Bag removal method and bag removal device

Abstract

To provide a bag take-out method and a bag take-out device that are advantageous in properly holding one or more bags.SOLUTION: A bag take-out method includes: acquiring height position information indicating height positions of one or more bags 80 by a height position information acquisition device 32; and holding one or more bags 80 by a holding unit 30 adjusted in at least one of a position and a posture based on the height position information acquired by the height position information acquisition device 32.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a bag removal method and a bag removal device. [Background technology]

[0002] 2. Description of the Related Art There is known a device that removes a bundle of bags from the inside of a storage box such as a cardboard box (see, for example, Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-117310 A Summary of the Invention [Problem to be solved by the invention]

[0004] When removing bag bundles one by one from multiple stacked bag bundles, it is necessary not only to properly hold the bag bundle to be removed with a holding part such as a gripper, but also to avoid losing the posture of the bag bundle or causing any damage such as scratches to the bag bundle.

[0005] In particular, when the bags in each bag bundle are flexible (e.g., flat bags), the thickness of each bag bundle and the position and inclination of the top bag of each bag bundle are not constant due to the warping of each bag, etc. Also, when each bag includes a locally thick portion (e.g., a spout), the relative positions of the bags are difficult to stabilize, and the thickness of each bag bundle is likely to change.

[0006] It is not easy to accurately hold such a bag bundle, which has an unstable thickness, using a holding portion while preventing the bag bundle from losing its posture or being damaged.

[0007] The present disclosure has been made in light of the above circumstances, and provides an advantageous technique for properly retaining one or more bags. [Means for solving the problem]

[0008] One aspect of the present disclosure relates to a bag removal method that includes the steps of acquiring height position information indicating the height position of one or more bags using a height position information acquisition device, and holding the one or more bags using a holding unit whose position and / or posture have been adjusted based on the height position information acquired by the height position information acquisition device.

[0009] In the step of acquiring height position information by the height position information acquisition device, height position information indicating the height position of the surface of a first bag bundle located at the top and a second bag bundle adjacent to each other among a plurality of bag bundles stacked in the vertical direction, in which the bag bundles arranged at adjacent positions in the vertical direction partially overlap, is acquired by the height position information acquisition device, and in the step of holding one or more bags by the holding unit, the holding lower part of the holding unit may be moved to a preparation position derived based on the height position information and determined according to the height position of the surface of a portion of the second bag bundle corresponding to an edge of the first bag bundle, and the holding lower part may be moved from the preparation position to a holding position between the first bag bundle and the second bag bundle.

[0010] The height position information acquisition device may be attached to the holding part and moved together with the lower holding part.

[0011] The height position information acquisition device may acquire gradient information indicating a gradient of a surface of the second bundle based on the height position information of the second bundle, and the preparation position may be derived based on the gradient information.

[0012] The height position information acquisition device acquires height position information indicating the height position of the surface of the first bag bundle, and the preparation position may be derived based on the height position information of the first bag bundle and the height position information of the second bag bundle.

[0013] The height position information acquisition device acquires height position information of the first bag bundle and height position information of the second bag bundle along a measurement path from one of the first measurement point of the first bag bundle and the second measurement point of the second bag bundle to the other, and the holding lower part moves to the preparation position along the holding movement path, and at least a portion of the holding movement path may correspond to the measurement path.

[0014] The lower holding portion may be moved to the preparation position while pressing down on the surface of the second bag bundle.

[0015] Another aspect of the present disclosure relates to a bag removal device comprising: a holding section having a lower holding section and holding one of multiple bag bundles stacked in the vertical direction, wherein adjacent bag bundles arranged in the vertical direction partially overlap each other, the holding section holding a first bag bundle that is located at the top of the multiple bag bundles; a height position information acquisition device that acquires height position information indicating the height position of the surface of a second bag bundle adjacent to the first bag bundle among the multiple bag bundles; and a holding drive section that drives the holding section, wherein the holding drive section moves the holding lower section to a preparation position derived based on the height position information and determined according to the height position of the surface of a portion of the second bag bundle that corresponds to the edge of the first bag bundle, and moves the holding lower section from the preparation position to a holding position between the first bag bundle and the second bag bundle. Effect of the Invention

[0016] The present disclosure is advantageous in that it provides for proper retention of one or more bags. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing an example of a storage box for storing a plurality of bundles of bags. [Diagram 2] FIG. 2 is a plan view for explaining an example of accommodating a plurality of bag bundles in a storage box. [Diagram 3] FIG. 3 is a plan view for explaining an example of accommodating a plurality of bag bundles in a storage box. [Figure 4] FIG. 4 is a plan view for explaining an example of accommodating a plurality of bag bundles in a storage box. [Diagram 5] FIG. 5 is a plan view for explaining an example of accommodating a plurality of bag bundles in a storage box. [Figure 6] FIG. 6 is a diagram showing an example of a bag removal device that removes a bag bundle from a storage box. [Figure 7]FIG. 7 is a functional block diagram illustrating an example of the control device. [Figure 8] FIG. 8 is a diagram showing an example of the relationship between the horizontal movement distance (mm; X-axis) of the holding unit and the height position of the measurement target part derived from the detection results of the height position information acquisition device (i.e., "measurement height position"; mm; Y-axis). [Figure 9] FIG. 9 is a diagram for explaining an example of a bag removal method. [Figure 10] FIG. 10 is a diagram for explaining an example of a bag removal method. [Figure 11] FIG. 11 is a diagram for explaining an example of a bag removal method. [Figure 12] FIG. 12 is a diagram for explaining an example of a bag removal method. [Figure 13] FIG. 13 is a diagram for explaining an example of a bag removal method. [Figure 14] FIG. 14 is a diagram for explaining an example of a bag removal method. [Figure 15] FIG. 15 is a diagram for explaining an example of a bag removal method. [Figure 16] FIG. 16 is a diagram for explaining an example of a bag removal method. [Figure 17] FIG. 17 is a diagram illustrating a bag removal method according to a first modified example. [Figure 18] FIG. 18 is a diagram illustrating a bag removal method according to the first modified example. [Figure 19] FIG. 19 is a plan view of a bag removal device according to a second modified example. [Figure 20] FIG. 20 is a side view of a bag dispensing device according to a second modified example. [Figure 21] FIG. 21 is a graph showing an example of the detection result of the distance detection sensor. [Figure 22] FIG. 22 is a side view showing an example of how a bag is held by a holding section according to the second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] An apparatus and method according to an embodiment of the present disclosure will now be described.

[0019] Fig. 1 is a diagram showing an example of a storage box 70 that stores a plurality of bag bundles 81. Fig. 1 shows a cross-sectional state of the storage box 70, and shows an outline of the state of the plurality of bag bundles 81 arranged inside the storage box 70.

[0020] In the example shown in FIG. 1, a plurality of bag bundles 81 are stacked in the height direction inside the storage box 70. Each of the plurality of bag bundles 81 stored in the storage box 70 includes one or more bags 80, and the plurality of bag bundles 81 stored in each storage box 70 includes two or more bag bundles 81 each consisting of two or more bags 80. In each storage box 70, each of the plurality of bag bundles 81 partially overlaps another bag bundle 81 arranged at an adjacent position in the stacking direction (height direction). In other words, two bag bundles 81 arranged adjacent to each other in the stacking direction are stored in the storage box 70 in a state where they are shifted from each other in the width direction (first horizontal direction Dh1 (see FIGS. 2 to 5) described later).

[0021] The "two bag bundles 81 arranged adjacent to each other in the stacking direction" referred to here means two bag bundles 81 arranged consecutively in the stacking direction, regardless of whether they are in contact with each other. When multiple bag bundles 81 are stacked while being shifted in the width direction, the bag bundle 81 that is the first to be stacked and the bag bundle 81 that is the second to be stacked correspond to the "two bag bundles 81 arranged adjacent to each other in the stacking direction" referred to here. On the other hand, the bag bundle 81 that is the first to be stacked and the bag bundle 81 that is the third to be stacked do not correspond to the "two bag bundles 81 arranged adjacent to each other in the stacking direction" referred to here, even if they are in contact with each other. In this way, the bag bundles 81 that are consecutively stacked correspond to "two bag bundles 81 arranged adjacent to each other in the stacking direction", but the bag bundles 81 that are discontinuously stacked do not correspond to "two bag bundles 81 arranged adjacent to each other in the stacking direction".

[0022] In the storage box 70 shown in Fig. 1, the lid is open and the top surface is open to form an opening. The storage box 70 is covered with a vinyl body PL that extends from the inside to the outside of the storage box 70. A plurality of bag bundles 81 in the storage box 70 are placed on the vinyl body PL that covers the inside of the storage box 70. The bag bundle 81 located at the lowest position in the height direction in the storage box 70 is placed on the vinyl body PL.

[0023] In each of the bag bundles 81 including two or more bags 80, the two or more bags 80 are stored in the storage box 70 in a state in which they partially overlap other bags 80 arranged adjacent to each other in the stacking direction. In particular, it is preferable to shift the two or more bags 80 included in the bag bundle 81 in a direction perpendicular to the direction in which the two bag bundles 81 arranged adjacent to each other in the storage box 70 are shifted (a second horizontal direction Dh2 (see FIGS. 2 to 5) described below). By shifting the bag bundles 81 arranged adjacent to each other in the stacking direction in this manner, and by shifting the bags 80 included in the same bag bundle 81 and arranged adjacent to each other in the stacking direction, it is possible to store a large number of bags 80 in the storage box 70 with good space efficiency.

