TWI690461B - Bagging device and method - Google Patents

Abstract

The bagging device is a device for loading the workpiece into the bag body. The bag-filling device holds the bag body arranged at a predetermined position by the first holding portion in a state where the opening of the bag body is enlarged, and makes the enlarged opening of the bag body close to the predetermined position The end portion of the first work piece in the shape of a sheet is sent out by the first sending part in the direction of the opening of the bag body by the friction of the rotation of the roller.

Description

Bagging device and method

The invention relates to a bagging device and a bagging method.

Recently, industrial robots have been introduced at the manufacturing site of products, and the automation of a series of operations such as parts supply, assembly, inspection, and packaging has continued to progress. In addition, accessories such as product manuals are usually sealed in nylon bags and packed together with the products. However, since such bags are cheap but easily broken, the automation of bagging operations has not progressed.

In recent years, in various fields, from the viewpoint of productivity, there has been a proposal that robots and operators work together in the same working space. When a human-shaped working robot is introduced into the above-mentioned manufacturing site and the bagging operation is performed, it is necessary to maintain the state where the bag body is opened, and to surely pack the bag without damaging the bag body.

Patent Document 1 discloses a holding device for a big bag for making tea. The holding device includes: a holding member that adsorbs and holds the uppermost sea bag of the plurality of sea bags stacked in a plurality of overlapping states, and a pair of holding plates that expand upward and downward with the opening of the sea bag inserted . In addition, Patent Document 2 discloses a bagging device. This device includes: a pair of suction pads that suck the openings of the bag from both outer sides, a work insertion means for inserting the work into the bag opened by the suction pad, and a work interlocked with the work performed by the work insertion means The insertion action inserts a pair of opening flag members into the bag from both sides of the workpiece. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 11-43113 [Patent Document 2] Japanese Patent Laid-Open No. 8-11838

[Problems to be solved by invention]

However, the holding device of the above-mentioned Patent Document 1 is aimed at the operation of putting tea into a sea bag. In addition, the bagging device of the above-mentioned Patent Document 2 is aimed at an operation of loading a plurality of pallets of semiconductor packages into aluminum bags. Therefore, in the operation of bagging sheet-like workpieces such as the instruction manual as described above, there is still room for further improvement if the aforementioned prior art is to be applied.

The present invention has been completed to solve the above-mentioned problems, and aims at surely performing bagging operations such as instruction manuals at the manufacturing site of products. [Means to solve the problem]

In order to achieve the above object, the bagging device of the present invention is A bag-filling device, which loads a workpiece into a bag body, has a robot body, and the robot body has: The first holding portion is configured to hold the bag body in a state where the opening of the bag body is enlarged; The first sending part has a roller and a rotating mechanism, and is configured to send out the sheet-shaped first workpiece in a predetermined direction by the rotation friction of the roller; The first robot arm is equipped with the first holding part; The second robot arm is equipped with the aforementioned first delivery part; With the first holding portion, the bag body arranged at a predetermined position is held in a state where the opening portion of the bag body is enlarged, and the opening portion of the expanded bag body is brought close to the lamellar shape arranged at the predetermined position The end of the aforementioned first work piece, The first workpiece is sent out in the direction of the opening of the bag by the friction of the rotation of the roller.

With the above configuration, the first holding portion holds the bag body arranged at a predetermined position in a state where the opening of the bag body is enlarged. At this time, the enlarged opening of the bag body is brought close to the position of the end of the sheet-like first workpiece (for example, a paper manual such as a product manual) arranged at a predetermined position. Next, the first workpiece is sent out in the direction of the opening of the bag by the friction of the rotation of the roller. With this, the first workpiece in the form of a sheet can be surely put into the bag.

The aforementioned first holding portion includes: Base The suction head is provided on the base portion, and is configured to adsorb and hold the uppermost bag body of the plurality of bag bodies arranged at a predetermined position; A pair of expansion members are provided in the said base part, and it may be comprised so that the opening part of the said bag body suction-held by the said adsorption head may be inserted, and it may drive so that the opening part may be expanded.

With the above configuration, the suction-holding laminate is arranged on the uppermost bag body of the plurality of bag bodies at a predetermined position, and a pair of expansion members are inserted into the opening of the bag body. By driving the pair of expansion members inserted into the opening of the bag body, the opening can be enlarged. With this, the efficiency of the loading operation is improved.

