Jig mounting system

Abstract

To provide a jig mounting system that enables easy attachment and detachment of a film end jig to a jig mounting base using a collaborative robot.CONSTITUTION: Disclosed is a jig mounting system for mounting a film end jig (a block 104 that is illustrated in the drawings as one of components) for holding the front-end side of a packaging film to be wound up by a raw material roll on a jig mounting base 110 provided in a film supply device of a packaging machine using a cooperative robot. The jig mounting base is provided with a base member 133, a pair of side guide members 134 arranged on the right and left of the surface of the base member, and a magnet holder base 132 disposed on the back side of the base member. The interval between the pair of side guide members is equal to the length of the block. The cooperative robot operates to cause the block to be located in the space between the pair of side guide members in a state where the film end jig is held. The magnet holder base is turned on with the block placed in a predetermined position to generate a magnetic force and attract the block.SELECTED DRAWING: Figure 29

Description

[Technical field]

[0001] The present invention relates to a jig mounting system, and more particularly to a technique for mounting a film end jig that holds the leading end of a packaging film at a predetermined position. [Background technology]

[0002] The packaging machine is equipped with a film supplying device that continuously supplies a strip-shaped packaging film wound around a raw roll to the packaging machine body. This film supplying device has one or more rotating support shafts that rotatably support the raw roll. The rotating support shaft is attached in a cantilevered manner to a mounting plate located at the rear side of the film supplying device so as to be rotatable about its axis. The mounting plate may be fixed so that the position of the rotating support shaft does not change, or may be composed of a rotating disk such as the revolver type disclosed in Patent Document 1. In either case, the raw roll is set from the tip side of the cantilevered rotating support shaft.

[0003] The original roll is constructed by winding a strip of film around a cylindrical paper tube with both ends open. When the original roll is set on the rotating support shaft, an operator usually transports the original roll to the vicinity of the film supply device using a dolly or the like, lifts the original roll by hand, aligns one opening of the paper tube with the tip of the rotating support shaft, and pushes the original roll to the back. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-36479 A Summary of the Invention [Problem to be solved by the invention]

[0005] Since the raw roll is heavy, it is cumbersome to manually lift it up to the installation position of the rotary support shaft and then push it horizontally onto the rotary support shaft while it is lifted up. Therefore, there is a need to automate part or all of the installation process using a device.

[0006] Furthermore, when implementing such automation, if the device configuration becomes complicated, the control becomes complicated and the device becomes large, which is not preferable. Therefore, there is also a problem of wanting to realize the automation with a simple configuration.

[0007] The above-mentioned problems are described as being independent of each other, and the present invention does not necessarily have to solve all of the problems described, but it is sufficient if it can solve at least one of the problems. In addition, we intend to obtain rights to the configuration for solving this problem separately through divisional applications, amendments, etc. [Means for solving the problem]

[0008] [Background to the invention] In automating this process, the inventors came up with the idea of ​​transporting a cart equipped with a means for temporarily holding a web roll in a horizontal position by a self-propelled transport device such as an AGV (AUTOMATIC GUIDED VEHICLE) to the vicinity of a packaging machine (a film supply device in a film supply device), and then locating the web roll held by the cart opposite the rotating support shaft of the film supply device of the packaging machine and transferring the held web roll to the rotating support shaft.

[0009] When considering automatic loading of the original roll into the film supplying device, in addition to the above-mentioned task of transferring the original roll to the rotating support shaft, it is also necessary to automatically perform the task of setting the leading end of the strip-shaped packaging film drawn from the transferred original roll at a predetermined position in the film supplying device. Therefore, the inventors have come up with the idea of ​​holding the leading end of the packaging film wound around the original roll with a film end jig so that it can be operated by a collaborative robot equipped with a robot arm. In such a system, it is necessary that the film end jig can be easily attached and detached at a predetermined position by the collaborative robot. Based on these problems and new problems that arise accompanying them, the inventors have invented the following solutions through ingenuity.

[0010] In order to solve the above-mentioned problems, the method of mounting a raw material roll in a packaging machine of the present invention is (1) a jig mounting system in which a film end jig transported by a cart having a support member that detachably supports a raw material roll and a jig receiving part that detachably supports a film end jig that holds the leading end side of the packaging film wound around the raw material roll supported by the support member is mounted on a jig mounting base provided in a film supply device of the packaging machine using a collaborative robot, the film end jig having a first plate and a second plate that sandwich and hold the pre-packaging film, and the outer surface of the first plate has a handle for holding by the collaborative robot. The outer surface of the second plate has a positioning portion for mounting on the jig mounting base, and the jig mounting base has a mounting surface, a pair of side guide portions arranged at a predetermined distance on the surface of the mounting surface, and a magnetic force generating means arranged on the back side of the mounting surface, the distance between the pair of side guide portions being equal to the length of the positioning portions along the longitudinal direction of the second plate, and the collaborative robot operates while holding the film end jig so that the positioning portions are positioned within the space between the pair of side guide portions, and the positioning portions are configured to be attracted by the magnetic force generated by the magnetic force generating means.

[0011] In this manner, the collaborative robot, while holding the handle, moves the film end jig near the jig attachment base and inserts the positioning portion between the pair of side guide portions. Then, the film end jig is attracted by magnetic force while being positioned in the longitudinal direction. The side guide portion corresponds to the side guide member 134 in the embodiment. The mounting surface corresponds to the base member 133 in the embodiment. The positioning portion corresponds to the block 104 in the embodiment. In the embodiment, these members are made of separate members, but may be integrally formed with an appropriate separate member from the same member. For example, the side guide portion and the mounting surface may be integrally formed, and the positioning portion and the second plate may be integrally formed.

[0012] (2) The magnetic force generating means may be configured with a device capable of switching magnetic force on and off. In this way, by turning off the magnetic force, the film end jig can be easily moved to a desired position relative to the jig mounting base or removed from the jig mounting base.

[0013] (3) The on / off switching may be configured to be performed based on the operation of the collaborative robot. In this way, the on / off switching can be performed automatically by the collaborative robot. The collaborative robot may be operated by various means, such as opening and closing an operating lever as in the embodiment, or by operating a switch.

[0014] (4) The mounting surface may be arranged so as to be inclined in a direction intersecting the direction connecting the pair of side guide portions, and a pressing member that contacts and positions the film end jig may be provided on the lower side of the incline. In this way, by turning off the magnetic force, the film end jig can be moved downward along the inclined surface by its own weight and positioned at the desired position. After positioning, the film end jig can be fixed at the positioned position by turning on the magnetic force.

[0015] (5) The pressing member may have a contact portion that contacts the outer surface of the first plate. This more reliably prevents the film end jig from coming off. The contact portion corresponds to second portion 142b in this embodiment.

[0016] (6) The magnetic force generating means may be a permanent magnet, and the collaborative robot may operate to hold the film end jig attracted by the magnetic force generating means, tilt the film end jig relative to the mounting surface to release the attraction of the magnetic force generating means, and then remove the magnetic force generating means. In this way, even if the film end jig is a permanent magnet, it is easy to remove. Furthermore, using a permanent magnet for the magnetic force generating means simplifies the configuration.

