Holding device, holding method, and packaging system

Abstract

To provide a holding device, a holding method, and a packaging system advantageous for appropriately holding and tensioning a container such as a bag by the holding device.SOLUTION: The holding device 10 includes a first holding unit 11 that holds one side portion of the container B, a second holding unit 12 that holds the other side portion of the container B, and an interval adjusting unit 13 that adjusts an interval between the first holding unit 11 and the second holding unit 12. The first holding unit 11 includes a holding body 20 that releasably holds one side portion of a vessel B, a tilting member 21 that is attached to the holding body 20 and is provided so as to be tiltable together with the holding body 20 between a standard position and a tilting limit position P2, and a tilting adjustment part 22 that is attached to the tilting member 21 and applies a force for returning the tilting member 21 to the standard position to the tilting member 21 while allowing the tilting member 21 to tilt between the standard position and the tilting limit position P2.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a holding device, a holding method and a packaging system. [Background technology]

[0002] Patent Document 1 discloses a vacuum packaging machine that uses a simple pulling mechanism to pull both ends of the opening of the packaging bag in the expanding direction, thereby preventing wrinkles from forming at the opening and sealing it neatly. Patent Document 2 discloses a bag supply device that prevents bags from being handed over in a slack state when multiple layers of bags with raised sides and a concave center are sucked in with suction cups and handed over to a packaging machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-189390 [Patent Document 2] Japanese Patent Application Laid-Open No. 2011-219122 Summary of the Invention [Problem to be solved by the invention]

[0004] In a system in which bags are tensioned by a holding device and then handed over to a downstream device, if the amount of deflection and width of the bags supplied to the holding device are not consistent (for example, in the case of bags containing contents), the part of the bag that is actually held by the holding device (holding point) may change. Therefore, when a tensioning process is performed in which the holding device is operated to tension the bags, the degree of tension of the bags is not consistent.

[0005] For example, if the amount of deflection of the bag between the holding points before the tensioning process is smaller than the amount of change in the distance between the holding points before and after the tensioning process, the tensioning process will cause the bag to be tensioned more than expected. As a result, excessive mechanical loads may be applied to the holding device, the holding points may unintentionally shift before and after the tensioning process, or at least one side of the bag may fall out of the holding device's grip. On the other hand, if the amount of deflection of the bag between the holding points before the tensioning process is larger than the amount of change in the distance between the holding points before and after the tensioning process, the tensioning process may not necessarily cause the bag to be tensioned sufficiently.

[0006] As a result, the bags may not be handed over in an appropriate condition to a device (e.g., a packaging processing device) located downstream of the holding device, or the processing performed in the downstream device (e.g., packaging processing such as sealing the mouth of the bag) may not be performed properly.

[0007] The present disclosure provides advantageous techniques for properly holding and tensioning a container, such as a bag, with a holding device. [Means for solving the problem]

[0008] One aspect of the present disclosure relates to a holding device comprising: a first holding unit that holds one side portion of a container; a second holding unit that holds the other side portion of the container; and a distance adjustment unit that adjusts the distance between the first holding unit and the second holding unit by moving at least one of the first holding unit and the second holding unit, wherein the first holding unit has: a holder that releasably holds one side portion of the container; a tilting member attached to the holder and tiltable together with the holder between a standard position and a tilting limit position; and a tilt adjustment unit attached to the tilting member that applies a force to the tilting member to return it to the standard position while allowing the tilting member to tilt between the standard position and the tilting limit position.

[0009] The holding device may include at least one of a tilt limit position stopper that limits the movement of the tilting member positioned at the tilt limit position and a standard position stopper that limits the movement of the tilting member positioned at the standard position.

[0010] The distance adjusting section may move the first holding unit and the second holding unit symmetrically in the movement axis direction.

[0011] The holding body may include a gripper, the tilting member may be tiltably attached to the support member via a tilting axis and may be tiltable around the tilting axis, and the tilt adjustment part may have an elastic body that applies a force to the tilting member to return it to its standard position.

[0012] Another aspect of the present disclosure relates to a holding method for holding a container using the above-mentioned holding device, comprising the steps of starting to hold the container by the first holding unit and the second holding unit, and releasing the container from the first holding unit and the second holding unit, wherein the distance between the first holding unit and the second holding unit when releasing the container is greater than the distance between the first holding unit and the second holding unit when starting to hold the container.

