JP6898652B2 - Packaging machine and packaging system - Google Patents

Description

The present invention relates to a packaging machine and a packaging system.

Generally, a wrapping machine wraps an article with a wrapping film, seals a predetermined position of the wrapping film, and cuts the wrapping film to manufacture a wrapping body, and continuously supplies the wrapping film to the wrapping machine main body. The basic configuration is provided with a film supply device and a supply device for supplying articles to the main body of the packaging machine. Depending on the packaging form, the goods may be supplied manually.

The film supply device applies a driving force to the raw fabric roll support portion that rotatably supports the raw fabric roll wound from the strip-shaped packaging film and the strip-shaped packaging film unwound from the raw fabric roll or the raw fabric roll. , It has a function of transporting the strip-shaped film at a predetermined speed and supplying it to the main body of the packaging machine.

In the film supply device, a process of removing the raw fabric roll that has been supplied to the main body of the packaging machine from the raw fabric roll support portion, and mounting a new raw fabric roll on the raw fabric roll support portion that has been removed and vacated. Processing needs to be done on a regular basis. Generally, this type of raw fabric roll is manually attached and detached, but the raw fabric roll is heavy and the processing is complicated. Depending on the winding diameter of the original roll and the operating speed of the packaging machine, the original roll may be attached or detached and replaced every 30 minutes to 1 hour, and more than one packaging machine is in operation. And, replacement work occurs frequently. Therefore, it is desired to reduce the labor in the replacement work of the original roll.

In order to reduce the labor required for replacement work, the "film processing method for raw fabric rolls in a packaging machine and its device" disclosed in Patent Document 1 is a technique for replacing raw fabric rolls using a single robot. Is disclosed. The robot disclosed in Patent Document 1 includes an arm portion in which each of the plurality of arms is a joint that can rotate or bend and extend, and the tip of the arm portion is operated by the operation of the plurality of arm portions that can operate independently of each other. It is a dual-arm robot that can move the support unit connected to the robot in a three-dimensional space of up and down, front and back, and left and right by an appropriate route. The robot moves one of the arm portions along a predetermined trajectory, sets the original roll in the standby position on the support portion, then returns the arm portion to the predetermined position on the upstream side of the packaging machine main body, and uses the robot. The original roll left behind is discharged to the storage location. Further, the other arm portion joins the film end portion held by the suction means and the film unwound from the new raw fabric roll by the tool unit replaced from the raw fabric roll when the raw fabric roll is replaced. Has a function. As a result, the film is continuously supplied to the main body of the packaging machine.

Patent No. 6146867

In the invention disclosed in Patent Document 1, since the original fabric roll is exchanged in a state where the robot provided with the two robot arms is fixedly installed, it is necessary to convey the original fabric roll within the reach of the robot arm. It's complicated.

Further, since a single robot operates two robot arms to perform film bonding processing, the transportation of the wrapping film currently being supplied is temporarily stopped, and the wrapping film is held by operating the robot arm. While holding it, replace the original roll with another robot arm, move it to the film supply position of the newly held packaging film, and move the tip of the original roll packaging film at that supply position to the film supply position. A wide range of work is required, such as joining with the packaging film held earlier, which complicates the work and lengthens the downtime of the packaging machine.

In order to solve the above-mentioned problems, the wrapping machine of the present invention is (1) a wrapping machine that wraps an article with a wrapping film that is continuously conveyed, and seals and cuts a predetermined part of the wrapping film to manufacture a wrapping body. The main body and a film supply device for supplying the packaging film to the main body of the packaging machine are provided, the film supply device has a plurality of self-propelled robots, and the self-propelled robot includes a self-propelled pedestal and the above. A robot arm attached to a self-propelled pedestal is provided, and a rotary support shaft for mounting the original roll on which the packaging film is wound is rotatably linked to the tip of the robot arm. At least one of the self-propelled robots is a self-propelled robot in operation that supplies the packaging film from the original roll held by the self to the main body of the packaging machine, and the remaining self-propelled robot is the self-propelled robot. The original roll is moved to the original roll storage area by the running type pedestal, and the original roll in the original roll storage area is attached to the rotation support shaft and returned to the vicinity of the main body of the packaging machine to be held by the original roll. Is placed in the standby position, and becomes a standby self-propelled robot. With the end of supply of the packaging film from the operating self-propelled robot to the packaging machine main body, the standby self-propelled robot The type robot is configured to switch during operation to supply the packaging film to the packaging machine main body.

At the beginning of operation, for example, the original roll is attached to the rotation support shaft of the self-propelled robot and is located at a predetermined position near the main body of the packaging machine, and is continuous from the original roll held by the self-propelled robot during operation. Then, the wrapping film is unwound, supplied to the wrapping machine main body, and the remaining self-propelled robots stand by. When the raw fabric roll held by the self-propelled robot in operation runs out, the packaging film is switched from the raw fabric roll held by the self-propelled robot that has been waiting until now to the main body of the packaging machine.

Then, the self-propelled robot that has been supplying the wrapping film until now moves away from the wrapping machine main body to the place where the new raw fabric roll is placed, and sets the raw fabric roll on the rotation support shaft there. Such a set may be performed by a process other than the self-propelled robot such as a human hand, but it is more preferable that the set is performed by the self-propelled robot itself. The self-propelled robot in which the original roll is set on the rotary support shaft returns to the vicinity of the main body of the packaging machine, for example, and stands by in preparation for the supply of the next packaging film. Further, prior to the process of setting a new raw fabric roll, a process of removing the used raw fabric roll at an appropriate position is performed, and such a process may also be performed by a process other than a self-propelled robot such as a human. It is more preferable to perform it by the self-propelled robot itself.

According to the present invention, when exchanging a film, a film supply device that transfers a spare raw roll to be used next by a self-propelled robot to a packaging machine and supplies the packaging film to the packaging machine body as it is at an appropriate timing. It becomes. As described above, the self-propelled robot of the present invention has a function of transferring the original roll from the place where the original roll is placed to the wrapping machine / wrapping machine main body, and a function as a film supply device. By providing a plurality of self-propelled robots having a configuration, one self-propelled robot operates as a film supply device, and another self-propelled robot rolls the original fabric by utilizing the period during which the packaging film is supplied. Is transferred, so that the work of exchanging / switching the packaging film supplied to the main body of the packaging machine can be performed in a relatively short time. Further, even if the wrapping machine main body has a storage place for the original roll, it is preferable because it is a self-propelled robot and can move smoothly and bring the original roll.

