Flap developing device in square bottom molding device of bag making machine, square bottom molding device in bag making machine, and bag making machine

Abstract

To provide a flap developing device in a square bottom molding device of a bag-making machine, a square bottom molding device in the bag-making machine, and a bag-making machine capable of securing the safety of workers and adjusting at least a pair of guide plates of the flap developing device even during manufacturing work of the bag-making machine.SOLUTION: A bag making machine according to the invention is equipped with guide plates 60L, 60R, robots for guide plates 62L, 62R, guide bars 61L, 61R, robots for guide bars 63, and position and posture adjuster 7. As a result, the safety of the worker can be secured, and the guide plates 60L and 60R and the guide bars 61L and 61R can be adjusted even during the manufacturing operation of the bag making machine 1.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to a flap unfolding device in a square-bottom forming device of a bag-making machine, which unfolds the bottom part of a flat cylinder body in a planar manner during the process of forming the bottom part of the flat cylinder body into a square bottom by a bottom folding drum. The present invention relates to a square-bottom forming device in a bag-making machine for forming the bottom part of a flat cylinder body into a square bottom, the square-bottom forming device comprising a flap unfolding device. The present invention relates to a bag-making machine for manufacturing square-bottom bags, the bag-making machine comprising a square-bottom forming device equipped with a flap unfolding device.

Background Art

[0002] As a flap unfolding device in a square-bottom forming device of a bag-making machine, for example, there are those shown in Patent Document 1 and Patent Document 2. Hereinafter, Patent Document 1 and Patent Document 2 will be described.

[0003] The flap folding-back device as the flap unfolding device of Patent Document 1 has a pair of left and right guide plates arranged above the bottom folding drum, and a pair of left and right linear members arranged between the guide plates. The guide plates and the linear members are fixed to a mounting rod via mounting arms. Each guide plate and the linear member guide the paper cylinder rotated and conveyed by the bottom folding drum into the space between each guide plate and the bottom folding drum, and press the front-side folding flap sucked by the bottom opening device against each guide plate and the linear member, thereby folding the front-side folding flap back as a reverse side from the bottom folding line. That is, the front and back folding flaps are unfolded in a planar manner along the outer circumference of the bottom folding drum, and the floating of the paper cylinder is suppressed through a slight gap between the guide plate and the bottom folding drum, and the paper cylinder is stably conveyed.

[0004] The flap folding device as the flap unfolding device of Patent Document 2 is composed of a pair of left and right guide plates that guide both side portions of the bag opening opened by the bottom opening device. These guide plates are fixed almost horizontally via mounting arms to a mounting rod horizontally provided above the bottom folding drum. The left and right guide plates have a flat plate portion and standing lower portions vertically provided downward from both side ends of this flat plate portion. One end side (the bottom opening device side) of the flat plate portion is formed with an inclined portion that gradually rises toward the outer edge portion, and the other end side of the flat plate portion is fixed to the mounting arm so as to contact the outer peripheral surface of the bottom folding drum. Further, between the guide plates, a linear member that presses the central portion of the paper tube against the outer peripheral surface of the bottom folding drum is fixed to the mounting rod via the mounting arm. The paper tube rotationally conveyed by the bottom folding drum is drawn between the left and right guide plates and the bottom folding drum, and the front side folding flap sucked by the bottom opening device is pressed against the flat plate portion of each guide plate, and the front side folding flap is turned over from the folding line and folded back by the rotation of the bottom folding drum. That is, by folding back only the front side folding flap while leaving the back side folding flap, the front and back folding flaps are flattened along the outer periphery of the bottom folding drum and developed. In this way, the paper tube with the front and back folding flaps developed by the flap folding device is conveyed integrally with the rotation of the bottom folding drum. At this time, both sides of each folding flap are clamped by the press roller and the bottom folding drum to fold each folding flap into a flat shape, and the floating of the paper tube is suppressed through a slight gap between the curved guide restricting plate provided together with the bottom folding drum and the bottom folding drum, and the paper tube is stably conveyed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] The bag-making machine with a flap folding device of Patent Document 1 needs to adjust the position and posture of a pair of left and right guide plates and the position and posture of a pair of left and right linear members according to the material and thickness of the base paper used, the size of the square-bottom bag to be manufactured, and to maintain the quality of the square-bottom bags for each predetermined number of manufactured bags.

[0007] However, in the flap folding device of Patent Document 1, a pair of left and right guide plates and a pair of left and right linear members are fixed to the mounting rod via mounting arms. Therefore, when adjusting the position and posture of the pair of left and right guide plates and the position and posture of the pair of left and right linear members in the flap folding device of Patent Document 1, it is necessary to temporarily stop the manufacturing operation of the bag-making machine to ensure the safety of the operator, and there are problems with the manufacturing operation efficiency.