The pair of expansion members may be driven in a direction consistent with the width direction of the sheet-shaped first workpiece.

With the above configuration, the pair of expansion members are driven in a direction consistent with the width direction of the sheet-shaped first workpiece, so the sheet-shaped first workpiece can be loaded into the bag without bending.

The above bagging device further includes: The second holding part is mounted on the aforementioned second robot arm and is configured to hold the second workpiece; The second sending part is configured to send the second workpiece arranged at a predetermined position in a predetermined direction; Holding and arranging the second workpiece at a predetermined position by the second holding part, The first holding portion holds the opening of the bag in an enlarged state, and brings the enlarged opening of the bag close to the end of the sheet-like second workpiece arranged at a predetermined position, With the second sending part, the second workpiece at a predetermined position may be sent out in the opening direction of the bag body.

With the above configuration, instead of the roller, a second holding portion is attached to the second robot arm, and the second holding portion holds and arranges the second workpiece at a predetermined position. Next, by the first holding portion, the opening of the bag body is held in an enlarged state, and the enlarged opening of the bag body is brought close to the end of the sheet-like second workpiece disposed at a predetermined position position. The second workpiece is sent to the opening direction of the bag by the second workpiece at the predetermined position. In this way, the second workpiece (for example, appendages such as CD-R) can be surely loaded into the bag.

Another form of bagging method of the present invention is A bagging method, a workpiece is loaded into a bag body by a bagging device, the bagging device is provided with a robot body, and the robot body has: The first holding portion is configured to hold the bag body in a state where the opening of the bag body is enlarged; The first sending part has a roller and a rotating mechanism, and is configured to send out the sheet-shaped first workpiece in a predetermined direction by the rotation friction of the roller; The first robot arm is equipped with the first holding part; The second robot arm is equipped with the aforementioned first delivery part; contain: By the first holding portion, the bag body arranged at a predetermined position is held in a state where the opening of the bag body is enlarged, and the expanded opening portion of the bag body is close to the sheet-like one arranged at the predetermined position The aforementioned steps of the end of the first workpiece, The step of sending out the first workpiece in the direction of the opening of the bag by the first sending part and the friction of rotation of the roller. [Effect of Invention]

The present invention has the above-described configuration, and it is possible to surely carry out bagging operations such as instruction manuals at the product manufacturing site.

Hereinafter, an ideal embodiment will be described with reference to the drawings. In addition, in the following description, the same or corresponding elements are given the same reference symbols in all drawings, and redundant descriptions are omitted. In addition, the drawings are schematic representations of the constituent elements for easier understanding. In addition, the "direction separating a pair of arms" is called the left-right direction, the direction parallel to the axis of the base axis is called the up-down direction, and the direction orthogonal to the left-right direction and the up-down direction is called the front-rear direction.

FIG. 1 is a diagram showing the overall configuration of a bagging device 10 according to an embodiment of the present invention. As shown in FIG. 1, the bagging device 10 is introduced into, for example, a manufacturing site of household electrical appliances, and is used to put various workpieces W1 to W5 into the bag body 50 such as a product manual. In this embodiment, a case where the robot 11 is used to constitute the bagging device 10 of the present invention will be described. The robot 11 is a dual-arm robot equipped with a pair of robot arms 13 and 13 supported on a base 12. However, the bagging device 10 is not limited to the case of being constituted by the robot 11. In addition, although this robot 11 is described as a double-arm robot of a horizontal multi-joint type, a double-arm robot of a vertical multi-joint type can be used. The robot 11 can be installed in a limited space equivalent to one person (eg 610mm*620mm).

