JP7451284B2 - Film roll adhesive tape peeling equipment - Google Patents

Description

The present invention relates to a film roll adhesive tape peeling device.

Patent Document 1 describes a film delivery device that unwinds a long film strip from a film roll wound thereon and sends it out 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 housed in the box is sequentially bent inward from four directions and folded on four sides. A box comprising a suction/opening device which forms a lid part, and which suctions the folded lid part on these four sides sequentially from above using negative pressure, raises it along the square outer surface of the box body, and opens the opening part. A device for pulling down the folded opening of a body bag is described.

Patent No. 4575254 Patent No. 5976476

With the high-speed operation of labeling equipment in recent years, the amount of strip-shaped film fed out from the film feeding device has increased, and in order to reduce the burden on workers and further improve efficiency, it is necessary to transport the film stored in an exterior body. There is a need for an automated system that can take out film rolls that have been stored and automatically send them to a labeling device or the like.

In order to automatically feed the film to a labeling device, etc., a film feed device that feeds out the strip film from the film roll and feeds it to the labeling device, a terminal end of the strip film that has been fed out from the film roll, and a film feed device that feeds the strip film from the film roll and sends it to the labeling device, It is necessary to equip the device with a film connecting device that connects the starting end of a strip of film that has not yet been fed out from a film roll that has been newly supplied to the device. The adhesive tape that secures the starting end, which is the unwinding end of the wound strip film, to the outer peripheral surface of the film roll must be peeled off.

An object of the present invention is to provide an apparatus that can reliably peel off the adhesive tape that fastens the starting end, which is the unwinding end, of a strip-shaped film wound around a film roll to the outer peripheral surface of the film roll.

The present invention is a film roll adhesive tape peeling device that peels off the adhesive tape that fixes the starting end, which is the unwinding end, of a strip-shaped film wound around a film roll to the outer peripheral surface of the film roll. an insertion device that inserts a scraper between the first and second rounds of the film roll from the cross-sectional direction; and a scraper that peels off the adhesive tape by moving the scraper in the direction of the starting end in the inserted state. This is a film roll adhesive tape peeling device including a drive device.

In the present invention, the scraper is not inserted from the longitudinal direction of the film roll, but is inserted between the first and second rounds of the film roll from the direction of the winding surface of the film roll. Thereby, even if the film roll is a roll wound with a cylindrical shrink label or the like, the scraper can be reliably inserted between the first and second rounds.

In one embodiment of the present invention, there is provided a suction device that suctions the top surface of the film roll during the first rotation, and a first drive device that moves the suction device in a predetermined direction while maintaining the suction state of the suction device. and forming a gap between the first and second turns of the film roll before inserting the scraper. The predetermined direction of the suction device in the first drive device is a direction in which the lower side is inclined toward the insertion side of the scraper with respect to the direction perpendicular to the upper surface of the second round of the film roll.

In another embodiment of the present invention, the invention further includes a pressing member that presses down the top surface of the film roll during the first rotation after the scraper is inserted, so that the suction by the suction device is stopped and the pressing member presses the top surface of the film roll around the first rotation. Press the top of the eye.

In still another embodiment of the present invention, the pressing member and the scraper are raised while the upper surface of the first round of the film roll is pressed down, thereby raising the second round of the film roll. The film roll further includes a drive device, and the scraper drive device moves the scraper in the direction of the starting end while the second drive device lifts the first round of the film roll.
Still another embodiment of the present invention includes a vibration member that vibrates the scraper.
In yet another embodiment of the present invention, a heating device is provided that warms the applied portion of the adhesive tape.
Still another embodiment of the present invention includes a measuring section that calculates the length of the film from the starting end of the film roll to the adhesive tape attachment part by actually measuring the outer diameter of the film roll.

In yet another embodiment of the present invention, the scraper includes a first scraper and a second scraper, and the insertion device inserts the first scraper and the second scraper into the film roll during the first and second turns of the film roll. and the scraper drive device peels off the adhesive tape by moving the second scraper in the direction of the starting end while maintaining the first scraper in the inserted state.

According to the present invention, it is possible to reliably peel off the adhesive tape that fastens the starting end, which is the unwinding end, of the strip-shaped film wound around the film roll to the outer peripheral surface of the film roll.

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 an embodiment. It is an overall processing flowchart in pattern 1 of the embodiment. It is an overall processing flowchart in pattern 2 of the embodiment. It is an overall processing flowchart in pattern 3 of the embodiment. FIG. 3 is a perspective view of a packaging box for film rolls. FIG. 3 is a perspective view showing a state in which four flaps of the film roll packaging box are opened. FIG. 2 is a schematic diagram (part 1) showing how the mouth of the inner bag is opened. FIG. 2 is a schematic diagram (part 2) showing how the mouth of the inner bag is opened. It is a schematic diagram which shows the folding order of an inner bag. FIG. 3 is a plan view of the inner bag with its opening opened. FIG. 3 is a schematic diagram (part 1) showing a state in which a film roll is taken out by the second robot. FIG. 3 is a schematic diagram (part 2) showing a state in which the second robot takes out the film roll. FIG. 3 is a schematic diagram (part 3) showing a state in which the second robot takes out the film roll. FIG. 4 is a schematic diagram (Part 4) showing a state in which the second robot takes out the film roll. FIG. 3 is a schematic diagram (part 1) showing how the inner bag is removed. FIG. 2 is a schematic diagram (part 2) showing how the inner bag is removed. FIG. 3 is a schematic diagram (part 3) showing how the inner bag is removed. It is a schematic diagram of a suction plate. FIG. 2 is a schematic diagram (part 1) showing how the roll collapse of the outer diameter portion of the film roll is corrected. FIG. 2 is a schematic diagram (part 2) showing how the roll collapse of the outer diameter portion of the film roll is corrected. It is a block diagram (part 1) of a film fixing tape peeling device. FIG. 2 is a configuration diagram of the film fixing tape peeling device as seen from the winding cross-section direction. It is a block diagram (part 2) of a film fixing tape peeling apparatus. It is a block diagram (part 3) of a film fixing tape peeling apparatus. It is a block diagram (part 4) of a film fixing tape peeling apparatus. It is a block diagram (part 5) of a film fixing tape peeling apparatus. It is a block diagram (part 6) of a film fixing tape peeling apparatus. It is a block diagram (part 7) of a film fixing tape peeling apparatus. It is a block diagram (part 8) of a film fixing tape peeling apparatus. It is an operation timing chart figure of a film fixing tape peeling device. It is another block diagram of a film fixing tape peeling apparatus. It is another block diagram of a film fixing tape peeling apparatus.

Embodiments of the present invention will be described below based on the drawings. The film roll supply system of this embodiment is a system in which a film roll R delivered packaged in an exterior body such as a cardboard box is taken out from the exterior body, an inner bag from which it is wrapped is removed, and the system is supplied to a labeling device. It is.