[0017] In addition, the configurations shown in (1) to (6) above can be configured in appropriate combinations, and based on such combined configurations, it is preferable to combine the components described in the embodiments and drawings. Effect of the Invention

[0018] According to the present invention, the film end jig can be easily attached to and detached from the jig mounting base by the collaborative bot. [Brief description of the drawings]

[0019] [Figure 1] 1 is a diagram showing an example of a raw material roll replacement system in which a jig mounting system according to the present invention is implemented; [Diagram 2] This is a perspective view. [Diagram 3] FIG. 2 is a perspective view showing a carriage in a preferred embodiment of the original roll mounting device. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] This is a left side view of the bogie (front side of the bogie). [Figure 7] FIG. [Figure 8]1 is a diagram showing the relationship between a support shaft 33 and a raw material roll 9 and a paper tube 9a. [Figure 9] This is an enlarged perspective view (part 1) showing a part of the carriage. [Figure 10] This is an enlarged perspective view (part 2) showing a part of the cart. [Figure 11] 1 is a diagram showing an example of a film end jig 100. FIG. [Figure 12] FIG. 3 is an enlarged perspective view (part 3) showing a part of the carriage (with the original roll attached). [Figure 13] FIG. 2 is an enlarged front view showing a part of the carriage (with the original roll attached thereto). [Figure 14] FIG. 2 is an enlarged plan view showing a part of the carriage (with the original roll attached thereto). [Figure 15] FIG. 2 is a left side view showing the carriage (with the original roll attached). [Figure 16] FIG. 1 is a perspective view (part 1) showing a part of the system. [Figure 17] FIG. 2 is a perspective view (part 2) showing a part of the system. [Figure 18] FIG. 3 is a perspective view (part 3) showing a part of the system. [Figure 19] FIG. 4 is a perspective view showing a part of the system. [Figure 20] FIG. 2 is a diagram illustrating an example of a collaborative robot 90. [Figure 21] FIG. 2 is a diagram showing an example of a hand unit 92 of a collaborative robot 90. [Figure 22] FIG. 1 is a perspective view (part 1) showing the configuration of a jig attachment base 110 and its surroundings. [Figure 23] FIG. 2 is a perspective view (part 2) showing the configuration of the jig attachment base 110 and its surroundings. [Figure 24] FIG. 11 is a third perspective view showing the configuration of the jig attachment base 110 and its surroundings. [Diagram 25] FIG. 2 is a front view showing the configuration of a jig attachment base 110 and its surroundings. [Figure 26] 1 is a right side view showing the jig mounting base 110 and its surrounding structure. [Figure 27] FIG. 4 is a perspective view (part 4) showing the configuration of the jig attachment base 110 and its surroundings. [Figure 28] 5 is a perspective view (part 5) showing the configuration of the jig attachment base 110 and its surroundings. FIG. [Figure 29] FIG. 6 is a perspective view (part 6) showing the configuration of the jig attachment base 110 and its surroundings. [Diagram 30] 2 is a rear view showing the configuration of the jig attachment base 110 and its surroundings. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to these embodiments, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

[0021] 1 and 2 show a raw material roll attachment device 10 according to a preferred embodiment of the present invention, and a part of an inverted pillow packaging machine 1, which is an example of a packaging machine to which a raw material roll is attached by the raw material roll attachment device 10. The inverted pillow packaging machine 1 includes a packaging machine main body 2, a packaged item conveying device 3 arranged upstream of the packaging machine main body 2, and a film supplying device 4 arranged below the packaged item conveying device 3. In the figure, a bag former 5 arranged on the carry-in side of the packaging machine main body 2 is shown, and the parts after the bag former 5 are not shown. The film supplying device 4 continuously pays out a strip-shaped packaging film 6 wound around a raw material roll 9, and supplies it to the bag former 5 from below.

[0022] The packaged item transport device 3 is made up of a specified conveyor device, which transports the packaged items (not shown) at specified intervals and sequentially supplies them to the bag former 5. As a result, the packaged items are positioned at equal intervals within the packaging film 6 that is made into a cylindrical bag by the bag former 5, and proceed inside the packaging machine main body 2 together with the packaging film 6.

[0023] The film supply device 4 used in this embodiment can be, for example, a film supply device 4a disclosed in Patent Document 1 (JP Patent Publication No. 2023-36479). That is, although detailed configuration description is omitted, a rotating support shaft 7 on which a raw roll 9 is mounted is attached to a disk 8. Two rotating support shafts 7 are prepared and arranged on opposite sides of a predetermined radial direction of the front surface of the disk 8, that is, at positions equidistant from the center of the disk 8. Then, each rotating support shaft 7 is attached so as to be rotatable around its axis via a bearing portion. The disk 8 rotates in a vertical plane with the center position as the center of rotation, and the rotating support shaft 7 also rotates and moves in the circumferential direction of the disk 8 along with the rotation.

[0024] One of the two rotating support shafts 7 (on the right side in FIG. 1) supports a raw web roll 9 that supplies packaging film 6 to the packaging machine main body 2, and the other supports a spare raw web roll 9. When the remaining amount of one of the raw web rolls 9 currently being supplied becomes low, the leading end of the packaging film of the other raw web roll that was waiting as a spare is connected to the end portion of the packaging film being supplied at an appropriate timing, so that the packaging film is continuously supplied from the spare raw web roll to the packaging machine main body. When the spare packaging film is connected and supplied to the packaging machine main body 2, the disk 8 rotates, and the rotating support shaft 7 on which the raw web roll 9 on which the spare packaging film was wound is mounted is controlled to move to the position where the rotating support shaft 7 on which the raw web roll 9 that had been supplying packaging film to the packaging machine main body 2 was mounted was located. This makes it possible to make the positional relationship between the raw web roll 9 currently supplying packaging film to the packaging machine main body and the raw web roll 9 waiting as a spare the same, so that the mechanism and process for connecting the spare packaging film can be made the same.

[0025] Although not shown in the figure, the film supply device 4 has a transport path for the strip-shaped packaging film 6 unwound from the original roll 9 between the film supply device 4a and the bag maker 5, and is also equipped with feed rollers for pulling out the packaging film 6 along the transport path.

[0026] The raw roll loading device 10 of this embodiment includes a trolley 11 that transports the raw roll 9, a positioning device 13 that pulls the trolley 11, which has been moved to a predetermined position in front of the film supply device 4 by a transport device 12 that moves the trolley 11, and positions it at the predetermined position, and a collaborative robot 90.

[0027] The transport device 12 has a self-propelling function, and may be, for example, an AGV (AUTOMATIC GUIDED VEHICLE) or an AMR (AUTONOMOUS MOBILE ROBOT). In this embodiment, an AGV is used. The transport device 12 has a coupling mechanism that couples and holds the cart 11 and releases and releases it, and when the cart 11 is held, the cart 11 moves together with the transport device 12 as it transports.

[0028] As shown enlarged in FIG. 3 and subsequent figures, the dolly 11 includes a loading platform 15 and a handle 17 on the rear side of the upper surface of the loading platform 15. The loading platform 15 is flat and has a planar shape with the central portions of both left and right side edges cut out in a concave shape. The loading platform 15 includes casters 19 attached via connecting members 26 to the four corners of the loading platform 15, i.e., the underside of the portions that are not cut out in a concave shape and protrude outward. The casters 19 are configured such that two wheels 22 are rotatably supported by a fork 20 via a rotating shaft 21. The wheels 22 rotate around the rotating shaft 21 to guide the dolly 11 to move in the forward and backward directions. The wheels 22 have a plurality of rotating bodies 22a along the circumferential direction, and each rotating body 22a is configured to allow movement in the axial direction of the rotating shaft 21. This allows the dolly 11 to move in the forward and backward directions as well as the left and right directions. The dolly 11 does not include a driving source for movement and cannot run on its own. The wheels 22 of the cart 11 rotate in response to the external biasing force, and the cart 11 moves in the direction of the biasing force.

[0029] In addition, two pins 23 are arranged in a hanging state at a predetermined distance in front and behind the underside of the loading platform portion 15. A coupling mechanism provided on the upper surface of the transport device 12 utilizes these pins 23 to couple to and disconnect from the dolly 11. When the transport device 12 moves in a coupled and integrated state, the integrated dolly 11 also moves. On the other hand, when the coupling mechanism is released and the transport device 12 moves in a separated state from the dolly 11, the dolly 11 remains in its position, and the transport device 12 moves away from the dolly 11.

[0030] The upper surface of the loading platform 15 is provided with a support mechanism 30 for temporarily supporting the original roll 9. The support mechanism 30 includes a column 32 formed by combining a plurality of members formed upright on a rectangular flat plate 31 attached to the front side of the upper surface of the loading platform 15, and a support shaft 33 fixed to the front surface of the column 32 in a cantilevered manner. The support shaft 33 is located in a horizontal plane parallel to the loading platform 15 and is arranged to extend perpendicularly from the front edge of the loading platform 15 toward the front in a plan view. The support shaft 33 is provided at a height corresponding to the height position of the rotating support shaft 7 that is on standby as a spare. The height corresponding to the height should be the same as that of the rotating support shaft 7, and should be slightly lower than that of the rotating support shaft 7.

