Powder suction device

Abstract

The present invention provides a powder suction method that does not increase the size of the equipment and suppresses damage to the equipment due to vibration. [Solution] A powder suction device comprising: a bag support means having a support surface for supporting a bag containing powder and having an opening in a substantially horizontal position; a bag holding part for holding the periphery of the opening of the bag; and a suction nozzle inserted into the inside of the bag from above relative to the opening for suctioning the powder from the bag, wherein the bag support means comprises at least a pair of first support tables that can be tilted in opposing directions from an initial state forming the support surface by rotating around a rotation axis; and a drive device for tilting the at least pair of first support tables.

Description

Technical Field

[0001] The present invention relates to a powder suction device.

Background Art

[0002] A technique for sucking and collecting powder contained in a bag (bag body) is known.

[0003] In the technique described in Patent Document 1, which is an example thereof, the bag body is placed on a table composed of three plates arranged in a straight line, and the powder is sucked in the following steps (Step 1) to (Step 3).

[0004] (Step 1) Set the bag body upright, lower the suction nozzle into the bag body, and suck the powder. (Step 2) When the remaining amount of powder in the bag body decreases, vibrate the central plate with a vibrator to loosen the powder, and tilt the two side plates around the end of the central plate to collect the powder in the center and suck it with the suction nozzle. (Step 3) When the suction nozzle descends to the bottom surface of the bag body, tilt the bag body and the table integrally, and change the position of the bag body so that the bottom corner of the bag body comes below the suction nozzle. After the position change, suck the remaining powder.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, Patent Document 1 has the following problems (Problem 1) to (Problem 3).

[0007] (Problem 1) The platform on which the bag is placed consists of three plates. The plates on both sides are tilted to collect the powder towards the center, but powder remains in the area far from the suction nozzle. Therefore, an actuator is needed to tilt the bag and the table together at the end. (Problem 2) When the bag is placed horizontally, in order to tilt the bag so that the bottom corner of the bag is at the lowest position in (step 3), it is necessary to take a large tilt angle, which may lead to the machine becoming larger and the suction time increasing. (Problem 3) Because a vibrator is used, the load on the mechanical device due to vibration is significant and may cause metal fatigue fracture. [Means for solving the problem]

[0008] This invention has been made in view of the above problems, and aims to provide a means for suctioning powder contained in a bag having an opening, without increasing the size of the equipment and suppressing damage to the equipment due to vibration.

[0009] A powder suction device according to embodiment 1 of the present invention comprises: a bag support means having a support surface for supporting a bag having an opening containing powder in a substantially horizontal position; a bag holding portion for holding the periphery of the opening of the bag; and a suction nozzle inserted into the inside of the bag from above relative to the opening for suctioning the powder from the bag, wherein the bag support means comprises at least a pair of first support tables that can be tilted in opposing directions from an initial state forming the support surface by rotating around a rotation axis extending substantially horizontally, and a drive device for tilting each of the at least pair of first support tables.

[0010] According to the powder suction device of Embodiment 1, since powder can be suctioned without using a vibrator, metal fatigue is less likely to occur, and since an actuator for tilting the bag is not required, a powder suction device with a simple configuration can be provided without increasing the size of the equipment.

[0011] A powder suction device according to embodiment 2 of the present invention is characterized in that, in embodiment 1, the at least pair of first support tables are tilted to form a gap substantially parallel to the rotation axis between the at least pair of first support tables, and the bag is held by the bag support means in a shape in which the lower surface near the center of the bag is convex downward.

[0012] According to the powder suction device of embodiment 2, when the powder contained in the bag has high fluidity, the powder that slides down inside the bag towards the gaps due to its own weight can be effectively sucked up by the suction nozzle.

[0013] A powder suction device according to embodiment 3 of the present invention is characterized in that, in embodiment 1 or 2, the bag holding portion comprises an insertion rod inserted into the inside of the bag and a pressing member provided on the outside of the bag and clamping the bag between itself and the insertion rod inserted into the inside of the bag.

[0014] According to the powder suction device of embodiment 3, the bag can be firmly gripped, and a ridge-like structure can be formed on the bag. As a result, the powder inside the bag moves along the inner surface of the ridge, and the powder can be effectively suctioned.

[0015] The powder suction device according to embodiment 4 of the present invention is characterized in that, in embodiment 3, the insertion rod is inserted into the bag body and air is sprayed from a nozzle provided at the tip of the insertion rod.

[0016] According to the powder suction device of embodiment 4, the fluidity of the powder inside the bag can be increased by causing the air sprayed from the nozzle to collide with the powder inside the bag.

[0017] The powder suction device according to embodiment 5 of the present invention is characterized in that, in embodiment 4, the insertion rod is configured such that when inserted into the bag, the nozzle faces outward in the longitudinal direction of the bag.

[0018] According to the powder suction device according to Aspect 5, the air jetted from the jet port flows along the inner surface of the ridge of the bag body without being obstructed by the wrinkles of the bag. Therefore, the powder that does not flow inside the bag body can be made to flow by the air jetted from the jet port. Thus, it is possible to make it easier to suck the powder inside the bag body by the suction nozzle.

[0019] The powder suction device according to Aspect 6 of the present invention is characterized in that, in Aspect 1 or 2, it further includes an inner end rotation shaft provided at the inner end in the longitudinal direction of each of the at least one pair of first support tables, at least one pair of inner end support tables that rotate around the inner end rotation shaft, and a second drive device that inclines each of the pair of inner end support tables.

[0020] According to the powder suction device according to Aspect 6, when the fluidity of the powder accommodated in the bag body is low or when the powder inside the bag cannot be sufficiently collected by the suction nozzle due to the shape of the bag, the powder can be effectively sucked by the suction nozzle.

[0021] The powder suction device according to Aspect 7 of the present invention is characterized in that, in Aspect 1 or 2, the drive device inclines each of the at least one pair of first support tables from the initial state forming the support surface to a first inclination angle and a second inclination angle that has a steeper gradient with respect to the support surface than the first inclination angle.

[0022] According to the powder suction device according to Aspect 7, since the inclination angle of the first support table can be adjusted in two stages, by simply changing the inclination angle of the first support table, the powder accommodated in the bag body can slide down by its own weight. Therefore, it is possible to suck the powder accommodated in the bag body until the end almost without leaving any.

[0023] The powder suction device according to Aspect 8 of the present invention is characterized in that, in Aspect 7, the first inclination angle is 10° or more and less than 30°, and the second inclination angle is 30° or more and less than 60°.

[0024] According to the powder suction device according to Aspect 8, since the inclination angle of the first support table can be adjusted in two steps, by simply changing the inclination angle of the first support table, the powder accommodated in the bag can slide down by its own weight. Therefore, it is possible to suck the powder accommodated in the bag until the end almost without leaving any.

[0025] The powder suction device according to Aspect 9 of the present invention is characterized in that, in Aspect 7, the tip of the suction nozzle can contact the inside of the lower surface of the bag body.

[0026] According to the powder suction device according to Aspect 9, since the tip of the suction nozzle can contact the inside of the lower surface of the bag body held by the bag body support means in a shape where the lower surface near the center of the bag body is convex downward, it is possible to suck the powder accommodated in the bag until the end almost without leaving any.

[0027] The powder suction device according to Aspect 10 of the present invention is characterized in that, in Aspect 2, each of the rotation axes of the at least one pair of first support tables is provided within a range of within 1 / 2 of the distance from the center of each of the at least one pair of first support tables to the location farthest from the center in a plan view.

[0028] According to the powder suction device according to Aspect 10, by appropriately setting the position of the rotation axis, the inclination angle of the first support table can be adjusted in two steps. Therefore, by simply changing the inclination angle of the first support table, it is possible to suck the powder accommodated in the bag until the end almost without leaving any.

[0029] The powder suction device according to Aspect 11 of the present invention is characterized in that, in Aspect 1 or 2, the suction nozzle is movable in a direction perpendicular to the support surface, and the at least one pair of first support tables are two first support tables that can be inclined so as to be in a line-symmetric relationship with respect to the perpendicular direction.

[0030] According to the powder suction device of embodiment 11, since the suction nozzle is movable perpendicular to the support surface, the lateral installation area of ​​the powder suction device can be made compact, and since powder can be suctioned without using a vibrator, metal fatigue is less likely to occur. Furthermore, since there is no actuator to tilt the bag and there are two first support tables, a powder suction device with a simple configuration can be provided without increasing the size of the equipment.

[0031] A powder suction device according to embodiment 12 of the present invention is characterized in that, in embodiment 11, it comprises a second support table that supports the bag body falling through the gap from below the two first support tables.

[0032] According to the powder suction device of embodiment 12, the bag that falls downward through the gap between the two first support tables is further supported by the second support table. This prevents the bag from falling through the gap in the first support tables and allows for the suction of almost all of the powder contained in the bag.

[0033] A powder suction device according to embodiment 13 of the present invention is characterized in that, in embodiment 12, the second support table has two inclined surfaces that are inclined in a direction obtained by rotating the two inclined first support tables by 90° clockwise in a plan view.

