JPH07165223A - Automatic bag-opening system - Google Patents

Abstract

PURPOSE:To prevent a cut-out piece of a bag from becoming mixed with contents, to prevent decline of strength in areas near the opening and to facilitate adjustment of discharge amount for the contents by a method wherein the bag is held with its one end projecting and the projecting end of the bag is opened and the bag is tilted slowly toward a port for throwing-in. CONSTITUTION:One of palletized bags P is drawn by suction with a suction device 21 held with an arm of a first robot 20 and is transferred to a conveyance device 40. Then, a bag-holding device 50 held with an arm of a second robot 30 is positioned to the rear end of the conveyance device 40. The conveyed bag P is thrown into the holding device 50 and turned, being pressed with s pressing plate, so that a part to be opened of the bag comes to face upward. A disk-like blade of an opening device 10 is turned to cut the upper end of the bag P, and contents in the bag around the opening are dropped into the inside of the bag P. Then, the bag-holding device 50 is transferred, with the opening part of the bag held facing upward, to a port I for throwing-in and tilted slowly to allow the contents to fall into the port I for throwing-in.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic bag opening system. More specifically, the present invention relates to an automatic bag opening system in which the discharge rate can be controlled, so that the amount of dust generated is small and the residual contents are not a problem.

[0002]

2. Description of the Related Art Powder raw materials such as cement, wheat flour and pigments are packed in bags from a manufacturing factory and shipped to a concrete product manufacturing factory, a food manufacturing factory and a dyeing factory. When this bag is opened and the contents are put into a predetermined processing facility, dust is generated, which is an unfavorable working environment for manual work.

Therefore, conventionally, an automatic bag opening machine for opening a bag containing powder such as cement and a bag opening and closing device have been developed. For example, Japanese Examined Patent Publication 1-34849
In the publication, two receiving plates on which a bag is placed are provided so as to face each other in a horizontal state and rotate freely, and at least one of upper and lower sides of a gap formed by inner end edges of the two receiving plates. Is provided with a cutting blade that is vertically movable toward the gap, and at least one pin is provided below each of the two receiving plates so as to be able to move in and out of a hole formed in the receiving plate. In the automatic pouch-discharging machine, the center of rotation of each of the two receiving plates is above the vicinity of the inner end of each of the receiving plates, and the outer end sides of both receiving plates turn upward in an inverted direction. An automatic pouch-discharging machine has been proposed.

In Japanese Utility Model Laid-Open No. 63-54610, an actual bag cleaner for removing dusts and the like adhering to the outer surface of a bag container for storing contents and cleaning the same is mainly used for a physical bag conveyor line. Installed in the middle of the line, a depalletizer equipped with a bag catcher is installed at the front of the physical bag cleaner distribution line, and a bag opening part with an incision blade is installed at the rear of the actual bag cleaner distribution line. There has been proposed a withdrawal bag opening apparatus having a structure in which a bag opening robot having an arm reaching the end of the actual bag conveyor line and the bag opening section and a bag catcher attached to the arm tip is attached.

However, all of these have the following problems because they open and cut the bag above the charging port to discharge the contents.

Since the bag is cut by pressing the cutter against the center of the bag or vice versa, the scrap of the bag may be mixed into the contents, and if it is mixed, it is thrown in as it is. It is thrown into the storage from the mouth.

[0007] When the bag is cut, the strength of the bag near the opening is reduced, so that the bag may be deformed and the contents may remain.

[0008] Since the bag whose central portion is cut is inclined and the contents are discharged, it is difficult to adjust the discharge amount. If the powder has a low specific gravity, it may be dusted or scattered.

Since the bag opening device becomes dirty due to dust generation, a careful cleaning operation is required when opening bags of other types.

Since the contents are rapidly discharged at the same time when the bag is opened, a large input port is required, and the present invention cannot be applied to a small input port which is manually discharged.

[0011]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and there is no fear that the scraps of the bag will be mixed in the contents, and the bag near the opening is opened at the time of cutting the bag. It is an object of the present invention to provide an automatic bag opening system in which the strength is not lowered and the discharge amount of contents can be easily adjusted.

[0012]

According to a first aspect of the present invention, a bag holding means for holding a bag with one end protruding, a moving means for holding and moving the bag holding means, and the bag. The holding means holds and rotates the holding means, and the bag opening means. The bag opening means opens the end of the bag projecting from the bag holding means, and the moving means opens the bag. The bag held by the bag holding means is moved to the loading port, and the opening means of the bag held by the bag holding means is gradually inclined toward the loading port by the rotating means, The present invention relates to an automatic bag opening system characterized in that contents are gradually discharged from an opening formed by bag opening to an input port.

In the first aspect of the present invention, it is preferable that the moving means and the rotating means are constituted by one robot.

According to a second aspect of the present invention, a bag holding means for holding the bag with one end thereof protruding, a conveying means having a holding part for holding the bag holding means, and a horizontally movable bag opening means. And a robot having a grip portion of the bag holding means, wherein the bag opening means is arranged at a position where the bag can be opened above the path of the bag conveyed by the conveying means. The end portion of the bag protruding from the bag holding means is opened, and the robot holds the bag holding means holding the opened bag by the gripping mechanism of the robot, and the insertion port. Moved to
By gradually tilting the bag opening portion of the bag held by the bag holding means toward the loading port, the contents are gradually discharged from the opening formed by the bag opening to the loading port. Automatic bag opening system.

