JP2020117310A - Bag take-out method and bag take-out device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bag taking-out method and a bag taking-out device capable of accurately taking out a plurality of bags from a storage box in a short time.
SOLUTION: The holding part 30 is moved to a preparation position inside a storage box 70 that stores a plurality of bag sets 81 stacked in the stacking direction. The holding unit 30 is moved from the preparation position to the holding position, at least a part of the holding unit 30 is arranged between the first position bag set 81a and the second position bag set 81b, and the first position bag set 81a is held. It is held by the section 30. While holding the first position bag set 81a by the holding unit 30, the holding unit 30 is moved to move the first position bag set 81a from the inside to the outside of the storage box 70. The preparation position is a position that does not overlap with the first position bag set 81a in the stacking direction but overlaps with the second position bag set 81b in the stacking direction.
[Selection diagram] Fig. 10

Description

The present invention relates to a bag taking-out method and a bag taking-out device for taking out a bag from a storage box.

A flat bag manufacturer can deliver a large number of flat bags to a client at a time by accommodating a plurality of flat bags in a box or the like in a stacked state. Particularly, in the case of a flat bag having a locally large thickness (for example, a flat bag with a spout), several to several tens of bags are bundled, and a plurality of bundles of bags are accommodated while changing the direction of each bag. By stacking in the box, a large number of bags can be efficiently stored in the storage box in a relatively stable state.

According to the empty bag supply device disclosed in Patent Document 1, a large number of bags are accommodated in the accommodation box in a stacked state, and the uppermost bag in the accommodation box is taken out one by one by the suction hand.

JP, 2007-039113, A

Since the empty bag supply device of Patent Document 1 takes out the bags one by one from the storage box, the bag take-out efficiency is not always good. Therefore, there is a limit to the speed at which the bag taken out from the storage box by the empty bag supply device of Patent Document 1 is supplied to a device (for example, a bag packing and packaging machine) provided in the subsequent stage. In this way, the empty bag supply device of Patent Document 1 becomes a bottleneck, which can substantially hinder the improvement of the processing speed of the device provided in the subsequent stage.

In order to take out many bags from the storage box in a short time, it is conceivable to increase the number of bag holding parts such as suction hands. However, when the number of bag holders is increased, the device configuration and the control configuration are complicated, the device cost is increased, and the area required for installing the device (that is, the device occupied area) tends to be increased.

It is also desired to move the bag from the inside to the outside of the storage box while appropriately holding the bag by the holding unit so that the bag once held by the holding unit does not unintentionally fall from the holding unit. There is.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a technique that makes it possible to accurately take out a plurality of bags from a storage box in a short time.

One aspect of the present invention includes a step of moving the holding part to a preparation position inside a storage box that stores a plurality of bag sets stacked in the stacking direction, and moving the holding part from the preparation position to the holding position to make a plurality of Between the first position bag set arranged at the uppermost position in the stacking direction of the bag set and the second position bag set arranged at a position adjacent to the first position bag set in the stacking direction. A step of arranging at least a part of the holding part, a step of holding the first position bag set by the holding part after the holding part is arranged at the holding position, and a step of holding the first position bag set by the holding part Moving the holding part to move the first position bag set from the inside to the outside of the accommodation box, each of the plurality of bag sets includes one or more bags, and the plurality of bag sets includes two or more bags. In the storage box, each of the plurality of bag sets includes one or more bag sets including the bags described above, and each of the plurality of bag sets partially overlaps with a bag set that is adjacent to the stacking direction. The present invention relates to a bag taking-out method in which the set does not overlap in the stacking direction, but the second position bag set does not overlap in the stacking direction.

In a bag set including two or more bags, each of the two or more bags partially overlaps with a bag arranged at a position adjacent to each other in the stacking direction, and each bag locally has a larger thickness than other parts. In a bag set including two or more bags, the bag set including two or more bags, wherein the thickness parts do not overlap each other between the bags arranged at positions adjacent to each other in the stacking direction. Two or more bags may have the same orientation as each other.

The first-position bag set is stacked on the second-position bag set inside the storage box, and is offset from the second-position bag set in the first horizontal direction. It may include two or more bags stacked such that they are offset from each other with respect to a second horizontal direction that is perpendicular to the direction.

Of the plurality of bag sets housed in the housing box, four bag sets that are continuously stacked in the stacking direction have the first mode, the second mode, the third mode, and the fourth mode, The bag included in the bag set of the first aspect is displaced from the bag included in the bag set of the second aspect in the first horizontal direction and has the same orientation in the second horizontal direction. Yes, the bag included in the bag set of the second aspect is out of position with respect to the bags included in the bag set of the third aspect in the first horizontal direction and is oriented in the second horizontal direction. On the contrary, the bag included in the bag set of the third aspect is displaced from the bag included in the bag set of the fourth aspect in the first horizontal direction and in the second horizontal direction. The bags that are in the same orientation and are included in the bag set of the fourth aspect are displaced from each other in the first horizontal direction with respect to the bags that are included in the bag set of the first aspect and the second horizontal direction. The directions with respect to directions may be opposite.

When moving the first bag set, in which the second bag set is located adjacent to each other in the stacking direction, as the first position bag set from the inside to the outside of the storage box by the holding portion, the first bag set in the horizontal direction When the holding part in the state of being oriented is moved to the holding position and the second bag set as the first position bag set is moved from the inside to the outside of the storage box by the holding part, the first bag in the horizontal direction is moved. You may move the holding|maintenance part of the state which was orient|assigned to the 2nd orientation direction different from an orientation direction to a holding position.

The bag take-out method is to move the lowermost bag set in the stacking direction by a movable part on which the lowermost bag set arranged at the lowermost position in the stacking direction among the plurality of bag sets is placed and movable in the stacking direction, The method may include a step of increasing the size in the stacking direction of a space formed below the lowermost bag set and not covered by the movable portion.

The size of the space formed below the lowermost bag set in the stacking direction is increased according to the position of the first position bag set in the storage box in the stacking direction or the number of bag sets stored in the storage box. The lowermost bag set may be moved in the stacking direction by the movable part.

According to another aspect of the present invention, a holding unit that is capable of holding each of a plurality of bag sets housed in a storage box and stacked in the stacking direction, a moving mechanism that moves the holding unit, and a stacking direction of the holding unit. A position detection unit that detects a position related to the position, and a movement control unit that controls the movement mechanism based on a detection result of the position detection unit. The movement control unit controls the movement mechanism and prepares a position inside the storage box. The holding part is moved to the holding position from the preparation position to the first position bag set arranged at the uppermost position in the stacking direction of the plurality of bag sets, and the first position bag set. At least a part of the holding part is arranged between the second position bag set and the second position bag set which are arranged adjacent to each other in the stacking direction, and after the holding part is arranged at the holding position, the first position bag set is set. The first position bag set is held by the holding unit, and the first position bag set is moved while holding the first position bag set by the holding unit to move the first position bag set from the inside to the outside of the storage box. In the storage box including the above bags, each of the plurality of bag sets partially overlaps with a bag set disposed at a position adjacent to each other in the stacking direction, and the preparation position is different from the first position bag set in the stacking direction. Although not overlapping, the second position bag set is a position that overlaps with respect to the stacking direction, and the position detection unit relates to a bag extraction device that detects the position of the holding unit with respect to the second position bag set with respect to the stacking direction.

An orientation adjustment mechanism that changes the orientation of the holding unit and an orientation control unit that controls the orientation adjustment mechanism may be provided.

The position detection unit has an oscillating body that moves integrally with the holding unit and oscillates in response to contact with the second position bag set, and an oscillating detection sensor that detects an oscillating state of the oscillating body. May be.

The bag take-out device may include a rotating body that is rotatably provided, and when the holding unit is moved from the preparation position to the holding position, the rotating body may rotate while applying pressure to the second position bag set.

The bag unloading device receives a storage box accommodating a plurality of bag sets stacked in the stacking direction in the supply zone and transports the storage box to the unloading zone, and positioning for positioning the storage box at the unloading position in the unloading zone. And a second transport unit that receives and transports the storage box sent from the extraction zone, the movement control unit controls the movement mechanism, and holds the storage box while the storage box is positioned at the extraction position. The plurality of bag sets may be moved from the inside to the outside of the storage box by the section.

The bag unloading device includes an elevating device having an elevating part and an elevating drive part for moving the elevating part in the stacking direction, a storage box restricting part for restricting the position of the storage box in the stacking direction, and a stacking direction of the elevating part. A movable part that is movable in the stacking direction according to the movement of the lowermost bag set. May be moved in the stacking direction to increase the size in the stacking direction of the space formed below the lowermost bag set and not covered by the movable part.

According to the present invention, it is possible to accurately take out a plurality of bags from a storage box in a short time.

FIG. 1 is a plan view illustrating a bag extracting device. FIG. 2 is a schematic view illustrating the delivery device. FIG. 3 is a front view of the holding unit and the position detection unit. FIG. 4 is a top view of the holding unit and the position detection unit. FIG. 5 is a bottom view of the holding unit and the position detection unit. FIG. 6 is a right side view of the holding unit and the position detection unit. FIG. 7 is a left side view of the holding unit and the position detection unit. FIG. 8 is a functional block diagram of the control unit. FIG. 9A is a plan view for explaining an example of accommodating a plurality of bag sets. FIG. 9B is a plan view for explaining an example of housing a plurality of bag sets. FIG. 9C is a plan view for explaining an example of housing a plurality of bag sets. FIG. 9D is a plan view for explaining an example of housing a plurality of bag sets. FIG. 10 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 11 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 12 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 13 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 14 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 15 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 16 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 17 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 18 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 19 is a schematic diagram for explaining an operation example of the holding unit and the position detection unit. FIG. 20 is a schematic plan view for explaining an example of moving the bag set from the storage box arranged at the take-out position onto the third transport unit. FIG. 21 is a schematic plan view for explaining an example of moving the bag set from the storage box arranged at the take-out position onto the third transport unit. FIG. 22 is a schematic plan view for explaining an example of moving the bag set from the accommodation box arranged at the take-out position onto the third transport unit. FIG. 23 is a schematic plan view for explaining a modified example of the holding unit. FIG. 24 is a schematic plan view for explaining a modified example of the holding unit. FIG. 25 is a side view showing the device configuration of the bag unloading device in the unloading zone according to the third modification. FIG. 26 is an enlarged view of the bottom part, the movable part, and the lifting device (particularly the lifting member and the lifting pin (lifting part)) of the storage box shown in FIG. FIG. 27 is a front view of a cross section of the device configuration of the bag unloading device shown in FIG. 25. FIG. 28 is a top view of the device configuration of the bag extracting device shown in FIG. 25. FIG. 29 is a schematic diagram for explaining how to take out the bag set from the storage box in the third modified example. FIG. 30 is a schematic diagram for explaining the removal of the bag set from the storage box in the third modification. FIG. 31 is a schematic diagram for explaining the removal of the bag set from the storage box in the third modification. FIG. 32 is a schematic diagram for explaining how to take out the bag set from the storage box in the third modified example.