[0024] Each bag bundle 81 includes a plurality of bags 80 stacked in the height direction (stacking direction). In the example shown in FIG. 1, all the bag bundles 81 stored in each storage box 70 each include two or more bags 80. All the bag bundles 81 stored in each storage box 70 include the same number of bags 80. Each bag 80 has a thick portion 84 that is locally thicker than other portions. The illustrated thick portion 84 is configured by a so-called spout, and is located at one of the four corner portions of each bag 80 (particularly the main body of each bag 80), which has a roughly rectangular planar shape. In the bag bundle 81 including a plurality of bags 80, a plurality of bag bundles 81 (i.e., a plurality of bags 80) are stacked in each storage box 70 so that the thick portions 84 do not overlap with each other between the bags 80 arranged adjacent to each other in the stacking direction.

[0025] 1, in a bag bundle 81 including two or more bags 80, the two or more bags 80 have the same orientation as each other. In the storage box 70, the front and back surfaces of each bag 80 are oriented in a common stacking direction among the bags 80. For example, the front surfaces of all the bags 80 in the storage box 70 may be oriented upward and the back surfaces downward, or the front surfaces of all the bags 80 may be oriented downward and the back surfaces upward.

[0026] 2 to 5 are plan views for explaining an example of accommodating a plurality of bundles of bags 81 in the storage box 70. In Figs. 2 to 5, the vinyl bodies PL are omitted from the illustration.

[0027] Fig. 3 shows the state after the uppermost bundle 81 (i.e., first bundle 81a) has been removed from the storage box 70 shown in Fig. 2. Fig. 4 shows the state after the uppermost bundle 81 has been removed from the storage box 70 shown in Fig. 3. Fig. 5 shows the state after the uppermost bundle 81 has been removed from the storage box 70 shown in Fig. 4. The state after the uppermost bundle 81 has been removed from the storage box 70 shown in Fig. 5 is as shown in Fig. 2.

[0028] In this embodiment, four types of bag bundles 81 (first type P1 to fourth type P4) are considered to be one set. This set (i.e., the four types of patterns) is repeatedly and regularly stacked in the stacking direction (i.e., the height direction), so that a plurality of bag bundles 81 are stored in the storage box 70.

[0029] Of the multiple bag bundles 81 stored in the storage box 70, four bag bundles 81 stacked continuously in the stacking direction each have a first aspect P1, a second aspect P2, a third aspect P3, and a fourth aspect P4.

[0030] Each bag 80 included in the bag bundle 81 of the first mode P1 is shifted in position in the first horizontal direction Dh1 relative to each bag 80 included in the bag bundle 81 of the second mode P2, and has the same orientation in the second horizontal direction Dh2 perpendicular to the first horizontal direction Dh1 (see FIGS. 2 and 3). Each bag 80 included in the bag bundle 81 of the second mode P2 is shifted in position in the first horizontal direction Dh1 relative to each bag 80 included in the bag bundle 81 of the third mode P3, and has the opposite orientation in the second horizontal direction Dh2 (see FIGS. 3 and 4).

[0031] Each bag 80 included in the bag bundle 81 of the third embodiment P3 is shifted in position in the first horizontal direction Dh1 and has the same orientation in the second horizontal direction Dh2 as each bag 80 included in the bag bundle 81 of the fourth embodiment P4 (see FIGS. 4 and 5). Each bag 80 included in the bag bundle 81 of the fourth embodiment P4 is shifted in position in the first horizontal direction Dh1 and has the opposite orientation in the second horizontal direction Dh2 to each bag 80 included in the bag bundle 81 of the first embodiment P1 (see FIGS. 5 and 2).

[0032] In the example shown in Figs. 2 to 5, the bag bundle 81 of the first mode P1 and the bag bundle 81 of the third mode P3 are arranged in substantially the same position (right side position in Figs. 2 to 5) in the first horizontal direction Dh1 and the second horizontal direction Dh2. The bag bundle 81 of the second mode P2 and the bag bundle 81 of the fourth mode P4 are arranged in substantially the same position (left side position in Figs. 2 to 5) in the first horizontal direction Dh1 and the second horizontal direction Dh2. Between the first mode P1 and the second mode P2, the thick portion 84 is arranged in the same directional position in each bag 80 (upper right position in Figs. 2 to 5). Between the third mode P3 and the fourth mode P4, the thick portion 84 is arranged in the same directional position in each bag 80 (lower left position in Figs. 2 to 5).

[0033] The space inside each of the illustrated storage boxes 70 has a rectangular planar shape. Each bag 80 has a generally rectangular planar shape. The bags 80 included in each of the bag bundles 81 of the first embodiment P1 to the fourth embodiment P4 are arranged in the storage box 70 over substantially the same range in the second horizontal direction Dh2, and in the illustrated example, are arranged over substantially the entire inner space of the storage box 70 in the second horizontal direction Dh2.

[0034] Therefore, among the multiple bag bundles 81 contained in the storage box 70, the bag bundle 81 located at the top in the stacking direction (i.e., the first bag bundle 81a) and the bag bundle 81 located adjacent to the first bag bundle 81a in the stacking direction (i.e., the second bag bundle 81b) are arranged as follows: That is, the first bag bundle 81a is stacked on the second bag bundle 81b inside the storage box 70, but is shifted from the second bag bundle 81b in the first horizontal direction Dh1. Furthermore, each of the first bag bundle 81a and the second bag bundle 81b includes two or more bags 80 stacked so as to be shifted from each other in the second horizontal direction Dh2.

[0035] As described above, in the illustrated example, in each storage box 70, two bag bundles 81 of different modes (e.g., the bag bundle 81 of the third mode P3 and the bag bundle 81 of the fourth mode P4) adjacent to each other in the stacking direction are placed on top of other two bag bundles 81 of different modes (e.g., the bag bundle 81 of the first mode P1 and the bag bundle 81 of the second mode P2) that are oriented in the opposite direction to the second horizontal direction Dh2 of the two bag bundles 81. This allows the horizontal position of the thick portion 84 to be shifted between the bag bundles 81 of the first mode P1 to the fourth mode P4, and allows multiple bag bundles 81 (i.e., multiple bags 80) to be stored in the storage box 70 with good space efficiency.

[0036] On the other hand, there are some locations in the storage space of the storage box 70 where the thick portion 84 exists and some locations where the thick portion 84 does not exist (see the locations indicated by the symbol "Q" in FIG. 2). In this way, the thickness of each bag bundle 81 and the overall thickness of the stacked bag bundles 81 are not constant, and unevenness occurs in the height positions of the stacked bag bundles 81 within the storage box 70.

[0037] Fig. 6 is a diagram showing an example of a bag removal device 10 removing a bag bundle 81 from a storage box 70. Fig. 6 shows a holding unit 29 (see dotted line) before moving in the horizontal direction, and the holding unit 29 after moving in the horizontal direction.

[0038] The bag removal device 10 includes a holding unit 30, a position detection unit 31, and a height position information acquisition device 32. In the example shown in Fig. 6, the holding unit 30, the position detection unit 31, and the height position information acquisition device 32 are provided integrally, moved integrally by a movement mechanism 22 (see Fig. 2), and have their orientation changed integrally by an orientation adjustment mechanism 23 (see Fig. 2). The holding unit 30, the position detection unit 31, and the height position information acquisition device 32 having an integral configuration are collectively referred to as a holding unit 29.

[0039] The holding unit 30 is provided so as to be able to hold each of the multiple bag bundles 81 that are contained in the storage box 70 and stacked in the stacking direction. The illustrated holding unit 30 has a chuck structure that clamps and grips each bag bundle 81 in the stacking direction (i.e., the height direction).

[0040] The moving mechanism 22 is attached to the holding part 30 via a direction adjustment mechanism 23. The moving mechanism 22 and the direction adjustment mechanism 23 can move the holding unit 29 under the control of a control device (see FIG. 7).

[0041] The moving mechanism 22 shown in FIG. 6 is configured by a multi-joint robot, and includes a plurality of arms and a plurality of joints that swingably connect adjacent arms. A direction adjustment mechanism 23 is attached to the distal arm. The proximal arm is supported by a base. A drive device such as a servo motor is provided on each joint and the base. The angle between adjacent arms can be adjusted by the drive device provided on each joint. The drive device provided on the base can rotate the moving mechanism 22 around a pivot axis extending along the vertical direction. These drive devices are driven under the control of a control device, and the moving mechanism 22 moves the holding unit 29 three-dimensionally. The configuration of the moving mechanism 22 is not limited to the example shown in the figure. For example, the whole or part of the moving mechanism 22 may be configured by another multi-joint robot (for example, another horizontal multi-joint robot (SCARA robot)), a parallel link robot, or an orthogonal robot.

[0042] The orientation adjustment mechanism 23 has a holding unit 29 attached thereto, and can change the orientation of the holding unit 29 in the horizontal direction under the control of a control device (see FIG. 7). The illustrated orientation adjustment mechanism 23 includes a rotating body. This rotating body is fixedly attached to the holding unit 29 and rotates integrally with the holding unit 29. Meanwhile, this rotating body is rotatably attached to the moving mechanism 22 (particularly the distal arm portion). By rotating the rotating body of the orientation adjustment mechanism 23 under the control of the control device, the holding unit 29 can be rotated without rotating the moving mechanism 22, thereby changing the orientation of the holding unit 29.

