Bag opening system and its control program

Abstract

The present invention provides a bag opening system that can form a bag opening that makes it easy to remove the packaged items from the bag. [Solution] The suction unit 2 of the bag opening system 1 attaches the side wall Bb of the folded bag body B to each suction member (for example, a suction nozzle 21) at suction positions p1 to p4 along the fold line Bc of the bag body B. The drive unit 3 maintains the state in which the suction nozzle 21 is attached to the bag body B and moves each suction member attached to the bag body B at suction positions p1 to p4 in a direction away from the packaging surface Pa of the packaged item P.

Description

Technical Field

[0001] The present invention relates to a bag opening system and its control program.

Background Art

[0002] As this type of technology, for example, Patent Documents 1 and 2 disclose a bag opening system for opening the mouth of a bag body with respect to a packaged body wrapped in the bag body. The bag opening system has a plurality of suction nozzles for sucking the bag body. While sucking the bag body covering the upper surface of the packaged object with each suction nozzle, the suction nozzle is rotated so as to open outward. Thereby, the bag body can be opened by the plurality of suction nozzles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the bag opening systems of Patent Documents 1 and 2, when opening the mouth of the bag body, since the adsorption position adsorbed by the suction nozzle does not change, the mouth of the bag body may not be fully opened, and it may be difficult to take out the packaged object from the bag body.

[0005]

Means for Solving the Problems

[0006] ​In view of the above problems, the bag opening system according to the present invention is a bag opening system that opens the opening of a package containing an item by folding the side wall of the bag body, including the opening, toward the packaging surface of the item to be packaged. The bag opening system comprises an adsorption unit having a plurality of adsorption members for adsorbing the bag body, and a drive unit for moving each of the adsorption members. The adsorption unit is set to an adsorption force such that the adsorption members slide along the surface of the bag body while adsorbed to the bag body by the movement of the adsorption members by the drive unit. The adsorption unit causes each of the adsorption members to adsorb to the side wall of the folded bag body at an adsorption position along the fold line of the bag body. The drive unit moves each of the adsorption members that is adsorbed to the bag body at the adsorption position toward the packaging surface of the item to be packaged, while maintaining the state in which the adsorption members are adsorbed to the bag body.

[0007] The control program for the bag opening system according to the present invention is a control program that causes a processor to execute control of the bag opening system, which opens the opening of a package containing an item by folding the side wall of the bag body, including the opening, toward the packaging surface of the item to be packaged. The control program causes the processor to control the suction of each suction member by an adsorption unit having a plurality of adsorption members that adsorb the bag body, and the movement of each suction member by a drive unit that moves each suction member. The adsorption unit is set to an adsorption force such that the suction member slides along the surface of the bag body while adsorbed to the bag body by the movement of the suction member by the drive unit. The control program includes the steps of: adsorbing the side wall of the folded bag body to each suction member at an adsorption position along the fold line of the bag body; and moving each suction member that is adsorbed to the bag body at the adsorption position toward the packaging surface of the item to be packaged, while maintaining the state in which the suction member is adsorbed to the bag body. [Effects of the Invention]

[0008] According to the present invention, it is possible to form a bag opening that makes it easy to remove the packaged items from the bag. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic perspective view of a bag opening system according to an embodiment of the present invention. [Figure 2] Figure 1 is a perspective view illustrating the packaging of the packaged item, where (a) is a perspective view of the packaged item before it is packaged in the bag, and (b) is a perspective view of the packaged item after the bag's side walls have been folded in to enclose the packaged item. [Figure 3] Figure 1 is a system block diagram of the bag opening system. [Figure 4] (a) and (b) are schematic perspective views of a suction device and a drive device with the suction nozzle in different positions and orientations. [Figure 5] Figure 4 shows cross-sectional views of the main parts of the suction device and drive device. (a) is a cross-sectional view illustrating the state in which the suction nozzle is moved (slid) relative to the bag while adsorbing the side wall of the bag with the suction nozzle. (b) is a cross-sectional view illustrating the state in which the suction nozzle is in contact with the packaging surface of the packaging body via the side wall of the bag and the bag is sucked by the suction nozzle. [Figure 6] Figure 1 is a control flow diagram of the control device for the bag opening system shown. [Figure 7] (a) is a perspective view illustrating the control of step S1 in Figure 6, (b) is a perspective view illustrating the control of steps S2 to S4 in Figure 6, and (c) is a perspective view illustrating the control of step S5 in Figure 6. [Figure 8] (a) to (f) are cross-sectional views of the main parts showing the relationship between the suction nozzle and the bag body under the control of steps S3 to S6 in Figure 6. [Figure 9] (a) is a perspective view showing the state where the determination of step S8 in Figure 6 is YES, (b) is a perspective view illustrating the control of step S9 in Figure 6, and (c) is a perspective view illustrating the control of steps S10 and S11 in Figure 6. [Figure 10] (a) to (c) are perspective views illustrating the control related to the modified example from step S10 onwards shown in Figure 6. [Modes for carrying out the invention]

[0010] The bag opening system 1 and its control device 40 according to the present invention will be described below with reference to Figures 1 to 10. In this embodiment, the bag opening system 1 is a system that opens the mouth Ba of a bag B in a packaged body E in which a packaged object P is packaged in a bag B, as shown in Figures 1 and 2(b).

[0011] 1. Regarding packaging E In this embodiment, as shown in Figure 2(b), the package E is a bag B in which the item to be packaged P is wrapped. In this embodiment, the package E is packed in a packing box F, which will be described later. The packing box F that packs the package E, the item to be packaged P that constitutes the package E, and the bag B will be briefly described below.