[0013] When releasing the container from the first holding unit and the second holding unit, the distance between the first holding unit and the second holding unit may be adjusted so that the tilting member is positioned at a position other than the standard position.

[0014] Another aspect of the present disclosure relates to a packaging system including the holding device described above, a supply device that supplies containers to the holding device, and a packaging device that performs a packaging process using the containers supplied from the holding device.

[0015] The packaging system may be provided with a size measuring device that measures the size of the containers supplied to the holding device, and the distance between the first holding unit and the second holding unit when the containers are held by the first holding unit and the second holding unit may be adjusted by a distance adjustment unit based on the measurement results of the size measuring device. [Effects of the Invention]

[0016] The present disclosure is advantageous in that a retaining device properly retains and tensions a container, such as a bag. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a top view showing an example of a holding device. [Figure 2] FIG. 2 is a diagram showing the holding device (particularly the distance adjusting portion) indicated by the arrow with the symbol "II" in FIG. [Figure 3] FIG. 3 is a top view of the holding device for explaining the operation of the holding device shown in FIG. 1 (particularly an example of a tensioning step for tensioning the bag). [Figure 4] FIG. 4 is a side view showing an example of a packaging system (bag processing system) equipped with a holding device. [Figure 5] FIG. 5 is a top view of the packaging system shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the disclosed technology will be described by way of example with reference to the drawings. In the following, a case will be described in which the container held by the holding device is a "bag (for example, a bag filled with liquid contents (product bag))," but the technology described below can also be applied to other types of bags and containers other than bags.

[0019] [Holding device] Fig. 1 is a top view showing an example of a holding device 10. In Fig. 1, holding units 11 and 12 with a relatively wide gap between them are shown by solid lines, and holding units 11 and 12 with a relatively narrow gap between them are shown by two-dot chain lines.

[0020] Fig. 2 is a diagram showing the holding device 10 (particularly the gap adjustment unit 13) indicated by the arrow with the symbol "II" in Fig. 1. Fig. 3 is a top view of the holding device 10 illustrating an example of the operation of the holding device 10 shown in Fig. 1 (particularly an example of a tensioning process for tensioning the bag B).

[0021] Although Figures 1 and 3 show bag B in a simplified flat state, bag B may have a large thickness in at least part of its thickness direction (the vertical direction in Figures 1 and 3).

[0022] The holding device 10 of this embodiment includes a first holding unit 11, a second holding unit 12, and a gap adjustment unit 13 that adjusts the gap between the first holding unit 11 and the second holding unit 12 by moving at least one of the first holding unit 11 and the second holding unit 12. The first holding unit 11 holds one side portion of the bag B (in this example, a side portion such as a side edge seal portion), and the second holding unit 12 holds the other side portion of the bag B (in this example, a side portion such as a side edge seal portion).

[0023] The first holding unit 11 has a holding body 20, a tilting member 21 attached to the holding body 20, and a tilt adjustment part 22 attached to the tilting member 21.

[0024] The holder 20 of the first holding unit 11 releasably holds one side portion of the bag B, and in this example includes a gripper that can grip the bag B. Figures 1 and 3 show the holder 20 in the holding state S1 (closed position) and the holder 20 in the release state S2 (open position). The method for placing the holder 20 in the holding state S1 and the release state S2 is not limited, and any driving device can be used to open and close the gripper. In this example, an air chuck-type holder 20 that uses an air cylinder as the driving device is used.

[0025] The tilting member 21 is provided so as to be tiltable together with the holder 20 between a standard position P1 (see FIG. 1) and a tilt limit position P2 (see FIG. 3). In the following, unless otherwise specified, positions (postures) that the tilting member 21 can take other than the standard position P1 will be referred to as "tilting positions," and the tilt limit position P2 will also be included in the concept of tilting positions.

[0026] 1 and 3 has a tilting arm 21a that supports the holder 20 at its tip end, and a tilting fixture 21b that is attached to the base end of the tilting arm 21a. The tilting member 21 (especially the tilting fixture 21b) in this example is attached to the support member 50 via a tilting shaft 23 so as to be tiltable about the tilting shaft 23. In this way, the tilting shaft 23 serves as a fulcrum for swinging the tilting member 21.