[0043] The position detection unit 31 detects the position of the holding unit 29 (including the holding section 30) in the stacking direction (i.e., the height direction). Specifically, the position detection unit 31 directly or indirectly detects the position of the holding unit 29 (holding section 30) relative to the bag bundle 81 in the storage box 70. The position detection unit 31 shown in Fig. 6 detects the height position of the holding unit 29 (holding section 30) based on the height position of the uppermost bag bundle 81 in the storage box 70, as described later.

[0044] A connecting plate 38 is attached to the arm portion on the tip side of the moving mechanism 22 via the orientation adjustment mechanism 23. A mounting frame 36 is fixed to the connecting plate 38. The mounting frame 36 has a first mounting frame and a second mounting frame of a symmetrical structure arranged side by side in the horizontal direction (i.e., the depth direction of the paper surface of FIG. 6). Each of the first mounting frame and the second mounting frame has a vertical portion extending in the height direction and a horizontal portion extending horizontally from a lower end of the vertical portion.

[0045] A common opening / closing drive unit 33 is fixed to the first mounting frame and the second mounting frame (particularly the vertical portion). The opening / closing drive unit 33 is preferably configured with an air cylinder, and has a drive shaft that moves back and forth in the height direction under the control of the control device. A holding movable unit 34 is fixed to the drive shaft. The height position of the holding movable unit 34 is determined according to the movement of the drive shaft back and forth in the height direction.

[0046] A holding and fixing part (lower holding part) 35 is attached to the first mounting frame and the second mounting frame (particularly the horizontal part). The holding and fixing part 35 is disposed at a position facing the holding movable part 34 in the height direction. The illustrated holding and fixing part 35 has a first holding and fixing part and a second holding and fixing part. The first holding and fixing part is provided integrally with the first mounting frame and extends in the horizontal direction. The second holding and fixing part is provided integrally with the second mounting frame and extends in the horizontal direction. The first holding and fixing part and the first mounting frame may be made of the same material. The second holding and fixing part and the second mounting frame may be made of the same material.

[0047] The holding unit 30 includes a movable holding unit 34 and a fixed holding unit 35 as a chuck structure. Each bag bundle 81 contained in the storage box 70 is movably held by being sandwiched in the stacking direction (i.e., the height direction) by the movable holding unit 34 and the fixed holding unit 35.

[0048] A guide surface 40b is formed at the tip of the horizontal portion of the first mounting frame and the second mounting frame, which guides the first bag bundle 81a onto the holding and fixing part 35. The guide surface 40b is configured as an inclined surface whose height direction position changes smoothly. When the holding part 30 moves from the preparation position described below to the holding position, the first bag bundle 81a rides up the guide surface 40b and is then smoothly guided toward the holding and fixing part 35.

[0049] A mounting plate 37 is fixed to the first mounting frame (particularly the vertical portion). The illustrated mounting plate 37 has a vertical plate portion extending in the height direction and a horizontal plate portion extending horizontally from a lower end of the vertical plate portion. For example, it is possible to form the mounting plate 37 having the vertical plate portion and the horizontal plate portion by partially bending a single plate. The vertical plate portion of the mounting plate 37 is fixed to the first mounting frame (particularly the vertical portion). A swing detection sensor 39 is fixed to the horizontal plate portion of the mounting plate 37.

[0050] A swing shaft 41 is fixed to the first mounting frame and the second mounting frame. The swing shaft 41 is located between the first mounting frame and the second mounting frame. In the illustrated example, the swing shaft 41 is connected to a portion where the vertical portion and the horizontal portion of each of the first mounting frame and the second mounting frame are connected. The swing body 40 is supported by the swing shaft 41 so as to be swingable relative to the first mounting frame and the second mounting frame.

[0051] The oscillating body 40 oscillates around the oscillating axis 41 when subjected to a force acting in the height direction. A detection plate 40a is provided as a part of the oscillating body 40. The detection plate 40a is located on one side of the oscillating axis 41 in the horizontal direction and faces the oscillation detection sensor 39 in the height direction. The distance between the detection plate 40a and the oscillation detection sensor 39 changes depending on the oscillation state of the oscillating body 40 (i.e., the oscillation angle of the oscillating body 40 around the oscillating axis 41). When the oscillating body 40 is not subjected to an external force, the detection plate 40a is located relatively upward under the influence of gravity, and the distance between the detection plate 40a and the oscillation detection sensor 39 becomes relatively small. On the other hand, when the oscillating body 40 (particularly the part of the oscillating body 40 that is horizontally opposite the detection plate 40a with respect to the oscillation axis 41) receives a force from below, the oscillating body 40 oscillates so that the detection plate 40a moves away from the oscillation detection sensor 39, the detection plate 40a is positioned relatively downward, and the distance between the detection plate 40a and the oscillation detection sensor 39 increases.

[0052] In this way, the rocking body 40 has a lever structure that moves integrally with the holding portion 30 (for example, the movable holding portion 34 and the fixed holding portion 35) and rocks in response to a force acting in the stacking direction (ie, the height direction).

[0053] The swing detection sensor 39 detects the swing state of the swinging body 40. As described above, the distance between the swing detection sensor 39 and the detection plate 40a changes depending on the swing state of the swinging body 40. The swing detection sensor 39 of this embodiment is switched on and off depending on the distance between the swing detection sensor 39 and the detection plate 40a. That is, the swing detection sensor 39 is turned on when the distance between the detection plate 40a and the swing detection sensor 39 is equal to or greater than a predetermined size, and is turned off when the distance is smaller than the predetermined size. Therefore, the swing state of the swinging body 40 can be detected from the on / off state of the swing detection sensor 39. Note that information regarding the on / off state of the swing detection sensor 39 is sent from the swing detection sensor 39 to the control device.

[0054] A first rotating body 42a, a second rotating body 42b, and a swing stopper 43 are provided between the horizontal portion of the first mounting frame and the horizontal portion of the second mounting frame. The first rotating body 42a is rotatably supported by a first rotating support shaft 42c fixed to the first mounting frame and the second mounting frame. The second rotating body 42b is rotatably supported by a second rotating support shaft 42d fixed to the first mounting frame and the second mounting frame. The swing stopper 43 is directly fixed to the first mounting frame and the second mounting frame between the first rotating body 42a and the second rotating body 42b. The first rotating body 42a, the second rotating body 42b, and the swing stopper 43 are located on the opposite side of the detection plate 40a via the swing shaft 41 in the horizontal direction.

[0055] When the holding unit 30 is moved from the preparation position to the holding position as described below, the first rotating body 42a and / or the second rotating body 42b rotate while applying pressure to the bag bundle 81 (i.e., the second bag bundle described below). By pressing the first rotating body 42a and / or the second rotating body 42b against the bag bundle 81 while allowing the first rotating body 42a and / or the second rotating body 42b to rotate when the rocking body 40 slides over the bag bundle 81 in this manner, it is possible to effectively prevent the bag bundle 81 from being damaged by the rocking body 40.

[0056] The oscillator 40 has a first rotor hole 44a, a second rotor hole 44b, and a stopper hole 45 formed at positions corresponding to the first rotary support shaft 42c, the second rotary support shaft 42d, and the oscillation stopper 43, respectively. The first rotor hole 44a, the second rotor hole 44b, and the stopper hole 45 are located on the opposite side of the oscillation shaft 41 from the detection plate 40a in the horizontal direction. The first rotor hole 44a can accommodate the first rotary support shaft 42c, the second rotor hole 44b can accommodate the second rotary support shaft 42d, and the stopper hole 45 can accommodate the oscillation stopper 43. Each of the first rotor hole 44a, the second rotor hole 44b, and the stopper hole 45 may be entirely surrounded by the oscillator 40, or may be partially cut out and only partially surrounded by the oscillator 40. The illustrated first rotor hole 44a has a groove shape with a portion cut out, and the first rotary support shaft 42c is disposed inside and / or outside the first rotor hole 44a depending on the swing state of the swing body 40. The illustrated second rotor hole 44b and stopper hole 45 do not have a cutout and are entirely surrounded by the swing body 40. The second rotary support shaft 42d and swing stopper 43 are always disposed in the second rotor hole 44b and stopper hole 45 regardless of the swing state of the swing body 40.

[0057] When the oscillating body 40 oscillates within a pre-estimated oscillating range, the oscillating body 40 can oscillate without colliding with the first rotation support shaft 42c, the second rotation support shaft 42d, and the oscillating stopper 43. The oscillating range of the oscillating body 40 is determined by taking the position where the oscillating stopper 43 arranged in the stopper hole 45 collides with the oscillating body 40 as the boundary position.

[0058] The position detection unit 31 has the above-mentioned oscillating body 40 (including the detection plate 40a) and an oscillation detection sensor 39, and can detect the position of the holding unit 30 in the stacking direction (i.e., height direction) relative to the object with which the oscillating body 40 comes into contact depending on the on / off state of the oscillation detection sensor 39.

[0059] For the configuration and operation of the holding unit 30 and the position detection unit 31 of this embodiment, please refer to the holding unit and position detection unit described in JP 2020-117310 A.

