WO2018061114A1

WO2018061114A1 - Absorbent article manufacturing device, and absorbent article manufacturing method

Info

Publication number: WO2018061114A1
Application number: PCT/JP2016/078663
Authority: WO
Inventors: 美彦松本; 文大田代
Original assignee: ユニ・チャーム株式会社
Priority date: 2016-09-28
Filing date: 2016-09-28
Publication date: 2018-04-05
Also published as: JP6123036B1; JPWO2018061114A1

Abstract

An absorbent article manufacturing device (12) for manufacturing an absorbent article using a plurality of types of materials, the device being characterized by being provided with: a plurality of feed devices (20) that have mounted thereto a material coil of wound material and that feed the material from the material coil, the plurality of feed devices (20) being provided for each of the plurality of types of materials; a plurality of mounting robots (30) that are for mounting an unused new material coil to each feed device (20); and a control unit (50) that selects, from among the plurality of mounting robots (30), a managing robot to handle mounting of the new material coil to one of the feed devices (20) from among the plurality of feed devices (20).

Description

Absorbent article manufacturing apparatus and absorbent article manufacturing method

The present invention relates to an absorbent article manufacturing apparatus and an absorbent article manufacturing method.

An absorbent article manufacturing apparatus that manufactures absorbent articles using a plurality of types of materials is already well known.

In such an absorbent article manufacturing apparatus, a material coil around which a material is wound is attached and a plurality of feeding devices that feed material from the material coil, and a plurality of feeding devices provided for each of a plurality of types of materials, And a plurality of attachment robots for attaching unused new material coils to the feeding device.

US Patent Application Publication No. 2016/60061

Conventionally, a dedicated mounting robot has been assigned to each of a plurality of feeding devices. That is, the attachment robot for attaching the new material coil to one of the plurality of delivery devices is determined as one attachment robot. Therefore, there has been a case where a flexible operation cannot be performed regarding the process of attaching the new material coil.

For example, because the frequency of attaching a new material coil is different for each feeding device, an attachment robot that frequently attaches a new material coil and an attachment robot that rarely attaches a new material coil may occur. . In such a case, there is a possibility that the former attachment robot is likely to be damaged at an early stage.

This invention is made | formed in view of the above problems, The place made into the objective implement | achieves the absorbent article manufacturing apparatus which can perform flexible operation regarding the attachment process of a novel material coil. There is.

The main invention for achieving the above object is an absorbent article manufacturing apparatus for manufacturing an absorbent article using a plurality of types of materials,
A plurality of feeding devices for attaching the material coil around which the material is wound and feeding the material from the material coil, and a plurality of feeding devices provided for each of the plurality of types of materials,
A plurality of attachment robots for attaching unused new material coils to the feeding device;
A control unit that selects, from among the plurality of attachment robots, a robot in charge of attaching the new material coil to one of the plurality of delivery devices;
It is an absorbent article manufacturing apparatus characterized by having.

Other features of the present invention will be clarified by the description of the present specification and the accompanying drawings.

According to the present invention, it is possible to realize an absorbent article manufacturing apparatus capable of performing flexible operation with respect to a process for attaching a new material coil.

It is an upper surface conceptual diagram when the absorbent article manufacturing equipment 10 which concerns on this Embodiment is seen from upper direction. It is explanatory drawing for demonstrating the material splicing in the drawer splicing apparatus. It is explanatory drawing for demonstrating the material splicing in the non-drawing splicing apparatus. It is the figure which showed the relationship between the control part 50 when another robot is selected in the absorbent article manufacturing apparatus 12, and another apparatus. It is the flowchart which showed the selection process of the robot in charge. It is explanatory drawing for demonstrating the attachment possible period of the new material coil. It is explanatory drawing for demonstrating the estimated operation time of the attachment robot. It is explanatory drawing for demonstrating the formulation method of an attachment plan.

At least the following matters will become clear from the description of this specification and the accompanying drawings.

An absorbent article manufacturing apparatus that manufactures absorbent articles using a plurality of types of materials,
A plurality of feeding devices for attaching the material coil around which the material is wound and feeding the material from the material coil, and a plurality of feeding devices provided for each of the plurality of types of materials,
A plurality of attachment robots for attaching unused new material coils to the feeding device;
A control unit that selects, from among the plurality of attachment robots, a robot in charge of attaching the new material coil to one of the plurality of delivery devices;
An absorbent article manufacturing apparatus comprising:

According to such an absorbent article manufacturing apparatus, it is possible to realize an absorbent article manufacturing apparatus capable of performing flexible operation with respect to the process of attaching a new material coil.

Such an absorbent article manufacturing apparatus,
Among the plurality of feeding devices, there is preferably a feeding device in which the attachment is performed by a dedicated robot that is not selected by the control unit.

According to such an absorbent article manufacturing apparatus, it is possible to realize an absorbent article manufacturing apparatus capable of performing a more flexible operation with respect to the process of attaching a new material coil.

Such an absorbent article manufacturing apparatus,
Having a processing section for processing the material while flowing the material in the flow direction;
Each of the plurality of mounting robots moves a movement path common to the plurality of mounting robots, and when it reaches a corresponding position corresponding to the feeding device, attaches a new material coil to the feeding device,
A feeding device zone in which a plurality of the feeding devices are installed and a robot zone in which the mounting robot moves are along the flow direction,
The feeding device to which the attachment is performed by the dedicated robot is preferably located on the most upstream side and the most downstream side of the plurality of feeding devices arranged in the feeding device zone.

According to such an absorbent article manufacturing apparatus, it is possible to realize a compact absorbent article manufacturing facility.

Such an absorbent article manufacturing apparatus,
The feeding device has a pair of material coil attachment portions, and the material coil is attached to each of the pair of material coil attachment portions,
When the material is fed out from the one side material coil attached to one of the material coil attachment portions, the attachment robot attaches the other side material coil as a new material coil to the other material coil attachment portion. attachment,
The feeding device is a device that performs material splicing to join the material of the other side material coil to the material of the one side material coil before the material to be fed of the one side material coil is cut,
The controller is
It is desirable to select the robot in charge based on predicted time information when the next material splice occurs.

</ RTI> According to such an absorbent article manufacturing apparatus, it is possible to reliably select a robot in charge that can perform attachment processing at an appropriate time.

Such an absorbent article manufacturing apparatus,
It is desirable that the predicted time information is obtained from material amount information of the material coil that is being fed out.

According to such an absorbent article manufacturing apparatus, the robot in charge can be selected with high accuracy.

Such an absorbent article manufacturing apparatus,
The feeding device has a pair of material coil attachment portions, and the material coil is attached to each of the pair of material coil attachment portions,
When the material is fed out from the one side material coil attached to one of the material coil attachment portions, the attachment robot attaches the other side material coil as a new material coil to the other material coil attachment portion. attachment,
The feeding device is a device that performs material splicing to join the material of the other side material coil to the material of the one side material coil before the material to be fed of the one side material coil is cut,
The controller is
It is desirable to select the assigned robot based on the predicted execution time and predicted execution cycle information of the material splicing set for each feeding device.