[0008] Similarly, the bag-making machine with a flap folding device of Patent Document 2 needs to adjust the position and posture of a pair of left and right guide plates and the position and posture of the linear members according to the material and thickness of the base paper used, the size of the square-bottom bag to be manufactured, and to maintain the quality of the square-bottom bags for each predetermined number of manufactured bags.

[0009] However, in the flap folding device of Patent Document 1, a pair of left and right guide plates are fixed to the mounting arms, and the linear members are fixed to the mounting rod via the mounting arms. Therefore, when adjusting the position and posture of the pair of left and right guide plates and the position and posture of the linear members in the flap folding device of Patent Document 1, it is necessary to temporarily stop the manufacturing operation of the bag-making machine to ensure the safety of the operator, and there are problems with the manufacturing operation efficiency.

[0010] The problem to be solved by the present invention is to provide a flap unfolding device in a square-bottom forming device of a bag-making machine, a square-bottom forming device in a bag-making machine, and a bag-making machine that can ensure the safety of the operator and can also adjust at least a pair of guide plates of the flap unfolding device during the manufacturing operation of the bag-making machine.

Means for Solving the Problem

[0011] In the flap unfolding device of the square-bottom forming device of the bag-making machine according to the first aspect of the present invention, in order to solve the above problems, in the square-bottom forming device of the bag-making machine, the front flap of the bottom portion of the flat cylindrical body being conveyed by the bottom folding drum is folded back with respect to the back flap, and the front flap and the back flap are flattened along the outer peripheral surface of the bottom folding drum. The flap unfolding device is characterized by comprising: a pair of guide plates that guide both side portions of the flat cylindrical body along the conveying direction of the bottom folding drum and flatten the front flap and the back flap; a pair of robots having the pair of guide plates as end effectors; and a position and orientation adjustment device that adjusts the position and orientation of the pair of guide plates in the three-dimensional space to the target position and orientation through the operation of the pair of robots.

[0012] In the flap unfolding device of the square-bottom forming device of the bag-making machine according to the present invention, it is preferable that the position and orientation adjustment device includes: an input unit having an operation operation unit for inputting information on the target position and information on the target orientation of the pair of guide plates; and a control unit that controls the operations of the pair of robots based on the target position information and the target orientation information input to the input unit by the operation of the operation operation unit.

[0013] In the flap unfolding device of the square-bottom forming device of the bag-making machine according to the present invention, it is preferable that the position and orientation adjustment device performs: control to operate the pair of robots through the control unit when information on the target position and information on the target orientation are input to the input unit in order to adjust the position and orientation of the pair of guide plates; and control to stop the operations of the pair of robots through the control unit until new information on the target position and information on the target orientation are input to the input unit in order to maintain the adjusted position and orientation of the pair of guide plates.

[0014] In the flap deployment device of the square bottom forming device of the bag making machine of the present invention, the input unit has an offset operation unit that inputs offset position information for positioning a pair of the guide plates located at the target position and in the target posture to an offset position offset from the target position, and the control unit preferably positions the pair of the guide plates to the offset position offset from the target position through the operations of the pair of robots by the operation of the offset operation unit.

[0015] In the flap deployment device of the square bottom forming device of the bag making machine of the present invention, the position and posture adjustment device has a storage unit in which the target position information and the target posture information are stored, the input unit has an information extraction operation unit that extracts the target position information and the target posture information stored in the storage unit, and the control unit preferably controls the operations of the pair of robots based on the target position information and the target posture information extracted from the storage unit by the operation of the information extraction operation unit.

[0016] In the flap deployment device of the square bottom forming device of the bag making machine of the present invention, the input unit has an offset operation unit that inputs offset position information for positioning a pair of the guide plates located at the target position and in the target posture to an offset position offset from the target position, and the control unit preferably positions the pair of the guide plates to the offset position offset from the target position through the operations of the pair of robots by the operation of the offset operation unit.

[0017] In the flap deployment device of the square bottom forming device of the bag making machine of the present invention, it is preferable that the pair of the guide plates are attached to the pair of the robots via joints and buffers.

[0018] In the flap unfolding device of the square bottom forming device of the bag-making machine of the present invention, a pair of guide bars are arranged between the pair of guide plates, and guide the central portion of the flat cylindrical body along the conveying direction of the bottom folding drum, and the front flap and the rear flap are unfolded flatly. And a robot for guide bars having the pair of guide bars as end effectors, and the position and orientation adjusting device adjusts the position and orientation of the pair of guide bars in the three-dimensional space to the target position and target orientation through the operation of the robot for guide bars. It is preferable that

[0019] In the flap unfolding device of the square bottom forming device of the bag-making machine of the present invention, the position and orientation adjusting device includes an input unit having an operation operation unit for inputting information on the target position and information on the target orientation of the pair of guide bars, and by operating the operation operation unit, based on the target position information and the target orientation information input to the input unit, a control unit for controlling the operation of the guide bar robot. It is preferable that