[0034] According to the powder suction device of embodiment 13, the bag that falls downward through the gap between the two first support tables is further supported by a second support table which has two inclined surfaces that are inclined in a direction obtained by rotating the two inclined first support tables approximately 90° clockwise in a plan view. As a result, the powder contained in the bag can be collected around the tip of the suction nozzle, and the powder contained in the bag can be sucked up to the very end without leaving almost any behind. [Effects of the Invention]

[0035] The powder suction device of the present invention provides a means for suctioning powder contained in a bag having an opening, without increasing the size of the equipment and suppressing damage to the equipment due to vibration. [Brief explanation of the drawing]

[0036] [Figure 1] This is a schematic side view showing a powder suction device according to the first embodiment of the present invention. [Figure 2] This is a schematic side view showing a powder suction device according to the first embodiment of the present invention. [Figure 3] This is a schematic side view showing a powder suction device according to the first embodiment of the present invention. [Figure 4] This is a schematic side view showing a powder suction device according to the first embodiment of the present invention. [Figure 5] This graph shows the changes in various states over time in a powder suction device according to the first embodiment of the present invention. [Figure 6] This graph shows the changes in various states over time in a powder suction device according to the first embodiment of the present invention. [Figure 7] This is a flowchart illustrating the operation of the powder suction device according to the first embodiment of the present invention. [Figure 8] This is a schematic side view showing a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 9] This is a schematic side view showing a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 10] This is a schematic side view showing a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 11] This is a schematic side view showing a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 12] This is a schematic side view showing a second support table of a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 13] This is a schematic plan view showing the first support table of a powder suction device according to the first embodiment of the present invention. [Figure 14]This is a schematic plan view showing the first support table and the second support table of a powder suction device according to a modified example of the first embodiment of the present invention. [Figure 15] This is a schematic plan view showing the first support table of a powder suction device according to a second embodiment of the present invention. [Figure 16] This is a schematic side view showing a powder suction device according to a third embodiment of the present invention. [Figure 17] This is an enlarged view of a main part of a schematic side view showing a powder suction device according to the third embodiment of the present invention. [Figure 18] This is a schematic side view showing a powder suction device according to the fourth embodiment of the present invention. [Figure 19] This is an enlarged plan view of the main part of a powder suction device according to the fourth embodiment of the present invention. [Figure 20] This diagram illustrates the bag holding portion of the powder suction device according to the first to fourth embodiments of the present invention. [Figure 21] This diagram illustrates the bag holding portion of the powder suction device according to the first to fourth embodiments of the present invention. [Figure 22] This diagram illustrates the bag holding portion of the powder suction device according to the first to fourth embodiments of the present invention. [Figure 23] This diagram illustrates the bag holding portion of the powder suction device according to the first to fourth embodiments of the present invention. [Modes for carrying out the invention]

[0037] [First Embodiment] Hereinafter, with reference to the drawings, a powder suction device 10 according to the first embodiment of the present invention will be described in detail. The powder suction device 10 of this embodiment is a device that sucks up powder P contained in a bag 20 having an opening 21. [Direction definition]

[0038] In the following explanation, the left-right direction on the page of Figure 1 is defined as the X direction, the up-down direction as the Z direction, and the direction perpendicular to the page (the direction from the front to the back of the page) as the Y direction. Furthermore, the direction from left to right on the page of Figure 1 is defined as the +X direction, the direction from right to left as the -X direction, the direction from bottom to top on the page of Figure 1 as the +Z direction, the direction from top to bottom on the page of Figure 1 as the -Z direction, the direction from front to back on the page of Figure 1 as the +Y direction, and the direction from back to front as the -Y direction. In the following explanation, "plan view" refers to the view from the positive side to the negative side in the Z direction. "Side view" refers to the view from the Y direction or the X direction. The X direction is sometimes referred to as the length direction.

[0039] The powder suction device 10 shown in Figure 1 comprises a bag support means 1, a bag holding part 2, and a suction nozzle 3, and is a device for suctioning powder P contained in a bag 20. While the powder P is primarily assumed to be food, it is not limited to food and may also be used to suction powders of non-food items such as pharmaceuticals and industrial products. The bag 20 is made of at least one of the following materials: paper, cloth, synthetic fiber, or other soft materials, and is composed of a flexible material. Furthermore, the bag 20 may be made of multiple materials, such as a material with layers of paper and aluminum laminated together. Because the bag 20 is made of such soft materials, its shape can be flexibly changed.

[0040] The bag support means 1 is a means (member) for supporting a bag 20 containing powder P. The bag support means 1 of this embodiment includes a pair of first support tables 13, a rotating shaft 11 extending substantially horizontally from each of the pair of first support tables 13, support bases 17 that support each of the rotating shafts 11, and a drive device 14 that changes the inclination angle of the pair of first support tables. Each of the pair of first support tables 13 of this embodiment is rectangular in shape, such as a square or rectangle, in plan view as shown in Figure 13, but it does not have to be rectangular. In this embodiment, there is a pair of first support tables 13, but it is not limited to a pair, and there may be two pairs or more pairs, as in the second embodiment described later. Therefore, in the following description, it may be written as a pair of first support tables 13, at least a pair of first support tables 13, or simply as first support tables 13.

[0041] The drive device 14 includes a long drive rod 18 rotatably connected to the first support table 13, a base portion 19 rotatably connected to the end of the drive rod 18 opposite to the end rotatably connected to the first support table 13, and a bottom plate 16 on which the base portion 19 is movable in the X direction in Figure 1. The drive rod 18 may be extendable and retractable in the longitudinal direction. The drive device 14 is not limited to any device that can rotate the pair of first support tables 13 around the rotation axis 11, and may utilize hydraulic cylinders, air cylinders, electric cylinders, servo motors, etc.

[0042] Each end of a pair of first support tables 13, which are rotatably connected to the drive rod 18, is pulled downward (in the -Z direction) by the drive rod 18 of the drive device 14, causing the pair of first support tables 13 to rotate around their respective axis of rotation 11 and be configured to tilt in opposite directions, forming a V shape as shown in Figures 3 and 4.

[0043] Here, the position of the rotation axis 11 of the pair of first support tables 13 will be explained. As shown in Figure 13, the position of the rotation axis 11 is set within a range (shaded area in Figure 13) within half the distance from the center Q of each of the pair of first support tables 13 to the point furthest away in the X direction, in a plan view. That is, if each of the pair of first support tables 13 is rectangular with a side length of L, that is, if the side length of one rectangular first support table 13 is L, the rotation axis 11 is set within a range within half the distance L / 2 from the center Q in the X direction of one first support table 13 to the point furthest away in the X direction (the point L / 2 away), that is, within a range from the center Q in the X direction to the point L / 4 away in the X direction. Because the rotation axis 11 is set within such a range, as will be described later, when the pair of first support tables 13 are tilted at a first tilt angle α and then at a second tilt angle β, a gap d is formed between the pair of first support tables 13 that is substantially parallel to the rotation axis 11 and is sufficiently wider than the width of the suction nozzle 3 in the X direction. The bag 20 can fall through this gap d in the -Z direction. Now, consider the case where the rotation axis 11 is outside the shaded area in Figure 13, for example, outside the shaded area. In such a case, the first support table 13 can be easily given a steep inclination angle. However, if the angle of the first support table 13 is excessively steep, the amount of movement of the bag 20 falling downward (-Z direction) will be large, and consequently, the amount of movement of the suction nozzle 3 and the bag holding part 2 will also be large. As a result, unnecessary movement will occur in the device. Therefore, it is preferable that the position of the rotation axis 11 be located in the shaded area shown in Figure 13. That is, by appropriately setting the position of the rotation axis 11, the inclination angle of the first support table 13 can be adjusted in two stages, so that by simply changing the inclination angle of the first support table 13, the powder P contained in the bag 20 can be sucked up to the very end without leaving almost any behind.

[0044] In this embodiment, as shown in Figure 1, the pair of first support tables 13 form a support surface 12 that supports the bag 20 in a substantially horizontal position in the initial state where the bag 20 is supported substantially horizontally. Furthermore, the pair of first support tables 13 in this embodiment are configured to have two adjustable inclination angles, from the initial state shown in Figure 1 to a first inclination angle α shown in Figure 3 and a second inclination angle β shown in Figure 4, which is steeper than the first inclination angle α (has a steeper slope relative to the support surface 12 than the first inclination angle α). Here, since the support base 17 and the bottom plate 16 are configured substantially parallel to the support surface 12, the inclination angle of the pair of first support tables 13 may also be shown as the inclination angle from the support base 17, as shown in Figures 3 and 4. Here, for example, the first inclination angle α is 10° or more and less than 30°, and the second inclination angle β is 30° or more and less than 60°.