Such an absorbent article manufacturing apparatus,
Having a processing section for processing the material while flowing the material in the flow direction;
Each of the plurality of mounting robots moves a movement path common to the plurality of mounting robots, and when it reaches a corresponding position corresponding to the feeding device, attaches a new material coil to the feeding device,
A feeding device zone in which a plurality of the feeding devices are installed and a robot zone in which the mounting robot moves are along the flow direction,
The controller is
It is desirable to select the assigned robot based on the installation order information of the plurality of feeding devices and the plurality of mounting robots in the flow direction.

Such an absorbent article manufacturing apparatus,
The controller is
It is desirable to select the robot in charge based on predicted time information required for the attachment process of the new material coil set for each feeding device.

Such an absorbent article manufacturing apparatus,
The feeding device has a pair of material coil attachment portions, and the material coil is attached to each of the pair of material coil attachment portions,
When the material is fed out from the one side material coil attached to one of the material coil attachment portions, the attachment robot attaches the other side material coil as a new material coil to the other material coil attachment portion. attachment,
In the feeding device,
A feeding device in which a drawing material splicing is performed to join the tip portion to the one side material coil in a state in which the tip portion of the material of the other side material coil is pulled out before the material of the one side material coil is cut; There is a feeding device in which non-drawing material joining is performed to join the tip portion to the one side material coil without pulling out the tip portion of the material of the other side material coil,
When the attachment robot attaches the new material coil to the feeding device where the drawer material splicing is performed, in addition to attaching the new material coil, the material is pulled out,
When the attachment robot attaches the new material coil to the feeding device in which the non-drawn material splicing is performed, it is preferable that only the new material coil is attached.

Such an absorbent article manufacturing apparatus,
The controller is
It is desirable to select the assigned robot so that the degree of variation in the cumulative operating time of the plurality of attachment robots is reduced.

</ RTI> According to such an absorbent article manufacturing apparatus, it is possible to reduce the bias of the mounting robot that operates (to prevent the operation from being concentrated on a specific mounting robot).

Next, an absorbent article manufacturing method for manufacturing an absorbent article using a plurality of types of materials,
A plurality of feeding devices for attaching the material coil around which the material is wound and feeding the material from the material coil, and a plurality of feeding devices provided for each of the plurality of types of materials,
Preparing a plurality of attachment robots for attaching unused new material coils to the feeding device;
Selecting a responsible robot in charge of mounting the new material coil from one of the plurality of mounting robots for one of the plurality of feeding devices;
The manufacturing method of an absorbent article characterized by having.

According to such an absorbent article manufacturing method, it is possible to realize an absorbent article manufacturing method capable of performing flexible operation with respect to the process of attaching a new material coil.

=== About the absorbent article manufacturing apparatus 12 which concerns on this Embodiment ===
FIG. 1 is a conceptual top view when the absorbent article manufacturing facility 10 according to the present embodiment is viewed from above. The absorbent article manufacturing apparatus 10 is provided with an absorbent article manufacturing apparatus 12, and the absorbent article manufacturing apparatus 12 manufactures absorbent articles using a plurality of types of materials 1. Examples of absorbent articles include unfolded or pant-type disposable diapers, sanitary napkins, urine pads, etc., but any article that absorbs the excretion fluid of the wearer It does n’t matter. Moreover, as the material 1, a continuous sheet of fiber aggregate, for example, a soft and flexible continuous sheet such as a nonwoven fabric or tissue is used.

The absorbent article manufacturing device 12 includes a processing unit 14, a feeding device 20, an attachment robot 30, a material coil AGV 38 (material automatic guided vehicle) as an example of a coil conveying member, a hot melt device 40, AGV48 for adhesives (automated guided vehicle for adhesives) as an example of an adhesive transporting member.

In the present embodiment, the processing unit 14 is provided on the first floor, while the feeding device 20, the mounting robot 30, the material coil AGV 38, the hot melt device 40, and the adhesive AGV 48 are on the second floor. Is provided. That is, the absorbent article manufacturing apparatus 12 is provided across a plurality of floors prepared in the absorbent article manufacturing facility 10.

The processing unit 14 processes the material 1 while flowing the material 1 in the flow direction (the flow direction is indicated by an arrow D1 in FIG. 1). That is, a plurality of types of materials 1 are fed by a later-described feeding device 20 corresponding to each material 1, and each fed material 1 joins the processing unit 14 and is conveyed in the flow direction D1. The material 1 conveyed in the flow direction D1 is subjected to processing such as pressing, cutting, and bonding (performed by the adhesive generated by the hot melt device 40) by various processing units. The absorbent article is finally produced by polymerization with a suitable member.

The feeding device 20 is a device to which the material coil 3 around which the material 1 is wound is attached, and the material 1 is fed from the material coil 3 toward the processing unit 14. A plurality of the feeding devices 20 are provided for each of a plurality of types of materials 1. In FIG. 1, as an example, five feeding devices 20 are shown, and these feeding devices 20 are arranged in the order of the flow direction D1, the first feeding device 21, the second feeding device 22, the third feeding device 23, and the second feeding device. They are called a four-feeding device 24 and a fifth feeding device 25. The plurality of feeding devices 20 are installed in the feeding device zone Z1 provided in the absorbent article manufacturing facility 10 along the flow direction D1.

The feeding device 20 has a pair of material coil attachment portions (specifically, a material coil attachment shaft 20a), and the material coil 3 is attached to each of the pair of material coil attachment shafts 20a. The material 1 is fed out from one of the material coils 3 (referred to as one side material coil), and the fed out material 1 is supplied to the processing unit 14.

Also, the feeding device 20 has a so-called material splicing function. That is, before the material 1 to be fed out of the one side material coil is cut, the material 1 from the other material coil 3 (referred to as the other side material coil) is connected to the material 1 of the one side material coil, and the material 1 is fed out. The material joining for changing the coil 3 from the one-side material coil to the other-side material coil is executed in the feeding device 20.

In the present embodiment, there are provided two types of feeding devices 20 with different material splicing methods to be executed. That is, before the material 1 of the one-side material coil is cut, the material coil is fed out by joining the tip portion to the one-side material coil with the tip portion of the material 1 of the other-side material coil being pulled out. 3 is changed from the one side material coil to the other side material coil. The unwinding material splicing device (for convenience, the non-drawing splicing device 28) is performed by joining the portion to the one side material coil and changing the material coil 3 from which the material 1 is fed out from the one side material coil to the other side material coil. Called). In the present embodiment, the third feeding device 23 and the fifth feeding device 25 are the drawer joint device 26, the first feeding device 21, the second feeding device 22, and the fourth feeding device 24 are the non-drawing joint device 28. Each is applicable.

FIG. 2 is an explanatory diagram for explaining material splicing in the drawer splicing device 26.

As shown in the upper diagram of FIG. 2, when the material 1 of the one-side material coil 3a is about to be cut, the material joining is started. In the drawer splicing device 26, since the material splicing is performed in a state where both the one side material coil 3a (the material 1) and the other side material coil 3b (the material 1) are stationary, first, the one side material coil The rotation of 3a is stopped, and the feeding of the material 1 is stopped. About the other side material coil 3b, the front-end | tip part 1a of the material 1 is pulled out in advance to the position corresponding to the pressing device 26a, and is stationary in this state. And the front-end | tip part 1a of the other side material coil 3b and the material 1 of the one-side material coil 3a are pinched | interposed by the pressing apparatus 26a, The said front-end | tip part 1a is joined to the material 1 of the one side material coil 3a with the double-sided tape 2. The Rukoto.