Although the plurality has been described mainly by giving two examples in the embodiment, for example, like a four-sided seal wrapping machine and a deep drawing wrapping machine, two wrapping films such as an upper film and a lower film are bonded together. If it is a packaging machine that manufactures packaging, for example, two self-propelled robots are prepared for the upper film, two self-propelled robots are prepared for the lower film, and a total of four are used. As described above, the number is not necessarily limited to two, and three or more self-propelled robots may be used for one packaging film.

Further, in the embodiment, the rotary support shaft is driven and rotates, and the original roll is rotated accordingly to feed out the packaging film, but the drive is not necessarily applied to the rotary support shaft. , A feeding force may be applied to the packaging film by a feed roller or the like, and the original roll and the rotation support shaft may rotate accordingly.

(2) The end side of the packaging film supplied from the self-propelled robot during operation and the tip of the packaging film constituting the original roll held by the standby self-propelled robot that switches during operation. The contact member provided with the joining means for joining the sides and in contacting at least the terminal side of the packaging film during operation and the tip end side of the packaging film in standby is located on the main body side of the packaging machine. It is good to configure it so that it is linked.

By doing so, the packaging film can be smoothly joined, and the packaging film can be continuously supplied when the original roll is replaced. Further, since the contact member for bringing the two packaging films into contact with each other is linked to the main body of the packaging machine, it is not necessary to separately provide the contact member or the like for each self-propelled robot, and the structure can be simplified, which is preferable. In the embodiment, the contact member corresponds to the crimping roller 24 and the film bonding sealer 40.

(3) The self-propelled robot, which has finished supplying the packaging film to the main body of the packaging machine, is configured to move from the operating position during operation, and switches from the standby state to the operation. The self-propelled robot may be configured to move to the driving position. In this way, the work of supplying the wrapping film to the main body of the wrapping machine, the work of switching between the self-propelled robot in operation and the standby work, and the like can be performed in the same operation, which is preferable.

(4) The packaging machine main body is provided with an article transporting supply device for supplying the article, and the self-propelled pedestal of the plurality of self-propelled robots is arranged on both sides of the article transporting supply device in the transport direction. It is good to do so. By doing so, for example, the interference between the self-propelled robots during operation and standby can be suppressed, and the robot can be separated from the packaging machine and moved to the original roll storage place, or can be returned and moved to a predetermined position. Is good because it can be done easily.

(5) The packaging system according to the present invention is a packaging system including a plurality of packaging machines according to any one of (1) to (4), and at least some of the self-propelled robots are the packaging machines. With the end of supply of the wrapping film to the main body, the self-propelled robot separated from the wrapping machine main body to pick up a new original roll and the self-propelled robot equipped with the new raw roll is another wrapping machine main body. It is good to move to and configure to wait. By providing a mechanism that allows at least some self-propelled robots to move to a different packaging machine body from the original packaging machine body after installing a new original roll, for example, the entire packaging system is well-balanced. It is good because it can be processed.

(6) The wrapping system according to the present invention is a wrapping system including a plurality of wrapping machines (1) to (4), and the wrapping machine main body is terminated with the end of supply of the wrapping film to the wrapping machine main body. In the self-propelled robot equipped with the new original roll, the total mileage of each self-propelled robot or the total amount of the packaging film is uniformly extended. Therefore, it is preferable to configure the packaging machine main body to be set as the destination. In this way, it is good that the self-propelled robot can balance the total distance to move between the packaging machine main body and the place where the original roll is placed.

According to the present invention, even if the replacement original roll is located away from the main body of the packaging machine, for example, the standby self-propelled robot moves to the remote location and packages the original roll. Since it can be transported to the vicinity of the machine body, manual transportation is not required and labor is reduced. Furthermore, the self-propelled robot that was on standby supplies the packaging film to the packaging machine body as it is at an appropriate timing. Since it switches to, smooth and efficient film replacement can be performed in a short time.

It is a figure which shows an example of the packaging machine which concerns on this invention. It is a figure which shows an example of the part of the film supply apparatus during operation in 1st Embodiment. It is a figure explaining an example of the action of film bonding in 1st Embodiment. It is a figure explaining an example process of mounting of the original fabric roll in the original fabric roll storage place in 1st Embodiment. It is a figure explaining an example of the operation of the self-propelled robot at the time of exchanging the original roll. It is a figure which shows an example of the part of the film supply apparatus during operation in 2nd Embodiment. It is a figure explaining an example of the action of film bonding in 2nd Embodiment. It is a figure explaining an example at the time of setting of the original fabric roll in 2nd Embodiment. It is a figure which shows the 3rd Embodiment. It is a figure which shows the 4th Embodiment. It is a figure which shows the modification.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not construed as being limited to this, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

FIG. 1 is a schematic view showing a preferred embodiment of the packaging machine according to the present invention. The wrapping machine of the present embodiment is, for example, a horizontal pillow wrapping machine, which is a wrapping machine main body 1 that manufactures a wrapping body by wrapping an article with a wrapping film, sealing a predetermined position of the wrapping film, and cutting the wrapping film. A film supply device 2 that continuously supplies a strip-shaped wrapping film 6 to the wrapping machine main body 1 and an article 3 that is arranged on the upstream side of the wrapping machine main body 1 and supplies articles 3 to the wrapping machine main body 1 at predetermined intervals. It is provided with an article transporting and supplying device 4.

The film supply device 2 is configured to include two self-propelled robots 10 arranged side by side in the front-rear direction along the transport direction of the article 3 on the upstream side of the packaging machine main body 1. Each self-propelled robot 10 has the same configuration. For example, as shown in FIGS. 2 and 3, a self-propelled pedestal 11 and an articulated robot arm 12 are provided on the upper surface of the self-propelled pedestal 11. The rotation support shaft 13 is attached to the tip of the robot arm 12. The self-propelled pedestal 11 has a rectangular case 11a, and wheel portions 11b are arranged at four corners of the bottom surface of the case 11a. Inside the case 11a, a drive motor for the wheel portion 11b and the robot arm 12 and a drive motor thereof. It is provided with a power transmission mechanism that transmits the output of the drive motor to the wheel portion 11b and the robot arm 12, a control device that controls their movements, and the like. It is preferable that the control device has a wireless communication function and has a function of wirelessly communicating with the control device of the entire packaging machine mounted on the packaging machine main body 1. The wheel portion 11b includes casters and the like that support the wheels and the rotation shafts of the wheels by bearings and connect them to the bottom surface of the case 11a.