[0045] When the pair of first support tables 13 shown in Figure 4 are tilted at a second inclination angle β, the gap d in the X direction between the pair of first support tables 13 is sufficiently larger than the width of the suction nozzle 3 in the X direction. Therefore, in the state shown in Figure 4, the lower surface near the center of the bag 20 falls into the gap d between the pair of first support tables 13 in the -Z direction. As a result, the bag 20 is held by the bag support means 1 with a shape in which the lower surface near the center of the bag 20 is convex downwards (-Z direction). In addition, the tip 31 of the suction nozzle 3 can descend until it contacts the inside of the lower surface of the bag 20 (it is possible to contact the inside of the lower surface of the bag 20). Due to the steep second inclination angle β, the powder P slides down by its own weight towards the most deformed part of the bag 20 in the -Z direction, which is held by the bag support means 1 in a convex shape downwards. As a result, the powder P can be collected at the tip 31 of the suction nozzle 3, and the suction nozzle 3 can suck up almost all of the powder P contained in the bag 20. In the above explanation, it was stated that because the lower surface near the center of the bag 20 falls into the gap d in the -Z direction, the bag 20 is held by the bag support means 1 with a shape in which the lower surface near the center of the bag 20 is convex downwards (in the -Z direction). However, the fact that the lower surface near the center of the bag 20 falls into the gap d is not an essential condition for sucking up the powder P. Regardless of whether the lower surface near the center of the bag 20 falls into the gap d or not, the fact that the lower surface near the center of the bag 20 is held by the bag support means 1 with a shape in which it is convex downwards is a necessary and sufficient condition for sucking up the powder P. Therefore, it is sufficient that the lower surface near the center of the bag 20 is held by the bag support means 1 with a shape in which it is convex downwards. Even when the pair of first support tables 13 are tilted at a first tilt angle α, the tip 31 of the suction nozzle 3 may be lowered until it contacts the inside of the lower surface of the bag 20. The tilt angle of the pair of first support tables 13 and the vertical movement of the tip 31 of the suction nozzle 3 may be performed separately as appropriate.

[0046] Here, "near the center of the bag 20" refers to the area near the center of the bag 20 in the X and Y directions when the bag 20 is viewed from above. Furthermore, "the bottom surface of the bag 20" refers to the negative Z-direction contour of the bag 20 when the powder suction device 10 is viewed from the side, as shown in Figure 1.

[0047] The bag holding part 2 is the part that holds the bag 20. The bag holding part 2 is equipped with claws 22 that hold the bag 20. Multiple claws 22 are provided. The claws 22 hold the periphery of the opening 21 provided in the bag 20. The opening 21 is provided near the center of the upper surface of the bag 20. The number of claws 22 is preferably between 2 and 4, but it may be more than 4. In this embodiment, 4 claws 22 are provided. The claws 22 hold the bag 20 by gripping the periphery of the opening 21 of the bag 20, for example, from the top and bottom direction. However, the shape of the claws 22 is not limited to this case, and the method of holding is not limited as long as the bag 20 can be held. The bag holding part 2 is configured to be able to move up and down in the Z direction because it is connected to a vertical plate 15 that extends in the Z direction so as to be able to move up and down. In this case, when the bag holding portion 2 holds the periphery of the opening 21 of the bag 20, the bag holding portion 2 descends in the -Z direction from the initial state of the bag holding portion 2 shown in Figure 1, as shown in Figure 2, to hold the periphery of the opening 21 of the bag 20.

[0048] The suction nozzle 3 is the tip of the device that sucks up the powder P contained in the bag 20. The suction nozzle 3 is connected to the vertical plate 15 by a suction nozzle holding rod 32 so as to be able to move up and down in the Z direction. A flow path (not shown) extends from the suction nozzle 3 shown in Figure 1 in the positive Z direction, and transfers the powder P sucked up by the suction nozzle 3 to a powder container (not shown) that is the collection destination. The suction nozzle 3 is connected to a negative pressure source such as a pump (not shown), and uses negative pressure to suck up the powder P.

[0049] The suction nozzle 3 is configured to be able to move up and down in the Z direction. Therefore, the suction nozzle 3 can be moved from its initial state shown in Figures 1 and 2 to the state shown in Figure 3, where the suction nozzle 3 is inserted into the bag 20 from above the opening 21 of the bag 20, and to the state shown in Figure 4, where the suction nozzle 3 is in contact with the inside of the lower surface of the bag 20. As a result, the powder P can be sucked up to the very end without leaving almost any powder in the bag 20.

[0050] Here, the fluidity of the powder P contained in the bag 20 may vary depending on the type of powder P contained. If the fluidity of the powder P inside the bag 20 is high, the bag 20 is easily deformed, so the suction nozzle 3 may be brought into contact with the inside of the lower surface of the bag 20, as shown in Figure 4, without going through the state shown in Figure 3, from the initial state of the suction nozzle 3 shown in Figures 1 and 2. On the other hand, if the fluidity of the powder P inside the bag 20 is low, the bag 20 is not easily deformed, so the suction nozzle 3 may be lowered while the bag 20 is supported in a nearly horizontal position as shown in Figures 1 and 2, inserted into the bag 20 through the opening 21, and suction may be started. Subsequently, as the packing density of the powder P contained in the bag 20 decreases, the bag 20 becomes easier to deform. Even in the state shown in Figure 3, where the pair of first support tables 13 are tilted at a first inclination angle α, the bag 20 is deformed into a downward convex shape, causing the powder P to slide down due to its own weight towards the most deformed part of the bag 20 in the -Z direction. As a result, the powder P accumulates near the center of the downward convex shape of the bag 20, that is, around the tip 31 of the suction nozzle 3. Therefore, the process transitions to the state shown in Figure 3, and the powder P is further sucked from the bag 20 until the deformation of the bag 20 becomes even easier, allowing the process to transition to the state shown in Figure 4, and almost all of the powder P can be sucked out of the bag 20. In this way, when the powder P inside the bag 20 is contained in a low-fluidity state, by sucking out the powder P to gradually make the deformation of the bag 20 easier, and by deforming the bag 20 into a downward convex shape, almost all of the powder P can be sucked out of the bag 20.

[0051] Here, the suction nozzle 3 may be movable (up and down) in a direction perpendicular to the support surface 12, and the pair of first support tables 13 may be two first support tables that can be tilted in a line-symmetric relationship with respect to the vertical direction as described above. In this way, because the suction nozzle 3 is movable in a direction perpendicular to the support surface 12, the installation area of ​​the powder suction device 10 in the lateral direction (X direction and Y direction) can be made compact, and powder can be sucked up without using a vibrator. As a result, metal fatigue is less likely to occur, and since there is no actuator to tilt the bag 20 and there are two first support tables 13, a powder suction device 10 with a simple configuration can be provided without increasing the size of the equipment. Furthermore, the inclination angles of the pair of first support tables 13 do not necessarily have to be symmetrical with respect to the vertical, as shown in Figure 1, between the inclination angle of the first support table 13 on the positive X side and the inclination angle of the first support table 13 on the negative X side. That is, the first inclination angle α of the first support table 13 on the positive X side may be 25°, and the inclination angle of the first support table 13 on the negative X side may be 10°. Similarly, the second inclination angle β of the first support table 13 on the positive X side may be 45°, and the second inclination angle of the first support table 13 on the negative X side may be 30°.

[0052] Figure 5 is a graph showing the relationship between suction time [min] and various states (suctioned powder weight per unit time [kg / min], suction vacuum pressure [Pa], suctioned powder weight [kg]) in the powder suction device 10 of this embodiment. This graph is intended to give a general understanding of how the various states change with respect to elapsed time, so the units on the vertical axis of the three types of states are different and are therefore not shown. The powder suction device 10 is equipped with a weighing scale (not shown) for measuring the weight of the powder P sucked from the suction nozzle 3, a pressure gauge (not shown) for measuring the suction vacuum pressure, and a control unit (not shown) that receives the weight and pressure information output from these and calculates the suctioned powder weight per unit time, suction vacuum pressure, and suctioned powder weight.

[0053] The control unit described above is a computer equipped with a processor such as a CPU (Central Processing Unit) and memory. The processor performs arithmetic processing to execute the functions of the control unit. The memory stores a rewritable program that describes the functions to be executed by the CPU. The control unit may implement these functions using hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). Alternatively, the functions of the control unit may be implemented through the cooperation of software and hardware.

[0054] As shown in Figure 5, from the start of suction until a certain amount of powder P has been suctioned, the suction nozzle 3 is continuously suctioned at its maximum capacity, and therefore the suction vacuum pressure is low. During this period, the amount of powder suctioned per unit time remains constant at its maximum value, and the cumulative weight of powder suctioned increases steadily.

[0055] When a certain amount of powder P is aspirated, the powder P around the tip 31 of the suction nozzle 3 is already sucked up, and gradually there is no more powder P to suck up. As a result, the amount of material to be aspirated gradually decreases, meaning the suction nozzle 3 gradually approaches no-load operation, the suction vacuum pressure rises steadily, and when the powder P to be aspirated is completely gone from around the tip 31 of the suction nozzle 3, the suction nozzle 3 is in complete no-load operation, and the suction vacuum pressure becomes constant at its maximum value (however, this is a state where no vacuum is formed, or there is no vacuum). As the amount of powder P to be aspirated by the suction nozzle 3 gradually decreases and the suction nozzle 3 gradually approaches no-load operation, the amount of powder aspirated per unit time decreases. Although the cumulative weight of aspirated powder continues to rise steadily, the slope indicating the rate of change becomes gentler and eventually becomes a horizontal line indicating that the weight of aspirated powder does not increase. These are shown in Figure 5 under "If the next step is not taken".