Since the so-called dancer unit 60 is provided on the downstream side in the feeding direction of the one-side material coil 3a, even if the rotation of the one-side material coil 3a is stopped and the feeding of the material 1 is stopped, the dancer unit 60 With the material 1 accumulated in the above, the material 1 is fed out toward the processing unit 14 without being stationary at the downstream side of the dancer unit 60.

After the materials 1 of both the material coils 3 are joined, the material 1 of the one-side material coil 3a immediately before disappearing is the cutting device 26b (here, the upper portion of the two cutting devices 26b shown in FIG. 2). Is cut by the cutting device 26b). Then, as shown in the central view of FIG. 2, this time, the material 1 is fed out from the other side material coil 3b.

When the material 1 is fed out from the other side material coil 3b, the one side material coil 3a (the one with a small amount of material 1 remaining in the paper tube, referred to as a used material coil 3) is attached later. The robot 30 is removed, and instead, the attachment robot 30 attaches an unused new material coil 3 as one material coil 3a to one material coil attachment shaft 20a (see the lower diagram in FIG. 2). Then, when the material 1 fed out from the other side material coil 3b is almost gone, the material 1 of the new material coil that is attached is succeeded.

FIG. 3 is an explanatory diagram for explaining material splicing in the non-drawer splicing device 28.

As shown in the upper diagram of FIG. 3, the material splicing is started when the material 1 of the one-side material coil 3a is about to run out, as in the drawer splicing device 26. In the non-drawer splicing device 28, unlike the splicing splice device 26, the splicing is performed in a state where both the one-side material coil 3 a and the other-side material coil 3 b from which the material 1 is fed are rotating at the same speed. Therefore, first, the other-side material coil 3b is rotated, and the rotational speed of the other-side material coil 3b is increased until the rotational speed of the other-side material coil 3a becomes the same. Then, at the timing when the double-sided tape 2 of the rotating other side material coil 3b reaches the corresponding position corresponding to the pressing device 26a, the other side is pressed by the pressing device 28a (in the form of a roller so that the material 1 can move around). When the tip 1a of the side material coil 3b and the material 1 of the one side material coil 3a are pressed, the tip 1a is joined to the material 1 of the one side material coil 3a by the double-sided tape 2.

After the materials 1 of both the material coils 3 are joined, the material 1 of the one-side material coil 3a immediately before disappearing is cut by the cutting device 28b. Then, as shown in the central view of FIG. 3, this time, the material 1 is fed out from the other side material coil 3b.

When the material 1 is being fed out from the other side material coil 3b, the one side material coil 3a (used material coil 3) is removed by the mounting robot 30 described later. Instead, the mounting robot 30 is An unused new material coil 3 is attached to one material coil mounting shaft 20a as the one-side material coil 3a (see the lower diagram of FIG. 3).

When the material 1 fed out from the other side material coil 3b is almost gone, the material 1 of the new material coil that is attached is succeeded, but the material splicing is performed in the non-drawer splicing device 28. For this, the turret 28c is rotated 180 degrees before material joining (see the arrow in the lower diagram of FIG. 3), and the position of the one-side material coil 3a and the position of the other-side material coil 3b are switched (that is, the upper diagram of FIG. 3). Need to be in the state of). The rotation of the turret 28c is such that the material 1 is continuously fed out from the other side material coil 3b, whereby the diameter of the other side material coil 3b is reduced, and the other side material coil 3b and the pressing device 28a (cutting device 28b) This is performed at a timing at which physical interference does not occur when the turret 28c rotates.

When the attachment robot 30 attaches the new material coil 3 to the drawer joint device 26, the material 1 is pulled out in addition to the attachment of the new material coil 3, but the attachment robot 30 attaches to the non-drawer joint device 28. When the new material coil 3 is attached, only the new material coil 3 is attached.

Further, these feeding devices 20 are provided in a separate frame from the processing unit 14 described above. That is, while the feeding device 20 is provided on the frame for the feeding device 20, each device of the processing unit 14 is provided on the frame for the processing unit 14, and both the frames are completely separate.

Therefore, the absorbent article manufacturing facility 10 can be made compact. In other words, if the feeding device 20 is provided on the frame of the processing unit 14, the feeding device 20 must be installed while avoiding physical interference with the processing unit 14, resulting in restrictions on the installation location. This makes it impossible to place them efficiently. Therefore, there arises a disadvantage that a large amount of space is required for installing a certain number of feeding devices 20. On the other hand, when the frame is separated as in the present embodiment, the above-described restrictions on the installation location do not occur, so that the feeding device 20 can be installed efficiently. Therefore, the absorbent article manufacturing facility 10 can be made compact.

The attachment robot 30 is for acquiring an unused new material coil 3 installed in a material coil zone Z3, which will be described later, and attaching the new material coil 3 to the feeding device 20. The attachment robot 30 according to the present embodiment also has a function of removing the used material coil 3 from the feeding device 20 and discarding it at a predetermined disposal place P.

The mounting robot 30 is a known so-called articulated robot, and has an arm 30a having a plurality of joints. The arm 30 a is provided with a gripping part for gripping the new material coil 3 and the used material coil 3. Note that the mounting robot 30 according to the present embodiment can grip the new material coil 3 and the used material coil 3 at the same time.

In the present embodiment, a plurality of attachment robots 30 are provided. However, the number thereof is smaller than that of the feeding device 20. In FIG. 1, two attachment robots 30 are shown as an example, and these attachment robots 30 are referred to as a first attachment robot 31 and a second attachment robot 32 in the order of the flow direction D1. In FIG. 1, the state in which the first attachment robot 31 moves with the arm 30a folded and the state in which the second attachment robot 32 extends the arm 30a and attaches the new material coil 3 are conceptually shown. Represents.

Also, these attachment robots 30 can move so that the moving direction is along the flow direction D1. In other words, the absorbent article manufacturing facility 10 is provided with a robot zone Z2 in which the attachment robot 30 moves, and the robot zone Z2 is along the flow direction D1. In the present embodiment, a movement path 34 common to a plurality (two) of the attachment robots 30 is provided in the robot zone Z2, and each of the plurality of attachment robots 30 moves on the movement path 34. ing.

And the attachment robot 30 according to the present embodiment operates as follows (the operation of attaching to the fifth feeding device 25 of the five feeding devices 20 will be described as an example). Here, before describing the operation of the mounting robot 30, the material coil zone Z3 will be described first.

In the material coil zone Z3, a plurality of new material coils 3 are installed for each of a plurality of types of materials 1 (in other words, for each of a plurality of feeding devices 20). In this embodiment, since the five feeding devices 20 (the first feeding device 21 to the fifth feeding device 25) are provided as the feeding devices 20, the first feeding device 21 to the fifth feeding device 25 are provided. Five types of new material coils 3 (referred to as a first material coil 4, a second material coil 5, a third material coil 6, a fourth material coil 7, and a fifth material coil 8 for convenience) attached to each of the material coil zones It is installed at Z3.