[0031] As shown enlarged in Figs. 8 to 10, the support shaft 33 includes a slender rectangular base plate 35 having one end connected to the column portion 32, a plurality of rollers 37 attached to both left and right sides of the base plate 35 via L-shaped plates 36, and a disk 39 attached to the upper surface of the base plate 35 via an L-shaped plate 38. The upper and lower surfaces and left and right side surfaces of the one end side of the base plate 35 are provided with flat support members 34 that come into contact with the side surfaces and the front surface 32a of the column portion 32. Two adjacent orthogonal surfaces of the support member 34 are fixed to the side surfaces of the base plate 35 and the front surface 32a of the column portion 32, respectively, thereby reinforcing the support structure of the base plate 35 and maintaining a vertically extended position even when a heavy original roll 9 is set.

[0032] The rollers 37 are, for example, made of bearings, and are rotatably supported on shafts 40 attached to the lower surface of the horizontal portion 36a of the L-shaped plate 36 so as to extend downward, and rotate about the shafts 40. The shafts 40 are arranged on the same straight line along the longitudinal direction of the base plate 35. The rollers 37 are of the same size and shape, and are attached at the same height. As a result, the left and right rollers 37 are lined up in a row from front to back on the horizontal plane. The leftmost end of the left roller 37 and the rightmost end of the right roller 67 are located on the same plane.

[0033] The disks 39 are fixed in parallel to one surface of the vertical portion 38a extending vertically of the L-shaped plate 38. This is achieved by fastening the male threads of bolts 43 inserted into the disks 39 to the female threads provided on the vertical portion 38a, and clamping and fixing the disks 39 between the heads of the bolts 43 and the vertical portion 38a. The bolts 43 are arranged on the same straight line along the longitudinal direction of the base plate 35. As a result, the disks 39 are lined up in a row from front to back on the vertical plane. The upper ends of the disks 39 are also located on the same plane.

[0034] The diameter of the circumscribed circle where the left and right rollers 37 and the disks 39 are in contact is made smaller than the inner diameter of the paper tube 9a of the original web roll 9 (see FIG. 8). This allows the support shaft 33 to enter the paper tube 9a of the original web roll 9. Then, by inserting the tip of the support shaft 33 (the side opposite the pillar portion 32) of the original web roll 9 from one opening side of the paper tube 9a, the original web roll 9 can be set on the support shaft 33 and supported.

[0035] The upper and lower surfaces of the base plate 35 are provided with stopper portions 44 on the rear side of the area where the rollers 37 and disks 39 are arranged. The stopper portions 44 are located immediately adjacent to the rear side of the L-shaped plate 38. The upper and lower stopper portions 44 are located on the same vertical plane, on a plane perpendicular to the longitudinal direction of the base plate 35. As a result, when the original web roll 9 is pushed in from the tip side of the support shaft 33 and attached, if the axial rear surface of the original web roll 9 comes into contact with the stopper portions 44, further movement is suppressed.

[0036] In addition, the length of the section of the support shaft 33 to which the rollers 37 and disks 39 are attached is longer than the axial length of the original roll 9, i.e., the film width. As a result, when the original roll 9 is pushed all the way into the support shaft 33, the tip of the support shaft 33 protrudes outside the original roll 9 (see FIG. 12). The left and right rollers 37 and disks 39 are arranged to extend in three orthogonal directions in a vertical plane, and when viewed in a vertical plane perpendicular to the support shaft 33, the paper tube 9a of the original roll 9 attached to the support shaft 33 is supported by contact at one point on the disk 39 or at two or three points including one or both rollers 37 in the circumferential direction of the inner surface, depending on the difference between the diameter of the circumscribed circle and the inner diameter of the paper tube 9a. 8, for convenience of illustration, the upper disc 39 is in contact with the uppermost point of the inner circumferential surface of the cardboard tube 9a, and in order to depict a state in which the cardboard tube 9a is supported without shaking to the left and right, both the left and right rollers 37 are in a state of being separated from the inner circumferential surface of the cardboard tube 9a. When the original roll 9 shakes during transportation, etc., either the left or right roller 37 comes into contact with the inner circumferential surface of the cardboard tube 9a.

[0037] Furthermore, when viewed in the axial direction of the support shaft 33, i.e., the longitudinal direction, the rollers 37 and the disks 39 come into point contact at intervals equal to the arrangement pitch. This reduces the contact resistance when the original web roll 9 is moved in the axial direction. Furthermore, since the left and right rollers 37 are rotatable, for example, when the original web roll 9 moves in the axial direction and the inner circumferential surface of the paper tube 9a comes into contact with the rollers 37, the rollers 37 rotate in the direction of movement, thereby further reducing the contact resistance. This makes it possible to mount and remove the original web roll 9 from the support shaft 33 with a small force.

[0038] In addition, since the rollers 37 are arranged on the same straight line, for example, when the web roll 9 is positioned parallel to the longitudinal direction of the base plate 35, when the inner circumferential surface of the paper tube 9a comes into contact with either the left or right roller 37, the rollers 37 on the contacting side come into contact with the inner circumferential surface, and the rollers 37 rotate in the direction of movement of the web roll 9 to guide the movement. Therefore, the axial movement of the web roll 9 is stably performed.

[0039] On the other hand, the disk 39 protruding upward is fixed to the L-shaped plate 38 so as not to rotate, and therefore generates a certain degree of resistance during movement, even though the contact resistance in the axial direction of the original web roll 9 is small. Therefore, while the dolly 11 is moving with the original web roll 9 attached to the support shaft 33, the original web roll 9 is prevented from coming off the support shaft 33 as much as possible. That is, for example, if the dolly 11 suddenly stops while moving forward, the original web roll 9 is biased toward the axial direction of the support shaft 33 by inertia, and tries to move forward along the axial direction. At this time, since the disk 39 is fixed by the bolt 43, the contact portion of the disk 39 that contacts the paper tube 9a does not move even if the original web roll 9 tries to move forward, and exerts a certain degree of resistance against the paper tube 9a in the moving direction. The disk 39 is disposed above the support shaft 33, and the paper tube 9a of the original web roll 9 always comes into contact with the disk 39, and the weight of the original web roll 9 is applied to the disk 39. As a result, as described above, the disks 39 generate a certain degree of contact resistance when the original web roll 9 moves in the axial direction, and prevent the original web roll 9 from coming off the support shaft 33 as much as possible.

[0040] A pusher plate member 41 for pushing out the raw fabric roll 9 set on the support shaft 33 is provided so as to be capable of reciprocating along the support shaft 33. The pusher plate member 41 has a substantially U-shaped, i.e., flat, body 41a, and has a concave cutout portion 41b at the middle of one side extending in the up-down direction of the body 41a. The pusher plate member 41 is disposed so that the support shaft 33 is located within the concave cutout portion 41b.

[0041] The pusher plate member 41 is connected to a drive mechanism 42 that causes a reciprocating linear motion, and moves reciprocatingly along the support shaft 33. The drive mechanism 42 has the following configuration. As shown in enlarged views in Figs. 9 and 10, etc., a mounting plate 47 is fixed to the side of the tip end of a first rail 46 that constitutes a first linear guide 45. Then, L-shaped connecting plates 48 are attached to the outer surface of the mounting plate 47 (the surface opposite to the contact surface with the first rail 46) at two positions, one above the other. Furthermore, the rear side of the pusher plate member 41 is attached to the front ends of the two upper and lower connecting plates 48 to be integrated. The first rail 46 is linked to two first carriages 50 that constitute the first linear guide 45. The two first carriages 50 are attached to a support plate 51 that is formed upright on the left edge side of the upper surface of the loading platform 15 so as to be arranged in a line at the same height. As a result, the two first carriages 50 are fixed in a predetermined position. Therefore, the first rail 46 is installed so as to be movable back and forth along the longitudinal direction, i.e., the front-rear direction of the dolly 11, while being stably supported by the two first carriages 50. As the first rail 46 moves back and forth, the pusher plate member 41 attached to the first rail 46 also moves forward and backward.