Of the four wheel portions 11b, at least two become drive wheel portions, and the wheels rotate in the forward and reverse directions by receiving power from the drive portion mounted in the case 11a, and the self-propelled gantry 11 and thus the self-propelled robot 10 Move forward and backward. Further, at least two of the four wheel portions 11b have a function of rotating forward and reverse within a predetermined angle range around the axis in the vertical direction to change the direction thereof. The wheel portion having such a function may be used in combination with the drive wheel portion described above, or may be another wheel portion.

The robot arm 12 is an upright arrangement of the base portion 14 on the upper surface of the case 11a, a first arm portion 16 connected to the upper end of the base portion 14 via the first joint portion 15, and the first arm portion 16. A second arm portion 18 connected to the tip end via a second joint portion 17 and an actuator 19 connected to the tip end of the second arm portion 18 are provided. The first joint portion 15 and the second joint portion 17 each include two rotation axes in orthogonal directions, and include a rotation mechanism that rotates around the axes of the two rotation axes. As a result, for example, the first arm portion 16 rotates in the horizontal plane with the vicinity of the upper end of the base portion 14 as the center of rotation, and also rotates in the vertical plane in the vertical direction in the forward and reverse directions within an angle range of, for example, 180 degrees. It moves within the range of the substantially hemisphere above the part 14. Further, in the second joint portion 17, for example, one rotation axis is arranged so as to extend in the lateral direction toward the tip end side of the first arm portion 16, and the other rotation axis is parallel to the longitudinal direction of the second arm portion 18. Arrange so as to extend in the direction. As a result, the first arm portion 16 and the second arm portion 18 rotate forward and reverse in the same plane with the second joint portion 17 as the center of rotation, and are displaced so that the angle formed by the first arm portion 16 and the second arm portion 18 vary widely and narrowly. Further, the second arm portion 18 rotates forward and reverse with the central axis in the longitudinal direction as the center of rotation, and displaces the posture of the actuator 19 attached to the tip of the second arm portion 18. By moving the first joint portion 15 and the second joint portion 17 in appropriate directions, the actuator 19 can be moved in an arbitrary locus in the three-dimensional space and can be positioned at a desired position. The directions of movement of the first joint portion 15 and the second joint portion 17 are not limited to those described above, and various mechanisms may be used.

The mounting surface at the tip of the actuator 19 is configured to rotate within the mounting surface, and in the present embodiment, the rotation support shaft 13 is mounted on the mounting surface. Therefore, as the actuator 19 is driven to rotate, the rotation support shaft 13 also rotates.

The rotation support shaft 13 holds the original roll 5. As the rotation support shaft 13 rotates, the original roll 5 rotates integrally with the rotation support shaft 13. When the rotation speed of the rotation support shaft 13 is changed, the rotation speed of the original roll 5 also changes. The original roll 5 is formed by winding a strip-shaped wrapping film 6 around the outer circumference of a tubular paper tube 5a having both ends open. Further, a metal content type double-sided adhesive tape containing an iron component that reacts with, for example, a metal detector is attached to the end portion of the winding end of the packaging film 6.

Although not shown, the rotary support shaft 13 includes, for example, a holder that protrudes outward in the radial direction at an appropriate position on the outer peripheral surface thereof. The appropriate positions may be, for example, three locations at 120-degree intervals in the circumferential direction. The holder is configured so that the amount of protrusion from the outer peripheral surface of the rotary support shaft 13 to the outside can be changed and adjusted, and the amount of protrusion is adjusted by driving the actuator 19 separately from the rotary drive of the rotary support shaft 13. It is good to have a configuration to do. In this way, the amount of protrusion is reduced, and the rotary support shaft 13 is inserted into the paper tube 5a with the diameter of the circumscribed circle at the tip of the holder smaller than the inner diameter of the paper tube 5a, and is held in the inserted state. By increasing the amount of protrusion of the tool and bringing the tip of the holder into contact with the inner peripheral surface of the paper tube 5a with a predetermined urging force, the original roll 5 is held and the rotary support shaft 13 and the original roll 5 are integrated. To become.

The self-propelled robot 10 includes an outer diameter measuring means for measuring the winding diameter (outer diameter) mounted on the rotation support shaft 13. Although not shown, this measuring means is, for example, rotatably attached to the lower end of the arm to a bearing portion provided on the upper surface of the self-propelled gantry 11, and rotatably attached to the upper end of the arm. The rotating shaft at the lower end of the arm attached to the bearing has a function of linking an encoder and detecting the rotation angle of the arm. Further, the direction of the rotation axis in the bearing portion is parallel to the rotation support shaft 13 positioned during operation, and the upper end of the arm that rotates forward and reverse within a predetermined angle range with the bearing portion as the rotation center is the rotation support shaft 13 and thus the rotation support shaft 13. It is configured so that it can approach and separate from the mounted original roll 5. The contact roller attached to the upper end of the arm is a free roller and is configured to be parallel to the rotation support shaft 13 positioned during operation. When the upper end of the arm is tilted toward the original roll 5 and the contact roller is brought into contact with the outer peripheral surface of the original roll 5, the rotation angle of the arm in contact is detected from the output of the encoder, and the rotation angle is detected. The outer diameter of the original roll 5 is calculated based on the above. The calculation process of the outer diameter may be performed by, for example, a control device mounted in the self-propelled gantry 11. The packaging film is unwound as the raw fabric roll 5 rotates, and the outer diameter of the raw fabric roll 5 gradually decreases. When the raw fabric roll 5 is rotated, the contact roller also passively rotates following the rotation so as not to interfere with the feeding of the packaging film 6, and the outer diameter of the raw fabric roll 5 accompanying the feeding of the packaging film 6 is increased. When the film is reduced, the position of the contact roller in contact with the original roll 5 is lowered and displaced, and the arm is also tilted. Therefore, the outer diameter of the original roll 5 is detected in real time from the output of the encoder, and is used, for example, to control the rotation speed of the rotation support shaft 13 and detect the end of the original roll 5.

