

The stored object discharge mechanism 20 includes a bag-like container bottom opening mechanism 25 and a movable floor 21.
As shown in FIG. 2(a), the movable floor 21 includes four isosceles triangular floor plates 21A arranged in a rectangular floor area in a plan view, and is provided at a portion corresponding to the base of each floor plate 21A. It is attached so as to be openable around the axis P, and each floor plate 21A is configured to be driven open between a closed state and an open state by a hydraulic mechanism. Moreover, a slit S along the diagonal of the rectangular floor area is formed by a gap formed in the opposing oblique sides of each floorboard 21A.

A pair of hydraulically driven water jet nozzles are used as the bag-like container bottom opening mechanism 25, and when the bag-like container 10 is placed on the movable floor 21 , the water jet nozzles The bag-shaped container 10 is reciprocated along the letter-shaped slit S, and the substantially rectangular bottom portion of the bag-shaped container 10 is broken along a pair of diagonal lines (see FIG. 1(c)).

When the bottom of the bag-like container 10 is cut, the grapple 30 descends again (see FIG. 1(c)), and the side surface of the bag-like container 10 is gripped. At this time, the insertion body 34A provided in the insertion member 34 attached to the gripping member 32 changes its posture from the retracted position to the protruding position, and the insertion body 34A is inserted into the bag-like container 10 (FIG. 1(d)) reference.).

With the bag-like container 10 gripped and lifted by the grapple 30, the floor plate 21A is driven to open downward, and the contents of the bag-like container 10 fall downward from the opening formed. Since the insertion body 34A is inserted into the bag-shaped container 10, even if the stored items fall and the bag-shaped container 10 shrinks, it will not fall (see FIG. 1(e)). Even if the bag-like container 10 has a double structure of an outer bag and an inner bag, the bag-like container 10 will not fall together with the contents because the insertion member 34A is inserted into the inner bag.

The contents discharged from the bag-like container 10 fall into a crusher provided below and are crushed, and after the particle size is adjusted, auxiliary agents such as chloride for separating radioactive substances are added. The material is put into a rotary surface melting furnace together with a chemical agent and subjected to melting treatment. Due to the action of the auxiliary agent, the radioactive material is vaporized and flows out to the exhaust gas side, and the molten slag from which the radioactive material has been removed is cooled to obtain slag.

When the stored object is discharged from the bag-like container 10, the grapple 30 moves along the guide rail, and at the detachment position where the bag-like container 10 is removed, the insertion member 34 is retreated and the grip member 32 is opened. As a result, the bag-like container 10 separates from the grapple 30 and falls downward. The bag-shaped container 10 falls into a crusher provided below, is crushed, and is thrown into a melting furnace together with the contents.

[Structure of grapple]
The appearance of the grapple 30 is shown in FIGS. 4(a) and 4(b). As described above, the grapple 30 includes a pair of gripping members 32 that press against and grip the side surfaces of the bag-like container 10, and a pair of gripping members 32 that can protrude or retreat from the gripping members 32 into the bag-like container 10. The insertion body 34A provided in the insertion member 34 protrudes from the grip member 32 to the bag-like container 10, so that the tip end is in a horizontal position or above the horizontal position. It is configured to be inserted into the bag-like container 10 in an inclined position.

The gripping member 32 includes an arm 32A and a pressing surface portion 32B attached to the inside of the arm 32A, is pivotally supported to be rotatable left and right on the base 31, and is opened and closed by a hydraulic, pneumatic, or electric rotation motor 38. configured to be possible. The gripping member 32 includes three insertion members 34 on the left and right and two insertion members 34A with sharp tips in the upper and lower stages, and a hydraulic, pneumatic, or electric cylinder 33 that drives the insertion members 34A to protrude or retreat. It is equipped with The discharge position of the insertion body 34A is shown by a dashed line, and the retracted position is shown by a solid line.

A pair of hydraulic or pneumatic cylinders 37 are provided before and after the base 31, and a hanging hook 36 driven by the cylinders 37 is provided. The open position of the hanging hook 36 is shown by a solid line, and the closed position is shown by a dash-dotted line.

The base 31 is directed to be movable up and down by the support part 38 via a turning mechanism 35 that turns via a turning motor that can rotate left and right with respect to a vertical line.