Then, when the types of the materials 1 corresponding to each of the plurality (five) of the feeding devices 20 are arranged in the order of installation of the feeding devices 20 in the flow direction D1 are defined as (in the material type order) The new material coil 3 installed in the material coil zone Z3 is arranged in the order of the material type in the flow direction D1. Specifically, the first feeding device 21, the second feeding device 22, the third feeding device 23, the fourth feeding device 24, and the fifth feeding device 25 are arranged in this order in the flow direction D1 in the present embodiment. Accordingly, the first material coil 4, the second material coil 5, the third material coil 6, the fourth material coil 7, and the fifth material coil 8 are also arranged in this order in the flow direction D1. Therefore, the moving distance of the attachment robot 30 when performing the operation of acquiring the new material coil 3 installed in the material coil zone Z3 and attaching the new material coil 3 to the feeding device 20 can be shortened.

Further, as shown in FIG. 1, each of the five types of new material coils 3 installed in the material coil zone Z3 forms a material coil group in which a plurality of new material coils 3 of the same type are arranged. And there are two ways of arranging the new material coils 3 in the material coil group. That is, the horizontal material coil group in which the individual material coils 3 are arranged in the horizontal direction (specifically, the orthogonal horizontal direction D2) (the third material coil 6 and the fifth material coil 8 correspond to this), There is a vertically placed material coil group in which the material coils 3 are arranged (stacked) in the vertical direction (the first material coil 4, the second material coil 5, and the fourth material coil 7 correspond to this).

The mounting robot 30 first acquires a new material coil 3 (fifth material coil 8) installed in the material coil zone Z3. That is, the attachment robot 30 moves from the standby positions HP1 and HP2 (home position) to the corresponding position corresponding to the fifth material coil 8 by moving on the movement path 34 (robot zone Z2). Then, the arm 30a is extended at the corresponding position, and the fifth material coil 8 (one of the material coil groups) is held by the arm 30a. In the present embodiment, as shown in FIG. 1, the standby position HP1 of the first attachment robot 31 is determined from the first feeding device 21 located on the most upstream side in the flow direction D1 among the five feeding devices 20. The standby position HP2 of the second mounting robot 32 is set further downstream than the fifth feeding device 25 located on the most downstream side in the flow direction D1 among the five feeding devices 20. The

Next, the attachment robot 30 attaches the new material coil 3 to the feeding device 20 (fifth feeding device 25) installed in the feeding device zone Z1 (specifically, the new material coil 3 is attached to the material coil mounting shaft 20a). Plug in). That is, the attachment robot 30 slightly moves on the moving path 34 (robot zone Z2) to reach a corresponding position corresponding to the fifth feeding device 25. Then, the attachment robot 30 performs the attachment work of the fifth material coil 8 at the corresponding position, but before that, first, the used material coil 3 is first grasped from the feeding device 20 (the material coil attachment shaft 20a). Remove. Then, the fifth material coil 8 is attached to the material coil attachment shaft 20a (at this time, the material 1 is also pulled out).

Next, the mounting robot 30 discards the used material coil 3 in the disposal place P. That is, the attachment robot 30 moves on the movement path 34 (robot zone Z2) and reaches a corresponding position corresponding to the disposal place P. Then, at the corresponding position, the used material coil 3 is discarded in the disposal place P, and when the used material coil 3 is disposed of, the process returns to the standby positions HP1 and HP2.

In the present embodiment, the attachment robot 30 of the first attachment robot 31 and the second attachment robot 32 performs the attachment work on the fifth feeding device 25 is not determined in advance. Determined each time. The same applies not only to the fifth feeding device 25 but also to the other four feeding devices 20. That is, a dedicated attachment robot 30 (also referred to as a dedicated robot) does not exist for each feeding device 20, and a responsible attachment robot 30 (also referred to as a responsible robot) is selected for each attachment. The method for selecting the assigned robot will be described in detail later.

The material coil AGV 38 is an automatic guided vehicle for transporting the new material coil 3 to the material coil zone Z3. In FIG. 1, one material coil AGV 38 is shown as an example, but the number thereof may be plural.

The material coil AGV 38 can move so that the moving direction is along the flow direction D1. In other words, the absorbent article manufacturing facility 10 is provided with a material coil AGV zone Z4 (corresponding to a coil conveying member zone) in which the material coil AGV 38 moves, and the material coil AGV zone Z4 flows. Along the direction D1. In the present embodiment, the moving path 39 is provided in the material coil AGV zone Z4, and the material coil AGV 38 moves along the moving path 34.

Further, as shown in FIG. 1, the material coil AGV 38 according to the present embodiment conveys the new material coil 3 in a state where the new material coil 3 is placed on the pallet 70, and the new material coil 3 is transferred to the pallet 70. It is placed in the material coil zone Z3. Therefore, when the attachment robot 30 repeats acquisition of the new material coil 3 and there is no new material coil 3, only the pallet 70 remains.

When the new material coil 3 (referred to as the fourth material coil 7 as an example) disappears, the AGV 38 for material coil according to the present embodiment moves along the movement path 39 (AGV zone Z4 for material coil), and the fourth The corresponding position corresponding to the material coil 7 is reached, and the empty pallet 70 is collected at the corresponding position. The material coil AGV 38 reaches the material coil storage unit (not shown) connected to the AGV moving path via the AGV moving path (not shown) connected to the material coil AGV zone Z4, and the material coil An empty pallet 70 is accommodated (returned) in the storage unit.

Further, the AGV 38 for material coil carries out the pallet 70 on which the fourth material coil 7 is placed from the material coil storage unit, and moves on the moving path 39 (AGV zone Z4 for material coil) via the AGV moving path. When the corresponding position is reached, the pallet 70 on which the fourth material coil 7 is placed is placed in the material coil zone Z3.

The hot melt apparatus 40 is an apparatus that generates a hot melt adhesive for application to the material 1 processed by the processing unit 14 by melting an adhesive before melting (that is, a solid hot melt adhesive). is there. The hot melt device 40 includes a plurality of melting devices 42 and a transport crane 44. And the hot-melt apparatus 40 provided with this several melting apparatus 42 and the conveyance crane 44 is installed in the hot-melt apparatus zone Z5 with which the absorbent article manufacturing equipment 10 was equipped along the said flow direction D1.

The melting device 42 is for melting a solid hot melt adhesive to produce a liquid hot melt adhesive. A plurality of melting devices 42 are provided in accordance with the number of hot melt adhesive application positions (in FIG. 1, four melting devices 42 are shown as an example).

The melting device 42 is provided with a melting tank 42a and a conveyer 42b. Then, the pre-melting adhesive dropped onto the transport conveyor 42b by the transport crane 44 described later is transported by the transport conveyor 42b, introduced into the melting tank 42a, and melted in the melting tank 42a. The liquid hot melt adhesive melted in the melting tank 42a passes through a passage pipe (not shown) and is discharged toward the material 1 from the nozzle at the tip thereof.

The transport crane 44 is a device that takes out the pre-melting adhesive from a container 72, which will be described later, and sends the pre-melting adhesive to the melting device 42 (specifically, drops it onto the conveyor 42b). The transport crane 44 is located above the container 72 and the melting device 42. As described above, the hot melt device 40 is located on the second floor while the processing unit is located on the first floor, and the melting device 42 of the hot melt device 40 is provided in the lower part of 2F together with the container 72, The transport crane 44 of the hot melt apparatus 40 is provided on the upper part of 2F. Moreover, in FIG. 1, although the one conveyance crane 44 is represented as an example, the number may be plural.

