Core replacement device, core replacement system, and core replacement method

Abstract

Provided are a core replacement device, a core replacement system, and a core replacement method that enable easy replacement of a core. 【Solution means】A core replacement device 1 for replacing a core 6 attached to a shaft portion 51 of a web handling device 5, comprising an arm 10, a pusher, and a roll holder. The arm 10 has a plurality of joint portions 10s that change the direction of the tip portion 10f. The pusher is provided at the tip portion 10f and clamps the core 6 from both ends. The roll holder is provided at the tip portion 10f and holds the core 6 from the inner peripheral side. For example, the pusher includes a fixed pusher fixed to the tip portion 10f, a guide that expands and contracts in the extending direction of the roll holder, and a movable pusher attached to the tip of the guide, and the movable pusher and the fixed pusher clamp the core 6 from both ends.

Description

Technical Field

[0001] The present invention relates to a core replacement device, a core replacement system, and a core replacement method.

Background Art

[0002] Conventionally, webs such as films and woven fabrics may be handled in a roll shape wound around a hollow cylindrical core. In particular, as a method for efficiently handling a roll-shaped web, for example, a robot for handling a roll disclosed in Patent Document 1 has been proposed.

[0003] The technology disclosed in Patent Document 1 relates to a robot for handling a roll of web material, and the robot is movable according to a large number of numerically controlled axes and has an articulated arm that supports a suction head.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, when performing processing such as coating and laminating on a roll-shaped web, a web handling device using web handling technology is used. The web handling device is provided with a shaft portion for attaching a core around which the web is wound, and as the shaft portion rotates, the web is unwound or wound up.

[0006] In the above-described web handling device, since the dedicated device for replacing the core is large-sized, it is difficult to introduce the device in a limited area, and there is a situation where the operator manually replaces the core. In this regard, by using a robot arm that can move even in a narrow range as in Patent Document 1, automation of core replacement is expected. However, in the web handling device, due to circumstances such as the limited space around the shaft portion and the significant change in weight depending on the length of the web wound around the core, it is difficult to replace the core with a robot arm as in Patent Document 1, which is cited as a problem. In this regard, Patent Document 1 does not describe or suggest the above problems and corresponding methods, etc.

[0007] Therefore, the present invention has been devised in view of the above-described problems, and an object thereof is to provide a core replacement device, a core replacement system, and a core replacement method capable of easily replacing a core.

Means for Solving the Problems

[0008] The core replacement device according to the first invention is a core replacement device for replacing a core attached to a shaft portion of a web handling device, and includes an arm having a plurality of joint portions for changing the direction of a tip portion, and a pusher provided at the tip portion for sandwiching the core from both end portions. and for removing the core from the shaft portion a pusher, and a roll holder provided at the tip portion for holding the core from the inner peripheral side. and for attaching the new core to the shaft portion It is characterized by comprising.

[0009] The core replacement device according to the second invention is, in the first invention, wherein the pusher includes a fixed pusher fixed to the tip portion, a guide that expands and contracts in the extending direction of the roll holder, and a movable pusher attached to the tip of the guide, and the movable pusher and the fixed pusher sandwich the core from both end portions.

[0010] The core replacement device according to the third invention, in the second invention, further includes a suction portion provided at the tip portion for sucking the web wound around the core, and the suction portion has a suction surface in the same direction as the front end surface of the roll holder.

[0011] The core replacement device according to the fourth invention, in the third invention, is characterized in that the movable pusher moves from a position between the fixed pusher and the suction surface to a position spaced farther from the front end surface with respect to the tip portion.

[0012] The core replacement device according to the fifth invention, in the first invention, further includes a rotating portion provided at the tip portion and configured to rotate while supporting the shaft portion. for performing setting and releasing of the locking function Characterized by further comprising a rotating part.

[0013] The core replacement device according to the sixth invention, in the fifth invention, is characterized in that the rotating portion includes a pressing portion that supports the shaft portion from the outer peripheral side and a knob that engages with an end portion of the shaft portion.

[0014] The core replacement system according to the seventh invention is a core replacement system for replacing a core attached to a shaft portion of a web handling device, and includes driving means for driving an arm having a plurality of joint portions for changing the direction of a tip portion, the driving means using a pusher provided at the tip portion to sandwich the core from both ends and remove the core from the shaft portion, and attachment means for holding a new core from the inner peripheral side using a roll holder provided at the tip portion and attaching the new core to the shaft portion.

