JP2021038017A - Film roll supply system - Google Patents

Abstract

To provide a film roll supply system which can quickly and reliably take a film roll out of an inner bag.SOLUTION: A supply system for a film roll R includes: an unpacking device which unpacks a packing carton 1 for storing the film roll R in an inner bag 5; an inner bag opening device which opens a mouth part of the inner bag 5; and a second robot 60 which chucks the inner side of the film roll R from the mouth part of the opened inner bag 5 to take the film roll R in the inner bag 5 with the inner bag 5 out of the packing carton 1. The second robot 60 takes out the film roll R and then moves the film roll R closer to a suction device 40 to remove the inner bag 5, and presses the film roll R to a flat plate of the suction device 40 to correct a collapse of winding of the film roll R.SELECTED DRAWING: Figure 14

Description

The present invention relates to a film roll supply system.

Patent Document 1 describes a film delivery device that unwinds a strip-shaped film from a film roll wound with a long strip-shaped film and feeds the strip-shaped film to, for example, a labeling device.

Patent Document 2 describes a technique for opening the mouth of a bag inside a box, in which the mouth of the bag contained in the box is bent inward in order from four directions and stacked on four sides. A box provided with a suction opening device that constitutes a lid and opens the mouth by sucking the bent lids on these four sides sequentially from above by negative pressure and raising them along the outer surface of the square of the box. A device for pulling down the folding opening of the body bag is described.

Japanese Patent No. 4575254 Japanese Patent No. 59764776

In recent years, the amount of strip-shaped film delivered from the film delivery device has been increasing with the high-speed operation of the labeling device, and in order to reduce the burden on the operator and further improve efficiency, the film is stored in the exterior body and transported. There is a demand for an automated system that can take out a film roll that has been produced and automatically send it to a labeling device or the like.

On the other hand, the film roll may be wrapped in a protective inner bag. In this case, when the film roll is taken out together with the inner bag, it is necessary to discharge only the inner bag from the film roll.

An object of the present invention is to provide a film roll supply system capable of quickly and surely taking out a film roll and quickly and surely removing the inner bag from the film roll when the inner bag is taken out together. ..

The present invention includes a take-out device for chucking and taking out a film roll packaged in an inner bag, and a removing device for removing the inner bag while maintaining a state in which only the inside of the film roll is chucked by the take-out device. A film roll supply system including a pressing portion on which the outer side of the film roll is pressed while maintaining the film roll in a vertical state by the removing device after the inner bag is removed by the removing device.

In the present invention, the film roll packaged in the inner bag is chucked and taken out, and the inner bag is removed by a removing device while maintaining the state in which only the inside of the film roll is chucked. At this time, since only the inside of the film roll is chucked, when the inner bag is removed, the outside of the film roll is dragged by the removal of the inner bag and pulled out in the removing direction, causing unwinding. The unwinding that occurs on the outside of the film roll is corrected by pressing the outside of the film roll against the pressing portion.

In one embodiment of the present invention, the removing device includes a plurality of suction portions, and the pressing portion is integrally formed with the removing device.

According to this configuration, the configuration of the entire system is simplified and the unwinding is quickly corrected.

In another embodiment of the present invention, the pressing portion has a ring shape surrounding the plurality of suction portions.

In yet another embodiment of the present invention, the take-out device comprises an articulated arm robot, which chucks only the inside of the film roll and conveys the film roll to the removal device. Then, after the inner bag is removed, the film roll is conveyed to the removing device again and the outside thereof is pressed against the pressing portion.

According to this configuration, the movement of the articulated arm robot is suppressed and the unwinding is efficiently corrected.

According to the present invention, the film roll can be quickly and surely taken out, and when the film roll is taken out together with the inner bag, the inner bag can be quickly and surely discharged from the film roll. In particular, it is possible to correct the unwinding of the film roll that occurs after the inner bag is removed.

It is a top view of the film roll supply system of an embodiment. It is a perspective view of the film roll supply system of embodiment. It is a whole processing flowchart in pattern 1 of embodiment. It is the whole processing flowchart in pattern 2 of embodiment. It is a whole processing flowchart in pattern 3 of embodiment. It is a perspective view of the packing box of a film roll. It is a perspective view which shows the state which four flap portions of the packing box of a film roll are opened. It is a schematic diagram (the 1) which shows the appearance that the mouth part of an inner bag is opened. It is a schematic diagram (No. 2) which shows the state that the mouth part of an inner bag is opened. It is a schematic diagram which shows the folding sequence of an inner bag. It is a top view of the state which the mouth part of the inner bag is opened. It is a schematic diagram (the 1) which shows the state which takes out a film roll by a 2nd robot. It is a schematic diagram (No. 2) which shows the state which takes out a film roll by a 2nd robot. FIG. 3 is a schematic diagram (No. 3) showing a state in which a film roll is taken out by a second robot. It is a schematic diagram (No. 4) which shows the state which takes out a film roll by a 2nd robot. It is a schematic diagram (the 1) which shows how the inner bag is removed. It is a schematic diagram (No. 2) which shows the state that the inner bag is removed. It is a schematic diagram (No. 3) which shows how the inner bag is removed. It is a schematic diagram of a suction plate. It is a schematic diagram (the 1) which shows the mode that the unwinding of the outer diameter part of a film roll is corrected. It is a schematic diagram (No. 2) which shows how the unwinding of the outer diameter part of a film roll is corrected.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The film roll supply system of the present embodiment is a system that takes out the film roll R delivered in a state of being packed by an outer body such as a corrugated cardboard box from the outer body, further removes the packaged inner bag, and supplies the film roll R to the labeling device. Is.