[0027] 1 and 3, in this example, a tilt position stopper 41 and a standard position stopper 42 are provided to limit the tilting of the tilting member 21 (especially the tilting mounting fixture 21b). The tilt position stopper 41 limits the movement of the tilting member 21 (see FIG. 3) positioned at the tilt limit position P2, preventing the first holding unit 11 from approaching the second holding unit 12 and thereby preventing the distance between the holding bodies 20 (holding portion distance d) from becoming smaller. On the other hand, the standard position stopper 42 limits the movement of the tilting member 21 (see FIG. 1) positioned at the standard position P1, preventing the first holding unit 11 from moving away from the second holding unit 12 and thereby preventing the distance between the holding bodies 20 (holding portion distance d) from becoming larger. The tilt position stopper 41 and the standard position stopper 42 shown in FIGS. 1 and 3 are fixedly supported by a support member 50 (e.g., a protruding portion). The tilt position stopper 41 contacts the tilt mounting fixture 21b located at the tilt limit position P2 from one side, and the standard position stopper 42 contacts the tilt mounting fixture 21b located at the standard position P1 from the other side.

[0028] The tilt adjustment unit 22 allows the tilting member 21 to tilt between the standard position P1 and the tilt limit position P2, while applying a force to the tilting member 21 to return it to the standard position P1. The tilt adjustment unit 22 in this example has an elastic body (a tension spring in the example shown in FIGS. 1 and 2) that applies a force to the tilting member 21 to return it to the standard position P1, with one end of the elastic body attached to the tilt mounting fixture 21b and the other end of the elastic body attached to the support member 50. As the tilting member 21 approaches the tilt limit position P2, the elastic body of the tilt adjustment unit 22 is elastically stretched, and a greater elastic force (particularly a tensile force acting to return the tilting member 21 to the standard position P1) is applied to the tilting member 21.

[0029] On the other hand, the second holding unit 12 has a holder 20 (a gripper in this example) that releasably holds the other side portion of the bag B, and a non-tilting member 27 attached to the holder 20. The non-tilting member 27 shown in Figures 1 and 3 has a non-tilting arm 27a that supports the holder 20 at its tip end, and a non-tilting attachment 27b attached to the base end of the non-tilting arm 27a, and the non-tilting attachment 27b is fixedly attached to the support member 50.

[0030] As described above, in this embodiment, the holder 20 of the first holding unit 11 is provided so as to be tiltable together with the tilting member 21, while the holder 20 of the second holding unit 12 is supported so as not to tilt by the non-tilting member 27. However, the holder 20 of the second holding unit 12 may be provided so as to be tiltable, and for example, the second holding unit 12 may be configured using the tilting member 21 of the first holding unit 11 instead of the non-tilting member 27.

[0031] The gap adjustment unit 13 of this embodiment linearly moves the first holding unit 11 and the second holding unit 12 symmetrically in the movement axis direction D. The gap adjustment unit 13 shown in FIGS. 1 to 3 includes a screw drive unit 30, a timing pulley 31, a timing belt 32, a drive motor 33, a mounting bracket 34, a mounting block 35, and a guide 36.

[0032] The screw drive unit 30 has a screw shaft 30a that extends linearly in the movement axis direction D, and two nuts 30b attached to the screw shaft 30a. Threaded portions with which the respective nuts 30b engage are provided on both ends of the screw shaft 30a. One of the nuts 30b is attached to the first holding unit 11 via a support member 50, and moves in the movement axis direction D together with the support member 50 and the first holding unit 11 as the screw shaft 30a (particularly the corresponding threaded portion) rotates. The other nut 30b is attached to the second holding unit 12 via the support member 50, and moves in the movement axis direction D together with the support member 50 and the second holding unit 12 as the screw shaft 30a (particularly the corresponding threaded portion) rotates.