[0042] Meanwhile, a ball screw 52 is disposed so as to extend parallel to the longitudinal direction of the first rail 46. That is, both ends of the ball screw 52 are rotatably supported by bearings 54. The rear end side of the first rail 46 is connected to a moving body 53 that moves forward and backward along the ball screw 52. The moving body 53 has a nut therein that meshes with the ball screw 52, ​​and moves forward and backward as the ball screw 52 rotates forward and backward. As the moving body 53 moves forward and backward, the first rail 46, and therefore the pusher plate member 41, move forward and backward.

[0043] An operating handle 55 is connected to the front end side of the ball screw 52 via a power conversion mechanism 57 that changes the rotation direction of a predetermined gear mechanism or the like. By rotating the operating handle 55 forward or backward, the ball screw 52 rotates forward or backward.

[0044] In addition, the support plate 51 is provided with a lock mechanism 56 for preventing the rotation of the operating handle 55 on the surface opposite to the surface on which the first carriage 50 is attached. In this lock mechanism 56, a lock plate 56b on the tip side opens and closes with a hinge portion 56a as a base point, and in the closed state shown in FIG. 9 etc., the lock plate 56b sandwiches the handle portion 55a of the operating handle 55 from above and below, preventing the rotation of the operating handle 55. On the other hand, when the lock plate 56b is displaced to the open state, the lock plate 56b moves away from the operating handle 55 and the handle portion 55a (see FIG. 19 etc.), allowing the rotation of the operating handle 55. In addition, a grip portion 56c is provided at a predetermined position on the upper surface of the lock plate 56b.

[0045] In this embodiment, a positioning plate 60 is provided on the front side of the loading platform 15 so as to protrude forward. A front edge 60a of the positioning plate 60 is disposed parallel to the front edge of the loading platform 15. Therefore, the front edge 60a is perpendicular to the axis of the support shaft 33 in a plan view.

[0046] The positioning plate 60 has two positioning holes 61 on the left and right. In this embodiment, the two positioning holes 61 have the same size and shape. The positioning holes 61 extend in the front-rear direction and are narrower at the front end (tip) side and wider at the back side. As a specific example, the positioning hole 61 has a first region 61a having a substantially circular shape, a second region 61b on the front side of the first region 61a, the width of which gradually narrows as it moves forward from the first region 61a, and a third region 61c provided following the front end of the second region 61b. The third regions 61c of the left and right positioning holes 61 are formed at equal distances from the front end edge 60a of the positioning plate 60.

[0047] Furthermore, in this embodiment, a jig receiving base 96 is provided on which a film end jig 100 that grips the leading end of the packaging film 6 wound around the original roll 9 (paper tube 9a) is temporarily placed. As shown enlarged in Figs. 9 and 10, the jig receiving base 96 is connected to a drive mechanism 42 that moves the pusher plate member 41 back and forth, and moves back and forth integrally with the support shaft 33. That is, a flat first support plate 49 arranged in a horizontal plane is connected to the upper surface of a mounting plate 47 attached to the front end side of the first rail 46, and two second support plates 58 are connected to the upper surface of the first support plate 49 in an upright state so as to be L-shaped in a plan view, and the jig receiving base 96 is connected to the upper surface of the second support plate 58.

[0048] As shown in FIG. 11, the film end jig 100 has a first plate 101 and a second plate 102, which are elongated flat plates, arranged to face each other. A handle 103 is connected to the outer surface of the first plate 101 (the surface not facing the second plate 102). This handle 103 has a substantially rectangular frame. A shallow recess 101a is provided in the middle of the inner surface of the first plate 101 (the surface facing the second plate 102) in the longitudinal direction. A elongated sheet-like elastic member 105 is placed in this recess 101a. This elastic member 105 may be simply placed in the recess 101a in a free state, but it is preferable to fix it using a predetermined adhesive member or the like. The elastic member 105 is preferably made of a material that is elastically deformable and has a small contact resistance on the surface and is easy to slip, for example, silicon resin.

[0049] A rectangular block 104 is connected to the outer surface of the second plate 102. The block 104 is made of a magnetic material such as iron. Coil springs 106 are arranged between the first plate 101 and the second plate 102 near both ends in the longitudinal direction. The first plate 101 and the second plate 102 are connected and integrated by fixing screws 107 provided on the left and right sides. The fixing screws 107 are thumb screws. In the illustrated state, the coil spring 106 is shown in an unloaded extended state, but when the second plate 102 is attached as shown by the two-dot chain line in FIG. 11(a), the coil spring 106 is arranged in a compressed state in the gap between the opposing surfaces of the first plate 101 and the second plate 102. The first plate 101 and the second plate 102 are biased in a direction away from each other by the elastic restoring force of the coil spring 106. Therefore, when the fixing screw 107 is loosened, the elastic restoring force of the coil spring 106 causes the first plate 101 and the second plate 102 to move in directions away from each other.

[0050] Furthermore, in this embodiment, the first plate 101 and the second plate 102 can be temporarily fixed by attraction with magnets. For this temporary fixing using magnets, for example, magnets that attract each other may be attached to the opposing surfaces of the first plate 101 and the second plate 102, and the magnets may be configured to attract each other. Alternatively, a magnet may be attached to one of the first plate 101 and the second plate 102, and a member that attracts to the magnet, such as a magnetic body, may be disposed at a portion facing the other magnet. Furthermore, instead of separately attaching a member that attracts to the magnet, the first plate 101 or the second plate 102 may be formed of a magnetic material, and the member may be configured to serve as both.

[0051] The film end jig 100 is temporarily placed on the jig receiving base 96 with the handle 103 facing downward. Accordingly, the jig receiving base 96 has a recess 96a in the center of one long side, and a positioning member 96b is placed at a predetermined position on the upper surface (see FIG. 9, etc.). Then, the handle 103 of the film end jig 100 facing downward is inserted into the recess 96a, and the first plate 101 is inserted into the space partitioned by the multiple positioning members 96b, so that the film end jig 100 is temporarily placed in a desired position on the jig receiving base 96 (see FIG. 12, etc.).

[0052] The positioning device 13 is mainly installed on the side of the reverse pillow packaging machine 1 and the film supplying device 4, and an example of a specific configuration is as follows: As shown in Fig. 16 etc., the positioning device 13 includes an L-shaped arm portion 66 having two positioning pins 65 at the front end side which are capable of entering positioning holes 61 of a positioning plate 60 provided on the dolly 11, a drive device 70 which raises and lowers the front end side of the arm portion 66 and moves the arm portion 66 back and forth, a stopper member 71 which is arranged on the front edge side of the reverse pillow packaging machine 1 (film supplying device 4), etc.

[0053] The arm portion 66 includes a rod-shaped first portion 66a that is arranged to extend along the front surface of the inverted pillow packaging machine 1 while protruding to the front side thereof, and a second portion 66b that extends rearward from one end of the first portion 66a. A flat plate 72 is provided on the underside of the first portion 66a, and a positioning pin 65 is attached to the underside of the flat plate 72 so as to hang down. The spacing between the two positioning pins 65 is set to match the spacing between the two positioning holes 61 provided in the positioning plate 60. The diameter of the two positioning pins 65 is set to be the same as or slightly smaller than the width of the third region 61c of the positioning hole 61.

[0054] The driving device 70 includes a first cylinder 73 as a driving source for moving the arm portion 66 forward and backward, and a second cylinder 75 as a driving source for raising and lowering the front end side of the arm portion 66, i.e., the first portion 66a. The driving device 70 is attached to a predetermined position on the upper surface of a floor plate 68. More specifically, a base plate 69 is connected to the upper surface of the floor plate 68, and the driving device 70 is provided on the base plate 69. As the first cylinder 73 reciprocates, the arm portion 66 moves forward and backward, that is, the first portion 66a at the front end of the arm portion 66 moves forward away from the film supply device 4, and the first portion 66a moves backward so as to be attracted to the film supply device 4. As the second cylinder 75 reciprocates, the arm portion 66 rotates forward and backward within a predetermined angle range with the tip side of the second portion 66b of the arm portion 66 as the rotation center, and the first portion 66a and the positioning pin 65 attached thereto move up and down. When the first portion 66a is in the raised position, the positioning pin 65 is located above the positioning plate 60. When the first portion 66a is in the lowered position, the lower end of the positioning pin 65 is located below the upper surface of the positioning plate 60.