The film roll R is a label-forming base material in the form of a long strip, in which cylindrical labels made of synthetic resin, such as shrink labels attached to bottles, etc., are continuously connected and folded into a sheet shape. 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 into predetermined lengths to generate individual labels, and each label is then opened into a cylindrical shape and attached to a bottle or the like. For example, in the case of shrink labels, if you roll them tightly (firmly), the creases caused by folding will become strong, making it difficult to open and causing distortion due to shrinkage after being attached to the bottle, so make sure to roll it with just the right amount of strength. Therefore, the outside of the film roll R is likely to shift.

FIG. 1 shows a top view of a film roll feeding system 10. FIG. FIG. 2 also 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. . Furthermore, a first robot 50 and a second robot 60 are provided as extraction devices. The first robot 50 and the second robot 60 are both configured as articulated arm robots. The articulated arm robot is, for example, a general-purpose six-axis articulated robot, which has an axis for rotating the body, an axis for moving the body back and forth, an axis for moving the arm up and down, an axis for rotating the arm, an axis for swinging the wrist up and down, It uses a system consisting of six axes for rotating the wrist, and controls the position and posture to perform the desired movements.

The film roll R is delivered to a factory where the system 10 is installed while being housed in a packaging box 1 that is an exterior body. Usually, a plurality of packaging boxes 1 are stacked on a pallet and delivered.

The first robot 50 takes out the packaging boxes 1 stacked on the pallet transported to a predetermined position one by one from the pallet, places them on a transport mechanism such as a conveyor, and transports the packaging boxes 1 to the tape cutting device 12. . Note that when the packaging box 1 is transported to the tape cutting device 12, a different product inspection may be performed as a pre-processing to check whether the packaging box 1 packs a predetermined film roll R or not. The packaging box 1 that has passed the different product inspection is conveyed to the tape cutting device 12. Packing boxes 1 that fail the inspection are discharged without being conveyed to the tape cutting device 12 as NG. The different product inspection can be performed, for example, by reading a QR code (registered trademark) printed on a product number sheet affixed to a predetermined position on the packaging 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 packaging box 1 that stores the film roll R. The tape-cut packing box 1 is then conveyed to a flap unpacking/inner bag opening device 14.

The flap unpacking/inner bag opening device 14 is a device that unpacks the flap of the packaging box 1 and opens the opening of the inner bag in which the film roll R is packaged. The flap unpacking/inner bag opening device 14 opens the opening of the inner bag by sucking the opening of the inner bag using a plurality of suction nozzles and lifting it upward. In this 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 do so.

The second robot 60 is installed adjacent to the flap unpacking/inner bag opening device 14, and uses the flap unpacking/inner bag opening device 14 to pick up the film roll R with the opening of the inner bag opened, along with the inner bag. Remove from packing box 1. Further, after taking out the film roll R from the packaging box 1, the inner bag packaging 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 a removing device, and the removing device removes the inner bag by, for example, suction. The removal device is located adjacent to the flap unpacking and 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 explanation, it is assumed that the film roll R is wrapped in an inner bag, packed in a packaging box 1, and transported to the system 10 (pattern 1). In some cases, the product is transported to the system 10 without being packaged or packed in the packaging box 1 (pattern 2), or in some cases, the product is not packaged in the inner bag but is packed in the packaging box 1 and transported to the system 10. (Pattern 3). The identification is as follows based on the presence or absence of the packaging box 1 and the presence or absence of the inner bag.
Pattern 1: With packaging box, with inner bag Pattern 2: Without packaging box, without inner bag Pattern 3: With packaging box, without inner bag

The system 10 of this embodiment can supply the film roll R to the labeling apparatus with the same system configuration for any pattern. Note that although the system 10 in this embodiment is installed in a factory in an arrangement as shown in FIGS. 1 and 2, the arrangement is not necessarily limited to this arrangement. Furthermore, the extraction device does not need to be composed of the first robot 50 and the second robot 60, and may be composed of one multi-jointed 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 centrally controlled by the control device 11 that controls the system 10. It does not necessarily need to be installed at the same location as the system 10, and it is sufficient if it is connected to the system 10 by wire or wirelessly. Further, the control device 11 does not need to be a single control device, and a plurality of control devices 11 may perform distributed processing. The control device 11 includes one or more processors, memory, and various interfaces. The various interfaces are equipped with communication interfaces, and receive detection signals from sensors such as surveillance cameras installed at various locations in the system 10 to monitor the status of the system 10 in real time. The memory stores control programs and various data. The various data include information about the packaging box 1 processed by the system 10 or the film roll R that is its contents. Based on the detection signal from the sensor, the processor reads and executes a control program stored in the memory to operate the tape cutting device 12, the flap unpacking/inner bag opening device 14, the first robot 50, and the second robot 60. Drive control.

The overall processing of the system 10 will be outlined below for each of these three patterns.

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

First, when the pallet is transported 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 packaging box 1 from the pallet (S101). A plurality of packaging boxes 1 are mounted on the pallet, for example, four packaging boxes are stacked in eight stages, and the first robot 50 takes out the packaging boxes 1 one by one from this stacked state.

The first robot 50 transports the packaging box 1 to a predetermined different-product inspection position in accordance with the drive command, and performs a different-product inspection on the packaging box 1 (S102). As described above, this different product inspection is performed by using a reader to read the QR code (registered trademark) printed on the product number sheet affixed to a predetermined position on the packaging box 1. The product number information read by the reader is transmitted to the control device 11. The control device 11 determines whether the packaging box 1 to be processed is normal based on the product number information (S103).

If the product number information of the packaging 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 moves 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 that there is an abnormality (NO in S103), and the control device 11 switches the transport path of the transport device to move the packaging box 1. It is transported to a discharge path and rejected (S113). The packaging box 1 determined to be normal is transported to the tape cutting device 12 by the transport device.

The tape cutting device 12 cuts the adhesive tape that fastens the two flaps on the top surface of the transported packaging box 1 and the adhesive tape that fastens the two flaps to the side wall in response to a drive command from the control device 11. The tape is cut (S104). Specifically, the tape cutting device stops the transported packaging box 1 using a stopper mechanism, cuts the adhesive tape that fastens two flaps that close the top surface of the packaging box 1, and cuts these two flaps against the side wall. A cutter mechanism sequentially cuts the adhesive tape attached to the section. Although an ultrasonic cutter may be used as the cutter mechanism so as not to damage the film roll R that is the contents of the packaging box 1, the cutter mechanism is not limited to this, and a cutter equipped with a blade may also be used.

The tape cutting device 12 may cut not only the adhesive tape applied to the upper surface of the packaging box 1 but also the adhesive tape applied to the lower surface of the packaging box 1 using a cutter mechanism. This makes it easy and reliable to fold and store the packaging box 1, which has become empty after the film roll R has been taken out, into a flat state.