[0020] In the flap unfolding device of the square bottom forming device of the bag-making machine of the present invention, the position and orientation adjusting device, in order to adjust the position and orientation of the pair of guide bars, when information on the target position and information on the target orientation are input to the input unit, controls the operation of the guide bar robot via the control unit, and in order to maintain the position and orientation of the adjusted pair of guide bars, until information on the target position and information on the target orientation are newly input to the input unit, controls to stop the operation of the guide bar robot via the control unit. It is preferable that

[0021] In the flap unfolding device of the square bottom forming device of the bag-making machine of the present invention, a guide bar mounting member is attached to the guide bar robot, and a pair of the guide bars are attached to the guide bar mounting member so as to be movable in at least one of the conveying direction of the bottom folding drum or a direction intersecting the conveying direction of the bottom folding drum. It is preferable that

[0022] In the flap unfolding device of the square bottom forming device of the bag making machine of the present invention, a guide bar mounting member is attached to the robot for the guide bar via a joint and a buffer member, and a pair of the guide bars are attached to the guide bar mounting member so as to be movable in at least one of the conveyance direction of the bottom folding drum or a direction intersecting the conveyance direction of the bottom folding drum. This is preferable.

[0023] In order to solve the above problems, the square bottom forming device in the bag making machine according to the first aspect of the present invention is a square bottom forming device that forms the bottom portion of a flat cylindrical body into a square bottom in a bag making machine, and includes a supply device that continuously supplies the flat cylindrical bodies at intervals, a bottom creasing device that forms a bottom folding line and a bottom folding-in line on the bottom portion of the flat cylindrical body in a direction perpendicular to the flow direction of the production line, a bottom folding drum that conveys the flat cylindrical body in the flow direction of the production line, an opening device that opens the front flap and the back flap of the bottom portion of the flat cylindrical body, the flap unfolding device of the present invention that turns the front flap inside out along the bottom folding line with respect to the back flap and spreads the front flap and the back flap flat along the outer peripheral surface of the bottom folding drum, an adhesive applying device that applies an adhesive to the front flap and the back flap that are spread flat, a raising device that raises the front flap and the back flap to which the adhesive has been applied along the bottom folding-in line, a sticking device that folds the raised front flap and the back flap along the bottom folding-in line and sticks them with the adhesive, and a pressing device that presses the front flap and the back flap stuck with the adhesive to form a square bottom.

[0024] The bag-making machine according to the first aspect of the present invention is a bag-making machine for manufacturing a gusseted bottom bag, comprising a paper feeding device for continuously feeding out a base paper wound in a roll shape in the flow direction of the production line, a flat cylindrical body forming device for forming a flat cylindrical body from the base paper fed out by the paper feeding device, and a gusseted bottom forming device of the present invention for forming a gusseted bottom from the bottom portion of the flat cylindrical body formed by the flat cylindrical body forming device.

[0025] In the bag-making machine of the present invention, it is preferable to include a handle device for forming a handle and attaching the handle to a predetermined position of the mouth portion of the gusseted bottom bag.

Advantages of the Invention

[0026] The flap unfolding device in the gusseted bottom forming device of the bag-making machine of the present invention, the gusseted bottom forming device in the bag-making machine, and the bag-making machine can ensure the safety of the operator, and moreover, at least a pair of guide plates of the flap unfolding device can be adjusted even during the manufacturing operation of the bag-making machine.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

BEST MODE FOR CARRYING OUT THE INVENTION

[0028] (Description of the Configuration of the Embodiment) Hereinafter, an example of an embodiment (example) of a flap unfolding device (hereinafter referred to as the "flap unfolding device") in a square-bottom forming device of a bag-making machine according to the present invention, an example of an embodiment (example) of a square-bottom forming device (hereinafter referred to as the "square-bottom forming device") in a bag-making machine according to the present invention, and an example of an embodiment (example) of a bag-making machine according to the present invention will be described with reference to the drawings. Note that the present invention is not limited by this embodiment. In addition, the constituent elements in the following embodiments include those that can be replaced and are easy for those skilled in the art, or those that are substantially the same.

[0029] In this specification, the downstream side of the flow of the base paper, flat cylinder, and square-bottom bag manufacturing line is defined as the front side, and the upstream side is defined as the rear side. When looking from the rear side on the upstream side to the front side on the downstream side, the left side is defined as the left side, and the right side is defined as the right side. The upper side in the vertical direction is defined as the upper side, and the lower side in the vertical direction is defined as the lower side.

[0030] Note that since the drawings are schematic diagrams showing the flap deployment device, the gusseted bottom forming device, and the bag-making machine according to the present invention, the main components of the flap deployment device, the gusseted bottom forming device, and the bag-making machine according to the present invention are illustrated, and the illustration of components other than the main components is omitted. Also, a part of the hatching is omitted. Further, in the figure, the symbol "A" of the arrow indicates the flow direction of the base paper, the flat cylindrical body, and the production line of the gusseted bottom bag, and the arrow is directed from the upstream side to the downstream side. Furthermore, in the figure, the symbol "F" is the "front side", "B" is the "rear side", "L" is the "left side", "R" is the "right side", "U" is the "upper side", and "D" is the "lower side".