As shown in FIG. 5(a), in the open state in which the gripping member 32 is separated from the side surface of the bag-like container 10 before gripping the bag-like container 10, the insertion body 34A is in a substantially horizontal position, and as shown in FIG. As shown in (b), when the gripping member 32 is operated to a gripping state in which it presses the side surface of the bag-like container 10, the pressing surface portion 32B becomes in a state where it can pinch and lift the bag-like container 10. At this time, by driving the cylinder 33 forward, the insertion body 34A protrudes and pierces the bag-like container 10 (see FIGS. 1(d) to (f)). If the cylinder 33 is not driven to advance, the pressing surface portion 32B simply pinches and grips the bag-like container 10 (see FIG. 1(b)).

[Control device installed in the contained material discharge device]
The above-described contained material discharging device 1 will be explained in further detail.
As shown in FIG. 3, the contained object discharging device 1 includes a conveyance control section C1 that controls the conveyance mechanism 3, a grapple control section C2 that controls the grapple 30, and a bottom opening control section that controls the bag-like container bottom opening mechanism 25. The control device C includes functional blocks of a section C3 and a movable floor control section C4 that controls the movable floor 21.

The control device C is composed of a computer equipped with a CPU board, a memory board, and an input/output interface board, and the above-mentioned functional blocks are configured by the CPU executing a control program stored in the memory on the memory board. Ru.

The conveyance control unit C1 is a block that controls the conveyance mechanism 3, and controls the motor that drives the roller-type conveyance path 3A based on the output of a sensor for position detection provided in the conveyance path, and is mounted on the conveyance platform 3B . The conveyance of the bag-shaped container 10 is controlled. Further, the transport mechanism 3 is equipped with a pair of laser sensors LS, which are distance sensors, on both sides of the transport path 3A. The transport control unit C1 measures the distance from the laser sensor LS to the bag-like container 10 mounted on the transport table 3B and generates a distance image, thereby determining the distance between the bag-like container 10 and the bag-like container 10. Detects size and loading attitude.

As shown in FIG. 2(a), when the bag-shaped container 10 is mounted on the conveyance table 3B in a biased posture in which the diagonal line of the conveyance table 3B and the diagonal line of the bag-like container 10 are shifted, the grapple 30 This may make it difficult to grasp the device properly. Even if the bag-like container 10 could be grasped, as shown in FIG. There is a risk that the bag will not be cut along the diagonal line, and as a result, the stored items will be blocked by the uncut portion at the bottom of the bag-like container 10 and will not be able to fall and be discharged.

Therefore, the conveyance control unit C1 determines the attitude of the bag-like container 10 measured using the laser sensor LS, and adjusts the position so that the gripping member 32 of the grapple 30 is located on the flat side of the bag-like container 10. Data for adjusting the turning angle of the turning mechanism 35 is supplied to the grapple control section C2. As shown in FIG. 2(c), the grapple control unit C2 is rotated by a rotating mechanism to appropriately grip the flat side of the bag-like container 10, and furthermore, the diagonal line of the bottom of the bag-like container 10 is aligned with the movable floor 22. The bag-like container 10 can be placed on the movable floor 21 so as to be aligned with the diagonal line of the bag.

Returning to FIG. 3, in addition to controlling the turning mechanism described above, the grapple control unit C2 controls the rotation motor 38 to control the swinging of the gripping member 32, and also controls the cylinder 33 to project the insertion body 34A. Or control backwards. Further, the rotation motor is controlled to adjust the attitude of the gripping member 32 in plan view, and the cylinder 37 is controlled to drive the hanging hook 36 to open and close.

The bottom opening control unit C3 operates the water jet nozzle along the X-shaped slit S in plan view based on the detected value of the position sensor in order to cut the bottom of the bag-like container 10 placed on the movable floor 21. Drive back and forth.

The movable floor control unit C4 adjusts the falling state of the stored items by adjusting the opening angle of the movable floor 21 based on the detected value of the opening sensor provided in the movable floor 21. For example, in the initial stage, the opening angle of the movable floor 21 may be made small to adjust the falling amount of the stored objects, and then the movable floor 21 can be fully opened to allow the stored objects to fall with force.