In the second aspect of the present invention, it is preferable that the inclination angle of the bag holding means held by the holding portion of the carrying means with respect to the carrying direction can be adjusted.

Here, it is more preferable that the inclination angle of the bag holding means is inclined rearward when the bag is loaded into the bag holding means.

A third aspect of the present invention comprises a bag holding means having a depalletizing mechanism and a robot which moves while gripping the bag holding means, and the bag holding means projects one end of the bag. In this state, the bag opening means opens the end of the bag protruding from the bag holding means, and the robot directs the bag opening part of the bag held by the bag holding means toward the inlet. The present invention relates to an automatic bag opening system in which contents are gradually discharged from an opening formed by opening a bag into an input port by gradually inclining the bag.

A fourth aspect of the present invention relates to an automatic bag opening system characterized by being provided with an inspection means for inspecting the bag open state and / or the contents.

According to a fifth aspect of the present invention, a bag holding means for holding the bag in a state where one end thereof is projected, a carrying means for carrying the bag holding means, which is provided as necessary, and a bag opening means, A robot having a traveling axis, the bag opening means opens the end of the bag projecting from the bag holding means, and the traveling axis of the robot is arranged along all the inlets. By doing so, the contents of the bag can be loaded into any of the loading ports, and the robot gradually tilts the bag opening portion held by the bag holding means toward the selected loading port. The present invention relates to an automatic bag opening system in which contents are gradually discharged from a opening formed by opening a bag into a predetermined input port.

In the fifth aspect of the present invention, it is preferable that the input port is selected according to the inspection result of the inspection means.

A sixth aspect of the present invention relates to an automatic bag opening system characterized in that a dust stopping means for preventing dust generation when the contents of the bag are thrown in is disposed on the throwing port side.

Here, as the dust-preventing means, for example, an automatic opening / closing lid, a dust-collecting hood covering an opening provided in a connecting duct between the charging port and the storage tank, a dust-collecting means, and an exhausting means are provided. , A piping facility for connecting the dust collecting hood, the dust collecting means, and the exhaust means.

[0023]

Since the automatic bag opening system of the present invention has the above-mentioned structure, there is no risk that the scraps of the bag will be mixed with the contents and discharged, and the contents will flow out at the same time when the bag is opened. There is no dust. Therefore, dust will not be scattered around or in the bag opening facility. Also, after opening the end of the bag, the contents are discharged to the input port with the bag opening facing down, so it is possible to adjust the discharge amount and it is possible to manually adjust the discharge amount. Ejection can be done in the same way as it was done. Therefore, it can be easily applied to a portion that has been manually put in conventionally. Moreover, since the equipment is hardly soiled, cleaning is easy even when applied to raw materials of other varieties.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

Embodiment 1 An automatic bag opening system according to Embodiment 1 of the present invention is shown in FIG. 1, and in this embodiment, a bag opening means 10 for opening a palletized bag P and a depalletized bag P. And the contents input port I are apart from each other, and the two robots 2
It is processed at 0 and 30. Therefore, in the automatic bag opening system 1 of this embodiment, the suction means 21 is attached to the tip of the arm.
The main components are the first robot 20 having the above, the conveying means 40, and the second robot 30 having the bag holding means 50 at the tip of the arm.

Since the first robot 20 is the same as a known one conventionally used for depalletizing the palletized bag P, detailed description of its configuration will be omitted.

As the conveying means 40, for example, a roller conveyor, a belt conveyor or the like is used, and the end portion thereof is lowered to facilitate the carrying into the bag holding means 50 held by the arm of the second robot 30. It is regarded as a slope.

As shown in FIG. 2, the bag holding means 50 held by the tip of the arm of the second robot 30 is a box-shaped main body 51 and upper and lower parts provided near the ceiling of the main body 51. Movable pressing plates 52 and 53, and this main body 51
The bag fixing means 54, 54 provided at the rear end portion of the rear end, and the vibration exciter 5 provided substantially in the middle of the pressing plates 52, 53.
5 and a vibrator 56 provided on the bottom surface 51a of the main body 51 so as to face the vibrator 55. Here, the vertical movement of the pressing plates 52 and 53 is realized by the air cylinder mechanism A in which the tip end portion of the drive shaft 57 is attached to the pressing plates 52 and 53, for example. In the illustrated example, the exciter 5
Two air cylinder mechanisms A and A are provided with 3 in between. Further, the front end portion 51b of the main body 51 is opened so that a bag can be put therein. The depth is adjusted so that the bag projects to some extent.
The bag fixing means 54 has a pin 541 capable of projecting therein, and the pin 541 is projected by, for example, a cylinder. Note that FIG. 2 shows a state in which the pin 541 is projected.

The bag opening means 10 comprises, for example, a disc-shaped blade 11 and a motor 12 for rotating the blade 11 (see FIG. 5). The bag opening means 10 is fixed by an appropriate means at an appropriate place in the operation range of the arm of the second robot 30. The configuration of the bag opening means 10 is not limited to the above, and various configurations are possible,
For example, it may be a simple cutter. This also applies to each of the following embodiments.

Next, the bag opening operation by the automatic bag opening system 1 of the embodiment 1 configured as described above will be described with reference to FIGS.

Step 101: The suction means 21 held by the arm of the first robot 20 is moved above the palletized bag P.

Step 102: The suction means 21 is lowered and the suction portion 22 is pressed against the bag P.

Step 103: The air in the suction unit 22 is discharged to suck the bag P.

Step 104: The suction means 21 is moved to above the transport means 40.