The film roll R is a long strip-shaped label-forming base material that is folded into a sheet in a state in which tubular labels formed of a synthetic resin such as a shrink label attached to a bottle or the like are continuously connected. The strip-shaped film F is wound around a cylindrical paper tube PP in a roll shape of, for example, 500 m to 2000 m. In the labeling device, the supplied strip-shaped film F is cut to a predetermined length to generate individual labels, and then each label is opened in a tubular shape and attached to a bottle or the like. For example, in the case of shrink labels, if they are rolled into a strong (hard) roll, the creases that occur when folded become stronger, making it difficult to open and causing distortion due to shrinkage after mounting on the bottle. Therefore, the outside of the film roll R tends to shift.

FIG. 1 shows a plan view of the film roll supply system 10. FIG. 2 shows a perspective view of the film roll supply system.

As shown in FIGS. 1 and 2, the film roll supply system (hereinafter, simply referred to as “system”) 10 includes a tape cutting device 12 and a flap unpacking / inner bag opening device 14 as main components. .. In addition, a first robot 50 and a second robot 60 are provided as extraction devices. Both the first robot 50 and the second robot 60 are composed of an articulated arm robot.

The film roll R is delivered to the factory where the system 10 is installed in a state of being housed in the packing box 1 which is an exterior body. Usually, the packing box 1 is delivered by being mounted on a pallet in a state where a plurality of packing boxes 1 are stacked.

The first robot 50 takes out the packing boxes 1 stacked on the pallets conveyed to the predetermined positions one by one from the pallets, places them on a conveying mechanism such as a conveyor, and conveys the packing boxes 1 to the tape cutting device 12. .. When transporting the packing box 1 to the ribbon-cutting device 12, as a pretreatment thereof, a different kind inspection for inspecting whether or not the packing box 1 packs a predetermined film roll R may be performed. The packing box 1 that has passed the different type inspection is transported to the tape cutting device 12. The packing box 1 that fails the inspection is discharged as NG without being transported to the tape cutting device 12. The heterogeneous inspection can be performed, for example, by reading the QR code (registered trademark) printed on the product number sheet attached to the predetermined position of the packing box 1. However, the present invention is not limited to this, and other information media such as barcodes, IC tags, and RFID tags may be used.

The tape cutting device 12 is a device that cuts the tape of the packing box 1 that houses the film roll R. The tape-cut packing box 1 is then conveyed to the flap unpacking / inner bag opening device 14.

The flap unpacking / inner bag opening device 14 is a device for unpacking the flap of the packing box 1 and opening the mouth of the inner bag for packaging the film roll R. The flap unpacking / inner bag opening device 14 opens the mouth of the inner bag by sucking the mouth of the inner bag with a plurality of suction nozzles and lifting it upward. In the present embodiment, the flap unpacking function and the inner bag opening function are realized by one device, but the device that executes the flap unpacking function and the device that executes the inner bag opening function are physically separated. You may be doing it.

The second robot 60 is installed adjacent to the flap unpacking / inner bag opening device 14, and the film roll R in which the mouth of the inner bag is opened by the flap unpacking / inner bag opening device 14 is placed together with the inner bag. Remove from packing box 1. Further, after the film roll R is taken out from the packing box 1, the inner bag containing the film roll R is removed from the film roll R. When removing the inner bag, the second robot 60 brings the taken-out film roll R close to the removing device and removes the inner bag by, for example, sucking the inner bag with the removing device. The removing device is arranged adjacent to the flap unpacking / inner bag opening device 14. The second robot 60 attaches the film roll R from which the inner bag has been removed to the auto splicer 70.

In the above description, it is assumed that the film roll R is packed in the inner bag, then packed in the packing box 1 and transported to the system 10 (pattern 1), but in addition to this, the inner bag is used. When it is not packaged and is carried to the system 10 without being packed in the packing box 1 (Pattern 2), or when it is not packed in the inner bag but is packed in the packing box 1 and transported to the system 10. It may come (pattern 3). It is as follows when it is identified by the presence or absence of the packing box 1 and the presence or absence of the inner bag.
Pattern 1: With packing box, with inner bag Pattern 2: Without packing box, without inner bag Pattern 3: With packing box, without inner bag

The system 10 of the present embodiment can supply the film roll R to the labeling device correspondingly with the same system configuration in any pattern. The system 10 in the present embodiment is installed in the factory in the arrangement shown in FIGS. 1 and 2, but is not necessarily limited to such an arrangement. Further, the take-out device does not have to be composed of the first robot 50 and the second robot 60, and may be composed of one articulated arm robot. Further, the tape cutting device 12, the flap unpacking / inner bag opening device 14, the first robot 50, and the second robot 60 of the system 10 are collectively controlled by the control device 11 that controls the system 10, but the control device 11 is It does not necessarily have to be installed in the same place as the system 10, and may be connected to the system 10 by wire or wirelessly. Further, the control device 11 does not have to be a single unit, and may be distributed as a plurality of control devices 11. The control device 11 includes one or more processors, memories, and various interfaces. Various interfaces are provided with communication interfaces, and receive detection signals from sensors such as surveillance cameras installed at each position of the system 10 to monitor the state of the system 10 in real time. The memory stores the control program and various data. The various data include information about the packing box 1 processed by the system 10 or the film roll R which is the content thereof. The processor reads and executes the control program stored in the memory based on the detection signal from the sensor to perform the tape cutting device 12, the flap unpacking / inner bag opening device 14, the first robot 50, and the second robot 60. Drive control.