[0055] The first cylinder 73 is an air cylinder that operates in two stages. The operation of the first cylinder 73 is controlled so that it operates in two stages during forward movement to move the arm portion 66 forward, and operates in one stage during reverse movement to move the arm portion 66 backward.

[0056] Also, a collaborative robot 90 is provided adjacent to the positioning device 13. In relation to this embodiment, this collaborative robot 90 opens and closes the locking mechanism 56, rotates the operating handle 55 forward and backward, and transfers the film end jig 100. As shown in Figures 20 and 21, the collaborative robot 90 includes a robot arm 91 and a hand unit 92 attached to the tip of the robot arm. The hand unit 92 includes two claw members 93 that can be opened and closed. Each of the two claw members 93 includes a first claw unit 94 that can grasp the locking mechanism 56 or the operating handle 55, and a second claw unit 97 that is provided at the base side of the first claw unit 94 and has a generally U-shaped cross section. The pair of second claw portions 97 have their U-shaped tips facing each other, and when open the distance between the tips of the pair of second claw portions 97 is longer than the thickness of the handle 103 of the film end jig 100, and when closed the pair of second claw portions 97 are configured to be able to clamp and hold the frame of the handle 103.

[0057] The robot arm 91 receives commands from the control device of the collaborative robot 90, rotates each joint appropriately, and moves the hand unit 92 to a desired position in three-dimensional space. The hand unit 92 also receives commands from the control device and opens and closes two claw members 93. Various operations of the collaborative robot 90 described below are performed based on commands from the control device.

[0058] Then, the hand unit 92 is moved with the first claw portion 94 of the hand unit 92 gripping the grip portion 56c of the lock mechanism 56 to open the lock plate 56b. When the operating handle 55 is rotated forward with the first claw portion 94 of the hand unit 92 gripping the grip portion 55a of the operating handle 55 or with the grip portion 55a inserted into the hole portion 94a formed in the first claw portion 94, the pusher plate member 41 moves forward. Accordingly, the pusher plate member 41 pushes the original web roll 9 forward from the support shaft 33 and transfers it to the rotating support shaft 7. In addition, the handle 103 of the film end jig 100 temporarily placed on the jig receiving base 96 is moved upward while being gripped by the second claw portion 97 of the hand portion 92 and moved to the open side of the recess 96a, thereby removing the film end jig 100 from the jig receiving base 96 and moving it to a predetermined position in the film supply device 4.

[0059] In addition, the tip of the rotary support shaft 7 has a tapered surface tapered toward the tip, and is formed into a substantially truncated cone shape. As a result, even if the rotary support shaft 7 and the support shaft 33 are not on the same straight line and are slightly misaligned, the front opening portion of the paper tube 9a of the original web roll 9 pushed out by the pusher plate member 41 is guided by the tapered surface of the rotary support shaft 7 and moves forward to match the axis of the rotary support shaft 7. Furthermore, if the support shaft 33 of the dolly 11 is pushed out while being aligned to a position slightly lower than the rotary support shaft 7, the original web roll 9 can be transferred to the rotary support shaft 7 in a floating and elevated position relative to the support shaft 33. In this way, the original web roll 9 can be transferred even if it is slightly misaligned. The original web roll can be attached to the rotary support shaft 7 even if the stop position of the original web roll attachment device 10 and the stop position of the rotary support shaft 7 are roughly aligned.

[0060] The stopper member 71 is made of an L-shaped plate, and is attached so that a horizontal portion 71a is fixed to a predetermined position at the front end of the upper surface of the base plate 69, and a vertical portion 71b stands upright from the front edge of the base plate 69. The predetermined position at the front end is aligned with the position of the first portion 66a of the arm portion 66, and is provided at a height that allows contact with the positioning plate 60.

[0061] Furthermore, in this embodiment, the film supply device 4a of the film supply unit 4 has a jig mounting base 110 disposed at a predetermined position that forms a pair with the two rotation support shafts 7 provided on the disk 8. This jig mounting base 110 moves integrally with the rotation support shafts 7 in the same direction as the disk 8 rotates. The jig mounting base 110 also has a recess that fits with the block 104 of the film end jig 100.

[0062] Fig. 22 is an enlarged view from the same direction as Fig. 18 with some of the members around the jig mounting base 110 omitted. In this illustrated example, the film end jig 100 is set on the jig mounting base 110. Fig. 23 shows the state in which the film end jig 100 has been removed from the state shown in Fig. 22 and the surrounding members are also omitted, exposing the jig mounting base 110. Fig. 24 is a perspective view of the jig mounting base 110 from a different direction than Fig. 23.

[0063] 23 and 24, the jig mounting base 110 is mounted in a cantilevered manner on the disk 8. In this example, a mounting plate 131 is mounted in a cantilevered manner via a rear wall portion 130 to a flat connecting plate 129 mounted at a predetermined position on the front side of the disk 8, and the jig mounting base 110 is mounted to the mounting plate 131.

[0064] The jig mounting base 110 has a magnet holder base (an example of a magnetic force generating means) 132 fixed to the surface of a mounting plate 131, a flat base member 133 fixed to the upper surface of the magnet holder base 132, side guide members 134 fixed to both longitudinal ends of the upper surface of the base member 133, and retaining members 135 formed upright on the surface of the mounting plate 131 on both the left and right sides of the outer side of the magnet holder base 132.

[0065] The magnet holder base 132 is a device that can switch magnetic force on and off. It has a rectangular box-shaped case body 132a with a lever 132b on its side. The on / off state is switched by tilting the lever 132b to the left or right, and a magnetic field is generated or eliminated from the upper surface side of the case body 132a. The side on which the lever 132b is provided is located on the front side of the packaging machine, i.e., on the tip side of the mounting plate 131 (the side not connected to the base member 133).

[0066] A front wall 136 is formed on the top surface of the tip end of the mounting plate 131 (see FIG. 22, etc.). A bearing 136a is provided on the front wall 136, and a rotating shaft 137 supported by the bearing 136a is disposed so as to penetrate the front wall 136. One end of the rotating shaft 137 protrudes forward from the front wall 136, and an operating lever 138 is connected to the one end. In FIG. 22, etc., the operating lever 138 is depicted in a plurality of positions on the same drawing. A connecting portion 139 is attached to the other end of the rotating shaft 137. The connecting portion 139 is provided with a groove 139a extending in the longitudinal direction on the surface opposite to the surface connected to the rotating shaft 137, and is formed in a substantially U-shape in plan view. The lever 132b of the magnet holder base 132 is inserted and disposed in the groove 139a.

[0067] As a result, when the operating lever 138 is rotated forward or backward within a predetermined angle range, the connecting part 139 rotates forward or backward around the axis of the rotating shaft part 137 via the rotating shaft part 137, and accordingly the lever 132b rotates forward or backward. In accordance with this forward or reverse rotation, the magnetic force of the magnet holder base 132 is turned on / off. The rotating operation of this operating lever 138 is performed by the collaborative robot 90.

[0068] The base member 133 is made of, for example, a magnetic material, such as SS400. The base member 133 is made of a rectangular flat plate, and has a hole 133a extending in the longitudinal direction at the center in the short side direction. The hole 133a penetrates in the thickness direction.

[0069] The base member 133 may be a flat plate without the hole 133a, but experimental results have confirmed that providing the hole 133a as in the embodiment generates a larger magnetic force and increases the force of attracting the iron plate. Therefore, it is preferable to provide the hole 133a as in the embodiment. In addition, the base member 133 is formed by cutting the center of a single flat plate to provide the hole 133a, with both ends of the hole 133a not reaching the short sides of the base member 133, and the hole 133a is formed in a slit shape.