Step 105: The suction means 21 is lowered and the bag P is placed on the carrying section 41 of the carrying means 40.

Step 106: The suction of the bag P by the suction unit 22 is released, and the suction means 21 is retracted.

Step 107: the transport section 4 of the transport means 40
1 is driven to convey the bag P.

Step 108: The bag holding means 50 grasped by the arm of the second robot 30 is placed at the rear end of the transport means 40 with the bottom surface 51a of the box-shaped main body 51 facing down, and its opening is set at the rear end. Position towards.

Step 109: The transported bag P is loaded into the box-shaped main body 51. (See Figure 3)

Step 110: The pressing plates 52 and 53 built in the box-shaped main body 51 are lowered to press the bag P (see FIG. 4).

Step 111: The bag holding means 50 is rotated so that the opening of the box-shaped main body 51 faces upward (see FIG. 4).

Step 112: The disc-shaped blade 11 of the bag opening means 10 is rotated.

Step 113: The bag holding means 50 is moved to bring the rotating blade 11 into contact with the upper end of the bag P (see FIG. 5).

Step 114: In this state, the bag holding means 5
0 is moved horizontally to open the upper end of the bag P. In this case, the bag may be opened at a position slightly displaced from the upper end. Alternatively, the bag holding means 50 may be opened in a tilted state.

Step 115: The vibrators 55 and 56 are operated to drop the contents near the opening into the bag P (see FIG. 6).

Step 116: The bag holding means 50 is moved to the input port I with the opened part of the bag P facing upward.

Step 117: The bag fixing means 54, 54 incorporated in the box-shaped main body 51 are operated to operate the pin 54.
1, 541 are thrust into the bag P to fix the lower end of the bag P (see FIG. 7).

Step 118: While rotating the bag holding means 50, the bag opening portion of the bag P is gradually inclined toward the input port, and the contents are discharged to the input port I. (See Figure 8)

Step 119: When the discharge of the contents is substantially completed, the vibrators 55 and 56 are operated while the bag P is being pressed by the pressing plates 52 and 53 to accelerate the discharge of the residual material.

As described above, in the first embodiment, the discharging speed of the contents can be adjusted by appropriately adjusting the rotation angle of the bag holding means 50. In addition, the shakers 55, 56
By vibrating the bag P, it is possible to prevent the contents from remaining in the bag P. Furthermore, since the upper end of the bag is opened, the contents do not start to flow out at the same time as the bag is opened.
Therefore, the bag holding means 50 is not soiled with dust. Moreover, since the discharge is performed in the same manner as the conventional manual work, the entire system can be made compact.

Embodiment 2 An automatic bag opening system according to Embodiment 2 of the present invention is shown in FIG. 9, and in this embodiment, a palletized bag P and a bag opening means 10 for opening a depalletized bag P are provided. There are two robots 20 and 3 in a place apart from the contents input port I.
It is processed by 0. This point is similar to the first embodiment, but the automatic bag opening system 1 of the present embodiment is provided with a carriage for holding and carrying the bag holding means 50 between the two robots 20 and 30. This embodiment is different from the first embodiment in that the transport means 60, and the bag opening means 10 and the inspection means 70 provided in the path of the transport means 60 are included as main components.

Only the points different from the first embodiment will be described below.

The conveying means 60 is, for example, as shown in FIGS.
As shown in FIG. 1, the track 61 and a plurality of carriages 62, 62, 62, ... In addition, here, the carriage 62 is used as the bag holding means 5.
The holding unit for 0 is configured.

The track 61 is composed of a pair of traveling rails 63, 63 having a predetermined space and a guide rail 64 arranged between the traveling rails. The traveling rail 63 is made of a groove-shaped member, and the groove portions are arranged to face each other. The guide rail 64 is composed of a pair of groove-shaped members 65, 65 that are close to each other, and the groove portions are arranged to face each other. Traveling wheels 66 provided at the rear of the truck 62 are mounted in the grooves of the traveling rail 63. Further, a pair of guide wheels 67, 67 provided on the front portion of the carriage 62 are mounted in a groove shape of a groove type member 65 forming the pair of guide rails 64 in a sandwiched manner.

As shown in the figure, the guide wheels 67, 67 are generally L-shaped and are provided on the back surface of the floor plate 621 of the truck 62 so as to be located at the central portions of the groove-shaped members 65, 65 forming the guide rail 64. It is fixed to both ends of an axle 69, which is rotatably attached to the lower end of a guide plate 68 having. For this reason, the guide rail 64 is
At the same level as 3, the floor plate 621 of the truck 62 is inclined rearward. Further, as the guide rail 64 goes below the traveling rail 63, its inclination becomes gentler. The level of this guide rail 64 is
The floor plate 621 is designed to be finally horizontal at a predetermined position. A roller chain 71 for driving the carriage 62 is arranged near the inside of the mounting portion of the traveling wheels 66 on the lower surface of the floor plate 621. The roller chain 71 has a known structure that is driven by a driving sprocket and a driven sprocket.

On the other hand, at a predetermined position on the upper surface of the floor plate 621, the positioning hole 5 provided on the bottom surface of the bag holding means 50.
Positioning projection 6 for fitting into 8 and positioning
22 is provided. In addition, the positioning protrusion 622
The fixing means 72 for fixing the bag holding means 50 positioned by is provided. Further, a front stopper 623 is provided at a position slightly forward of the front portion of the bag holding means 50 of the floor plate 621, and a rear stopper 624 is provided at a position slightly rearward of the rear portion. In the illustrated example, the number of positioning protrusions 622 is two, and the fixing means 72 is provided.
Are four so as to fix the squares of the bag fixing means 50.