On the front of the robot 11, the workpiece placement fields 71-75 are arranged on a large platform 80. The workpieces W1 to W5 are arranged in the workpiece placement fields 71 to 75. In the present embodiment, the workpiece W1 is A4-size paper such as a product instruction manual or delivery note. Here, five types of A4 papers are accommodated in five spaces provided in the workpiece storage field 71 composed of two-stage racks according to types. A part of the workpiece W1 is exposed on the robot 11 side when it is stored in the workpiece storage field 71. The workpieces W2 to W5 are, in the present embodiment, various workpieces such as an accessory of the product or a CD-ROM. Here, the four small items are arranged in the workpiece placement fields 72-75 formed by rectangular flat plates. On the left side of the robot 11, the container 70 of the bag 50 is disposed on the platform 81. The container 70 is a tray container opened at the top. In the container 70, a plurality of flexible bags 50 are accommodated in a stacked state. The bag body 50 has a size that can accommodate the workpieces W1 to W5. An opening (not shown) is formed at one end of each bag 50. The material and color of the bag body 50 exemplify cheap nylon material and transparent color. On the front side of the robot 11, the workbench 60 is arranged on the platform 82. A delivery mechanism 40 is provided on the side of the workbench 60. The delivery mechanism 40 is used when the workpieces W2 to W5 are loaded into the bag 50. On the right side of the robot 11, the tool placement fields 76 and 77 are arranged on the platform 83. In the tool placement fields 76 and 77, an expansion tool configured to freely attach and detach the end effector at the front end of the robot arm 13 on the right side is placed. The tape supply device 100 is provided on the platform 84 disposed between the platform 80 and the platform 81. The tape supply device 100 supplies the adhesive tape 101 for sealing the opening of the bag body 50 into which the workpieces W1 to W5 are loaded. The robot 11 uses the end effector 18A and the end effector 19A connected to the left arm 13 and the right arm 13 to sequentially load the workpieces W1 to W5 into the bag while holding the bag 50 contained in the container 70 50. In this embodiment, the working area of the arm 13 on the left and the arm 13 on the right is an area that covers the platforms 81 to 84.

FIG. 2 is a front view schematically showing the overall configuration of an example of the robot 11. As shown in FIG. 2, the robot 11 includes a base 12 fixed to the trolley, a pair of robot arms (hereinafter may be simply referred to as “arms”) 13, 13 supported on the base 12, and a housing 12 housed in the base 12 Control device 14, vacuum generating device 90. The vacuum generating device 90 is, for example, a vacuum pump, CONVUM (registered trademark), or the like, which generates a negative pressure to the adsorption heads 21 and 39 described below. Each arm 13 is a horizontal articulated robot arm configured to move relative to the base 12 and includes an arm portion 15 and a wrist portion 17, an end effector 18, and an end effector 19. In addition, the arm 13 on the right side and the arm 13 on the left side may have substantially the same structure. In addition, the arm 13 on the right side and the arm 13 on the left side can move independently or interrelatedly.

The arm portion 15 is composed of a first link 15a and a second link 15b in this embodiment. The first link 15a is connected to the base shaft 16 fixed to the upper surface of the base 12 through a rotary joint J1, and can rotate about a rotation axis L1 passing through the axis of the base shaft 16. The second link 15b is connected to the front end of the first link 15a by a rotary joint J2, and is rotatable about a rotation axis L2 defined at the front end of the first link 15a.

The wrist portion 17 is composed of a lifting portion 17a and a rotating portion 17b. The elevating portion 17a is connected to the front end of the second link 15b by a linear joint J3, and can move up and down relative to the second link 15b. The rotating portion 17b is connected to the lower end of the elevating portion 17a by a rotary joint J4, and is rotatable about a rotation axis L3 defined at the lower end of the elevating portion 17a.

The end effector 18 and the end effector 19 are connected to the rotating portion 17b of the wrist portion 17, respectively. The end effector 18 is disposed at the front end of the arm 13 on the left side, and the end effector 19 is disposed at the front end of the arm 13 on the right side.

Each arm 13 configured as described above has joints J1 to J4. In addition, the arm 13 is provided with a servo motor (not shown) for driving and an encoder (not shown) for detecting the rotation angle of the servo motor so as to correspond to the joints J1 to J4. In addition, the rotation axis L1 of the first arm 15a and 15a of the left arm 13 and the right arm 13 are on the same straight line, the first link 15a of one arm 13 and the first link 15a of the other arm 13 It is arranged with a height difference in the vertical direction.

Next, the configuration of the end effector 18 of the arm 13 on the left side will be described using FIG. 3. The end effector 18 is configured to hold the bag body 50 in a state where the opening of the bag body 50 is enlarged. The end effector 18 includes a base 20 including a rotating portion 17b of the wrist portion 17, a suction head 21 provided on the base 20, and a pair of expansion members 22 provided on the base 20.