Hereinafter, an apparatus and a method according to an embodiment of the present invention will be described.

[Bag removal device]
FIG. 1 is a plan view illustrating a bag extracting device 10. The bag take-out device 10 shown in FIG. 1 includes a first carrying section 51, a second carrying section 52, a third carrying section 53, a delivery device 11 and a packaging machine 88.

In the bag extracting device 10 shown in FIG. 1, a plurality of storage boxes 70 are placed in the stock zone Z1. Each of the storage boxes 70 placed in the stock zone Z1 stores a plurality of bag sets 81 stacked in the stacking direction (in this embodiment, the height direction parallel to the vertical direction in which gravity acts). The worker W carries the storage box 70 from the stock zone Z1 to the supply zone Z2, and places the storage box 70 on the first transport unit 51 (particularly, the upstream transport conveyor 51a) in the supply zone Z2. The 1st conveyance part 51 receives the accommodation box 70 which accommodates the some bag set 81 piled up in the lamination direction in the supply zone Z2, and conveys it to the extraction zone Z3. In FIG. 1, the transport direction of the storage box 70 is represented by the arrow “Dc”.

The 1st conveyance part 51 shown in FIG. 1 has the upstream side conveyor 51a, the downstream side conveyor 51b, and an extrusion device (illustration omitted). The upstream-side transfer conveyor 51a receives the storage box 70 in the supply zone Z2 and transfers the storage box 70 in the first transfer direction (direction from top to bottom in FIG. 1). The downstream-side transport conveyor 51b receives the storage box 70 from the upstream-side transport conveyor 51a, transports the storage box 70 in the second transport direction (direction from bottom to top in FIG. 1), and arranges it in the take-out zone Z3. Each of the upstream transfer conveyor 51a and the downstream transfer conveyor 51b of the present embodiment includes a conveyor frame 55 (see FIG. 2) supported by a conveyor leg 56 and a rotatably attached horizontal frame with respect to the conveyor frame 55. A plurality of rotating shafts extending in the direction and a belt stretched around the plurality of rotating shafts are included. In each of the upstream-side transfer conveyor 51a and the downstream-side transfer conveyor 51b, at least one rotation shaft is driven and a belt is made to travel under the control of a control unit (see FIG. 8) described later, so that the storage box 70 is moved downstream. Carry towards.

The pushing device (not shown) pushes the accommodation box 70 on the upstream side conveyor 51a toward the downstream side conveyor 51b, and moves the accommodation box 70 from the upstream side conveyor 51a to the downstream side conveyor 51b. In the illustrated example, the storage box 70 on the upstream-side conveyor 51a is moved by the extrusion device to a direction perpendicular to each of the first and second conveying directions (that is, the direction from left to right in FIG. 1). Can be moved.

A positioning portion 54 is provided in the take-out zone Z3. The positioning unit 54 positions the storage box 70 conveyed by the downstream side conveyor 51b at a predetermined take-out position in the take-out zone Z3. The delivery device 11 takes out the bag set 81 from the storage box 70 and places the bag set 81 on the third transport unit 53 while the storage box 70 is positioned at the take-out position. In FIG. 1, the movement trajectory of the bag set 81 from the storage box 70 to the third transfer section 53 (that is, an arc trajectory) is shown by an arrow “Db”, but the movement trajectory of each bag set 81 is shown in FIG. It is not limited to the moving trajectory Db shown.

The second transport unit 52 receives the empty storage box 70 sent from the take-out zone Z3 and transports the storage box 70 to the discharge zone Z4. The empty storage box 70 is unloaded from the second transport section 52 by the worker W or the like in the discharge zone Z4. The storage box 70 transported to the discharge zone Z4 may be placed in the stock zone Z1 again after being replenished with a plurality of new bag sets 81 (that is, a plurality of bags 80).

The third transport unit 53 transports the bag set 81 received from the delivery device 11 toward a device (a packaging machine 88 in this embodiment) provided on the downstream side of the bag unloading device 10.

The packaging machine 88 receives the bag 80 from the third transport unit 53 and performs packaging processing. The device configuration of the packaging machine 88 and the processing content performed by the packaging machine 88 are not limited.

The packaging machine 88 illustrated in FIG. 1 includes a plurality of gripper pairs 90 (the same number of gripper pairs 90 as there are stations in FIG. 1) attached to the outer periphery of the rotary table 89. These gripper pairs 90 intermittently circulate a plurality of stations (the first station S1 to the tenth station S10 in FIG. 1) according to the intermittent rotation of the rotary table 89. Each gripper pair 90 receives and holds one bag 80 from the third transport unit 53 via the relay device (not shown) at the first station S1. The bag 80, the sides of which are gripped by each gripper pair 90, undergoes the printing process by the printing device 91 at the second station S2, and the printing portion is photographed by the printing/imaging device 92 at the third station S3 for print inspection. , The fourth station S4 is opened by the opening device 93, the fifth station S5 is filled with the liquid (contents) by the liquid filling unit 94, and the sixth station S6 is filled with the solids (contents) by the solid filling unit 95. At the eighth station S8, heat sealing is performed by the first heat sealing device 96, at the ninth station S9 by the second heat sealing device 97, and at tenth station S10 by the cooling sealing device 98.

The bag 80 that has undergone a series of processes in the first station S1 to the tenth station S10 is released from the corresponding gripper pair 90 in the tenth station S10 and falls, is placed on the fourth transport unit 99, and is transported by the fourth transport unit. It is sent to the subsequent stage by the section 99.

[Container]
Each of the plurality of bag sets 81 accommodated in each accommodation box 70 includes one or more bags 80, and the plurality of bag sets 81 accommodated in each accommodation box 70 includes two or more bags 80. 81 or more are included. In each storage box 70, each of the plurality of bag sets 81 partially overlaps with another bag set 81 arranged at a position adjacent to each other in the stacking direction. That is, the two bag sets 81 arranged at positions adjacent to each other in the stacking direction are shifted from each other in the width direction (first horizontal direction Dh1 described later (see FIGS. 9A to 9D )), and the storage box 70. It is housed in.

The "two bag sets 81 arranged at positions adjacent to each other in the stacking direction" here means two bag sets 81 that are continuously arranged in the stacking direction, and it does not matter whether or not there is contact. When stacking a plurality of bag sets 81 while shifting them in the width direction, the bag set 81 having the first stacking order and the bag set 81 having the second stacking order are referred to as “the two bag sets 81 which are arranged adjacent to each other in the stacking direction. One bag set 81". On the other hand, the bag set 81 having the first stacking order and the bag set 81 having the third stacking order are referred to as “two bag sets arranged adjacent to each other in the stacking direction” even if they are in contact with each other. 81” is not applicable.

In each of the bag sets 81 including two or more bags 80, each of the two or more bags 80 is accommodated in the accommodation box 70 in a state of partially overlapping with another bag 80 arranged at a position adjacent to each other in the stacking direction. Has been done. In particular, the bag sets are arranged in a direction (a second horizontal direction Dh2 described later (see FIGS. 9A to 9D)) that is at a right angle to the direction in which the two bag sets 81 arranged at adjacent positions in the storage box 70 are displaced. It is preferable to shift two or more bags 80 included in 81. In this way, the bag sets 81 arranged at positions adjacent to each other in the stacking direction are arranged so as to be offset from each other, and the bags 80 included in the same bag set 81 and arranged at positions adjacent to each other in the stacking direction are arranged to each other. By arranging them in a staggered manner, a large number of bags 80 can be accommodated in the accommodation box 70 with space efficiency.

In the illustrated example, each of all the bag sets 81 contained in each accommodation box 70 includes two or more bags 80. Further, all the bag sets 81 housed in the respective housing boxes 70 include the same number of bags 80 as each other. Each bag 80 has a thick portion 84 that locally has a greater thickness than the other portions. The illustrated thick portion 84 is configured by a so-called spout and is located at one of the four corner portions of each bag 80 having a substantially rectangular planar shape. In a bag set 81 including two or more bags 80, a plurality of bag sets 81 (that is, a plurality of bag sets 81 in each accommodation box 70 are provided so that the thickness portions 84 do not overlap with each other between the bags 80 arranged at positions adjacent to each other in the stacking direction. A plurality of bags 80) are stacked.

Further, in the illustrated example, in the bag set 81 including two or more bags 80, the two or more bags 80 have the same direction as each other. In each storage box 70 (all the storage boxes 70 in the illustrated example), the front surface and the back surface of each bag 80 are oriented in a common stacking direction between the bags 80. For example, the front surface of all the bags 80 in each storage box 70 may be directed upward and the back surface thereof may be directed downward, or the front surface of all the bags 80 may be directed downward and the back surface thereof may be directed upward. May be.

The details of the arrangement of the plurality of bag sets 81 (that is, the plurality of bags 80) in each storage box 70 of the present embodiment will be described later (see FIGS. 9A to 9D).

[Delivery device]
FIG. 2 is a schematic diagram illustrating the delivery device 11. The elements shown in FIG. 2 include elements shown in a simplified form. For example, in FIG. 2, each bag set 81 including a plurality of bags 80 is simply represented by a single bag 80.

The delivery device 11 shown in FIG. 2 includes a holding unit 30, a position detection unit 31, and a moving mechanism 22.

The holding unit 30 is provided so as to be able to hold each of the plurality of bag sets 81 housed in the housing box 70 and stacked in the stacking direction. The holding unit 30 shown in the drawing has a chuck structure that holds and holds each bag set 81 in the stacking direction (that is, the height direction).

The holding mechanism 30 is attached to the moving mechanism 22 via the orientation adjusting mechanism 23, and the holding unit 30 can be moved under the control of the movement control unit (see FIG. 8 ). The moving mechanism 22 of the present embodiment holds the bag set 81 at the uppermost position in the storage box 70 positioned at the take-out position of the take-out zone Z3, and the held bag set 81 in the third transport section. The holding unit 30 is reciprocally moved three-dimensionally between a position 53 (see FIG. 1) for placing it at a desired position.

The illustrated moving mechanism 22 is configured by an articulated robot, and includes a plurality of arm portions 22a and a plurality of joint portions 22b that swingably connect the adjacent arm portions 22a. A direction adjusting mechanism 23 is attached to the distal end side arm portion 22a. The base end side arm portion 22 a is supported by the base 21. A drive device such as a servo motor is provided on each joint 22b and the base 21. The angle between the adjacent arm portions 22a can be adjusted by the drive device provided in each joint portion 22b. By the drive device provided on the base 21, the moving mechanism 22 can be rotated around the turning axis Ax parallel to the vertical direction. The moving mechanism 22 moves the holding unit 30 by driving these driving devices under the control of the movement control unit. The configuration of the moving mechanism 22 is not limited to the illustrated example. For example, the whole or a part of the moving mechanism 22 may be configured by another multi-joint robot (for example, another horizontal multi-joint robot (scalar robot) or the like), a parallel link robot, or an orthogonal robot.