[0033] When the screw shaft 30a rotates in the forward direction, the two nuts 30b move toward each other along the screw shaft 30a, and therefore the first holding unit 11 and the second holding unit 12 (both holding bodies 20) move toward each other in the movement axis direction D. On the other hand, when the screw shaft 30a rotates in the reverse direction, the two nuts 30b move away from each other along the screw shaft 30a, and therefore the first holding unit 11 and the second holding unit 12 (both holding bodies 20) move away from each other in the movement axis direction D.

[0034] Thus, in this example, two block-shaped support members 50 are provided so as to be assigned to the first holding unit 11 and the second holding unit 12, respectively, and move together with the first holding unit 11 and the second holding unit 12. In particular, in the example shown in Figures 1 to 3, two guides 36 extending in the movement axis direction D penetrate each support member 50, and each support member 50 is provided slidably relative to each guide 36 and can move in the movement axis direction D while being guided by the two guides 36.

[0035] 2, the screw shaft 30a and each guide 36 are supported by a mounting block 35, and the screw shaft 30a in particular is rotatably supported by the mounting block 35. A mounting bracket 34 and a drive motor 33 are attached to the mounting block 35, and a timing belt 32 is stretched between the rotating shaft (rotating body) of the drive motor 33 and a timing pulley 31 that rotates integrally with the screw shaft 30a. When the rotating shaft of the drive motor 33 is rotated, rotational power is transmitted to the screw shaft 30a via the timing belt 32 and the timing pulley 31, and as a result, the screw shaft 30a rotates in the forward or reverse direction.

[0036] As described above, in this embodiment, the first holding unit 11 and the second holding unit 12 are slid along the mounting block 35 and the guide 36 together with the support member 50, thereby adjusting the holding portion interval d between the holders 20. In particular, in the first holding unit 11, the holder 20, the tilting member 21, and the tilting adjustment portion 22 move integrally together with the corresponding tilting shaft 23 and support member 50, while the tilting member 21 is allowed to tilt under the restriction of the stoppers 41, 42 and the tilting adjustment portion 22.

[0037] Next, an example of a holding method for holding the bag B by the above-described holding device 10 will be described.

[0038] An example of a holding method for holding bag B includes a step of starting to hold bag B by first holding unit 11 and second holding unit 12, a step of tensioning bag B by first holding unit 11 and second holding unit 12, and a step of releasing bag B from first holding unit 11 and second holding unit 12.

[0039] In the process of starting to hold the bag B (holding start process), the distance (holding section distance d) between the holding body 20 of the first holding unit 11 and the holding body 20 of the second holding unit 12 is adjusted to the holding start distance by the distance adjustment section 13 based on the size of the bag B to be held.

[0040] Before holding a bag B, the tilting member 21 of the first holding unit 11 is positioned at the standard position P1 without tilting. In this case, the two support members 50 assigned to each of the first holding unit 11 and the second holding unit 12 are positioned at an equal distance in the movement axis direction D from the reference center position of the holding device 10 (f1 = f2 (see FIG. 3)). The holders 20 of the first holding unit 11 and the holders 20 of the second holding unit 12 are also positioned at an equal distance in the movement axis direction D from the reference center position of the holding device 10 (d1 = d2 (see FIG. 3)). In FIG. 3, the distance between the two support members 50 in the movement axis direction D is represented by "f" (= f1 + f2), and the distance between the two holders 20 in the movement axis direction D is represented by "d" (= d1 + d2).

[0041] The gap between first holding unit 11 and second holding unit 12 when releasing bag B (releasing step) is larger than the gap between first holding unit 11 and second holding unit 12 when starting to hold bag B. That is, prior to releasing bag B, gap adjustment unit 13 widens the gap between first holding unit 11 and second holding unit 12 in movement axis direction D to tension bag B (tensioning step). This reduces the deflection of bag B held by first holding unit 11 and second holding unit 12, gradually bringing it closer to a tensioned state.

[0042] Although the amount of increase in the gap between the first holding unit 11 and the second holding unit 12 during the tensioning process is not limited, it is preferable that the bag B held by the first holding unit 11 and the second holding unit 12 is tensioned so that tension is applied to the bag B.