[0012] 1-1. Regarding Packaging Box F As shown in Figures 1 and 2, the packaging box F is a corrugated cardboard box that is square or rectangular in shape when viewed from above, with side walls Fb surrounding it on all four sides. Four flaps Fa are connected to the periphery of the side walls Fb. In this embodiment, the flaps Fa of the packaging box F are in an open state, but when transporting the packaged body E, the flaps Fa are closed and opposing flaps Fa are restrained together by adhesive tape (not shown). In this embodiment, a corrugated cardboard box is used as an example of the packaging box F, but it is not limited to this, and a plastic container or the like may also be used. Also, in this embodiment, the packaged body E is packed in the packaging box F, but the packaged body E does not necessarily have to be packed in the packaging box F.

[0013] 1-2. Regarding the packaged item P In this embodiment, the packaged object P is a film roll. The film roll is formed by winding a strip-shaped film around a cylindrical paper tube having an inner diameter portion Ph in a roll shape. The strip-shaped film is folded into a sheet shape in a state where cylindrical shrink labels are continuously connected. The strip-shaped film is formed of a synthetic resin that functions as a shrink label. The film roll is, for example, a roll of a strip-shaped film with a length of 500 m to 2000 m. More specifically, the film roll (packaged object P) is packaged (covered) by the side wall Bb of the bag body B with the packaging surface Pa of the film roll in a state of being accommodated in the bag body B described later as one end surface Pd of the film roll and the inner peripheral surface Pe of the inner diameter portion Ph.

[0014] In this embodiment, as an example of the packaged object P, a film roll that is a material for shrink labels is exemplified. However, it is not limited thereto as long as it can be packaged by the bag body B described later. For example, the packaged object P may be a packaged object packaged by pillow packaging or PTP packaging, a packaged object packaged by a carton, or a pouch or the like. The number of packaged objects P is not limited either, and it may be an aggregate composed of a plurality of packaged objects, and such an aggregate may be composed of the different types of packaged objects described above.

[0015] 1-3. Regarding the bag body B and its packaging The bag body B is, for example, a flexible bag made of synthetic resin (for example, made of polyethylene), and a mouth portion Ba for taking in and out the packaged object P is formed in the bag body B. Although the adsorption unit 2 described later adsorbs (suctions) the bag body B with air, for example, when the adsorption unit 2 adsorbs the bag body using magnetism by a permanent magnet or an electromagnet, the material of the bag body B may contain a magnetic material.

[0016] As shown in FIGS. 2(a) and (b), the packaged object P is packaged in a bag body B having a mouth portion Ba. The side wall Bb of the bag body B including the mouth portion Ba is folded inward toward the packaging surface Pa of the packaged object P, so that it is packaged with the bag body B. Specifically, the side wall Bb of the bag body B is bent along a folding line Bc formed along the outer peripheral edge Pc of the packaged object P. This can prevent the packaged object P from directly contacting the inner wall surface of the packing box F and being damaged.

[0017] In this embodiment, since the packaged object P is a film roll, the side wall Bb of the bag body B including the mouth portion Ba of the bag body B is folded along the inner peripheral surface Pe of one end face Pd and the inner diameter portion Ph of the film roll, so that the film roll is packaged with the bag body B. Therefore, the mouth portion Ba of the bag body B is disposed inside the inner diameter portion Ph. In this embodiment, a rectangular opening edge is formed at the mouth portion Ba, and the film roll may be packaged by sequentially folding portions of the side wall Bb including the sides forming the opening edge. In this case, the portions of the side wall Bb may be sucked by the suction nozzle 21 described later in the order of folding the portions of the side wall Bb and in the reverse order, and the suction nozzle 21 may be moved.

[0018] 2. Regarding the bag opening system 1 As shown in FIG. 1, the bag opening system 1 includes a suction unit 2 having a plurality of (for example, four) suction members (for example, suction nozzles 21 in this embodiment) for sucking the bag body B, and a drive unit 3 for moving each suction nozzle 21. Further, in this embodiment, the bag opening system 1 may include a chuck device 50 for chucking the packaged object P (film roll) in a state where the mouth portion Ba is open.

[0019] As shown in Figure 3, the bag opening system 1 further includes a control device 40 that controls the suction (adsorption) of each suction nozzle 21 by the suction unit 2 and the movement of each suction nozzle 21 by the drive unit 3. The control device 40 may also control the chucking by the chuck device 50. In this embodiment, the above control is performed as automatic control by the control device 40, but for example, instead of these automatic controls, an operator may control these devices and equipment using an operating device (not shown).

[0020] 2-1. Regarding the adsorption unit 2 and the drive unit 3 As shown in Figure 1, in this embodiment, the suction unit 2 is equipped with a plurality (for example, four) of suction devices 2A to 2D. Each of the suction devices 2A to 2D is provided with a suction nozzle 21. The suction nozzle 21 corresponds to the suction member in this invention. The suction devices 2A to 2D are arranged to surround the installation location where the package E is placed.

[0021] Specifically, the suction devices 2A to 2D are arranged in four directions (X and Y directions) around the packaging box F, and the suction nozzles 21 of each suction device 2A to 2D are attached to the respective drive units 3A to 3D of the drive unit 3, which will be described later. The horizontal movement mechanisms 31 of each drive unit 3A to 3D, which will be described later, allow the suction nozzles 21 to move forward and backward relative to the packaged body E. Since the suction devices 2A to 2D and the drive units 3A to 3D have the same structure, the structure of only the suction device 2A and drive unit 3A will be described in detail below, and the structure of the other devices will be omitted.

[0022] As shown in Figures 3 and 4(a) and (b), the drive unit 3A includes a horizontal movement mechanism 31, a lifting mechanism 32, and a rotation mechanism 33. The horizontal movement mechanism 31 is a linear guide and includes a linear guide rail 31a and a linear carriage 31b. The linear guide rail 31a extends horizontally, and the linear carriage 31b is slidably mounted on the linear guide rail 31a. The control device 40 can move the linear carriage 31b forward (see Figure 4(b)) or backward (see Figure 4(a)) along the linear guide rail 31a by controlling a motor (not shown) attached to the linear guide rail 31a, with the direction toward the packaged body E (approaching direction) being the forward direction and the opposite direction (away from the packaged body) being the backward direction.