Further, in the self-propelled robot 10 of the present embodiment, as shown in FIGS. 2 to 4, the fixed roller arm 20 is connected to the actuator 19, and the free roller 21 is rotated to the bearing portion at the tip of the fixed roller arm 20. Link freely. The free roller 21 is arranged parallel to the rotation support shaft 13, and its length is set to be longer than the film width of the wrapping film 6, and the strip-shaped wrapping film unwound from the original roll 5 during the operation of the wrapping machine. 6 is passed.

Further, in the present embodiment, as shown in FIG. 4 and the like, a movable arm 22 for film bonding is provided on the packaging machine main body 1 side. The movable arm 22 is configured such that the lower end side thereof is the center of rotation and the movable arm 22 rotates in the forward and reverse directions within a predetermined angle range. The free roller 23 is rotatably linked to the bearing portion provided at the lower end of the movable arm 22, and the crimping roller 24 is rotatably linked to the bearing portion provided at the upper end of the movable arm 22. Both the free roller 23 and the crimping roller 24 are arranged in parallel with the rotation support shaft 13, and the length thereof is set to be longer than the film width of the packaging film 6. A strip-shaped wrapping film 6 unwound from the original roll 5 is hung on the free roller 23 while the wrapping machine is in operation. The free roller 23 defines a transport path for the packaging film 6 together with the free roller 21 provided on the self-propelled robot 10 side and the free roller 25 arranged at an appropriate position below the movable arm 22. Further, the crimping roller 24 stands by with the movable arm 22 standing at a predetermined angle and separated from the packaging film 6 during operation, and the movable arm 22 falls down when the film is replaced, and the packaging film 6 being conveyed is positioned below. It is configured so that it can be pressed against the original roll 5.

In the film supply device 2 of the present embodiment, the two one-armed self-propelled robots 10 alternately move to the film storage place where the original roll 5 is placed, and the original roll 5 is placed on its own rotation support shaft 13. Is returned to the wrapping machine with the set, and then the self-propelled robot 10 supplies the film to the wrapping machine main body 1. Further, when one of the two self-propelled robots 10 is in operation to supply the film to the packaging machine main body 1, and the other is on standby for spare use and the remaining amount of the original roll used for operation is exhausted. , The tip of the wrapping film of the waiting raw fabric roll is attached to the wrapping film wound around the raw fabric roll and connected, and thereafter, the wrapping machine main body continues from the waiting raw fabric roll. 1 is configured to supply the packaging film. Specifically, such processing may be performed as follows.

As shown in FIGS. 2 and 5A, in the present embodiment, the self-propelled robot 10 (A) located on the side away from the wrapping machine main body 1 arranged in the front-rear direction is attached to the wrapping machine main body 1. During the operation of supplying the wrapping film 6, the self-propelled robot 10 (B) located on the side close to the wrapping machine main body 1 is on standby. In this state, in the self-propelled robot 10 (A) being operated, the robot arm 12 is in a slightly extended state, and the original roll 5 is located at a relatively high position, and the packaging is unwound from the original roll 5. The film 6 is hung on a free roller 23 attached to the tip of the fixed roller arm 20 and supplied to the packaging machine main body 1. At this time, in the self-propelled robot 10 (B) on standby, the robot arm 12 is in a slightly folded state, and the original roll 5 is attached to the robot arm 12 and stands by at a slightly lower position. Then, the packaging film 6 unwound from the original roll 5 supported by the self-propelled robot 10 (A) in operation separates from the original roll 5 supported by the self-propelled robot 10 (B) in standby. It is transported in a non-contact state.

The control device of the self-propelled robot 10 (A) during operation, for example, receives the transport speed of the packaging film from the control device of the entire packaging machine, and transports the packaging film at the received transport speed based on the outer diameter of the original roll. The rotation speed is obtained, and the drive of the actuator 19 is controlled so that the rotation support shaft 13 rotates at the obtained rotation speed.

While executing the supply work of the packaging film 6 from the self-propelled robot 10 during operation, the control device of the self-propelled robot 10 (B) on standby self-uses the outer diameter measuring means based on the output of the encoder. The winding diameter (outer diameter) of the mounted original roll 5 is measured, and the position of the metal content type double-sided adhesive tape is detected based on the output of the proximity sensor.

When the obtained outer diameter of the original roll 5 becomes equal to or less than the reference value, the control device of the self-propelled robot 10 (A) during operation wirelessly transmits a film end detection signal to, for example, the control device of the entire packaging machine. To do. Upon receiving the film end detection signal, the control device for the entire packaging machine sends a film replacement processing instruction to the control device for the self-propelled robot 10 (B) on standby.

The control device of the self-propelled robot 10 (B) on standby, which has received this film exchange processing instruction, is currently supplying the peripheral speed of the outer peripheral surface of the original roll based on the outer diameter of the original roll obtained in advance. The rotation support shaft 13 is rotated so as to have the same speed as the transport speed of the packaging film. The control device of the self-propelled robot 10 in standby and the control device of the entire packaging machine cooperate with each other, and when the double-sided adhesive tape faces the packaging film 6 being conveyed, the movable arm The crimping roller 24 rotates 22 to urge and press the packaging film 6 being conveyed toward the waiting original roll 5 (see FIG. 3). As a result, the packaging film 6 being conveyed is pressed against the double-sided adhesive tape with a predetermined force, and is adhered and integrated with the waiting raw fabric roll 5 via the double-sided adhesive tape. Although not shown, a cutter means is provided at the upper end of the movable arm 22 or a separate mechanism, and the film portion on the upstream side of the portion of the packaging film 6 currently being supplied to which the double-sided adhesive tape is attached by the crimping roller 24 is designated. Cut in the film width direction. As a result, the raw roll 5 that was in operation is separated from the preceding packaging film 6.

After that, when the movable arm 22 is rotated in the reverse direction to separate the crimping roller 24 from the packaging film 6, the packaging film 6 wound around the original roll 5 that has been waiting is replaced with the packaging film 6 that is currently being supplied. It is pulled by and continuously supplied to the packaging machine main body 1. That is, the self-propelled robot 10 (B) that was on standby is switched to the self-propelled robot 10 that is in operation.