[0043] To tension bag B, it is necessary to increase the distance between first holding unit 11 and second holding unit 12 (and thus the distance between holding bodies 20) by a distance equivalent to the amount of deflection of bag B. However, under conditions in which the amount of deflection and width of bag B to be held by first holding unit 11 and second holding unit 12 are not constant, it is not easy to accurately and stably move first holding unit 11 and second holding unit 12 by a distance equivalent to the amount of deflection.

[0044] On the other hand, with the holding device 10 of this embodiment described above, by utilizing the tilting of the tilting member 21 of the first holding unit 11, it is possible to accurately and stably expand the spacing between the holders 20 (holding section spacing d) by a distance corresponding to the amount of flexure of the bag B. That is, when the amount of expansion of the spacing between the holding units 11 and 12 is greater than the distance corresponding to the amount of flexure of the bag B, the tilting member 21 tilts about the tilting axis 23 (see symbol "α" in FIG. 3), and the spacing between the holders 20 is adjusted to a size that allows the bag B to be appropriately tensioned. As shown in FIG. 3, while the tilting member 21 is in the tilted position, the two support members 50 are positioned at equal distances from the reference center position in the movement axis direction D (f1 = f2), but the distances of the two holders 20 from the reference center position are not equal (d1 <d2)。

[0045] Thus, according to this embodiment, the difference between the width of the bag B (particularly the width between the points held by the first holding unit 11 and the second holding unit 12) and the amount of movement of the first holding unit 11 and the second holding unit 12 is absorbed by the tilting of the tilting member 21.

[0046] Considering this characteristic, in the tensioning process, the distance between the first holding unit 11 and the second holding unit 12 may be adjusted so that the tilting member 21 is positioned in a tilted state at a position (tilted position) other than the standard position P1 when the bag B is released from the holding units 11, 12. Specifically, the distance adjustment unit 13 may move the holding units 11, 12 so that the amount of movement (amount of separation) of the holding units 11, 12 in the tensioning process is greater, within an allowable range, than the amount of deflection of the bag B immediately before it is held by the holding units 11, 12. The allowable range here is a range based on the tilting allowance of the tilting member 21, and is a range determined by the standard position P1 and tilt limit position P2 of the tilting member 21.

[0047] In this case, in the tensioning process, the bag B can be reliably tensioned by the holding units 11, 12, and in the releasing process, the bag B can be stably released from the holding units 11, 12 in a desired tensioned state. Note that during the tensioning process and the releasing process (particularly before the holding of the bag B by the holding body 20 is released), the tilting member 21 rotates from the standard position P1 around the tilting axis 23 due to the force it receives from the tensioned bag B via the holding body 20, and assumes a tilted position.

[0048] [Packaging System] Fig. 4 is a side view showing an example of a packaging system (bag processing system) 80 including the holding device 10. Fig. 5 is a top view of the packaging system 80 shown in Fig. 4. Note that in order to avoid complicating the drawings, Figs. 4 and 5 are shown in a simplified manner, and for example, the relay device 88 is not shown in Fig. 4.

[0049] The packaging system 80 of this embodiment includes the above-mentioned holding device 10 (see FIGS. 1 to 3), a supply device 81 that continuously supplies bags B to the holding device 10, and a packaging device (subsequent device) 82 that performs packaging processing using the bags B supplied from the holding device 10. The devices included in the packaging system 80 (including the holding device 10, supply device 81, and packaging device 82) are driven appropriately under the control of the control unit 60.

[0050] 4 and 5 includes an endless belt conveyor 86. A plurality of bags B (in this example, product bags filled and sealed with contents) are placed in a horizontal position so as to be lined up on the endless belt of the conveyor 86, and are intermittently sent toward a bag removal position P10 as the endless belt moves intermittently.

[0051] The holding device 10 holds and removes the bag B placed at the bag removal position P10 from the conveyor 86 while the endless belt of the conveyor 86 is intermittently stopped.

[0052] The packaging system 80 of this embodiment is provided with a size measuring device 85 that measures the size of the bags B supplied to the holding device 10. The size measuring device 85 measures the size (width) of the bags B before the bags B are held by the holding device 10 and transmits the measurement result to the control unit 60. The size measuring device 85 of this example is a sensor that measures the width (distance between both sides) of each bag B placed on the endless belt of the conveyor 86 at a position upstream of the bag take-out position P10 (for example, a position where the bags B are intermittently stopped immediately before being stopped at the bag take-out position P10).