[0023] A lifting mechanism 32 is attached to the linear-moving carriage 31b. This allows the lifting mechanism 32 to move forward or backward along with the movement of the linear-moving carriage 31b. Specifically, the lifting mechanism 32 comprises a lifting guide rail 32a and a lifting carriage 32b. The lifting guide rail 32a is erected on the linear-moving carriage 31b. The lifting guide rail 32a extends in the vertical direction, and the lifting carriage 32b is slidably attached to it. The control device 40 can raise (see Figure 4(a)) or lower (see Figure 4(b)) the lifting carriage 32b along the lifting guide rail 32a by controlling a motor (not shown) attached to the lifting guide rail 32a.

[0024] A rotating mechanism 33 is attached to the lifting carriage 32b. This allows the rotating mechanism 33 to be raised or lowered along with the lifting carriage 32b. The rotating mechanism 33 comprises a support part 33a fixed to the lifting carriage 32b and a rotating arm 33b rotatably connected to the support part 33a. A motor (not shown) is built into the support part 33a, and the output shaft of the motor is connected to the rotating arm 33b. As a result, the control device 40 controls the motor (not shown) built into the support part 33a to rotate the output shaft (not shown) of the motor in the forward or reverse direction around the rotation axis A of the motor. This allows the rotating arm 33b to be rotated in the forward direction R1 or the reverse direction R2 (see Figures 4(a) and (b)).

[0025] The rotating arm 33b is an L-shaped member in side view and includes an arm body 33c extending from the rotation axis A. A holding portion 33d for holding the suction pipe 24 of the suction device 2A is formed at the tip of the arm body 33c. The suction pipe 24 is slidably inserted through the holding portion 33d, and a suction nozzle 21 is attached to the tip of the suction pipe 24.

[0026] In this way, the control device 40 can move the suction nozzle 21 forward or backward using the horizontal movement mechanism 31, raise or lower the suction nozzle 21 using the lifting mechanism 32, and rotate the suction nozzle 21 in the forward direction R1 or the reverse direction R2 using the rotation mechanism 33.

[0027] The suction device 2A is a device that uses suction force from a suction device (not shown), such as a pump or blower, to suck the side wall Bb of the bag body B from the tip of the suction nozzle 21. The suction device 2A is slidably inserted into the rotating arm 33b of the rotating mechanism 33, which will be described later, and is equipped with a suction pipe 24. The suction nozzle 21 is attached to the tip of the suction pipe 24, and a suction device (not shown) is connected to the base end of the suction pipe 24 via a flexible tube (not shown).

[0028] In this embodiment, as shown in Figure 5(a), the suction device 2A of the adsorption unit 2 is set to an adsorption force such that the suction nozzle 21 slides along the surface of the bag B while adsorbed to it, due to the movement of the suction nozzle 21 by each of the drive devices 3A to 3D of the drive unit 3. This adsorption force can be set by adjusting the suction force (suction pressure) of the air G from the suction device. In this embodiment, the adsorption force on the surface of the bag B is set using air suction, but if, for example, the suction device uses magnetism, such as a permanent magnet or electromagnet, to adsorb the bag, the adsorption force can be set by adjusting the magnetic force (strength of the magnetic force) of the permanent magnet or magnet. The adsorption force can be experimentally predetermined based on the thickness of the side wall of the bag B, the material of the bag B, the shape and material of the end face 21b of the suction nozzle 21, which will be described later, etc.

[0029] As shown in Figure 5(a), in this embodiment, the suction nozzle 21 is cylindrical, and an opening 21a is formed at the tip of the suction nozzle 21 for sucking the surface of the bag B. The suction nozzle 21 has an internal space S into which a portion Bp of the bag B in the suctioned state enters through the opening 21a.

[0030] The internal space S is in communication with the suction pipe 24. The end face 21b that forms the opening 21a of the suction nozzle 21 is rounded and raised in the direction of the axis L of the suction nozzle 21. In this embodiment, the end face 21b that forms the opening 21a of the suction nozzle 21 is made of a resin material. Because the end face 21b that forms the opening 21a of the suction nozzle 21 is made of a resin material, the suction nozzle 21 can slide smoothly along the surface of the bag B.

[0031] Preferred resin materials include, for example, fluororesins such as polytetrafluoroethylene (PTFE) and perfluoroalkoxyalkanes (PFA). Using fluororesins can improve the sliding properties on the bag B. The suction nozzle 21 may be made of such a resin material, or the end face of the suction nozzle 21 body, which is made of a metal material such as aluminum or stainless steel, may be coated with such a resin material by welding or the like. Furthermore, if the suction nozzle 21 is made of a metal material, the end face 21b of the suction nozzle 21 may be polished to a mirror finish.

[0032] The suction device 2A is provided with an elastic body 23 at the base end of the suction nozzle 21 to absorb the force acting on the suction nozzle 21 along the direction of its axis L (see Figure 5(b)). The elastic body 23 may be made of rubber or the like, but in this embodiment, the elastic body 23 is a coil spring. The elastic body 23 is positioned between the holding portion 33d of the rotating arm 33b and the suction nozzle 21 when the suction nozzle 21 is inserted inside. As shown in Figure 5(b), when the suction nozzle 21 is lowered toward the packaging body E, the suction nozzle 21 comes into contact with the packaging body E via the bag body B, and the elastic body 23 undergoes compressive elastic deformation between the holding portion 33d and the suction nozzle 21. As shown in Figure 5(a), when the suction nozzle 21 moves away from the packaging body E, the restoring force of the elastic body 23 pushes the rotating arm 33b up to the stopper 27.