[0031] (Description of the configuration of the embodiment) Hereinafter, the configurations of the flap deployment device, the gusseted bottom forming device, and the bag-making machine according to this embodiment will be described.

[0032] (Description of the bag-making machine 1) FIG. 1 is a plan view showing the bag-making machine 1, and FIG. 2 is a side view showing the bag-making machine 1. In this example, the bag-making machine 1 manufactures a gusseted bottom bag 10 with a round string handle 34 shown in FIGS. 3 and 11 (a gusseted bottom bag 10 having a round string handle 34. Hereinafter, it will be referred to as the "gusseted bottom bag 10").

[0033] As shown in FIGS. 1 and 2, the bag-making machine 1 includes a paper feeding device 2, a handle device 3, a flat cylindrical body forming device 4, and a gusseted bottom forming device 5.

[0034] (Description of the paper feeding device 2) The paper feeding device 2 is arranged at the most upstream of the bag-making machine 1. The paper feeding device 2 continuously feeds out the base paper 20 wound in a roll shape in the flow direction A of the production line. The width W2 of the base paper 20 wound in a roll shape is set based on the width W1 of the gusseted bottom bag 10 as shown in FIGS. 3 and 4.

[0035] The width W2 of the base paper 20 is the dimension in the direction perpendicular to the flow direction A of the production line of the base paper 20. Also, the material, thickness, etc. of the base paper 20 are arbitrary. Furthermore, printing or the like may be applied to the surface of the base paper 20.

[0036] (Description of the handle device 3) As shown in FIGS. 1 and 2, the handle device 3 is disposed between the paper feeding device 2 and the flat cylindrical body forming device 4. That is, the handle device 3 is disposed on the downstream side of the paper feeding device 2 and includes a handle forming device 30 and a handle attaching device 31.

[0037] The handle forming device 30 integrally forms a U-shaped round string handle portion 32 and an attaching paper 33 to form a round string handle 34 (see FIGS. 3 to 11). The attaching paper 33 also serves as a reinforcing paper.

[0038] The handle attaching device 31 applies an adhesive (not shown) to a predetermined position of the base paper 20. Further, as shown in FIG. 4, the handle attaching device 31 attaches the round string handle 34 to the applied adhesive. The round string handles 34 are arranged one on each side of the left and right of the base paper 20.

[0039] (Description of the flat cylindrical body forming device 4) As shown in FIGS. 1 and 2, the flat cylindrical body forming device 4 is disposed on the downstream side of the handle attaching device 31 and includes a crotch ribbing device 40, a crotch attaching device 41, and a cutting device 42.

[0040] The crotch ribbing device 40 provides crotch ribs 12 in the flow direction A of the production line at predetermined locations on the base paper 20 where the round string handles 34 are arranged one on each side, that is, at locations corresponding to the crotch portions 11 on both the left and right sides of the corner bottom bag 10.

[0041] The crotch attaching device 41 applies an adhesive (not shown) to at least one of the left and right side edges along the flow direction A of the production line of the base paper 20 where the round string handles 34 are arranged one on each side. Further, as shown in FIG. 5, the crotch attaching device 41 folds the base paper 20 along the crotch ribs 12 and attaches it with an adhesive to form a continuous flat cylinder 21.

[0042] As shown in FIG. 5, the cutting device 42 cuts a predetermined portion of the continuous flat cylindrical body 21, that is, a portion corresponding to the opening edge 14 of the mouth portion 13 of the gusseted bottom bag 10 shown in FIGS. 3 and 11 (see the two-dot chain line in FIG. 5), in a direction perpendicular to the flow direction A of the production line. As a result, as shown in FIG. 6, a flat cylindrical body 22 having two sets of round string handles 34 at the mouth portion 13 is formed.

[0043] (Description of the gusseted bottom forming device 5) As shown in FIGS. 1 and 2, the gusseted bottom forming device 5 is arranged on the downstream side of the flat cylindrical body forming device 4 and includes a supply device 50, a bottom creasing device 51, a bottom folding drum 52, an opening device 53, a flap unfolding device 6, an adhesive applying device 54, a lifting device 55, a sticking device 56, and a pressing device 57.

[0044] The supply device 50 is arranged on the downstream side of the flat cylindrical body forming device 4 and continuously supplies the flat cylindrical bodies 22 (see FIG. 6) formed by the flat cylindrical body forming device 4 at intervals.

[0045] The bottom creasing device 51 is arranged on the downstream side of the supply device 50. As shown in FIG. 6, the bottom creasing device 51 makes a bottom folding-back line 24 and a bottom folding-in line 25 on the bottom portion 23 of the flat cylindrical body 22 (a portion corresponding to the gusseted bottom 15 of the gusseted bottom bag 10 shown in FIGS. 3 and 11) in a direction perpendicular to the flow direction A of the production line. The bottom folding-back line 24 and the bottom folding-in line 25 are parallel to each other.