[0070] The pair of left and right side guide members 134 are made of resin and formed into a substantially rectangular plate shape in plan view. The long sides of the side guide members 134 are equal in length to the short sides of the base member 133. The long sides positioned on the outer sides of the side guide members 134 are aligned flush with the short sides of the base member 133 and fixed in place with screws 140.

[0071] The length between the pair of left and right side guide members 134 is set to be equal to the length of the block 104 of the film end jig 100 in the longitudinal direction. As a result, a space defined by the opposing inner surfaces of the pair of side guide members 134 and the upper surface of the base member 133 becomes a recess, into which the block 104 can enter (see Figures 29, 30, etc.). When the magnet holder base 132 is turned on with the block 104 in the recess, the block 104 is attracted by the generated magnetic force and held in the recess. In addition, since the length between the pair of left and right side guide members 134 matches the length of the block 104, the block 104 is fitted into the recess to suppress deviation in the longitudinal direction.

[0072] Furthermore, the pair of left and right side guide members 134 have a tapered surface 134a with a chamfered top at a portion located on the inside of a pair of long sides on the upper surface. As described above, the length between the side guide members 134 is matched to the length of the block 104 in the longitudinal direction, and the block 104 needs to be positioned directly opposite the recess between the pair of left and right side guide members 134 before entering. If the position is shifted in the left-right direction, the lower surface of the block 104 will come into contact with the upper surface of the side guide member 134, and the block 104 will not be able to enter the recess. However, in this embodiment, the positioning accuracy is guaranteed by the collaborative robot 90, and the block 104 can be inserted into the recess between the side guide members 134. Even if the block 104 of the film end jig 100 is slightly shifted in the left-right direction for some reason, when either the left or right edge of the lower surface of the block 104 comes into contact with the tapered surface 134a, the block 104 will move in the left-right direction while being guided by the tapered surface 134a, and will enter the recess between the side guide members 134. That is, the collaborative robot 90 has a pair of U-shaped second claws 97 that clamp and hold the handle 103 of the film end jig 100 from the left and right, but the width W1 of the second claws 97 is shorter than the length W2 of the handle 103 in the longitudinal direction (see FIG. 18), allowing the handle 103 held by the film end jig 100 to move relatively in the longitudinal direction. Therefore, as described above, even if the block 104 is misaligned in the left-right direction, i.e., the longitudinal direction, it can slide in the longitudinal direction and fit.

[0073] The pressing member 135 has an L-shaped plate 142 attached to the upper end of a support wall 141 configured in an L shape. That is, a first portion 142a of the L-shaped plate 142 is screwed and fixed in contact with the support wall 141. A semicircular cutout portion 142c is provided at the widthwise center of the tip edge of a second portion 142b extending perpendicularly from one end of the first portion 142a. The arrangement interval of the cutout portions 142c provided on the pressing members 135 arranged on the left and right sides is set equal to the arrangement interval of a pair of fixing screws 107 provided on the film end jig 100. Then, as shown in FIG. 22, FIG. 27, etc., when the film end jig 100 is attached to the jig mounting base 110, the threaded portion of the fixing screw 107 enters the cutout portion 142c and is positioned.

[0074] Furthermore, when the film end jig 100 is attached to the jig attachment base 110, the upper surface of the first plate 101 of the film end jig 100 is in contact with or in close proximity to the second portion 142b of the L-shaped plate 142. As a result, even if a biasing force is applied to the film end jig 100 attached to the jig attachment base 110 in an upward direction, i.e., in the direction in which the L-shaped plate 142 is present, the L-shaped plate 142 exerts a stopper function and prevents the film end jig 100 from moving in the direction of the biasing force. This prevents the film end jig 100 from coming off the jig attachment base 110. During film bonding, a biasing force is applied in the direction in which the L-shaped plate 142 is present, but the stopper function prevents the film end jig 100 from moving, allowing for reliable bonding.

[0075] Furthermore, in this embodiment, as shown in FIG. 26 etc., the upper surface of the mounting plate 131 waits in a position in which the short side direction is inclined at a predetermined angle with respect to the horizontal plane, and accordingly, the upper surface of the base member 133 on which the block 104 is set is also inclined at a predetermined angle. The inclination direction is such that the side on which the pressing member 135 is placed is lower. As a result, for example, when the magnet holder base 132 is not generating magnetic force, the collaborative robot 90 moves the block 104 of the film end jig 100 to a position in contact with or close to the upper surface of the base member 133, and releases the holding of the collaborative robot 90 while aligning it in the left-right direction, the film end jig 100 is positioned with the block 104 moving downward along the base member 133 in the space between the side guide members 134 and in contact with the pressing member 135. After that, when the magnet holder base is turned on, the film end jig 100 can be fixed in the same position every time.

[0076] Next, a method for mounting the web roll and the film end jig 100 using the web roll mounting device 10 and the film supply device 4a, etc., configured as described above, will be described. First, the transport device 12 enters the bottom side of the dolly 11, and the dolly 11 is connected and integrated by a connecting mechanism using two pins 23 provided on the underside of the loading platform 15. When the transport device 12 moves in this state, the integrated dolly 11 also moves. Then, when the transport device 12 is located at the storage location for the web roll, the transport device 12 and the dolly 11 temporarily stop. At this time, the pusher plate member 41 of the dolly 11 retreats and is in a standby position near the pillar 32. An operator sets the web roll on the support shaft 33 of the dolly 11.

[0077] As shown in Figs. 12 to 15, when the original roll 9 is set on the support shaft 33, the relative positional relationship between the original roll 9 of the same dimensions and the temporarily placed film end jig 100 is constant. Then, the worker loosens the fixing screw 107 of the film end jig 100 temporarily placed on the jig receiving stand 96 to widen the gap between the first plate 101 and the second plate 102. Then, the worker inserts the leading end of the belt-shaped packaging film 6 of the original roll 9 into the widened gap. Also, on the side edge of the packaging film 6, reference marks (sometimes called "I marks") for determining the cutting position in the packaging machine main body 2 may be printed at a predetermined interval. In such a case, the reference marks are aligned with the position of the film end jig 100.

[0078] That is, the first plate 101 and the second plate 102 are attracted and temporarily fixed by magnets, and the reference mark is aligned with the position of the film tip jig 100. At this time, the elastic member 105 is compressed and deformed. In the temporarily fixed state, due to the attraction force of the magnets, the packaging film 6 sandwiched between the second plate 102 and the first plate 101 (elastic member 105) can be moved by pulling it. Therefore, in the temporarily fixed state, the reference mark can be easily aligned by sliding the packaging film 6 over the elastic member 105 (silicon).

[0079] After alignment, the fixing screws 107 are tightened to sandwich and fix the leading end of the packaging film 6 between the first plate 101 and the second plate 102. At this time, since the elastic member 105 is disposed in the recess 101a of the first plate 101, the elastic member 105 and the packaging film 6 are actually present between the first plate 101 and the second plate 102, and therefore, by tightening the fixing screws 107, the elastic member 105 is also further compressed and deformed. Therefore, the elastic restoring force of the elastic member 105 is also utilized to firmly fix and hold the packaging film 6 to the film end jig 100.

[0080] Next, the conveying device 12 moves along a predetermined route, moves the cart 11 to just before the film supplying device 4 of the reverse pillow packaging machine 1, and stops temporarily. The conveying device 12 used in this embodiment is an AGV, and the positioning accuracy of the stopping position of this AGV is not high, and has an error of, for example, about 10 mm. As a result, the position of the cart 11 when it stops just before the film supplying device 4 is not necessarily the same position, but may be different each time.