[0015] The core replacement method according to the eighth invention is a core replacement method for replacing a core attached to a shaft portion of a web handling device, and includes a driving step of driving an arm having a plurality of joint portions for changing the direction of a tip portion. The driving step includes a removing step of sandwiching the core from both ends using a pusher provided at the tip portion and removing the core from the shaft portion, and an attaching step of holding a new core from the inner peripheral side using a roll holder provided at the tip portion and attaching the new core to the shaft portion.

Advantages of the Invention

[0016] According to the first to sixth inventions, the arm has a plurality of joint portions for changing the direction of the tip portion. Further, the pusher is provided at the tip portion and sandwiches the core from both ends. Further, the roll holder is provided at the tip portion and holds the core from the inner peripheral side. Therefore, even when the space around the shaft portion is limited, the core can be removed from the shaft portion through a narrow space by the pusher. Further, even when the weight of the core around which the web is wound is heavy, the core can be attached to the shaft portion while suppressing the winding shape of the web and the deformation of the core by the roll holder. Thereby, it becomes possible to easily replace the core.

[0017] In particular, according to the second invention, the movable pusher and the fixed pusher sandwich the core from both ends. Therefore, even in a web handling device using cores having different widths, the core can be easily sandwiched. Thereby, it becomes possible to more easily replace the core.

[0018] In particular, according to the third invention, the suction portion has a suction surface in the same direction as the tip surface of the roll holder. Therefore, when the roll holder holds the core around which the web is wound, the side surface of the roll-shaped web can be sucked using the suction portion to suppress the deviation of the winding of the web. Thereby, it becomes possible to suppress the quality deterioration of the roll-shaped web product.

[0019] In particular, according to the fourth invention, the movable pusher moves from a position between the fixed pusher and the suction surface to a position spaced farther from the tip surface than the tip portion. For this reason, for example, when the roll core is held by the roll holder, by placing the movable pusher at a position between the fixed pusher and the suction surface, the possibility of the movable pusher contacting the web wound around the roll core can be suppressed. Also, when attaching the roll core held by the roll holder to the shaft portion, by extending the movable pusher, the roll core can be moved from the roll holder to the shaft portion. Thereby, it becomes possible to easily perform the attachment of the roll core.

[0020] In particular, according to the fifth invention, the rotating portion is provided at the tip portion and is rotated while supporting the shaft portion. For this reason, even when it is necessary to rotate the shaft portion with the replacement of the roll core, the shaft portion can be easily rotated. Thereby, it becomes possible to expand the types of shaft portions to which the roll core can be replaced.

[0021] In particular, according to the sixth invention, the rotating portion includes a holding portion that holds the shaft portion from the outer peripheral side and a knob that engages with an end portion of the shaft portion. For this reason, when rotating the shaft portion, deformation of the shaft portion and the like can be suppressed. Thereby, it becomes possible to further expand the types of shaft portions to which the roll core can be replaced.

[0022] According to the seventh invention, the driving means drives an arm having a plurality of joint portions for changing the direction of the tip portion. Also, the removing means uses a pusher provided at the tip portion to sandwich the roll core from both ends and remove the roll core from the shaft portion. Further, the attaching means uses a roll holder provided at the tip portion to hold a new roll core from the inner peripheral side and attach the new roll core to the shaft portion. For these reasons, even when the space around the shaft portion is limited, the roll core can be removed from the shaft portion through a narrow space by the pusher. Also, even when the weight of the roll core around which the web is wound is heavy, the roll core can be attached to the shaft portion while suppressing the winding shape of the web and the deformation of the roll core by the roll holder. By these, it becomes possible to easily replace the roll core.

[0023] According to the eighth invention, the driving step drives an arm having a plurality of joint portions that change the orientation of the distal end portion. Further, the removal step uses a pusher provided at the distal end portion to sandwich the core from both end portions and remove the core from the shaft portion. Further, the attachment step uses a roll holder provided at the distal end portion to hold a new core from the inner peripheral side and attach the new core to the shaft portion. For these reasons, even when the space around the shaft portion is limited, the core can be removed from the shaft portion through a narrow space by the pusher. Further, even when the weight of the core around which the web is wound is heavy, the core can be attached to the shaft portion while suppressing the winding shape of the web and the deformation of the core by the roll holder. As a result, it becomes possible to easily replace the core.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0025] Hereinafter, an example of a core changing device, a core changing system, and a core changing method according to the present invention will be described in detail.

