JPH0444933A - Method and apparatus for taking out and delivering bag - Google Patents

Abstract

PURPOSE:To secure rapidness and certainty of work and cope with any kinds and sizes of bags by performing work for taking out and delivering bags only with movement of right and left vacuum cups without a means of a bas supplying body. CONSTITUTION:In a first step, left and right vacuum cups 30, 31 mounted at the tip of two-branched protrusions 32, 33 of a support head 27 are made to proceed horizontally from an origin wait position 01 and abut on a head bag alpha of bags alpha in an overlapping standing posture in a take-out port 29 of a bag stock table 28 at their front limit position so as to suck the bag. In a second step, the vacuum cups 30, 31 are returned to the bag origin wait position 01, then they are immediately raised vertically, and they are made proceed as soon as both side rims of the bag alpha are put in the center between fixed holder 4 and a movable holder 5 which are opened by a pair of left and right holding arms 6, 7 which have been calculated and rotated to wait at an upper limit position 03, so that both side rims of the bag alpha are made to abut on the fixed holder 4 at its front limit position 04. In a third step, after both side rims of the bag alpha are held by the fixed holder 4 and the movable holder 5, suction is released and the cups are made retreat to the upper limit position 03 and then lowered to the origin wait position 01 continuously.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention takes out individual bags from a bag pool table in stationary filling and bagging work, and transfers the bags to a parallel bag conveyor that sequentially transports them to subsequent multiple processes. The present invention relates to a bag removal and delivery method used for delivery and a device directly used for carrying out the method.

[Prior art 1] As a conventional device of this kind, the present applicant's U.K. Publication No. 53
There is a bag feeding device described in Japanese Patent No. 19911.

When the automatic bagging device X equipped with this bag feeding device is shown in FIGS. Bag holder 2...
A turntable 3 is provided which projects radially at equal intervals in the circumferential direction.

This turntable 3 is indexed and rotated intermittently by a drive device (not shown), and the parallel bag holders 2...
A, bag completely inflated device B, solid material filling device C1 viscous material filling device fD, deaerator fE, first heat sealing device F,
The bagging is completed by facing the second heat sealing device tG, the sealing part cooling device H, etc. in sequence, and going around.

Further, the parallel bag holder 2 is composed of a pair of left and right holding arms 6.7 groups each having a fixed clamp 4 and a movable clamp 5, and each of these left and right holding arms 6.7 is attached to the lower peripheral edge of the turntable 3. The arms are movable toward each other by contact between the arm actuating mechanism 8 and the rail 9 provided in the section, and the opening section α1 of the bag α held therein is tensioned. i
The configuration is such that it can be used to

Moreover, the fixed clamping element 4 and the movable clamping element 5 are always biased so that their opposing surfaces are in pressure contact with each other, and the left and right holding arms 6.
Guide rollers 10 are attached to the tips of the movable clamps 7 and 7, and these guide rollers 10 and 10 are pushed by coming into contact with guide bodies or pressing bodies 11 disposed along the transfer path, and the movable clamping member 5 resists the force and the fixed clamp 4
They are spaced apart from each other so that a gap is formed between the mutually opposing surfaces.

As shown in FIGS. 7 to 9, the bag supply device vlA includes a storage chamber 12 that accommodates a plurality of bags α in a stacked state and in an upright position, and a front end outlet 13 on the edge of the storage chamber 12. A stopper 14 disposed nearby to prevent the leading bag α from flying out; and a bag urging the group of bags α in the storage chamber 12 in the plane direction so that the leading bag α always comes into contact with the stopper 14. It has a feeding mechanism 15 and a pair of upper and lower vacuum cups 16 and 17 that are disposed opposite to the front surface of the storage chamber 12 and are movable back and forth. A movable suction take-out mechanism 18 and a supplied part 19 that once receives the bag α taken out by the suction take-out mechanism 18.
A bag supply body 20 that can move up and down to supply the bag to
a bag holding device 22 that suction-holds the upper part of the storage chamber 1;
The air outlet 23.24 is placed near the outlet 13 of No. 2,
Air blow molding device 2 that presses and shapes the bag α held by the bag holding device 22 toward the reference wall surface 25 of the bag supply body 20
6.