Hereinafter, the overall processing of the system 10 will be outlined for each of these three patterns.

<In the case of pattern 1>
FIG. 3 shows a processing flowchart in the system 10 in the case of pattern 1.

First, when the pallet is conveyed to a predetermined position in the system 10, the control device 11 outputs a drive command to the first robot 50, and the first robot 50 takes out the packing box 1 from the pallet (S101). A plurality of packing boxes 1 are mounted on the pallet, for example, four packing boxes are stacked in eight stages, and the first robot 50 takes out the packing boxes 1 one by one from this stacked state.

The first robot 50 conveys the packing box 1 to a predetermined different kind inspection position according to a drive command, and performs a different kind inspection on the packing box 1 (S102). As described above, this heterogeneous inspection is performed by reading the QR code (registered trademark) printed on the product number sheet attached to the predetermined position of the packing box 1 with a reader. The product number information read by the reader is transmitted to the control device 11. The control device 11 determines whether or not the packing box 1 to be processed is normal based on the product number information (S103).

If the product number information of the packing box 1 obtained by reading the QR code (registered trademark) matches the information set in advance and stored in the memory, it is determined to be normal (YES in S103), and the process proceeds to the next process. .. If the information obtained by reading does not match the information set in advance and stored in the memory, it is determined to be abnormal (NO in S103), and the control device 11 switches the transport path of the transport device to put the packing box 1 in place. It is transported to the discharge path and eliminated (S113). The packing box 1 determined to be normal is conveyed to the tape cutting device 12 by the conveying device.

In response to a drive command from the control device 11, the tape cutting device 12 has an adhesive tape that holds the two flaps on the upper surface of the packed box 1 that has been conveyed, and an adhesive that holds the two flaps to the side wall. Cut the tape (S104). Specifically, the tape cutting device stops the conveyed packing box 1 by a stopper mechanism, and holds the two flaps that close the upper surface of the packing box 1, and the side walls of these two flaps. The adhesive tape fixed to the part is cut in sequence by the cutter mechanism. An ultrasonic cutter may be used for the cutter mechanism so as not to damage the film roll R which is the contents of the packing box 1, but the cutter mechanism is not limited to this, and a cutter provided with a blade may be used.

In the tape cutting device 12, in addition to the adhesive tape stretched on the upper surface of the packing box 1, the adhesive tape stretched on the lower surface of the packing box 1 may be cut by the cutter mechanism. As a result, the work of folding and storing the empty packing box 1 from which the film roll R as the content is taken out in a flat state can be made easy and reliable.

The tape-cut packing box 1 is conveyed to the flap unpacking / inner bag opening device 14. The flap unpacking / inner bag opening device 14 unpacks the four flap portions on the upper surface of the packing box 1 in response to a drive command from the control device 11 (S105). The flap unpacking / inner bag opening device 14 is provided with four suction nozzles corresponding to the four flap portions of the packing box 1, and lifts each flap portion while being sucked by the four suction nozzles to lift each suction nozzle. Each flap is opened by moving it to the outside of the side wall. In this state, each flap portion may be further bent so as to be pressed against the side wall portion of the packing box 1 by the pressing member.

After unpacking the four flaps on the upper surface of the packing box 1, the first robot 50 collects the upper air mat mounted on the film roll R by a drive command from the control device 11 (S106).

After unpacking the flap, the flap unpacking / inner bag opening device 14 opens the mouth of the protective inner bag that wraps the film roll R. Similar to the flap unpacking described above, it is equipped with a plurality of suction nozzles, for example, four suction nozzles, rotates in a direction approaching the inner bag from the initial position, abuts on the upper surface of the inner bag, and sucks the upper surface of the inner bag. The inner bag is opened by rotating in the reverse direction away from the inner bag, and then the inner bag is opened by moving upward and lifting the inner bag (S107). The plurality of suction nozzles used for flap unpacking and inner bag opening may be the same or different from each other.

After opening the mouth of the inner bag with the flap unpacking / inner bag opening device 14, the second robot 60 inserts the tip of the arm into the mouth of the inner bag by the drive command of the control device 11, and rolls the film R. Chuck from the inside (S108). Then, while maintaining the state in which the film roll R is chucked from the inside, the packing box 1 is tilted by tilting the stage on which the packing box 1 is placed by a predetermined angle, and the packing box 1 is tilted. The film roll R is taken out from the packing box 1 together with the inner bag (S109). The reason why the film roll R is chucked from the inside is that the inner bag is removed from the film roll R in the subsequent treatment. That is, by chucking the film roll R from the inside with the inner bag open, the second robot 60 abuts only on the inside of the film roll R and does not abut on the inner bag, and the film roll R is pressed. The inner bag can be moved freely in the chucked state. Further, the film roll R is taken out from the packing box 1 together with the inner bag in a state where the packing box 1 is tilted. When only the inside of the film roll R is chucked and taken out from the packing box 1, the inside of the film roll R is taken out. This is to prevent a situation in which only the portion moves in the take-out direction and the portion is unwound like a coil spring.

After chucking the inside of the film roll R and taking out the film roll R together with the inner bag from the packing box 1, the inner bag is sucked, for example, by approaching the removing device arranged on the side opposite to the chucking direction of the film roll R. By doing so, the inner bag is removed from the film roll R (S110). Although the removing device is not shown in FIGS. 1 and 2, it is installed in the vicinity of the flap unpacking / inner bag opening device 14. When removing the inner bag, only the inside of the film roll R is chucked, and the outside of the film roll can move freely. Therefore, when the inner bag is removed, the outside of the film roll R is with the inner bag. It may move due to contact and cause unwinding.