[0056] Figure 5 corresponds, for example, to the case where the suction nozzle 3 continues to suck up powder P while the bag 20 shown in Figure 2 is supported in a nearly horizontal position. That is, if the suction nozzle 3 continues to suck, there will be no more powder P sucked up around the tip 31 of the suction nozzle 3. On the other hand, when the tilt angle of the pair of first support tables 13 is changed to the first tilt angle α, as shown in Figure 3, new powder P to be sucked up by the suction nozzle 3 can be supplied around the tip 31 of the suction nozzle 3. Therefore, as shown in the time from "When proceeding to the next step" in Figure 6 onwards, the suction nozzle 3 is again subjected to the maximum load, and the suction vacuum pressure returns to its initial state. At the same time, the weight of powder sucked per unit time also returns to a constant state at the maximum value, and the weight of powder sucked (cumulative value) also returns to an upward trend.

[0057] Similarly, if the state shown in Figure 3 continues, that is, if the suction of powder P from the suction nozzle 3 continues while the pair of first support tables 13 hold the bag 20 at a first inclination angle α, there will be no more powder P to be sucked around the tip 31 of the suction nozzle 3, and eventually the state shown in "If the next step is not taken" in Figure 5 above will occur. Therefore, by changing the inclination angle of the pair of first support tables 13 to a second inclination angle β and bringing the suction nozzle 3 into contact with the inside of the lower surface of the bag 20, as shown in Figure 4, new powder P can be supplied around the tip 31 of the suction nozzle 3. As a result, as shown in the time from "If the next step is taken" onwards in Figure 6, the suction nozzle 3 is again subjected to the maximum load, and the suction vacuum pressure returns to its initial state. At the same time, the weight of powder sucked per unit time also returns to a constant state at its maximum value, and the total weight of powder sucked (cumulative value) also returns to an upward trend. In other words, since the tilt angle of the first support table 13 can be adjusted in two stages, the powder P contained in the bag 20 can slide off by its own weight simply by changing the tilt angle of the first support table 13. Therefore, the powder P contained in the bag 20 can be sucked up to the very end without leaving almost any behind.

[0058] Here, the conditions for proceeding to the next step in the above explanation (the "timing for proceeding to the next step" in Figures 5 and 6) may be set to any or more of the following: when the amount of powder suctioned reaches a certain amount; when a certain amount of suction time has elapsed; when the amount of powder suctioned per unit time falls below a predetermined threshold (when the amount of powder suctioned per unit time becomes less than the predetermined threshold); or when the suction vacuum pressure exceeds a predetermined threshold (i.e., when the suction vacuum pressure becomes greater than the predetermined threshold and the suction nozzle 3 approaches no-load operation). In this case, for example, the control unit (not shown) can transmit a signal to proceed to the next step to the drive unit 14 by wire or wireless connection, drive the drive unit 14 at an appropriate timing, and tilt the pair of first support tables 13 at a first tilt angle α or a second tilt angle β to proceed to the next step.

[0059] Therefore, by changing the inclination angle of the pair of first support tables 13 from the initial state of zero to a first inclination angle α, and further changing it in two stages from the first inclination angle α to a second inclination angle β, and by bringing the suction nozzle 3 into contact with the inside of the lower surface of the bag 20, the amount of powder suctioned per unit time can be returned to the maximum value each time. As a result, efficient suction can be performed, and the powder P can be suctioned to the very end without leaving almost any powder P inside the bag 20. Furthermore, depending on the properties of the powder P, the powder P may solidify in a part of the bag 20 (forming a bridge), and even if the first support table is changed to a first inclination angle α or a second inclination angle β, the powder P may not slide down due to its own weight toward the part of the bag 20 that is most deformed in the -Z direction. The bridge can be eliminated by repeatedly changing the inclination angle of the pair of first support tables 13 from the initial state of zero to a first inclination angle α or a second inclination angle β. The bridge can also be eliminated by repeatedly bringing the suction nozzle 3 into contact with the inside of the lower surface of the bag 20 and then raising the suction nozzle 3 away from the inside of the lower surface of the bag 20 while the inclination angle is changed to the second inclination angle β.

[0060] The operation of the powder suction device 10, which has the above configuration, will be explained with reference to the flowchart shown in Figure 7. In the initial state shown in Figure 1, a bag 20 containing powder P and having an opening 21 is supported substantially horizontally on a pair of first support tables 13 having support surfaces 12 (corresponding to step S1 in Figure 7, "Place the powder-filled bag on the support surface of the bag support means"). From this state, first, as shown in Figure 2, the bag holding part 2 is lowered to hold the bag body 20 with the claws 22 (corresponding to step S2 in Figure 7, "Lower the bag holding part and hold the opening edge of the bag body"). Next, as shown in Figure 3, the suction nozzle 3 is lowered and inserted into the bag 20 from above the opening 21 of the bag 20 to start suctioning the powder P (corresponding to step S3 in Figure 7, "Lower the suction nozzle and insert it into the opening of the bag to start suctioning the powder inside the bag"). At this time, in Figure 3, the pair of first support tables 13 are tilted at a first inclination angle α. Here, the state in which suctioning the powder P is started is that in Figure 3, the pair of first support tables 13 are tilted at a first inclination angle α, but as shown in Figure 2, suction may also be started when the pair of first support tables 13 are not tilted (corresponding to step S3 in Figure 7). In that case, suctioning the powder P is started in the state shown in Figure 2, and then the inclination angle of the pair of first support tables 13 may be changed to the first inclination angle α (corresponding to step S4 in Figure 7, "Tilt the first support tables to the first inclination angle"). In other words, the timing of starting suction can be appropriately adjusted according to the fluidity of the powder P contained in the bag 20 (how easily the bag 20 can be deformed). That is, if the fluidity of the powder P contained in the bag 20 is low and the bag 20 is not easily deformed, the bag 20 may be supported in a nearly horizontal position when suction starts. If the fluidity of the powder P contained in the bag 20 is high and the bag 20 is easily deformed, the bag 20 may be tilted at the first tilt angle α shown in Figure 3 when suction starts. If the fluidity of the powder P contained in the bag 20 is even higher and the bag 20 is even more easily deformed, the bag 20 may be tilted to an angle corresponding to the second tilt angle β shown in Figure 4 when suction starts.

[0061] If suction of powder P is started in the state shown in Figure 3, and the state shown in Figure 3 is maintained, as shown in Figure 5, the amount of powder suctioned per unit time will eventually become almost zero, and suction will no longer be possible. Therefore, as shown in Figure 4, by changing the inclination angle of the pair of first support tables 13 to a second inclination angle β which is steeper than the first inclination angle α, and by lowering the suction nozzle 3 until the tip 31 of the suction nozzle 3 contacts the inside of the lower surface of the bag 20 (corresponding to step S5 in Figure 7, "Incline the first support tables to the second inclination angle and lower the suction nozzle until it contacts the inside of the lower surface of the bag"), the amount of powder suctioned per unit time can be returned to its maximum value, enabling efficient suction and allowing the powder P to be suctioned to the very end without leaving almost any powder P inside the bag 20. Alternatively, suction may be started in the state shown in Figure 2, with the bag 20 supported in a nearly horizontal position, and the inclination angle of the pair of first support tables 13 may be changed from the initial state in Figure 2 to the second inclination angle β shown in Figure 4, without going through the state in Figure 3. That is, step S3 may be used to proceed to step S5 without going through step S4.

[0062] According to the powder suction device 10 of the first embodiment described above, the objective of providing a means for suctioning powder P contained in a bag having an opening can be achieved without increasing the size of the equipment and without suppressing damage to the equipment due to vibration.

[0063] [Modified version of the first embodiment] Next, a modified example of the first embodiment, the powder suction device 110, will be described with reference to the drawings. In the following description, structures similar to those of the powder suction device 10 according to the first embodiment will be given common reference numerals, and their descriptions will be omitted. Only the differences from the powder suction device 10 according to the first embodiment will be described.

[0064] Figure 8 is a schematic side view showing a modified powder suction device 110 according to the first embodiment. The powder suction device 110 differs from the powder suction device 10 of the first embodiment in that a second support table 130 is provided below a pair of first support tables 13.

[0065] Figure 12 is a schematic side view showing the second support table 130. The second support table 130 comprises two inclined surfaces 131 that are inclined in opposing directions. Since the inclined surfaces 131 are fixed, the inclination angle of the inclined surfaces 131 is not changed, as is the case with the pair of first support tables 13 in the first embodiment.