[0081] The position on the front side of the film supply device 4 where the dolly 11 stops is a position where the front end of the positioning plate 60 attached to the front edge side of the dolly 11 faces the stopper member 71 at a slight distance. At this time, the positioning device 13 is in a standby position with the arm portion 66 in the forward position and the first portion 66a raised (see Figures 13, 16, etc.). In this standby position, the lower end of the positioning pin 65 is located above the upper surface of the positioning plate 60. Therefore, when the dolly 11 stops on the front side of the film supply device 4 as described above, the positioning plate 60 is located below the first portion 66a of the arm portion 66. In plan view, the two positioning pins 65 are located in the first regions 61a of the two positioning holes 61 provided in the positioning plate 60. As described above, the positioning accuracy of the conveying device 12 is not high, and the cart 11 cannot be stopped at a fixed position. However, the first area 61a is sufficiently large relative to the positioning pin 65 and is large enough to cover the range of positional deviation due to positioning error.

[0082] Next, the conveying device 12 releases the hold on the dolly 11 and retreats. Then, the second cylinder 75 is driven to lower the first portion 66a, and the positioning pin 65 enters the first region 61a of the positioning hole 61 of the positioning plate 60. Then, while the arm portion 66 maintains the lowered position, the first cylinder 73 performs a double movement, and the arm portion 66 moves backward, that is, the first portion 66a moves in a direction approaching the film supply device 4 side. Accordingly, the positioning pin 65 advances from the first region 61a to the second region 61b in the positioning hole 61 to the third region 61c, and finally comes into contact with the tip of the third region 61c. When the arm portion 66 further moves backward in this state, the positioning pin 65 draws the positioning plate 60 and therefore the dolly 11 toward the film supply device 4 side. When the front edge 60a of the positioning plate 60 comes into contact with the stopper member 71, further movement is prevented, and the carriage 11 stops at that position. This stopping position is always the same due to the positional relationship between the positioning pin 65, the third region 61c of the positioning hole 61, and the stopper member 71, and the carriage 11 can be positioned at the stopping position.

[0083] The support shaft 33 of the cart 11 stopped in this manner faces the rotary support shaft 7 in a predetermined positional relationship, for example, so as to be positioned on the same straight line. Note that the predetermined positional relationship is not limited to this, and any appropriate embodiment can be used, for example, the support shaft 33 can be positioned slightly lower. In any embodiment, the stopping position is specified to be the same position, so the cart always stops in the set positional relationship.

[0084] Next, the collaborative robot 90 rotates the operating handle 55 in a predetermined direction. This causes the pusher plate member 41 to move forward, pushing the original web roll 9 supported by the support shaft 33 forward, i.e., toward the rotating support shaft 7 of the film supply device 4. When the pusher plate member 41 reaches the rotating support shaft 7, the original web roll 9 is transferred to the rotating support shaft 7, completing the attachment of the original web roll 9 to the rotating support shaft 7 (see FIG. 19, etc.).

[0085] As described above, the support shaft 33 includes multiple non-rotating disks 39 and multiple rotatable rollers 37 arranged on the left and right, and has a small contact resistance with the paper tube 9a. Therefore, even if the biasing force of the pusher plate member 41 on the original web roll 9 is weak, the original web roll 9 can be pushed out and transferred to the rotating support shaft 7. Particularly in this embodiment, the collaborative robot 90 controls the pusher plate member 41 to move forward by rotating the operation handle 55 in the forward direction, and although the biasing force is small, the original web roll 9 can be reliably pushed out as described above.

[0086] The rotating support shaft 7 on which this original web roll 9 is mounted is a spare rotating support shaft 7 on the left side that is on standby, and the right rotating support shaft 7 supporting the original web roll 9 that is supplying packaging film 6 to the other packaging machine body 2 is in the regular supply position. In other words, as shown in Fig. 19, the original web roll is mounted on the spare rotating support shaft 7 while the rotating support shafts 7 remain in the positions in which the packaging machine is in operation (the rotating support shaft 7 (right side) in the supply position where the original web roll 9 for film supply is mounted, and the spare rotating support shaft 7 (left side) in a position rotated 180 degrees therefrom).

[0087] Next, the collaborative robot 90 clamps and holds the handle 103 of the film end jig 100, which is temporarily placed on the jig receiving base 96 that has moved forward together with the pusher plate member 41, with the second claw portion 97. The collaborative robot 90 then moves the robot arm 91 along a predetermined trajectory, and moves the block 104 onto the jig mounting base 110 with the block 104 facing down. In other words, the collaborative robot 90 moves the block 104 between a pair of left and right side guide members 134 of the jig mounting base 110 to a position where the block 104 is close to or in contact with the base member 133. At this time, the magnet holder base 132 was turned off in the previous process (the previous process of removing the film end jig 100).

[0088] Next, the collaborative robot 90 releases the grip of the handle 103 of the film end jig 100. Then, the block 104 of the film end jig 100 moves downward along the inclined surface of the base member 133 and stops when it comes into contact with the pressing member 135. The collaborative robot 90 also brings the first claw portion 94 into contact with the operating lever 138 of the magnet holder base 132 and tilts it in a predetermined direction. This turns on the magnet holder base 132 and generates a magnetic force. As a result, the block 104 of the film end jig 100 is attracted by the magnetic force generated by the magnet holder base 132, and the film end jig 100 is fixed to the jig attachment base 110. Furthermore, prior to turning on the magnet holder base 132, the film supply device 4a may rotate the rotary support shaft 7 in the reverse direction to wind the packaging film 6 onto the original web roll 9, applying tension to the packaging film 6 between the original web roll 9 and the film end jig 100, and then turn on the magnet holder base 132. This completes the setting of the original web roll 9 onto the rotary support shaft 7 and the setting of the film end jig 100.

[0089] As described above, the rotation support shaft 7 rotates in the direction in which the packaging film 6 is wound around the original roll 9, so that the packaging film 6 is put in a taut state, and this tension is applied to the film end jig 100. Then, the film end jig 100 is urged in a direction in which it is pulled toward the original roll 9 by the tension. This pulling direction is obliquely upward with respect to the film end jig 100, and the first portion 42a, in particular, of the L-shaped plate 142 of the pressing member 135 prevents the film end jig 100 from moving in that direction. To further ensure that the film end jig 100 does not come off, a second portion 142b is provided to also press the upper surface of the film end jig 100.

[0090] In addition, the original roll 9 attached to the rotating support shaft 7 in the waiting position on the left side that has been set this time has the tip portion of the wound up packaging film 6 in a predetermined position together with the film end jig 100, and the pulled-out packaging film 6 is positioned parallel to the packaging film 6 pulled out from the original roll 9 in the supply position in the installation area of ​​the joining device 120.

[0091] Then, at an appropriate timing, the joining device 120 joins both packaging films 6 together and cuts them so as to cross laterally at least a predetermined position between the joining position and the film end jig 100 during standby. As a result, both packaging films 6 are joined, and the packaging film 6 wound around the standby roll 9 is continuously supplied to the packaging machine body 2 following the packaging film 6 currently being supplied. Note that this film joining process can be performed in the same manner as the conventional one disclosed in Patent Document 1 and the like, and detailed description thereof will be omitted. Also, FIG. 18 shows a state in which the film end jig 100 is placed on both the jig receiving base 96 and the jig mounting base 110 with the rotation support shaft 7 and the jig mounting base 110 in the normal standby position.

[0092] In addition, since the leading end side of the packaging film 6 is attached to the film end jig 100 so that the I mark for controlling the cutting position is located, the position of the I mark printed on the waiting packaging film 6 is known. Therefore, the joining device 120 may seal and cut the packaging film 9 at the timing when the I mark on the currently supplied packaging film 6 and the I mark on the waiting packaging film 6 match. The joining device 120 includes a first sealing device 121 arranged on the outside of the outer periphery of the disk 8, and a second sealing device 122 attached to the disk 8 together with the jig mounting base 110, as shown in FIG. 1, for example. The first sealing device 121 includes a cutter device. The disk 8 rotates, and the first sealing device 121 and the second sealing device 122 are sealed and cut in a state where they are arranged opposite each other. The configuration and operation of the joining device 120 may use, for example, the technology disclosed in JP 2021-109725 A.