The base 20 is connected to the elevating portion 17a of the wrist portion 17 through the rotary joint J4, and is connected to the mounting plate 26 through the driving member 25. The base 20 and the mounting plate 26 are rectangular in a plan view. The driving member 25 has an actuator (not shown) inside. Driven by this actuator, the mounting plate 26 can move in the up-down direction (arrow direction in the figure) relative to the base 20. On the mounting plate 26, the suction head 21 is mounted. In this embodiment, the suction head 21 is installed at two positions with the same length on the back side of the mounting plate 26. The two-point front end of the suction head 21 is configured to contact a single side of the upper side of the bag body 50 placed horizontally. The suction head 21 is connected to the vacuum generator 90 (see FIG. 2) through piping (not shown). The piping is provided with, for example, an on-off valve (not shown). By opening or closing the piping with an on-off valve, the suction of the suction head 21 is performed and released. With this suction head 21, the upper side of the uppermost bag body 50 of the plurality of bag bodies 50 stacked in the container 70 and arranged horizontally can be adsorbed and held on one side.

The base 20 is connected to the pair of expansion members 22 through the drive member 27. The base 20 and the driving member 27 are T-shaped in a plan view. The driving member 27 has an actuator (not shown) inside. The pair of expansion members 22 are configured to be able to linearly move the actuator of the drive member 27 to change the distance between them in the left-right direction (the direction of the arrow in the figure). In this embodiment, the driving direction of the pair of expansion members 22 coincides with the width direction of the workpiece W1. The pair of expansion members 22 are inserted into the opening of the bag body 50 held by the suction head 21, and the opening 50a can be enlarged by the driving of the driving member 27.

Next, the configuration of the end effector 19 of the arm 13 on the right side will be described using FIG. 4. As shown in FIG. 4, the end effector 19 is composed of a base hand 190 and an expansion tool 191. The base hand 190 includes a platform 30 including a rotating portion 17b of the wrist portion 17, and a pair of finger portions 32 mounted on the platform 30 through two driving members 31. Each driving member 31 has an actuator (not shown) inside. The actuator is configured to move linearly by the actuator of the drive member 31, and the interval between the pair of fingers 32 changes. Thereby, the pair of fingers 32 can hold or free the adapter 33 of the expansion tool 191.

The expansion tool 191 is a person who expands the function of the base hand 190. The expansion tool 191 includes an adapter 33, a roller 34, and a rotation mechanism 35 thereof. The expansion tool 191 is arranged on the tool placement field 77 provided on the platform 83, but on the tool placement field 76 is another expansion tool 191A described later.

The adapter 33 is a connection portion of the base hand 190 and the expansion tool 191. By holding the adapter 33 on the base hand 190, the expansion tool 191 and the base hand 190 are connected. The upper portion of the adapter 33 is cylindrical or cylindrical. On the outer peripheral surface of the adapter 33, an engaging portion for engaging the finger 32 of the base hand 190 is provided.

The roller 34 has a cylindrical shape and is made of an elastic material. The material on the surface of the roller 34 is made of hard rubber. The rotating mechanism 35 is configured to rotatably drive a rotating shaft (not shown) attached to the roller 34. Thereby, the workpiece W1 can be sent out in the rotation direction (left direction in the figure) by the rotation friction of the roller 34.

FIG. 5 is a functional block diagram schematically showing the configuration of the control device 14 of the robot 11. As shown in FIG. 5, the control device 14 includes an arithmetic unit 14 a such as a CPU, a memory unit 14 b such as a ROM and RAM, and a servo control unit 14 c. The control device 14 is a robot controller equipped with a computer such as a microcontroller. In addition, the control device 14 may be constituted by a single control device 14 which is controlled centrally, or may be constituted by a plurality of control devices 14 which are coordinated and decentralized.

In the memory section 14b, information such as a basic program as a robot controller and various fixed data are stored. The calculation unit 14a controls and controls various actions of the robot 11 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the calculation unit 14a generates a control command of the robot 11 and outputs the control command to the servo control unit 14c. The servo control unit 14c is configured to control the driving of servo motors corresponding to the joints J1 to J5 of the arms 13 of the robot 11 based on the control command generated by the calculation unit 14a.