[0033] 2-2. About the chuck device 50 As shown in Figures 1 and 3, the chuck device 50 is a device that chucks the packaged item P (film roll) with the opening Ba of the bag body B open. The chuck device 50 comprises a chuck jaw 51, a chuck jaw opening / closing device 52 that opens and closes the chuck jaw 51, and an articulated robot 53 to which the chuck jaw opening / closing device 52 is attached as an end effector. The opening and closing of the chuck jaw opening / closing device 52 and the operation of the articulated robot 53 are controlled by a control device 40. Furthermore, an imaging device 60 is attached to the tip of the articulated robot 53 in the chuck device 50. As a result, the control device 40 can detect the position of the packaged item P (film roll) from the image captured by the imaging device 60 and control the articulated robot 53 so that the chuck jaw 51 fits within the inner diameter Ph of the film roll. When the chuck jaws 51 are inserted into the inner diameter portion Ph of the film roll, the control device 40 can open the chuck jaws 51 with the chuck jaw opening / closing device 52 and chuck the packaged item P (film roll).

[0034] 2-3. About the control device 40 The control device 40 controls the suction (adsorption of suction material) by each suction nozzle 21 of the suction unit 2, and the movement of each suction nozzle 21 by the drive unit 3. The control device 40 further controls the chucking by the chuck device 50. The control device 40 includes, as hardware, a storage device (not shown) that stores a control program including these control conditions, and a processor (not shown) which is an arithmetic unit that executes the control program stored in the storage device and outputs control signals to each device. The control device 40 has, as software, a control program that executes the control flow shown below. The control program causes the processor to execute the control of the bag opening system 1. Note that each step in the control flow diagram described below is executed by the control device 40 (specifically, the control program), but all or part of these steps may be executed by the operator operating the operating equipment instead of by the control device 40. Furthermore, although the following steps S1 to S11 shown in Figure 6 are described as control mainly performed by the control device 40, these steps S1 to S11 correspond to the content of the control program executed by the processor.

[0035] First, in step S1, as shown in Figure 7(a), the control device 40 moves each of the suction nozzles 21 of the suction devices 2A to 2D by the drive devices 3A to 3D to above the suction positions p1 to p4 along the fold line Bc of the folded bag B, relative to the side wall Bb of the folded bag B. The tips of the multiple suction nozzles 21 are positioned at a predetermined height h from the package E. Specifically, the control device 40 advances the linear carriage 31b in the direction toward (approaching) the package E relative to each of the horizontal movement mechanisms 31 of the drive devices 3A to 3D. Here, the orientation of the suction nozzle 21 is the first orientation, where the opening 21a of the suction nozzle 21 faces the package surface Pa.

[0036] By moving each suction nozzle 21 above the suction positions p1 to p4, the following effects are achieved. Specifically, when the suction nozzle 21 of the suction device 2A attempts to pull the side wall Bb away from the packaged object P, the remaining suction nozzles 21 facing the suction positions p2 to p4 can limit the lifting of other parts of the side wall Bb. In this way, the suction nozzle 21 can be brought into contact with each of the suction positions p2 to p4, and suction can be performed sequentially at each of the suction positions p2 to p4.

[0037] Here, the fold line Bc of the bag B is approximately circular, and the adsorption positions p1 to p4 are located inside the fold line Bc and are set at equal intervals in the circumferential direction, with four positions in total. The number of suction nozzles 21 is set according to the number of adsorption positions p1 to p4, and these numbers are preferably at least three or more, and are set appropriately depending on the shape of the bag B, the shape of the packaged object P, etc.

[0038] Here, in step S2, N=1 is input. Here, "N" is a number assigned to the four suction nozzles 21 that make up the suction devices 2A to 2D, and corresponds to the order in which each suction nozzle 21 is operated. In this embodiment, as an example, these integers N=1 to 4 are assigned to each suction nozzle 21 that makes up the suction devices 2A to 2D. For example, N=1 is the first (first to operate) suction nozzle, and in this embodiment, it corresponds to the suction nozzle 21 of suction device 2A. In this embodiment, since there are four suction nozzles 21, an integer N from 1 to 4 is assigned to each suction nozzle 21. However, even if the number of suction nozzles 21 is other than this, the number of N should be assigned to each suction nozzle 21 sequentially from 1 according to the number of suction nozzles 21. Furthermore, by repeating steps S3 to S8 shown below, the control device 40 causes the assigned suction nozzles 21 to perform the operations from steps S3 to S6 individually, in order of increasing number of N (integer). Therefore, in this embodiment, as shown below, steps S3 to S6 are repeated in the order of the suction nozzles 21 that make up the suction devices 2A to 2D. However, depending on how the bag body B is packaged, the number N (1 to 4) may be assigned from smallest to largest in the order of the suction nozzles 21 that you want to operate in the suction devices 2A to 2D.

[0039] In step S3, as shown in Figures 5(b) and 8(a), the control device 40 lowers the suction nozzle 21 of the suction device 2A (i.e., the first (N=1) suction nozzle) and presses the tip of the suction nozzle 21 against the packaged object E at the suction position p1. Specifically, the control device 40 lowers the lifting carriage 32b along the lifting guide rail 32a. In this way, even if the end face 21b forming the opening 21a of the suction nozzle 21 is pressed against the packaged object E before the suction nozzle 21 sucks the side wall Bb at the suction position p1, the elastic body 23 compresses and deforms, absorbing the force from the suction nozzle 21. This prevents excessive pressure from the suction nozzle 21 on the packaged object P.