[0046] By rotation, the bottom folding drum 52 rotationally conveys the flat cylindrical body 22 with the bottom folding-back line 24 and the bottom folding-in line 25 made by the bottom creasing device 51 in the flow direction A of the production line. The bottom folding drum 52 is provided with catching claws (not shown).

[0047] The opening device 53 is arranged on the downstream side of the bottom folding line device 51 and is arranged close to the outer peripheral surface of the bottom folding drum 52. The opening device 53 is provided with a suction pad (not shown). As shown in FIG. 7, the suction pad sucks the front flap 26 of the bottom portion 23 of the flat cylinder 22 and opens it with respect to the rear flap 27 of the bottom portion 23 of the flat cylinder 22. At this time, the rear flap 27 is caught by the catching claws of the bottom folding drum 52 and is rotationally conveyed along the outer peripheral surface of the bottom folding drum 52. Thereby, as shown in FIG. 7, the front flap 26 and the rear flap 27 of the bottom portion 23 of the flat cylinder 22 are opened.

[0048] As shown in FIGS. 8 and 9, the flap unfolding device 6 folds the front flap 26 opened by the opening device 53 back along the bottom folding line 24 with respect to the rear flap 27, and unfolds the front flap 26 and the rear flap 27 flat along the outer peripheral surface of the bottom folding drum 52. The flap unfolding device 6 will be described in detail later.

[0049] The adhesive applying device 54 is located on the downstream side of the flap unfolding device 6 and is arranged on the outer peripheral surface of the bottom folding drum 52. As shown in FIG. 10, the adhesive applying device 54 applies an adhesive 28 (see the hatched portion in FIG. 10) to the front flap 26 and the rear flap 27 that are unfolded flat.

[0050] The raising device 55 is located on the downstream side of the adhesive applying device 54 and is arranged on the outer peripheral surface of the bottom folding drum 52. The raising device 55 raises the front flap 26 and the rear flap 27 to which the adhesive 28 has been applied along the bottom folding line 25.

[0051] The pasting device 56 is located on the downstream side of the raising device 55 and is arranged on the outer peripheral surface of the bottom folding drum 52. As shown in FIG. 11, the pasting device 56 folds the raised front flap 26 and rear flap 27 along the bottom folding line 25 and pastes them with the adhesive 28.

[0052] As shown in FIGS. 1 and 2, the pressing device 57 is arranged on the downstream side of the pasting device 56. As shown in FIGS. 3 and 11, the pressing device 57 presses the front flap 26 and the back flap 27 pasted with the adhesive 28 to form the square bottom 15 at the bottom portion 23 of the flat cylindrical body 22. Thereby, the square bottom bag 10 is manufactured.

[0053] (Explanation of the flap unfolding device 6)) As shown in FIGS. 12 to 24, the flap unfolding device 6 includes a pair of left and right guide plates (or binders) 60L and 60R, a pair of left and right guide bars (or tapping bars) 61L and 61R, a pair of left and right guide plate robots 62L and 62R, a guide bar robot 63, and a position and attitude adjustment device 7.

[0054] (Explanation of the pair of left and right guide plates 60L and 60R) The pair of left and right guide plates 60L and 60R are attached to the pair of left and right guide plate robots 62L and 62R as end effectors of the pair of left and right guide plate robots 62L and 62R via the joint 64 described below.

[0055] Note that the left guide plate 60L of the pair of left and right guide plates 60L and 60R may be hereinafter referred to as the "left guide plate 60L". Also, the right guide plate 60R of the pair of left and right guide plates 60L and 60R may be hereinafter referred to as the "right guide plate 60R".

[0056] The pair of left and right guide plates 60L and 60R guide the left and right sides along the rotation and conveyance direction C of the bottom folding drum 52 in the flat cylindrical body 22 in the process of folding the front flap 26 back along the bottom folding line 24 with respect to the back flap 27, and flatten the front flap 26 and the back flap 27.

[0057] FIG. 16 is an explanatory view showing the left guide plate 60L. Hereinafter, the left guide plate 60L will be described. Note that since the right guide plate 60R is symmetrical to the left guide plate 60L about the left-right axis, the description of the right guide plate 60R will be omitted. The guide plate 60L has a horizontal plate portion 600, a curved portion 601, a rising plate portion 602, and a mounting portion 603.

[0058] The horizontal plate portion 600 has a rectangular plate shape, faces the outer peripheral surface of the bottom-folded drum 52 in proximity, and presses the left and right side portions of the flat cylindrical body 22 against the outer peripheral surface of the bottom-folded drum 52.

[0059] The rising plate portion 602 is formed by raising a part of the horizontal plate portion 600 via the curved portion 601, and together with the curved portion 601, guides the left and right side portions of the flat cylindrical body 22 to the horizontal plate portion 600.