The fixing means 72 includes a fixing pin 721.
And the support plates 722 and 723 supporting the fixing pins 721 at predetermined intervals, the end plate 724, the support plates 722 and 724, and the fixing pins 721. Fixed pin 7 attached
21 and a spring 725 biasing the spring 21. The tip of this fixing pin 721 is
It is locked in the locking hole 59 provided in the bag holding means 50 corresponding to 1.

Further, the bag P is placed above the carrying start point of the carriage 62 by the suction means 21 held by the arm of the first robot 20, and then the bag P is placed on the bag holding means 50. A bag loading / loading means 74 for loading is provided. The bag placing / placing means 74 includes a flat bag placing portion 741 and a rotating mechanism 742 that rotates the bag placing portion 741. In this embodiment, the tip of the bag placing portion 741 is bent obliquely upward for the convenience of preventing the bag P from falling off and placing the bag P, as schematically shown in FIG. . Although the drive portion of the rotating mechanism 742 is not shown for the sake of simplification of drawing, a gear motor having a conventionally known structure is used.

A bag opening means 10 and an inspection means 70 for inspecting the opened state of the opened bag and the contents are provided in the middle of the conveying path. Bag opening means 10
Is a disk-shaped blade 11, a drive mechanism 12 for rotating the blade 11, and a moving mechanism (not shown) for moving the drive mechanism 12 in the width direction of the carriage 62 of the transporting means 60 as in the first embodiment. Consists of. Further, a probe is used as a sensor for inspecting the opened bag state, and a color sensor is used as a sensor for checking the contents. Specifically, it is appropriately selected according to the contents to be inspected. Although the detailed description of the remaining structure of the inspection means 70 is omitted, it has the same structure as a known inspection device.

The second robot 30 has a gripping hand of the bag holding means 50 attached to the tip of the arm. Although the detailed description of the remaining configuration of the second robot 30 is omitted, it has the same configuration as a normal robot.

Next, the bag opening operation by the automatic bag opening system 1 of the second embodiment having such a configuration will be described with reference to FIG.

Step 201: The suction means 21 held by the arm of the first robot 20 is moved above the palletized bag P.

Step 202: The suction means 21 is lowered and the suction portion 22 is pressed against the bag P.

Step 203: The air in the suction unit 22 is discharged to suck the bag P.

Step 204: The suction means 21 is moved to above the transport means 60.

Step 205: The suction means 21 is lowered and the bag P is placed on the bag placing portion 741 of the bag placing / placing means 74 of the conveying means 60.

Step 206: The suction of the bag P by the suction unit 22 is released and the suction means 21 is retracted.

Step 207: Cart 62 of the transport means 60
Then, the bag holding means 50 is set in a state of being tilted rearward, and moved to the planned bag P loading position. At this time, necessary electric wiring and air piping are also connected. It should be noted that this wiring and the like can be moved within a predetermined range as the carriage 62 moves.

Step 208: The bag placing section 741 is rotated to load the bag P into the bag holding means 50.

Step 209: The bag holding means 50 is moved to the position of the bag opening means 10. Since the conveying means 60 is configured as described above, the bag holding means 50 can be conveyed and conveyed.
The inclination of becomes gentle and the posture finally becomes vertical.

Step 210: The pressing plates 52 and 53 in the bag holding means 50 are pushed out toward the rear wall to press the bag P.

Step 211: The disc-shaped blade 11 of the bag opening means 10 is rotated.

Step 212: The rotating blade 11 is moved and brought into contact with one end of the upper end of the bag P.

Step 213: The blade 11 rotating in this state is moved horizontally to open the bag P. In this case, the bag may be opened at a position slightly displaced from the upper end.

Step 214: When the bag opening is completed, the bag holding means 50 is moved to the position of the inspection means 70.

Step 215: The sensor is inserted from the bag opening portion and the contents are inspected. Or check the bag opening status with a probe.

Step 216: If it is determined that the contents are designated, the bag holding means 50 is moved to the second robot 30.
Move in the direction of. If it is determined that the contents are different from the designated contents, an alarm is issued, the movement of the bag holding means 50 is stopped, and the bag holding means 50 is removed.

Step 217: The bag holding means 50 is held vertically by the hand held by the arm of the second robot 30 and moved to the inlet I.

Step 218: The bag fixing means 54, 54 built in the bottom portion of the bag holding means 50 are operated to operate the pin 5
41 is thrust into the bag P to fix the lower end of the bag P.

Step 219: The vibrators 55, 56 are operated to drop the contents adhering to the vicinity of the opening into the bag P.

Step 220: The arm is rotated to discharge the contents into the inlet I.

Step 221: While the bag P is being pressed by the pressing plates 52 and 53, the vibrators 55 and 56 are operated to accelerate the discharge of the residual material.

In the second embodiment, as in the first embodiment,
By appropriately adjusting the rotation angle of the arm of the second robot 30, the discharge speed of the contents can be adjusted. Further, by vibrating the bag P with the vibrators 55 and 56, it is possible to prevent the contents from remaining in the bag P. Further, since the inspection means 70 is used to inspect the contents of the opened bag P and to check the opened state, it is possible to prevent the introduction of other than the designated ones and to carry out the post-process of the defective bag. Is prevented from being conveyed.