The orientation adjusting mechanism 23 is provided with the holding unit 30 and can change the orientation of the holding unit 30 in the horizontal direction under the control of the orientation control unit (see FIG. 8). The illustrated orientation adjusting mechanism 23 includes a rotating body. The rotating body is fixedly attached to the holding unit 30 and rotates integrally with the holding unit 30. On the other hand, this rotating body is rotatably attached to the moving mechanism 22 (particularly the tip side arm portion 22a). By rotating the rotating body of the orientation adjusting mechanism 23 under the control of the orientation controller, the holder 30 can be rotated without rotating the moving mechanism 22, and the orientation of the holder 30 can be changed.

The position detector 31 detects the position of the holder 30 in the stacking direction (that is, the height direction). Specifically, the position detection unit 31 directly or indirectly detects the position of the holding unit 30 with respect to the uppermost bag set 81 in the storage box 70. The configuration of the position detector 31 is not limited. As will be described later, the position detection unit 31 shown in the figure is provided for a portion that supports the uppermost bag set 81 in the storage box 70 (for example, the bag set 81 or the vinyl body PL located immediately below the uppermost bag set 81). The height direction position of the holding unit 30 is detected based on the height direction position.

The accommodation box 70 shown in FIG. 2 is covered with a vinyl body PL extending from the inside to the outside of the accommodation box 70. The plurality of bag sets 81 (that is, the plurality of bags 80) in the storage box 70 are arranged on the vinyl body PL that covers the inside of the storage box 70. The bag set 81 located at the lowermost position in the height direction inside the storage box 70 is placed on the vinyl body PL.

FIG. 3 is a front view of the holding unit 30 and the position detection unit 31. FIG. 4 is a top view of the holding unit 30 and the position detection unit 31. FIG. 5 is a bottom view of the holding unit 30 and the position detection unit 31. FIG. 6 is a right side view of the holding unit 30 and the position detection unit 31. FIG. 7 is a left side view of the holding unit 30 and the position detection unit 31.

The illustrated holding unit 30 and position detecting unit 31 are integrally provided, and are integrally moved by the moving mechanism 22 (see FIG. 2), and the orientation is integrally changed by the orientation adjusting mechanism 23 (see FIG. 2). To be A connecting plate 32 is attached to the distal end side arm portion 22 a (see FIG. 2) of the moving mechanism 22 via an orientation adjusting mechanism 23. A first mounting frame 36a and a second mounting frame 36b are fixed to the connecting plate 32. Each of the first mounting frame 36a and the second mounting frame 36b has a vertical portion that extends in the height direction and a horizontal portion that horizontally extends from a lower end portion of the vertical portion. The illustrated first mounting frame 36a and second mounting frame 36b are provided symmetrically.

The opening/closing drive unit 33 is fixed to the first mounting frame 36a and the second mounting frame 36b (particularly the vertical portion). The open/close drive unit 33 is preferably configured by an air cylinder, and has a drive shaft 33a that moves back and forth in the height direction under the control of the holding control unit (see FIG. 8). The movable holding portion 34 is fixed to the drive shaft 33a. The position of the movable holding portion 34 in the height direction is determined according to the movement of the drive shaft 33a in the height direction.

The holding and fixing portion 35 is attached to the first attachment frame 36a and the second attachment frame 36b (particularly the horizontal portion). The holding and fixing portion 35 is arranged at a position facing the holding movable portion 34 in the height direction. The illustrated holding and fixing section 35 has a first holding and fixing section 35a and a second holding and fixing section 35b. The first holding and fixing portion 35a is provided integrally with the first mounting frame 36a and extends in the horizontal direction. The second holding and fixing portion 35b is provided integrally with the second mounting frame 36b and extends in the horizontal direction. The first holding and fixing portion 35a and the first mounting frame 36a may be made of the same member. Further, the second holding and fixing portion 35b and the second mounting frame 36b may be made of the same member.

The holding unit 30 includes a holding movable unit 34 and a holding and fixing unit 35 as a chuck structure. Each bag set 81 accommodated in the accommodation box 70 is movably held by being sandwiched by the holding movable portion 34 and the holding and fixing portion 35 in the stacking direction (that is, the height direction).

A mounting plate 37 is fixed to the first mounting frame 36a (particularly the vertical portion). The illustrated mounting plate 37 has a vertical plate portion that extends in the height direction and a horizontal plate portion that extends in the horizontal direction from the lower end portion of the vertical plate portion. For example, it is possible to form the mounting plate 37 having a vertical plate portion and a horizontal plate portion by partially bending one plate. The vertical plate portion of the mounting plate 37 is fixed to the first mounting frame 36a (particularly the vertical portion). A swing detection sensor 39 is fixed to the horizontal plate portion of the mounting plate 37.

A swing shaft 41 is fixed to the first mounting frame 36a and the second mounting frame 36b. The swing shaft 41 is located between the first mounting frame 36a and the second mounting frame 36b. In the illustrated example, the swing shaft 41 is connected to a portion of each of the first mounting frame 36a and the second mounting frame 36b where the vertical portion and the horizontal portion are connected. The swing body 40 is swingably supported by the swing shaft 41 with respect to the first mounting frame 36a and the second mounting frame 36b.

The oscillating body 40 oscillates around the oscillating shaft 41 by receiving a force acting in the height direction. A detection plate 40a is provided as a part of the oscillator 40. The detection plate 40a is located on one side with respect to the swing shaft 41 in the horizontal direction, and faces the swing detection sensor 39 in the height direction. The distance between the detection plate 40a and the swing detection sensor 39 changes depending on the swing state of the swing body 40 (that is, the swing angle of the swing body 40 about the swing shaft 41). When the rocking body 40 is not receiving an external force, the detection plate 40a is positioned relatively upward, and the distance between the detection plate 40a and the rocking detection sensor 39 is relatively small. On the other hand, when the oscillating body 40 (particularly the portion of the oscillating body 40 on the side opposite to the detection plate 40a in the horizontal direction with respect to the oscillating shaft 41 as a reference) receives a force from below, the oscillating detection sensor 40a detects the oscillating detection sensor 39. The oscillating body 40 oscillates away from the detection plate 40a, the detection plate 40a is positioned relatively downward, and the distance between the detection plate 40a and the oscillation detection sensor 39 increases.

In this way, the swing body 40 moves integrally with the holding portion 30 (for example, the holding movable portion 34 and the holding and fixing portion 35) and swings according to the force acting in the stacking direction (that is, the height direction). Have. The oscillating body 40 of the present embodiment oscillates in response to contact with the upper surface of a second position bag set (that is, a bag set 81 arranged at a position adjacent to the uppermost bag set 81 in the storage box 70) described later. Move.

The swing detection sensor 39 detects the swing state of the swing body 40. As described above, the distance between the rocking detection sensor 39 and the detection plate 40a changes depending on the rocking state of the rocking body 40. The swing detection sensor 39 of the present embodiment is switched on and off according to the distance between the swing detection sensor 39 and the detection plate 40a. That is, the rocking|fluctuation detection sensor 39 will be in an ON state, when the distance between the detection plate 40a and the rocking|fluctuation detection sensor 39 becomes more than a predetermined size, and if it becomes smaller than a predetermined size, it will be in an OFF state. Therefore, the rocking state of the rocking body 40 can be detected from the on-off state of the rocking detection sensor 39. Information on the on/off state of the swing detection sensor 39 is sent from the swing detection sensor 39 to the control unit (particularly the movement control unit (see FIG. 8)).

A first rotating body 42a, a second rotating body 42b, and a swing stopper 43 are provided between the horizontal portion of the first mounting frame 36a and the horizontal portion of the second mounting frame 36b. The first rotating body 42a is rotatably supported by a first rotation support shaft 42c fixed to the first mounting frame 36a and the second mounting frame 36b. The second rotating body 42b is rotatably supported by a second rotation support shaft 42d fixed to the first mounting frame 36a and the second mounting frame 36b. The swing stopper 43 is directly fixed to the first mounting frame 36a and the second mounting frame 36b between the first rotating body 42a and the second rotating body 42b. The first rotary body 42a, the second rotary body 42b, and the swing stopper 43 are located on the opposite side of the detection plate 40a via the swing shaft 41 in the horizontal direction.

As described below, when the holding unit 30 is moved from the preparation position to the holding position, the first rotating body 42a and/or the second rotating body 42b applies pressure to the bag set 81 (that is, the second position bag set described below). Rotate while hanging. In this way, when the swinging body 40 slides on the bag set 81, the first rotating body 42a and/or the second rotating body 42b are allowed while allowing the rotation of the first rotating body 42a and/or the second rotating body 42b. By pressing the bag set 81 against the bag set 81, it is possible to effectively prevent the bag set 81 from being damaged by the rocking body 40.

The oscillating body 40 has a first rotating body hole 44a, a second rotating body hole 44b, and a stopper hole 45 at positions corresponding to the first rotating support shaft 42c, the second rotating support shaft 42d, and the swing stopper 43, respectively. Has been formed. The first rotary body hole 44a, the second rotary body hole 44b, and the stopper hole 45 are located on the opposite side of the detection plate 40a via the swing shaft 41 in the horizontal direction. The first rotation support shaft 42c can be arranged in the first rotation body hole 44a, the second rotation support shaft 42d can be arranged in the second rotation body hole 44b, and the swing stopper 43 can be arranged in the stopper hole 45. It can be arranged. Each of the first rotating body hole 44a, the second rotating body hole 44b, and the stopper hole 45 may be entirely surrounded by the rocking body 40, or a part of the rocking body 40 may be cut away to form the rocking body 40. You may be surrounded. The illustrated first rotating body hole 44a has a groove shape in which a part is cut out, and the first rotation support shaft 42c is arranged inside the first rotating body hole 44a according to the swinging state of the swinging body 40. And/or located outside. Each of the illustrated second rotary body hole 44b and the stopper hole 45 does not have a notch, and is entirely surrounded by the rocking body 40. The second rotation support shaft 42d and the swing stopper 43 are always arranged in the second rotary body hole 44b and the stopper hole 45 regardless of the swing state of the swing body 40.

When the oscillating body 40 oscillates within a presumed oscillating range, the oscillating body 40 oscillates without colliding with the first rotation supporting shaft 42c, the second rotation supporting shaft 42d, and the oscillating stopper 43. can do. The oscillating range of the oscillating body 40 is defined as a boundary position at which the oscillating stopper 43 arranged in the stopper hole 45 collides with the oscillating body 40.

The position detection unit 31 has the above-described rocking body 40 (including the detection plate 40a) and the rocking detection sensor 39, and detects the position in the stacking direction (that is, the height direction) of the holding unit 30 with respect to the object with which the rocking body 40 contacts. It can be detected according to the on/off state of the swing detection sensor 39. The position detection unit 31 of the present embodiment directly detects the position of the holding unit 30 with respect to the bag set 81 located immediately below the uppermost bag set 81 in the storage box 70, and thereby the uppermost bag set 81. It is possible to indirectly detect the position of the holding unit 30 with respect to.