The self-propelled robot 10 (A), which has been in operation and has been supplying the packaging film, moves to the original roll storage area (see FIG. 5 (b)). The self-propelled robot 10 (B) that has been on standby until now moves to the operating position where the self-propelled robot 10 (A) was originally located (see FIGS. 5 (b) and 5 (c)). During this movement, the robot arm 12 is controlled to be extended so that the original roll 5 is moved up (see arrow X in FIG. 3). When the operating position is reached, the robot arm 12 in the self-propelled robot 10 on the left side in FIG. 2 is in the posture, and the packaging film 6 unwound from the original roll 5 supported by the self-propelled robot 10 (B). Is supplied to the packaging machine main body 1 in a state of being hung on a free roller 21 attached to the tip of a fixed roller arm 20 of the self-propelled robot 10 (B).

The self-propelled robot 10 that has reached the raw fabric roll storage area discharges the used raw fabric roll and sets a new raw fabric roll on the rotation support shaft 13. In such a process, for example, the control device controls the posture of the robot arm 12 so that the tip of the rotation support shaft 13 faces downward or diagonally downward, reduces the amount of protrusion of the holder, and holds the original roll 5. By releasing it, it is preferable to let the original roll 5 fall naturally. As shown in FIG. 4, for example, the raw fabric roll storage place is arranged on the pallet 27 with the raw fabric roll 5 standing upright. Here, standing means a state in which the center of rotation of the original roll 5 stands up. In this state, for example, in the control device, the robot arm so that the tip of the rotary support shaft 13 faces downward in the vertical direction and the center of the rotary support shaft 13 and the center of the original roll 5 (paper tube 5a) coincide with each other. The posture of 12 is controlled, and the rotary support shaft 13 is moved downward in that state and inserted into the paper tube 5a (see the two-dot chain line in FIG. 4). In that state, the control device controls the actuator so that the amount of protrusion of the holder of the rotary support shaft 13 becomes large, and holds the original roll 5. In such a state, the control device controls the posture of the robot arm 12, for example, in a folded state as shown by the solid line in FIG. 4, the position of the original roll 5 is lowered, and the center of gravity is kept low. And.

The self-propelled robot 10 (A) newly set with the original roll 5 returns to the upstream side of the packaging machine main body 1 in the above-mentioned posture, and is currently in operation and is in the operating position. And the packaging machine main body 1 (see FIG. 5 (c)), and finally, as shown in FIG. 5 (a), two self-propelled robots 10 are lined up in front and behind (the order of A and B). The self-propelled robot 10 enters the standby position as shown in FIG. 2, controls the posture of the robot arm 12, moves the original roll 5 held by itself to an appropriate position, and stands by.

After that, the two self-propelled robots 10 supply the packaging film to the main body of the packaging machine, bring the spare raw fabric roll from the raw fabric roll storage place, and currently wrap it by repeating the above-mentioned processing steps as appropriate. When the raw fabric rolls that are supplying the film are exhausted, the raw fabric rolls that are in operation can be automatically switched and the raw fabric rolls that have been used can be discharged without human intervention. It is good because continuous operation is possible.

In the first embodiment described above, the self-propelled robot 10 is configured to automatically attach the spare raw fabric roll from the removal of the raw fabric roll after use. Without limitation, some steps may be performed by a person or another device. However, it is preferable to have a configuration in which two self-propelled robots 10 automatically perform the operation as in the embodiment because no manpower is required and it is not necessary to prepare a separate device.

Further, the bonding process between the packaging film being operated / supplied and the packaging film on standby may be manually performed, but it is preferable to perform the bonding process automatically as in the present embodiment.

From FIG. 6 onward, the main parts of the second embodiment are shown. In this embodiment, in particular, the bonding mechanism of the packaging film is changed. In the above-described embodiment, the packaging films are bonded to each other by using a double-sided adhesive tape, but in the present embodiment, they are bonded by a heat seal.

The self-propelled robot 10 supports the connecting plate 30 on the tip of the robot arm 12 so as to be able to rotate forward and reverse within a predetermined angle range. For example, the connecting plate 30 is driven by the actuator 19 and rotates in the forward and reverse directions, concentrically with the rotation center of the rotation support shaft 13, and independently of the rotation support shaft 13. The connecting plate 30 may be arranged, for example, on the back side of the rotary support shaft 13, and the back surface of the original roll 5 mounted from the tip end side of the rotary support shaft 13 may not come into contact with the connecting plate 30.

A film setting table 31 is connected to the tip end side of the connecting plate 30. The film setting table 31 has, for example, a first free roller 33 and a first free roller 33 at both ends in the longitudinal direction so as to hang between a pair of left and right strip-shaped side plates 32 arranged at predetermined intervals and the pair of side plates 32, respectively. (Ii) The free roller 34 is attached. The distance between the side plates 32 is longer than the film width of the packaging film 6, and one side plate 32 is connected to and integrated with the connecting plate 30. The other side plate 32 is positioned on the front side.

As shown in FIG. 6, the connecting plate 30 rotates concentrically with the rotation center of the rotation support shaft 13, for example, the first position where the tip, that is, the film setting table 31 side is above, and the second position below. Stop at. The operating self-propelled robot 10 that supplies the packaging film on the left side puts the connecting plate 30 in the second position, and the standby self-propelled robot 10 puts the connecting plate 30 in the first position. In this state, the packaging film 6 unwound from the original roll 5 mounted on the self-propelled robot 10 during operation is hung on the first free roller 33 of the film set table 31 and is hung on the film set table 31. It moves above the wrapping machine, is hung on a roller or the like (not shown), and is supplied to the wrapping machine main body 1 through a predetermined route. At this time, as shown in an enlarged manner in FIG. 7, the packaging film 6 is in a state of being separated from the second free roller 34 in a non-contact manner. Further, the heat-sealable sealant surface of the packaging film 6 during transportation is set to the film setting table 31 side.

On the other hand, the wrapping film 6 unwound from the original roll 5 of the self-propelled robot 10 on standby is hung from the second free roller 34 side and advances to the upstream side, and the tip of the wrapping film 6 is pointed at the film set table 31. Fix with the fixture provided in. The fixture is interlocked with the film set handle 35 provided on one side plate 32, and the fixture is opened and closed by operating the film set handle 35, and the tip of the packaging film 6 is sandwiched and fixed in the closed state. It is good to configure it so that it does. Further, the fixing by the fixture may be configured so that the packaging film 6 is lightly fixed with a predetermined force. For example, when the packaging film 6 is pulled in the fixed state, the packaging film 6 is separated from the fixture. It is good to configure. Further, the heat-sealable sealant surface of the fixed standby packaging film 6 is located on the upper side opposite to the film setting table 31, and faces the sealant surface of the packaging film 6 being conveyed.