[0060] The height position information acquisition device 32 acquires height position information indicating the height position of the measurement target portion (the bag bundle 81). The height position information acquisition device 32 shown in FIG. 6 has a light entrance / exit surface 32a that emits measurement light and receives reflected measurement light. The measurement light travels straight along the vertical direction from the light entrance / exit surface 32a and is reflected by the measurement target portion. Then, a part or all of the measurement light reflected by the measurement target portion is received by the light entrance / exit surface 32a. The height position information acquisition device 32 detects the distance from the light entrance / exit surface 32a to the measurement target portion according to the emission state and reception state of the measurement light at the light entrance / exit surface 32a (for example, the time from emission to reception). Then, the height position information acquisition device 32 acquires height position information of the measurement target portion (the first bag bundle 81a and the second bag bundle 81b in this embodiment) based on the detection result.

[0061] FIG. 7 is a functional block diagram showing an example of the control device 60. As shown in FIG.

[0062] The control device 60 of this embodiment has a movement position derivation unit 61, a movement control unit 62, an orientation control unit 63 and a holding control unit 64, and is connected to a position detection unit 31 (particularly a swing detection sensor 39), a height position information acquisition device 32, a movement mechanism 22, an orientation adjustment mechanism 23 and an opening / closing drive unit 33.

[0063] The movement position derivation unit 61 derives a movement position of the holding unit 29 (i.e., the holding unit 30, the position detection unit 31, and the height position information acquisition device 32). In this embodiment, in order to remove one bag bundle 81 (particularly the first bag bundle 81a) from the storage box 70, the holding unit 29 is moved via a plurality of movement positions (including a preparation position and a holding position, which will be described later). The movement position derivation unit 61 derives these movement positions to which the holding unit 29 is moved, based on the detection result of the position detection unit 31 and height position information of the bag bundle 81 in the storage box 70 acquired by the height position information acquisition device 32.

[0064] In this embodiment, the movement positions derived by the movement position derivation unit 61 are determined based on the height direction distance and the horizontal direction distance before and after the movement, but may be determined based on other information. For example, each of the movement positions may be determined based on coordinate information such as three-dimensional coordinates.

[0065] The movement control unit 62 controls the movement mechanism 22 based on information on the multiple movement positions derived by the movement position derivation unit 61, and moves the holding unit 29. As a result, the holding unit 29 moves via the multiple movement positions. The holding unit 29 may stop at each movement position, or may pass through each movement position without stopping.

[0066] The orientation control unit 63 controls the orientation adjustment mechanism 23 to adjust the orientation of the holding unit 29. That is, under the control of the orientation control unit 63, the orientation adjustment mechanism 23 adapts the orientation of the holding unit 29 to the bag bundle 81 to be removed from within the storage box 70 (i.e., the first bag bundle 81a).

[0067] In this embodiment, since the orientation of the bundle of bags 81 to be removed in the storage box 70 changes regularly as described above, the orientation of the holding unit 29 adapted to the bundle of bags 81 to be removed also changes regularly. Therefore, the optimal orientation of the holding unit 29 in response to removal of the bundle of bags 81 from the storage box 70 (particularly the orientation with respect to the first horizontal direction Dh1) can be determined in advance. The orientation control unit 63 in this embodiment controls the orientation adjustment mechanism 23 in accordance with a predetermined program, and regularly changes the orientation of the holding unit 29 with respect to the first horizontal direction Dh1 in response to the operation of the holding unit 29 to remove the bundle of bags 81, thereby adapting the orientation of the holding unit 29 to the bundle of bags 81 to be removed.

[0068] The holding control unit 64 controls the opening / closing drive unit 33 to move the holding movable unit 34. By moving the holding movable unit 34 to adjust the distance between the holding movable unit 34 and the holding fixed unit 35, the bag bundle 81 can be held by the holding movable unit 34 and the holding fixed unit 35, or the bag bundle 81 can be released from the holding movable unit 34 and the holding fixed unit 35.

[0069] The holding unit 30 of this embodiment holds the bag bundle 81 in a recumbent position by gripping it from above and below. Specifically, the holding movable unit 34 and the holding fixed unit 35 are positioned above the bag bundle 81 to be removed and below the bag bundle 81 to be removed, with the holding movable unit 34 and the holding fixed unit 35 positioned below the bag bundle 81. Therefore, prior to the step of gripping the bag bundle 81 to be removed (gripping step), a step of positioning the holding movable unit 34 and the holding fixed unit 35 above and below the bag bundle 81, respectively, is performed.

[0070] In the above-mentioned grip preparation step, the holding control unit 64 controls the opening / closing drive unit 33 to place the holding movable unit 34 in the release position, and relatively increases the distance between the holding movable unit 34 and the holding fixed unit 35 so that the distance between them is greater than the thickness in the height direction of the bag bundle 81 to be taken out. Meanwhile, in the above-mentioned gripping step, the holding control unit 64 controls the opening / closing drive unit 33 to place the holding movable unit 34 in the gripping position, and relatively decreases the distance between the holding movable unit 34 and the holding fixed unit 35 so that a gripping force is applied from the holding movable unit 34 and the holding fixed unit 35 to the bag bundle 81 to be taken out.

[0071] As described above, the moving mechanism 22, the orientation adjustment mechanism 23, and the opening / closing drive unit 33 of this embodiment function as a holding drive unit that drives the holding unit 30 (including the movable holding unit 34 and the fixed holding unit 35).

[0072] The control device 60 may be configured by a single device, or may be configured by a combination of multiple devices. Therefore, two or more of the moving position derivation unit 61, the moving control unit 62, the orientation control unit 63, and the holding control unit 64 may be realized by a common device. Also, the moving position derivation unit 61, the moving control unit 62, the orientation control unit 63, and the holding control unit 64 may be realized by separate devices. The moving position derivation unit 61, the moving control unit 62, the orientation control unit 63, and the holding control unit 64 are connected to each other so as to be able to transmit and receive information to and from each other as necessary, and can share various information (data).

[0073] The control device 60 may also control other elements constituting the bag removal device 10, and may transmit and receive information (data) between sensors and devices (not shown).

[0074] Next, an example of a bag removal method performed by the above-mentioned bag removal device 10 will be described.

[0075] The bag removal method described below is performed by appropriately driving the various devices that make up the bag removal device 10 (for example, the moving mechanism 22, the orientation adjustment mechanism 23, and the opening / closing drive unit 33) under the control of the control device 60.

[0076] Fig. 8 is a diagram showing an example of the relationship between the horizontal movement distance (mm; X-axis) of the holding unit 29 and the height position of the measurement target part (i.e., "measurement height position"; mm; Y-axis) derived from the detection result of the height position information acquisition device 32. Figs. 9 to 16 are diagrams for explaining an example of a bag removal method.

[0077] The relationship example shown in Fig. 8 corresponds to the states shown in Fig. 9 and Fig. 10, and the states shown in Fig. 11 to Fig. 16 are not shown in Fig. 8. In Fig. 11 to Fig. 16, a first bag bundle 81a and a second bag bundle 81b are shown, but the other bag bundles 81 are omitted. In Fig. 11 to Fig. 16, only the top bag 80a and the bottom bag 80b are shown for the first bag bundle 81a, and only the top bag 80a is shown for the second bag bundle 81b, with the thick portion 84 being omitted.

[0078] First, as shown in Fig. 9, the holding unit 29 is lowered by the moving mechanism 22, and the rocking body 40 is brought into contact with the first bag bundle 81a (particularly the uppermost bag 80a in an exposed state that is placed at the top) that is placed at the top position in the storage box 70. In the example shown in Fig. 9, the holding unit 29 moves straight toward the first bag bundle 81a in the vertical direction at the horizontal reference position (i.e., "horizontal movement distance (horizontal axis in Fig. 8) = 0 mm") and comes into contact with the first bag bundle 81a.

[0079] Then, when the rocking body 40 in contact with the first bundle 81a rocks about the rocking shaft 41 and the distance between the detection plate 40a and the rocking detection sensor 39 becomes equal to or greater than a predetermined size, the rocking detection sensor 39 switches from an OFF state to an ON state. Under the control of the control device 60 (particularly the movement control section 62), the movement mechanism 22 stops the descent of the holding unit 29 at the timing when the rocking detection sensor 39 switches from an OFF state to an ON state.

[0080] The height position of the first bag bundle 81a (i.e., the "measurement height position") derived from the detection result of the height position information acquisition device 32 acquired at the time when the oscillation detection sensor 39 switches from the off state to the on state is indicated by the symbol "A1" in Figure 8.

[0081] In this embodiment, the height position of the part irradiated with the measurement light emitted from the height position information acquisition device 32 is acquired as the "measurement height position." In the example shown in Fig. 9, the height position of the first measurement point M1 on the top bag 80a of the first bundle 81a is acquired as the "measurement height position" indicated by the symbol "A1" in Fig. 8.

[0082] 8, the reference height position that is a predetermined distance vertically downward from the light incident / exit surface 32a of the height position information acquisition device 32 at the timing when the swing detection sensor 39 switches from an off state to an on state is represented as "measurement height position=0 mm". The height position of the measurement target part (i.e., "measurement height position") is represented by the height distance from this reference height position. A position above the reference height position is represented as a positive (+) "measurement height position", and a position below the reference height position is represented as a negative (-) "measurement height position".

[0083] The height position of the first bundle 81a varies depending on the state of the first bundle 81a itself and the state of the bundles 81 positioned below the first bundle 81a, and does not necessarily coincide with the reference height position (i.e., "measurement height position = 0 mm"). In the example shown in Figure 8, the height position of the first bundle 81a (particularly the first measurement point M1) indicated by the symbol "A1" is represented by a negative (-) numerical value.