Therefore, after removing the inner bag, the second robot 60 presses the film roll R against the plate integrated with the removing device by the drive command of the control device 11 and moves the outside of the film roll R. To correct the unwinding of the film roll R (S111).

After correcting the unwinding of the film roll R, the second robot 60 attaches the film roll R to the auto splicer 70 arranged at a predetermined position by the drive command of the control device 11 (S112). In FIGS. 1 and 2, two auto splicers are installed in parallel, but the present invention is not limited to this, and a single auto splicer may be used. The auto splicer 70 sequentially feeds the strip-shaped film F from the mounted film roll R and supplies it to a labeling device (not shown).

<In the case of pattern 2>
FIG. 4 is a processing flowchart of the system 10 in the case of the pattern 2, that is, when the film roll R is not packed in the packing box 1 and is not packed in the inner bag.

A plurality of film rolls R, for example, four film rolls R are stacked in 11 stages and conveyed to a predetermined position. Normally, since the outer periphery of the plurality of film rolls R is covered with a stretch film in order to prevent the load from collapsing, the operator peels off the outer peripheral stretch film to prepare for the subsequent automatic processing. The peeling is not limited to manual peeling by an operator, and automatic peeling may be performed by an automatic peeling device or the like.

The first robot 50 chucks the inside and the outside of the film roll R by the drive command of the control device 11 with respect to the film roll R from which the outer stretch film is peeled off (S201). Then, the chucked film roll R is conveyed to a predetermined position and placed (S202). The predetermined position is a position that can be accessed by the second robot 60, and is for passing the film roll R from the first robot 50 to the second robot 60.

The second robot 60 chucks the inside and the outside of the film roll R placed at a predetermined position by the drive command of the control device 11, and attaches the second robot 60 to the auto splicer as in the case of the pattern 1 (S203). After the four film rolls R are sequentially conveyed and mounted on the auto splicer, if there is a stage partition air mat that separates the stages of the film roll R from each other, the first robot 50 uses the drive command of the control device 11 to perform the stage. The partition air mat is collected, transported to a predetermined position, and then discarded.

In this way, when the film roll R is not packaged in the inner bag 5, both the inside and the outside of the film roll R are chucked, but even when the film roll R is not packaged in the inner bag 5. As in the case of packaging in the inner bag 5, only the inside of the film roll R may be chucked. The reason is,
(1) When the second robot 60 attaches to the auto splicer 70, it is easier to attach the film roll R by chucking only the inside of the film roll R without interfering with the holding member of the auto splicer. thing,
And (2) When chucking with the first robot 50 and the second robot 60, for example, six inner chuck claws and six outer chuck claws are configured in order to evenly chuck with the inner chuck claw and the outer chuck claw of the robot. It is preferable to chuck the same radial position of the film roll R both inside and outside, but on the outside of the film roll R, the outer chuck claws easily interfere with other members, and it is better to chuck only with the inner chuck claws. By being able to reliably avoid interference and chuck.

In the pattern 2, when only the inside of the film roll R is chucked, it is preferable to incline the film roll R by a predetermined angle and lift the film roll R as in the pattern 1. Similar to pattern 1, when the film roll R is chucked and lifted, only the inner portion of the film roll R moves to prevent the film roll R from being rolled up like a coil spring. In the case of the pattern 2, the film roll R is placed directly on the stage because the packing box 1 does not exist, but the film roll R can be tilted by tilting the stage.

In addition to chucking only the inside of the film roll R by both the first robot 50 and the second robot 60, the first robot 50 chucks the inside and the outside, and the second robot 60 chucks only the inside. You may. In this case, when the second robot 60 chucks and lifts only the inside, the film roll R is tilted by a predetermined angle.

<For pattern 3>
FIG. 5 is a processing flowchart of the film roll supply system 10 in the case of the pattern 3, that is, when the film roll R is packed in the packing box 1 but not in the inner bag. For example, there are two types of product labels for soft drinks, shrink labels and roll labels. The shrink labels attached by heat shrinkage are mainly conveyed to the system 10 in the form of patterns 1 and 2, and roll labels that do not undergo heat shrinkage. Is transported to the system 10 mainly in the form of pattern 3.

In FIG. 5, the processes of S301 to S305 and S309 are the same as the processes of S101 to S105 and S113 in the pattern 1, and the first robot 50 takes out the packing box 1 from the pallet and inspects different varieties. The adhesive tape of the packing box 1 is cut by the tape cutting device 12, transferred to the flap unpacking / inner bag opening device 14, and the flap portion of the packing box 1 is unpacked.

Next, the second robot 60 chucks the inside and the outside of the film roll R by the drive command of the control device 11 (S306). Then, the film roll R is taken out from the packing box 1 while chucking the inside and the outside of the film roll R (S307). It is not necessary to incline the packing box 1 when taking out the film roll R. This is because, unlike the case of pattern 1, since both the inside and the outside of the film roll R are chucked, the winding collapse does not occur.

Next, the second robot 60 places the film roll R taken out from the packing box 1 in a predetermined position by the drive command of the control device 11 (S308). A moving table is arranged at a predetermined position, and the film roll R is conveyed to the labeling device by the movement of the moving table.