[0053] The distance between first holding unit 11 and second holding unit 12 when they hold bags B is adjusted by distance adjustment unit 13 based on the measurement results of size measurement device 85 under the control of control unit 60. That is, first holding unit 11 and second holding unit 12 are moved by distance adjustment unit 13 in accordance with the size of bags B obtained by size measurement device 85, and the distance between holders 20 (holding unit distance d) is adjusted to a size in accordance with the size (width) of bags B.

[0054] The first holding unit 11 and the second holding unit 12 of the holding device 10 of this example are supported to be swingable by a swing shaft 45 (see FIGS. 4 and 5) via a support member 50, a screw drive unit 30, a guide 36, and a mounting bracket 34 (see FIGS. 1 and 3). The swing shaft 45 extends horizontally and is rotated by a swing drive unit 46 about a central axis that also extends horizontally. When the swing drive unit 46 rotates the swing shaft 45 back and forth, the first holding unit 11 and the second holding unit 12 swing between a vertical position and a horizontal position about the swing shaft 45.

[0055] By placing the first holding unit 11 and the second holding unit 12 in a vertical position, the holding bodies (grippers) 20 of each holding unit 11, 12 are positioned so that they can grip the holding portions (both sides) of the bag B at the bag take-out position P10. By placing the holding bodies 20 of the vertically oriented holding units 11, 12 in a gripping state S1 from a release state S2 (see FIGS. 1 and 3), the bag B in a recumbent position at the bag take-out position P10 is held (gripped) by the holding units 11, 12.

[0056] Then, first holding unit 11 and second holding unit 12 are swung from the vertical position to a horizontal position while holding bag B. As a result, each holding body 20 of holding units 11, 12 is placed at bag relay position P11 (see FIG. 5) together with bag B, and bag B takes an upright position (vertical position).

[0057] In this embodiment, a relay device 88 is provided to relay the transfer of bags B between the holding device 10 and the packaging device 82. The specific configuration of the relay device 88 is not limited, and it may have any device configuration that allows the bag B received from the holding device 10 (holding body 20) to be passed to the packaging device 82.

[0058] 5 has a zip device that clamps and supports the upper end of the bag B, and a zip moving device that can move the zip device to place it at a bag relay position P11 and a bag delivery position P12. When the upper end of the bag B, which is in an upright position and supported by the holding device 10 (holding body 20) at the bag relay position P11, is supported by the zip device, the holding device 10 (holding body 20) releases its hold on the bag B, and the bag B is delivered from the holding device 10 to the relay device 88. Thereafter, the zip device, while supporting the bag B, is moved from the bag relay position P11 to the bag delivery position P12, and is placed together with the bag B at the bag delivery position P12.

[0059] The packaging device 82 receives the bag B from the holding device 10 via the relay device 88. That is, the bag B in an upright position, which is arranged at the bag transfer position P12 together with the relay device 88 (zipper device), is supported by a support device (e.g., a gripper or zipper device; not shown) of the packaging device 82. Then, while still supported by the support device of the packaging device 82, the bag B at the bag transfer position P12 is released from the support of the relay device 88 (zipper device), and is transferred from the relay device 88 to the packaging device 82. After transferring the bag B to the packaging device 82, the zipper device of the relay device 88 is moved from the bag transfer position P12 back to the bag relay position P11, and supports the bag B that is newly placed at the bag relay position P11.

[0060] The packaging device 82 performs a packaging process using the received bags B. The specific content of the packaging process is not limited, and the packaging device 82 can perform any process. As an example, the packaging device 82 may individually place the bags B in the inner space of an openable and closable sealed enclosure, and perform any bag process in the inner space.

[0061] As described above, the device and method of this embodiment can prevent bags B from being overly tensioned by utilizing the tilting of tilting member 21, and is advantageous for properly holding and tensioning bags B by holding device 10. As a result, excessive mechanical load on holding device 10 can be avoided, reducing the occurrence of device failures, and effectively preventing subsequent processing defects (e.g., delivery defects and sealing defects) and the occurrence of defective bags caused by improper holding and tensioning of bags B by holding device 10.