[0093] Meanwhile, the collaborative robot 90 grips the operating handle 55 with the first claw portion 94 and rotates it in the reverse direction, moving the pusher plate member 41 backward to the standby position. The first cylinder 73 moves forward in two stages. That is, the arm portion 66 and the positioning pin 65 are returned slightly forward from the position where they were pulled in by the first forward movement. The distance of this return may be, for example, about 15 mm. As a result, the positioning pin 65 moves away from the tip of the third region 61c and reaches the third region 61c or the second region 61b. In this state, the second cylinder 75 moves forward, and the first portion 66a of the arm portion 66 and the positioning pin 65 rise, and the positioning pin 65 leaves the positioning hole portion 61 and is positioned above the positioning plate 60. This upward movement of the positioning pin 65 occurs with the rotation of the arm portion 66, so it moves while turning in a direction approaching the film supply device 4 side, not in a vertical direction. In this embodiment, since the positioning pin 65 is separated from the tip of the third region 61c by the first-stage forward movement, the positioning pin 65 smoothly rises without interfering with the tip of the third region 61c. This puts the carriage 11 into a free state.

[0094] Thereafter, the first cylinder 73 moves forward in the second stage, and the positioning pin 65 moves to a predetermined position above the first region 61a. The transport device 12 also moves the free cart 11 downward and connects with it, and moves the cart 11 to a storage position for the original roll to receive the next original roll. By repeating the above-mentioned operations, the original roll 9 set on the support shaft 33 of the cart 11 can be automatically attached to the rotating support shaft 7, and the film end jig 100 holding the leading end of the packaging film 6 can be fixed to the jig mounting base 110.

[0095] Furthermore, when the remaining amount of the original roll 9 that is set in the film supply device 4 and is currently supplying the packaging film 6 to the packaging machine main body 2 falls below a certain amount, the original roll 9 attached to the spare rotating support shaft 7 by the original roll attachment device 10 is connected to the packaging film 6 currently being supplied, and thereafter, the packaging film 6 is continuously supplied to the packaging machine main body 2. Then, as described above, the disk 8 rotates 180 degrees and the positions of the two rotating support shafts 7 are swapped. Therefore, the original roll 9 that was previously supplied to the packaging machine main body 2, i.e., the paper tube 9a around which a small amount of packaging film 6 is wound, is attached to the rotating support shaft 7 that has now come to the spare position.

[0096] Therefore, when the dolly 11 on which the above-mentioned original web roll 9 is set reaches the front of the film supply device 4, the above-mentioned used original web roll 9 (paper tube 9a, etc.) is attached to the spare rotating support shaft 7. Therefore, before performing the above-mentioned work of attaching the original web roll 9, it is necessary to remove the used original web roll 9. In this embodiment, such a removal work is also performed automatically. That is, the collaborative robot 90 grips the used original web roll 9 with the robot arm 91 and the first claw portion 94 of the hand portion 92 attached to the tip of the robot arm 91, and removes the gripped original web roll 9 from the rotating support shaft 7 by moving the robot arm 91 along a predetermined trajectory. The rotating support shaft 7 is provided with a holding mechanism such as an air chuck, and a process of removing the above-mentioned original web roll 9 from the rotating support shaft 7 is performed in a state where the holding by this air chuck is released. Then, the collaborative robot 90 inserts one longitudinal end of the removed original fabric roll 9 into a cup-shaped collection container 95 prepared on the cart 11, releases the grip of the hand unit 92 (first claw unit 94), and transfers the original fabric roll 9. As a result, the rotating support shaft 7 in the spare position becomes empty without the original fabric roll 9, and the above-mentioned process is performed to mount a new original fabric roll 9 on the rotating support shaft 7. After the original fabric roll 9 is inserted into the rotating support shaft 7, an air check is performed to hold the original fabric roll 9 fixed to the rotating support shaft 7, and the original fabric roll 9 rotates integrally with the rotating support shaft 7.

[0097] Similarly, the film end jig 100 fixed on the jig mounting base 110 that forms a pair with the spare rotating support shaft 7 is also removed and collected. That is, the collaborative robot 90 operates the operating lever 138 of the magnet holder base to turn it off to release the magnet attraction, and then clamps and holds the handle 103 with the pair of second claws 97. Next, the robot arm 91 is operated along a predetermined trajectory to remove the film end jig 100 from the jig mounting base 110 and move it to the dolly 11, and then insert it into the collection container portion 95 of the dolly 11.

[0098] In the above-described embodiment, the magnetic force generating means is realized by the magnet holder base 132, but the present invention is not limited to this, and various means such as electromagnets and permanent magnets can be used. When a permanent magnet is used, magnetic force is constantly generated, so when removing the film end jig 100, the collaborative robot 90 should tilt the film end jig 100 it is holding to release the attraction of the permanent magnet, and then move it along a specified trajectory to remove it.

[0099] In addition, in each of the above-described embodiments, the cart 11 does not have a self-propelled function and is configured to be transported by the transport device 12, but the present invention is not limited to this, and the cart 11 may be configured to have a self-propelled function.

[0100] Various aspects of the present invention have been described above using embodiments, but it should be noted that these embodiments and descriptions are not intended to limit the scope of the present invention, but are provided to aid in understanding the present invention. The scope of the present invention is not limited to the configurations and manufacturing methods explicitly described in the specification, but also includes combinations of various aspects of the present invention disclosed in this specification. Although the configurations of the present invention that are sought to be patented are specified in the appended claims, it is noted for the sake of clarity that configurations disclosed in this specification that are not currently specified in the claims may be claimed in the future. [Explanation of symbols]

[0101] 1: Reverse pillow packaging machine 2: Packaging machine body 3: Packaged object conveyance device 4: Film supply device 4a: Film supply device 5: Bag making machine 6: Packaging film 7: Rotating support shaft 8: Disk 9: Raw material roll 10: Raw roll mounting device 11: Cart 12: Transport device 13: Positioning device 33: Support shaft 90: Collaborative robots 91: Robot arm 92: Hand section 94: 1st claw part 97:Second claw part 96: Jig holder 100: Film end jig 101: First plate 102: 2nd plate 103: Handle 104: Block 110: Jig mounting stand 132: Magnet holder stand 133: Base material 134: Side guide member 134a: Tapered surface 135: Retaining member 138: Operating lever 141 :Supporting wall 142: L-shaped plate 142a: Part 1 142b:Second part 142c: Notch

Claims

1. A jig mounting system in which a film end jig is transported by a cart having a support member that detachably supports a raw roll and a jig receiving portion that detachably supports a film end jig that holds a leading end side of a packaging film wound around the raw roll supported by the support member, and the film end jig is mounted on a jig mounting base provided in a film supply device of a packaging machine using a collaborative robot, the film end jig has a first plate and a second plate that sandwich and hold the pre-packaging film, the outer surface of the first plate has a handle for the collaborative robot to hold, and the outer surface of the second plate has a positioning portion for mounting on the jig mounting base, the jig mounting base includes a mounting surface, a pair of side guide portions arranged at a predetermined interval on a surface of the mounting surface, and a magnetic force generating means arranged on a back side of the mounting surface; The distance between the pair of side guide portions is equal to the length of the positioning portion along the longitudinal direction of the second plate, the collaborative robot operates to position the positioning portion within a space between the pair of side guide portions while holding the film end jig; The positioning portion is configured to be attracted by the magnetic force generated by the magnetic force generating means. Fixture mounting system.

2. 2. The jig mounting system according to claim 1, wherein the magnetic force generating means is configured by a device capable of switching a magnetic force on and off.

3. The on / off switching is configured to be performed based on the operation of the collaborative robot. The fixture mounting system according to claim 2 .

4. the mounting surface is disposed so as to be inclined in a direction intersecting a direction connecting the pair of side guide portions, The jig mounting system according to claim 2 , further comprising a pressing member on the inclined lower side for contacting and positioning the film end jig.

5. The jig mounting system according to claim 4 , wherein the pressing member has a contact portion that contacts an outer surface of the first plate.

6. the magnetic force generating means is a permanent magnet, The jig mounting system described in claim 1, wherein the collaborative robot is configured to operate to hold the film end jig that is adsorbed by the magnetic force generating means, tilt the film end jig relative to the mounting surface to release the adsorption of the magnetic force generating means, and remove the magnetic force generating means.

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