FIG. 8 is a functional block diagram of the control unit 60.

The control unit 60 of this embodiment includes a movement control unit 61, an orientation control unit 62, and a holding control unit 63. The control unit 60 may be configured by a single device, or may be configured by combining a plurality of devices. Therefore, two or more of the movement control unit 61, the orientation control unit 62, and the holding control unit 63 may be realized by a common device. Further, the movement control unit 61, the orientation control unit 62, and the holding control unit 63 may be realized by separate devices.

The image pickup unit 25 and the position detection unit 31 (particularly, the swing detection sensor 39) are connected to the control unit 60. The imaging unit 25 is a device that acquires a captured image of the inside of the storage box 70 arranged at the extraction position of the extraction zone Z3, and is a bag set 81 (that is, the bag 80) stored in the storage box 70 at the extraction position. Is captured by the image capturing unit 25 (see FIG. 2). The movement control unit 61, the orientation control unit 62, and the holding control unit 63 are connected to each other so that transmission and reception can be performed as necessary, and various types of information (data) can be shared.

The movement control unit 61 controls the movement mechanism 22 to move the holding unit 30 and the position detection unit 31. The orientation control unit 62 controls the orientation adjustment mechanism 23. Specifically, the orientation adjustment mechanism 23 is controlled by the orientation control unit 62 so that the orientation of the holding unit 30 is adapted to the target bag set 81 taken out from the storage box 70. The holding control unit 63 controls the opening/closing drive unit 33 to move the holding movable unit 34. By moving the holding movable portion 34 and adjusting the distance between the holding movable portion 34 and the holding fixed portion 35, the holding movable portion 34 and the holding fixed portion 35 hold the bag set 81, or the holding movable portion 34. Also, the bag set 81 can be released from the holding and fixing portion 35.

The movement control unit 61, the orientation control unit 62, and the holding control unit 63 cooperate with each other as described later, and the holding unit 30 can be used to take out the bag set 81 from the storage box 70 (FIGS. 10 to 22 ). reference).

The control unit 60 also controls other elements (for example, the first transport unit 51, the second transport unit 52, the third transport unit 53, the positioning unit 54, etc.) that configure the bag unloading device 10, and a sensor (not shown) and Information (data) may be transmitted to and received from the device.

[Example of bag set accommodation]
9A to 9D are schematic plan views for explaining an example of housing a plurality of bag sets 81. FIG. 9B shows a state after the uppermost bag set 81 is taken out from the storage box 70 shown in FIG. 9A. FIG. 9C shows a state after the uppermost bag set 81 is taken out from the storage box 70 shown in FIG. 9B. FIG. 9D shows a state after the uppermost bag set 81 is taken out from the storage box 70 shown in FIG. 9C. The state after taking out the uppermost bag set 81 from the storage box 70 shown in FIG. 9D is as shown in FIG. 9A.

In the present embodiment, the bag set 81 of four modes (first mode P1 to fourth mode P4) is one set. A plurality of bag sets 81 are accommodated in the accommodation box 70 by repeatedly and regularly stacking the sets (that is, four types of modes) in the stacking direction (that is, the height direction).

Of the plurality of bag sets 81 accommodated in the accommodation box 70, the four bag sets 81 that are continuously stacked in the stacking direction are the first mode P1, the second mode P2, the third mode P3, and the third mode P3, respectively. It has four aspects P4. The respective bags 80 included in the bag set 81 of the first aspect P1 are displaced with respect to the respective bags 80 included in the bag set 81 of the second aspect P2 in the first horizontal direction Dh1, In addition, the orientation with respect to the second horizontal direction Dh2 forming a right angle with the first horizontal direction Dh1 is the same (see FIGS. 9A and 9B). The bags 80 included in the bag set 81 of the second aspect P2 are displaced from each other in the first horizontal direction Dh1 with respect to the bags 80 included in the bag set 81 of the third aspect P3, and The directions with respect to the second horizontal direction Dh2 are opposite (see FIGS. 9B and 9C). The bags 80 included in the bag set 81 of the third aspect P3 are displaced from each other in the first horizontal direction Dh1 with respect to the bags 80 included in the bag set 81 of the fourth aspect P4, and The directions with respect to the second horizontal direction Dh2 are the same (see FIGS. 9C and 9D). The bags 80 included in the bag set 81 of the fourth aspect P4 are displaced from each other in the first horizontal direction Dh1 with respect to the bags 80 included in the bag set 81 of the first aspect P1. The directions with respect to the second horizontal direction Dh2 are opposite (see FIGS. 9D and 9A).

In the example illustrated in FIGS. 9A to 9D, the bag set 81 of the first aspect P1 and the bag set 81 of the third aspect P3 are substantially the same position with respect to the first horizontal direction Dh1 and the second horizontal direction Dh2 (FIGS. 9A to 9D). 9D). The bag set 81 of the second aspect P2 and the bag set 81 of the fourth aspect P4 are arranged at substantially the same position (the left side position in FIGS. 9A to 9D) with respect to the first horizontal direction Dh1 and the second horizontal direction Dh2. ing. Further, between the first aspect P1 and the second aspect P2, the thick portions 84 are arranged at the same directional position (upper right position in FIGS. 9A to 9D) in each bag 80. In addition, between the third aspect P3 and the fourth aspect P4, the thickness portion 84 is arranged in the same direction position (lower left position in FIGS. 9A to 9D) in each bag 80.

The space inside each of the illustrated storage boxes 70 has a rectangular planar shape. Each bag 80 also has a rectangular planar shape. The plurality of bags 80 included in each bag set 81 of the first aspect P1 to the fourth aspect P4 are arranged in the storage box 70 over substantially the same range in the second horizontal direction Dh2, and in the illustrated example. It is arranged substantially over the entire inner space of the storage box 70 in the second horizontal direction Dh2.

Therefore, of the plurality of bag sets 81 accommodated in the accommodation box 70, the bag set 81 (that is, the first position bag set 81a) arranged at the uppermost position in the stacking direction and the first position bag set 81a are compared. The bag set 81 (that is, the second position bag set 81b) arranged adjacent to each other in the stacking direction is arranged as follows. That is, the first position bag set 81a is stacked on the second position bag set 81b inside the storage box 70 and is displaced from the second position bag set 81b in the first horizontal direction Dh1. Each of the first position bag set 81a and the second position bag set 81b includes two or more bags 80 that are stacked so as to be offset from each other in the second horizontal direction Dh2.

As described above, in each of the storage boxes 70 in the illustrated example, the two bag sets 81 adjacent to each other in the stacking direction (for example, the bag set 81 of the third mode P3 and the bag set 81 of the fourth mode P4) are provided. In addition, these two bag sets 81 have other two modes of bag sets 81 whose directions with respect to the second horizontal direction Dh2 are opposite (for example, the first mode P1 bag set 81 and the second mode P2 bag set 81). ) Is posted. Thereby, the horizontal position of the thickness portion 84 can be shifted between the bag sets 81 of the first aspect P1 to the fourth aspect P4, and the plurality of bag sets 81 (that is, the plurality of bags 80) can be stored in the storage box 70 in a space-efficient manner. Can be well accommodated.

[Bag removal method]
Next, an example of the bag taking-out method performed by the above-mentioned bag taking-out device 10 will be described.

10 to 19 are schematic diagrams for explaining an operation example of the holding unit 30 and the position detection unit 31. 20 to 22 are schematic plan views for explaining an example of movement of the bag set 81 from the storage box 70 arranged at the take-out position of the take-out zone Z3 onto the third transfer unit 53. The elements shown in FIGS. 10 to 22 include elements shown in a simplified manner. For example, in FIGS. 10 to 19, each bag set 81 is represented by a single bag 80. .. 10 to 22 include drawings in which some of the elements are not shown, and for example, in FIG. 20, the holding movable portion 34 is not shown.

The bag takeout method of the present embodiment includes a storage box positioning step, a preparation position arranging step, a holding position arranging step, a holding step, and an unloading moving step.

In the accommodation box positioning step, the target accommodation box 70 is positioned at a predetermined take-out position by the positioning unit 54 (see FIG. 1). The positioning unit 54 cooperates with the first transport unit 51 (particularly the downstream transport conveyor 51b) under the control of the control unit 60, and stops the storage box 70 sent to the unloading zone Z3 at the unloading position. While the delivery device 11 takes out the plurality of bag sets 81 from the accommodation box 70, the positioning unit 54 continues to position the accommodation box 70 at the extraction position.

The positioning unit 54 releases the positioning of the empty storage box 70 after all the bag sets 81 have been taken out of the storage box 70 by the delivery device 11. Then, under the control of the control unit 60, the downstream side conveyor 51b and the second conveyor 52 cooperate to convey the empty storage box 70 from the take-out position to the discharge zone Z4.

In the preparation position arranging step, the holding unit 30 is moved to the preparation position Ps1 inside the storage box 70 that stores the plurality of bag sets 81 stacked in the stacking direction and is positioned at the extraction position. (See FIGS. 10, 11 and 20). Specifically, the movement control unit 61 (see FIG. 8) controls the movement mechanism 22 (see FIG. 2) based on the detection result of the position detection unit 31 (that is, the position in the height direction of the holding unit 30), and the extraction position The holding unit 30 is moved to the preparation position Ps1 inside the storage box 70 positioned at.

The “preparation position Ps1” here is a position that does not overlap with the first position bag set 81a in the stacking direction (that is, the height direction), but overlaps with the second position bag set 81b in the stacking direction.

The moving mechanism 22 of the present embodiment moves the holding unit 30 and the position detecting unit 31 to the inside of the storage box 70, and the bag set 81 located immediately below the uppermost bag set 81 (that is, the first position bag set 81a). The holding unit 30 and the position detection unit 31 are further moved toward (that is, the second position bag set 81b). Then, the oscillating body 40 comes into contact with the second position bag set 81b, and the holding portion 30 (particularly the upper surfaces of the tip portions of the horizontal portions of the first mounting frame 36a and the second mounting frame 36b) is arranged at a desired height position. When the position detecting unit 31 detects the fact, the moving mechanism 22 stops the lowering of the holding unit 30 and the position detecting unit 31.