Example 3 FIG. 12 shows an automatic bag opening system according to Example 3 of the present invention.
In this embodiment, the palletizing bag P, the bag opening means 10 for opening the depalletized bag P, and the contents inlet I are within the processable range of one robot 30. is there. Therefore, the automatic bag opening system 1 of the present embodiment
Mainly comprises a robot 30 having a bag holding mechanism 24 having a depalletizing function at the tip of the arm and a bag opening means 10.

As shown in FIGS. 13 to 14, the bag holding mechanism 24 comprises a bag holding mechanism main body 25, a bag suction means 26, and a pair of bag holding members 27, 27. Here, the suction portion of the bag suction means 26 can be moved up and down, and the bag holding member 27
Is rotatable.

More specifically, the bag holding mechanism body 25 is
It is composed of a rectangular main plate 251, side plates 252 and 252 attached to both sides of the main plate 251, and an end plate 253 attached to the rear end of the main plate 251. This side plate 2
The leading end of 52 may be made to extend more than the leading end of the main plate 251, as shown in FIG. In addition, as in the same manner as shown in FIG. 14, a part of the corners of the extended portion may be cut.

The suction means 26 is provided along the longitudinal centerline of the main plate 251. This suction means 26
Is composed of a cylinder device 261 and an adsorption portion 263 provided at the tip of a drive shaft 262 thereof. The cylinder body of the cylinder device 261 has a drive shaft 262.
Is attached to the main plate 251 so as to project inside the bag holding mechanism body 25. As the suction unit 263, a suction unit having a well-known structure is used, in which the inside of the dish-shaped suction pad is negatively pressured to suck the bag. Therefore, the illustration of the suction mechanism is omitted here. Further, since the suction portion 263 is attached to the tip end portion of the drive shaft 262 of the cylinder device 261, it is possible to move up and down the inside of the bag holding mechanism main body 25 by moving the drive shaft 262 forward and backward. In the example shown in FIG. 14, two sets of suction means 2 are used.
Although 6 is used, the number can be increased or decreased as necessary, and for example, one set or three sets can be used.

Further, a mounting portion 271 provided on the upper end of the substantially L-shaped bag holding member 27 is rotatably mounted on the lower end of each of the side plates 252, 252. The L-shaped lower horizontal portions 272 of the bag holding member 27 are attached so as to face each other so that the depalletized bag P by the suction means 26 can be placed. An end plate 273 is provided at the rear end of the bag holding member 27 to prevent the bag P from falling when the bag holding mechanism 24 is tilted. The bag holding member 27 is provided in the bag holding mechanism main body 2 so that the suction means 26 does not hinder the depallet size.
It is adapted to be rotated by a drive device (not shown) provided at 5.

Further, in the vicinity of the rear end portion inside the bag holding mechanism main body 25, a pair of bag fixing means 28 incorporating a projecting pin 281 is provided. FIG. 14 shows a state in which the pin 281 is protruding. One of the fixing means 28 is attached to the bottom plate 254, and the other is attached to the end plate 253 corresponding to the fixing means 28. The space between the fixing means 28, 28 does not hinder the taking in of the bag P. In addition, this pin 281
An example of the drive mechanism for projecting the is an air cylinder mechanism.

Thus, the bag holding mechanism 24 thus constructed is attached to the arm of the robot 30.
Since various kinds of robots conventionally used for this kind of work can be used for the robot 30, detailed description of the configuration thereof will be omitted.

Next, the bag opening operation by the automatic bag opening system 1 according to the third embodiment having the above-described structure will be described with reference to FIGS.
This will be described with reference to 2.

Step 301: The bag holding mechanism 24 is moved above the palletized bag P.

Step 302: The bag holding members 27, 27 are rotated outward and the suction portion 26 of the suction means 26 is moved.
Drop 3

Step 303: The bag holding mechanism 24 is lowered and the suction portion 263 is pressed against the bag P.

Step 304: The air in the suction portion 263 is discharged to suck the bag P. (See Figure 15)

Step 305: The bag holding mechanism 24 is raised.

Step 306: Bag holding members 27, 27
Is rotated inward until the bag P can be placed. At this time, the suction part 263 is raised as necessary.

Step 307: The bag holding mechanism 24 is moved to the bag opening means 10.

Step 308: The bag holding mechanism 24 is rotated so that the front end portion 24a of the bag holding mechanism 24 faces upward (see FIG. 17).

Step 309: The disk-shaped blade 11 of the bag opening means 10 is rotated.

Step 310: The bag holding mechanism 24 is moved to bring the rotating blade 11 into contact with the upper end of the bag P (see FIG. 17).

Step 311: In this state, the bag holding mechanism 2
Move 4 horizontally and open the bag. In this case, the bag may be opened at a position slightly displaced from the upper end (see FIG. 18). Alternatively, the bag holding mechanism 24 may be opened in a tilted state (see FIG. 19).

Step 312: The bag holding mechanism 24 is moved to the loading port I with the opened part facing upward.

Step 313: The bag fixing means 28, 28 is operated to fix the lower end portion of the bag P by the pins 281, 281 (see FIG. 20).

Step 314: The bag holding mechanism 24 is moved to above the input port I. (See Figure 21)

Step 315: The bag holding mechanism 24 is rotated to discharge the contents into the inlet I. (See Figure 21)

Step 316: While adsorbing the bag P to the adsorbing part 263, the adsorbing part 263 is moved up and down to accelerate the discharge of the residue (see FIG. 22).