Further, in the case of the pattern 3, as in the case of the pattern 2, only the inside of the film roll R may be chucked regardless of the presence or absence of the inner bag 5. Then, in this case, the film roll R is taken out from the packing box 1 by inclining the packing box 1 by a predetermined angle as in the case of the pattern 1.

The above is the overall processing of the system 10 in the case of pattern 1, pattern 2, and pattern 3. The processing flow changes depending on the presence or absence of the inner bag 5 and the presence or absence of the packing box 1, but regardless of the presence or absence of the inner bag, only the inside of the film roll R is chucked and lifted, or it is removed from the packing box 1. For example, the processing can be standardized and streamlined regardless of the pattern.

Next, taking the case of pattern 1 as an example, each process will be described in detail.

<Packing box>
FIG. 6 is a perspective view showing a packing box 1 for storing the film roll R. Further, FIG. 7 is a perspective view showing a state in which the four flap portions of the packing box 1 shown in FIG. 6 are opened.

The packing box 1 has, for example, a square shape or a rectangular shape when viewed from above, and includes a side wall portion 2 that surrounds all four sides. A corrugated cardboard box is used for the packing box 1, but the packing box 1 is not limited to this, and a plastic container container or the like may be used. The packing box 1 includes four flap portions 3a, 3b, 3c, and 3d which are connected to the upper edge portion of the side wall portion 2. As shown in FIG. 6, these flap portions 3a to 3d are fixed by adhesive tapes 4a and 4b in a closed state. Further, the packing box 1 is provided with four flap portions connected to the lower edge portion of the side wall portion 2, and the packing box 1 is stopped by the adhesive tapes 4c and 4d in a state where these flap portions are closed. The bottom of the is formed. Depending on the type of the packing box 1, there may be cases where the upper portion 4b is absent, the lower portion 4d is absent, or both the upper portion 4b and the lower portion 4d are absent.

<Inner bag>
As shown in FIG. 7, the film roll R is housed in the packing box 1 in a state of being wrapped in the inner bag 5. By packing the film roll R in the inner bag 5 by the packing box 1, it is possible to prevent the film winding end surface and the outer peripheral surface of the film roll R from being damaged by directly contacting the inner wall surface of the packing box 1. it can.

The inner bag 5 is made of, for example, a bag made of synthetic resin (for example, made of polyethylene). The mouth of the inner bag 5 is in a state of being pushed inside the paper tube PP of the film roll R without being closed. Specifically, the inner bag 5 has a rectangular shape in the unfolded state, and the four corners are folded on the film roll R in a predetermined order from the state of being laid under the film roll R, and the paper tube PP. Push it inside. The folding order of the inner bag 5 is known and is provided in advance to the system 10 side. The control device 11 of the system 10 sequentially drives the four suction nozzles of the flap unpacking / inner bag opening device 14 according to the information on the folding order of the inner bag 5 stored in the memory, and the mouth portion of the inner bag 5. open.

Even if the folding order of the inner bag 5 is unknown, or the inner bag 5 is folded in an order different from the order stored in the memory, the suction nozzles are driven in the default order to drive the inner bag. It is assumed that the mouth of 5 can be opened. However, if the inner bag cannot be unpacked, it is automatically rejected and the process proceeds to the next packing box 1.

<Inner bag opening treatment>
8A and 8B show the opening of the inner bag 5 in the flap unpacking / inner bag opening device 14. The flap unpacking / inner bag opening device 14 has four suction nozzles 28a, 28b, 28c, 28d (two suction nozzles 28a in FIGS. 8A and 8B) arranged at right angles four times at an angle of 90 degrees. , 28c only). The suction nozzles 28a to 28d can move up and down along the rails laid in the vertical direction, and can also move in the horizontal direction. Further, it is configured to be rotatable within a predetermined angle range in a vertical plane.

As shown in FIG. 8A, with respect to the packing box 1 in which the flap portion is unpacked, each suction nozzle 28a to 28d rotates in a direction approaching the inner bag 5 from its initial position to cover the upper surface of the film roll R. The inner bag 5 is sucked. In FIG. 8A, the arrows indicate the rotation directions of the suction nozzles 28a to 28d.

Next, while sucking in this state, the suction nozzles 28a to 28d rotate in the opposite direction as shown in FIG. 8B, and the inner bag 5 sucked and held by the suction nozzles 28a to 28d is lifted. After that, the inner bag 5 is further lifted by moving the suction nozzles 28a to 28d upward, and the mouth portion 5a of the inner bag 5 is opened. In FIG. 8B, number 1 indicates reverse rotation, and number 2 indicates upward movement.

Specifically, each of the suction nozzles 28a to 28d is rotated, sucked, reversely rotated, and moved upward in order so that the four corners of the inner bag 5 are opened in the reverse order of the folded order. The inner bag 5 is opened in sequence. For example, the four corners of the inner bag 5 are the corner 5h, the corner 5i, the corner 5j, and the corner 5k, and as illustrated in FIG. 8C, the corner 5h is first folded, then the corner 5i is folded, and then the corner 5i is folded. It is assumed that the corner 5j is folded, and finally the corner 5k is folded. That is, it is assumed that the corner portion 5h, the corner portion 5i, the corner portion 5j, and the corner portion 5k are folded in this order from the bottom, and the corner portion 5k is located on the uppermost surface. Note that FIG. 8C is an example of folding, and the folding order may be different from this. However, the folding order is known in advance and is stored in the control device 11, and is transferred to the flap unpacking / inner bag opening device 14 in a state where the folding order is stored in the control device 11.