[0060] The rising plate portion 602 is integrally provided at the central portion of the upper surface of the horizontal plate portion 600, and is attached to the guide plate robots 62L and 62R via a joint 64.

[0061] (Description of the pair of left and right guide bars 61L and 61R) The pair of left and right guide bars 61L and 61R are attached to the guide bar robot 63 as end effectors of the guide bar robot 63 via a joint 64 and a guide bar attachment member 65 described later. Note that the pair of left and right guide bars 61L and 61R may hereinafter be referred to as the "central guide bars 61L and 61R".

[0062] The pair of left and right guide bars 61L and 61R are arranged between the pair of left and right guide plates 60L and 60R. The pair of left and right guide bars 61L and 61R guide the central portion of the flat cylindrical body 22 along the rotational conveyance direction C of the bottom-folded drum 52 in the process of folding the front flap 26 back along the bottom-fold line 24 with respect to the rear flap 27, and flatten the front flap 26 and the rear flap 27.

[0063] As shown in FIG. 12, the pair of left and right guide bars 61L and 61R are formed by bending the central portion 610 of a round bar member. One end portion 611 of the pair of left and right guide bars 61L and 61R is attached to a robot 63 for guide bars via a guide bar attachment member 65. The other end portions 612 of the pair of left and right guide bars 61L and 61R are arranged between the pair of left and right guide plates 60L and 60R, face each other close to the outer peripheral surface of the bottom folding drum 52, and press against the outer peripheral surface of the bottom folding drum 52 while guiding the central portion of the flat cylindrical body 22.

[0064] (Description of the pair of left and right robots 62L and 62R for guide plates) As shown in FIGS. 12 to 15, the pair of left and right robots 62L and 62R for guide plates are equipped on both left and right side portions of the ceiling gantry 60. The ceiling gantry 60 has an integral structure with a gantry (not shown) of the square bottom forming device 5, and is arranged in the left - right direction perpendicular to the flow direction A of the manufacturing line at the ceiling portion of the square bottom forming device 5.

[0065] Note that the left - hand robot 62L for guide plates among the pair of left and right robots 62L and 62R for guide plates may be hereinafter referred to as the "first robot 62L". Also, the right - hand robot 62R for guide plates among the pair of left and right robots 62L and 62R for guide plates may be hereinafter referred to as the "third robot 62R".

[0066] The pair of left and right robots 62L and 62R for guide plates include fixed arms 620L, 620R, first arms 621L, 621R, second arms 622L, 622R, third arms 623L, 623R, fourth arms 624L, 624R, fifth arms 625L, 625R, and sixth arms 626L, 626R.

[0067] The fixed arms 620L and 620R are fixed to the left and right side portions of the ceiling gantry 60. The first arms 621L and 621R are rotatably attached to the fixed arms 620L and 620R around a first axis (not shown). The second arms 622L and 622R are rotatably attached to the first arms 621L and 621R around a second axis (not shown). The third arms 623L and 623R are rotatably attached to the second arms 622L and 622R around a third axis (not shown). The fourth arms 624L and 624R are rotatably attached to the third arms 623L and 6213R around a fourth axis (not shown). The fifth arms 625L and 625R are rotatably attached to the fourth arms 624L and 624R around a fifth axis (not shown). The sixth arms 626L and 626R are rotatably attached to the fifth arms 625L and 625R around a sixth axis (not shown).

[0068] The first arms 621L and 621R to the sixth arms 626L and 626R are rotationally driven by a servo motor. A pair of left and right guide plates 60L and 60R are attached to the sixth arms 626L and 626R via joints 64.

[0069] (Description of the guide bar robot 63) As shown in FIGS. 12 to 15, the guide bar robot 63 is installed at the central portion of the ceiling gantry 60 and between a pair of left and right guide plate robots 62L and 62R. Note that the guide bar robot 63 may be hereinafter referred to as the "second robot 63".

[0070] The guide bar robot 63 includes a fixed arm 630, a first arm 631, a second arm 632, a third arm 633, a fourth arm 634, a fifth arm 635, and a sixth arm 636.

[0071] The fixed arm 630 is fixed to the central portion of the ceiling gantry 60. The first arm 631 is rotatably attached to the fixed arm 630 about a first axis (not shown). The second arm 632 is rotatably attached to the first arm 631 about a second axis (not shown). The third arm 633R is rotatably attached to the second arm 632 about a third axis (not shown). The fourth arm 634 is rotatably attached to the third arm 633 about a fourth axis (not shown). The fifth arm 635 is rotatably attached to the fourth arm 634 about a fifth axis (not shown). The sixth arm 636 is rotatably attached to the fifth arm 635 about a sixth axis (not shown).

[0072] The first arm 631 to the sixth arm 636 are rotationally driven by a servo motor. A pair of left and right guide bars 61L and 61R are attached to the sixth arm 636 via a joint 64 and a guide bar attachment member 65.