In addition, the control device 14 controls the operation of the vacuum generating device 90 (see FIG. 2) and the opening and closing of the on-off valve. When the piping is opened or closed by the opening and closing of the on-off valve, the suction of the suction head 21 is performed and released. In addition, the control device 14 also controls the operation of the delivery mechanism 40 (see FIG. 1 ).

Next, the first bagging operation performed by the bagging device 10 will be described using FIG. 6. In addition, before the bagging operation, the bag body 50 is stored in the container 70 in a stacked state (see FIG. 1 ). FIG. 6 is an explanatory diagram schematically showing the first bagging operation. Among them, the left side of FIG. 6(A) is a front view viewed from the opening side of the bag body 50. Side view of the bag body 50 on the right side of FIG. 6(A). The left side of FIGS. 6(B) and 6(C) is a plan view of the vicinity of the opening of the bag body 50. The right side of FIGS. 6(B) and 6(C) is a side view of the bag body 50.

First, the robot 11 holds the bag 50 in the container 70 by the end effector 18 of the arm 13 on the left. As shown in FIG. 6(A), the suction head 21 suction-holds the upper side of the bag body 50 arranged horizontally. Here, the display is arranged horizontally among the plural bag bodies 50 of the container 70, and is arranged at the uppermost portion. At this time, by the end effector 18, the bag body 50 is held in a state where the opening 50a is enlarged. Specifically, a pair of expansion members 22 are inserted into the opening 50a of the bag body 50 sucked and held by the suction head 21, and the width of the opening 50a is enlarged by driving in the left-right direction (arrow direction in the figure). In the present embodiment, the contact member 22a and the expansion member 22 are formed integrally. When the contact surface of the contact member 22a abuts the inner surface of the opening 50a of the bag 50, the width of the opening 50a of the bag 50 is enlarged.

Next, as shown in FIG. 6(B), by the end effector 18, the opening 50a of the bag body 50 held with the opening 50a enlarged is brought close to the end of the workpiece W1 housed in the workpiece placement field 71 unit.

Next, as shown in FIG. 6(C), the end effector 19 is used to bring the position of the roller 34 close to the vicinity of the top of the end of the workpiece W1. After that, the surface of the roller 34 is brought into contact with the end of the work W1. By the rotational friction of the surface of the roller 34 of the end effector 19, the workpiece W1 is sent out in the direction of the opening 50a of the bag body 50. In addition, since the driving direction of the pair of expansion members 22 coincides with the width direction of the work W1, the space in the width direction of the work W1 is secured, so the work W1 can be sent out to the bag body 50 without bending. The robot 11 similarly performs the loading operation for the remaining four types of workpieces W1 arranged in the other four spaces of the workpiece placement field 71. By operating as described above, the five types of workpieces W1 can be surely loaded into the bag 50.

7 is a perspective view showing the structure of the bagging device when the second bagging operation is performed. In the second bagging operation, after the workpiece W1, the workpieces W2 to W5 are continuously loaded into the bag body 50. As shown in FIG. 7, the arm 13 on the right side of the robot 11 is provided with an end effector 19A capable of holding the workpieces W2 to W5. The end effector 19A is composed of a base hand 190 and an expansion tool 191A. The expansion tool 191A includes an adapter 33 held or liberated by a base hand 190 (a pair of fingers 32), a base 38 connected to the adapter 33, and a suction head 39 attached to the base 38. The suction head 39 is provided at a position on the back side of the base 38. By the suction head 39, each of the workpieces W2 to W5 arranged in the workpiece placement fields 72 to 75 can be adsorbed and held.

In addition, a delivery mechanism 40 is provided on the right side of the workbench 60. The delivery mechanism 40 includes a drive member 40a and a delivery portion 40b provided at the front end of the drive member 40a. The driving member 40a has an actuator (not shown) inside. When the actuator of the drive member 40a moves linearly, the sending part 40b is driven in the direction of the arrow (left-right direction in the figure). By the driving of the driving member 40a, the sending part 40b can send out the workpieces W2 to W5 arranged on the table 60 in a predetermined direction (left direction in the figure). In addition, the delivery mechanism 40 is controlled by the control device 14. Here, the movement of the sending mechanism 40 in conjunction with the robot 11 is controlled at a time.

