JPH0761604A - Palletizing method for bag body - Google Patents

Abstract

PURPOSE:To minimize a transfer device occupied area and always maintain a bag body at constant shape by shaping the bag body with a presser plate pressed onto the upper surface thereof, and then transferring the bag body, while the upper surface thereof being pressed with the presser plate. CONSTITUTION:When a bag body W transferred on a roller conveyor 6 is held with a clamp 4, this clamp 4 is first opened and an arm 1 is moved until the clamp 4 comes to the side of the bag body W. Then, the clamp 4 is closed and the bag body W is kept in such state as embraced therewith. In this state, the piston 21 of an elevator cylinder 2 is vertically operated, thereby patting a plurality of times the upper surface of the bag body W with a presser plate 5. Then, while the presser plate 5 being pressed to the upper surface of the bag body W, the arm 1 is moved and the clamp 4 is lowered to a pallet, together with the bag body W. Thereafter, the pressing force of the cylinder 2 against the presser plate 5 is weakened to open the clamp 4, and the bag body W is thereby transferred to the pallet. In this way, the bag body W in such state as swelling in the lower part is shaped to such state as having upper and lower sides approximately parallel to each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a palletizing method for a bag body in which powdery grains such as grains are packed, and more particularly to a shaping method for the bag body.

[0002]

2. Description of the Related Art Conventionally, when a bag being conveyed by a roller conveyor is gripped and transferred to a pallet or the like, a robot having a gripping device is provided in the vicinity of the roller conveyor, and the bag is put between the rollers on the gripping device. It is provided with a pawl that lifts in such a manner that it is held by a person, holds a bag conveyed by a conveyor with a holding device, and moves a robot arm to palletize (for example, disclosed.
Actual Kaihei 4-2584). However, if grains are packed in bags using an automatic weighing and packaging machine, the bags will blister, and they may collapse when stacked in multiple stages on pallets, etc. After passing through a shaping device that presses the upper surface of the bag body onto the conveyor to adjust the shape, the robot grips the bag body and conveys it.

[0003]

However, in the prior art, since the bag shaping device is provided, a large installation area for the roller conveyor is required, and the shape of the bag collapses when gripped by the gripping device. I was afraid. It is an object of the present invention to minimize the area occupied by a carrier device, maintain the bag body in a constant shape at all times, and stack the bags in alignment with a pallet or the like.

[0004]

In order to solve the above problems, the present invention is a bag body for holding and conveying a bag body in which powder particles are packed by a gripping claw provided at the tip of an arm of a robot that can be opened and closed. In the palletizing method, a lifting cylinder for raising and lowering a holding plate on a flat plate parallel to the opening / closing direction of the gripping claws is provided at the tip of the arm, and the bag body is gripped by the gripping claws. The elevating cylinder is moved up and down, and the upper surface of the bag body is pressed by the pressing plate or lightly tapped to shape the bag body, and then the upper surface of the bag body is pressed by the pressing plate to hold the bag body. It is to be transported.

[0005]