During operation as shown in FIG. 6, as described above, the packaging film 6 unwound from the original roll 5 supported by the self-propelled robot 10 during operation is a film set table of the self-propelled robot 10 in standby. At this time, the wrapping film 6 from the original roll 5 supported by the self-propelled robot 10 on standby is placed between the wrapping film 6 and the film setting table 31 with a fixture. It is located in a fixed state. In this state, the wrapping film 6 being transported and the wrapping film 6 fixed by the fixture are not in contact with each other, and even if they are in contact with each other, they can be kept fixed by the fixture by only lightly touching them. To do.

Further, a pair of film bonding sealers 40 are provided on the packaging machine side. The pair of film bonding sealers 40 are arranged so as to sandwich the film setting table 31 at the second position from above and below, and approach and separate from each other by a drive mechanism (not shown). During normal operation, as shown in FIG. 7, they are in separate standby positions, and the packaging films 6 being conveyed and fixed / standby are sandwiched and heat-sealed, and both packaging films 6 are joined to each other. Further, the film bonding sealer 40 is configured to be reciprocally and linearly movable along the axial direction and the film width direction of the film bonding sealer 40, for example, and after bonding, the self-propelled robot 10 in the standby position moves to the operating position. It is preferable to configure it so that it retracts and evacuates to the front.

Further, the film bonding sealer 40 may have a built-in cutter, for example, and when it is sealed and cut, the waiting wrapping film 6 is separated from the film portion side fixed to the fixture, and the wrapping film 6 being conveyed is separated. The film is continuously supplied to the wrapping machine main body 1 by being integrated with the wrapping machine and conveyed. It should be noted that the cutter may not be built in, but a separately provided cutter device may be used to cut the appropriate position on the upstream side of the heat-sealed part, but the one built in the sealer can cut the heat-sealed part at the same time. So good.

The switching process of the original roll during operation by film bonding in the above configuration is performed as follows, for example. The remaining amount of the strip-shaped film currently being supplied is obtained from the outer diameter of the raw roll 5 during operation, and when it is time to replace it, for example, a positioning mark printed at predetermined intervals is printed on the side edge of the packaging film 6 to form a film. The control device of the self-propelled robot 10 in operation rotates when the appropriate position of the packaging film 6 being transported reaches the bonding position by the film bonding sealer 40, which is detected by a sensor arranged at a predetermined position on the transfer path. The rotation of the support shaft 13 is temporarily stopped. Next, the pair of film bonding sealers 40 approach each other, sandwich the two packaging films 6, heat seal them, and cut and bond them.

After that, the waiting wrapping film 6 is separated from the film portion that has been cut and fixed by the fixture, and follows the wrapping film 6 that has been supplied to the wrapping machine main body 1 until now, and the wrapping machine main body 1 is joined. Supply to. Along with this, the self-propelled robot 10 that has been on standby starts the rotation of the rotation support shaft 13 and feeds out the packaging film 6 at a predetermined speed.

The self-propelled robot 10 that has been on standby until now moves from the operating position and separates from the packaging machine, for example, as shown in FIG. 5 (b). At this time, the wrapping film 6 unwound from the original roll 5 is joined to the waiting wrapping film 6 fixed by the fixture by the joining process and integrated, but with the movement of the self-propelled robot 10. The unwound packaging film also follows and moves away from the packaging machine and separates from the fixture.

Further, the self-propelled robot 10 that has switched from standby to operating transitions the connecting plate 30 to the first position and moves to an operating position away from the packaging machine main body 1 on the upstream side. During this movement, the original roll 5 is moved up (see arrow X in FIG. 7), and the robot arm 12 is controlled to be extended. When the operating position is reached, the posture of the robot arm 12 in the self-propelled robot 10 on the left side in FIG. 6 is set.

Further, as described above, the self-propelled robot 10 that has been operating and supplied the packaging film moves to the original roll storage area (not shown), and the original roll that has been attached to the rotation support shaft 13 until now. And attach a new original roll to the rotary support shaft. Then, the posture of the robot arm 12 is controlled to be in a folded state as shown in FIG. 8, for example, the position of the original roll 5 is lowered, and the center of gravity is kept low. The process of attaching and detaching the raw fabric roll 5 may be performed in the same manner as in the first embodiment described with reference to FIG. 4 and the like.

In the present embodiment, a worker who has been waiting near the raw fabric roll storage place or the packaging machine, etc., has the new raw fabric roll 5 as shown in FIG. 8 mounted, and the packaging is wound around the raw fabric roll 5. A process of pulling out the end portion of the film 6 and setting it on the film setting table 31 is performed. At the time of this setting, in the illustrated example, the angular position of the connecting plate 30 is adjusted so that the film setting table 31 is in the third horizontal position. After setting, the self-propelled robot reaches the standby position in the packaging machine, the robot arm 12 extends and transitions to a desired posture, and the connecting plate 30 is rotated to be positioned at the first position. When the first position is reached, as shown in FIG. 6 and the like, the first free roller 33 of the film setting table 31 is unwound from the original roll 5 supported by the self-propelled robot 10 in operation. From the bottom and guide.

After that, the two self-propelled robots 10 continuously supply the packaging film 6 to the packaging machine main body 1 while sequentially replenishing the original rolls by repeating the above-mentioned processing steps as appropriate. .. Since the other configurations and the effects are the same as those in the first embodiment described above, the corresponding members are designated by the same reference numerals, and detailed description thereof will be omitted.

In the above-described embodiment, it is preferable that the horizontal third position can be registered for each worker. This is preferable because each worker can set the film in the optimum working posture for each worker.

Furthermore, in the present embodiment, the self-propelled robot 10 has a function of temporarily stopping in a posture in which the film setting table 31 is in a horizontal third position, but the present invention does not necessarily have to have such a function. In the configuration in which the third position is not set, the connecting plate 30 may not be configured to be rotatable in the forward and reverse directions. However, it is preferable to set the third position as in the embodiment because the setting work of the tip of the packaging film can be easily performed.