[0084] From the viewpoint of efficiently moving the holding unit 29 for removing the bag bundles 81, it is preferable in this step to lower the holding unit 29 toward the end portion near the edge of the first bag bundle 81a. In this case, the movement amount of the holding unit 29 can be kept small when moving the holding unit 29 from the range directly above the first bag bundle 81a to the range directly above the second bag bundle 81b in a step described later.

[0085] Then, as shown in FIG. 10, the holding unit 29 is raised by the moving mechanism 22 in a straight line along the height direction a predetermined distance (see the holding unit 29 shown by the dotted line in FIG. 10), and then moved in a straight line along the horizontal direction a predetermined distance (see the holding unit 29 shown by the solid line in FIG. 10).

[0086] While this series of movements of the holding unit 29 is being performed, the "measurement height position" (i.e., height position information of the bundle of bags 81 in the storage box 70) acquired by the height position information acquisition device 32 sequentially follows the locations indicated by the symbols "A1", "A2", "A3" and "A4" in Figure 8.

[0087] That is, while the holding unit 29 rises a predetermined distance in the height direction after the swing detection sensor 39 switches from an off state to an on state, the "measurement height position" derived from the measurement result of the height position information acquisition device 32 remains at the position indicated by the symbol "A1" in Fig. 8. This is because, while the holding unit 29 is rising, the part to be measured by the height position information acquisition device 32 is the same part of the first bundle 81a (i.e., the first measurement point M1), and the height position of that part does not change.

[0088] As the holding unit 29 rises, the "distance between the light incident / exit surface 32a and the first bag bundle 81a (first measurement point M1)" measured by the height position information acquisition device 32 increases. The "measurement height position" derived from the measurement result of the height position information acquisition device 32 represents the height position of the point irradiated by the measurement light, but does not necessarily depend on the distance between the point irradiated by the measurement light and the light incident / exit surface 32a. When the height position information acquisition device 32 (the holding unit 29 in this embodiment) rises or falls straight along the height direction, the height position information acquisition device 32 can derive the "measurement height position" by subtracting or adding the "movement distance in the height direction of the height position information acquisition device 32" to the "distance between the point irradiated by the measurement light and the light incident / exit surface 32a".

[0089] While the holding unit 29 rises in the vertical direction and then moves horizontally, there is a stage where the measurement light emitted from the height position information acquisition device 32 is irradiated onto the first bag bundle 81a, and a stage where the measurement light is irradiated onto the second bag bundle 81b.

[0090] While the measurement light is irradiated onto the first bundle of bags 81a (particularly the top bag 80a), the "measurement height position" derived from the measurement results of the height position information acquisition device 32 moves from "A1" to "A2" in Fig. 8. As shown in Fig. 9, "A1" in Fig. 8 corresponds to the first measurement point M1, and "A2" corresponds to the edge portion of the top bag 80a of the first bundle of bags 81a. In the example shown in Figs. 8 and 9, the height position of the first bundle of bags 81a (particularly the top bag 80a) gradually increases in the horizontal movement direction of the holding unit 29.

[0091] After the measurement light reaches the edge of the top bag 80a of the first bag bundle 81a, while the measurement light is being irradiated to the edge portion of the bag 80 of the first bag bundle 81a located below the top bag 80a, the "measurement height position" derived from the measurement result of the height position information acquisition device 32 moves from "A2" to "A3" in Fig. 8. That is, the height position of the first bag bundle 81a acquired by the height position information acquisition device 32 gradually decreases in the horizontal movement direction of the holding unit 29. This is because, as the holding unit 29 moves in the horizontal direction, the irradiation point of the measurement light emitted from the height position information acquisition device 32 sequentially moves to bags 80 located lower in the first bag bundle 81a.

[0092] The timing at which the location where the measurement light is irradiated shifts from the first bundle 81a to the second bundle 81b corresponds to "A3" in Fig. 8. Note that, for ease of understanding, in Figs. 9 and 10, the edge portion of the lowest bag 80b of the first bundle 81a is shown in a position above and away from the uppermost bag 80a of the second bundle 81b, but the example shown in Fig. 8 shows a state in which the edge portion of the lowest bag 80b of the first bundle 81a is in contact with the uppermost bag 80a of the second bundle 81b (see "A3" in Fig. 8).

[0093] Then, while the uppermost bag 80a of the second bundle 81b is irradiated with the measurement light and the holding unit 29 moves in the horizontal direction, the "measurement height position" derived from the measurement results of the height position information acquisition device 32 moves from "A3" to "A4" in Fig. 8. In the example shown in Fig. 8, the height position of the second bundle 81b (particularly the uppermost bag 80a) gradually decreases in the horizontal movement direction of the holding unit 29.

[0094] The location of second bundle of bags 81b (particularly the uppermost bag 80a) that is irradiated with the measurement light when the horizontal movement of the holding unit 29 described above stops is the second measurement point M2, which corresponds to the symbol "A4" in Fig. 8. In this way, the portions of first bundle of bags 81a and second bundle of bags 81b that are located between the first measurement point M1 (corresponding to "A1") and the second measurement point M2 (corresponding to "A4") and that are exposed upward become the measurement range of the height position information acquisition device 32.

[0095] Thereafter, as shown in Fig. 11, the holding unit 29 is lowered by the moving mechanism 22, and the second bag bundle 81b is pushed downward by the holding unit 29 (particularly the first rotating body 42a). In Fig. 11, the position of the uppermost bag 80a of the second bag bundle 81b before being pushed down by the holding unit 29 is shown by a dashed line, and the position of the uppermost bag 80a of the second bag bundle 81b after being pushed down by the holding unit 29 is shown by a solid line.

[0096] The lowering distance of the holding unit 29 is determined by the control device 60 (particularly the movement position derivation unit 61) based on the “measured height position” derived from the measurement result of the height position information acquisition device 32.

[0097] As an example, the holding unit 29 is lowered so that the second measurement point M2 is located a certain distance (for example, about 2 to 3 mm) below the height position (see "A4" in FIG. 8) of the second measurement point M2 derived by the height position information acquisition device 32 in a state where the holding unit 29 is not in contact with the second bag bundle 81b. At this time, the "measurement height position" derived by the height position information acquisition device 32 may be used as feedback information, and the height position of the part of the second bag bundle 81b where the measurement light is irradiated may be pushed down to a desired position while being monitored based on the "measurement height position" derived by the height position information acquisition device 32. Alternatively, the lowering distance of the holding unit 29 may be determined from the height position of the second measurement point M2 derived in a state where the holding unit 29 is not in contact with the second bag bundle 81b, regardless of the pushing down of the second bag bundle 81b by the holding unit 29.

[0098] Thereafter, as shown in FIG. 12, the holding unit 29 is moved horizontally by the moving mechanism 22, and the holding and fixing parts 35 and the swinging body 40 are moved to a preparation position below the edge part of the first bag bundle 81a. At this time, the holding unit 29 advances toward the bottom of the edge part of the first bag bundle 81a while pushing down the second bag bundle 81b. As a result, a space is formed between the first bag bundle 81a (particularly the bottom bag 80b) and the second bag bundle 81b (particularly the top bag 80a) in the forward direction of the holding unit 29, and the holding unit 29 can enter the space. As a result, the holding and fixing parts 35 and the swinging body 40 can smoothly advance below the first bag bundle 81a while preventing the first bag bundle 81a and the second bag bundle 81b from losing their posture and being damaged.

[0099] In this example, the holding unit 29 is actually moved from the position shown in FIG. 11 (push-down start position) in a diagonal direction inclined with respect to the horizontal direction and the height direction, and is disposed at the position shown in FIG. 12 (preparation position). That is, the moving direction of the holding unit 29 is determined according to the gradient of the surface of the second bag bundle 81b. As described above, while the holding unit 29 moves from the range directly above the first bag bundle 81a to the range directly above the second bag bundle 81b, the height position information acquisition device 32 acquires height position information of the surface of the first bag bundle 81a and the surface of the second bag bundle 81b (see FIG. 8). As shown in FIG. 8, this height position information includes gradient information indicating the gradient of the surface of the first bag bundle 81a (gradient information between "A1" and "A2" in FIG. 8) and gradient information indicating the gradient of the surface of the second bag bundle 81b (gradient information between "A3" and "A4" in FIG. 8).

[0100] The holding unit 29 is moved according to the gradient of the surface of the second bag bundle 81b, based on gradient information of the second bag bundle 81b acquired by the control device 60 (e.g., the movement position deriving unit 61). This makes it possible to prevent the holding unit 29 from exerting an excessive downward force on the second bag bundle 81b when the holding unit 29 moves toward the preparation position.

[0101] When moving the holding unit 29 in the horizontal direction in this manner, the "measurement height position" derived by the height position information acquisition device 32 may also be used as feedback information. That is, the height position of the location where the measurement light is irradiated may be monitored based on the "measurement height position" derived by the height position information acquisition device 32, and the height position of the holding unit 29 may be adjusted by the moving mechanism 22 in accordance with this height position. This allows the holding unit 29 to move toward the preparation position while pressing down the second bundle 81b to a desired position with high accuracy.

[0102] 13, the holding unit 29 is moved horizontally by the moving mechanism 22, the holding fixed part 35 is positioned below the first bundle of bags 81a (particularly the lowest bag 80b), and the holding unit 29 is stopped at the holding position. As a result, the first bundle of bags 81a is positioned between the holding movable part 34, which is positioned at the release position, and the holding fixed part 35. Note that the timing at which the holding movable part 34 is positioned at the release position is not limited, and in this example, the holding movable part 34 is already positioned at the release position at the time when the holding unit 29 descends toward the first bundle of bags 81a (see FIG. 9).