The transport crane 44 is movable in the flow direction D1 in the hot melt apparatus zone Z5. Then, the transporting crane 44 scoops up the pre-melting adhesive from the container 72, then moves the moving path 45 along the flow direction D1 and drops it onto the transport conveyor 42b.

The AGV 48 for adhesive is an automatic guided vehicle for transporting the pre-melt adhesive to the hot melt apparatus zone Z5. In FIG. 1, one AGV 48 for adhesive is shown as an example, but the number may be plural.

The adhesive AGV 48 can move so that the moving direction is along the flow direction D1. In other words, the absorbent article manufacturing facility 10 is provided with an adhesive AGV zone Z6 (corresponding to an adhesive transport member zone) through which the adhesive AGV 48 moves, and the adhesive AGV zone Z6 is Along the flow direction D1. In the present embodiment, the moving path 49 is provided in the adhesive AGV zone Z6, and the adhesive AGV 48 moves along the moving path 49.

Further, as shown in FIG. 1, the adhesive AGV 48 according to the present embodiment conveys the pre-melt adhesive in a state where the pre-melt adhesive is put in the container 72, and the pre-melt adhesive is transferred to the container 72. It is arranged in the hot melt apparatus zone Z5. Therefore, when the transport crane 44 repeats the acquisition of the adhesive before melting and the adhesive before melting disappears, only the container 72 remains.

When the adhesive AGV 48 according to the present embodiment runs out of the pre-melt adhesive in the container 72, the adhesive AGV 48 moves along the movement path 49 (AGV zone Z6 for adhesive) and corresponds to the empty container 72. The empty container 72 is collected at the corresponding position. Then, the adhesive AGV 48 reaches an adhesive reservoir (not shown) connected to the AGV moving path via an AGV moving path (not shown) connected to the adhesive AGV zone Z6, and the adhesive. An empty container 72 is accommodated (returned) in the storage unit.

Also, the AGV 48 for adhesive unloads the container 72 containing the pre-melting adhesive from the adhesive reservoir, and moves on the moving path 49 (AGV zone Z6 for adhesive) via the AGV moving path. When the corresponding position is reached, the container 72 containing the pre-melt adhesive is placed in the adhesive AGV zone Z6.

=== How to select the robot in charge ===
As described above, in the present embodiment, a dedicated attachment robot 30 (dedicated robot) does not exist for each feeding device 20, and the assigned attachment robot 30 (responsible robot) is selected for each installation. It is like that. In other words, the first attachment robot 31 attaches the new material coil 3 (third material coil 6) to a certain feeding device 20 (for example, the third feeding device 23) at one time. The two attachment robots 32 attach the new material coil 3 (third material coil 6).

In the following, the method for selecting the robot in charge will be described with reference to FIGS. FIG. 4 is a diagram illustrating a relationship between the control unit 50 and other devices when the robot in charge is selected in the absorbent article manufacturing apparatus 12. 5 to 8 will be described later. In addition, the selection method demonstrated below shows one Example, It is not limited to this. Further, in order to make the explanation easy to understand (simplify), the case where the number of the feeding devices 20 is three (first feeding device 21 to third feeding device 23) will be described as an example.

The controller 50 selects the robot in charge. That is, as illustrated in FIG. 4, the control unit 50 obtains various types of information from the feeding device 20, the mounting robot 30, and the sensor 52. Then, using these pieces of information and various information stored in the memory-50a in the control unit 50, the robot in charge is selected for each feeding device 20.

FIG. 5 is a flowchart showing the selection process of the robot in charge. In this flowchart, the control unit 50 determines the future installation plan of the new material coil 3 based on various information (that is, which attachment robot 30 is at what time (after a few minutes) to the feeding device 20 of the new material coil 3. Whether to start the attachment process) is determined for each feeding device 20. For example, the first attachment robot 31 starts the process of attaching the new material coil 3 to the first feeding device 21 after 2 minutes, and the second attachment robot 32 starts the process of attaching the new material coil 3 to the second feeding device 22. The installation plan is started after 10 minutes, and the first attachment robot 31 starts the attachment process of the new material coil 3 for the third feeding device 23 after 15 minutes. In the present embodiment, the control unit 50 repeatedly executes the selection process in a short time span (for example, every sampling time of several seconds) to update the attachment plan. When the attachment processing start time comes (when the remaining time becomes 0 minutes), the control unit 50 issues a command to the attachment robot 30 to cause the attachment robot 30 to execute the attachment processing. Hereinafter, it will be specifically described with reference to a flowchart.

First, the control unit 50 confirms the status of each feeding device 20. Here, the status of the feeding device 20 means whether the feeding device 20 is performing material splicing, or whether material splicing is not performed and normal material 1 is fed (“material splicing” or “non-material splicing”). ). The control unit 50 acquires the status information from each feeding device 20 (step S1). The control unit 50 stores the acquired status information in the history information area of the memory 50a.

Similarly, the control unit 50 confirms the status of each mounting robot 30. Here, the status of the mounting robot 30 means that the mounting robot 30 mounts the new material coil 3 (the operation during the operation time described later, the operation until the mounting robot 30 starts from the standby position and returns to the standby position). Or in the standby positions HP1 and HP2 (“attachment” or “non-attachment”), and in the case of “attachment”, an attachment process is performed on which feeding device 20 Is it? And the control part 50 acquires the said status information from each attachment robot 30 (step S1). The acquired status information is recorded in the history information area of the memory 50a.

Next, the control unit 50 obtains an attachable period for each feeding device 20 based on the status information (step S3). The attachable period is a future period in which the attachment process of the new material coil 3 to the feeding device 20 is possible (for example, the attachment process is possible after 10 minutes to 40 minutes).

FIG. 6 is an explanatory diagram for explaining a period in which the new material coil 3 can be attached. FIG. 6 shows five lines (referred to as the first line to the fifth line), all of which represent the flow of time. As shown in the first line, in the feeding device 20, material splicing is performed periodically. And, as shown in the second line, during the material joining (specifically, after the material joining is finished (for example, time se1) until the next material joining is started (for example, time ss2)), The new material coil 3 needs to be attached in the feeding device 20. If the error is not taken into consideration, the time S1 required for the material splicing that is periodically executed is the same every time. Similarly, the material joining interval S2 (time from the end of material joining to the start of the next material joining) is similarly the same every time. On the other hand, the time required for the attachment process is slightly different depending on which attachment robot 30 is in charge (details will be described later).

Then, the attachable period is divided into three patterns (third line to fifth line) depending on the situation of the feeding device 20 at the present time (in other words, when the main selection process is performed).

As shown in the third line, when the feeding device 20 performs material splicing, that is, when the status information is “material splicing”, the attachment process of the new material coil 3 is completed after the material splicing is completed. It is necessary to carry out until the next material splicing starts. Therefore, the attachable period is from t11 minutes to t12 minutes later.

Since the status information indicating “material splicing” or “non-material splicing” is recorded in the history information area at each sampling time, the control unit 50 can grasp the start time of the material splicing. You can also see the elapsed time (to date) after it was started. If the elapsed time is subtracted from the time S1 required for material splicing (corresponding to the predicted material splicing execution time), t11 can be obtained. Further, t12 can be obtained by adding the material splicing interval S2 (corresponding to the material splicing prediction execution cycle) to the t11. The values of the time S1 required for material splicing and the value of the material splicing interval S2 are different values for each of the three feeding devices 20, and these values are stored in the database in the memory 50a for each feeding device 20. Recorded in advance.