[0073] (Description of the joint 64) As shown in FIGS. 17 to 22, the joint 64 has a disk-shaped main body portion 640 and a plate-shaped attachment portion 641 integrally provided at the central portion of one surface (lower surface) of the main body portion 640.

[0074] The other surface (upper surface) of the main body portion 640 is attached to the one surface (lower surface) of the sixth arms 626L and 626R of the pair of left and right guide plate robots 62L and 62R via a buffer material 644 and bolts 643 as shown in FIGS. 17 to 20. Further, the other surface (upper surface) of the main body portion 640 is attached to the one surface (lower surface) of the sixth arm 636 of the guide bar robot 63 via a buffer material 644 and bolts 643 as shown in FIGS. 21 and 22. The buffer material 644 may be of one type or a plurality of types.

[0075] As shown in FIGS. 17, 18, and 20, the attachment portion 641 has attachment portions 603 of a pair of left and right guide plates 60L and 60R attached thereto by bolts 642. Further, as shown in FIGS. 21 and 22, the attachment portion 641 has a first attachment portion 651 of a guide bar attachment member 65 attached thereto by bolts 642.

[0076] (Description of the guide bar attachment member 65) As shown in FIGS. 21 and 22, the guide bar attachment member 65 has a main body portion 650, a first attachment portion 651, two attachment shaft portions 652, a pair of left and right slide portions 653L and 653R, and a pair of left and right second attachment portions 654L and 654R.

[0077] The main body portion 650 has a shape in which both left and right end portions of a rectangular plate member that is long in the left - right direction are bent downward. A first attachment portion 651 is integrally provided at the central portion of the upper surface of the main body portion 650. The first attachment portion 651 is attached to the attachment portion 641 of the joint 64 by bolts 642. Both end faces of the two attachment shaft portions 652 are attached to the front and rear of both left and right end portions of the main body portion 650 by bolts 655.

[0078] A pair of left and right slide portions 653L and 653R are attached to the two attachment shaft portions 652 by bolts 656 so as to be slidable in the left - right direction. A pair of left and right second attachment portions 654L and 654R are integrally provided on the inner surfaces of the pair of left and right slide portions 653L and 653R, that is, on the surfaces where the pair of left and right slide portions 653L and 653R face each other.

[0079] The pair of left and right second attachment portions 654L and 654R are slidable in the left - right direction with respect to the two attachment shaft portions 652 together with the pair of left and right slide portions 653L and 653R. One - end portions 611 of a pair of left and right guide bars 61L and 61R are attached to the pair of left and right second attachment portions 654L and 654R by bolts 657 so as to be slidable in the front - rear direction.

[0080] Incidentally, the pair of left and right guide bars 61L and 61R are attached to the guide bar attachment member 65 so as to be movable in the left-right direction and the front-rear direction, but they may be attached so as to be movable in the left-right direction or the front-rear direction.

[0081] (Description of the position and orientation adjustment device 7) The position and orientation adjustment device 7 is, for example, a personal computer, and as shown in FIG. 23, includes a first input unit 71, a second input unit 72, a third input unit 73, a storage unit 74, and a control unit 70.

[0082] The first input unit 71 adjusts the position and orientation of the left guide plate 60L via the first robot 62L by operating the operation unit. The second input unit 72 adjusts the position and orientation of the central guide bars 61L and 61R via the second robot 63 by operating the operation unit. The third input unit 73 adjusts the position and orientation of the right guide plate 60R via the third robot 62R by operating the operation unit.

[0083] Hereinafter, the first input unit 71 will be described with reference to FIG. 24. Note that the second input unit 72 and the third input unit 73 have the same configuration as that of the first input unit 71, and thus the description thereof will be omitted.

[0084] As shown in FIG. 24, the first input unit 71 includes six linear motion operation units, six rotational motion operation units, an information extraction operation unit, and an offset operation unit.

[0085] The first input unit 71 receives information on the target position and target orientation of the left guide plate 60L in the three-dimensional space when an operator, i.e., a worker, operates the six linear motion operation units and the six rotational motion operation units. Also, the first input unit 71 receives the information on the target position and target orientation stored in the storage unit 74 when the worker operates the information retrieval operation unit. Further, the first input unit 71 receives offset position information when the worker operates the offset operation unit. The offset position information is information for positioning the left guide plate 60L located at the target position and having the target orientation at an offset position offset from the target position.

[0086] In this example, the position and orientation in the three-dimensional space are represented by a right-handed orthogonal coordinate system with a predetermined point as the origin. The X-axis is in the front-rear direction, with the front side F being + and the rear side B being -. The Y-axis is in the left-right direction, with the right side R being + and the left side L being -. The Z-axis is in the up-down direction, with the upper side U being + and the lower side D being -. The clockwise rotation around the X-axis is +, and the counterclockwise rotation around the X-axis is -. The clockwise rotation around the Y-axis is +, and the counterclockwise rotation around the Y-axis is -. The clockwise rotation around the Z-axis is +, and the counterclockwise rotation around the Z-axis is -. Note that the position and orientation in the three-dimensional space may be represented by a left-handed orthogonal coordinate system.