The four suction nozzles 28a to 28d correspond to the four corners 5h, 5i, 5j, and 5k of the inner bag 5, respectively. The suction nozzle 28a sucks the corner 5h, and the suction nozzle 28b sucks the corner 5i. Assuming that suction is performed, the corner portion 5j is sucked by the suction nozzle 28c, and the corner portion 5k is sucked by the suction nozzle 28d, the corner portion 5k is folded on the uppermost surface, so that the control device 11 has the corner portion 5k. A drive command is output to the suction nozzle 28d corresponding to the above, the suction nozzle 28d is rotated, reversely rotated, and slightly raised, and the corner portion 5k is first opened.

Next, since the corner portion 5j is folded under the corner portion 5k, the control device 11 outputs a drive command to the suction nozzle 28c corresponding to the corner portion 5j to rotate the suction nozzle 28c, and vice versa. Rotate, raise a little, and open the corner 5j.

Next, since the corner portion 5i is folded under the corner portion 5j, the control device 11 outputs a drive command to the suction nozzle 28b corresponding to the corner portion 5i to rotate the suction nozzle 28b, and reverse the rotation. Rotate, raise slightly, and open the corner 5i.

Finally, since the corner portion 5h is folded at the bottom, the control device 11 outputs a drive command to the suction nozzle 28a corresponding to the corner portion 5h to rotate, reversely rotate, and slightly rotate the suction nozzle 28a. Raise it and open the corner 5h. After opening the four corners 5h to 5k, the control device 11 raises the four corners to the set value at the same time.

By sucking and lifting all the corners 5h to 5k of the inner bag 5 with the suction nozzles 28a to 28d, the mouth 5a of the inner bag 5 is opened, and the inside of the film roll R, that is, the paper tube PP is the mouth 5a. It will be exposed from. The rotation angle of the suction nozzles 28a to 28d at the time of reverse rotation may be an angle such that the inside of the film roll R can be exposed from the mouth portion 5a, for example, an angle of 90 degrees from the horizontal plane, but an angle larger than that. You may. As described above, when the film roll R is stored in the packing box 1 and delivered to the factory, the folding order of the corners 5h to 5k of the inner bag 5 is known and stored in the memory of the control device 11. Therefore, the control device 11 drives the suction nozzles 28a to 28d according to the order stored in the memory. The correspondence between the product number and the folding order is stored in the memory of the control device 11, and corresponds to the product number information obtained by reading the QR code (registered trademark) in the heterogeneous inspection of S102 shown in the processing flowchart of FIG. The order may be read out by referring to the correspondence stored in the memory, and the suction nozzles 28a to 28d may be driven according to the read order.

FIG. 9 shows a top view of a state in which the mouth portion 5a of the inner bag 5 is opened by sucking and lifting the inner bag 5 with the suction nozzles 28a to 28d. The paper tube PP of the film roll R is exposed from the mouth portion 5a of the inner bag 5, and the arm of the second robot 60 can enter from the upper surface to chuck the inside of the film roll R.

<Removal process>
The tip of the arm of the second robot 60 includes a chuck head, and the chuck head includes a head base and a plurality of movably provided head bases, for example, six inner chuck claws and six outer chuck claws. The head base is equipped with a drive mechanism for opening and closing the inner chuck claw and the outer chuck claw. The inner chuck claw is inserted into the inside of the paper tube PP of the film roll R and opens, so that the inner chuck claw abuts on the inner surface of the paper tube PP and chucks the inside of the film roll R. The head base may include only the inner chuck claws, but both claws are required when chucking the film roll R from the inside and the outside.

10 to 13 schematically show a process of chucking the inside of the film roll R by the second robot 60 and taking out the film roll R from the packing box 1.

FIG. 10 shows a state in which the arm of the second robot 60 is lowered and six inner chuck claws 62 (however, three inner chuck claws are shown in the figure) are inserted inside the film roll R. The packing box 1 is placed on the stage 30 with the flap portions 3a to 3d on the upper surface thereof unpacked, and the mouth portion 5a of the inner bag 5 is lifted and opened by the suction nozzles 28a to 28d. It is in. The control device 11 of the system 10 outputs a drive command to the second robot 60 after the mouth portion 5a of the inner bag 5 is opened by the suction nozzles 28a to 28d, and the inner chuck claw 62 enters the inside of the film roll R. Let me. The control device 11 may output a drive command to the second robot 60 after detecting and confirming that the mouth portion 5a of the inner bag 5 is open by a sensor (for example, a surveillance camera). The reason why the six inner chuck claws 62 are provided is to chuck the film roll R evenly from the inside, but the number is not limited, and for example, four may be provided.

In FIG. 11, the inner chuck claw 62 of the second robot 60 is inserted inside the film roll R, and the inner chuck claw 62 is opened to operate, thereby contacting the inner surface of the paper tube PP and chucking the inside of the film roll R. Indicates a king state. By moving the arm of the second robot 60 upward in this state, the film roll R together with the inner bag 5 can be taken out from the packing box 1. The packing box 1 may be held by sucking the lower surface of the packing box 1 or sandwiching the packing box 1 with a holding member (not shown) so that the packing box 1 does not lift up with the film roll R.

However, if only the inside of the film roll R is chucked and lifted as it is, only the inner portion of the film roll R moves in the taking-out direction, and a situation may occur in which the film roll R is unwound like a coil spring. If the film roll R is unwound, the feeding accuracy at the time of feeding to the labeling device is lowered.