Further, as shown in the fourth line, when the material splicing is finished in the feeding device 20 but the attachment is not started, that is, the latest status information is the former of “material splicing” and “attaching”. In order to judge from the information recorded in the history information area, the attachment process of the new material coil 3 must be performed (from the present time) until the next material joining starts. Therefore, the attachable period is from 0 minutes to t2 minutes later.

Here, the predicted time t2 at which the next material joining occurs may be obtained by subtracting the elapsed time (to date) after the material joining is completed from the material joining interval S2. In the embodiment, the predicted time t2 is calculated from the material amount information of the material coil 3 that is being fed out in order to increase the accuracy (to reduce the error). That is, the absorbent article manufacturing apparatus 12 according to the present embodiment includes the sensor 52 that acquires the size of the diameter of the material coil 3, and the control unit 50 controls the size of the material coil 3. Information is sent at each sampling time. And the control part 50 converts the magnitude | size of the said diameter into the residual amount of the material 1, and calculates | requires estimated time t2 from the converted residual amount.

Further, as shown in the fifth line, when the attachment process of the material coil 3 is performed in the feeding device 20 or the attachment process of the material coil 3 is finished, that is, the status information is “attachment”. If the latest status information is the latter of “material joining” and “attachment”, the attachment process of the new material coil 3 is performed until the next material joining starts after the next material joining is completed. Need to be done. Therefore, the attachable period is from t31 minutes to t32 minutes later. Then, t31 can be obtained by obtaining the predicted time at which the next material joining occurs by the method described above and adding the time S1 required for the material joining to this. Further, t32 can be obtained by adding the material splicing interval S2 to the t31.

As described above, in the present embodiment, for each pattern, based on the predicted time when the next material joining occurs, the time S1 required for material joining set for each feeding device 20, the information related to the material joining interval S2, and the like. To obtain the installation period.

Next, the control unit 50 obtains the next attachable timing for the attachment robot 30 whose status information is “attachment” (step S7). The next installation possible timing is a future time when the installation process of the current new material coil 3 can be performed after the current installation process is completed (in short, the hands are free). (For example, attachment processing is possible after 15 minutes, etc.). When there is no attachment robot 30 whose status information is “attachment” (all the attachment robots 30 are waiting), it is not necessary to execute step S7 (step S5).

FIG. 7 is an explanatory diagram for explaining the predicted operation time of the mounting robot 30 (corresponding to the predicted time required for the process of mounting a new material coil). As described above, the attachment robot 30 moves from the standby positions HP1 and HP2 to a corresponding position corresponding to the new material coil 3 (any one of the first material coil 4 to the third material coil 6) (this movement). Let time be t1 minutes).

Then, the mounting robot 30 acquires the new material coil 3 at the corresponding position, and then moves slightly to correspond to the feeding device 20 (any one of the first feeding device 21 to the third feeding device 23). To the position. Then, the used material coil 3 is removed at the corresponding position and a new material coil 3 is attached instead (the work time so far is t2 minutes).

Further, when the feeding device 20 is the drawer joint device 26, the material 1 is pulled out after the new material coil 3 is attached (the time required for pulling out the material 1 is t3 minutes).

Next, the attachment robot 30 moves from the corresponding position corresponding to the feeding device 20 to the corresponding position corresponding to the disposal place P (this moving time is t4 minutes). Then, the used material coil 3 is discarded in the disposal place P (the time required for disposal is t5 minutes). After the disposal of the used material coil 3, the mounting robot 30 moves from the corresponding position corresponding to the disposal place P and returns to the standby positions HP1 and HP2 (the time required for the movement is t6 minutes).

The predicted operation time (estimated operation time) tk of the mounting robot 30 from the standby positions HP1 and HP2 to the return to the standby positions HP1 and HP2 is represented by the sum from t1 to t6.
And the next attachment possible timing can be calculated | required based on the said estimated operation time tk. That is, the control unit 50 grasps the elapsed time (up to the present time) after the attachment process currently being performed is started from the information recorded in the history information area, and calculates the elapsed time from the predicted operation time tk. If it decreases, the next attachable timing can be obtained.

It should be noted that t2 and t3, which are breakdowns of the predicted operation time tk, differ depending on which of the three feeding devices 20 to which the feeding device 20 (material coil 3) is attached. That is, the presence / absence of t3 is different between the drawer joint device 26 and the non-drawer joint device 28, and the value of t2 is also different because the size (weight) of the material coil 3 corresponding to the feeding device 20 is different. .

Further, the moving time t6 differs depending on whether the attachment robot 30 is the first attachment robot 31 or the second attachment robot 32. The moving times t1 and t4 differ depending on which feeding device 20 (material coil 3) the attachment process is performed on and whether the attachment robot 30 is the first attachment robot 31 or the second attachment robot 32. The discard time t5 is constant regardless of these.

Therefore, for t2 and t3, for each feeding device 20 (material coil 3), for t6, for each mounting robot 30, and for t1, t4, for each set of the feeding device 20 (material coil 3) and the mounting robot 30. , T5 are individually recorded in advance in the database in the memory 50a. The control unit 50 ascertains which attachment robot 30 is performing attachment processing with respect to which feeding device 20 (material coil 3), and obtains t1 to t6 from the database in accordance with this, and the predicted operation time tk. Calculate Then, the next attachable timing is obtained by reducing the elapsed time.

Next, the control part 50 determines the attachment plan of the new material coil 3 mentioned above for every delivery apparatus 20 (step S9). In other words, either the first attachment robot 31 or the second attachment robot 32 is in charge of attaching the material coil 3 during the attachment period of the first feeding device 21, and the attachment period of the second feeding device 22 is assigned. It is determined which attachment robot is in charge of the attachment of the material coil 3 and which attachment robot 30 is in charge of the attachment of the material coil 3 during the attachment period of the third feeding device 23. More specifically, it is determined for each feeding device 20 which attachment robot 30 starts the attachment process of the new material coil 3 to the feeding device 20 at what time (after a few minutes).

FIG. 8 is an explanatory diagram for explaining a method for formulating an installation plan. As shown in FIG. 8, there are 2 × 2 × 2 = 8 combinations for assigning the assignment of the attachment robot 30 to each feeding device 20 (1 in Marunouchi is assigned to the first attachment robot 31). , 2 in Marunouchi represents that the second mounting robot 32 takes charge). And about each of this combination, the two attachment robots 30 grasp | ascertain whether an attachment process can be performed with respect to each feeding apparatus 20 in three mutually different attachment possible periods. That is, based on the attachable period calculated for each feeding device 20, the next attachable timing calculated for each mounting robot 30, and the predicted operation time tk that can be calculated for each set of the feeding device 20 and the mounting robot 30. Thus, it is derived whether it is “possible” or “impossible” (when it is “possible”, the attachment process start time is obtained for each of the three feeding devices 20).