By means of the above means, the upper surface of the bag body is hit or pressed by the holding plate while being grasped by the gripping claws during the conveyance of the bag body, so that the shape of the bag body is lowered from the upper and lower surfaces. Shape it so that it is almost parallel.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of a hand portion of a robot showing an embodiment of the present invention. In the figure, a lifting cylinder 2 is fixed to the tip of an arm 1 of the robot.
An openable and clawable gripping claw 4 formed in an L shape so that the bag W can be held by the open / close cylinder 3 while being held by the open / close cylinder 3. At the tip of the piston 21 of the lifting cylinder 2, a flat plate-shaped pressing plate 5 is fixed between both gripping claws 4 and parallel to the opening / closing direction of the gripping claws 4. Now, the bag body W conveyed by the roller conveyor 6 is grasped by the claws 4
When gripping by, first, as shown in FIG.
The grip claw 4 is opened and the arm 1 is moved until the grip claw 4 comes to the side of the bag body W. Next, the grip claws 4 are closed so that the bag W is held by the grip claws 4, and in this state, as shown in FIG.
With the pressing plate 5 lightly tapped on the upper surface of the bag body W several times to press the pressing plate 5 against the upper surface of the bag body W,
The arm 1 is moved to lower the grip claw 4 together with the bag W onto a pallet (not shown). Next, the force of pressing the holding plate of the lifting cylinder 2 is weakened, the grip claws 4 are opened, and the bag W is transferred onto the pallet. In this way, the upper surface of the bag W is pressed by the pressing plate 5 while being held by the holding claws 4 while the bag W is being conveyed, and the upper and lower surfaces of the bag W are substantially parallel to each other when the shape of the bag W is blistered. Shape it so that Note that FIG.
As shown in FIG. 5, a stopper 51 or a sensor extending downward from the front and rear side surfaces of the pressing plate 5 (side surfaces perpendicular to the opening and closing direction of the grip claws) is provided to detect the position of the bag body W and to balance the bag body. May be gripped by the grip claws. Further, as shown in FIG. 3, a vacuum suction pad 7 is provided on the lower surface of the pressing plate 5 to raise the bag body W ₁ while sucking the bag body W, and the bag claw 4 is further separated by a gripping claw 4 below the raised bag body W _1. It is also possible to grasp the bag body W ₂ and to press the upper bag body W ₁ by the pressing plate 5 to shape the bag bodies W ₁ and W ₂ at once. As a result, the two bags can be moved while being shaped once by a single conveyance. Further, the bag W ₁ or the bags W ₁ , W
_While holding both of the two, while slightly pressurizing the lifting cylinder 2 and pressing the upper surface of the bag W ₁ with the pressing plate 5,
The arm 1 may be gently vibrated in the vertical direction to promote shaping of the bag body.

[0007]

As described above, according to the present invention, since the upper surface of the bag body is pressed by the pressing plate while the bag body is being held by the holding claws to shape the bag body, the pallet is transferred. The load will not collapse when you change it. Further, since it is not necessary to separately provide a shaping device on the conveyor or the like, there is an effect that the area occupied by the carrying device can be reduced.

[Brief description of drawings]

FIG. 1 is a front view of a robot hand unit according to an embodiment of the present invention during operation.

FIG. 2 is a side view of a hand unit of a robot showing another embodiment of the present invention.

FIG. 3 is a front view of a hand unit of a robot showing another embodiment of the present invention.

[Explanation of symbols]

1 arm, 2 lifting cylinders, 21 pistons, 3
Open / close cylinder, 4 gripping claws, 5 holding plate, 51 stopper, 6 roller conveyor, 7 vacuum suction pad

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[Procedure amendment]

[Submission date] August 25, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

[Figure 3]

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tsutomu Kurisu 2-1, Kurosaki Shiroishi, Hachimansai-ku, Kitakyushu, Fukuoka Prefecture Yasukawa Electric Co., Ltd.

Claims (3)

[Claims] 1. A palletizing method for a bag body, in which a bag body containing powder particles is grasped and conveyed by a grasping claw provided at the tip of an arm of a robot, which can be opened and closed. An elevating cylinder for raising and lowering a holding plate parallel to the direction is provided at the tip of the arm, and the holding plate presses the upper surface of the bag body by the raising and lowering cylinder while holding the bag body by the gripping claws. After shaping the bag, the bag body is conveyed while the upper surface of the bag body is held by the holding plate, and the palletizing method for the bag body. 2. The palletizing method for the bag body according to claim 1, wherein the bag body is shaped by vertically moving the elevating cylinder and tapping an upper surface of the bag body with a pressing plate. 3. A vacuum suction pad is provided on the lower surface of the holding plate, the bag body is sucked by the vacuum suction pad, the holding plate is raised, and another bag body is held under the holding plate by the gripping claws. The method for palletizing a bag according to claim 1.