[Problems to be Solved by the Invention] However, in the conventional bag supply device A, the bag α taken out by the suction takeout mechanism 18 is once delivered to the bag supply body 20, where the bag holding device [22 and the air blower Orthopedic device [2
At 6, the bag α is brought up to the supplied part 19 together with the bag supply body 20 in a state that it is closely attached to the reference wall surface 25, and is fixedly held in the left and right holding arms 6.7 of the parallel bag holder 2 to wait for opening. The upper parts of both side edges of the bag α are interposed in the center between the child 4 and the movable clamper 5, and then the movable clamper 5 is moved closer to the fixed clamper 4 to clamp the upper parts of both side edges of the bag α. In this case, the series of continuous delivery operations is complicated and slow, which limits the number of sheets delivered per unit FR, which in turn limits the throughput of the automatic bagging device (It was attached to the reference wall surface 25 of the body 20), so there was a gap between it and the fixed clamp 4, and the closing movement of the movable clamp 5 could not be followed, and both sides of the bag α were distorted or bent, and the fixed clamp was removed. The movable clamper 5 is attached to the bag α with respect to the child 4.
If both side edges cannot be pinched, if the pinching is insufficient, if the bag α is pinched in a distorted manner, or if the bag α is wrinkled, the bag body completely inflates device B, solids filling device C1
Viscous material filling device fD, deaerator E, first heat seal device iF, second heat seal device G, sealing part cooling device [H
This adversely affects the processing of each second in the system and causes problems.

On the other hand, in order to free the bag α immediately before the fixed clamp 4 and the movable clamp 5 clamp both sides of the bag α, the bag holding device @
22 and air blowing orthopedics! 26 to the reference wall surface 25, if the action is released, most types of bags α do not have independence, so they collapse, collapse, or become distorted.
Due to the bent plate, it will be impossible for the fixed clamp 4 and the movable clamp 5 to clamp both sides of the bag α, or it will be incomplete, which will cause more problems than the above-mentioned defects. Moreover, since the structure is too complicated, it is difficult to adjust the successive timing and operation timing of each of them, making maintenance difficult.

In addition, with the diversification of consumer tastes in recent years, we are forced to produce a wide variety of products in small quantities.
Since the size of the bag α that can be applied to the bag supply body 20 is limited, other sizes cannot be used.

In this respect, the present invention aims to provide a method and apparatus for bag removal and delivery that are effective and suitable for overcoming the drawbacks of the conventional apparatus.

[Means for Solving Problem 11] The present invention solves the above problem by attaching a mounting head to a slide rod with a vacuum cup attached thereto facing an outlet at an origin standby position in front of a bag stock stand, while at the same time The slide rod is slidably inserted into a guide block fixed to a horizontally protruding cantilevered arm that is cantilevered to a movable ball that can freely reciprocate horizontally, and the slide rod is vertically inserted thereinto, and the other rectangular frame is fixed to the cantilevered arm that can be freely reciprocated vertically. A cam follower pivotally connected to the slide rod is fitted into the cam so as to be horizontally slidable, and the vacuum cup facing the outlet is horizontally advanced at the origin standby position in front of the bag stock stand to move it to its front end. A first process of contacting and suctioning the first bag of a group of bags that comes in a stacked standing position into the bag stock stand outlet at a position, and a vacuum cup that has suctioned the bag to one bag from the bag stock stand outlet. As soon as it returns to the original standby position while taking out the bag, it immediately rises vertically and intervenes the bag side edges between the fixed clamp and the movable clamp which open back and forth in the pair of left and right holding arms that have already been indexed and are waiting for rotation at the upper limit position. At the same time, the raw liver moves horizontally, and at its front limit position, the both side edges of the bag abut against the fixed clamping member, and the movable clamping member closes and clamps the bag. This is achieved by employing the above-described configuration means and method, which includes a third process in which the suction of the vacuum cup is released after the clamping of the liver, the living liver is horizontally retracted, and then the liver is lowered to the original standby position.