[0026] (Embodiment: Core Changing System 100) FIG. 1 is a schematic perspective view showing an example of a core changing system 100 and a core changing device 1 in the present embodiment. The core changing system 100 includes, for example, as shown in FIG. 1, a core changing device 1, a web handling device 5, and a control device 7. The core changing system 100 controls the core changing device 1 using, for example, the control device 7.

[0027] The core changing system 100 is used, for example, in the manufacture of a web 61 such as a film or a woven fabric, a product processed from the web 61, or a product using the web 61. In particular, the core changing system 100 can be used when removing or attaching a core 6 around which the web 61 is wound from the web handling device 5.

[0028] (Core Changing Device 1) The core changing device 1 is used to replace a core 6 attached to the shaft portion 51 of the web handling device 5. The core changing device 1 is installed in the vicinity of the web handling device 5, and may also be installed, for example, on a gantry 8 having a built-in control device 7, and can be installed at an arbitrary location according to the application.

[0029] The core changing device 1 includes, for example, as shown in FIG. 2, an arm 10, a pusher 11, and a roll holder 12, and may include at least any one of, for example, a suction unit 13, a rotating unit 14, and a wireless unit 15. Note that the core changing device 1 may include various sensors such as an imaging device and a distance measuring device according to the application.

[0030] <Arm 10> The arm 10 has a plurality of joint portions 10s for changing the direction of the tip portion 10f. Therefore, regardless of the location and orientation where the arm 10 is installed, the tip portion 10f can be directed in all directions. Note that the number of joint portions 10s is arbitrary according to the application.

[0031] As the arm 10, for example, a known robot arm is used, and a robot arm of any size and shape can be used according to the application. The tip portion 10f indicates a portion where a substrate 10fa is attached to the tip of, for example, a known robot arm. As the substrate 10fa, for example, a plate-shaped member is used, and a member obtained by processing an arbitrary material into an arbitrary shape can be used according to the application.

[0032] <Pusher 11> The pusher 11 is provided at the tip portion 10f and sandwiches the core 6 from both ends. The pusher 11 sandwiches the core 6, for example, along a direction intersecting the main surface of the substrate 10fa. A plurality of pushers 11 may be provided on the substrate 10fa, for example.

[0033] The pusher 11 includes, for example, a fixed pusher 11a, a guide 11b, and a movable pusher 11c as shown in FIG. 3. In this case, the core 6 is sandwiched in a state where the fixed pusher 11a is in contact with one end portion of the core 6 and the movable pusher 11c is in contact with the other end portion of the core 6.

[0034] The fixed pusher 11a is fixed to the tip portion 10f. The fixed pusher 11a is fixed, for example, in a state of protruding from the side surface of the substrate 10fa. As the fixed pusher 11a, for example, a known steel material is used, and a member obtained by processing an arbitrary material into an arbitrary shape can be used according to the application.

[0035] The tip of the fixed pusher 11a has, for example, an arcuate depression. The depression indicates a shape along the outer periphery of the shaft portion 51 of the web handling device 5. Therefore, when removing the core 6 from the shaft portion 51, the contact area between the fixed pusher 11a and the end portion of the core 6 can be increased, and it is possible to suppress the dropping when sandwiching and moving the core 6.

[0036] The guide 11b expands and contracts along the extending direction of the roll holder 12 (for example, the direction intersecting the main surface of the substrate 10fa). As the guide 11b, a known guide rail or a rod-shaped member can be used. The number and length of the rod-shaped member or the like used for the guide 11b can be arbitrarily set according to the application. Note that the guide 11b can be expanded and contracted by a known driving device such as an air cylinder or a motor.

[0037] The movable pusher 11c is attached to the tip of the guide 11b. The fixed pusher 11a and the movable pusher 11c sandwich the core 6 from both ends. The main surface of the movable pusher 11c is provided to face the main surface of the fixed pusher 11a, for example, and contacts the core 6 when sandwiching the core 6.