[0103] When the holding unit 29 moves from the position shown in Fig. 12 (preparation position) to the position shown in Fig. 13 (holding position), the moving direction of the holding unit 29 is not limited, and the holding unit 29 may move along the horizontal direction or in a diagonal direction inclined with respect to the horizontal direction and the height direction. From the viewpoint of reliably inserting the holding and fixing part 35 between the first bag bundle 81a and the second bag bundle 81b, it is preferable that the interval in the height direction between the holding and fixing part 35 and the first bag bundle 81a (particularly the lowest bag 80b) is large when the holding and fixing part 35 is arranged at the preparation position (see Fig. 12). On the other hand, from the viewpoint of appropriately holding the first bag bundle 81a by the holding part 30, it is preferable that the interval between the holding and fixing part 35 and the first bag bundle 81a (particularly the lowest bag 80b) is small when the holding and fixing part 35 is arranged at the holding position (see Fig. 13), and the holding and fixing part 35 may be in contact with the first bag bundle 81a (particularly the lowest bag 80b).

[0104] Therefore, when moving the holding and fixing portion 35 from the preparation position (see Figure 12) to the holding position (Figure 13), by moving the holding and fixing portion 35 in a diagonal direction, it is possible to reliably insert the holding and fixing portion 35 between the first bag bundle 81a and the second bag bundle 81b while also allowing the first bag bundle 81a to be properly grasped by the holding portion 30.

[0105] Thereafter, as shown in FIG. 14, the holding movable part 34 is lowered by the opening / closing drive part 33 to the gripping position, and the first bag bundle 81a is gripped by the holding movable part 34 and the holding fixed part 35 (i.e., the holding part 30).

[0106] 15, while the holding part 30 is maintained in a state of holding the first bag bundle 81a (i.e., the movable holding part 34 is disposed in the gripping position), the holding unit 29 is raised by the moving mechanism 22. As a result, the first bag bundle 81a rises together with the holding unit 29 and separates from the second bag bundle 81b.

[0107] The first bundle of bags 81a separated from the second bundle of bags 81b in this way moves outside the storage box 70 together with the holding unit 29, and is handed over from the holding unit 29 to a subsequent device (e.g., a conveying device or a storage device (not shown)) provided outside the storage box 70. The method of handing over the bundle of bags 81 (i.e., the first bundle of bags 81a) from the holding unit 29 to the subsequent device is not limited. Typically, the bundle of bags 81 held by the holding section 30 is also held by the subsequent device, and then the movable holding section 34 is placed in the release position to release the bundle of bags 81 from being held by the holding section 30, whereby the bundle of bags 81 is handed over from the holding unit 29 to the subsequent device.

[0108] Thereafter, the holding unit 29 is placed in a position and attitude for removing the next bag bundle 81 (i.e., the first bag bundle 81a which is located at the top in the storage box 70 at this point in time). In this embodiment, the holding unit 29 is rotated 180 degrees by the orientation adjustment mechanism 23, and the holding unit 29 is positioned directly above the first bag bundle 81a in the storage box 70 (see FIG. 16).

[0109] Thereafter, the holding unit 29 is lowered by the moving mechanism 22, and the above-mentioned series of processes (see FIGS. 9 to 15) are carried out, and the first bag bundle 81a is delivered to a subsequent device.

[0110] By repeating the above-mentioned series of processes (see Figs. 9 to 16), the bag bundles 81 in the storage box 70 are taken out one by one from the storage box 70 and transferred to a downstream device.

[0111] As described above, the bag removal method of this embodiment includes the steps of: acquiring height position information indicating the height position of the surface of a first bag bundle 81a that is located at the top of a plurality of bag bundles 81 and a second bag bundle 81b that is adjacent to the first bag bundle 81a, using a height position information acquisition device 32; moving the holding and fixing portion 35 (lower holding portion) of the holding portion 30 to a preparation position (see Figure 12) that is derived based on the height position information and is determined according to the height position of the surface of a portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a; and moving the holding and fixing portion 35 from the preparation position (see Figure 12) to a holding position (see Figure 13) between the first bag bundle 81a and the second bag bundle 81b.

[0112] The bag take-out device 10 of this embodiment includes a holding unit 30 having a holding and fixing unit 35 and holding a first bag bundle 81a located at the top of a plurality of bag bundles 81 stacked in the height direction, a height position information acquisition device 32 acquiring height position information indicating the height position of the surface of a second bag bundle 81b adjacent to the first bag bundle 81a among the plurality of bag bundles 81, and a holding drive unit (moving mechanism 22, orientation adjustment mechanism 23, and opening and closing drive unit 33) that drives the holding unit 30. The holding drive unit (particularly the moving mechanism 22) moves the holding and fixing unit 35 to a preparation position derived based on the height position information of the second bag bundle 81b and determined according to the height position of the surface of a portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a, and moves the holding and fixing unit 35 from the preparation position to a holding position between the first bag bundle 81a and the second bag bundle 81b.

[0113] According to the bag removal method and bag removal device described above, the holding and fixing part 35 can be accurately inserted into the space between the first bag bundle 81a and the second bag bundle 81b. In particular, the preparation position is determined according to the height position of the surface of a portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a. Therefore, a position suitable for reliably inserting and arranging the holding and fixing part 35 between the first bag bundle 81a and the second bag bundle 81b can be determined as the preparation position.

[0114] Note that the "surface of the portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a" referred to here is the surface portion of the second bag bundle 81b that corresponds to the position of the edge of the first bag bundle 81a. Typically, the surface of the portion of the second bag bundle 81b that is located directly below the edge of the first bag bundle 81a corresponds to the "surface of the portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a". However, the surface of the portion of the second bag bundle 81b that is not directly below the edge of the first bag bundle 81a but is located near the edge can also correspond to the "surface of the portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a".

[0115] In addition, the height position information acquisition device 32 is attached to the holding part 30 (including the holding movable part 34 and the holding fixed part 35) via a connecting plate 38, an opening / closing drive part 33 and an attachment frame 36, and is moved together with the holding fixed part 35.

[0116] This makes it possible to simplify the movement drive system of the holding unit 30 and the height position information acquisition device 32. Also, the relative position of the height position information acquisition device 32 with respect to the holding unit 30 can be fixed, and the measurement performed by the height position information acquisition device 32 can be always associated with the position of the holding unit 30, so that height position information of the measurement target portion (i.e., the first bag bundle 81a and the second bag bundle 81b) can be acquired with high accuracy.

[0117] Furthermore, the height position information acquisition device 32 acquires gradient information indicating the gradient of the surface of the second bag bundle 81b based on the height position information of the second bag bundle 81b, and the preparation position is derived based on the gradient information. The height position information acquisition device 32 of this embodiment acquires gradient information indicating the gradient of the surface of the second bag bundle 81b between the first measurement point M1 of the first bag bundle 81a and the second measurement point M2 of the second bag bundle 81b based on the height position information of the first bag bundle 81a and the height position information of the second bag bundle 81b, and the preparation position is derived based on the gradient information.

[0118] This makes it possible to derive an appropriate position as the preparation position even if the surface of the second bag bundle 81b (particularly the top surface of the uppermost bag 80a) is inclined. Also, it is possible to move the holding fixture 35 in the horizontal and vertical directions according to the inclination of the surface of the second bag bundle 81b, effectively preventing the holding unit 29 from exerting an excessive downward force on the second bag bundle 81b.

[0119] In addition, the height position information acquisition device 32 acquires height position information indicating the height position of the surface of the first bag bundle 81a, and the preparation position is derived based on the height position information of the first bag bundle 81a and the height position information of the second bag bundle 81b.

[0120] In this manner, by deriving the preparation position taking into consideration not only the height position information of the second bag bundle 81b but also the height position information of the first bag bundle 81a, a more appropriate position can be assigned to the preparation position.

[0121] In addition, the height position information acquisition device 32 acquires height position information of the first bag bundle 81a and height position information of the second bag bundle 81b along a measurement path from one of the first measurement point M1 of the first bag bundle 81a and the second measurement point M2 of the second bag bundle 81b to the other, and the holding and fixing part 35 moves to the preparation position along the holding movement path, and at least a portion of the holding movement path corresponds to the measurement path.

[0122] As a result, the holding and fixing part 35 moves to the preparation position so as to trace the measurement path, and can move with high precision toward the desired preparation position. In addition, by moving the holding and fixing part 35 along a portion of the second bag-bundle 81b about which height position information has been directly acquired by the height position information acquisition device 32, it is possible to prevent the holding unit 29 from exerting an excessive downward force on the second bag-bundle 81b.

[0123] In addition, the relationship in this case that "at least a portion of the holding movement path corresponds to the measurement path" may refer to, for example, a relationship in which a projection (particularly a downward projection) of at least a portion of the holding movement path coincides with a projection (particularly a downward projection) of the measurement path.

[0124] Moreover, the holding and fixing portion 35 is moved while pressing down the surface of the second bag bundle 81b to the preparation position.

[0125] As a result, the periphery of the portion of the surface of the second bag bundle 81b that is directly pressed down by the holding and fixing portion 35 is also pressed down, creating a space between the first bag bundle 81a and the second bag bundle 81b into which the holding and fixing portion 35 can enter. Therefore, the holding and fixing portion 35 can smoothly enter between the first bag bundle 81a and the second bag bundle 81b without applying excessive force or causing damage to the first bag bundle 81a.