[0066] In other words, in the initial state shown in Figure 8, a bag 20 containing powder P and having an opening 21 is supported substantially horizontally on a pair of first support tables 13. As shown in Figure 9, the bag holding part 2 descends in the -Z direction from the state shown in Figure 8, and the claws 22 hold the periphery of the opening 21 provided on the upper surface of the bag 20. In this state, the suction nozzle 3 may be lowered in the -Z direction and inserted into the bag 20 from above the opening 21 of the bag 20 to start suctioning the powder P.

[0067] Next, as shown in Figure 10, the suction nozzle 3 is lowered in the -Z direction and inserted into the bag 20 from above the opening 21 of the bag 20, and the suction of the powder P is started. At this time, the pair of first support tables 13 are tilted in opposing directions at a first inclination angle α. As a result, the bag 20 deforms into a shape that is convex downwards along the pair of first support tables 13 that are tilted at the first inclination angle α. Therefore, due to the tilt at the first inclination angle α, the powder P slides down by its own weight towards the part of the bag 20 that is most deformed in the -Z direction, and a sufficient amount of powder P to be sucked up is supplied around the tip 31 of the suction nozzle 3.

[0068] Furthermore, as shown in Figure 11, the pair of first support tables 13 are tilted at a second inclination angle β, and the suction nozzle 3 is further lowered in the -Z direction so that the tip 31 of the suction nozzle 3 contacts the inside of the lower surface of the bag 20. In this way, the powder P slides down by its own weight along the pair of first support tables 13, which are tilted at a second inclination angle β, which is steeper than the first inclination angle α, toward the part of the bag 20 that is most deformed in the -Z direction, so that a sufficient amount of powder P to be sucked up is supplied around the tip 31 of the suction nozzle 3. Moreover, since the tip 31 of the suction nozzle 3 is in contact with the inside of the lower surface of the bag 20, the powder P inside the bag 20 can be sucked up to the very end without leaving any residue.

[0069] In the powder suction device 110 according to a modified version of the first embodiment, a second support table 130 is provided below a pair of first support tables 13. Therefore, the bag 20 that falls downward through the gap between the two first support tables 13 is further supported by the second support table 130, preventing the bag 20 from falling through the gap between the first support tables 13 and allowing the powder P contained in the bag 20 to be suctioned to the very end without leaving any behind. Here, as shown in Figure 14, the second support table 130 is equipped with two inclined surfaces 131 that are inclined in a direction that is approximately 90° clockwise in a plan view of the inclined pair of first support tables 13 (a direction that is approximately 90° around the Z axis). Therefore, in the state shown in Figure 11, the bag 20 deforms not only into a convex shape downward (-Z direction) in the xz plane, but also into a convex shape downward (-Z direction) in the yz plane. That is, the bag 20 deforms into a convex shape downward in two mutually orthogonal planes. When the tip 31 of the suction nozzle 3 contacts the inner surface of the lower surface of the bag 20, it contacts the inner surface of the lower surface of the bag 20 that is most deformed in the -Z direction. Therefore, the powder P contained in the bag 20 can be sucked up more reliably and almost completely without any residue remaining.

[0070] Furthermore, as shown in Figure 14, the width w of the second support table 130 in the X direction is sufficiently smaller than the gap d between the pair of first support tables 13 when they are tilted at a second tilt angle β. Therefore, as shown in Figures 11 and 14, the pair of first support tables 13 and the second support table 130 do not interfere with each other.

[0071] In the powder suction device 110 according to this modified first embodiment, the bag 20 can be deformed not only into a shape that is convex downward (-Z direction) in the xz plane, but also into a shape that is convex downward (-Z direction) in the yz plane. As a result, the powder P contained in the bag 20 can be collected at the tip 31 of the nozzle 3, and it can be sucked up more reliably and almost completely without any residue remaining. Furthermore, when the pair of first support tables 13 are tilted at a second inclination angle β, the bag 20 may fall through the gap d formed by its own weight. However, by providing a second support table 130, the bag 20 can be reliably prevented from falling.

[0072] [Second Embodiment] Next, the powder suction device 120 according to the second embodiment will be described with reference to Figure 15. In the following description, structures similar to those of the powder suction device 10 according to the first embodiment will be given common reference numerals, and their descriptions will be omitted. Only the differences from the first embodiment will be described.

[0073] The powder suction device 120 according to the second embodiment has a configuration in which the pair of first support tables 13 of the powder suction device 10 according to the first embodiment are replaced with two pairs of first support tables 133. The other configurations are the same as those of the powder suction device 10 according to the first embodiment.

[0074] Figure 15 is a plan view showing two pairs of first support tables 133 in the powder suction device 120 according to the second embodiment. The two pairs of first support tables 133 consist of a pair of first support tables 133 located in the upper right and lower left, and a pair of first support tables 133 located in the lower right and upper left.

[0075] Each of the two pairs of first support tables 133 is provided with a rotation axis 111 that extends approximately horizontally. In the schematic plan view of Figure 15, the rotation axis 111 is provided so that the two pairs of first support tables 133 tilt toward the center of the two pairs of first support tables 133 in the -Z direction as they rotate around the rotation axis 111. More specifically, the upper right first support table 133 rotates around the rotation axis 111 so that its lower left side tilts in the -Z direction. The lower right first support table 133 rotates around the rotation axis 111 so that its upper left side tilts in the -Z direction. The upper left first support table 133 rotates around the rotation axis 111 so that its lower right side tilts in the -Z direction. The lower left first support table 133 rotates around the rotation axis 111 so that its upper right side tilts in the -Z direction. Furthermore, similar to the first embodiment, each of the two pairs of first support tables 133 can be tilted at a first tilt angle α and a second tilt angle β, and when the two pairs of first support tables 133 are tilted at the second tilt angle β, the tip 31 of the suction nozzle 3 comes into contact with the inside of the lower surface of the bag body 20.

[0076] With the two pairs of first support tables 133 configured in this way, when each of the two pairs of first support tables 133 is tilted at a first inclination angle α, or a second inclination angle β that is steeper than the first inclination angle α, the four first support tables 133 shown in Figure 15 are tilted in the -Z direction toward the center of the four first support tables 133. Therefore, the bag 20 placed on the two pairs of first support tables 133 tilted in this way is supported by the two pairs of first support tables 133 with the lower surface near the center of the bag 20 being convex downwards (in the -Z direction). Furthermore, when the bag 20 is supported by the two pairs of first support tables 133 tilted at a second inclination angle β, a gap approximately parallel to the axis of rotation 111 is formed (the gap between the opposing dashed lines j in Figure 15), as shown by the dashed line in Figure 15. Note that the width of this gap is assumed to be d when the two pairs of first support tables 133 are tilted at the second inclination angle β. The lower surface near the center of the bag 20 falls into this gap, so that the bag 20 is held by the bag support means 1 in a shape where the lower surface near the center of the bag 20 is convex downwards. That is, the bag 20 does not deform into a convex downward shape in one plane, as in the powder suction device 110 according to the modified example of the first embodiment, but rather deforms into a convex downward shape in two mutually orthogonal planes. Therefore, as in the powder suction device 110 according to the modified example of the first embodiment, the powder P contained in the bag 20 can be collected near the tip 31 of the nozzle 3, and it can be sucked up more reliably and almost completely without leaving any residue. Furthermore, in the powder suction device 120 according to this second embodiment, there is no need to provide a second support table 130.

[0077] Here, when referring to "at least a pair of first support tables," it can encompass the pair of first support tables 13 of the first embodiment and its modified form, and the two pairs of first support tables 133 of the second embodiment. Furthermore, when referring to "at least a pair of first support tables," it also includes cases where there are more than two pairs of first support tables.

[0078] Based on the above, the powder suction devices 10, 110, and 120 according to the first embodiment, a modified example of the first embodiment, and the second embodiment include: a bag support means 1 having a support surface 12 that supports a bag 20 having an opening 21 containing powder P in a substantially horizontal position; a bag holding part 2 that holds the periphery of the opening 21 of the bag 20; and a suction nozzle 3 that is inserted into the inside of the bag 20 from above relative to the opening 21 and sucks the powder P from the bag 20, wherein the bag support means 1 rotates around a rotation axis 11, 111 that extends substantially horizontally. The system comprises at least a pair of first support tables 13, 133 that can be tilted in opposing directions from an initial state in which a support surface 12 is formed, and a drive device 14 that tilts each of the at least pair of first support tables 13, 133. When the at least pair of first support tables 13, 133 are tilted, a gap d substantially parallel to the rotation axes 11, 111 is formed between the at least pair of first support tables 13, 133, and the bag body 20 is held by the bag body support means 1 with the lower surface near the center of the bag body 20 having a shape that is convex downwards.

[0079] According to the first embodiment, the modified version of the first embodiment, and the powder suction devices 10, 110, and 120 according to the second embodiment, it is possible to provide a means for suctioning powder P contained in a bag having an opening, without increasing the size of the equipment and suppressing damage to the equipment due to vibration.

[0080] While embodiments and modified versions of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and modified versions. It also includes designs and other elements that do not depart from the spirit of this invention, as well as combinations of embodiments and modified versions.