[0062] In addition, by providing the tilt adjustment section 22 (elastic body), excessive pulling force can be prevented from being applied to the bag B held by the holding units 11 and 12, and an appropriate pulling force can be applied, thereby achieving an optimal tension state for the bag B.

[0063] Furthermore, even if the size (width) of the bags B supplied to the holding device 10 is not constant and the portion of the bag B held by the holding device 10 is not stable, the holding device 10 of this embodiment can properly hold and tension each bag B.

[0064] Furthermore, even if there is a measurement error in the size (width) of each bag B by the size measuring device 85, the holding device 10 of this embodiment can absorb such measurement error by tilting the tilting member 21, so that each bag B can be properly held and tensioned.

[0065] [Variations] The holding device 10 in the above-described embodiment is provided as a device for supplying bags B to the packaging device 82, but the holding device 10 can be applied to any object, and for example, the packaging device 82 and a robot (not shown) may be equipped with the above-described holding device 10.

[0066] For example, the holding device 10 described above may be applied to the support device of the packaging device 82 (see FIGS. 4 and 5) described above, which receives supplied bags B. By providing the support device of the packaging device 82 with the first holding unit 11 having the tilting member 21 and tilt adjustment section 22 described above, the support device can properly hold the bags B in an appropriate tensioned state. As a result, the packaging device 82 can stably and appropriately perform the packaging process on the bags B, and can prevent poor sealing of the bags B due to, for example, insufficient tension in the bags B.

[0067] Furthermore, in the above-described embodiment, the packaging device 82 is provided as a subsequent device that receives the bags B from the holding device 10, but a device other than the packaging device 82 may be provided as such a subsequent device.

[0068] In the above embodiment, the distance between the first holding unit 11 and the second holding unit 12 is adjusted by moving both the first holding unit 11 and the second holding unit 12 using the drive motor 33 and the screw drive unit 30, which are common drive sources for the first holding unit 11 and the second holding unit 12, but the configuration of the distance adjustment unit 13 is not limited to this. For example, the first holding unit 11 and the second holding unit 12 may each be provided with their own drive source (such as a motor), and the distance between the first holding unit 11 and the second holding unit 12 may be adjusted by driving the respective drive sources independently of each other under the control of the control unit 60 to move the first holding unit 11 and the second holding unit 12 individually.

[0069] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed as limiting. The above-described embodiments and modifications may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-described embodiments or modifications. Furthermore, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0070] The technical category that embodies the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program that causes a computer to execute one or more procedures (steps) included in a method of manufacturing or using the above device. The above technical idea may also be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0071] [Note] The following configurations also fall within the scope of the disclosed technology.

[0072] [Aspect 1] a first holding unit that holds one side of the container; a second holding unit that holds the other side of the container; a gap adjustment unit that adjusts a gap between the first holding unit and the second holding unit by moving at least one of the first holding unit and the second holding unit, The first holding unit is a holder that releasably holds the one side of the container; a tilting member attached to the holder and tiltable together with the holder between a standard position and a tilted position; a tilt adjustment unit attached to the tilting member, which allows the tilting member to tilt between the standard position and the tilted position, and applies a force to the tilting member to return it to the standard position; holding device.

[0073] [Aspect 2] the tilting member positioned at the tilted position is provided with at least one of a tilting position stopper that prevents the tilting member positioned at the tilted position from moving further away from the standard position, and a standard position stopper that prevents the tilting member positioned at the standard position from moving further away from the tilted position. 2. The retaining device of embodiment 1.

[0074] [Aspect 3] The distance adjustment unit moves the first holding unit and the second holding unit symmetrically along a linearly extending movement axis direction. 3. The retaining device according to claim 1 or 2.

[0075] [Aspect 4] the holder includes a gripper; the tilting member is attached to the support member via a tilting shaft so as to be tiltable relative to the support member, and is provided so as to be tiltable around the tilting shaft; The tilt adjustment unit has an elastic body that applies a force to the tilt member to return it to the standard position. The holding device according to any one of aspects 1 to 3.