Next, the second bagging operation will be described using FIGS. 7 and 8. Fig. 8 is an explanatory diagram schematically showing the second bagging operation. Among them, the left side of FIG. 8(A) is a front view viewed from the opening side of the bag body 50. A side view of the bag body 50 on the right side of FIG. 8(A). The left side of FIGS. 8(B) and 8(C) is a plan view near the opening of the bag body 50. The right side of FIGS. 8(B) and 8(C) is a side view of the bag body 50.

First, before the second bagging operation, the robot 11 installs the end effector 19A on the arm 13 on the right side. The holding action of the base hand 190 is released, and the expansion tool 191 (refer to FIG. 4) used in the first bagging operation is placed in the tool placement field 77, and the expansion tool placed in the tool placement field 76 is held instead. 191A (refer to Figure 7). After that, the robot 11 maintains the workpiece W2 disposed on the workpiece placement field 72 via the end effector 19A of the arm 13 on the right side, and is disposed on the worktable 60. At this time, as shown in FIG. 8(A), the robot 11 uses the end effector 18 of the arm 13 on the right side to insert the opening of the bag body 50 into which the sheet-like workpiece W1 is inserted in the first bagging operation The state of 50a expansion remains.

Next, as shown in FIG. 8(B), the end effector 18 of the arm 13 on the right side causes the opening 50a of the enlarged bag 50 to approach the end of the workpiece W2 disposed on the worktable 60.

Next, the delivery mechanism 40 drives the delivery unit 40b. As shown in FIG. 8(C), by the driving of the driving member 40a, the delivery portion 40b is pushed out toward the opening 50a of the bag body 50. As a result, the workpiece W2 disposed on the work table 60 is sent toward the opening 50 a of the bag 50. As a result, the workpiece W2 is loaded into the bag 50. The robot 11, through the end effector 19A of the arm 13 on the right side, is also arranged on the worktable 60 for each of the workpieces W3 to 5 arranged in the workpiece placement field 73 to 75, and is repeatedly executed by the above-mentioned delivery mechanism 40 Load action.

Finally, the robot 11 uses the end effector 18 of the arm 13 on the right side to place the bag 50 loaded with the workpieces W1 to W5 at a predetermined position on the platform 81 (the position beside the container 70), and uses The adhesive tape 101 supplied by the tape supply device 100 seals the opening of the bag body 50 (see FIG. 1 ).

As described above, according to the present embodiment, the bagging operations of the workpieces W1 to W5 can be reliably performed.

In addition, in each of the above-mentioned embodiments, although it is configured to carry out the bagging operation by the dual-arm type robot 11, it may be realized by a dedicated device provided with the above-mentioned end effector 18 and end effector 19 and capable of positioning control. .

In the above embodiments, the workpiece W1 is A4-size paper such as a product manual or a delivery note, but as long as it is a sheet-shaped workpiece, the size or material of the workpiece is not limited thereto.

From the foregoing description, it will be obvious to those of ordinary knowledge in the technical field to which this invention belongs that many improvements and other embodiments of the present invention are apparent. Therefore, the above description should be interpreted only as an example, and is provided for teaching the best mode for carrying out the present invention to a person having ordinary knowledge in the technical field to which the present invention belongs. The details of its structure and/or function can be substantially changed without departing from the spirit of the invention. [Industry availability]

The invention is useful in the manufacturing site of products.

10‧‧‧Bagging device 11‧‧‧Robot 13‧‧‧Robot arm 14‧‧‧Control device 17‧‧‧ wrist 18, 19, 19A ‧‧‧ end effector 20‧‧‧base 21‧‧‧Adsorption head 22‧‧‧Enlargement 25‧‧‧Drive component 26‧‧‧Mounting plate 27‧‧‧Drive component 30‧‧‧platform 31‧‧‧Drive component 32‧‧‧ Finger 33‧‧‧Adapter 34‧‧‧Roller 35‧‧‧Roller drive mechanism (first delivery section) 38‧‧‧Base 39‧‧‧Adsorption head 40‧‧‧ Delivery mechanism (second delivery department) 40a‧‧‧Drive component 40b‧‧‧ Delivery Department 50‧‧‧Bag 60‧‧‧operating table 70‧‧‧Container (bag body) 71～75‧‧‧Workplace 76、77‧‧‧Tool place 80～84‧‧‧platform 90‧‧‧Vacuum generator 100‧‧‧With supply device 101‧‧‧ Adhesive tape 190‧‧‧ base hand 191, 191A‧‧‧Expansion tool W1～W5‧‧‧Workpiece