[0038] For example, as shown in FIG. 4(a), the movable pusher 11c moves to the range T1 between the fixed pusher 11a and the tip surface 12f of the roll holder 12 due to the contraction of the guide 11b. Therefore, when the core 6 is held by the roll holder 12, it is possible to prevent the movable pusher 11c from unexpectedly contacting the core 6.

[0039] Also, for example, as shown in FIG. 4(b), the movable pusher 11c moves to a position separated from the tip portion 10f rather than the tip surface 12f due to the extension of the guide 11b. Therefore, for example, when attaching the core 6 held by the roll holder 12 to the shaft portion 51, by extending the guide 11b, the movable pusher 11c can push out the core 6 and move the core 6 from the roll holder 12 to the shaft portion 51.

[0040] Note that the pusher 11 may be, for example, a U-shaped member fixed to a specific length, or a spring-like member may be used instead of the guide 11b. On the other hand, when the arm 10 moves while sandwiching the core 6, by using the fixed pusher 11a, the guide 11b, and the movable pusher 11c described above, the sandwiching of the core 6 can be stabilized compared to the case where the U-shaped member described above is used. Thereby, it is possible to suppress the dropping of the core 6 when the arm 10 moves.

[0041] <Roll holder 12> The roll holder 12 is provided at the tip 10f and holds the core 6 from the inner peripheral side. The roll holder 12 is attached to, for example, the main surface of the substrate 10fa and protrudes in a direction away from the tip 10f. As the roll holder 12, for example, a known holder having a chuck 12a is used, and any diameter, length, etc. can be used according to the application.

[0042] <Suction part 13> The suction part 13 is provided at the tip 10f and sucks the web 61 wound around the core 6. The suction part 13 is attached to, for example, the main surface of the substrate 10fa, or is attached to the substrate 10fa via a connecting member such as an L-shaped member. The suction part 13 has a suction surface 13f in the same direction as the tip surface 12f of the roll holder 12, for example, as shown in FIG. 2.

[0043] The suction part 13 is connected to, for example, a known decompression device and takes in air from the suction surface 13f. The shape of the suction surface 13f shows, for example, a suction cup shape, and can be arbitrarily set according to the application. The suction part 13 sucks the side surface of the web 61 wound around the core 6 held by the roll holder 12, for example.

[0044] For example, a plurality (four in FIG. 2) of the suction parts 13 may be attached in the vicinity of the roll holder 12. For example, the plurality of suction parts 13 are attached so as to be rotationally symmetric about the roll holder 12 as the central axis. In this case, the plurality of suction parts 13 can evenly suck the side surface of the web 61 wound around the core 6. Thereby, it becomes possible to easily suppress the deviation of the winding of the web 61.

[0045] For example, as shown in FIG. 5, the movable pusher 11c moves to the range T2 between the fixed pusher 11a and the suction surface 13f as the guide 11b contracts. That is, the movable pusher 11c moves from the range T2 to a position spaced farther from the tip surface 12f than the tip portion 10f. Therefore, for example, when the roll core 6 is held by the roll holder 12, by placing the movable pusher 11c at a position between the fixed pusher 11a and the suction surface 13f, the possibility of the movable pusher 11c contacting the web 61 wound around the roll core 6 can be suppressed. Further, when attaching the roll core 6 held by the roll holder 12 to the shaft portion 51, by extending the guide 11b, the movable pusher 11c can push out the roll core 6 and move the roll core 6 from the roll holder 12 to the shaft portion 51.

[0046] <Rotating portion 14> The rotating portion 14 is provided at the tip portion 10f, for example, as shown in FIG. 6. The rotating portion 14 has a support mechanism 14h formed, for example, in the extending direction of the roll holder 12. The rotating portion 14 rotates while supporting the shaft portion 51 within the support mechanism 14h.

[0047] For example, as shown in FIG. 7, the rotating portion 14 includes a plurality of holding portions 14a. The holding portion 14a supports the shaft portion 51 from the outer peripheral side. The holding portion 14a can control contact and non-contact with the shaft portion 51, for example, as shown in FIG. 8, in accordance with the expansion and contraction of the spring 14aa.