[0040] Next, in step S4, the control device 40 causes the side wall Bb of the folded bag B to be adsorbed to the suction nozzle 21 of the suction device 2A, which is the first suction nozzle, at the adsorption position p1 along the fold line Bc of the bag B. Specifically, the control device 40 activates a suction device (not shown) to suck out the air G from the internal space S. Since the tip of the suction nozzle 21 of the suction device 2A is pressed against the package E, the internal space S becomes a sealed space, and the internal space S becomes a negative pressure due to the sucked air G. The force acting on the package E due to this negative pressure corresponds to the adsorption force (suction force) described above.

[0041] In steps S5 and S6 shown below, the control device 40 controls the drive unit 3 to maintain the state in which the suction nozzles 21 of the suction device 2A are adsorbed to the bag body B, and moves each suction nozzle 21 that is adsorbed to the bag body B at the adsorption position p1 in a direction away from the packaging surface Pa of the packaged item P (upward in this embodiment) (see Figures 8(b) to 8(f)). Specifically, the control device 40 controls the drive unit 3 to move the suction nozzles 21 of the suction device 2A that are adsorbed to the bag body B at the adsorption position p1 in a direction Z away from the packaging surface Pa of the packaged item P (see Figure 1). Specifically, the control device 40 moves the suction nozzles 21 from a first position facing the packaging surface Pa (see Figure 8(a)) to a second position facing inward towards the inside of the bag body B (see Figure 8(f)).

[0042] First, in step S5, as shown in Figures 7(b) and 8(a) to 8(c), the control device 40 rotates the suction nozzle 21 of the suction device 2A so that the opening 21a of the suction nozzle 21 faces inward towards the bag B. Specifically, the control device 40 rotates the rotating arm 33b of the drive device 3A in the forward rotation direction R1.

[0043] In this process, a portion Bp of the bag B, sucked in by the aforementioned suction force (adsorption force) through the opening 21a of the suction nozzle 21 of the suction device 2A, enters the internal space S through the opening 21a of the suction nozzle 21. This makes it difficult for a gap to form between the opening 21a and the bag B, and the movement of the suction nozzle 21 by the drive device 3A of the drive unit 3 makes it easier for the suction nozzle 21 to slide stably along the surface of the bag B while adsorbed to it.

[0044] In this embodiment, the end face 21b forming the opening 21a of the suction nozzle 21 is rounded and raised in the direction of the axis L of the suction nozzle 21. Compared to the case where the end face is flat, this makes it easier for the moving suction nozzle 21 to allow a portion Bp of the bag body B to enter the internal space S. Furthermore, even if there are wrinkles in the portion of the bag body B located in front of the opening 21a of the moving suction nozzle 21 in the direction of travel, the suction nozzle 21 can still slide smoothly along the surface of the bag body B.

[0045] Furthermore, from the state shown in Figure 8(b) to the state shown in Figure 8(c), the suction nozzle 21, which is adsorbed to the bag body B at the adsorption position, is moved away from the packaging surface Pa of the packaged item P. At this time, the restoring force of the elastic body 23, which has undergone compression elastic deformation, pushes the suction nozzle 21 toward the bag body B. As a result, when the moving suction nozzle 21 moves away from the packaging surface Pa of the packaged item P via the bag body B, the bag body B, which is adsorbed to the suction nozzle 21, becomes less likely to detach from the suction nozzle 21. In particular, due to the rotation of the suction nozzle 21, the suction nozzle 21 slides along the surface of the bag body B, so that the side wall Bb of the bag body B can be adsorbed by scooping it up with the tip of the suction nozzle 21.

[0046] Next, in step S6, as shown in Figures 8(d) to 8(f), the control device 40 rotates the suction nozzle 21 of the drive unit 3A so that the opening 21a of the suction nozzle 21 faces further inward into the bag B, and at the same time, it raises the suction nozzle 21 while retracting it. Specifically, the control device 40 rotates the rotating arm 33b of the drive unit 3A further in the forward direction R1, and at the same time, raises the lifting carriage 32b along the lifting guide rail 32a while retracting the linear carriage 31b along the linear guide rail 31a.

[0047] In this way, the suction nozzle 21 of the suction device 2A slides along the surface of the side wall Bb of the bag B, and the tip of the suction nozzle 21 moves toward the opening Ba of the bag B, so that the side wall Bb of the bag B that is folded into the packaging surface Pa can be raised (see Figures 7(c) and 8(f)). Even if the side wall Bb of the bag B, including the opening Ba, is folded along one end face Pd and the inner circumferential surface Pe of the packaged item P (film roll), the suction nozzle 21 slides along the surface of the bag B, so that the side wall Bb, including the portion folded toward the inner circumferential surface Pe, can be raised away from the one end face Pd of the film roll.

[0048] Furthermore, from the state shown in Figure 7(c), the linear carriage 31b may be further retracted along the linear guide rail 31a to move the tip of the suction nozzle 21 further outward beyond the outer edge of the packaged object P, and then the suction nozzle 21 may be lowered as needed. This allows the side wall Bb to be further extended outward from the packaged object P.

[0049] Next, the process moves to step S7, where the control device 40 adds 1 to N. Here, since N=1 before step S6, N becomes 2. In step S8, it is determined whether N is greater than 4. Here, since N=2, N is not greater than 4 (No), so the process returns to step S3. As a result, the series of operations from steps S3 to S6 is performed on the second suction nozzle, i.e., the suction nozzle 21 of suction device 2B to which N=2 is assigned. In this way, in step S7, the process N=N+1 is performed, and in step S8, the series of operations from steps S3 to S6 is performed until N becomes greater than 4. As a result, the control device 40 can sequentially perform the series of operations from steps S3 to S6 on the four suction nozzles, from the first to the fourth suction nozzle, i.e., from the suction nozzle 21 of suction device 2A to the suction nozzle 21 of suction device 2D. As a result, the suction nozzles 21 of the suction devices 2A to 2D adsorb and raise the side wall Bb of the bag body B, and a bag opening Bg formed by the side wall Bb can be formed in the bag body B, as shown in Figure 9(a). If the number of suction nozzles 21 is more than four (for example, k), the condition N > k should be set in step S8. In this embodiment, the suction by the suction nozzles 21 of the suction devices 2B to 2D and the movement of the suction nozzles 21 were performed sequentially, but the operations in steps S2 to S5 may be performed simultaneously for all suction nozzles 21.