The tape-cut packaging box 1 is conveyed to a flap unpacking/inner bag opening device 14. The flap unpacking/inner bag opening device 14 unpacks the four flaps on the top surface of the packaging box 1 in response to a drive command from the control device 11 (S105). The flap unpacking/inner bag opening device 14 is equipped with four suction nozzles corresponding to the four flaps of the packaging box 1, and lifts each flap while suctioning each flap with the four suction nozzles. Open each flap by moving it outward from the sidewall. In this state, each flap portion may be further bent so as to be pressed against the side wall portion of the packaging box 1 by a pressing member.

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

After unpacking the flap, the flap unpacking/inner bag opening device 14 opens the opening of the protective inner bag packaging 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 from the initial position in a direction approaching the inner bag, contacts the top surface of the inner bag, and removes the inner bag while sucking the top surface of the inner bag. The inner bag is opened by rotating in the opposite direction away from the inner bag, and then moved upward and lifting the inner bag to open the opening of the inner bag (S107). The plurality of suction nozzles used for opening the flap and opening the inner bag 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 its arm into the mouth of the inner bag according to a drive command from the control device 11, and then opens the film roll R. Chucking is performed from the inside (S108). Then, while maintaining the state in which the film roll R is chucked from the inside, the stage on which the packaging box 1 is placed is tilted by a predetermined angle, thereby tilting the packaging box 1. Then, the film roll R is taken out from the packaging box 1 along with the inner bag (S109). The reason why the film roll R is chucked from the inside is to remove the inner bag from the film roll R in subsequent processing. That is, by chucking the film roll R from the inside with the inner bag open, the second robot 60 contacts only the inside of the film roll R and does not contact the inner bag, and the second robot 60 chucks the film roll R from inside. The inner bag can be moved freely in the chucked state. In addition, when the film roll R is taken out from the packaging box 1 along with the inner bag while the packaging box 1 is tilted, the inside of the film roll R is removed by chucking only the inside of the film roll R. This is to prevent a situation where only the portion moves in the take-out direction and collapses into a coiled spring shape.

After chucking the inside of the film roll R and taking out the film roll R together with the inner bag from the packaging box 1, the film roll R is brought close to a removing device arranged on the opposite side of the chucking direction and the inner bag is sucked out, for example. By doing so, the inner bag is removed from the film roll R (S110). Although the removal device is not shown in FIGS. 1 and 2, it is installed near the flap unpacking/inner bag opening device 14. Note that 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. It may move due to contact and cause the roll to collapse.

Therefore, after removing the inner bag, the second robot 60 presses the film roll R against a plate integrated with the removal device and moves the film roll R on the outside according to a drive command from the control device 11. Then, the unrolling of the film roll R is corrected (S111).

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

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

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

The first robot 50 chucks the film roll R from which the outer circumferential stretch film has been peeled, on the inside and outside of the film roll R according to a drive command from the control device 11 (S201). Then, the chucked film roll R is transported to a predetermined position and placed there (S202). The predetermined position is a position that can be accessed by the second robot 60 and is used to transfer the film roll R from the first robot 50 to the second robot 60.

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

In this way, when the film roll R is not wrapped with the inner bag 5, both the inside and outside of the film roll R are chucked, but even when the film roll R is not wrapped with the inner bag 5, As in the case where the film roll R is packaged with the inner bag 5, only the inside of the film roll R may be chucked. The reason is,
(1) When attaching the film roll R to the auto splicer 70 from the second robot 60, it is easier to attach it 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 is performed by the first robot 50 and the second robot 60, the inner chuck jaws and the outer chuck jaws are configured to have six pieces, for example, in order to evenly chuck with the inner chuck jaws and outer chuck jaws of the robots. It is preferable to chuck both the inner and outer parts of the film roll R at the same radial position, but since the outer chuck claw tends to interfere with other members on the outside of the film roll R, it is better to chuck the film roll R only with the inner chuck claw. This is due to the fact that chucking can be done reliably while avoiding interference, etc.

In Pattern 2, when chucking only the inside of the film roll R, it is preferable to tilt the film roll R by a predetermined angle and lift the film roll R, as in Pattern 1. Similar to pattern 1, this is to prevent a situation in which only the inner side of the film roll R moves and collapses into a coiled spring shape when the film roll R is chucked and lifted. In the case of pattern 2, since the packaging box 1 is not present, the film roll R is placed directly on the stage, but the film roll R can be tilted by tilting the stage.

In addition to the fact that both the first robot 50 and the second robot 60 chuck only the inside of the film roll R, the first robot 50 chucks the inside and the outside, and the second robot 60 chucks only the inside. It's okay. 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 pattern 3, that is, the film roll R is packed in the packaging 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.Shrink labels that are attached by heat shrinking are mainly conveyed to the system 10 in the form of patterns 1 and 2, and roll labels that are not heat shrinkable. is delivered to the system 10 mainly in the form of pattern 3.

In FIG. 5, the processes in S301 to S305 and S309 are the same as the processes in S101 to S105 and S113 in pattern 1, and the first robot 50 takes out the packaging box 1 from the pallet, performs a different product inspection, The tape cutting device 12 cuts the adhesive tape of the packaging box 1, and the packaging box 1 is transferred to the flap unpacking/inner bag opening device 14 to unpack the flap portion of the packaging box 1.

Next, the second robot 60 chucks the inside and outside of the film roll R according to the drive command from the control device 11 (S306). Then, the film roll R is taken out from the packaging box 1 while chucking the inside and outside of the film roll R (S307). There is no need to tilt the packaging box 1 when taking out the film roll R. This is because, unlike the case of pattern 1, since both the inside and outside of the film roll R are chucked, roll collapse does not occur.

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

Further, in the case of pattern 3, as in the case of pattern 2, only the inside of the film roll R may be chucked regardless of the presence or absence of the inner bag 5. In this case, as in the case of pattern 1, the packaging box 1 is tilted by a predetermined angle and the film roll R is taken out from the packaging box 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 packaging box 1, but it is possible to chuck only the inside of the film roll R and lift it, or to take it out from the packaging box 1, regardless of the presence or absence of the inner bag. For example, it is possible to standardize processing and improve efficiency without depending on patterns.

Next, each process will be explained in detail using pattern 1 as an example.

<Packaging box>
FIG. 6 is a perspective view showing the packaging box 1 that stores the film roll R. Moreover, FIG. 7 is a perspective view showing a state in which the four flaps of the packaging box 1 shown in FIG. 6 are opened.