[0048] For example, the holding portion 14a may be provided such that the space becomes narrower from the opening side to the closing side of the support mechanism 14h. In this case, by moving the arm 10 so that the shaft portion 51 is inserted into the support mechanism 14h, the holding portion 14a contacts the shaft portion 51, and further, by moving the arm 10 so that the shaft portion 51 is inserted, the holding portion 14a can support the shaft portion 51.

[0049] The pressing portions 14a are arranged in a plurality so as to be rotationally symmetric about the rotation axis of the rotating portion 14. In this case, the plurality of pressing portions 14a rotate while evenly supporting the outer periphery of the shaft portion 51. Therefore, when the shaft portion 51 is rotated, deformation and the like of the shaft portion 51 can be suppressed.

[0050] The rotating portion 14 includes, for example, a plurality of knobs 14b as shown in FIG. 9. The knobs 14b are arranged, for example, on the main surface of a rotating plate 14c provided at the bottom of the support mechanism 14h. The knobs 14b engage with the end portion 51a of the shaft portion 51. The knobs 14b are arranged in a plurality so as to be rotationally symmetric about the rotation axis of the rotating portion 14. Here, the end portion 51a has a disk-like shape, and a plurality of depressions for engaging with the knobs 14b are formed at equal intervals on the side surface. In this case, when the rotating plate 14c rotates, a force acts on the end portion 51a via the knobs 14b, and the shaft portion 51 can be rotated (in the direction of the arrow in FIG. 7).

[0051] Note that the rotating portion 14 may include, for example, a plurality of pressing portions 14a and a plurality of knobs 14b, and rotate the shaft portion 51 via the outer peripheral side and the end portion 51a of the shaft portion 51. Further, for example, the rotating portion 14 may include a spring 14d connected to the rotating plate 14c.

[0052] Further, the end portion 51a may have, for example, a locking function for preventing the winding core 6 from being removed from the shaft portion 51. In this case, the setting and release of the locking function can be carried out according to the direction of rotating the end portion 51a using the rotating portion 14. Note that a known technique can be used for the locking function using the end portion 51a.

[0053] <Wireless unit 15> The wireless unit 15 indicates a known connection device for performing wireless communication such as Wi-Fi (registered trademark). The wireless unit 15 may have, for example, at least some functions of a control device 7 described later, and perform control of each component provided at the tip portion 10f based on a wireless signal received from the control device 7 or the like.

[0054] The wireless unit 15 may be provided at the tip portion 10f, for example, as shown in FIG. 2. In this case, the control of each component 10 to 14 provided at the tip portion 10f can be smoothly implemented. In addition to the above, for example, when various sensors such as an imaging device and a distance measuring device are provided at the tip portion 10f, data can be smoothly transmitted to the control device 7 or the like via the wireless unit 15.

[0055] (Web handling device 5) The web handling device 5 indicates a device used when manufacturing or processing the web 61. The web handling device 5 includes, for example, an unwinding unit and a winding unit for implementing a roll-to-roll method. A shaft portion 51 for attaching the core 6 is provided in the unwinding unit or the winding unit, and the core 6 is exchanged using the above-described core exchange device 1.

[0056] Note that when a relatively small device for, for example, a packaging material or the like is used as the web handling device 5, the space around the shaft portion 51 is often designed to be narrow. In this regard, since the core exchange device 1 includes a pusher 11 and a roll holder 12 that can move even in the narrow space around the shaft portion 51, it is possible to easily exchange the core 6.

[0057] The web handling device 5 transmits, for example, device information regarding the state inside the device to the control device 7 or the like. As the device information, in addition to core information indicating the state of the core 6 (for example, information for notifying the timing of exchanging the core 6, information regarding the remaining amount of the web 61 wound around the core 6, etc.), information regarding obstacle detection within the range of the web handling device 5, information regarding the presence or absence of locking of the shaft portion 51, information regarding the rotational speed of the shaft portion 51, etc., information necessary when exchanging the core 6 is used.

[0058] Incidentally, in the web handling device 5, for example, when the lock of the shaft portion 51 is in an effective state, claws 51s as shown in FIG. 3 may protrude. In this case, for example, the control of whether or not the claws 51s protrude from the surface of the shaft portion 51 may be implemented by rotating the end portion 51a of the shaft portion 51. That is, the rotation of the end portion 51a may be used when controlling the effectiveness or ineffectiveness of the locked state in the shaft portion 51.