[0050] In step S8, if N > 4 is satisfied (Yes), the control device 40 can determine that the operations from steps S3 to S6 have been completed for all suction nozzles 21, and proceed to step S9. In step S9, the control device 40 controls the drive unit 3 and, after reaching the second posture, moves each suction nozzle 21 in a direction that separates the openings 21a of the multiple suction nozzles 21 from each other (horizontally outward). Specifically, the linear carriage 31b is retracted along the linear guide rail 31a of the drive units 3A to 3D. If the length of the side wall from the suction position of each suction nozzle 21 after sliding along the side wall Bb of the bag body B to the mouth Ba of the bag body B is relatively long, the lifting carriage 32b may be raised along the lifting guide rail 32a when the linear carriage 31b is retracted.

[0051] As a result, as shown in Figure 9(b), in the second position of the suction nozzle 21, the direction in which the bag B is sucked and the direction in which the bag B is expanded coincide, which stretches the slack in the side wall Bb of the bag B formed between adjacent suction nozzles 21 and widens (expands) the bag opening Bg.

[0052] Next, the process proceeds to step S10, where the control device 40 controls the articulated robot 53 to insert the closed chuck jaws 51 into the inner diameter portion Ph of the film roll through the expanded bag opening Bg, and the chuck jaw opening / closing device 52 opens the chuck jaws 51 to chuck the packaged item P (film roll).

[0053] Finally, proceeding to step S11, as shown in Figure 9(c), the control device 40 moves the suction nozzle 21 away from the packaging surface Pa (upward) until it is separated from the opening Ba of the bag B. Specifically, the control device 40 further raises the lifting carriage 32b along the lifting guide rail 32a. This stretches out the wrinkles in the side wall Bb from the portion of the side wall Bb of the bag B that is adsorbed by the suction nozzle 21 to the opening Ba of the bag B, allowing the opening Ba of the bag B to be opened into a stable shape. In this way, the chuck device 50 can smoothly remove the packaged item P (film roll) from the bag B.

[0054] The suction devices 2A to 2D are equipped with a pressure gauge (not shown) for measuring the pressure inside the suction nozzle 21. In step S4, if the measured pressure of the suction nozzle 21 does not reach a predetermined negative pressure, or if the measured pressure of the suction nozzle 21 becomes atmospheric pressure during steps S5 or S6, it can be determined that the bag B has not been successfully sucked up by the suction nozzle 21. When the control device 40 receives such a measured pressure (signal) from the pressure gauge of the corresponding suction device (for example, suction device 2A), it controls the corresponding drive device (for example, drive device 3A) to return the suction nozzle 21 of the corresponding suction device to above the adsorption position (for example, adsorption position p1) indicated in step S1, and retries the control in steps S3 to S6. The control device 40 may interrupt the suction by the corresponding suction device (for example, suction device 2A) before returning the suction nozzle 21 to above the adsorption position.

[0055] Furthermore, if such retries are repeated multiple times (more than a predetermined number of times), it can be determined that the suction nozzle 21 cannot suction the bag B. Therefore, the control device 40 controls the transport device (not shown) to dispense the packaging box F containing this package E and bring in a new packaging box F containing another package E. Subsequently, the control device 40 performs the series of controls from step S1 on the new package E that has been brought in.

[0056] In this embodiment, the four flaps Fa of the packaging box F were in an open state. However, as shown in Figure 10(a), the four flaps Fa of the packaging box F may be raised by a suction pad 88 consisting of a bellows of an opening / closing device (not shown) for opening the flaps Fa. In this case, the control device 40 moves each suction nozzle 21 above the flaps Fa and raises the side walls Bb of the bag body B along the flaps Fa. Then, as shown in Figure 10(b), the control device 40 further rotates the suction nozzle 21 to further open the bag opening of the bag body B and moves the suction nozzle 21 away from the packaging surface Pa (upward) until it is separated from the mouth Ba of the bag body B. As a result, as shown in Figure 10(c), the bag body B is folded back and caught on the four flaps Fa. In this way, the four flaps Fa can hold the opened bag body B in a stable state.

[0057] 3. Configuration and effects of the bag opening system 1 and its control device 40 This embodiment can be summarized as follows: (1) The bag opening system 1 is a bag opening system that opens the opening Ba of a packaged body E in which the packaged item P is wrapped in the bag body B by folding the side wall Bb of the bag body B, including the opening Ba, toward the packaging surface Pa of the packaged item P. The bag opening system 1 comprises an adsorption unit 2 having a plurality of adsorption members (in this embodiment, a suction nozzle 21 as an example) that adsorb the bag body B, and a drive unit 3 that moves each adsorption member. The adsorption unit 2 is set to an adsorption force such that the adsorption members slide along the surface of the bag body B while adsorbed to the bag body B by the movement of the adsorption members by the drive unit 3. The adsorption unit 2 adsorbs the side wall Bb of the folded bag body B to each adsorption member at adsorption positions p1 to p4 along the fold line Bc of the bag body B. The drive unit 3 maintains the state in which the adsorption members are adsorbed to the bag body B, and moves each adsorption member that is adsorbed to the bag body B at adsorption positions p1 to p4 in a direction away from the packaging surface Pa of the packaged item P.