[0126] Thus, according to this embodiment, in the step of acquiring height position information by the height position information acquisition device 32, height position information indicating the height position of the surfaces of a first bag bundle 81a located at the top and an adjacent second bag bundle 81b among a plurality of bag bundles 81 stacked in the vertical direction, in which the bag bundles 81 arranged at adjacent positions in the vertical direction partially overlap, is acquired by the height position information acquisition device 32, and in the step of holding one or more bags 80 by the holding unit 30, the holding fixing portion 35 (the holding lower portion) of the holding unit 30 is moved to a preparation position derived based on the height position information and determined according to the height position of the surface of a portion of the second bag bundle 81b that corresponds to the edge of the first bag bundle 81a, and the holding fixing portion 35 is moved from the preparation position to a holding position between the first bag bundle 81a and the second bag bundle 81b.

[0127] [First Modification] In this modification, elements that are the same as or correspond to those in the above-described embodiment are given the same reference numerals, and detailed descriptions thereof will be omitted.

[0128] 17 and 18 are diagrams illustrating a bag removal method according to a first modified example.

[0129] The configuration of the bag removal device 10 shown in Figs. 17 and 18 is similar to the configuration of the bag removal device 10 according to the embodiment described above.

[0130] In the bag removal method of this modified example, as in the above-described embodiment, first the holding unit 29 is lowered, the oscillating body 40 in contact with the first bag stack 81a oscillates, and the descent of the holding unit 29 is stopped when the oscillation detection sensor 39 switches from the off state to the on state (see Figure 17).

[0131] Thereafter, the holding unit 29 is moved horizontally a predetermined distance by the moving mechanism 22, moves out of the range directly above the first bag bundle 81a, and is positioned in the range directly above the second bag bundle 81b (see FIG. 18).

[0132] Thereafter, the holding unit 29 is lowered vertically in a straight line a predetermined distance by the moving mechanism 22, and placed in a position where it contacts the second bag bundle 81b (particularly the uppermost bag 80a) and presses down the second bag bundle 81b.

[0133] Thereafter, the holding unit 29 is moved horizontally in a straight line a predetermined distance by the moving mechanism 22, and the holding fixing portion 35 is positioned between the first bag bundle 81a (particularly the lowest bag 80b) and the second bag bundle 81b (particularly the top bag 80a).

[0134] Thereafter, as in the above-described embodiment, the first bag bundle 81a is held by the holding section 30 (the movable holding section 34 and the fixed holding section 35), the holding unit 29 is raised together with the first bag bundle 81a, and the first bag bundle 81a is passed from the holding section 30 to a downstream device.

[0135] [Second modified example] Fig. 19 is a plan view of bag removal device 100 according to the second modified example. Fig. 20 is a side view of bag removal device 100 according to the second modified example.

[0136] The bag removal device 100 according to this modified example comprises a bag conveying device 110, a trigger sensor 111, a distance detection sensor 112, and a holder 120 (see FIG. 22 described later).

[0137] The bag conveying device 110 conveys bags 190. The bag conveying device 110 of this example can convey two or more bags 190. Two or more bags 190 are placed on the bag conveying device 110 one by one without being stacked, and adjacent bags 190 on the bag conveying device 110 are spaced apart from each other.

[0138] The bag 190 shown in Fig. 19 has a rectangular front sheet member and a rear sheet member. The front sheet member forms the exposed surface (upper surface) of the bag 190, and the rear sheet member forms the lower surface that contacts the bag conveying device 110. The front sheet member and the rear sheet member are sealed (e.g., fused) to each other at the periphery other than the mouth, and are not fixed to each other at the mouth. The front sheet member and the rear sheet member at the portions that form the mouth of the bag 190 can be opened and closed freely. The front sheet member and the rear sheet member may be integrally formed from the same material, or may be inherently connected to each other.

[0139] 19 )。 Because of the thickness of the contents 199, the portion of the bag 190 that corresponds to the inner space has a thickness greater than that of the peripheral portion of the bag 190. Therefore, when the bag 190 is placed on the bag conveying device 110, the peripheral portion of the bag 190 is at least partially positioned above the bag conveying device 110 and is not directly supported by the bag conveying device 110.

[0140] In this modified example, intended holding points 195 are formed by parts of the peripheral edge of bag 190 (particularly the peripheral edges on both sides near the mouth). In this example, intended holding points 195 have a sheet shape at the end of bag 190, and are not directly supported by bag conveying device 110. Therefore, the position and attitude (tilt angle, etc.) of intended holding points 195 are not constant between bags 190, and the position and attitude of intended holding points 195 in each bag 190 can change due to various influences.

[0141] 19 and 20 is configured with a belt conveyor, and an endless belt is supported by two rollers. One or both of the two rollers are actively rotated by a driving device such as a motor (not shown), causing the endless belt to run, and bags 190 placed on the upward facing surface of the endless belt are conveyed in the conveying direction.

[0142] Bag conveying device 110 may convey bags 190 continuously or may convey bags 190 intermittently. When conveying bags 190 continuously, bags 190 are held by holding section 120 and removed from bag conveying device 110 during conveyance. On the other hand, when conveying bags 190 intermittently, bags 190 on bag conveying device 110 may be held by holding section 120 and removed from bag conveying device 110 while the bag conveying device is stopped.

[0143] In this modified example, a combination of trigger sensor 111 and distance detection sensor 112 constitutes a "height position information acquisition device that acquires height position information indicating the height position of the exposed surface (surface exposed upward) of bag 190."

[0144] Trigger sensor 111 is located upstream of distance detection sensor 112 in the conveying direction of bag 190. Bag 190 (particularly intended holding location 195) conveyed by bag conveying device 110 passes through a detection point (first detection point) of trigger sensor 111, and then passes through a detection point (second detection point) of distance detection sensor 112.

[0145] 19 and 20, the detection point of the trigger sensor 111 and the detection point of the distance detection sensor 112 do not overlap in the height direction with the bag conveying device 110. Each bag 190 conveyed by the bag conveying device 110 partially protrudes horizontally from the bag conveying device 110, and each bag 190 is conveyed by the bag conveying device 110 so that the mouth and intended holding location 195 do not overlap in the height direction with the bag conveying device 110.

[0146] The trigger sensor 111 is a sensor that detects whether or not the bag 190 has passed through the first detection point, and sends the detection result to the control device 60 (see FIG. 7). The specific configuration of the trigger sensor 111 is not limited, and typically, the trigger sensor 111 can be configured by combining a light emitter and a light receiver.

[0147] Distance detection sensor 112 acquires height position information indicating the height position of the exposed surface (surface exposed upward) of bag 190 passing through the second detection point. The specific configuration of distance detection sensor 112 is not limited, but may have a configuration similar to that of the above-mentioned height position information acquisition device 32 (see FIG. 6, etc.), for example.

[0148] Distance detection sensor 112 in this modified example starts detection in response to the timing when bag 190 is detected by trigger sensor 111 under the control of control device 60. There are no limitations on how to determine the timing for distance detection sensor 112 to end detection. For example, distance detection sensor 112 may end detection a predetermined time after distance detection sensor 112 starts detection, or may end detection in response to the detection results of trigger sensor 111 and / or distance detection sensor 112.

[0149] The distance detection sensor 112 may continue detection without terminating the detection. In this case, the trigger sensor 111 does not need to be installed.

[0150] Fig. 21 is a graph showing an example of the detection results of distance detection sensor 112. In Fig. 21, the horizontal axis indicates the horizontal movement distance (mm) of bag 190 transported by bag transporting device 110, and the vertical axis indicates the height position of the measurement target part derived from the detection results of distance detection sensor 112 (i.e., "measurement height position"; mm; Y-axis).

[0151] The horizontal movement distance (horizontal axis) shown in Fig. 21 indicates the start to end of detection by distance detection sensor 112 for one bag 190. The measurement height position (vertical axis) shown in Fig. 21 indicates the height direction distance of the measurement target portion from bag conveying device 110 (particularly the placement surface on which bags 190 are placed (i.e. the upper surface of the endless belt)).

[0152] Distance detection sensor 112 in this example detects the height position of the exposed surface (surface exposed upward) of bag 190 on bag conveying device 110. In particular, both ends (see dotted circles) of a line in the graph shown in Fig. 21 where the measured height position (vertical axis) indicates a value other than zero (0) indicate the height position of intended holding point 195 of bag 190 to be detected, and the slope of these both ends indicates the inclination of intended holding point 195.

[0153] The control device 60 of this modified example analyzes the detection results of the distance detection sensor 112 as exemplified in FIG. 21, and derives the inclination of the intended holding portion 195 of each bag 190.

[0154] Then, the control device 60 adjusts at least one of the position and the attitude of the corresponding holding unit 120 in accordance with the derived inclination of each intended holding portion 195 (see FIG. 22). This allows each holding unit 120 to appropriately hold the corresponding intended holding portion 195 in a state adapted to the actual position and / or attitude of the corresponding intended holding portion 195.

[0155] The specific configuration of the holding unit 120 is not limited, and the specific method by which the holding unit 120 holds the bag 190 is also not limited. The holding unit 120 shown in Fig. 22 holds the sheet-shaped intended holding locations 195 on both side edges of the bag 190, but may hold the bag 190 using a means other than holding (for example, suction of the bag surface (holding based on negative pressure)). The holding force of the holding unit 120 may be generated by any method. For example, the holding unit 120 may have a chuck structure that uses air pressure (for example, a holding mechanism that uses an air cylinder).