[0059] (Core 6) The core 6 represents a known member used in web handling technology. The type of web 61 wound around the core 6 can be arbitrarily set according to the application. In particular, when the width (length of the hollow cylinder) of the core 6 is 300 mm or less, the web handling device 5 often assumes that the core 6 is manually replaced by an operator. In this regard, since the core replacement device 1 includes an arm 10 that can move even in a narrow space, it is possible to easily replace the core 6.

[0060] (Control device 7) The control device 7 controls the entire core replacement device 1 and may control at least a part of the web handling device 5, for example. As the control device 7, for example, in addition to a PLC (Programmable Logic Controller), known electronic devices such as a personal computer are used. Note that at least some functions of the control device 7 may be included as a configuration (for example, a control mechanism) of the core replacement device 1.

[0061] The control device 7 includes, for example, a control unit, a storage unit, and a communication unit. The control unit represents a processor such as a CPU (Central Processing Unit) and controls each configuration of the core replacement device 1, for example. The storage unit represents a volatile memory such as a RAM (Random Access Memory) or a non-volatile memory such as a ROM (Read Only Memory). The communication unit represents a known connection device for performing wireless communication such as Wi-Fi (registered trademark) or wired communication using an optical fiber or the like.

[0062] The control device 7 receives device information regarding the state of the web handling device 5, for example, via a communication unit. Based on the device information, the control device 7 controls each component 10 to 14, etc. of the core changing device 1.

[0063] Note that as a means for the control device 7 to control the core changing device 1, a known control technique can be used. For example, the control unit in the control device 7 can control the core changing device 1 by executing a program stored in a non-volatile memory with a volatile memory as a work area.

[0064] Also, the control device 7 may control each component 10 to 14, etc. using sensor information obtained from an imaging device or sensor attached to the arm 10, etc. according to the application. In this case, a plurality of control commands for each content of the plurality of sensor information may be stored in the storage unit, and the control command may be selected according to the content of the sensor information to control each component 10 to 14, etc. In addition to the above, for example, a learned model learned using machine learning may be used to output a control command according to the content of the sensor information so that each component 10 to 14, etc. is controlled.

[0065] (Embodiment: Core Changing Method) Next, an example of the core changing method in this embodiment will be described. FIG. 10 is a flowchart showing an example of the core changing method. The core changing method includes a driving step S110 and may include, for example, a transmission step S100.

[0066] <Transmission Step S100> In the transmission step S100, core information indicating the state of the core 6 attached to the shaft portion 51 is transmitted. In the transmission step S100, in addition to transmitting the core information from the web handling device 5 to the core changing device 1 or the control device 7, for example, the core information may be transmitted from the control device 7 to the wireless unit 15 and can be arbitrarily set according to the application.

[0067] <Driving Step S110> The driving step S110 drives the arm 10. The driving step S110 controls the pusher 11 and the roll holder 12 provided at the tip portion 10f, for example, based on the received core information. The driving step S110 includes a removal step S111 and an attachment step S112.

[0068] <<Removal step S111>> In the removal step S111, the core 6 is clamped from both ends using the pusher 11, and the core 6 is removed from the shaft portion 51. In the removal step S111, for example, as shown in FIG. 3, both ends of the core 6 attached to the shaft portion 51 are clamped using the fixed pusher 11a and the movable pusher 11c. Thereafter, the removal step S111 moves the core 6 along the extending direction of the shaft portion 51 and removes the core 6 from the shaft portion 51.

[0069] For example, when the lock for fixing the core 6 is effective on the shaft portion 51, the removal step S111 rotates the shaft portion 51 using the rotating portion 14, releases the lock, and then clamps the core 6 using the pusher 11. This makes it possible to easily remove the core 6 even in the case of the web handling device 5 having a lock function.

[0070] Note that, for example, in the removal step S111, after the core 6 removed from the shaft portion 51 is placed at a preset location, the guide 11b is contracted so that the movable pusher 11c is disposed within the range between the fixed pusher 11a and the suction surface 13f. Thereby, when the roll holder 12 holds the core 6 in the subsequent attachment step S112, the possibility of the movable pusher 11c contacting the web 61 wound around the core 6 can be suppressed.

[0071] Note that, for example, in the removal step S111, after removing the core 6 from the shaft portion 51, the shaft portion 51 may be rotated using the rotating portion 14 to enable the lock of the shaft portion 51.