[0058] According to the bag opening system 1 of this embodiment, the suction unit 2 can attach each suction member to the folded side wall Bb of the bag B at suction positions p1 to p4 along the fold line Bc of the bag B. Next, the drive unit 3 can move each suction member attached to the bag B at suction positions p1 to p4 in a direction away from the packaging surface Pa of the packaged item P, while maintaining the state in which the suction members are attached to the bag B. As a result, the suction members can slide along the surface of the side wall Bb of the bag B, causing the side wall Bb of the bag B that is folded toward the packaging surface Pa to stand up or spread the side wall Bb outward. This makes it possible to form a bag opening Bg in the bag B, which is formed by the side wall Bb.

[0059] The adsorption member is not particularly limited in its configuration as long as the adsorption force can be set; for example, it may be a permanent magnet or an electromagnet. In this embodiment, the following configurations are preferred.

[0060] (2) The adsorption member is a cylindrical suction nozzle 21 having an opening 21a that sucks the surface of the bag B using the adsorption force as a suction force, and the suction nozzle 21 has an internal space S into which a part Bp of the bag B in the suction state enters through the opening 21a. In this embodiment, a portion Bp of the bag B, sucked in by suction force through the opening 21a of the suction nozzle 21, enters the internal space S through the opening 21a of the suction nozzle 21. This makes it difficult for a gap to form between the opening 21a and the bag B, and the movement of the suction nozzle 21 by the drive unit 3 makes it easier for the suction nozzle 21 to slide stably along the surface of the bag B while being adsorbed to the bag B.

[0061] (3) The end face 21b that forms the opening 21a of the suction nozzle 21 is rounded and raised in the direction of the axis L of the suction nozzle 21. According to this embodiment, the end face 21b forming the opening 21a of the suction nozzle 21 is rounded and raised in the direction of the axis L of the suction nozzle 21, making it easier to insert a part Bp of the bag body B into the internal space S with respect to the moving suction nozzle 21 compared to the case where the end face is flat. Furthermore, even if there are wrinkles in the part of the bag body B located in front of the opening 21a of the moving suction nozzle 21 in the direction of travel, the suction nozzle 21 can be smoothly slid along the surface of the bag body B.

[0062] (4) The end face 21b that forms the opening 21a of the suction nozzle 21 is made of resin material. In this embodiment, since the end face 21b that forms the opening 21a of the suction nozzle 21 is made of a resin material, the suction nozzle 21 can easily slide smoothly along the surface of the bag B.

[0063] (5) The drive unit 3 moves each suction nozzle 21 that has been adsorbed to the bag body B at the adsorption position toward the packaging surface Pa of the packaged item P, and rotates the suction nozzle 21 from a first position facing the packaging surface Pa to a second position facing inward of the bag body B. In this embodiment, each suction nozzle 21 that is adsorbed to the bag body B at the adsorption position is rotated from a first position to a second position while moving away from the packaging surface Pa of the packaged item P. As a result, the direction in which the bag body B is sucked and the direction in which the bag body B is expanded coincide, making it easier to widen the bag opening Bg formed in the bag body B.

[0064] (6) After reaching the second position, the drive unit 3 moves each suction nozzle 21 in a direction that separates the openings 21a of the multiple suction nozzles 21 from each other, and then moves the suction nozzles 21 in a direction away from the packaging surface Pa until they are separated from the opening Ba of the bag body B. In this embodiment, in the second posture, the direction in which the bag B is sucked and the direction in which the bag B is expanded coincide, so that the slack in the side wall Bb of the bag B formed between adjacent suction nozzles 21 is stretched, and the bag opening Bg can be widened. In this state, the drive unit 3 further moves the suction nozzle 21 in the direction Z away from the packaging surface Pa until it is separated from the mouth Ba of the bag B. This stretches the wrinkles in the side wall Bb from the portion of the side wall Bb of the bag B that is adsorbed by the suction nozzle 21 to the mouth Ba of the bag B, and the mouth Ba of the bag B can be widened in a stable shape.

[0065] (7) The suction unit 2 is provided with an elastic body 23 at the base end of the suction nozzle 21 that absorbs the force acting on the suction nozzle 21 along the axial direction of the suction nozzle 21. According to this embodiment, when the suction nozzle 21 sucks the side wall Bb at suction positions p1 to p4, even if the end face 21b forming the opening 21a of the suction nozzle 21 is pressed against the packaged object E, the elastic body 23 compresses and deforms, absorbing the force from the suction nozzle 21. This makes it possible to avoid excessive pressure of the suction nozzle 21 against the packaged object P. In addition, when each suction nozzle 21, which is adsorbed to the bag body B at the adsorption position, is moved in the direction Z away from the packaging surface Pa of the packaged item P, the restoring force of the compressed and deformed elastic body 23 pushes the suction nozzle 21 toward the bag body B. As a result, when the moving suction nozzle 21 moves away from the packaging surface Pa of the packaged item P via the bag body B, the bag body B, which is adsorbed to the suction nozzle 21, becomes less likely to detach from the suction nozzle 21.

[0066] (8) The packaged item P is a film roll having an inner diameter portion. The film roll is packaged in the bag B by folding the side wall Bb of the bag B, including the opening Ba, along the one end face Pd and the inner circumferential surface Pe of the inner diameter portion Ph, with the packaging surface Pa of the film roll in the bag B being one end face Pd and the inner circumferential surface Pe of the film roll. The bag opening system 1 is a unit that opens the opening Ba of the bag B in which the film roll is packaged. According to this embodiment, even if the side wall Bb of the bag body B, including the opening Ba, is folded along one end face Pd and the inner circumferential surface Pe of the film roll, the side wall Bb, including the portion folded to the inner circumferential surface Pe, can be raised from one end face Pd of the film roll by sliding the surface of the bag body B along with the suction nozzle 21.