FIG. 6 shows a procedure for controlling the discharge of stored materials executed by the control device C. First, when transporting the bag-like container 10 to the operation floor (S1), the attitude of the bag-like container 10 is detected by the laser sensor LS (S2), and the turning angle of the grapple is adjusted based on the detection result ( S3).

Next, the bag-like container 10 is grasped and lifted (S4), the transport vehicle is evacuated (S5), and the bag-like container 10 is placed at a proper position on the movable floor (S6). The normal position is a position where the diagonal line of the bottom of the bag-like container 10 is aligned with the diagonal line of the movable floor 21 (the position of the slit S).

The bag-like container bottom opening mechanism 25 is operated to cut the bottom of the bag-like container 10 (S7), and the gripping member 32 is shifted to the gripping state, and the cylinder 33 is driven to move the insertion member 34 into the bag-like container. 10 to hold the bag-like container 10 (S8).

The movable floor is opened and the stored items are discharged from the bag-like container 10 by falling (S9). When the load cell measures the weight of the grapple and the bag-like container 10 and detects that all the stored items have fallen (S11), the grapple is moved along the guide rail and moved to the cylinder 33 at the bag-like container removal position. is driven to retract the insertion body 34A to a non-insertion state where it is separated from the side surface of the bag-like container 10, and at the same time, the grip member 32 is released and the bag-like container 10 is dropped (S12). In addition, in the above-mentioned procedure, the order of the operation of the bag-like container bottom opening mechanism 25 in step S7 and the operation of the gripping member 32 and the insertion body 34A in step S8 is changed, so that the gripping member 32 and the insertion body 34A are activated first. After this, the bag-like container bottom opening mechanism 25 may be operated.

That is, the method for discharging stored items of the present invention is a method for discharging stored items from a bag-like container in which the stored items are stored, and in which an inserter provided in a grapple is inserted into the bag from the side of the bag-like container. The method includes a first process of piercing the bag-shaped container, and a second process of opening the bottom of the bag-shaped container and discharging the contents.

Further, in the first process, the insertion body is stuck into the bag-shaped container while pressing the side surface of the bag-like container with a gripping member provided on the grapple. In the second process, the bag-like container is placed in a closed state on a movable floor that can be freely opened and closed, and then the bag-like container is opened, and then the movable bed is opened and the contents are discharged.

Another embodiment will be described below.
In the embodiment described above, the gripping member is provided with two insertion members vertically and three rows on the left and right, but the number of insertion members is not particularly limited, and the gripping member may be provided with one insertion member. You can.

In the embodiment described above, an example was described in which a pair of gripping members were arranged facing each other, but the number of gripping members is not particularly limited. For example, four gripping members may be arranged at 90° intervals in plan view, or if the horizontal cross-sectional shape of the bag-shaped container 10 to be gripped is circular or approximately triangular, they are arranged at 120° intervals in plan view. Three gripping members may be used. In the former case, the pressing surface portion may be formed into an L-shape in plan view and may be configured to grip opposing corners of the bag-like container.

The gripping member does not need to have a pair of opposing arms that are both movable; at least one arm may be movable and the remaining arms may be fixed.

The pressing surface portion provided on the gripping member may be composed of a plurality of divided pressing surface portions, and the insertion member may be provided between the divided pressing surface portions so that the insertion body advances or retreats.

In the embodiment described above, an example was explained in which the insertion member was installed in the gripping member, but the insertion member is not limited to the aspect in which it is installed in the gripping member, and similarly to the gripping member, the insertion member is rotatably attached to the base 31. It may also consist of a supported pivot arm and an insert attached to the arm. In this case, the insertion body may be formed in an arc shape so as to move along the rotation locus of the rotation arm.

It is also possible to attach the above-mentioned grapple to the front of a working machine, for example. Work equipment includes attachments for construction machinery such as power shovels, cargo handling equipment such as cranes installed in waste processing facilities, factories, transportation equipment, etc., and robot hands.By attaching it to existing work equipment, It becomes possible to perform outdoor work such as construction sites and work at locations where cranes and robots are installed, and it becomes possible to perform work to discharge contents from bag-shaped containers at various sites.

FIGS. 7A and 7B show a mode in which a hanging string 10A provided on the bag-like container 10 is lifted up by a hanging hook 36. When the bag-like container 10 does not have a double structure of an outer bag and an inner bag, the hanging string 10A may be hooked onto the hanging hook 36 and lifted.