FIG. 1 is a diagram showing the overall configuration of a bagging device according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the overall configuration of an example of a robot. 3 is a perspective view showing the structure of the end effector of the left arm. 4 is a perspective view showing the structure of the end effector of the right arm. FIG. 5 is a functional block diagram schematically showing the configuration of the control device. FIG. 6 is an explanatory diagram schematically showing the first bagging operation. 7 is a perspective view showing the structure of the bagging device when the second bagging operation is performed. FIG. 8 is an explanatory diagram schematically showing the second bagging operation.

10‧‧‧Bagging device

11‧‧‧Robot

13‧‧‧Robot arm

18.19‧‧‧End effector

40‧‧‧ Delivery mechanism (Second delivery department)

50‧‧‧Bag

60‧‧‧operating table

70‧‧‧Container (bag body)

71~75‧‧‧Workpiece placement field

76、77‧‧‧Tool place

80~84‧‧‧platform

100‧‧‧With supply device

101‧‧‧ Adhesive tape

W1‧‧‧Workpiece

Claims (5)

A bag-filling device, which loads a workpiece into a bag body, has a robot body, and the robot body has: The first holding portion is configured to hold the bag body in a state where the opening of the bag body is enlarged; The first sending part has a roller and a rotating mechanism, and is configured to send out the sheet-shaped first workpiece in a predetermined direction by the rotation friction of the roller; The first robot arm is equipped with the first holding part; The second robot arm is equipped with the aforementioned first delivery part; By the first holding portion, the bag body arranged at a predetermined position is held in a state where the opening of the bag body is enlarged, and the expanded opening portion of the bag body is close to the sheet-like one arranged at the predetermined position The end of the aforementioned first work piece, The first workpiece is sent out in the direction of the opening of the bag by the friction of the rotation of the roller. The bagging device described in item 1 of the patent application scope, in which The aforementioned first holding portion includes: Base The suction head is provided on the base portion, and is configured to adsorb and hold the uppermost bag body of the plurality of bag bodies arranged at a predetermined position; A pair of expansion members are provided in the said base part, and it is comprised so that the opening part of the said bag body adsorbed and held by the said adsorption head may be inserted, and it may be driven so as to expand this opening part. The bagging device described in item 2 of the patent application scope, in which The pair of expansion members are driven in a direction consistent with the width direction of the sheet-like first workpiece. The bagging device as described in any one of items 1 to 3 of the patent application scope, wherein, Further equipped with: The second holding part is mounted on the aforementioned second robot arm and is configured to hold the second workpiece; The second sending part is configured to send the second workpiece arranged at a predetermined position in a predetermined direction; Holding and arranging the second workpiece at a predetermined position by the second holding part, The first holding portion holds the opening of the bag in an enlarged state, and brings the enlarged opening of the bag close to the end of the sheet-like second workpiece arranged at a predetermined position, The second workpiece is sent to the opening direction of the bag by the second workpiece at the predetermined position. A bagging method, a workpiece is loaded into a bag body by a bagging device, the bagging device is provided with a robot body, and the robot body has: The first holding portion is configured to hold the bag body in a state where the opening of the bag body is enlarged; The first sending part has a roller and a rotating mechanism, and is configured to send out the sheet-shaped first workpiece in a predetermined direction by the rotation friction of the roller; The first robot arm is equipped with the first holding part; The second robot arm is equipped with the aforementioned first delivery part; contain: With the first holding portion, the bag body arranged at a predetermined position is held in a state where the opening portion of the bag body is enlarged, and the opening portion of the expanded bag body is brought close to the lamellar shape arranged at the predetermined position The aforementioned steps of the end of the first workpiece, The step of sending out the first workpiece in the direction of the opening of the bag by the first sending part and the friction of rotation of the roller.

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