In the third embodiment, similarly to the first embodiment, the discharge speed of the contents can be adjusted by appropriately adjusting the rotation angle of the bag holding mechanism 24. In addition, the suction unit 26
By moving 3 back and forth and shaking the bag P, the bag P of the contents
It can be prevented from remaining inside.

Embodiment 4 FIG. 23 shows the essential parts of an automatic bag opening system according to Embodiment 4 of the present invention, and Embodiment 4 is a modification of Embodiment 1. That is, in the first embodiment, one series is changed to two series, and the first series is used as one first robot 20.
The difference is that processing is performed by one second robot 30.
Therefore, the second robot 30 is configured to move on the traveling shaft 32 arranged along the two insertion ports I, I. Note that, in FIG. 23, only the vicinity of the input port I is drawn for simplification of the drawing, but the first robot 20 for depalletizing is also configured to move on the traveling axis. However, here, the second robot 30 has the bag holding mechanism 2 having the depalletizing function as in the third embodiment.
Have four.

Next, the bag opening operation by the automatic bag opening system 1A of the fourth embodiment having such a configuration will be described.
It should be noted that, for simplification of description, only parts different from the first embodiment will be described.

Step 401: The first robot 20 depalletizes the first series of palletized bags P and places them on the first series of conveying means 40.

Step 402: The first robot 20 moves on the traveling axis to palletize the second series of bags P.
Are depalletized and placed on the second series of conveying means 40.

Step 403: The second robot 30 holds the bag P conveyed by the first series of conveying means 40 by the bag holding mechanism 24, opens the upper end of the bag P, and then opens the contents. Discharge to one series of inlet I.

Step 404: The second robot 30 moves on the traveling shaft 32, holds the bag P conveyed by the second series conveying means 40 by the bag holding mechanism 24, and opens the upper end portion of the bag P. After the bag, the contents are discharged to the inlet I of the second series.

As described above, according to the fourth embodiment, two series of processes can be performed by one first robot 20 and one second robot 30.

If the contents are the same or if the loading sequence is known in advance, the first robot 20 does not necessarily have to be configured to run on the running axis.

It is also possible to carry the bag with the bag held by the carrying means 40 and to cause the second robot to carry out a series of operations from depalletizing to unpacking.

Embodiment 5 FIG. 24 shows an essential part of an automatic bag opening system according to Embodiment 5 of the present invention. This Embodiment 5 is a modification of Embodiment 4. That is, in the fourth embodiment, two series are processed by one first robot 20 and one second robot 30, whereas in the fifth embodiment, the series up to the conveyance means 40 is two series. However, the difference is that the input port I is of three series. Note that, in FIG. 24, only the vicinity of the inlet I is drawn for simplification of the drawing, but as in the fourth embodiment, the depalletizing first robot 20 is also configured to move on the traveling axis. There is.

Next, the bag opening operation by the automatic bag opening system 1B of the fifth embodiment having the above-mentioned structure will be described.
Note that, for simplification of description, only parts different from those of the fourth embodiment will be described.

Step 501: The second robot 30 holds the bag P transferred by the transfer means 40, opens the upper end of the bag P, and then discharges the contents to the input port I designated by the robot controller. To do.

In this case, when the contents P of the bag P to be conveyed are known in advance, the selection of the contents input port I can be performed relatively easily by instructing the robot controller in advance. However, when the contents cannot be known in advance, the inspection unit 70 inspects the contents, and the second robot 30 is instructed to the input port I based on the result.

As described above, according to the fifth embodiment, even if different kinds of raw materials are mixed and conveyed, they are discharged to a predetermined charging port because of the facility. Therefore, the entire equipment can be made compact.

If the contents are the same or if the loading sequence is known in advance, the first robot is configured to always travel on the traveling axis, as in the fourth embodiment. No need.

Further, it is possible to carry the bag while the bag is held by the carrying means 40 and to make the second robot carry out a series of operations from depalletizing to unpacking.

Embodiment 6 FIG. 25 shows a main part of an automatic bag opening system according to Embodiment 6 of the present invention, and Embodiment 6 is a modification of Embodiment 5. That is, the sixth embodiment is similar to the fifth embodiment in that the selection of the input port is made based on the contents of the bag, but the transporting means 40 is one line and the position thereof is that of the second robot 30. It is apart from the traveling axis 32, and in addition, the movement of the bag P into the operation range of the second robot 30 is performed by the carriage V.

Next, the bag opening operation by the automatic bag opening system 1C of the sixth embodiment having such a configuration will be described.
Note that, for simplification of description, only parts different from the fifth embodiment will be described.

Step 601: The carrying means 40 transfers the carried bag P to the carriage V.

Step 602: The cart V is moved to the specified slot I.

Step 603: The second robot 30 travels on the travel shaft 32 and moves to the position of the carriage V.

Step 604: The second robot 30 holds the bag P on the carriage V, opens the upper end of the bag P, and then discharges the contents to the input port I designated by the robot controller.

In this case, when the contents of the bag to be conveyed are known in advance, the selection of the contents input port can be relatively easily performed by instructing the robot controller in advance. However, when the contents cannot be known in advance, the contents are inspected by the inspection means, and the input port is selected based on the result. This point is the same as in the fifth embodiment.

As described above, according to the sixth embodiment, due to the convenience of the equipment, even if different kinds of raw materials are mixed and carried by one carrying means, they are discharged to a predetermined charging port.

In the sixth embodiment, the dolly is used to move the bag to the second robot, but the bag may be moved by an AGV or a conveyor.

Further, it is possible to carry the bag while the bag is packed by the carrying means 40, and to make the second robot perform a series of operations from depalletizing to unpacking.