[Function] Since the present invention takes the above-mentioned means and method, it does not use a bag supply body unlike the conventional device, so there is a large amount of room for the movement of the vacuum cup, and a constant trajectory is created by a combination of forward movement, backward movement, upward movement, and downward movement. It realizes a two-dimensional series of continuous flow motions that increase the work speed and enable quick delivery, reliably picks up each bag from the outlet of the bag stock stand, and then moves the left and right pairs of holding arms waiting upwards to move the bag back and forth, respectively. While both sides of the bag are firmly pressed against one fixed clamp in the open state, the other movable clamp moves to close and the bag can be correctly clamped between the fixed clamp and the movable clamp, which hinders post-process processing. Improve yield without causing problems.

[Embodiment] An embodiment of the present invention apparatus installed in an automatic bagging apparatus X in place of the bag feeding apparatus A will be described with reference to the drawings.

Figure 1 is a partially omitted cutaway side view of this embodiment, and Figure 2 is the same.
The front view and FIG. 3 are the same plan views.

In the figure, A' is the bag take-out and delivery device of this embodiment, and 27 is a pair of left and right vacuum cups 30 and 31 facing each other at a predetermined upper part of the two take-out ports of the bag stock stand 28 at a predetermined distance from the front at the origin standby position 01. The mounting heads 34 and 35 are attached to the ends of the bifurcated parallel protrusions 32 and 33, respectively, and the left and right vacuum cups 30 and 31 are fitted to the tips of the mounting heads 32 and 33 of the bifurcated parallel protrusions 32 and 33 of the mounting head 27. A pair of right-angled bases 38 and 39 are fitted into the bottom of the mounting head 27 and have left and right vacuum vibes 36a and 35b screwed into the downwardly extending lower ends thereof with mounting nuts 37a and 37b, respectively. A pair of left and right long and short slide rods whose upper ends are fixed to a seat plate 41 fixed through an open cavity member 40; The cantilever auxiliary arm 4 is fixed to the cantilever arm 46 with a screw 47 to freely adjust the extension length.
8 is fixed at the tip and the left and right long and short slide rods 38
．． Guide plotter vertically sliding vertically through 39, 49
1 is a rectangular frame cam horizontally fixed to the lower side of the tip of a cantilever auxiliary arm 52 which extends from a cantilever arm 50 whose base end is fixed to an elevating ball (not shown) that can be moved up and down, and which is fixed with a screw 51 so as to freely adjust its length. , 53 is attached to a threaded shaft 55 which penetrates the lower end of the one-long slide O-piece 38 and is screwed with a nut 54 so as to be freely rotatable, and is fitted into the long groove 56 of the rectangular frame cam 49 so as to be freely movable therein. boolean cam follower,
Reference numeral 57 designates a receiving tip instead of the guide roller 10 which is pivotally connected to the distal end of the continuous piece of the movable clamp 5.

Incidentally, FIG. 4 is a plan view of the divided attachment head 27- used when the width of the bag α is relatively narrow.

In this case, the procedure for carrying out the method of the present invention using the apparatus iA- of the present invention will be explained with reference to FIGS. 1 to 5.

In the method of the present invention, as shown in Fig. 5, the left and right vacuum cups 3
The first to third processes P1 to P3 according to the motion trajectory of 0.31
Step on.

First, in the first process P1, the movable ball 43 is moved horizontally forward using a drive mechanism, and the left and right vacuum cups 30 and 31 are moved together with the mounting head 27 through the left and right long and short slide rods 38 and 39 to the origin standby position 01 by the horizontal movement guide block 42. The cam follower 53 at the lower end of the long slide rod 38 moves horizontally forward from the rectangular frame cam 4.
It slides forward in the long groove 56 of 9. When the left and right vacuum cups 30 and 31 reach the predetermined front limit 1102, the left and right wall plates and the bottom plate contact the leading bag α of the movable and adjustable bag stock stand 28, and after the movable ball 43 stops advancing, the left and right The contact surface of the bag α is sucked by the left and right vacuum cups 30° 31, which are vacuum-reduced through the left and right right-angled mouthpieces 34 and 35 through the vacuum vibrators 36a and 36b.