FIG. 9 shows a third embodiment of the present invention. In the present embodiment, the two self-propelled robots 10 may be arranged so as to face each other with the article transport supply device 4 interposed therebetween. By doing so, it is good that the self-propelled robots 10 can be suppressed from interfering with each other, and can be easily separated from the packaging machine and moved to the original roll storage place or the like, or returned and moved to a predetermined position. .. Since the other configurations and the effects are the same as those of the above-described embodiments, the corresponding members are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 10 shows a fourth embodiment of the present invention. In this embodiment, an example of a packaging system including a plurality of packaging machines is shown. In this example, a layout in which four wrapping machine main bodies 1 are provided, four of the four wrapping machine main bodies 1 are arranged in parallel, and the original roll storage area 41 is arranged at one end in the direction in which the four wrapping machine main bodies 1 are arranged in parallel. It is supposed to be. In such a layout, the moving distances between the four wrapping machine main bodies 1 and the original roll storage area 41 are different. For convenience, the first wrapping machine main body 1a, the second wrapping machine main body 1b, the third wrapping machine main body 1c, and the fourth wrapping machine main body 1d are used from the nearest side. As shown in FIG. 10A, the self-propelled robot 10 (C), which has finished supplying the wrapping film 6 to the first wrapping machine main body 1a, separates from the first wrapping machine main body 1a and places the original roll. Move to 41.

Next, when the setting of the raw fabric roll 5 is completed in the raw fabric roll storage place 41, the self-propelled robot 10 (C) reaches the vicinity of the farthest fourth packaging machine main body 1d (FIG. 10 (b)). At this time, for example, it moves to a standby position for the fourth packaging machine main body. Further, the self-propelled robot 10 (D) located at the operating position of the fourth packaging machine main body 1d separates from the self-propelled robot 10 (D) and reaches the original roll storage place 41. Then, the self-propelled robot 10 (D) separated from the fourth wrapping machine main body 1d moves to a predetermined position near the first wrapping machine main body 1a after setting the raw fabric roll in the raw fabric roll storage place 41. In this way, the four self-propelled robots 10 are shared between the first wrapping machine main body 1a and the fourth wrapping machine main body 1d, and each self-propelled robot 10 alternately with respect to both wrapping machine main bodies 1. By moving, the moving distance of the self-propelled robot 10 is equalized, and the moving time between the packaging machine main body and the raw fabric roll storage place is equalized for the replacement work of the raw fabric roll. Similarly, four self-propelled robots 10 are shared between the second wrapping machine main body 1b and the third wrapping machine main body 1c, and each self-propelled robot 10 moves alternately with respect to both wrapping machine main bodies 1. As a result, the moving distance of the self-propelled robot 10 can be equalized, and the moving time between the packaging machine main body and the raw fabric roll storage place can be equalized for the replacement work of the raw fabric roll. By doing so, it is possible to balance the operation of the entire packaging system, which is good.

In the above example, four self-propelled robots are supplied by two packaging machines, but the present invention is not limited to this, and the self-propelled robots may be shared by three or four packaging machines. In that case, for example, if the self-propelled robot is controlled to move across the wrapping machine body so as to move away in order, or conversely, move so as to walk across the wrapping machine body toward the approaching side. good.

In the above-described embodiment, an example in which a double-sided adhesive tape or a heat seal is used for joining the packaging film has been described, but the present invention is not limited to this, for example, a single-sided adhesive tape, a hot melt, an ultrasonic seal, or the like. It is advisable to use various joining methods / members.

Further, what is joined by using double-sided adhesive tape or the like is not limited to the above-described embodiment. For example, as shown in FIG. 10, instead of the movable arm 22 in the first embodiment, an urging means 46 such as a spring is used. A provided free roller 45 may be provided. When joining the films, the original roll 5 held by the self-propelled robot 10 waiting from the operating state indicated by the alternate long and short dash line is pressed against the free roller 45 via the packaging film 6, and the double-sided adhesive tape is attached. It is preferable that the packaging film 6 that was in operation is cut in the film width direction by a cutter means having a different mechanism on the upstream side of the portion. Then, after the film is joined, the self-propelled robot 10 that has been on standby separates the supporting original roll 5 from the free roller 45, returns to the original position, and switches during operation. The packaging film 6 is supplied to the main body 1.

Further, when the original roll 5 held by the standby self-propelled robot 10 is moved closer to the free roller 45 side, for example, the fixed roller arm 20 or the free roller 21 attached to the tip thereof comes into contact with the packaging film 6. If this is the case, the self-propelled robot 10 may control its posture so that it does not come into contact with the robot 10 (see FIG. 11). Even if the free roller 21 comes into contact with the film, the film can be joined. Therefore, if the original roll 5 is configured to move so as to urge the free roller 45 side as it is without changing the posture of the fixed roller arm 20, the posture is set. It is good because it can be easily controlled.

Since the self-propelled robot moves, the original roll storage area does not need to be installed within the reach of the robot arm of the self-propelled robot operating near the main body of the packaging machine, and can be installed at a distant position. In particular, in a wrapping system composed of a plurality of wrapping machines as in the fourth embodiment, the place where the raw fabric rolls used for the plurality of wrapping machines / wrapping machine main bodies is placed is based on the number of wrapping machines such as one place. It is good because the number can be reduced and centralized management is possible. In such a configuration, for example, even if the worker performs the removal process or the mounting process of the raw fabric roll for the self-propelled robot, if the worker is waiting in the aggregated raw fabric roll storage place or the like, a plurality of raw fabric rolls are stored. It is preferable because it can be used for packaging machines.

Further, the system provided with a plurality of packaging machine main bodies as in the fourth embodiment described above is not limited to the one provided with the same packaging machine main body, and the plurality of packaging machine main bodies may include a packaging film, a product, and an ability. , Or the cut pitch may be different. If they are different, the product data of the self-propelled robot 10 may be configured to be automatically switched according to the main body of the packaging machine.

In the above-mentioned example shown in FIG. 4, the storage posture of the original roll in the original roll storage place is set so that the center of rotation extends in the vertical direction. For example, it is preferable to store it in a state such as a V block that prevents it from rolling and moving sideways.