The position detection unit 31 of the present embodiment detects the position in the height direction (that is, the stacking direction) of the holding unit 30 based on the second position bag set 81b, and the preparation position Ps1 is the second position bag set 81b. It can be determined based on the position in the height direction. When the holding unit 30 moves to the preparation position Ps1 while the oscillating body 40 is not receiving an external force, a portion of the oscillating body 40 on the side opposite to the detection plate 40a via the oscillating shaft 41 is under the influence of gravity. Thus, it is located below the detection plate 40a. The oscillating body 40 comes into contact with the second position bag set 81b as the holding unit 30 descends, receives a force from the second position bag set 81b, and oscillates about the oscillating shaft 41. The swing of the swing body 40 moves the detection plate 40a in a direction away from the swing detection sensor 39. When the movement controller 61 receives a signal (on-state signal) from the rocking detection sensor 39 indicating that the distance between the rocking detection sensor 39 and the detection plate 40a has become equal to or greater than a predetermined value, the movement control unit 61 moves the movement. The control unit 61 controls the moving mechanism 22 to stop the lowering of the holding unit 30. In this way, the holding unit 30 is arranged at the preparation position Ps1.

In the holding position arranging step, the holding unit 30 is moved from the preparation position Ps1 to the holding position Ps2, and at least the holding unit 30 is provided between the first position bag set 81a and the second position bag set 81b in the storage box 70. A part is arranged (see FIGS. 12 and 21). Specifically, the movement control unit 61 (see FIG. 8) controls the moving mechanism 22 (see FIG. 2) to move the holding unit 30 from the preparation position Ps1 in the horizontal direction and place the holding unit 30 at the holding position Ps2. As a result, at least a part of the holding portion 30 (in the illustrated example, the horizontal portion of the first mounting frame 36a, between the first position bag set 81a and the second position bag set 81b housed in the housing box 70, The horizontal portion of the second mounting frame 36b and the holding and fixing portion 35) are arranged.

As described above, after the lowering of the holding unit 30 is stopped, the holding unit 30 is moved in the horizontal direction, whereby the holding unit 30 is arranged at the holding position Ps2. Note that the horizontal distance from the preparation position Ps1 to the holding position Ps2 does not depend on the mode (first mode P1 to fourth mode P4 (see FIGS. 9A to 9D)) of the first position bag set 81a in the storage box 70, It may be set constant. In this case, it is not necessary to detect and monitor the horizontal position of the holding unit 30 with a sensor or the like.

The tip portion of the portion of the holding portion 30 arranged between the first position bag set 81a and the second position bag set 81b (in the illustrated example, the tip ends of the horizontal portions of the first mounting frame 36a and the second mounting frame 36b). A guide surface 40b for guiding the first position bag set 81a onto the holding and fixing portion 35 is formed in the section). The guide surface 40b is formed of an inclined surface whose position in the height direction changes smoothly. When the holding part 30 moves from the preparation position Ps1 to the holding position Ps2, the first position bag set 81a rides on the guide surface 40b and then is smoothly guided toward the holding and fixing part 35.

In the holding step, the first position bag set 81a is held by the holding unit 30 after the holding unit 30 is placed at the holding position Ps2 (see FIG. 13). Specifically, the holding control unit 63 controls the opening/closing drive unit 33, and the first position bag set 81a is held by the holding unit 30 after the holding unit 30 is placed at the holding position Ps2. In the illustrated example, the amount of protrusion of the drive shaft 33a is increased under the control of the holding control unit 63 to move the holding movable unit 34 downward, bring the holding movable unit 34 closer to the holding fixed unit 35, and hold the moving movable unit 34. The first position bag set 81a is sandwiched between the holding and fixing portion 35. As a result, the first position bag set 81a is held while being pressed by the holding movable portion 34 and the holding and fixing portion 35.

In the take-out movement step, the holding unit 30 is moved while holding the first position bag set 81a by the holding unit 30 to move the first position bag set 81a from the inside to the outside of the storage box 70 (FIGS. 14 and 22). reference). Specifically, the holding control unit 63 controls the opening/closing driving unit 33, and the movement control unit 61 controls the moving mechanism 22 to move the holding unit 30 while holding the first position bag set 81a. .. As a result, the first position bag set 81a is moved from the inside to the outside of the storage box 70, and the first position bag set 81a is placed at the supply position. Then, in a state where the first position bag set 81a is arranged at the supply position, the first position bag set 81a is released from the holding section 30 and placed on the third transport section 53. In the illustrated example, the protrusion amount of the drive shaft 33a is reduced under the control of the holding control unit 63 to move the holding movable unit 34 upward, and the holding movable unit 34 is moved away from the holding fixed unit 35. The bag set 81a is released from the holding unit 30 and drops toward the third transport unit 53.

By repeating the above-mentioned preparation position arranging step, holding position arranging step, holding step, and take-out moving step, the bag set 81 (particularly the first position bag set 81a) is transferred from the inside of the storage box 70 to the third transfer unit 53. Sequentially sent. In this way, the movement control unit 61 controls the movement mechanism 22, and while the storage box 70 is positioned at the take-out position by the positioning unit 54, the plurality of bag sets 81 (that is, all of the bag sets 81 in the storage box 70 are held by the holding unit 30). The bag set 81) is moved from the inside to the outside of the storage box 70.

When two or more bag sets 81 remain in the storage box 70, the position detection unit 31 (particularly the oscillating body 40) arranged at the preparation position Ps1 and the holding position Ps2 contacts the second position bag set 81b. On the other hand, when only one bag set 81 remains in the storage box 70, the position detection unit 31 (particularly the oscillating body 40) arranged at the preparation position Ps1 and the holding position Ps2 supports the last one bag set 81. The position detection unit 31 detects the position of the holding unit 30 in the height direction with respect to the vinyl body PL by contacting the vinyl body PL (that is, the vinyl body PL that covers the bottom of the housing box 70).

Further, in the present embodiment, as described above, the two bag sets 81 arranged in the storage box 70 at positions adjacent to each other in the stacking direction are arranged so as to be displaced in the first horizontal direction Dh1. Therefore, the horizontal direction of the holding unit 30 is adjusted according to the position of the first position bag set 81a in the first horizontal direction Dh1. That is, the bag set 81 (that is, the first bag set) in which the other bag set 81 (that is, the second bag set) is arranged at the position adjacent to each other in the stacking direction is accommodated by the holding unit 30 as the first position bag set 81a. When moving from the inside to the outside of the box 70 (see, for example, FIGS. 10 to 14 ), the holding unit 30 is oriented in the first orientation direction in the horizontal direction (for example, the right direction in FIGS. 10 to 14 ). After that, when moving the second bag set as the first position bag set 81a from the inside to the outside of the storage box 70 by the holding unit 30 (see, for example, FIGS. 15 to 19), the holding unit 30 is moved in the horizontal direction. The second alignment direction different from the first alignment direction (for example, the left direction in FIGS. 15 to 19) is oriented.

More specifically, the orientation control unit 62 controls the orientation adjustment mechanism 23, and the holding unit is adapted to match the position and orientation of the bag set 81 to be taken out (that is, the first position bag set 81a) in the storage box 70. 30 is rotated. In the illustrated example, after one bag set 81 is taken out from the storage box 70, in order to take out the next bag set 81 from the storage box 70, the rotating body of the orientation adjusting mechanism 23 is rotated by approximately 180 degrees, and the holder is held. The orientation of 30 is adapted to the next bag set 81.

In addition, the preparation position Ps1 for holding the bag set 81 (for example, the bag set 81 of the first aspect P1 and the bag set 81 of the third aspect P3) arranged on one side in the first horizontal direction Dh1, and the first horizontal position The preparation position Ps1 for holding the bag set 81 (for example, the bag set 81 of the second aspect P2 and the bag set 81 of the fourth aspect P4) arranged on the other side with respect to the direction Dh1 is the position with respect to the first horizontal direction Dh1. Are different. Particularly, in the storage box 70 of the present embodiment, bag sets 81 arranged on one side in the first horizontal direction Dh1 and bag sets 81 arranged on the other side in the first horizontal direction Dh1 are alternately arranged. .. On the other hand, in the second horizontal direction Dh2, all the bag sets 81 accommodated in the accommodation box 70 are arranged at substantially the same position. Therefore, two types of preparation positions Ps1 (that is, the first preparation position and the second preparation position) may be set. These two types of preparation positions Ps1 are different from each other in the position in the first horizontal direction Dh1. Further, these two types of preparation positions Ps1 may have the same position or different positions with respect to the second horizontal direction Dh2. The movement control unit 61 controls the movement mechanism 22 to alternately switch the first preparation position and the second preparation position in accordance with the removal of the bag set 81 from the storage box 70, so that the holding unit 30 is always prepared appropriately. It can be arranged at the position Ps1.

In this way, the holding unit 30 of the present embodiment, after taking out the bag set 81 from the storage box 70, has the horizontal direction facing the opposite side and is moved in the first horizontal direction Dh1, and then the next bag. It is arranged at the preparation position Ps1 for taking out the set 81. The timing of changing the orientation of the holding unit 30 by the orientation adjusting mechanism 23 is not limited, and may be before and/or after moving the holding unit 30 inside the housing box 70, or the holding unit 30 may be at the preparation position. It may be before and/or after being placed on Ps1. The orientation control unit 62 can control the orientation adjustment mechanism 23 based on various information. For example, the position information of the holding unit 30 obtained from the movement control unit 61 or another device, the detection information of the position detection unit 31, the opening/closing information of the holding movable unit 34 and the holding fixing unit 35 obtained from the holding control unit 63 or another device. , And/or other information, the orientation control unit 62 may control the orientation adjustment mechanism 23.

As described above, according to the bag unloading device 10 and the bag unloading method of the present embodiment, the bags 80 can be moved from the inside to the outside of the storage box 70 in units of the bag set 81, so that a large number of bags can be obtained in a short time. It is possible to accurately take out 80 from the storage box 70. By taking out a plurality of bags 80 from the storage box 70 at a time, the amount of bags 80 supplied per unit time to the packaging machine 88 can be increased, and even if the processing speed of the packaging machine 88 is high, the processing of the packaging machine 88 can be performed. It is possible to supply the bag 80 according to the speed.

The worker W only has to carry the storage box 70 from the stock zone Z1 to the supply zone Z2 and place the storage box 70 on the first transport unit 51 in the supply zone Z2. With this alone, the bag 80 can be continuously and automatically supplied to the packaging machine 88. In this way, a large number of bags 80 can be mechanically and continuously supplied to the packaging machine 88. Further, the worker W does not need to take out the bag 80 from the storage box 70 or the like, and the burden on the worker W and the work error can be significantly reduced.

For example, the manufacturer of the bag 80 can store a large number of bag sets 81 in the storage box 70 in the state shown in FIGS. 9A to 9D. In this case, the worker W can place such a storage box 70 delivered from the manufacturer on the upstream side transfer conveyor 51a as it is. In this case, the bag take-out device 10 can automatically and continuously supply the bag 80 to the packaging machine 88. In particular, by accommodating the plurality of bags 80 included in each bag set 81 in the accommodation box 70 while shifting the bags 80 from each other, the operation of separating the plurality of bags 80 included in the bag set 81 and the operation of aligning the plurality of bags 80 can be performed. It is possible to appropriately provide the bags 80 one by one to the packaging machine 88 without the worker W performing the operation.