The packaging box 1 has, for example, a square or rectangular shape when viewed from above, and includes side walls 2 surrounding it on all sides. Although a cardboard box is used as the packaging box 1, the packaging box 1 is not limited to this, and may be a plastic container or the like. The packaging box 1 includes four flaps 3a, 3b, 3c, and 3d connected to the upper edge of the side wall 2. As shown in FIG. 6, these flap portions 3a to 3d are fixed in a closed state by adhesive tapes 4a and 4b. The packaging box 1 also includes four flaps connected to the lower edge of the side wall 2, and when these flaps are closed and fastened with adhesive tapes 4c and 4d, the packaging box 1 The bottom of the is formed. Note that depending on the type of packaging box 1, there may be cases in which the upper part 4b is not present, the lower part 4d is not present, or both the upper part 4b and the lower part 4d are not present.

<Inner bag>
As shown in FIG. 7, the film roll R is packed in the inner bag 5 and stored in the packaging box 1. By packaging the film roll R in the inner bag 5 with the packaging box 1, the film winding end surface and outer circumferential surface of the film roll R are prevented from coming into direct contact with the inner wall surface of the packaging box 1 and being damaged. can.

The inner bag 5 is made of, for example, a synthetic resin bag (eg, polyethylene). The opening of the inner bag 5 is pushed inside the paper tube PP of the film roll R without being closed. Specifically, the inner bag 5 has a rectangular shape when unfolded, and is placed under the film roll R, and then the four corners are folded onto the film roll R in a predetermined order to form a paper tube PP. Push it inside. The folding order of the inner bag 5 is known and provided to the system 10 in advance. 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, so as to close the opening of the inner bag 5. open.

Note that even if the folding order of the inner bag 5 is unknown, or even if the inner bag 5 is folded in a different order from the order stored in the memory, the inner bag can be folded by driving the suction nozzle in the default order. It is assumed that the mouth part of 5 can be opened. However, if the inner bag cannot be unpacked, it will be automatically rejected and the process will proceed to the next packaging box 1.

<Inner bag opening process>
8A and 8B show how the inner bag 5 is opened by the flap unpacking/inner bag opening device 14. FIG. The flap unpacking/inner bag opening device 14 includes four suction nozzles 28a, 28b, 28c, and 28d (two suction nozzles 28a in FIGS. 8A and 8B) arranged at four-fold symmetrical positions at an angle of 90 degrees, respectively. , 28c only). Each of the suction nozzles 28a to 28d is movable up and down along a rail laid in the vertical direction, and also movable in the horizontal direction. Furthermore, it is configured to be rotatable within a predetermined angular range within a vertical plane.

As shown in FIG. 8A, each suction nozzle 28a to 28d rotates from its initial position toward the inner bag 5 to cover the top surface of the film roll R with respect to the packaging box 1 with the flap section unpacked. The inner bag 5 that is inside is suctioned. In FIG. 8A, arrows indicate the rotational directions of the suction nozzles 28a-28d.

Next, while suctioning in this state, the suction nozzles 28a to 28d rotate in the opposite direction as shown in FIG. 8B, and the inner bag 5 that is being suctioned and held by the suction nozzles 28a to 28d is lifted. Thereafter, by moving the suction nozzles 28a to 28d upward, the inner bag 5 is further lifted, and the opening 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 rotates, sucks, reversely rotates, and moves upward in order to open the four corners of the inner bag 5 in the reverse order of folding. Open the inner bag 5 one after another. For example, if the four corners of the inner bag 5 are a corner 5h, a corner 5i, a corner 5j, and a corner 5k, 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 up first, and the corner 5k is folded last. That is, it is assumed that the corner 5h, corner 5i, corner 5j, and corner 5k are folded in order from the bottom, and the corner 5k is located at the top surface. Note that FIG. 8C is an example of folding, and a different folding order may be used. However, the folding order is known in advance and stored in the control device 11, and the bag is transferred to the flap unpacking/inner bag opening device 14 with the folding order 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, with the suction nozzle 28a suctioning the corner 5h, and the suction nozzle 28b suctioning the corner 5i. Assuming that the suction nozzle 28c suctions the corner 5j, and the suction nozzle 28d suctions the corner 5k, the corner 5k is folded on the top surface, so the control device 11 controls the corner 5k. A drive command is output to the suction nozzle 28d corresponding to the suction nozzle 28d, and the suction nozzle 28d is rotated, reversely rotated, and slightly raised to open the corner 5k first.

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

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

Finally, since the corner 5h is folded at the bottom, the control device 11 outputs a drive command to the suction nozzle 28a corresponding to the corner 5h to rotate, reverse, or slightly rotate the suction nozzle 28a. It is raised to 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 suctioning and lifting all the corners 5h to 5k of the inner bag 5 with the suction nozzles 28a to 28d, the opening 5a of the inner bag 5 is opened, and the inside of the film roll R, that is, the paper tube PP is moved to the opening 5a. It becomes exposed. The rotation angle of the suction nozzles 28a to 28d during reverse rotation may be an angle that allows the inside of the film roll R to be exposed from the mouth portion 5a, for example, an angle of 90 degrees from the horizontal plane, but an angle greater than that may be sufficient. It's okay. As described above, when the film roll R is stored in the packaging 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 in accordance with the order stored in the memory. The correspondence relationship 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 different product inspection in S102 shown in the processing flowchart of FIG. The order may be read by referring to the correspondence stored in the memory, and the suction nozzles 28a to 28d may be driven in accordance with the read order.

FIG. 9 shows a top view of a state in which the mouth 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 opening 5a of the inner bag 5, and the arm of the second robot 60 can enter from the top and chuck the inside of the film roll R.

<Removal process>
The tip of the arm of the second robot 60 is equipped with a chuck head, and the chuck head includes a head base and a plurality of movably provided chuck jaws, for example, six inner chuck jaws and six outer chuck jaws, which are movably provided on the head base. The head base is equipped with a drive mechanism that opens and closes 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 operates to open, thereby coming into contact with the inner surface of the paper tube PP and chucking the inside of the film roll R. The head base may include only the inner chuck claw, but both claws are required when chucking the film roll R from the inside and the outside.

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

FIG. 10 shows a state in which the arm of the second robot 60 is lowered and six inner chuck claws 62 (of which three inner chuck claws are shown in the figure) are inserted into the inside of the film roll R. The packaging box 1 is placed on the stage 30 with its top flaps 3a to 3d unpacked, and the opening 5a of the inner bag 5 is lifted and opened by the suction nozzles 28a to 28d. It is in. After the opening 5a of the inner bag 5 is opened by the suction nozzles 28a to 28d, the control device 11 of the system 10 outputs a drive command to the second robot 60 to move the inner chuck claw 62 into the inside of the film roll R. let 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 opened using a sensor (for example, a surveillance camera). The six inner chuck claws 62 are provided in order to evenly chuck the film roll R from the inside, but the number is not limited and may be four, for example.