[0076] [Aspect 5] A holding method for holding a container by the holding device according to any one of aspects 1 to 4, comprising: holding the container by the first holding unit and the second holding unit; Releasing the container from the first holding unit and the second holding unit; a gap between the first holding unit and the second holding unit when releasing the container is larger than a gap between the first holding unit and the second holding unit when holding the container; How to hold it.

[0077] [Aspect 6] When releasing the container from the first holding unit and the second holding unit, a distance between the first holding unit and the second holding unit is adjusted so that the tilting member is positioned at a position other than the standard position. A method of holding according to embodiment 5.

[0078] [Aspect 7] A holding device according to any one of aspects 1 to 4; a supply device for supplying containers to the holding device; a packaging device that performs packaging processing using the containers supplied from the holding device; A packaging system comprising:

[0079] [Aspect 8] a size measuring device for measuring the size of the container supplied to the holding device; a gap between the first holding unit and the second holding unit when the container is held by the first holding unit and the second holding unit is adjusted by the gap adjustment unit based on the measurement result of the size measurement device; 8. The packaging system of embodiment 7. [Explanation of symbols]

[0080] 10 holding device, 11 first holding unit, 12 second holding unit, 13 spacing adjustment section, 20 holding body, 21 tilting member, 21a tilting arm, 21b tilting attachment, 22 tilt adjustment section, 23 tilting shaft, 27 non-tilting member, 27a non-tilting arm, 27b non-tilting attachment, 30 screw drive unit, 30a screw shaft, 30b nut, 31 timing pulley, 32 timing belt, 33 drive motor, 34 mounting bracket, 35 mounting block, 36 guide, 41 tilt position stopper, 42 standard position stopper, 45 swing shaft, 46 swing drive section, 50 support member, 60 control section, 80 packaging system, 81 supply device, 82 packaging device, 85 size measurement device, 86 conveyor, 88 relay device, B bag, d holding section spacing, D Direction of movement axis, f: Holding unit interval, P1: Standard position, P2: Tilt limit position, P10: Bag removal position, P11: Bag relay position, P12: Bag delivery position, S1: Gripping state, S2: Release state

Claims

1. a first holding unit for holding one side portion of the container; a second holding unit that holds the other side portion of the container; a gap adjustment unit that adjusts a gap between the first holding unit and the second holding unit by moving at least one of the first holding unit and the second holding unit, The first holding unit is a holder that releasably holds the one side portion of the container; a tilting member attached to the holder and tiltable together with the holder between a standard position and a tilt limit position; a tilt adjustment unit attached to the tilting member, which allows the tilting member to tilt between the standard position and the tilt limit position, and applies a force to the tilting member to return it to the standard position; holding device.

2. The tilting mechanism includes at least one of a tilt position stopper that limits movement of the tilting member when the tilting member is positioned at the tilt limit position and a standard position stopper that limits movement of the tilting member when the tilting member is positioned at the standard position. The retaining device of claim 1 .

3. the interval adjustment unit moves the first holding unit and the second holding unit symmetrically in a movement axis direction; The retaining device of claim 1 .

4. the holder includes a gripper; the tilting member is attached to the support member via a tilting shaft so as to be tiltable relative to the support member, and is provided so as to be tiltable around the tilting shaft; The tilt adjustment unit has an elastic body that applies a force to the tilt member to return it to the standard position. The retaining device of claim 1 .

5. A holding method for holding a container by the holding device according to any one of claims 1 to 4, comprising: starting to hold the container by the first holding unit and the second holding unit; and releasing the container from the first holding unit and the second holding unit; a gap between the first holding unit and the second holding unit when releasing the container is larger than a gap between the first holding unit and the second holding unit when starting to hold the container; How to hold it.

6. When releasing the container from the first holding unit and the second holding unit, a distance between the first holding unit and the second holding unit is adjusted so that the tilting member is positioned at a position other than the standard position. The holding method according to claim 5.

7. A holding device according to any one of claims 1 to 4; a supply device for supplying containers to the holding device; a packaging device that performs packaging processing using the containers supplied from the holding device; A packaging system comprising:

8. a size measuring device for measuring the size of the container supplied to the holding device; a gap between the first holding unit and the second holding unit when the container is held by the first holding unit and the second holding unit is adjusted by the gap adjustment unit based on a measurement result of the size measurement device; The packaging system of claim 7.

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