In determining whether it is “possible” or “impossible”, the order of installation of the plurality of feeding devices 20 in the flow direction D1 (that is, the first feeding device 21 → the second feeding device 22 → the third feeding). Consider the order of installation in the flow direction D1 of the apparatus 23) and the plurality of attachment robots 30 (first attachment robot 31 → second attachment robot 32). In the present embodiment, each of the plurality of attachment robots 30 moves along a movement path common to the plurality of attachment robots 30. Therefore, for example, when the installation order is the above, when the second attachment robot 32 is attaching the new material coil 3 as the robot in charge of the second feeding device 22 due to physical interference, the first attachment robot 31 is It becomes impossible to reach the corresponding position corresponding to the third feeding device 23. That is, in the present embodiment, installation order information relating to such an installation order is recorded in advance in the database, and the control unit 50 determines (in consideration of) the assigned robot based on the installation order information. Select.

In addition, FIG. 8 shows that the result of “possible” is obtained in case 2 to case 6 (five cases). In determining whether it is “possible” or “impossible”, a result is derived with a sufficient margin for calculation. In addition, it is natural that a sufficient number of mounting robots 30 are prepared (arranged) so as not to become “impossible” in all cases.

And although the control part 50 may select which of these five cases (it may select at random), in this Embodiment, the dispersion | distribution degree of the accumulation operation time of the attachment robot 30 is small. The robot in charge is selected so that That is, the control unit 50 cumulatively adds the actual operation time of each mounting robot 30 based on the status information of the mounting robot 30 recorded in the history information area. And about each of case 2 thru | or case 6, the estimated operation time tk calculated for every attachment robot 30 (For example, in the case of case 2, the 1st attachment robot 31 is the 1st delivery apparatus 21 and the 2nd delivery apparatus 22). Since the attachment process is performed for the first attachment robot 31, the predicted operation time tk for two times is calculated. Then, the cumulative operation time obtained by adding the predicted operation time tk to the past actual operation time is obtained for each attachment robot 30 and for each case. Then, the degree of variation in the accumulated operating time (in this embodiment, the variance value) is obtained for each case, and the case having the smallest degree of variation (variance value) is selected.

=== About the effectiveness of the absorbent article manufacturing apparatus 12 according to the present embodiment ===
As described above, in the absorbent article manufacturing apparatus 12 according to the present embodiment, a plurality of robots in charge of attaching the new material coil 3 to a feeding device 20 of the plurality of feeding devices 20 are provided. The controller 50 is selected from the attachment robot 30.

Conventionally, a dedicated mounting robot 30 has been assigned to each of the plurality of feeding devices 20. That is, the attachment robot 30 that attaches the new material coil 3 to one of the plurality of delivery devices 20 is determined as one attachment robot 30. Therefore, there has been a case where a flexible operation cannot be performed regarding the process of attaching the new material coil 3.

For example, since the attachment frequency of the new material coil 3 is different for each feeding device 20, the attachment robot 30 that frequently attaches the new material coil 3 and the attachment robot 30 that rarely attaches the new material coil 3 occur. was there. In such a case, there is a possibility that the former attachment robot 30 may be easily damaged at an early stage.

On the other hand, in the present embodiment, the assigned robot is selected from the plurality of attachment robots 30 for one of the plurality of feeding devices 20, so even in this example, The operation of the plurality of attachment robots 30 can be balanced. Thus, according to this Embodiment, the absorbent article manufacturing apparatus 12 which can perform flexible operation regarding the attachment process of the new material coil 3 is realizable.

In the present embodiment, the control unit 50 selects the assigned robot based on the predicted time information when the next material joining occurs. In addition, the robot in charge is selected based on the predicted material splicing execution time and predicted execution cycle information (time S1 required for material splicing and material splicing interval S2) set for each feeding device 20. Further, the assigned robot is selected based on the installation order information in the flow direction D1 of the plurality of feeding devices 20 and the plurality of attachment robots 30. Further, the assigned robot is selected based on the predicted time information (predicted operation time) required for the process of attaching the new material coil 3 set for each feeding device 20. Therefore, it is possible to reliably select a robot in charge that can perform attachment processing at an appropriate time (that is, during material splicing).

Further, as described above, since the estimated time information is obtained from the material amount information of the material coil 3 that has been fed out, the robot in charge can be selected with high accuracy.

In the above embodiment, when the attachment robot 30 attaches the new material coil 3 to the drawer joint device 26, the attachment robot 30 performs the withdrawal of the material 1 in addition to the attachment of the new material coil 3. When the new material coil 3 is attached to the non-drawer device 28, only the new material coil 3 is attached. Therefore, the attachment robot 30 can flexibly change the work according to the type of the feeding device 20 in charge, and can perform a more flexible operation regarding the attachment process of the new material coil.

=== Other Embodiments ===
The above-described embodiments are for facilitating the understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the gist thereof, and it goes without saying that the present invention includes equivalents thereof.

In the above embodiment, a continuous sheet of fiber aggregates is taken as an example of the material 1, but the material 1 is not limited to this. For example, the material 1 may be a film.

In the above-described embodiment, the material coil AGV 38 (material coil automatic guided vehicle) that performs unmanned conveyance as an example of the coil conveyance member has been described. However, the present invention is not limited to this. For example, it may be a transport vehicle driven by a person, or a cart that is moved by human power. The same applies to the adhesive conveying member (AGV48 for adhesive).

In the above-described embodiment, an example in which the robot in charge is selected for all the feeding devices 20 has been described. However, among the plurality of feeding devices 20, a dedicated robot that is not selected by the control unit 50 (a certain one There may be a payout device 20 attached by an attachment robot 30) that attaches only to the payout device 20. That is, the control unit 50 selects a robot in charge for a certain feeding device 20, but a dedicated robot may be assigned to a certain feeding device 20 in advance. .

In such a case, it is possible to realize the absorbent article manufacturing apparatus 12 capable of performing a more flexible operation regarding the attachment process of the new material coil 3.

Further, when a dedicated robot is placed, if the dedicated robot is positioned on the most upstream side and the most downstream side (in other words, the feeding device 20 attached by the dedicated robot has a plurality of feeding devices arranged in the feeding device zone Z1. If it is located on the most upstream side and the most downstream side of 20), the absorbent article manufacturing facility 10 can be made compact.

* Explain with specific examples. In FIG. 1, the length of the robot zone Z2 (the length from the standby position HP1 to the standby position HP2) is longer than the length of the feeding device zone Z1 (the length from the first feeding device 21 to the fifth feeding 25). If there is a request to make the length of the robot zone Z2 shorter and make both the lengths the same in order to realize a more compact absorbent article manufacturing facility 10, the standby position It is necessary to place HP1 (standby position HP2) at the same position as the first feeding device 21 (fifth feeding device 25) in the flow direction D1. Then, the first attachment robot 31 (second attachment robot 32) cannot attach the new material coil 3 to the fifth feeding device 25 (first feeding device 21) due to physical interference. Therefore, if the first mounting robot 31 and the second mounting robot 32 are dedicated robots for the first feeding device 21 and the fifth feeding device 25, respectively, and the robot in charge is prepared in addition to these dedicated robots, manufacturing absorbent articles The facility 10 can be made compact.

Further, in the above embodiment, in order to reduce the bias of the operating mounting robot 30 (to prevent the operation from being concentrated on a specific mounting robot 30), the degree of variation in the accumulated operating time of the plurality of mounting robots 30 is increased. The assigned robot is selected to be smaller, but the present invention is not limited to this.

For example, the robot in charge may be selected so that the degree of variation in the cumulative movement distance of the plurality of attachment robots 30 is reduced in the same way. In addition, the robot in charge may be selected so that the margin (margin) with respect to the end of the attachable period is increased (that is, the attachment process is completed with a margin in the attachable period). .