Next, in the second process P2, the movable ball 43 is moved horizontally backward again, and the bag α is adsorbed by the guide block 42 to the left and right vacuum cups 30, 31 together with the mounting head 27 via the left and right long and short slide rods 38,39. The bag stock table 28 is horizontally retreated to take out one bag from the outlet 29, and at this time, the cam follower 53 at the lower end of the single-length slide rod 38 slides backward in the long groove 56 of the rectangular frame cam 49. Then, when the left and right vacuum cups 30 and 31 return to the origin standby position 01 and move back, the movable ball 43 stops moving back, and an elevating ball (not shown) is vertically raised by an appropriate drive mechanism, so that the length of the horizontally fixed to the tip of the cantilevered auxiliary arm 52 is raised vertically. Since the one-long slide rod 38 is pushed up through the fitting loose connection between the frame cam 49 and the cam follower 53, the left and right long and short slide rods 38 and 39 are slidably guided within the guide rod 42, and the mounting head 27 and the left and right vacuum cups 30 are
．． 31 and the left and right vacuum cups 30.31
When it reaches the scheduled upper limit 1 [03, the left and right holding arms 6°7, which have been indexed and ready to rotate, open the left and right vacuum cups 30 and 31 in the center between the fixed clamps 4 and the movable clamps 5, which open back and forth, respectively. The movable ball 43 is moved forward by intervening on both sides of the bag α opening α1 which is attracted by the bag α1 to stop the lifting ball from rising, and is attached by the guide plotter 42 via the left and right long and short slide rods 38 and 39. The head 27 and the left and right vacuum cups 30°31 move horizontally, and when the left and right vacuum cups 30°31 reach the predetermined front limit position 04, the left and right side edges of the bag α opening α1 that are attracted are shown in the imaginary line in FIG. The movable ball 43 comes into contact with the fixed clamp 4 and stops moving forward.

Subsequently, in the third step P3, the movable clamp 5 moves to close and is sucked by the left and right vacuum cups 30. Then, connect the left and right vacuum cups 30 through the left and right vacuum pipes 30 and 31 and the left and right right angle bases 34 and 35.
．． After the vacuum decompression of 31 is released and the adsorption of the bag α is released, the movable ball 43 is moved horizontally backward again, and the left and right vacuum cups 30 are moved together with the mounting head 27 via the left and right long and short slide rods 38 and 39 by the guide block 42. ．．
When the movable ball 43 stops horizontally retracting, the elevating ball (not shown) starts to descend, and the elongated slide rod 38 Since the left and right long and short slide rods 38 and 39 are slid and guided within the guide rod 42, the left and right vacuum cups 30 as well as the mounting head 27 are pulled down.
．． 31 is lowered to the origin standby position 01, the descending movement of the elevating ball is stopped.

In this way, one cycle of the left and right vacuum cups 30, 31 is endlessly circulated, and one bag α is taken out from the bag stock stand 28 and transferred to the fixed clamps 4 and the movable clamps 5 of the left and right holding arms 6.7 for clamping. Thereafter, the same execution procedure is repeated to ensure that the bag α is taken out and delivered.

In short, in the method of the present invention, the left and right vacuum cups 30° 31 facing the front of the bag stock stand 28 outlet 29 are advanced horizontally from the origin standby position 01, and are brought into the bag stock stand 28 outlet 29 at the forward limit position 02. A first process P1 of contacting and adsorbing the leading bag α of the bag α group arriving in a stacked standing posture;
The left and right vacuum cups 30.31 that have absorbed the bag α are taken out from the bag stock stand 28 to bag α and returned to the origin standby position 01, and immediately ascend vertically and are already indexed at the upper limit position 1i03 and are on standby for rotation. A pair of left and right holding arms 6.7 intervene the both sides of the bag α in the center between the fixed clamps 4 and the movable clamps 5 which are opened, respectively, and at the same time move horizontally forward and fix both sides of the bag α at the front limit position 04. Pincer 4
A second process P in which the movable clamping member 5 closes and clamps the movable clamping member by contacting the
2, and the left and right vacuum cups 30.
This process goes through a third process P3 in which the suction is released, the robot moves horizontally backward by 9 degrees to the upper limit position 03, and then descends to the origin standby position 01.