Therefore, instead of lifting the film roll R upward from the state shown in FIG. 11 and taking it out of the packing box 1, the packing box 1 is placed while maintaining the state in which the inside of the film roll R is chucked by the inner chuck claw 62. The placed stage 30 is tilted by a predetermined angle, and the film roll R is taken out from the packing box 1 in a state where the packing box 1 is tilted.

FIG. 12 shows a state in which the packing box 1 is tilted by tilting the stage 30 on which the packing box 1 is placed while chucking the inside of the film roll R with the inner chuck claw 62 of the second robot 60. The inclination angle is not necessarily limited, but is preferably 45 degrees or more and 90 degrees or less, and more preferably 70 degrees or more and less than 90 degrees. The purpose of tilting the packing box 1 is to prevent only the inner portion of the film roll R from protruding and collapsing like a coil spring when only the inside of the film roll R is chucked and taken out from the packing box 1. Therefore, the packing box 1 may be tilted within a range that can prevent the roll from collapsing. As for the inclination angle, the film roll R may be taken out on a trial basis at various inclination angles in advance to find an inclination angle at which winding collapse does not occur. In general, the larger the tilt angle, the less likely it is that the roll will collapse. In FIG. 12, the stage 30 is tilted by moving one side of the leg supporting the stage 30 upward, but the present invention is not limited to this, and for example, the stage 30 is rotatably supported and controlled. The packing box 1 may be tilted by rotating the stage 30 by a predetermined angle according to a drive command from the device 11. A known servo positioner for the robot system may be used.

FIG. 13 shows a state in which the film roll R is taken out by the second robot 60 in a state where the packing box 1 is tilted. When the inside of the film roll R is chucked and the direction substantially perpendicular to the bottom surface of the inclined packing box 1, that is, the inclination angle of the packing box 1 is θ, the second robot 60 is inclined by about θ from the vertical plane. By lifting in the vertical direction, the film roll R is taken out from the packing box 1 together with the inner bag 5.

<Removal process of inner bag>
14 and 15 schematically show a process of removing the inner bag 5 from the film roll R after taking out the film roll R together with the inner bag 5 from the packing box 1.

FIG. 14 shows a removal device installed in the vicinity of the flap unpacking / inner bag opening device 14 by a drive command of the control device 11 after the film roll R is taken out from the packing box 1 together with the inner bag 5 by the second robot 60. The state in which the film roll R is brought close to the suction device 40 of the above is shown. The second robot 60 moves its arm to bring the bottom surface side of the film roll R, that is, the surface opposite to the chucking side, close to the suction plate 42 of the suction device 40.

The suction device 40 includes a column that stands vertically, a support rod that extends horizontally from the column, and a suction plate 42 that is attached to the support rod and whose surface is within the vertical plane. The suction plate 42 includes a plurality of suction nozzles, and sucks the bottom surface side of the close film roll R to suck the inner bag 5.

FIG. 15 shows a state in which suction is performed by the suction nozzle of the suction plate 42. The inner bag 5 of the film roll R is not chucked by the inner chuck claw 62 of the second robot 60, and covers the film roll R in an unrestrained state. Therefore, the inner bag 5 is sucked by the suction force of the suction plate 42, and in this state, the arm of the second robot 60 moves in the direction away from the suction plate 42, so that the inner bag 5 is removed from the film roll R.

FIG. 16 shows a state in which the inner bag 5 is removed from the film roll R. The inner bag 5 is sucked by the suction plate 42, and the second robot 60 chucks and holds only the film roll R.

FIG. 17 shows the configuration of the suction plate 42. The suction plate 42 includes the plurality of suction nozzles 44 described above and a flat ring portion 46 that surrounds the plurality of suction nozzles 44 in a circular shape. The inner diameter a1 and the outer diameter a2 of the ring portion 46 are set according to the diameter a of the film roll R, and are set so that a1 <a <a2. Alternatively, a1 <r1 <r2 <a2 is set with respect to the inner diameter r1 and the outer diameter r2 of the film roll R. This is because when the inner bag 5 is removed, only the outer diameter portion of the film roll R is pulled toward the suction plate 42 side together with the removal of the inner bag 5 and collapses, and the protrusion of the outer diameter portion is flat. This is so that the roll collapse can be corrected by pressing against the surface of the ring portion 46. The removed inner bag 5 is then removed from the suction plate 42 and discarded.

<Correction correction process>
FIG. 18 shows a state in which the outer diameter portion Rt of the film roll R protrudes toward the suction plate 42 and is rolled up after the inner bag 5 is removed. When the control device 11 detects the unwinding of the film roll R with a surveillance camera or the like, or regardless of whether or not the unwinding has occurred, the control device 11 always outputs a drive command to the second robot 60 to perform the film roll R. While chucked, the film roll R is brought closer to the suction plate 42 again, and the bottom surface of the film roll R is pressed against the ring portion 46 of the suction plate 42.

FIG. 19 shows a state in which the film roll R is pressed against the ring portion 46 of the suction plate 42. By pressing the film roll R against the flat ring portion 46, the protrusion of the outer diameter portion Rt of the film roll R is returned, and the unwinding is corrected. When correcting the unwinding, it is not necessary to suck with the suction nozzle 44, so the suction operation is turned off. Further, the pressing amount against the ring portion 46 is set to such an extent that the protrusion of the outer diameter portion Rt is returned. The second robot 60 may press the film roll R against the ring portion 46 a plurality of times to gradually correct the unwinding.