Further, by providing the orientation adjustment mechanism 23, the orientation of the holding unit 30 can be changed so as to match the position and orientation of the bag set 81, and the holding unit 30 can accurately hold the bag set 81. It is also possible to make the holding unit 30 itself compact.

Further, the position detecting unit 31 using the oscillating body 40 can accurately detect the position in the height direction of the holding unit 30 and accurately arrange the holding unit 30 at the desired preparation position Ps1 and holding position Ps2. For example, it is possible to understand the height direction position of the bag set 81 (particularly, the first position bag set 81a) in the storage box 70 by analyzing the captured image of the bag set 81 in the storage box 70. However, when the bag 80 is transparent, it is difficult to accurately grasp the height direction position of the bag set 81 in the storage box 70 by image analysis. On the other hand, according to the present embodiment, even if the bag 80 is transparent, the actual position in the height direction of the first position bag set 81a (specifically, the second position bag set 81a that supports the first position bag set 81a). It is possible to accurately arrange the holding unit 30 at the desired preparation position Ps1 and holding position Ps2 according to the actual height direction position of 81b).

Further, the second position bag is moved by moving the holding unit 30 from the preparation position Ps1 to the holding position Ps2 while pressing the first rotating body 42a and the second rotating body 42b against the bag set 81 (particularly the second position bag set 81b). Damage to the set 81b from the position detection unit 31 (particularly the oscillating body 40) can be reduced.

[First Modification]
The movement control unit 61 may control the movement mechanism 22 based on the image inside the housing box 70 acquired by the imaging unit 25. For example, the movement control unit 61 may analyze the image acquired by the imaging unit 25 and acquire the position information of the first position bag set 81a. In this case, the movement controller 61 may derive the optimum preparation position Ps1 and/or the holding position Ps2 based on the position information of the first position bag set 81a.

The orientation control unit 62 may control the orientation adjustment mechanism 23 based on the image inside the housing box 70 acquired by the imaging unit 25. For example, the orientation control unit 62 may analyze the image acquired by the imaging unit 25 and acquire the orientation information of the first position bag set 81a. In this case, the orientation control unit 62 may derive the optimum orientation of the holding unit 30 to be moved to the preparation position Ps1 and/or the holding position Ps2 based on the orientation information of the first position bag set 81a.

Further, the movement control unit 61 and/or the orientation control unit 62 determines the optimum preparation position based on both the position information and the orientation information of the first position bag set 81a obtained by analyzing the image acquired by the imaging unit 25. The Ps1, the optimum holding position Ps2, and/or the optimum orientation of the holding unit 30 may be derived.

[Second Modification]
In the above-described embodiment and modification, the orientation of the holding unit 30 is changed by the orientation adjusting mechanism 23. However, the orientation of the holding unit 30 does not necessarily have to be changed, and in that case, the orientation adjustment mechanism 23 and the orientation control unit 62 may not be provided.

23 and 24 are schematic plan views for explaining a modified example of the holding unit 30. The bag take-out device 10 according to the present modification basically has the same configuration as the bag take-out device 10 according to the above-described embodiment, but each of the holding movable portion 34 and the holding and fixing portion 35 of the present modification is the same as the first embodiment. 2 extends in the horizontal direction Dh2. In this modification, an open space that is not closed in the first horizontal direction Dh1 is formed between the holding movable portion 34 and the holding fixed portion 35. Since the holding movable portion 34 and the holding fixing portion 35 are arranged at the holding position Ps2, the first position bag set 81a is arranged in the open space between the holding movable portion 34 and the holding fixing portion 35 (Fig. 24).

In this case, even if the holding section 30 is moved linearly in the horizontal direction from the preparation position Ps1 to the holding position Ps2, the first position bag set 81a becomes an open space between the holding movable section 34 and the holding and fixing section 35. It is arranged smoothly. The first position bag set 81a is smoothly arranged in the open space both when the holding unit 30 is moved from one side to the other side of the first horizontal direction Dh1 and when it is moved from the other side to the one side. be able to. In this modification, a member that connects the holding movable portion 34 and the holding and fixing portion 35 (for example, the opening/closing drive portion 33 (including the drive shaft 33a), the first mounting frame 36a, the second mounting frame 36b, the mounting plate 37, the swing plate), The motion detection sensor 39 and the oscillating body 40 (including the detection plate 40a) are, if necessary, an operating space Sp (in FIGS. 23 and 24, the storage box in FIG. 23 and FIG. 24) formed between the storage box 70 and each bag set 81. It may be arranged in the working space Sp) formed on one side of the second horizontal direction Dh2 within 70.

The holder 30 may have another structure. For example, although not shown, the first holding movable portion and the first holding and fixing portion directed in a certain horizontal direction (for example, one side of the first horizontal direction Dh1) and other horizontal directions (for example, the first horizontal direction Dh1). The second holding movable portion and the second holding and fixing portion, which are directed to the other side in the horizontal direction Dh1), may be integrally provided. The first holding movable part, the first holding fixing part, the second holding moving part, and the second holding fixing part are integrally moved by being fixed to the common connecting plate 32. Can be made. For example, the bag set 81 (for example, the bag set 81 of the first aspect P1 and the bag set 81 of the third aspect P3) located on one side of the first horizontal direction Dh1 in the accommodation box 70 includes the first holding movable portion and the first holding movable portion. It can be held by the holding and fixing unit of No. 1 and taken out from the storage box 70. The bag set 81 (for example, the bag set 81 of the second aspect P2 and the bag set 81 of the fourth aspect P4) located on the other side in the first horizontal direction Dh1 in the accommodation box 70 includes the second holding movable portion and the second It can be held by the holding and fixing unit and taken out from the storage box 70.

[Third Modification]
In the above-described illustrated form, the bag set 81 (hereinafter also referred to as “bottom bag set”) arranged at the lowest position in the stacking direction among the plurality of bag sets 81 in the storage box 70 (for example, a cardboard box) , Is mounted on the vinyl body PL. Further, the bottom of the storage box 70 is located directly below the vinyl body PL. Therefore, the space between the lowermost bag set and the vinyl body PL may be small, and the space between the vinyl body PL and the bottom of the storage box 70 may be small. In this case, there is not enough space between the lowermost bag set and the vinyl body PL to allow the holding unit 30 to enter, and the holding unit 30 cannot properly hold and take out the lowermost bag set. There are cases.

In this modification, the lowermost bag set is moved in the stacking direction by the movable part, and the size in the stacking direction of the space formed below the lowermost bag set and not covered by the movable part is increased. Accordingly, the holding unit 30 can easily enter below the lowermost bag set, and the holding unit 30 can appropriately hold and take out the lowermost bag set.

FIG. 25 is a side view showing the device configuration of the bag unloading device 10 in the unloading zone Z3 according to the third modification. FIG. 25 basically shows the appearance of the apparatus, but shows the state inside the housing box 70 for the range indicated by the symbol “E”. FIG. 26 is an enlarged view of the bottom portion 71, the movable portion 72, and the elevating device 102 (especially the elevating member 102b and the lifting pin 102c (elevating portion)) of the housing box 70 shown in FIG. 27 is a front view of a cross section of the device configuration of the bag unloading device 10 shown in FIG. 25 (see cross section line XXVII-XXVII in FIG. 28). FIG. 28 is a top view of the device configuration of the bag unloading device 10 shown in FIG.

As described above, in order to use the delivery device 11 (see FIG. 1) to take out the bag set 81 from the storage box 70, the storage box 70 is transported by the downstream-side transport conveyor 51b (first transport unit 51) and the positioning unit It is positioned at a predetermined take-out position in the take-out zone Z3 by 54.

In this modification, a plurality of downstream side transfer conveyors 51b (two downstream side transfer conveyors 51b in the illustrated example (see FIGS. 27 and 28)) are provided. The two downstream transfer conveyors 51b are arranged side by side in a horizontal direction that is at a right angle to the container transfer direction Dc, and the belts 120 of each downstream transfer conveyor 51b run in a direction parallel to the container transfer direction Dc.

The positioning part 54 has a positioning drive part 54a and a positioning stopper 54b driven in the height direction by the positioning drive part 54a. The positioning drive unit 54a is fixed to the base 101 and is configured by a drive device (for example, an air cylinder) that is driven under the control of the control unit 60 (see FIG. 8). The positioning stopper 54b is moved up and down between a lower position and an upper position. The lower position here is a position where the positioning stopper 54b does not come into contact with the storage box 70 placed on the belt 120 of the downstream side transport conveyor 51b and does not hinder the movement of the storage box 70 in the container transport direction Dc. Is. On the other hand, the upper position is a position where the positioning stopper 54b comes into contact with the storage box 70 placed on the belt 120 of the downstream side transport conveyor 51b, thereby hindering the movement of the storage box 70 in the container transport direction Dc. (See FIG. 25).

In addition, a storage box regulation unit 103 that regulates the position of the storage box 70 arranged in the take-out zone Z3 in the stacking direction (especially upward direction) is provided. In the illustrated example, four accommodation box restricting portions 103 arranged at positions corresponding to the four corners of the quadrangle are provided. Each accommodation box regulation unit 103 is rotatably provided around a corresponding regulation rotation shaft 104, and can be arranged at a regulation position and a non-regulation position. As shown in FIG. 28, two regulation rotation shafts 104 are provided, and two accommodation box regulation portions 103 arranged side by side in the container transport direction Dc are attached to the common regulation rotation shaft 104. In FIG. 27, the accommodation box regulation portion 103 arranged at the regulation position is shown by a solid line, and the accommodation box regulation portion 103 arranged at the non-regulation position is shown by a chain double-dashed line.

The accommodation box 70 is restricted from moving upward at four locations by the accommodation box regulation unit 103 arranged at the regulation position. The rotation of each storage box regulation unit 103 is performed by the power transmitted from a rotation drive unit (not shown) under the control of the control unit 60. Each accommodation box regulation unit 103 may be fixed to the corresponding regulation rotation shaft 104, and the rotation drive unit may rotate each accommodation box regulation unit 103 by rotating the regulation rotation shaft 104. Alternatively, each accommodation box regulation unit 103 is rotatably attached to the corresponding regulation rotation shaft 104, and the power from the rotation drive unit is transmitted to each accommodation box regulation unit 103 to rotate each accommodation box regulation unit 103. You may let me.

Further, two side guides 111 that regulate the position of the storage box 70 arranged in the take-out zone Z3 in the horizontal direction (in particular, the horizontal direction perpendicular to the container transport direction Dc) are provided. That is, the storage box 70 located in the take-out zone Z3 is arranged between the two side guides 111 in the horizontal direction that is perpendicular to the container transport direction Dc. Each side guide 111 is attached to a fixing member (not shown) and regulates the position of the accommodation box 70 by contacting the accommodation box 70.