Example 7 An essential part of an automatic bag opening system according to Example 7 of the present invention is shown in FIG. 26, and this Example 7 is a modification of Example 1. That is, this automatic bag opening system 1D is the one in which the dustproof device 90 is provided on the side of the inlet I in the first embodiment.

This dustproof device 90 is shown in FIGS.
As shown in, an automatic opening / closing lid 92 that is opened and closed by an air cylinder mechanism A provided on the upper surface of the charging port I, a dust collecting hood 94 attached to a communication duct D from the charging port I to the storage tank, A dust collector 96 that collects dust from the dust hood 94, an exhaust fan 97 that is provided on the downstream side of the dust collector 96 that generates a negative pressure for dust collection, and each of these devices. It comprises a piping facility 98 provided with a valve 98a for connection. As shown in FIG. 28, the dust collecting hood 94 includes a hood main body 941 that covers the opening D1 formed in a mesh shape in the communication duct and a connecting portion 942 that connects the dust collecting pipe 981.

Although a detailed description of the dust collecting device 96, the exhaust fan 97 and the piping facility 98 is omitted, the dust collecting device 96, the exhaust fan 97 and the piping facility 98 have the same construction as that conventionally used for dust collecting equipment.

Next, the bag opening operation by the automatic bag opening system 1D of the seventh embodiment having the above-mentioned structure will be described.
Note that, for simplification of description, only characteristic parts of the seventh embodiment will be described.

Step 701: The exhaust fan 97 and the dust collector 96 are activated to generate a negative pressure in the dust hood 94.

Step 702: In response to a signal from the robot 30 that the bag P has reached the loading position, the lid 92 is automatically opened and at the same time, the valve 98 provided in the middle of the pipe 98.
a is also opened. It should be noted that this opening and closing may be performed based on a signal from a detection sensor provided in the vicinity of the inlet I.

Step 703: When the contents are completely discharged, the bag holding means 50 is retracted.

Step 704: The lid 92 is closed by the retract confirmation signal of the bag holding means 50 from the robot 30.

Step 705: At the same time as closing the lid 42, the valve 98a provided in the middle of the pipe 98 is also closed.

As described above, according to the seventh embodiment, the contents can be discharged while preventing dust generation more effectively. Therefore, the surrounding environment and each facility can be kept in a cleaner state.

[0145]

As described above, according to the present invention, since the upper end portion of the bag is opened, there is no fear that the scraps of the bag will be mixed in the contents, and the vicinity of the opening when the bag is cut. It is possible to obtain an excellent effect that there is no abrupt opening due to the decrease in the strength and the abrupt discharge of the contents. In addition, by appropriately adjusting the rotation angle of the robot arm, the excellent effect that the discharge amount and discharge speed of the contents can be controlled can be obtained. Due to such an effect, dust is not generated due to scattering of contents during discharge, and as a result, the surrounding environment and the bag opening device are not contaminated. Therefore, when carrying out the bag opening work of other types of bags, it is not necessary to clean the bag opening device, or even if it is necessary to clean the bag opening device, the work is remarkably reduced. Also, the bag from which the contents have been discharged is not stained, or if there is, the stain is very small. Furthermore, since the bag opening is performed at a place apart from the inlet, the contents can be inspected and the contents can be put into a predetermined inlet based on the result. Therefore, even if the multi-product simultaneous processing is performed, there is no risk of erroneous input of different products into other input ports by mistake.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an automatic bag opening system according to a first embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of a bag holding means used in the embodiment.

FIG. 3 is an explanatory view showing a state where a bag is carried into a bag holding means from a conveying means.

FIG. 4 is an explanatory diagram showing a state where a bag carried into the bag holding means is pressed by a pressing plate.

FIG. 5 is an explanatory view showing a state in which the upper end portion of the bag is opened by the bag opening means.

FIG. 6 is an explanatory diagram showing a state in which the vibrating device is operated to drop the contents attached to the upper end of the bag into the inside of the bag.

FIG. 7 is an explanatory view showing a state where the lower end portion of the bag is fixed by the bag fixing means.

FIG. 8 is an explanatory view of a state in which the bag holding means is rotated and the contents are discharged to the input port.

FIG. 9 is a schematic diagram of an automatic bag opening system according to a second embodiment of the present invention.

FIG. 10 is a schematic view of a carrying means used in the embodiment.

FIG. 11 is a front view of the conveying means.

FIG. 12 is a schematic diagram of an automatic bag opening system according to a third embodiment of the present invention.

FIG. 13 is a front view of a bag holding mechanism used in the embodiment.

FIG. 14 is a longitudinal sectional view of the same.

FIG. 15 is an explanatory diagram of a state in which a bag is being depalletized by the automatic bag opening system according to the third embodiment.

FIG. 16 is an explanatory diagram of a state where a bag is held by the automatic bag opening system of the third embodiment.

FIG. 17 is an explanatory view showing a state where the upper end portion of the bag is opened by the bag opening means.

FIG. 18 is an explanatory view showing a state where the vicinity of the upper end of the bag is opened by the bag opening means.

FIG. 19 is an explanatory view showing a state in which the bag holding mechanism is directed obliquely upward and the vicinity of the upper end of the bag is opened by the bag opening means.

FIG. 20 is an explanatory view showing a state where the lower end portion of the bag is fixed by the bag fixing means.

FIG. 21 is an explanatory diagram showing a state in which the bag holding mechanism is rotated to discharge the contents into the input port.