[0156] As described above, the intended holding location 195 of each bag 190 does not overlap with the bag conveying device 110 in the height direction. Therefore, each holding unit 120 can be moved at the holding position without colliding with the bag conveying device 110, and the position and posture of each holding unit 120 can be freely changed. The device that adjusts the position and posture of each holding unit 120 under the control of the control device 60 is not limited, and the position and posture of each holding unit 120 may be adjusted by a robot (for example, an articulated robot or a parallel link robot).

[0157] 19 where bags 190 are arranged (i.e., a position downstream of trigger sensor 111 and distance detection sensor 112 in the conveying direction of bags 190) is the holding position (i.e., removal position). At this holding position, each bag 190 is held and lifted by holding section 120 and sent to a downstream device (not shown).

[0158] [Other variations] The above-mentioned bag removal method includes a step of acquiring height position information indicating the height position of one or more bags 80, 190 by height position information acquisition device 32, 112, and a step of holding one or more bags 80, 190 by holder 30, 120 in which at least one of the position and attitude has been adjusted based on the height position information acquired by height position information acquisition device 32, 112. However, the bag removal method and bag removal device are not limited to the above-mentioned examples.

[0159] The height position information acquisition device 32 described above uses measurement light to acquire height position information of the measurement target portion, but the configuration and measurement method of the height position information acquisition device 32 are not limited. For example, the height position information acquisition device 32 may be equipped with an imaging device (not shown) and acquire height position information of the measurement target portion based on a captured image acquired by the imaging device. The height position information acquisition device 32 and / or the control device 60 can analyze the captured image acquired by the imaging device and acquire height position information of the bundle of bags 81 (particularly the first bundle of bags 81a and the second bundle of bags 81b) in the storage box 70. The specific method of image analysis performed here is not limited, and height position information of the bundle of bags 81 can be acquired from the captured image using any image processing method.

[0160] Although the height position information acquisition device 32 in the above embodiment is provided integrally with the holding unit 30, the installation manner of the height position information acquisition device 32 is not limited, and the height position information acquisition device 32 may be provided independent of the holding unit 30. Furthermore, the height position information acquisition device 32 may be provided in only one location, or in multiple locations. Height position information of the measurement target portion may be acquired based on the detection results of each of the height position information acquisition devices 32 provided in multiple locations.

[0161] There are no limitations on the shape and size of the storage box 70 (particularly the inner storage space), the shape and size of each bag 80, and the shape and size of each bag bundle 81. Furthermore, there are no limitations on the storage manner of the bags 80 (bag bundle 81) in the storage box 70.

[0162] In the above-described embodiment, the measurement path from the first measurement point M1 to the second measurement point M2 is a straight line, but the measurement path may be a curved line or any other line (for example, a line including a straight line portion and a curved line portion). Also, in the above-described embodiment, the path of the holding fixture 35 from the push-down start position to the preparation position (i.e., the holding movement path) is a straight line, but the holding movement path may be a curved line or any other line. Also, in the above-described embodiment, the path of the holding fixture 35 from the preparation position to the holding position is a straight line, but the path may be a curved line or any other line.

[0163] The present disclosure is not limited to the above-mentioned embodiments and modifications. For example, various modifications may be made to each element of the above-mentioned embodiments and modifications, or the configurations of the above-mentioned embodiments and modifications may be combined partially or entirely. In addition, the effects achieved by the present disclosure are not limited to the above-mentioned effects, and unique effects according to the specific configurations of each embodiment may also be achieved. Thus, various additions, modifications, and partial deletions are possible for each element described in the claims, specification, abstract, and drawings, within the scope of the technical idea and intent of the present disclosure. [Explanation of symbols]

[0164] 10 bag removal device, 22 movement mechanism, 23 orientation adjustment mechanism, 29 holding unit, 30 holding section, 31 position detection section, 32 height position information acquisition device, 32a light incident / exit surface, 33 opening / closing drive section, 34 holding movable section, 35 holding fixed section, 36 mounting frame, 37 mounting plate, 38 connecting plate, 39 swing detection sensor, 40 swing body, 41 swing shaft, 42a first rotating body, 42b second rotating body, 42c first rotation support shaft, 42d second rotation support shaft, 43 swing stopper, 44a first rotating body hole, 44b second rotating body hole, 45 stopper hole, 60 control device, 61 movement position derivation section, 62 movement control section, 63 orientation control section, 64 holding control section, 70 storage box, 80 bag, 80a top bag, 80b Bottom bag, 81 bag bundle, 81a first bag bundle, 81b second bag bundle, 84 thickness portion, Dh1 first horizontal direction, Dh2 second horizontal direction, M1 first measurement point, M2 second measurement point, P1 first aspect, P2 second aspect, P3 third aspect, P4 fourth aspect, PL vinyl body

Claims

1. acquiring height position information indicating a height position of one or more bags by a height position information acquiring device; holding the one or more bags by a holder whose position and / or attitude have been adjusted based on the height position information acquired by the height position information acquisition device; Including, In the step of acquiring the height position information by a height position information acquisition device, the height position information indicating a height position of a surface of a first bag bundle located at the top among a plurality of bag bundles stacked in a height direction and arranged at adjacent positions in the height direction and partially overlapping each other, is acquired by the height position information acquisition device, In the step of holding the one or more bags by the holding portion, a preparation position that is derived based on the height position information and is determined according to a height position of a surface of a portion of the second bag bundle that corresponds to an edge of the first bag bundle, and a holding lower portion of the holding portion is moved to the preparation position; moving the lower holding portion from the preparation position to a holding position between the first bag bundle and the second bag bundle; the height position information acquisition device acquires gradient information indicating a gradient of a surface of the second bag bundle based on the height position information of the second bag bundle, The bag unloading method, wherein the preparation position is derived based on the gradient information.

2. A step of acquiring height position information indicating the height position of one or more bags by a height position information acquisition device; holding the one or more bags by a holder whose position and / or attitude have been adjusted based on the height position information acquired by the height position information acquisition device; Including, In the step of acquiring the height position information by a height position information acquisition device, the height position information indicating a height position of a surface of a first bag bundle located at the top among a plurality of bag bundles stacked in a height direction and arranged at adjacent positions in the height direction and partially overlapping each other, is acquired by the height position information acquisition device, In the step of holding the one or more bags by the holding portion, a preparation position that is derived based on the height position information and is determined according to a height position of a surface of a portion of the second bag bundle that corresponds to an edge of the first bag bundle, and a holding lower portion of the holding portion is moved to the preparation position; moving the lower holding portion from the preparation position to a holding position between the first bag bundle and the second bag bundle; the height position information acquisition device acquires height position information indicating a height position of a surface of the first bag bundle, A bag removal method, wherein the preparation position is derived based on the height position information of the first bag bundle and the height position information of the second bag bundle.

3. The bag removal method according to claim 1 or 2, wherein the height position information acquisition device is attached to the holding part and moved together with the lower holding part.

4. the height position information acquisition device acquires the height position information of the first bag bundle and the height position information of the second bag bundle along a measurement path from one of a first measurement point of the first bag bundle and a second measurement point of the second bag bundle to the other, The lower holding portion is moved to the preparation position along a holding movement path, The bag removal method according to claim 2 , wherein at least a portion of the holding and moving path corresponds to the measurement path.

5. The bag removal method according to any one of claims 1 to 4, wherein the lower holding portion is moved to the preparation position while pressing down a surface of the second bag bundle.

6. a holding section having a lower holding section and holding one of a plurality of bag bundles stacked in a height direction, wherein bag bundles arranged at adjacent positions in the height direction partially overlap each other, and the holding section holds a first bag bundle located at the top of the plurality of bag bundles; a height position information acquiring device that acquires height position information indicating a height position of a surface of a second bag bundle adjacent to the first bag bundle among the plurality of bag bundles; A holding drive unit that drives the holding unit, The holding and driving unit is moving the lower holding portion to a preparation position derived based on the height position information and determined according to a height position of a surface of a portion of the second bag bundle corresponding to an edge of the first bag bundle; moving the lower holding portion from the preparation position to a holding position between the first bag bundle and the second bag bundle; the height position information acquisition device acquires gradient information indicating a gradient of a surface of the second bag bundle based on the height position information of the second bag bundle, The bag unloading device, wherein the preparation position is derived based on the gradient information.

7. A holding section having a lower holding portion and holding one of a plurality of bag bundles stacked in a vertical direction, wherein bag bundles arranged at adjacent positions in the vertical direction partially overlap each other, and the holding section holds a first bag bundle located at the top of the plurality of bag bundles; a height position information acquiring device that acquires height position information indicating a height position of a surface of a second bag bundle adjacent to the first bag bundle among the plurality of bag bundles; A holding drive unit that drives the holding unit, The holding and driving unit is moving the lower holding portion to a preparation position derived based on the height position information and determined according to a height position of a surface of a portion of the second bag bundle corresponding to an edge of the first bag bundle; moving the lower holding portion from the preparation position to a holding position between the first bag bundle and the second bag bundle; the height position information acquisition device acquires height position information indicating a height position of a surface of the first bag bundle, The bag unloading device, wherein the preparation position is derived based on the height position information of the first bag bundle and the height position information of the second bag bundle.

Images