In FIG. 11, the inner chuck claw 62 of the second robot 60 is inserted into the inside of the film roll R, and by opening the inner chuck claw 62, it comes into contact with the inner surface of the paper tube PP and chucks the inside of the film roll R. Indicates the king state. In this state, by moving the arm of the second robot 60 upward, the film roll R can be taken out from the packaging box 1 together with the inner bag 5. In order to prevent the packaging box 1 from being lifted up together with the film roll R, the packaging box 1 may be held by suctioning the bottom surface of the packaging box 1 or by holding it between holding members (not shown).

However, if only the inside of the film roll R is chucked and lifted as is, only the inside part of the film roll R moves in the take-out direction, which may cause the film roll R to collapse like a coil spring. When the film roll R is unrolled, the precision in feeding it out to the labeling device decreases.

Therefore, instead of lifting the film roll R upwards and taking it out of the packaging box 1 from the state shown in FIG. The placed stage 30 is tilted by a predetermined angle, and the film roll R is taken out from the packaging box 1 with the packaging box 1 tilted.

FIG. 12 shows a state where the packaging box 1 is tilted by tilting the stage 30 on which the packaging box 1 is placed while chucking the inside of the film roll R with the inner chuck claw 62 of the second robot 60. Although the inclination angle is not necessarily limited, it 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 packaging box 1 is to prevent only the inside portion of the film roll R from protruding and collapsing into a coiled spring shape when only the inside of the film roll R is chucked and taken out from the packaging box 1. Therefore, the packaging box 1 may be tilted within a range that can prevent the roll from collapsing. The inclination angle may be determined by taking out the film roll R on a trial basis at various inclination angles in advance and finding an inclination angle at which roll collapse does not occur. Generally, the larger the inclination angle, the less likely the roll collapse will occur. In FIG. 12, the stage 30 is tilted by moving one side of the legs supporting the stage 30 upward, but the invention is not limited to this. For example, the stage 30 may be rotatably supported and controlled. The packaging box 1 may be tilted by rotating the stage 30 by a predetermined angle based on a drive command from the device 11. Known servo positioners for robotic systems may be used.

FIG. 13 shows a state in which the second robot 60 takes out the film roll R with the packaging box 1 tilted. The second robot 60 chucks the inside of the film roll R and tilts the film roll R in a direction substantially perpendicular to the bottom surface of the inclined packaging box 1, that is, when the angle of inclination of the packaging box 1 is θ, the film roll R is tilted by approximately θ from the vertical plane. By lifting the film roll R in the opposite direction, the film roll R along with the inner bag 5 is taken out from the packaging box 1.

<Inner bag removal process>
14 and 15 schematically show the process of removing the inner bag 5 from the film roll R after the film roll R is taken out from the packaging box 1 together with the inner bag 5.

FIG. 14 shows a removing device installed near the flap unpacking/inner bag opening device 14 according to a drive command from the control device 11 after the second robot 60 takes out the film roll R along with the inner bag 5 from the packaging box 1. The state in which the film roll R is brought close to the suction device 40 is shown. The second robot 60 moves its arm to bring the bottom side of the film roll R, that is, the side opposite to the chucking side, closer 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 lies within a vertical plane. The suction plate 42 includes a plurality of suction nozzles, and suctions the bottom side of the approaching film roll R to suction the inner bag 5.

FIG. 15 shows a state in which the suction nozzles of the suction plate 42 perform suction. 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 unrestricted state. Therefore, the inner bag 5 is suctioned by the suction force of the suction plate 42, and in this state, the arm of the second robot 60 moves in a 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 has been 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 surrounding 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, the inner diameter r1 and the outer diameter r2 of the film roll R are set so that a1<r1<r2<a2. This is because when removing the inner bag 5, if only the outer diameter part of the film roll R is pulled toward the suction plate 42 side with the removal of the inner bag 5 and collapses, the protrusion of the outer diameter part can be flattened. This is to make it possible to correct roll collapse 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.

<Correcting process for curling>
FIG. 18 shows a state in which the outer diameter portion Rt of the film roll R protrudes toward the suction plate 42 side and is collapsed after the inner bag 5 is removed. The control device 11 always outputs a drive command to the second robot 60 to unroll the film roll R when the roll collapse of the film roll R is detected by a surveillance camera or the like, or regardless of whether roll collapse has occurred or not. The film roll R is brought close to the suction plate 42 again while being chucked, 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 roll collapse is corrected. Note that when correcting the curling, it is not necessary to perform suction using the suction nozzle 44, so the suction operation is turned off. Further, the amount of pressing 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 multiple times to gradually correct roll collapse.

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

Note that a flat plate may be provided in addition to the suction device 40, and the roll collapse may be corrected by pressing against this flat plate. Furthermore, if a flat surface exists in any of the members of the system 10 other than the suction device 40, the flat surface may be utilized to correct the roll collapse.

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

The film delivery device includes a roll drive motor that rotates a film roll R set at a predetermined position, and a drive that drives a pair of upper and lower film delivery rollers that sandwich the film strip F fed out from the film roll R and send it to the labeling device. Equipped with a mechanism. While the film strip F is being fed out, the film strip F is fed to the labeling device at the feed speed requested by the labeling device, and the operation of the film strip F due to fluctuations in the feeding speed of the film strip F or changes in the outer diameter of the film roll R is not controlled. The roll drive motor is controlled so that the film roll R rotates in accordance with fluctuations in the output speed.

The film splicing device unwinds the strip film F from a new film roll R set in the film feeding device, and while separating the overlapping portions of the starting ends from each other, connects the starting ends of the separated film strip F to each other. , position the film strip F at a predetermined film standby position adjacent to the feeding route, cut the end portion of the film strip F being fed out from the film roll R at a predetermined position, and cut the end portion of the cut film strip F at a predetermined position. After positioning the film strip F at a film connection position set on the feeding path of the film strip F, the starting end of the film strip F before feeding, which is positioned at the film standby position, is transferred to the feeding path of the film strip F, thereby connecting the film. At this position, the terminal end of the belt-shaped film F that has been sent out is sandwiched between the starting end of the belt-shaped film F that has not yet been sent out, and the overlapped portions of both the band-shaped films F, F are connected to each other in the sandwiched state. The film connecting device is equipped with a film fastening tape peeling device, and after peeling off the adhesive tape that fastens the starting end, which will become the unrolling end of the strip-shaped film F wound around the film roll R, to the roll outer peripheral surface. , the starting end is let out from the film roll R.

As explained above, according to the system 10 of the present embodiment, the film roll R is automatically taken out from the packaging box 1, the inner bag 5 is automatically removed, and only the film roll R is sent to the auto splicer. Can be installed automatically. Thereby, the system can be made manpower-saving or unmanned. In particular, according to the system 10 of this embodiment, it is possible to prevent roll collapse when taking out the film roll R. Furthermore, it is possible to correct the collapse of the roll that occurs when the inner bag 5 is removed.