[0072] <<Attachment step S112>> The attachment step S112 uses the roll holder 12 to hold a new core 6 from the inner peripheral side, and attaches the new core 6 to the shaft portion 51. In the attachment step S112, for example, the web 61 wound around the new core 6 may be sucked using the suction portion 13. In this case, the suction portion 13 sucks the side surface of the web 61 wound around the new core 6. Thereby, even when the new core 6 held by the roll holder 12 is moved by the movement of the arm 10, it is possible to suppress the deviation of the winding of the web 61.

[0073] In the attachment step S112, for example, after moving the new core 6 held by the roll holder 12 to the tip of the shaft portion 51, the guide 11b is extended, and the new core 6 is pushed out using the movable pusher 11c, and the new core 6 is moved from the roll holder 12 to the shaft portion 51. Thereby, the new core 6 can be easily attached to the shaft portion 51.

[0074] Thereafter, for example, in the attachment step S112, the shaft portion 51 may be rotated using the rotating portion 14 to enable locking.

[0075] By performing each of the above-described steps, the core replacement method is completed. Thereby, the core 6 attached to the shaft portion 51 of the web handling device 5 can be replaced.

[0076] According to the above-described embodiment, the arm 10 has a plurality of joint portions 10s that change the direction of the tip portion 10f. Further, the pusher 11 is provided at the tip portion 10f and sandwiches the core 6 from both end portions. Further, the roll holder 12 is provided at the tip portion 10f and holds the core 6 from the inner peripheral side. For these reasons, even when the space around the shaft portion 51 is limited, the core 6 can be removed from the shaft portion 51 through a narrow space by the pusher 11. Further, even when the weight of the core 6 around which the web 61 is wound is heavy, the core 6 can be attached to the shaft portion 51 while suppressing the winding shape of the web 61 and the deformation of the core 6 by the roll holder 12. Thereby, it becomes possible to easily replace the core 6.

[0077] Further, according to the present embodiment, the movable pusher 11c is attached to the tip of the guide 11b. Further, the movable pusher 11c and the fixed pusher 11a sandwich the core 6 from both ends. Therefore, even in the web handling device 5 using cores 6 with different widths, the core 6 can be easily sandwiched. As a result, it becomes possible to more easily replace the core 6.

[0078] Further, according to the present embodiment, the suction portion 13 has a suction surface 13f in the same direction as the front end surface 12f of the roll holder 12. Therefore, when the roll holder 12 holds the core 6 around which the web 61 is wound, the side surface of the rolled web 61 can be suctioned using the suction portion 13 to suppress the deviation of the winding of the web 61. As a result, it becomes possible to suppress the quality deterioration of the rolled web 61 product.

[0079] Further, according to the present embodiment, the movable pusher 11c moves from a position between the fixed pusher 11a and the suction surface 13f to a position separated from the front end surface 12f with respect to the front end portion 10f. Therefore, for example, when the roll holder 12 holds the core 6, by placing the movable pusher 11c at a position between the fixed pusher 11a and the suction surface 13f, the possibility of the movable pusher 11c contacting the web 61 wound around the core 6 can be suppressed. Also, when attaching the core 6 held by the roll holder 12 to the shaft portion 51, by extending the movable pusher 11c, the core 6 can be moved from the roll holder 12 to the shaft portion 51. As a result, it becomes possible to easily perform the attachment of the core 6.

[0080] Further, according to the present embodiment, the rotating portion 14 is provided at the front end portion 10f and is rotated while supporting the shaft portion 51. Therefore, even when it is necessary to rotate the shaft portion 51 along with the replacement of the core 6, the shaft portion 51 can be easily rotated. As a result, it becomes possible to expand the types of shaft portions 51 to which the core 6 can be replaced.

[0081] Further, according to the present embodiment, the rotating portion 14 includes a holding portion 14a that holds the shaft portion 51 from the outer peripheral side, and a knob 14b that engages with the end portion 51a of the shaft portion 51. Therefore, when rotating the shaft portion 51, deformation and the like of the shaft portion 51 can be suppressed. As a result, it becomes possible to further expand the types of the shaft portion 51 to which the core 6 can be replaced.