[0081] For example, in the above description, it was stated that each of the pair of first support tables 13, or the two pairs of first support tables 133, is rectangular in plan view, but does not have to be rectangular. For example, they may be circular, elliptical, or polygonal in plan view. Furthermore, each of the pair of first support tables 13, or the two pairs of first support tables 133, can be changed in two stages from an initial state forming a substantially horizontal plane to a state inclined at a first inclination angle α, and to a state inclined at a second inclination angle β. However, it may also be possible to change to a third inclination angle or higher.

[0082] The above description mentions a pair of first support tables 13 and two pairs of first support tables 133, but these are just examples, and the powder suction device may have three or more pairs of first support tables.

[0083] In the above explanation, for the sake of clarity, it was explained that when at least one pair of first support tables 13, 133 are tilted at a second tilt angle β, a gap d substantially parallel to the rotation axes 11, 111 is formed between the at least one pair of first support tables 13, 133, and the lower surface near the center of the bag body 20 falls into this gap d, thereby holding the bag body 20 in the bag body support means 1 with the lower surface near the center of the bag body 20 convex downwards. However, not limited to the case where the tables are tilted at a second tilt angle β, even when at least one pair of first support tables 13, 133 are tilted at a first tilt angle α, a gap substantially parallel to the rotation axes 11, 111 is formed between the at least one pair of first support tables 13, 133 (a gap narrower than the gap d when at least one pair of first support tables 13, 133 are tilted at a second tilt angle β), and the lower surface near the center of the bag body 20 falls into this gap, thereby holding the bag body 20 in the bag body support means 1 with the lower surface near the center of the bag body 20 convex downwards. In other words, the extent to which the lower surface near the center of the bag 20 falls into the gap can be controlled by adjusting the inclination angle of at least one pair of first support tables 13 and 133. In the above explanation, it was stated that the lower surface near the center of the bag 20 falls through the gap, causing the bag 20 to be held by the bag support means 1 in a shape where the lower surface near the center of the bag 20 is convex downwards. However, the lower surface near the center of the bag 20 falling through the gap is not an essential condition for aspirating the powder P. Regardless of whether the lower surface near the center of the bag 20 falls through the gap or not, the necessary and sufficient condition for aspirating the powder P is that the bag 20 is held by the bag support means 1 in a shape where the lower surface near the center of the bag 20 is convex downwards. Therefore, it is sufficient that the bag 20 is held by the bag support means 1 in a shape where the lower surface near the center of the bag 20 is convex downwards. Even when at least one pair of first support tables 13 are tilted at a first tilt angle α, the tip 31 of the suction nozzle 3 may be lowered until it contacts the inside of the lower surface of the bag 20. The tilt angle of at least one pair of first support tables 13 and the vertical movement of the tip 31 of the suction nozzle 3 may be performed separately as appropriate.

[0084] In the above explanation, the expression "approximately" is used in some places. For example, "approximately horizontal" means that it does not need to be exactly horizontal, and that an error of about plus or minus 3° from the horizontal plane is acceptable. Similarly, "approximately 90°" means that it does not need to be exactly 90°, and that an error of about plus or minus 3° from 90° is acceptable. Furthermore, while it was stated that the first inclination angle α is 10° or more and less than 30°, and the second inclination angle β is 30° or more and less than 60°, the range is not limited to this. For example, the ranges of the first inclination angle α and the second inclination angle β may be appropriately set depending on the fluidity of the powder P contained in the bag 20.

[0085] [Third Embodiment] Next, the powder suction device 200 according to the third embodiment will be described with reference to Figures 16 and 17. In the following, structures similar to those of the powder suction device 10 according to the first embodiment will be given common reference numerals, and their descriptions will be omitted, with only the differences from the first embodiment being described. Note that the powder P inside the bag 20 is omitted in Figures 16 and 17.

[0086] As shown in Figure 16, in the powder suction device 200 according to the third embodiment, the rotation axes 11a of a pair of first support tables 13a are positioned higher (above) in the positive Z direction than the upper surface of the support base 17. Furthermore, two rotation axes 11a are provided adjacent to each other in the X direction.

[0087] A drive device 14' for changing the tilt angle of the pair of first support tables 13a is rotatably connected to the lower surface of the pair of first support tables 13a. The drive device 14' includes a base portion 19a fixed to a bottom plate 16a provided on the height adjustment portion H, a drive rod 18' whose one end is rotatably connected to the base portion 19a and whose other end is provided so as to be movable in the X direction via an axis F1 to a platform F laid on the upper surface of the support base 17, and an extendable portion 18a' provided so as to be extendable to one end of the drive rod 18' and whose tip is rotatably connected to the lower surface of one of the pair of first support tables 13a. By extending or retracting the extendable portion 18a', the inclination angle of the pair of first support tables 13a can be changed. The inclination angle of the pair of first support tables 13a is not limited to being changed so as to be symmetrical with respect to the vertical direction (Z direction), and as shown in Figure 16, the inclination angles of the first support table 13a on the +X side and the first support table 13a on the -X side may be different. The solid lines showing the pair of first support tables 13a in Figure 16 indicate the range of motion of the pair of first support tables 13a. In other words, this shows a state where the first support table 13a on the +X side is tilted at the largest angle, while the first support table 13a on the -X side is not tilted. Furthermore, the tip of the telescopic portion 18a' is not limited to being rotatably connected to the lower surface of one of the pair of first support tables 13a, but may also be rotatably connected to connecting members (not shown) extending in the +Y-axis direction and the -Y-axis direction from the +Y-axis direction and -Y-axis direction tips of the pair of first support tables 13a. The drive device 14' is not limited to any device that can rotate a pair of first support tables 13a around a rotation axis 11a, and may utilize hydraulic cylinders, air cylinders, electric cylinders, servo motors, etc.

[0088] Figure 17 shows the state in which the suction nozzle 3 has descended in the -Z direction from the state in Figure 16 and is in contact with the inner surface of the lower surface of the bag 20. The suction nozzle 3 is provided so as to be movable in the vertical direction (Z direction) by a suction nozzle holding rod 32 which is movable perpendicular to the vertical plate 15 in the Z direction. The arrows Fa extending from the tip 31 of the suction nozzle 3 in the +X and -X directions indicate the flow of air (compressed air) ejected from the tip 31 of the suction nozzle 3. Figure 17 also shows the state in which air (compressed air) is being ejected from the tip of the claw 22' inserted inside the bag 20. The airflow ejected from the tip of the +X side claw 22' is indicated by arrow Fc, and the airflow ejected from the tip of the -X side claw 22' is indicated by arrow Fb. In Figure 17, the retaining member 23 is clamping the upper surface of the bag 20 together with the claw 22'. The claw 22' and retaining member 23 of this embodiment will be described later. The compressed air is supplied to the claw 22' and the suction nozzle 3 from a compressed air supply source such as a compressor (not shown).

[0089] In this type of powder suction device 200, the rotating shafts 11a are adjacent to each other in the X direction, that is, they are arranged with virtually no gap in the X direction. Therefore, even if the inclination angle of the pair of first support tables 13a is increased, unlike the pair of first support tables 13 of the first embodiment, a gap d substantially parallel to the rotating shaft 11 is not formed between the pair of first support tables 13a.

[0090] Such a powder suction device 200 is suitable for use when the fluidity of the powder P inside the bag 20 is low (poor). Air (compressed air) is injected from the tip 31 of the suction nozzle 3 and the tip of the claw 22'. Since the claw 22' also supports the bag 20, the bag 20 hangs from the claw 22', forming a ridge on the bag 20. The air injected from the tip of the claw 22' passes inside the ridge (inner surface), so it flows along the inner surface of the ridge (inner circumferential surface of the bag 20) without being obstructed by the wrinkles in the bag 20. Therefore, the airflow injected from the tip 31 of the suction nozzle 3 and the tip of the claw 22' collides with the powder P inside the bag 20, making the powder P that does not flow on the inner surface of the bag 20 flow. Therefore, even if the powder P has low fluidity inside the bag 20, the airflow can be used to move the powder P towards the center of the bottom surface of the bag 20. Furthermore, compressed air is injected from the tip 31 of the suction nozzle 3, which allows the powder P that has accumulated near the center of the bottom surface of the bag 20 to flow. As a result, the suction nozzle 3 can effectively and efficiently suck up the powder P. Although the description has described the case where compressed air is injected from both the tip of the claw 22' and the tip 31 of the suction nozzle 3, the compressed air may also be injected only from the tip of the claw 22'. Alternatively, the compressed air may also be injected only from the tip 31 of the suction nozzle 3.

[0091] Here, the inclination angle of the pair of first support tables 13a can be tilted at a first inclination angle α and a second inclination angle β which is steeper than the first inclination angle α, similar to the pair of first support tables 13 in the first embodiment. By quickly repeating the state of being tilted at the first inclination angle α and the state of being tilted at the second inclination angle β, the powder P that is fixed to the inner surface of the bag 20 and the powder P that has formed clumps inside the bag 20 can be loosened.