In this embodiment, the inner chuck claw 62 of the second robot 60 is inserted inside the film roll R, and by opening the inner chuck claw 62, the inner chuck claw 62 comes into contact with the inner surface of the paper tube PP, and the film roll R is released. Although the inside is chucked, the second robot 60 has an outer chuck claw in addition to the inner chuck claw 62, and can chuck only the outside of the film roll R with the outer chuck claw, or can chuck either the inside or the outside. It may also be configured such that it can also be chucked. Moreover, the film roll R in this embodiment may be either a cylindrical film shrink label or a sheet film roll label. Furthermore, in this embodiment, the inner bag 5 is removed from the film roll R by suctioning the inner bag 5 with the suction device 40 as a removal device, but the inner bag 5 is removed by grasping the inner bag 5 with a robot. It's okay.

The film connecting device includes a film fastening tape peeling device, and the film fastening tape peeling device fastens the starting end, which is the feeding end of the strip-shaped film F wound around the film roll R, to the outer peripheral surface of the film roll. Peel off the adhesive tape. To peel off the adhesive tape, for example, use a suction cup to suck the first round (outermost surface) of the film roll R, and use a peeling blade or scraper to remove the adhesive tape from the first round (outermost surface) and the second round of the film roll R. It is conceivable to insert the strip film F from the longitudinal direction between the two and rotate the scraper to peel off the adhesive tape, but if the film roll R is a bag-shaped shrink label, even if the film roll R is sucked with a suction cup, Only the upper part of the film roll R is raised, and there is no gap between the first and second rounds of the film roll R, which may cause a situation in which a peeling blade or scraper cannot be inserted between the first and second rounds.

Therefore, in this embodiment, instead of inserting the scraper from the longitudinal direction of the strip film F, the scraper is inserted from the direction perpendicular to the longitudinal direction of the strip film F, in other words, from the direction of the winding surface of the film roll R. , a scraper is securely inserted between the first and second rounds of the film roll R to peel off the adhesive tape.

The details and peeling process of the film fixing tape peeling device included in the film splicing device of the auto splicer 70 will be described below.

<Film tape peeling treatment>
FIGS. 20A and 20B show a configuration diagram of a film fastening tape peeling device. In FIG. 20A, the upper row shows a plan view, and the lower row shows a side view. FIG. 20B is a configuration diagram of the film roll R viewed from the direction of the winding section.

The film fixing tape peeling device includes a peeling unit 74 as part of a setup unit 72 that positions the starting end F1 of the strip film F at a predetermined film standby position adjacent to the feeding path of the strip film F. The peeling unit 74 peels off the adhesive tape T that holds the starting end F1, which is the unwinding end of the strip film F wound around the film roll R, on the outer peripheral surface of the film roll R, and removes the starting end F1 from the film roll R. Let out.

The setup unit 72 includes a suction cup 72a that sucks the upper surface of the strip film F on the first rotation (outermost surface) of the film roll R, and a pressing member 72b that presses the upper surface of the strip film F on the first rotation of the film roll R. It includes an air cylinder 72c that drives the suction cup 72a up and down in the z-axis direction, an air cylinder 72d that drives the holding member 72b up and down in the z-axis direction, and an air cylinder 72e that drives the peeling unit 74 in the x-direction in the figure. The air cylinder 72e functions as an insertion device that inserts a scraper, which will be described later, between the first and second rounds of the film roll R. In FIG. 20B, the scraper moves from the front of the page to the back of the page and is inserted between the first and second turns of the film roll R.

The peeling unit 74 includes a support member connected to the setup unit 72 and extending vertically downward, and blades or scrapers (hereinafter simply referred to as scrapers) 74a and 74b extending from the support member in the horizontal direction and in the direction of the winding surface of the film roll R. Equipped with Both the scraper 74a and the scraper 74b are tapered so as to be tapered at the tip end in the direction of the winding surface of the film roll R, and the scraper 74a is longer than the scraper 74b, and is arranged on the lower surface of the scraper 74a and the scraper 74b. . Furthermore, the peeling unit 74 includes an air cylinder 74c that drives the scraper 74a in the y-axis direction. The air cylinder 74c functions as a scraper drive device that moves the scraper 74a to peel off the adhesive tape.

The setup unit 72 and the peeling unit 74 are driven and controlled by a controller that centrally controls a film splicing device (not shown). Note that this controller is separate from the control device 11 that controls the system 10, but may be the same as the control device 11.

In the initial state, the setup unit 72 is located directly above the film roll R, and the scrapers 74a and 74b of the peeling unit 74 are also located diagonally above the film roll R. From this initial state, the setup unit 72 is lowered in the z-axis direction, and the suction cup 72a and the pressing member 72b are brought close to the upper surface of the film roll R.

FIG. 21 shows a state in which the setup unit 72 is lowered from the state shown in FIGS. 20A and 20B. A proximity sensor is provided at a predetermined position of the setup unit 72, for example near the suction cup 72a, and detects the upper surface of the film roll R. When the approach sensor detects the top surface of the film roll R, the setup unit 72 stops its downward movement. Further, when the upper surface of the film roll R is detected by the proximity sensor, a solenoid valve (SV) that drives the suction cup 72a is turned on and the film roll R is sucked upward by the suction cup 72a. In FIG. 21, the arrow indicates that the upper surface of the film roll R is sucked upward by the suction cup 72a. Note that it is preferable that the suction cup 72a sucks the vicinity of the folding position of the shrink label.

FIG. 22 is a plan view showing the state after suction is performed by the suction cup 72a. After the suction cup 72a sucks the upper surface of the film roll R, the air cylinder 72c reciprocates the suction cup 72a in the z-axis direction, that is, reciprocates in the vertical direction. The air cylinder 72c reciprocates the suction cup 72a up and down a plurality of times, for example, about four times. Simply suctioning the film roll R with the suction cup 72a may not create a gap between the first and second rotations of the film roll R, but in this way, while suctioning the film roll R with the suction cup 72a, By reciprocating the film roll 72a up and down, vibration is applied to the first round of the film roll R, and a gap can be reliably formed between the first and second rounds of the film roll R. In the figure, the up and down arrows indicate that the suction cup 72a is reciprocating up and down.

FIG. 23 shows the state after the suction cup 72a has been driven up and down a plurality of times. The peeling unit 74 is driven in the z-axis direction by the air cylinder 72e of the setup unit 72, and the scrapers 74a and 74b are made to approach the film roll R from the direction of the winding surface of the film roll R. Note that the z-direction positions, that is, the heights of the scrapers 74a and 74b are set to be approximately the same height as the top surface of the film roll R. Therefore, by driving the peeling unit 74 in the z direction while sucking the top surface of the film roll R upward with the suction cup 72a, the tips of the scrapers 74a and 74b of the peeling unit 74 can be moved one turn from the direction of the winding surface of the film roll R. It is inserted into the gap between the eye and the second round. Since the scraper 74a and the scraper 74b have different lengths, the tip of the scraper 74a is inserted first, followed by the tip of the scraper 74b. FIG. 23 shows how the tip of the scraper 74a is inserted.