A lifting device 102 is installed on the base 101. The lifting device 102 includes a lifting drive unit (for example, an air cylinder) 102a fixed to the base 101, a lifting member 102b driven in the height direction by the lifting drive unit 102a, and an upwardly extending member 2b extending from the lifting member 102b. And two lifting pins 102c. Each of the two lifting pins 102c is provided at a position facing the two movable parts 72 of the accommodation box 70 arranged in the take-out zone Z3 in the height direction. The lifting drive unit 102a is driven under the control of the control unit 60 (see FIG. 8), and the lifting member 102b and the lifting pin 102c (that is, the lifting unit) are integrally moved in the stacking direction by the lifting drive unit 102a.

Further, in this modification, a movable portion 72 that is movable in the stacking direction is provided. The movable portion 72 is provided in a range that covers only a part of the lowermost bag set 81z from below. With respect to the height direction, the movable portion 72 is not interposed between a partial range of each of the lowermost bag set 81z and the vinyl body PL and the bottom portion 71 of the storage box 70. When the lowermost bag set 81z and the vinyl body PL are lifted by the movable portion 72, a space is formed immediately below a partial range of each of the lowermost bag set 81z and the vinyl body PL.

In the illustrated example, each movable portion 72 is configured by a folded-back portion of the accommodation box 70 and forms a part of the accommodation box 70. For example, when the storage box 70 is a cardboard box, the storage box 70 having a rectangular parallelepiped shape can be made by bending the ends of the cardboard from four directions. For example, of the four bent portions, the two portions facing each other and located relatively outside (relatively lower side in the illustrated example) form the bottom portion 71 of the storage box 70, and The movable portion 72 may be configured by two portions facing each other and relatively inside (relatively upper side in the illustrated example). In this case, the movable portion 72 is provided so as to be movable around the bending position.

A plurality of bag sets 81 accommodated in the accommodation box 70 are located above the bottom portion 71 of the accommodation box 70. On the other hand, each movable part 72 is located between the lowermost bag set 81z and the bottom portion 71 of the storage box 70, and the lowermost bag set 81z is placed thereon. Then, each movable part 72 is movable in the stacking direction in accordance with the movement of the lifting part (that is, the lifting member 102b and the lifting pin 102c) in the stacking direction. In the illustrated example, each lifting pin 102c comes into contact with the outside of the bottom portion 71 of the storage box 70 and pushes up the corresponding movable portion 72 from below via the bottom portion 71, whereby the movable portion 72 moves upward and the bottom portion. It is arranged in a lifting position which is a position relatively distant from 71 (see FIG. 26). On the other hand, when each lifting pin 102c is arranged at a position away from the bottom portion 71 of the storage box 70 or when the corresponding movable portion 72 is not pushed up from below, the movable portion 72 is relatively positioned with respect to the bottom portion 71. It is placed in a normal position which is a close position.

Next, an operation example (especially an example of taking out the lowermost bag set 81z) of the bag taking-out device 10 according to the present modification will be described.

29 to 32 are schematic diagrams for explaining the taking out of the bag set 81 from the storage box 70 in the third modified example (see the sectional line XXIX-XXIX in FIG. 28 ). 29 to 32, some of the elements (for example, the holding movable portion 34 and the holding and fixing portion 35) are shown in a simplified manner.

In this modification, in the state where the storage box 70 is positioned by the positioning stopper 54b in the take-out zone Z3, the bag sets 81 stored in the storage box 70 are held one by one as in the above-described embodiment. 30 (that is, the holding and fixing unit 35 and the holding movable unit 34 ), and is placed on the third transport unit 53.

FIG. 29 shows a state immediately after the penultimate bag set 81 is taken out from the accommodation box 70 by the holding and fixing section 35 and the holding movable section 34. At this time, each lifting pin 102c is arranged at a position away from the bottom portion 71 of the storage box 70, and each movable portion 72 is arranged at a position (normal position) close to the bottom portion 71 of the storage box 70. .. Further, each accommodation box regulation unit 103 is arranged at the regulation position and limits the upward movement of the accommodation box 70.

Each storage box regulation unit 103 may be disposed at the regulation position immediately after the storage box 70 is disposed in the take-out zone Z3. Each accommodation box regulation part 103 is arrange|positioned in the regulation position before the accommodation box 70 applies force upwards from the lifting pin 102c (for example, before the bottom 71 of the accommodation box 70 is lifted by the lifting pin 102c). As long as each accommodation box regulation unit 103 arranged at the regulation position does not hinder the movement of the accommodation box 70 to the take-out zone Z3, the accommodation box regulation unit 103 is provided before the accommodation box 70 is arranged in the take-out zone Z3. It may be arranged at the restricted position.

Then, as shown in FIG. 30, before the last bag set 81 (that is, the lowermost bag set 81z) in the storage box 70 is gripped by the holding movable portion 34 and the holding and fixing portion 35, the elevating member 102b and the lifting pin 102c. Is moved up and each movable part 72 is arranged in the lifted position. As a result, the lowermost bag set 81z is lifted in the height direction by the movable parts 72 together with the vinyl body PL, and the partial range of each of the lowermost bag set 81z and the vinyl body PL (in the example shown in FIG. (Range) and a bottom portion 71 of the storage box 70, a relatively large space is formed. Thus, the lowermost bag set 81z is moved in the stacking direction (especially upward) by the movable portion 72, so that the “space not covered by the movable portion 72” formed below the lowermost bag set 81z is stacked. The size with respect to direction is increased.

The holding movable portion 34 and the holding and fixing portion 35 shown in FIG. 30 are shown in a state in which they are moving in the storage box 70 to hold the lowermost bag set 81z.

As described above, in the illustrated example, the movable parts 72 are arranged at the lifting position by the lifting pins 102c after the penultimate bag set 81 is taken out from the storage box 70. However, the timing of moving the movable portion 72 to the lifting position is not limited to this. Even if the movable part 72 is arranged at the lifted position, the bag set 81z does not spill from the storage box 70 at any timing before the lowermost bag set 81z is gripped by the holding movable part 34 and the holding and fixing part 35. Good. For example, each movable part 72 may be moved to the lifting position in a state where two or more bag sets 81 remain in the storage box 70, and each movable part 72 may be moved to the lifted position before the removal of the bag set 81 from the storage box 70. The movable part 72 may be moved to the lifting position.

Then, as shown in FIG. 31, the holding movable portion 34 is moved to a position below the lowermost bag set 81z. At this time, the movable holding unit 34 uses the space between the vinyl body PL and the bottom 71 of the housing box 70 to push down the vinyl body PL, and stacks the space between the lowermost bag set 81z and the vinyl body PL. Increase the size in the direction. That is, the lower surface of the holding movable portion 34 contacts the vinyl body PL, and the holding movable portion 34 pushes the vinyl body PL downward, whereby the vinyl body PL is peeled from the lowermost bag set 81z.

Then, the holding movable portion 34 enters the space between the lowermost bag set 81z and the vinyl body PL, and the lowermost bag set 81z is gripped by the holding movable portion 34 and the holding and fixing portion 35 as shown in FIG. .. Then, the lowermost bag set 81z is taken out of the storage box 70 by the holding movable portion 34 and the holding and fixing portion 35, and placed on the third transport portion 53. Note that, in FIG. 32, a state in which the lowermost bag set 81z is being taken out is indicated by a chain double-dashed line.

On the other hand, the lifting pin 102c is arranged after the holding movable portion 34 is arranged in the space between the lowermost bag set 81z and the vinyl body PL (for example, the lowermost bag set 81z is gripped by the holding movable portion 34 and the holding and fixing portion 35). Then, the movement is started toward a position away from the bottom portion 71 of the storage box 70. The lifting pin 102c is arranged at a position (standby position) apart from the bottom 71 of the storage box 70.

After the bottom bag set 81z is moved to the outside of the storage box 70 and the lifting pins 102c are separated from the storage box 70, the positioning stopper 54b is moved from the upper position to the lower position. After that, the emptied storage box 70 is transported from the take-out zone Z3 toward the second transport unit 52 by the downstream transport conveyor 51b. Then, a new storage box 70 that stores a plurality of bag sets 81 is placed in the take-out zone Z3 by the downstream side conveyor 51b and positioned by the positioning stopper 54b, and the above processing is repeated.

As described above, according to this modification, when the lowermost bag set 81z is taken out from the storage box 70 by the holding unit 30 (that is, the holding movable unit 34 and the holding and fixing unit 35), the vinyl body PL and the lowermost bag set are set. A gap (space) can be created between the 81z and 81z. By peeling the vinyl body PL from the lowermost bag set 81z in this way, the lowermost bag set 81z can be appropriately held by the holding unit 30.

In the illustrated example, each bag 80 has the thick portion 84, but each bag 80 may have a generally uniform thickness without the thick portion 84. In this case, by increasing the size in the stacking direction of the "space not covered by each movable part 72" formed below the lowermost bag set 81z, the lower part of the two bag sets 81 adjacent to each other in the stacking direction. It becomes easy to push down the bag set 81 located in the downward direction by the holding movable portion 34. This facilitates peeling the two bag sets 81 adjacent to each other in the stacking direction from each other, and the holding movable portion 34 easily enters between the two bag sets 81 adjacent to each other in the stacking direction.

As described above, according to the present modified example, even with a bag 80 having a small thickness difference over the entire surface such as a flat bag, it is easy to create a gap between two bag sets 81 adjacent to each other in the stacking direction. The holding movable portion 34 can be easily inserted between the bag set 81 located at and the bag set 81 located below.

Further, in the illustrated example, the lowermost bag set 81z is moved in the stacking direction by the movable portion 72 after the penultimate bag set 81 is taken out from the storage box 70. As an example, the control unit 60 includes information on “the number of bag sets 81 stored in the storage box 70 immediately after being placed in the take-out zone Z3” and “the number of bag sets 81 taken out from the storage box 70”. Information can be obtained. In this case, under the control of the control unit 60, the lifting device 102 is driven based on these pieces of information, and the movable part 72 can move the lowermost bag set 81z in the stacking direction. Thus, in the illustrated example, the stacking direction of the "space not covered by the movable portion 72" formed below the lowermost bag set 81z according to the number of bag sets 81 accommodated in the accommodation box 70. The movable part 72 moves the lowermost bag set 81z in the stacking direction so as to increase the size of the lowermost bag set 81z.

However, the present disclosure is not limited to this. For example, depending on the position of the first position bag set 81a in the storage box 70 in the stacking direction, the size in the stacking direction of the "space not covered by the movable portion 72" formed below the lowermost bag set 81z is increased. As described above, the movable part 72 may move the lowermost bag set 81z in the stacking direction. As an example, a sensor (for example, an optical sensor (not shown)) detects the position of the first position bag set 81a in the accommodation box 70 in the stacking direction, and the control unit 60 moves the lifting device 102 based on the detection result of the sensor. You may control. For example, when the sensor detects that the position of the first position bag set 81a is gradually lowered in the storage box 70 and reaches a predetermined height position, the lifting pin 102c is lifted and the lowermost bag set is set. 81z may be lifted to increase the size of the space formed below the lowermost bag set 81z in the stacking direction. As a result, the size of the space below the lowermost bag set 81z can be increased while preventing the bag set 81 from spilling from the storage box 70.