In this case, it is necessary to float the hanging cord 10A tightly attached to the upper surface of the bag-like container 10 upward and hang the hanging cord on the hanging hook. Therefore, it is preferable to arrange the spacer 40 between the upper surface of the bag-shaped container 10 and the hanging cord 10A with the hanging cord 10A floating upward. As the spacer 40, it is possible to use a molded body made of resin or cardboard, which has an open part that is a space into which the hanging hook can enter, and a mounting part that can hold the hanging string 10A in a floating state. can. Note that the white arrow in FIG. 7(b) indicates the operating direction of the hanging hook.

The molded body may have any shape as long as it is cylindrical or half-cylindrical; for example, it can be shaped like a shopping cart with the side surface cut out. The bag-shaped container 10 is lifted from the diagonal direction of the upper surface using a hanging hook 36 shown in FIG. 5(b). By arranging and lighting a plurality of LEDs in the longitudinal direction of the spacer 40, and operating the turning mechanism of the grapple along the direction in which the LEDs are arranged using a light sensor provided in the grapple, the positions of the hanging hook 36 and the hanging string 10A can be adjusted. Relationships can be aligned.

In the above-described embodiment, the bag-like container bottom opening mechanism 25 is provided with a pair of water jet nozzles. For example, a heating body that melts the bottom of the bag-shaped container 10 diagonally with heat may be used. Further, if the bag-like container 10 has an opening formed in advance at the bottom and the opening is tightened with a string-like body, it is also possible to construct the bag-like container 10 with a cutter member or the like that cuts the string-like body. It is.

The above description is an explanation of one embodiment of the present invention, and the technical scope of the present invention is not limited by the description, and each part may be configured as appropriate within the range where the effects of the present invention can be achieved. Needless to say, it can be done.

1: Content discharge device 3: Transport mechanism 10: Bag-shaped container 20: Content discharge mechanism 21: Movable floor 25: Bag-shaped container bottom opening mechanism 30: Grapple 32: Grip member 34: Penetration body C: Control device

Claims (7)

A grapple for gripping a bag-like container containing a stored item, the grapple comprising:
a gripping member operable between a gripping state in which it presses a side surface of the bag-like container and an open state in which it separates from a side surface of the bag-like container;
fixed to the gripping member;
An insertion member that can be operated between an insertion state in which the insertion member is driven to protrude and pierce the side surface of the bag-like container, and a non-insertion state in which the insertion member is driven backward and separated from the side surface of the bag-like container. and,
A grapple characterized by comprising. 2. The grapple according to claim 1, wherein in the inserted state, the insertion member is inserted into the bag-like container in a horizontal direction or above the horizontal direction. The gripping member includes a pressing surface portion that presses a side surface of the bag-like container in the gripping state, and prevents the insertion member from being thrust into the bag-like container from the pressing surface portion or the vicinity of the pressing surface portion in the inserted state. The grapple according to claim 1 or 2 , characterized in that: a bag-like container bottom opening mechanism that opens the bottom of the bag-like container in which the stored items are stored;
a conveyance mechanism that conveys the bag-like container to the bag-like container bottom opening mechanism;
The grapple according to any one of claims 1 to 3 , which is suspended in a space above the bag-like container bottom opening mechanism;
a control device;
a laser sensor that captures the shape of the bag-like container while the bag-like container is being transported by the transport mechanism;
The control device adjusts the attitude of the grapple based on the shape of the bag-like container detected by the laser sensor, grips and lifts the bag-like container, and controls the bag-like container bottom opening mechanism. A contained material discharging device, characterized in that it is configured to be placed thereon. 5. The contained material discharging device according to claim 4 , wherein the grapple includes a load cell. A method for discharging a contained object from a bag-like container in which the contained object is stored, the method comprising:
A first process of driving an insertion body provided on the grapple to protrude from the side surface of the bag-like container to pierce the bag-like container while pressing the side surface of the bag-like container with a gripping member provided on the grapple. and,
a second process of opening the bottom of the bag-like container and discharging the contents;
A method for discharging a contained substance, comprising: The second process includes opening the bag-like container while it is placed in a closed state on a movable floor that can be opened and closed, and then opening the movable bed to discharge the contents. 7. The method for discharging stored materials according to claim 6 .

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