[Effects of the Invention] Thus, the present invention allows the large and fine movements of only the left and right vacuum cups to be freely controlled, without having to continuously carry out bag take-out and delivery operations using a bag supply body as in conventional devices. Since it can be carried out by a series of crane movements, it ensures speed and reliability of the work, and can handle bags of all types and sizes, greatly streamlining, streamlining, efficiency, and rapid mass processing.
It has excellent effects such as flexibility and simplification of structure.

[Brief explanation of the drawing]

1 to 3 are an enlarged side view of a partially notched main part, an enlarged front view of the main part, and an enlarged plan view of a partially cutaway main part showing an embodiment of the device of the present invention, and FIG. 4 is another embodiment of the mounting head. An enlarged plan view showing an example, FIG. 5 is an explanatory view of an execution process showing an example of the implementation procedure of the method of the present invention, FIG. 6 is a plan view of an automatic bagging device equipped with a conventional bag feeding device, and FIGS. FIG. 8 is a side view and a front view of a conventional bag feeding device installed in an automatic bagging device, and FIG. 9 is an enlarged side view of a main part of the conventional bag feeding device. A... Bag supply device I A-... Bag take-out and delivery device 02.04... Front limit position Pl... First process P3... Third process α... Bag 2... Parallel Bag holder 4...Fixed clamp 6.7...Holding arm 01...Origin standby device 03...Upper limit position P2...Second process X...Automatic bagging device α1... Opening 3...Turntable 5...Movable clamp 16.17.30.31...Vacuum cup 27.
27”...Mounting head 28...Bag stock stand 29...Outlet 38...
・Long slide rod 39...Short slide rod 42...Guide block 43...Movable ball 46
．． 50...Cantilever arm 48.52...Cantilever auxiliary arm 4
9... Rectangular frame cam 53... Cam follower Fig. 3 Fig. 5 Fig. 7 Fig. 8

Claims (1)

[Scope of Claims] 1. A vacuum cup facing the take-out port at the origin standby position in front of the bag stock stand is advanced horizontally, and at its front limit position it comes into the take-out port of the bag stock stand in a stacked standing posture. The first step is to contact and suction the first bag in the group of bags, and the vacuum cup that has suctioned the bag returns to the origin standby position while taking out the bags one by one from the outlet, and immediately rises vertically to the upper limit position. In the pair of left and right holding arms that are already waiting for index rotation, both side edges of the bag are interposed between the fixed clamp and the movable clamp that are opened back and forth, respectively, and at the same time, they move slightly horizontally forward, and at the front limit position, the both sides of the bag are fixed as described above. A second process of closing and clamping the movable clamp by coming into contact with the clamp, and then releasing the adsorption of the vacuum cup after the fixed clamp and the movable clamp stop clamping the bag's side edges, and then moving back a little horizontally, and then continuing. Bag removal and delivery method 2 involves going through the third step of descending to the origin standby position. At the origin standby position in front of the bag stock stand, the mounting head with the vacuum cup attached facing the outlet is mounted on the slide rod, while the front and rear horizontal The slide rod is slidably inserted and longitudinally inserted into a guide block fixed to a cantilevered arm that protrudes horizontally from a movable ball that can freely reciprocate, and a rectangular frame that is horizontally fixed to the cantilevered arm that can freely reciprocate vertically. The bag pick-up and delivery device 3 has a cam follower pivotally connected to the slide rod that is horizontally slidably fitted into the cam, and the vacuum cups are a pair of left and right, and the slide rods are long and short on the left and right, with a lower end of the long slide rod. 3. The bag pick-up and delivery device according to claim 2, wherein the cam follower is pivotally mounted.