In this way, by using the suction plate 42 of the suction device 40 for removing the inner bag 5 to correct the unwinding caused by the removal of the inner bag 5 of the film roll R, efficiency is achieved without adding new equipment. The inner bag 5 can be removed and the roll collapse can be corrected. After pressing against the ring portion 46 of the suction plate 42 to correct the unwinding, the second robot 60 attaches the film roll R to the auto splicer 70 by a drive command from the control device 11 of the system 10.

In addition to the suction device 40, a flat plate may be provided and pressed against the flat plate to correct the unwinding. Further, when a flat surface is present in any of the members of the system 10 other than the suction device 40, the flat surface may be utilized to correct the unwinding.

As described above, the film roll R is taken out from the packing box 1, the inner bag 5 is removed, and the film roll R is attached to the auto splicer 70. The auto splicer 70 is a new film delivery device that feeds the strip film F from the film roll R and sends it to the labeling device, a terminal portion of the delivered strip film F that has been sent from the film roll R, and a film delivery device. A film connecting device for connecting the start end portion of the strip-shaped film F before being fed out from the film roll R supplied to the film F is provided.

The film delivery device is a drive that drives a roll drive motor that rotates the film roll R set at a predetermined position and a pair of upper and lower film delivery rollers that sandwich the strip-shaped film F unwound from the film roll R and deliver it to the labeling device. Equipped with a mechanism. During the delivery of the strip film F, the strip film F is delivered to the labeling device side at the delivery speed required by the labeling device side, and the strip film F is manipulated due to fluctuations in the delivery speed of the strip film F and fluctuations in the outer diameter of the film roll R. The roll drive motor is controlled so that the film roll R rotates according to the fluctuation of the output speed.

The film connecting device pays out the strip-shaped film F from a new film roll R set in the film delivery device, and while separating the overlapped portions of the starting ends from each other, the start ends of the strip-shaped film F in the separated state are separated from each other. , Positioning at a predetermined film standby position adjacent to the delivery path of the strip-shaped film F, cutting the end portion of the strip-shaped film F fed from the film roll R at a predetermined position, and cutting the end portion of the cut strip-shaped film F. After positioning at the film connection position set in the transmission path of the strip-shaped film F, the starting end of the strip-shaped film F before delivery positioned at the film standby position is transferred to the delivery path of the strip-shaped film F to connect the film. At the position, the end portion of the strip-shaped film F that has been sent out is sandwiched between the start ends of the strip-shaped film F before delivery, and the overlapped portions of both strip-shaped films F and F are connected to each other in the sandwiched state. The film connecting device is provided with a film fastening tape peeling device, and after peeling the adhesive tape that fastens the starting end portion of the strip-shaped film F wound around the film roll R to the outer peripheral surface of the roll. , The start end is paid out from the film roll R.

As described above, according to the system 10 of the present embodiment, the film roll R is automatically taken out from the packing box 1, and the inner bag 5 is automatically removed to use only the film roll R as an auto splicer. Can be installed automatically. As a result, the system can be labor-saving or unmanned. In particular, according to the system 10 of the present embodiment, it is possible to prevent the film roll R from collapsing when it is taken out. Further, it is possible to correct the roll collapse that occurs when the inner bag 5 is removed.

In the present embodiment, the inner chuck claw 62 of the second robot 60 is inserted inside the film roll R, and the inner chuck claw 62 is opened to operate, so that the inner chuck claw 62 abuts on the inner surface of the paper tube PP and the film roll R Although the inside is chucked, the second robot 60 is provided with an outer chuck claw in addition to the inner chuck claw 62, and the outer chuck claw can chuck only the outer side of the film roll R, or either the inner side or the outer side. May also be configured to be able to chuck. Further, the film roll R in the present embodiment may be either a shrink label of a tubular film or a roll label of a sheet film. Further, in the present embodiment, the inner bag 5 is sucked by the suction device 40 as the removing device to remove the inner bag 5 from the film roll R, but the inner bag 5 is gripped by the robot to remove the inner bag 5. You may.

Further, the pressing portion in the present embodiment is composed of a flat ring portion 46, but the present invention is not limited to this, and a net-like ring portion or a radial ring portion may be used.

1 Packing box (exterior body), 2 Side wall part, 3a to 3d flap part, 4a to 4d adhesive tape, 5 inner bag, 5a mouth part, 10 film roll supply system, 12 tape cutting device, 14 flap unpacking / inner bag Opening device (unpacking device, inner bag opening device), 28a to 28d suction nozzle, 30 stages, 40 suction device (removal device), 42 suction plate, 44 suction nozzle, 46 ring part (pressing part), 50 1st Robot, 60 Second robot (removal device), 62 Inner chuck claw.

Claims (4)

A take-out device that chucks and takes out the film roll wrapped in the inner bag,
A removal device that removes the inner bag while maintaining a state in which only the inside of the film roll is chucked by the take-out device.
After the inner bag is removed by the removing device, the pressing portion is pressed against the outside of the film roll while maintaining the film roll in a vertical state by the removing device.
A film roll supply system equipped with. The removal device includes a plurality of suction portions and includes
The film roll supply system according to claim 1, wherein the pressing portion is integrally formed with the removing device. The pressing portion has a ring shape surrounding the plurality of suction portions.
The film roll supply system according to claim 2. The take-out device includes an articulated arm robot.
The articulated arm robot chucks only the inside of the film roll to convey the film roll to the removing device, and after the inner bag is removed, conveys the film roll to the removing device again. The film roll supply system according to any one of claims 2 and 3, wherein the outside of the arm is pressed against the pressing portion.

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