Further, in the above example, the movable portion 72 is provided as a separate body from the bottom portion 71 of the housing box 70, but the bottom portion 71 and the movable portion 72 may be formed of the same body.

Further, in the above example, the movable portion 72 is configured as a part of the storage box 70, but the movable portion 72 may be provided separately from the storage box 70.

[Other modifications]
The present invention is not limited to the above-described embodiments and modifications. For example, various modifications may be added to each element of the above-described embodiment and modification. Further, the configurations of the above-described embodiments and modified examples may be combined in whole or in part.

For example, in the above-described embodiment, the plurality of bag sets 81 are stored in the storage box 70 in four modes (first mode P1 to fourth mode P4), but the invention is not limited to this. For example, a plurality of bag sets 81 may be stored in the storage box 70 in two types of modes, and the first mode P1 and the second mode P2, the third mode P3 and the fourth mode P4, the first mode P1 and the fourth mode. A plurality of bag sets 81 may be accommodated in the accommodation box 70 in the aspect P4 or the second aspect P2 and the third aspect P3. Even in such a case, the bag sets 81 of different modes (for example, the bag sets 81 having different positions in the first horizontal direction Dh1) are alternately and repeatedly stacked inside each accommodation box 70.

Further, in the above-described embodiment, each bag set 81 is held by being sandwiched by the holding movable portion 34 and the holding and fixing portion 35, but the holding portion 30 may hold each bag set 81 by another method. .. For example, each bag set 81 may be held by the holding unit 30 by being placed on the holding and fixing unit 35 having a sufficient horizontal area.

Further, in the above-described embodiment and modification, each bag 80 has the thick portion 84, but each bag 80 may have a generally uniform thickness without the thick portion 84. Thus, the apparatus and method described above can be flexibly applied to bags 80 having various shapes and sizes.

10 bag take-out device, 11 delivery device, 21 base, 22 moving mechanism, 22a arm part, 22b joint part, 23 orientation adjusting mechanism, 25 imaging part, 30 holding part, 31 position detecting part, 32 connecting plate, 33 opening/closing drive part , 33a drive shaft, 34 holding movable part, 35 holding fixing part, 35a first holding fixing part, 35b second holding fixing part, 36a first mounting frame, 36b second mounting frame, 37 mounting plate, 39 rocking detection sensor , 40 rocker, 40a detection plate, 40b guide surface, 41 rocking shaft, 42a first rotary body, 42b second rotary body, 42c first rotary support shaft, 42d second rotary support shaft, 43 rocking stopper, 44a 1st rotator hole, 44b 2nd rotator hole, 45 stopper hole, 51 1st conveyance part, 51a upstream conveyance conveyor, 51b downstream conveyance conveyor, 52 2nd conveyance part, 53 3rd conveyance part, 54 positioning part , 54a Positioning drive part, 54b Positioning stopper, 55 Conveyor frame, 56 Conveyor leg part, 60 Control unit, 61 Movement control part, PL vinyl body, 62 Orientation control part, 63 Holding control part, 70 Storage box, 80 bags, 81 Bag set, 81a 1st position bag set, 81b 2nd position bag set, 84 thick part, 88 packaging machine, 89 turntable, 90 gripper pair, 91 printing device, 92 printing image pickup device, 93 opening device, 94 liquid filling part , 95 solid filling part, Sp working space, 96 first heat sealing device, 97 second heat sealing device, 98 cooling sealing device, 99 fourth transfer part, 101 base, 102 lifting device, 102a lifting drive part, 102b lifting member , 102c Lifting pin, 103 Storage box regulation part, 104 Regulation rotation axis, 111 Side guide, 120 Belt, Ax turning axis, Dh1 1st horizontal direction, Dh2 2nd horizontal direction, P1 1st aspect, P2 2nd aspect, P3 3rd aspect, P4 4th aspect, Ps1 preparation position, Ps2 holding position, S1 1st station, S2 2nd station, S3 3rd station, S4 4th station, S5 5th station, S6 6th station, S7th 7 stations, S8 8th station, S9 9th station, S10 10th station, W worker, Z1 stock zone, Z2 supply zone, Z3 extraction zone, Z4 discharge zone

Claims (13)

A step of moving the holding portion to a preparation position inside a storage box that stores a plurality of bag sets stacked in the stacking direction,
The holding unit is moved from the preparation position to the holding position, and the first position bag set arranged at the uppermost position in the stacking direction of the plurality of bag sets, and the first position bag set with respect to the first position bag set. Arranging at least a part of the holding part between the second position bag set arranged at a position adjacent to each other in the stacking direction,
Holding the first position bag set by the holding part after the holding part is arranged at the holding position,
Moving the holding part while holding the first position bag set by the holding part, and moving the first position bag set from the inside to the outside of the storage box,
Each of the plurality of bag sets includes one or more bags,
The plurality of bag sets includes one or more bag sets including two or more bags,
In the accommodation box, each of the plurality of bag sets partially overlaps with a bag set arranged at a position adjacent in the stacking direction,
The preparatory position is a position which does not overlap with the first position bag set in the stacking direction but overlaps with the second position bag set in the stacking direction. In a bag set including the two or more bags, each of the two or more bags partially overlaps a bag arranged at a position adjacent to each other in the stacking direction,
Each bag locally has a thickness portion that has a greater thickness than the other portions,
In a bag set including the two or more bags, the thickness portions do not overlap with each other between the bags arranged at positions adjacent to each other in the stacking direction,
The bag extracting method according to claim 1, wherein, in the bag set including the two or more bags, the two or more bags have the same direction as each other. The first position bag set is displaced from the second position bag set in the first horizontal direction while being stacked on the second position bag set inside the storage box,
The bag take-out according to claim 1 or 2, wherein the first position bag set includes the two or more bags stacked so as to be offset from each other with respect to a second horizontal direction that is perpendicular to the first horizontal direction. Method. Of the plurality of bag sets housed in the housing box, four bag sets that are continuously stacked in the stacking direction have the first aspect, the second aspect, the third aspect, and the fourth aspect. Have,
The bag included in the bag set of the first aspect is displaced from the bag included in the bag set of the second aspect in the first horizontal direction and in the second horizontal direction. Have the same orientation,
The bags included in the bag set of the second aspect are displaced from the bags included in the bag set of the third aspect with respect to the first horizontal direction and are associated with the second horizontal direction. The opposite direction,
The bag included in the bag set of the third aspect is displaced from the bag included in the bag set of the fourth aspect with respect to the first horizontal direction and is associated with the second horizontal direction. Have the same orientation,
The bag included in the bag set of the fourth aspect is displaced from the bag included in the bag set of the first aspect with respect to the first horizontal direction and with respect to the second horizontal direction. The bag removing method according to claim 3, wherein the directions are opposite. When moving the first bag set, in which the second bag set is adjacent to each other in the stacking direction, as the first position bag set from the inside of the storage box to the outside by the holding portion, Moving the holding portion in the state of being oriented in the first orientation direction to the holding position,
When moving the second bag set as the first position bag set from the inside to the outside of the storage box by the holding portion, the second bag set is oriented in a second orientation direction in the horizontal direction different from the first orientation direction. The bag taking-out method according to any one of claims 1 to 4, wherein the holding portion in the state of being moved is moved to the holding position. Of the plurality of bag sets, the lowermost bag set disposed at the lowermost position in the stacking direction is placed, and the movable part movable in the stacking direction moves the lowermost bag set in the stacking direction, The bag according to any one of claims 1 to 5, comprising a step of increasing a size in a stacking direction of a space formed below the lowermost bag set and not covered by the movable portion. How to take out. The stacking of the space formed below the lowermost bag set according to the position of the first position bag set in the storage box in the stacking direction or the number of the bag sets stored in the storage box. The bag removing method according to claim 6, wherein the lowermost bag set is moved in the stacking direction by the movable portion so as to increase the size in the direction. Each of the plurality of bag sets housed in the housing box and stacked in the stacking direction, a holding portion provided to be capable of holding,
A moving mechanism for moving the holding part,
A position detection unit that detects the position of the holding unit in the stacking direction,
A movement control unit that controls the movement mechanism based on a detection result of the position detection unit, and the movement control unit controls the movement mechanism,
Moving the holding portion to the preparation position inside the storage box,
With respect to the first position bag set which is moved to the holding position from the preparation position and is arranged at the uppermost position in the stacking direction among the plurality of bag sets, and the first position bag set. At least a part of the holding portion is arranged between the second position bag set arranged at a position adjacent to each other in the stacking direction,
After the holding part is arranged at the holding position, the first position bag set is held by the holding part,
The holding unit is moved while holding the first position bag set by the holding unit, and the first position bag set is moved from the inside to the outside of the storage box,
Each of the plurality of bag sets includes one or more bags,
In the accommodation box, each of the plurality of bag sets partially overlaps with a bag set arranged at a position adjacent in the stacking direction,
The preparation position is a position which does not overlap with the first position bag set in the stacking direction but overlaps with the second position bag set in the stacking direction,
The position detection unit is a bag takeout device that detects a position of the holding unit in the stacking direction with reference to the second position bag set. An orientation adjusting mechanism that changes the orientation of the holding portion,
The bag extraction device according to claim 8, further comprising an orientation control unit that controls the orientation adjustment mechanism. The position detection unit,
An oscillating body that moves integrally with the holding portion and oscillates in response to contact with the second position bag set;
The bag take-out device according to claim 8 or 9, further comprising: a rocking detection sensor that detects a rocking state of the rocking body. Equipped with a rotatable body
The bag unloading device according to claim 8, wherein the rotating body rotates while applying pressure to the second position bag set when the holding unit is moved from the preparation position to the holding position. A first transport unit that receives the storage box that stores the plurality of bag sets stacked in the stacking direction in a supply zone and transports the storage box to an extraction zone;
A positioning portion for positioning the storage box at the extraction position in the extraction zone,
A second transport unit that receives and transports the storage box sent from the take-out zone,
The movement control unit controls the movement mechanism, and moves the plurality of bag sets from the inside of the storage box to the outside by the holding unit while the storage box is positioned at the take-out position. The bag take-out device according to any one of 1 to 11. An elevating device having an elevating part and an elevating drive part for moving the elevating part in the stacking direction,
An accommodation box regulation unit for regulating the position of the accommodation box in the stacking direction,
A movable unit movable in the stacking direction according to the movement of the elevating unit in the stacking direction,
Of the plurality of bag sets, a lowermost bag set arranged at a lowermost position with respect to the stacking direction is placed on the movable part, and the lowermost bag set is moved in the stacking direction to set the lowermost bag set. The bag take-out device according to any one of claims 8 to 12, which increases a size in a stacking direction of a space that is formed below the space and is not covered by the movable portion.