[0082] Further, according to the present embodiment, the driving step S110 drives an arm 10 having a plurality of joint portions 10s that change the direction of the tip portion 10f. Further, in the removing step S111, the core 6 is clamped from both ends using a pusher 11 provided at the tip portion 10f, and the core 6 is removed from the shaft portion 51. Further, in the attaching step S112, a new core 6 is held from the inner peripheral side using a roll holder 12 provided at the tip portion 10f, and the new core 6 is attached to the shaft portion 51. For these reasons, even when the space around the shaft portion 51 is limited, the core 6 can be removed from the shaft portion 51 through a narrow space by the pusher 11. Further, even when the weight of the core 6 around which the web 61 is wound is heavy, the core 6 can be attached to the shaft portion 51 while suppressing the winding shape of the web 61 and the deformation of the core 6 by the roll holder 12. As a result, it becomes possible to easily replace the core 6.

[0083] Note that the transmission step S100, the driving step S110, the removing step S111, and the attaching step S112 in the above-described core replacement method can be read as a transmission means, a driving means, a removing means, and an attaching means in the core replacement system 100.

[0084] Note that each step in the above-described core replacement method may perform communication connection of various information between the web handling device 5 and the core replacement device 1 using a known communication device.

[0085] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalent scope thereof.

Explanation of Reference Numerals

[0086] 1: Core Replacement Device 10: Arm 10f: Tip 10fa: Substrate 10s: Joint 11: Pusher 11a: Fixed Pusher 11b: Guide 11c: Movable Pusher 12: Roll Holder 12a: Chuck 12f: Front End Surface 13: Suction Port 13f: Suction Surface 14: Rotating Portion 14a: Pressing Portion 14aa: Spring 14b: Knob 14c: Rotating Plate 14h: Support Mechanism 15: Wireless Unit 5: Web Handling Device 51: Shaft Portion 51a: End 51s: Claw 6: Core 61: Web 7: Control Device 8: Stand 100: Core Replacement System S100: Transmission Step S110: Driving Step S111: Removal Step S112: Attachment Step

Claims

1. A core replacement device for replacing a core attached to a shaft portion of a web handling device, comprising: An arm having a plurality of joints for changing the direction of a tip portion; a pusher provided at the tip portion for clamping the winding core from both ends and removing the winding core from the shaft portion; a roll holder provided at the tip portion for holding the core from an inner peripheral side and attaching the new core to the shaft portion; To be prepared A core changing device comprising:

2. The pusher is A fixed pusher fixed to the tip portion; A guide that expands and contracts in an extending direction of the roll holder; A movable pusher attached to the tip of the guide; Including, The movable pusher and the fixed pusher hold the winding core from both ends.

2. The core changing device according to claim 1,

3. A suction portion is provided at the tip portion and configured to suck the web wound around the winding core, The suction portion has a suction surface facing in the same direction as the tip surface of the roll holder.

3. The core changing device according to claim 2,

4. The movable pusher is movable from a position between the fixed pusher and the suction surface to a position spaced apart from the tip surface relative to the tip portion.

4. The core changing device according to claim 3.

5. Further comprising a rotation part provided at the tip part for rotating the shaft part in a supported state to set and release a lock function.

2. The core changing device according to claim 1,

6. The rotating portion is A holding portion that supports the shaft portion from an outer circumferential side; a knob that engages an end of the shaft portion; Contains 6. The core replacement device according to claim 5,

7. A core replacement system for replacing a core attached to a shaft portion of a web handling device, comprising: a driving means for driving an arm having a plurality of joints for changing the direction of a tip end of the arm; The driving means is a removal means for clamping the winding core from both ends using a pusher provided at the tip portion and removing the winding core from the shaft portion; a mounting means for holding a new core from an inner peripheral side by using a roll holder provided at the tip portion and mounting the new core on the shaft portion; Contains A core exchange system characterized by:

8. A method for replacing a winding core attached to a shaft portion of a web handling device, comprising the steps of: A driving step of driving an arm having a plurality of joints for changing a direction of a tip end portion, The driving step includes: a removing step of clamping the winding core from both ends using a pusher provided at the tip portion and removing the winding core from the shaft portion; a mounting step of holding a new winding core from an inner peripheral side using a roll holder provided at the tip portion and mounting the new winding core on the shaft portion; Contains A method for replacing a reel core, comprising:

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