[0092] Therefore, in addition to spraying compressed air from the tip 31 of the suction nozzle 3 and the tip of the claw 22', by rapidly repeating the tilt angle of the pair of first support tables 13a between a state where it is tilted at a first tilt angle α and a state where it is tilted at a second tilt angle β, the powder P that is fixed to the inner surface of the bag 20 and the powder P that has clumped together inside the bag 20 can be loosened. With this method of operation of the powder suction device 200, the loosened powder P slides down toward the lower surface near the center of the bag 20, so the bag 20 is held by the bag support means 1 in a shape where the lower surface near the center of the bag 20 is convex downwards. As a result, the suction nozzle 3 can suck up almost all of the powder P contained in the bag 20.

[0093] Here, the claw 22' and the retaining member 23 will be explained with reference to Figures 20 to 23. Figure 20 shows the claw 22' and the retaining member 23 provided in the +X direction. As shown in Figure 21, the claw 22' and the retaining member 23 are configured to clamp the upper surface of the bag 20 together.

[0094] The claw 22' is inserted into the bag body 20 and comprises a cylindrical insertion rod 22a that forms the tip of the claw 22', an arc 22b which is a semicircular cylinder connected to the base end of the insertion rod 22a, a cylindrical base rod 22c which has one end connected to the base end of the arc 22b and the other end extending to the center of the arc 22b, and a radial rod 22d which has its base end at the center of the arc 22b and the tip extending partway along the arc 22b and connected. The other end of the base rod 22c and the base end of the radial rod 22d are rotatably connected to the rotation axis 11c. Therefore, the insertion rod 22a, arc 22b, base rod 22c, and radial rod 22d are rotatably mounted around the rotation axis 11c. The tip of the insertion rod 22a is an injection port 22a1 from which compressed air is injected. Compressed air is supplied to the arc 22b or the insertion rod 22a from a compressed air supply source such as a compressor (not shown). The proximal end of arc 22b is occluded.

[0095] A rotating shaft 11d is provided at the tip of the diameter rod 22d connected to arc 22b. The telescopic rod 181a of the drive device 14b is rotatably connected to the rotating shaft 11d. The telescopic rod 181a extends retractably from the tip of the drive rod 181 of the drive device 14b.

[0096] The retaining member 23 comprises a disc-shaped tip portion 23a that contacts the upper surface of the bag body 20, a long shaft member 23c extending from the tip portion 23a toward the base end, a holding portion 23a1 fixed to the holding plate 2a that holds the shaft member 23c so that it can move back and forth in the Z direction and cushions the movement of the shaft member 23c, a stopper 23d fixed to the shaft member 23c and in contact with the holding plate 2a to prevent the shaft member 23c from falling, and an elastic member 23b that applies a biasing force to the tip portion 23a in a direction away from the holding portion 23a1. The retaining member 23 is provided on the outside of the bag body 20.

[0097] The operation by which the claw 22' and the pressing member 23, having this configuration, grip the bag body 20 will be further explained with reference to Figures 20 to 23.

[0098] As shown in Figure 20, when the bag holding part 2 descends in the -Z direction, the insertion rod 22a is inserted into the opening 21 of the bag 20 with the rod facing in the -Z direction (vertical direction). In this state, when the drive device 14b drives the telescopic rod 181a of the drive device 14b to house it within the drive rod 181 for a predetermined length, the claw 22' rotates 90° counterclockwise around the rotation axis 11c as the center of rotation, transitioning to the state shown in Figure 21. Here, in order for the claw 22' to rotate 90° counterclockwise around the rotation axis 11c, the predetermined length for housing the telescopic rod 181a within the drive rod 181 is known in advance.

[0099] Specifically, when the claw 22' rotates 90°, the insertion rod 22a, which was facing the -Z direction in Figure 20, now faces outward in the longitudinal direction of the bag body 20 (+X direction), and clamps the upper surface of the bag body 20 between the tip 23a of the pressing member 23. In this way, the upper surface of the bag body 20 can be clamped between the claw 22' and the pressing member 23 (more specifically, the insertion rod 22a of the claw 22' and the pressing member 23).

[0100] In Figures 20 and 21, only the +X side claw 22' and retaining member 23 were shown for ease of understanding, but in Figure 22, in addition to the +X side claw 22' and retaining member 23, the -X side claw 22' and retaining member 23 are also shown.

[0101] -The claw 22 and retaining member 23 on the X side differ from the claw 22 and retaining member 23 on the +X side only in that after the insertion rod 22a of the claw 22' is inserted into the opening 21 of the bag body 20, the claw 22' rotates clockwise around the rotation axis 11c as the center of rotation, so a detailed explanation of this is omitted. Figure 23 shows the state in which the claw 22' and retaining member 23 on the +X side and the claw 22' and retaining member 23 on the -X side are gripping the upper surface of the bag body 20.

[0102] Therefore, in addition to the +X side claw 22' and pressing member 23, the -X side claw 22' and pressing member 23 also grip the bag body 20. Furthermore, another set of +X side claw 22 and pressing member 23 and -X side claw 22' and pressing member 23 are provided on the far side of the paper (+Y direction), so that the top surface of the bag body 20 is gripped at a total of four points by the claws 22' and pressing member 23.

[0103] Although not shown in the illustration, the upper surface of the bag body 20 is inclined to the negative side in the Z direction, with respect to the portion of the upper surface of the bag body 20 that is gripped by the claws 22' and the retaining member 23. That is, the upper surface of the bag body 20 that is gripped by the claws 22' and the retaining member 23 forms a ridge on the upper surface of the bag body 20.

[0104] On the upper surface of the bag 20 where the ridge is formed in this way, when compressed air is injected from the tip of the insertion rod 22a of the claw 22' toward the longitudinal outward direction of the bag 20 (+X direction and -X direction), the compressed air flows smoothly along the inner surface of the ridge as if flowing through a channel. This compressed air moving smoothly along the inner surface of the bag 20 causes the powder P that did not flow inside the bag 20 to flow and guide it along the inner surface of the bag 20 toward the center of the lower surface of the bag 20. Therefore, the powder P can be effectively and efficiently sucked up by the suction nozzle 3.

[0105] [Fourth Embodiment] Next, the powder suction device 210 according to the fourth embodiment will be described with reference to Figures 18 and 19. In the following, structures similar to those of the powder suction device 10 according to the first embodiment will be given common reference numerals, and their descriptions will be omitted, with only the differences from the first embodiment being described. In Figures 18 and 19, the bag holding part 2 is omitted, but the powder suction device 210 is provided with a bag holding part 2 similar to that of the powder suction device 200 of the third embodiment.

[0106] In the powder suction device 210, an inner end rotation axis (rotation axis) 11b is provided at the longitudinal inner end of a pair of first support tables 13 of the powder suction device 10 of the first embodiment. An inner end support table 130a is provided that can rotate around the inner end rotation axis 11b as the rotation axis.

[0107] The inner end support table 130a has a roughly L-shape when viewed from the side. In Figure 18, when the first support table 13 is not inclined and forms a support surface 12, and the inner end support table 130a on the +X side is also not inclined, the inner end support table 130a on the +X side forms a support surface 12' that is roughly parallel to the support surface 12 of the first support table 13. The support surface 12' supports the bag 20 in a roughly horizontal position, similar to the support surface 12. Furthermore, Figure 18 shows the case where the inner end support table 130a on the -X side is inclined, and the first support table 13 is not inclined and forms a support surface 12.

[0108] Such an inner end support table 130a tilts when the drive device (second drive device) 14a is driven. The drive device 14a includes a drive rod 180, one end of which is rotatably connected to the rotation axis 11 of the first support table 13, and an extendable part 180a, one end of which is extendable and retractable relative to the other end of the drive rod 180, and the other end of which is rotatably connected to one end of the inner end support table 130a. When the drive device 14a is driven to house the extendable part 180a inside the drive rod 180 from the state of the inner end support table 130a on the +X side in Figure 18, the inner end support table 130a can be tilted as shown in the inner end support table 130a on the -X side in Figure 18.

[0109] Figure 19 is an enlarged plan view of the main part of a pair of inner end support tables 130a of such a powder suction device 210, viewed from the +Z direction. As shown in Figure 19, the pair of inner end support tables 130a are provided on a part of a pair of first support tables 13. Each of the inner end support tables 130a is rotatable around an inner end rotation axis 11b. The inner end rotation axis 11b is provided at the longitudinal inner end of the pair of first support tables 13. Here, the longitudinal inner end refers to the base end in the longitudinal direction (X direction). For example, the longitudinal inner end of the inner end support table 130a on the +X side is provided at the -X side end of the inner end support table 130a on the +X side. Also, the longitudinal inner end of the inner end support table 130a on the -X side is provided at the +X side end of the inner end support table 130a on the -X side.

[0110] Similar to the powder suction device 200 of the third embodiment, this powder suction device 210 can tilt a pair of inner end support tables 130a without forming a gap between them. Therefore, similar to the powder suction device 200 of the third embodiment, the powder suction device 210 is suitable when the fluidity of the powder P in the bag 20 is low.