FIG. 24 shows the state after the tip of the scraper 74a is inserted between the first and second rounds of the film roll R. By driving the air cylinder 72e, the scrapers 74a and 74b continue to be inserted between the first and second rounds of the film roll R, but at this time, the setup unit 72 is driven downward in the z direction to press the holding member 72b. Bring it close to the top surface of the film roll R.

FIG. 25 shows a state in which the scrapers 74a and 74b are completely inserted between the first and second rounds of the film roll R. When the scrapers 74a and 74b are inserted between the first and second rounds of the film roll R, it is no longer necessary to suck the top surface of the film roll R with the suction cup 72a, so the solenoid valve (SV) of the suction cup 72a Drive off to stop suction. At the same time, the presser member 72b is driven downward in the z direction by the air cylinder 72d to press the upper surface of the film roll R.

FIG. 26 shows a state in which the scrapers 74a and 74b are inserted between the first and second rounds of the film roll R, and the pressing member 72b presses the top surface of the film roll R. From this state, by moving the scraper 74a in the y-axis direction, the adhesive tape T that holds the starting end F1, which is the unwinding end of the strip film F wound around the film roll R, on the outer peripheral surface of the film roll R is peeled off. However, it is difficult to peel off the adhesive tape T only by pressing the upper surface of the film roll R with the pressing member 72b.

Therefore, the setup unit 72 is triggered by pressing the upper surface of the film roll R with the pressing member 72b, and moves up by a slight amount in the z-axis direction to lift the first round of the film roll R upward. That is, by raising the setup unit 72 by a slight amount, the holding member 72b and the scraper 74b lift the first round of the film roll R between them, and apply an upward lifting force to the adhesive tape T.

FIG. 27 shows a state in which the scraper 74a is moved in the y-axis direction, that is, in the direction of the starting end F1 by the air cylinder 74c. By moving the scraper 74a inserted between the first and second rounds of the film roll R in the direction of the starting end F1, the adhesive tape T that has fixed the starting end F1 on the outer peripheral surface is peeled off.

FIG. 28 is a timing chart showing the peeling process of the adhesive tape T of this embodiment. In FIG. 28, from top to bottom, the movement timing signal of the setup unit 72 in the z-axis direction, the detection timing signal of the proximity sensor that detects the surface of the film roll R, the electromagnetic valve drive timing signal of the suction cup 72a, and the drive timing of the air cylinder 72c. A drive timing signal for the air cylinder 72d, a drive timing signal for the air cylinder 72e, and a drive timing signal for the air cylinder 74c. Further, in FIG. 28, circled symbols 1 to 8 correspond to the states in FIGS. 20 to 27, respectively.

The setup unit 72 descends in the z-axis direction from the initial state shown in FIG. The surface (upper surface) of the film roll R is detected by the proximity sensor of the film roll R, and when the detection signal is turned on from off, the descent in the z-axis direction is stopped. Then, the peeling unit 74 moves by a predetermined amount in the x-axis direction, and at the timing when the tip of the scraper 74a starts to be inserted between the first and second rounds of the film roll R, the peeling unit 74 moves by a certain amount (for example, about 2 mm) in the z-axis direction. ) to descend. After that, when the scrapers 74a and 74b finish inserting the film roll R between the first and second revolutions, the suction of the suction cup 72a is turned off, and when the upper surface of the film roll R is pressed by the pressing member 72b, this is triggered. As a result, it rises by a slight amount (for example, 2 mm) in the z-axis direction.

The detection timing signal of the proximity sensor is switched from off to on when the surface of the film roll R is detected.

The electromagnetic valve drive timing signal of the suction cup 72a is switched from off to on when the detection timing signal of the proximity sensor is switched from off to on, turning on the suction force of the suction cup 72a. Thereafter, at the timing when the scrapers 74a and 74b have finished inserting the film roll R between the first and second rounds, they are switched from on to off, and the suction force of the suction cup 72a is turned off.

The drive timing signal for the air cylinder 72c switches from OFF to ON in synchronization with the timing at which the drive timing signal for the suction cup 72a switches from OFF to ON, thereby lowering the suction cup 72a in the z-axis direction. Thereby, the suction cup 72a comes into contact with the upper surface of the film roll R and sucks it. Thereafter, the drive timing signal for the air cylinder 72c repeats on/off a predetermined number of times. In FIG. 28, on/off is repeated a total of four times. Thereby, the suction cup 72a reciprocates in the vertical direction a total of four times while maintaining the state in which the upper surface of the film roll R is sucked. After reciprocating a plurality of times, the on state is maintained, and the state in which the upper surface of the film roll R is pulled upward by the suction cup 72a is maintained.

The drive timing signal of the air cylinder 72d is the timing when the solenoid valve drive timing signal of the suction cup 72a is switched from on to off and the suction force is turned off, that is, the timing when the scrapers 74a and 74b are on the first and second turns of the film roll R. It switches from OFF to ON in synchronization with the timing when the film roll R is inserted, and the pressing member 72b is lowered in the z-axis direction to press the upper surface of the film roll R. As described above, when the upper surface of the film roll R is pressed down with the holding member 72b, this triggers the setup unit 72 to rise by a slight amount in the z-axis direction, and the first turn of the film roll R is held down by the holding member 72b. and lift it upward while being held between the scrapers 74b.

The drive timing signal of the air cylinder 72e is switched from OFF to ON at a predetermined timing after the air cylinder 72c reciprocates the suction cup 72a up and down a plurality of times, and drives the peeling unit 74 in the x-axis direction to remove the scrapers 74a and 74b. is inserted between the first and second turns of the film roll R from the direction of the winding surface of the film roll R.

The drive timing signal for the air cylinder 74c is switched from off to on after the setup unit 72 has risen by a small amount in the z-axis direction, and the scraper 74a is moved in the y-axis direction to peel off the adhesive tape T.

In this embodiment, the scrapers 74a and 74b are inserted between the first and second turns of the film roll R from the direction of the winding surface of the band-like film F wound around the film roll R. Even when the film F is a cylindrical shrink label, it can be reliably inserted between the first and second rounds of the film roll R. In addition, in this embodiment, instead of simply sucking the top surface of the film roll R with the suction cup 72a, after sucking the top surface of the film roll R with the suction cup 72a, the suction cup 72a is reciprocated in the vertical direction multiple times. A gap can be reliably formed between the first and second turns of the film roll R. In this embodiment, the reciprocating movement is performed multiple times, but the number of reciprocating movements is arbitrary, and may be one reciprocating movement. Furthermore, in this embodiment, the adhesive tape T is reliably peeled off by moving the scraper 74a in the y-axis direction while holding the first round of the film roll R between the pressing member 72b and the scraper 74b and lifting it upward. It can be done.