[0067] (9) The control program for the bag opening system 1 is a control program that causes the processor to execute the control of the bag opening system 1, which opens the opening Ba of the packaged body E in which the packaged goods P are wrapped in the bag body B by folding the side wall Bb of the bag body B, including the opening Ba, inward. The control program causes the processor to control the adsorption of each adsorption member of the adsorption unit 2, which has a plurality of adsorption members that adsorb to the bag body B, and the movement of the adsorption members by the drive unit 3 that moves each adsorption member. The adsorption unit 2 is set to an adsorption force such that the adsorption members slide along the surface of the bag body B while adsorbed to the bag body B by the movement of the adsorption members by the drive unit. The control program includes a suction step in which each suction member adheres to the side wall Bb of the folded bag B at suction positions p1 to p4 along the fold line Bc of the bag B, and a movement step in which, while maintaining the state in which the suction member adheres to the bag B, each suction member that has adhered to the bag B at suction positions p1 to p4 is moved in a direction away from the packaging surface Pa of the packaged item P. The control device 40 of the bag opening system 1 of this embodiment provides the same effect as the effect shown in (1).

[0068] (10) In the control program, the movement step is a step in which the drive unit 3 is controlled to move the suction nozzles 21, which are suction members that have been adsorbed to the bag body B at the adsorption position, in a direction away from the packaging surface Pa of the packaged item P, and rotates the suction nozzles 21 so that the orientation of the opening 21a of the suction nozzles 21 changes from a first position facing the packaging surface Pa to a second position facing inward to the bag body B. According to this embodiment, the same effect as that shown in (5) is achieved.

[0069] (11) In the control program, the movement step further includes the step of controlling the drive unit 3 to move each suction nozzle 21 in a direction in which the openings 21a of the plurality of suction nozzles 21 move away from each other after reaching the second posture, and moving the suction nozzles 21 in a direction away from the packaging surface Pa until they are separated from the mouth Ba of the bag body B. This embodiment produces an effect equivalent to that shown in (6).

[0070] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims. [Explanation of Symbols]

[0071] 1: Bag opening system, 2: Suction unit, 3: Drive unit, 21: Suction nozzle (suction member), 21a: Opening, 21b: End face, 23: Elastic body, 40: Control device, B: Bag body, Ba: Mouth, Bb: Side wall, Bc: Fold line, E: Packaging body, P: Packaged item (film roll), p1~p4: Suction position, Pa: Packaging surface, Pd: End face, Pe: Inner circumferential surface, Ph: Inner diameter part, S: Internal space

Claims

1. A bag opening system that opens the opening of a package containing an item by folding the side wall of the bag, including the opening, toward the packaging surface of the item to be packaged, An adsorption unit having a plurality of adsorption members that adsorb the bag, It comprises a drive unit for moving each of the aforementioned adsorption members, The adsorption unit is set to an adsorption force such that the adsorption member slides along the surface of the bag body while adsorbed to it, due to the movement of the adsorption member by the drive unit. The adsorption unit adsorbs the side walls of the folded bag body to each adsorption member at an adsorption position along the fold line of the bag body, The drive unit is a bag opening system that moves each of the adsorption members adsorbed to the bag at the adsorption position toward the packaging surface of the packaged item, while maintaining the state in which the adsorption members are adsorbed to the bag.

2. The bag opening system according to claim 1, wherein the adsorption member is a cylindrical suction nozzle having an opening formed therein for sucking the surface of the bag body using the adsorption force as a suction force, and the suction nozzle has an internal space formed therein into which a part of the bag body in a suctioned state enters.

3. The bag opening system according to claim 2, wherein the end face forming the opening of the suction nozzle is rounded and raised in the axial direction of the suction nozzle.

4. The bag opening system according to claim 2, wherein the end face forming the opening of the suction nozzle is made of a resin material.

5. The bag opening system according to claim 2, wherein the drive unit rotates each of the suction nozzles, which are adsorbed onto the bag at the adsorption position, in a direction away from the packaging surface of the packaged object, so that the orientation of the opening of each suction nozzle changes from a first position facing the packaging surface to a second position facing inward towards the inside of the bag.

6. The bag opening system according to claim 5, wherein the drive unit, after reaching the second posture, moves each of the suction nozzles in a direction that separates the openings of the plurality of suction nozzles, and then moves the suction nozzles in a direction away from the packaging surface until they are separated from the opening of the bag.

7. The bag opening system according to claim 2, wherein the suction unit is provided with an elastic body on the base end side of the suction nozzle that absorbs the force acting on the suction nozzle along the axial direction of the suction nozzle.

8. The packaged object is a film roll having an inner diameter portion, The film roll, while contained within the bag, is packaged in the bag by folding the side wall of the bag, including the opening, along the one end face and the inner circumferential surface, with the packaging surface of the film roll being one end face and the inner circumferential surface of the inner diameter portion of the film roll. The bag opening system according to claim 1, wherein the bag opening system is a unit that opens the opening of the bag body in which the film roll is packaged.

9. A control program that causes a processor to execute a control of a bag opening system, which involves folding the side wall of the bag body, including the opening, toward the packaging surface of the packaged item, thereby opening the opening of the packaged item in the bag body, The control program causes the processor to control the adsorption of each adsorption member by an adsorption unit having a plurality of adsorption members that adsorb the bag, and the movement of each adsorption member by a drive unit that moves each adsorption member. The adsorption unit is set to an adsorption force such that the adsorption member slides along the surface of the bag body while adsorbed to it, due to the movement of the adsorption member by the drive unit. The control program includes the steps of causing each of the adsorption members to adsorb the side walls of the folded bag body at adsorption positions along the fold lines of the bag body, A control program for a bag opening system, comprising the step of moving each of the adsorption members adsorbed to the bag at the adsorption position toward the packaging surface of the packaged item, while maintaining the state in which the adsorption members are adsorbed to the bag.

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