[0111] On the other hand, if the powder P inside the bag 20 has high fluidity, such a powder suction device 210 can be used as the powder suction device 10 of the first embodiment without tilting the pair of inner end support tables 130a relative to the pair of first support tables 13.

[0112] Furthermore, if the fluidity of the powder P inside the bag 20 is low, or if the bag's properties prevent sufficient collection of the powder P into the suction nozzle 3, the device can be used as the powder suction device 200 of the third embodiment by driving only the pair of inner end support tables 130a without tilting the pair of first support tables 13. In other words, if the fluidity of the powder P contained in the bag 20 is low, or if the bag's properties prevent sufficient collection of the powder P into the suction nozzle 3, the powder P can be effectively sucked up by the suction nozzle 3. In this case, the inner end support table 130a can function as the first support table. Therefore, the inner end support table 130a may sometimes be referred to as the first support table 130a.

[0113] While embodiments and modified versions of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and modified versions, and includes designs and other elements that do not depart from the spirit of this invention, as well as combinations of embodiments and modified versions.

[0114] For example, although the number of claws 22' and pressing members 23 is described as four, it is not limited to four, and any number can be selected. In this case, it is preferable that the shape of the ridge of the bag body 20, which is held between the claws 22' and the pressing members 23, is suitable for functioning as a conduit for the flow of the injected compressed air. Furthermore, the shape of the claw 22' is not limited to the shapes described in Figures 20 to 23. For example, the arc 22b may be configured not as an arc, but by connecting multiple straight sections to form an overall arc.

[0115] The inclination angles of the first support tables 13, 13a, 133 and the inner end support table 130a, which are driven by the drive devices 14, 14', 14a, are not limited to the first inclination angle α and the second inclination angle β, but may be driven to any inclination angle. This may be achieved by arbitrarily controlling the length of the extension portions 18a, 18a', 180a of the drive devices 14, 14', 14a that extend from the drive rods 18, 18', 180 of the drive devices 14, 14', 14a by known means. As an example, the length of the extension portions 18a, 18a', and 180a of the drive devices 14, 14', and 14a extending from the drive rods 18, 18', and 180 of the drive devices 14, 14', and 14a may be set to the point where the bag body 20 supported by the first support tables 13, 13a, and 133 and the inner end support table 130a no longer deforms further.

[0116] On the other hand, the drive device 14b that drives the claw 22' only needs to be able to control two states: the initial state in which the insertion rod 22a of the claw 22' is facing the -Z direction, and the state in which the insertion rod 22a of the +X-side claw 22' is facing the +X direction, or the state in which the insertion rod 22a of the -X-side claw 22' is facing the -X direction.

[0117] Instead of the claws 22 of the powder suction device 10 of the first embodiment, the powder suction device 110 according to a modified example of the first embodiment, and the powder suction device 120 of the second embodiment, the claws 22' and pressing member 23 of the powder suction device 200 of the third embodiment may be used. In this case, the same effects as when the claws 22' and pressing member 23 of the powder suction device 200 of the third embodiment are used can be obtained in the powder suction device 10 of the first embodiment, the powder suction device 110 according to a modified example of the first embodiment, and the powder suction device 120 of the second embodiment. Furthermore, compressed air may be injected from the tip 31 of the suction nozzle 3 of the powder suction device 10 of the first embodiment, the powder suction device 110 according to a modified version of the first embodiment, and the powder suction device 120 of the second embodiment, as in the powder suction device 200 of the third embodiment. In this case, the same effect as when compressed air is injected from the tip 31 of the suction nozzle 3 in the powder suction device 200 of the third embodiment can be obtained. In the powder suction device 10 of the first embodiment, the powder suction device 110 according to a modified version of the first embodiment, and the powder suction device 120 of the second embodiment, as in the powder suction device 200 of the third embodiment, air (compressed air) may be sprayed from the nozzle 22a1 at the tip of the insertion rod 22a of the claw 22' and the tip 31 of the suction nozzle 3. Also, in the powder suction device 10 of the first embodiment, the powder suction device 110 according to a modified version of the first embodiment, and the powder suction device 120 of the second embodiment, as in the powder suction device 200 of the third embodiment, compressed air may be sprayed from either the nozzle 22a1 at the tip of the insertion rod 22a of the claw 22' or the tip 31 of the suction nozzle 3.

[0118] Based on the above, the common features of the embodiments and their variations relating to this invention are as follows. Powder suction devices 10, 110, 120, 200, 210 each include: a bag support means 1 having support surfaces 12, 12' that support a bag 20 having an opening 21 containing powder P in a substantially horizontal position; a bag holding part 2 that holds the periphery of the opening 21 of the bag 20; and a suction nozzle 3 that is inserted into the inside of the bag 20 from above relative to the opening 21 to suck powder P from the bag 20. The bag support means 1 includes at least a pair of first support tables 13, 13a, 130a, 133 that can be tilted in opposing directions from an initial state that forms the support surfaces 12, 12' by rotating around substantially horizontally extending rotation axes 11, 11a, 11b; and drive devices 14, 14', 14a, 14b that tilt the at least pair of first support tables 13, 13a, 130a, 133, respectively.

[0119] With these powder suction devices 10, 110, 120, 200, and 210, powder P can be suctioned without using a vibrator, thus reducing metal fatigue. Furthermore, since an actuator for tilting the bag 20 is not required, a powder suction device with a simple configuration can be provided without increasing the size of the equipment. [Explanation of symbols]

[0120] 1 Bag support means 2 Bag holding part 3. Suction nozzle 10, 110, 120, 200, 210 powder suction device 11, 11a, 11b, 11c, 11d, 111 Rotation axis 12, 12' support surface 13, 13a, 133 First support table 14, 14', 14a, 14b drive unit 15 vertical boards 16 Bottom plate 17 Support stand 18 Drive rod 19 Foundation 20 Bag body 21 Aperture 22, 22' Nail 23 Retaining member 31 Tip 32 Suction nozzle holding rod 130 Second support table 130a Inner end support table 131 Slope w (width of the second support table) L is the length of one side of the first support table. d gap α 1st inclination angle β 2nd inclination angle

Claims

1. A bag support means having a support surface that supports a bag containing powder and having an opening in a substantially horizontal manner, A bag body holding portion that holds the periphery of the opening of the bag body, A powder suction device comprising: a suction nozzle inserted into the inside of the bag from above through the opening and sucking the powder from the bag, The powder suction device is characterized in that the bag support means comprises at least a pair of first support tables that can be tilted in opposing directions from an initial state in which the support surface is formed by rotating around a rotation axis extending substantially horizontally, and a drive device for tilting each of the at least pair of first support tables.

2. The powder suction device according to claim 1, characterized in that the at least pair of first support tables are tilted to form a gap substantially parallel to the axis of rotation between the at least pair of first support tables, and the bag is held by the bag support means in a shape in which the lower surface near the center of the bag is convex downwards.

3. The powder suction device according to claim 1 or 2, characterized in that the bag holding portion comprises an insertion rod inserted into the inside of the bag and a pressing member provided on the outside of the bag and clamping the bag between itself and the insertion rod inserted into the inside of the bag.

4. The powder suction device according to claim 3, characterized in that the insertion rod is inserted inside the bag and air is sprayed from a nozzle provided at the tip of the insertion rod.

5. The powder suction device according to claim 4, characterized in that the insertion rod is configured such that, when inserted inside the bag, the nozzle faces outward in the longitudinal direction of the bag.

6. The powder suction device according to claim 1 or 2, further comprising: an inner end rotation axis provided at the longitudinal inner end of each of the at least pair of first support tables; at least a pair of inner end support tables that rotate about the inner end rotation axis; and a second drive device that tilts each of the pair of inner end support tables.

7. The powder suction device according to claim 1 or 2, characterized in that the drive device inclines each of the at least pair of first support tables from an initial state forming the support surface to a first inclination angle and a second inclination angle that is steeper with respect to the support surface than the first inclination angle.

8. The powder suction device according to claim 7, characterized in that the first inclination angle is 10° or more and less than 30°, and the second inclination angle is 30° or more and less than 60°.

9. The powder suction device according to claim 7, characterized in that the tip of the suction nozzle can contact the inside of the lower surface of the bag.

10. The powder suction device according to claim 2, characterized in that the rotation axis of each of the at least pair of first support tables is located within a range of half the distance from the center of each of the at least pair of first support tables to the point furthest from it, in a plan view.

11. The powder suction device according to claim 2, characterized in that the suction nozzle is movable in a direction perpendicular to the support surface, and the at least pair of first support tables are two first support tables that can be tilted so as to be symmetrical with respect to the vertical direction.

12. The powder suction device according to claim 11, further comprising a second support table below the two first support tables for supporting the bag that falls through the gap.

13. The powder suction device according to claim 12, characterized in that the second support table has two inclined surfaces that are inclined in a direction obtained by rotating the two inclined first support tables 90° clockwise in a plan view.

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