In addition, in the present embodiment described above, an example is shown in FIGS. 21 and 22 in which after the suction cup 72a sucks the upper surface of the film roll R, the suction cup 72a is moved in the z-axis direction by the air cylinder 72c, that is, reciprocated in the vertical direction. However, as shown in FIG. 29, the suction cup 72a of the suction device is moved in a predetermined direction that makes it easier to open the upper film, for example, in a direction in which the lower part is inclined at about 6 degrees from the z-axis direction toward the scraper insertion side. (reciprocating drive). In this way, while sucking the top surface of the film roll R with the suction cup 72a, the suction cup 72a is reciprocated in a predetermined direction that makes it easier to open the film on the top surface, thereby applying vibration to the first rotation of the film roll R, and causing the film roll to A gap is more reliably formed between the first and second rounds of R. Here, when reciprocating the suction cup 72a of the suction device, the angle at which the lower part is inclined from the z-axis direction toward the insertion side of the scraper is determined according to the material, size, thickness, etc. of the film, so that the film on the upper surface opens more easily. It is best to adjust it accordingly.

In addition, when using the film roll adhesive tape peeling device of the present invention, wrinkles may occasionally appear in the part where the adhesive tape T is peeled off, which may affect the appearance of the product to which the film is attached. .
In order to eliminate these problems, in the film roll adhesive tape peeling device of the present invention, as shown in FIG. 30, a small vibration motor 75, which is a vibration member that vibrates the scraper, is provided at the base of the scraper 74a. Good too. According to this configuration, the vibrations generated by the small vibration motor 75 can be transmitted from the base to the tip of the scraper 74a to vibrate the entire scraper 74a. By moving the scraper 74a in the y-axis direction from the state in which the presser member 72b presses the top surface of the film roll R while being inserted between the first and second rounds of When peeling off the adhesive tape T that holds the starting end F1, which is the feeding end of the film F, on the outer peripheral surface of the film roll R, the vibration of the scraper 74a makes it possible to peel off the adhesive tape T more smoothly. Wrinkles are less likely to form in the area where the adhesive tape T is peeled off.

Furthermore, the setup unit 72 may be equipped with, for example, a small heat gun 76, which is a heating device that warms the attached part of the adhesive tape T that fastens the starting end of the film roll to the outer peripheral surface of the film roll. According to this configuration, by blowing hot air from the tip nozzle of the heat gun 76 to the adhesive tape attachment part to warm it, it is possible to reduce the adhesive strength of the adhesive tape, and when the adhesive tape T is peeled off by the scraper 74a, it is possible to reduce the adhesive strength of the adhesive tape. Wrinkles are less likely to form in the area where the adhesive tape T is peeled off.

In addition, as another solution, in the film roll adhesive tape peeling device of the present invention, an identification mark (an ultraviolet curing type (applying ink, attaching labels, drilling holes, etc.), and in a later process such as a labeling device, a predetermined area of the label, including the adhesive tape attachment area identified by the identification mark detected by the mark sensor, is attached. It may also be possible to exclude packages that have been removed.

Moreover, without providing the above-mentioned identification marks, the film roll adhesive tape peeling device of the present invention measures the length of the film from the starting end of the film roll to the adhesive tape application part using a sensor and detects the outer diameter of the film roll. The outer diameter of the film roll is the length of the film from the starting end of the film roll, which is connected to another film and becomes the connection part, to the part where the adhesive tape is applied, using a configuration in which the control device is equipped with a measurement unit that takes actual measurements and calculates them. The information identifying the position of the adhesive tape application area is passed to a labeling device, etc. in the subsequent process, and the position of the adhesive tape application area is determined based on the connection detected by the mark sensor. Packages attached with labels in a predetermined range specified by may be excluded.

1 Packing box (exterior body), 2 Side wall, 3a to 3d flap, 4a to 4d adhesive tape, 5 Inner bag, 5a Mouth, 10 Film roll supply system, 12 Tape cutting device, 14 Flap unpacking/inner bag Opening device, 28a to 28d Suction nozzle, 30 Stage, 40 Suction device, 42 Suction plate, 44 Suction nozzle, 46 Ring section, 50 First robot, 60 Second robot, 62 Inner chuck jaw, 70 Auto splicer, 72 Setup unit, 74 peeling unit (insertion device, scraper drive device), 75 vibration motor (vibration member), 76 heat gun (warming device).

Claims (9)

A film roll adhesive tape peeling device for peeling off an adhesive tape fixing a starting end, which is a feeding end of a strip-shaped film wound around a film roll, to an outer circumferential surface of the film roll, comprising:
an insertion device that inserts a scraper between the first and second rounds of the film roll from the direction of the winding surface of the film roll;
a scraper drive device that peels off the adhesive tape by moving the scraper in the direction of the starting end in an inserted state;
A film roll adhesive tape peeling device comprising: a suction device that suctions the top surface of the first rotation of the film roll;
further comprising a first drive device that moves the suction device in a predetermined direction while maintaining the suction state with the suction device,
The film roll adhesive tape peeling device according to claim 1, wherein a gap is formed between the first and second rounds of the film roll before inserting the scraper. 3. The predetermined direction of the suction device in the first drive device is a direction in which a downward direction is inclined toward the insertion side of the scraper with respect to a direction perpendicular to the upper surface of the second round of the film roll. Film roll adhesive tape peeling equipment. further comprising a pressing member that presses the top surface of the first rotation of the film roll after the scraper is inserted;
The film roll adhesive tape peeling device according to claim 2 or 3, wherein the suction by the suction device is stopped and the upper surface of the first rotation of the film roll is pressed by the pressing member. further comprising a second drive device that lifts the first round of the film roll by lifting the holding member and the scraper while pressing the top surface of the first round of the film roll with the holding member;
5. The film roll adhesive tape peeling device according to claim 4, wherein the scraper drive device moves the scraper in the direction of the starting end while the second drive device lifts the first round of the film roll. The film roll adhesive tape peeling device according to claim 1, further comprising a vibrating member that vibrates the scraper. The film roll adhesive tape peeling device according to any one of claims 1 to 6, comprising a heating device that warms the applied portion of the adhesive tape. The film roll adhesive according to any one of claims 1 to 7, comprising a measuring unit that calculates the length of the film from the starting end of the film roll to the adhesive tape attachment part by actually measuring the outer diameter of the film roll. Tape peeling device. The scraper includes a first scraper and a second scraper,
The insertion device inserts the first scraper and the second scraper between the first and second rounds of the film roll,
The scraper drive device peels off the adhesive tape by moving the second scraper in the direction of the starting end while maintaining the first scraper in the inserted state. Film roll adhesive tape peeling equipment.

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