For example, when the original roll is manually removed and / or attached to the rotation support shaft, the self-propelled robot that has finished supplying the film to the main body of the packaging machine can be used as a mobile terminal carried by the worker at an appropriate timing. On the other hand, it is preferable to have a function to notify by using wireless transmission. The self-propelled robot has a function of moving to the original roll storage place after performing such wireless transmission. Upon receiving the notification, the worker goes to the raw fabric roll storage area, where the self-propelled robot is subjected to the predetermined work of attaching / detaching the raw fabric roll. In this way, the worker does not have to keep waiting at the raw fabric roll storage area, and the self-propelled robot only has to go to the original fabric roll storage area when it comes to the original fabric roll storage area, and other work can be done during the waiting time. good. In the above example, the self-propelled robot starts moving to the original roll storage area after wireless transmission, but may start moving first and wirelessly transmit during movement. However, it is preferable to start moving after wireless transmission because there is time for the worker to go to the original roll storage place.

Further, for example, in order to set the film on the film setting table 31 in the second embodiment, the self-propelled robot 10 has a function of notifying the mobile terminal carried by the worker by wireless transmission at an appropriate timing. Is good. Upon receiving the notification, the worker goes to a predetermined place such as a place for storing the raw fabric roll or the main body of the packaging machine, and the tip of the packaging film wound on the raw fabric roll is used as a fixture on the film set table 31. set. The above notification function may, for example, display the estimated arrival time of the self-propelled robot. Alternatively, the worker uses the mobile terminal to notify the self-propelled robot 10 of his / her current position and the place where the predetermined work is to be performed, and the self-propelled robot that receives this notification is designated as the current position or. It is preferable to have a function to move to a place where a predetermined work is performed. The self-propelled robot moves to the vicinity of the desired packaging machine body after being set on the fixture. In this way, the self-propelled robot moves toward the worker, so that the work can be performed easily at a place convenient for the worker, for example.

The number of self-propelled robots for one wrapping machine / wrapping machine main body is two in the above-described embodiment, but may be three or more.

Further, in each of the above-described embodiments and modifications, the new raw fabric roll mounted on the self-propelled robot 10 is not necessarily limited to a new one, and may be, for example, a used raw fabric roll.

Further, in each of the above-described embodiments and modifications, a tension adjusting device may be provided to continuously supply the strip-shaped film to the pillow wrapping machine. The tension adjusting device has a large number of rollers on the upper and lower sides, and has a function of changing the path length of the strip-shaped film passing through the tension adjusting device by moving the rollers up and down. As a result, for example, even if the rotation of the original roll support shaft is temporarily stopped, the path length in the tension adjusting device is gradually shortened, so that the supply of the packaging film to the main body of the packaging machine is temporarily stopped. You can continue without it.

Although various aspects of the present invention have been described above with reference to embodiments and modifications, these embodiments and descriptions have not been made for the purpose of limiting the scope of the present invention, and are intended for understanding the present invention. It should be added that it was provided to contribute. The scope of the present invention is not limited to the configurations and manufacturing methods explicitly described herein, but also includes combinations of various aspects of the invention disclosed herein. Of the present invention, the configuration for which a patent is sought is specified in the appended claims, but even if the configuration is not currently specified in the claims, it is disclosed in the present specification. I would like to mention that there is a possibility of claiming a patent for this configuration in the future.

1: Packaging machine body 2: Film supply device 3: Article 4: Article transport supply device 5: Original roll 6: Packaging film 10: Self-propelled robot 11: Self-propelled pedestal 12: Robot arm 13: Rotational support shaft 24 : Crimping roller 27: Pallet 40: Sheila for film bonding

Claims (6)

A packaging machine body that manufactures a package by wrapping an article with a packaging film that is continuously transported and sealing and cutting a predetermined part of the packaging film.
The packaging machine body is provided with a film supply device for supplying the packaging film.
The film supply device has a plurality of self-propelled robots, and has a plurality of self-propelled robots.
The self-propelled robot includes a self-propelled pedestal and a robot arm attached to the self-propelled pedestal.
At the tip of the robot arm, a rotation support shaft for mounting the original roll on which the packaging film is wound is rotatably linked.
At least one of the plurality of self-propelled robots becomes a self-propelled robot in operation that supplies the packaging film from the original roll held by itself to the packaging machine main body, and the remaining self-propelled robots The self-propelled pedestal moves to the original roll storage place, and returns to the vicinity of the packaging machine main body with the original roll in the original roll storage place mounted on the rotation support shaft, and holds the original. It becomes a self-propelled robot on standby that puts the anti-roll in the standby position.
With the end of the supply of the packaging film from the operating self-propelled robot to the packaging machine main body, the standby self-propelled robot is switched during operation to supply the packaging film to the packaging machine main body. A packaging machine characterized in that it is configured to perform. The end side of the packaging film supplied from the self-propelled robot during operation and the tip end side of the packaging film constituting the original roll held by the standby self-propelled robot that switches during operation are joined. Equipped with joining means to
A claim characterized in that at least the contact member that contacts the terminal side of the packaging film during operation and the tip end side of the packaging film on standby, which constitutes the joining means, is linked to the main body side of the packaging machine. Item 1. The packaging machine according to item 1. The self-propelled robot, which has finished supplying the packaging film to the packaging machine main body, is configured to move from the operating position during operation.
The packaging machine according to claim 1 or 2, wherein the self-propelled robot switched from the standby state to the operation state is configured to move to the operation position. The packaging machine main body is provided with an article transporting and supplying device for supplying the article.
The plurality of self-propelled robots according to any one of claims 1 to 3, wherein the self-propelled pedestal is arranged separately on both sides of the article transporting supply device in the transport direction. The described packaging machine. A packaging system including a plurality of packaging machines according to any one of claims 1 to 4.
At least a part of the self-propelled robots separate from the packaging machine main body to obtain a new raw fabric roll when the supply of the packaging film to the packaging machine main body is terminated, and the new raw fabric roll is taken. A packaging system characterized in that the self-propelled robot equipped with the robot is configured to move to another packaging machine main body and stand by. A packaging system including a plurality of packaging machines according to any one of claims 1 to 4.
With the end of the supply of the wrapping film to the wrapping machine main body, the self-propelled robot is separated from the wrapping machine main body to pick up a new raw roll, and the self-propelled robot equipped with the new raw roll is described. A wrapping system characterized in that the wrapping machine main body to be moved is set so that the total mileage of each self-propelled robot or the total amount of feeding of the wrapping film becomes uniform.

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