1 material, 1a tip, 2 double-sided tape 3 material coil (new material coil, used material coil)
3a One side material coil, 3b The other side material coil 4 First material coil, 5 Second material coil, 6 Third material coil 7 Fourth material coil 8 Fifth material coil 10 Absorbent article manufacturing equipment, 12 Absorbent article manufacture Device 14 Processing unit 20 Feeding device, 20a Material coil mounting shaft 21 First feeding device, 22 Second feeding device, 23 Third feeding device 24 Fourth feeding device, 25 Fifth feeding device 26 Pull-out device 26a Pressing device, 26b Cutting device 28 Non-drawing joint device 28a Pressing device, 28b Cutting device, 28c Turret 30 Mounting robot, 30a Arm 31 First mounting robot, 32 Second mounting robot, 34 Moving path 38 Material coil AGV, 39 Moving path 40 Hot melt Apparatus 42 melting apparatus 42a melting tank, 2b Transport conveyor 44 Transport crane, 45 Travel path 48 Adhesive AGV, 49 Travel path 50 Control section, 50a Memory, 52 Sensor 60 Dancer unit 70 Pallet, 72 Container HP1 Standby position, HP2 Standby position P Disposal area Z1 Feeder zone , Z2 robot zone,
Z3 Material coil zone, Z4 AGV zone for material coil Z5 Hot melt equipment zone, Z6 AGV zone for adhesive

Claims

An absorbent article manufacturing apparatus that manufactures absorbent articles using a plurality of types of materials,
A plurality of feeding devices for attaching the material coil around which the material is wound and feeding the material from the material coil, and a plurality of feeding devices provided for each of the plurality of types of materials,
A plurality of attachment robots for attaching unused new material coils to the feeding device;
A control unit that selects, from among the plurality of attachment robots, a robot in charge of attaching the new material coil to one of the plurality of delivery devices;
An absorbent article manufacturing apparatus comprising:
The absorbent article manufacturing apparatus according to claim 1,
The absorbent article manufacturing apparatus according to claim 1, wherein the plurality of feeding apparatuses include a feeding apparatus in which the attachment is performed by a dedicated robot that is not selected by the control unit.
The absorbent article manufacturing apparatus according to claim 2,
Having a processing section for processing the material while flowing the material in the flow direction;
Each of the plurality of mounting robots moves a movement path common to the plurality of mounting robots, and when it reaches a corresponding position corresponding to the feeding device, attaches a new material coil to the feeding device,
A feeding device zone in which a plurality of the feeding devices are installed and a robot zone in which the mounting robot moves are along the flow direction,
2. The absorbent article manufacturing apparatus according to claim 1, wherein the feeding device attached by the dedicated robot is located on the most upstream side and the most downstream side of the plurality of feeding devices arranged in the feeding device zone.
The absorbent article manufacturing apparatus according to any one of claims 1 to 3,
The feeding device is
It has a pair of material coil attachment parts, and the material coil is attached to each of the pair of material coil attachment parts,
Before the material of the one side material coil attached to one of the material coil attachment portions is cut, the material of the other side material coil attached to the other material coil attachment portion is joined to the material of the one side material coil. The material splicing is performed to change the material coil from which the material is fed from the one side material coil to the other side material coil,
The attachment robot attaches the new material coil as the one side material coil to one of the material coil attachment portions when the material is being fed out from the other side material coil,
The controller is
The absorbent article manufacturing apparatus, wherein the robot in charge is selected based on predicted time information when the next material splice occurs.
The absorbent article manufacturing apparatus according to claim 4,
The said estimated time information is calculated | required from the material quantity information of the said material coil currently delivered | drawn out, The absorbent article manufacturing apparatus characterized by the above-mentioned.
An absorbent article manufacturing apparatus according to any one of claims 1 to 5,
The feeding device is
It has a pair of material coil attachment parts, and the material coil is attached to each of the pair of material coil attachment parts,
Before the material of the one side material coil attached to one of the material coil attachment portions is cut, the material of the other side material coil attached to the other material coil attachment portion is joined to the material of the one side material coil. The material splicing is performed to change the material coil from which the material is fed from the one side material coil to the other side material coil,
The attachment robot attaches the new material coil as the one side material coil to one of the material coil attachment portions when the material is being fed out from the other side material coil,
The controller is
The absorbent article manufacturing apparatus, wherein the assigned robot is selected based on the predicted execution time and predicted execution cycle information of the material splicing set for each of the feeding devices.
The absorbent article manufacturing apparatus according to any one of claims 1 to 6,
Having a processing section for processing the material while flowing the material in the flow direction;
Each of the plurality of mounting robots moves a movement path common to the plurality of mounting robots, and when it reaches a corresponding position corresponding to the feeding device, attaches a new material coil to the feeding device,
A feeding device zone in which a plurality of the feeding devices are installed and a robot zone in which the mounting robot moves are along the flow direction,
The controller is
The absorbent article manufacturing apparatus, wherein the assigned robot is selected based on installation order information in the flow direction of the plurality of feeding devices and the plurality of attachment robots.
The absorbent article manufacturing apparatus according to any one of claims 1 to 7,
The controller is
The absorbent article manufacturing apparatus, wherein the assigned robot is selected based on predicted time information required for the attachment process of the new material coil set for each feeding apparatus.
The absorbent article manufacturing apparatus according to any one of claims 1 to 8,
The feeding device has a pair of material coil attachment portions, and the material coil is attached to each of the pair of material coil attachment portions,
In the feeding device,
Before the material of the one side material coil attached to one of the material coil attachment portions is cut, the tip of the material coil material of the other side material coil attached to the other material coil attachment portion is pulled out. A feeding device that joins a portion to the one side material coil and changes a material coil from which the material is fed from the one side material coil to the other side material coil;
The leading end portion is joined to the one side material coil without pulling out the leading end portion of the material of the other side material coil, and the material coil from which the material is fed is changed from the one side material coil to the other side material coil. There is a feeding device in which non-drawer material splicing is performed,
The attachment robot attaches the new material coil as the one side material coil to one of the material coil attachment portions when the material is being fed out from the other side material coil,
When the attachment robot attaches the new material coil to the feeding device where the drawer material splicing is performed, in addition to attaching the new material coil, the material is pulled out,
2. The absorbent article manufacturing apparatus according to claim 1, wherein when the attachment robot attaches the new material coil to a feeding device in which the non-drawn material joining is performed, the attachment of the new material coil is performed only.
An absorbent article manufacturing apparatus according to any one of claims 1 to 9,
The controller is
The absorbent article manufacturing apparatus, wherein the assigned robot is selected so that the degree of variation in the accumulated operation time of the plurality of attachment robots is reduced.
An absorbent article manufacturing method for manufacturing an absorbent article using a plurality of types of materials,
A plurality of feeding devices for attaching the material coil around which the material is wound and feeding the material from the material coil, and a plurality of feeding devices provided for each of the plurality of types of materials,
Preparing a plurality of attachment robots for attaching unused new material coils to the feeding device;
Selecting a responsible robot in charge of mounting the new material coil from one of the plurality of mounting robots for one of the plurality of feeding devices;
The manufacturing method of an absorbent article characterized by having.