FIG. 22 is an explanatory diagram showing a state in which the bag is vibrated to accelerate the discharge of the contents.

FIG. 23 is a schematic diagram of an automatic bag opening system according to a fourth embodiment of the present invention, showing the vicinity of an input port.

FIG. 24 is a schematic view of an automatic bag opening system according to a fifth embodiment of the present invention, showing the vicinity of an input port.

FIG. 25 is a schematic view of an automatic bag opening system according to Embodiment 6 of the present invention, showing the vicinity of an input port.

FIG. 26 is a schematic view of an automatic bag opening system according to Example 7 of the present invention.

27 is a view taken along the line AA of FIG.

FIG. 28 is a vertical cross-sectional view of the vicinity of the charging port of the embodiment.

FIG. 29 is an explanatory view of the contents discharging procedure in the embodiment, showing a state in which the lid is opened due to the proximity of the bag holding means.

FIG. 30 is an explanatory view of the same, showing a state in which the bag holding means is rotated and the contents are discharged to the input port.

[Explanation of symbols]

 1 Automatic Bag Opening System 10 Bag Opening Means 11 Disc Blade 12 Motor (Drive Mechanism) 20 First Robot 30 Second Robot 40 Conveying Means 50 Bag Holding Means 54 Bag Fixing Means 55, 56 Vibratory Machine 60 Conveying Means 61 Track 62 Truck 70 Inspection means 90 Dustproof device 92 Automatic opening / closing lid 94 Dust collecting hood 96 Dust collector 97 Exhaust fan 98 Piping facility 98a Valve A Air cylinder mechanism I Input port P Bag V Truck

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toyoaki Fukunishi 1780 Uetakano, Yachiyo-shi, Chiba Kawasaki Heavy Industries, Ltd. Yachiyo factory (72) Inventor Hirokazu Tamura 1780 Uetakano, Yachiyo-shi, Chiba Kawasaki Heavy Industries Ltd. Company Yachiyo factory

Claims (13)

[Claims] 1. A bag holding means for holding a bag with one end protruding, a moving means for holding and moving the bag holding means, and a rotating means for holding and rotating the bag holding means. And a bag opening means, the bag opening means opens the end of the bag projecting from the bag holding means, and the moving means holds the bag held in the bag holding means. The bag opening portion of the bag held by the bag holding means is gradually tilted toward the loading port by being moved to the loading port and the rotating means causes the contents to be opened through the opening portion. The automatic bag opening system is characterized in that is gradually discharged to the inlet. 2. The automatic bag opening system according to claim 1, wherein the moving means and the rotating means are constituted by one robot. 3. A bag holding means for holding a bag with one end protruding, a conveying means having a holding portion for holding the bag holding means, a horizontally movable bag opening means, and the bag holding means. And a robot having a gripping mechanism, wherein the bag opening means is arranged at a position where the bag can be opened above the path of the bag conveyed by the conveying means so that the bag opening means protrudes from the bag holding means. The end portion of the bag that is opened is opened, and the bag holding means that holds the opened bag is gripped by the gripping mechanism of the robot and moved to the insertion port, and the robot causes the The bag opening part of the bag held by the bag holding means is gradually inclined toward the loading port, whereby the contents are gradually discharged from the opening part formed by the bag opening to the loading port. Automatic bag opening system. 4. The automatic bag opening system according to claim 3, wherein an inclination angle of the bag holding means held by the holding portion of the carrying means with respect to the carrying direction is adjustable. 5. The automatic bag opening system according to claim 4, wherein an inclination angle of the bag holding means is tilted rearward when the bag is loaded into the bag holding means. 6. The second transfer means is arranged between the transfer means and the robot.
The automatic bag opening system described. 7. The automatic bag opening system according to claim 6, wherein the second conveying means is a trolley, a self-propelled trolley or a conveyor. 8. An automatic bag opening system, comprising an inspection means for inspecting the opened state and / or the contents of the opened bag. 9. A bag holding means having a depalletizing mechanism, and a robot which moves while holding the bag holding means, wherein the bag holding means holds one end of the bag in a protruding state. The bag opening means opens the end portion of the bag projecting from the bag holding means, and the robot gradually tilts the bag opening portion of the bag held by the bag holding means toward the insertion port. As a result, the automatic bag opening system is characterized in that the contents are gradually discharged from the opening formed by opening the bag to the inlet. 10. A bag holding means for holding a bag with one end protruding, a carrying means for carrying the bag holding means, which is provided as necessary, a bag opening means, and a robot having a traveling shaft. The bag opening means opens the end of the bag projecting from the bag holding means, and the traveling axis of the robot is arranged along all the inlets. The contents of the bag can be loaded into the loading opening, and the robot gradually tilts the opening portion of the bag held by the bag holding means toward the selected loading opening to open the bag. An automatic bag opening system characterized in that the contents are gradually discharged to a predetermined insertion port from the opening generated by. 11. The automatic bag opening system according to claim 10, wherein the inlet is selected according to the inspection result of the inspection means. 12. An automatic bag opening system, characterized in that dust-proof means for preventing dust generation when the contents of the bag are thrown in is provided on the loading port side. 13. The dustproof means, an automatic opening / closing lid, a dust collecting hood covering an opening provided in a connecting duct between the charging port and the storage tank, a dust collecting means, an exhausting means, and the collecting means. 13. The automatic bag opening system according to claim 12, comprising a piping equipment for connecting a dust hood, a dust collecting means and an exhausting means.