[0087] The storage unit 74 includes, for example, a RAM, an SSD (Solid State Drive), or an HDD (Hard Disk Drive). The storage unit 74 stores information on the target position and target orientation of the left guide plate 60L, information on the target position and target orientation of the central guide bars 61L and 61R, and information on the target position and target orientation of the right guide plate 60R. The information on the target position and target orientation stored in the storage unit 74 is retrieved by operating the information retrieval operation units of the first input unit 71, the second input unit 72, and the third input unit 73.

[0088] The information on the target position and the information on the target posture stored in the memory unit 74 are information obtained by an operator operating the operation units of the first input unit 71, the second input unit 72, and the third input unit 73, information obtained by a skilled operator operating the operation units of the first input unit 71, the second input unit 72, and the third input unit 73, and the like.

[0089] The control unit 70 is composed of other elements including a CPU (Central Processing Unit) and memory parts (ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, etc.). The control unit 70 controls the operations of the first robot 62L, the second robot 63, and the third robot 62R based on the information on the target position and the target posture of the left guide plate 60L, the information on the target position and the target posture of the central guide bars 61L and 61R, and the information on the target position and the target posture of the right guide plate 60R input to the first input unit 71, the second input unit 72, and the third input unit 73 (hereinafter sometimes referred to as "input units 71, 72, 73") by operating six linear motion operation units and six rotational motion operation units.

[0090] The control unit 70 controls the operations of the first robot 62L, the second robot 63, and the third robot 62R based on the information on the target position and the target posture of the left guide plate 60L, the information on the target position and the target posture of the central guide bars 61L and 61R, and the information on the target position and the target posture of the right guide plate 60R retrieved from the memory unit 74 by operating the information retrieval operation unit and input to the input units 71, 72, 73.

[0091] The control unit 70 controls the operations of the first robot 62L, the second robot 63, and the third robot 62R based on the offset position information of the left guide plate 60L, the offset position information of the central guide bars 61L and 61R, and the offset position information of the right guide plate 60R input to the input units 71, 72, 73 by operating the offset operation unit.

[0092] That is, the control unit 70 operates the first robot 62L, the second robot 63, and the third robot 62R (hereinafter sometimes referred to as "robots 62L, 63, 62R") to position and orient the left guide plate 60L, the central guide bars 61L and 61R, and the right guide plate 60R (hereinafter sometimes referred to as "guides 60L, 61L, 61R, 60R") at the target position, which is the production line A, and then offset them from the target positions shown in FIGS. 12 to 14 to the offset positions shown in FIG. 15. The guides 60L, 61L, 61R, 60R located at the offset positions shown in FIG. 15 are in a retracted state and are significantly separated from the production line A, which is the target position.

[0093] The position and orientation adjustment device 7 controls the operation of the robots 62L, 63, 62R as follows. That is, in order to adjust the position and orientation of the guides 60L, 61L, 61R, 60R, when information on the target position and information on the target orientation are input to the input units 71, 72, 73, control is performed to operate the robots 62L, 63, 62R via the control unit 70. Also, in order to maintain the adjusted position and orientation of the guides 60L, 61L, 61R, 60R, control is performed to stop the operation of the robots 62L, 63, 62R via the control unit 70 until new information on the target position and information on the target orientation are input to the input units 71, 72, 73.

[0094] (Description of the operation of the embodiment) Hereinafter, the flap unfolding device 6, the bottom - corner forming device 5, and the bag - making machine 1 according to this embodiment are configured as described above, and their operations will be described below.

[0095] The paper - feeding device 2 of the bag - making machine 1 supplies the base paper 20. On the other hand, the handle device 3 of the bag - making machine 1 forms a round - string handle 34 composed of a round - string handle portion 32 and an attaching paper 33, and attaches the round - string handle 34 to the base paper 20 (see FIG. 4).

[0096] The flat cylinder forming device 4 of the bag making machine 1 forms the base paper 20 with the round string handle 34 attached thereto into a continuous flat cylinder 21 (see Fig. 5), and forms a flat cylinder 22 having two sets of round string handles 34 at the mouth portion 13 from the continuous flat cylinder 21 (see Fig. 6).

[0097] The square bottom forming device 5 of the bag making machine 1 opens the bottom portion 23 of the flat cylinder 22 (see Fig. 7), and the opened bottom portion 23 of the flat cylinder 22 is flattened by the flap unfolding device 6 (see Figs. 8 and 9), and the flattened bottom portion 23 of the flat cylinder 22 is attached (see Figs. 10 and 11). Thereby, the square bottom bag 10 is formed (see Figs. 3 and 11).

[0098] When the bag making machine 1 forms the square bottom bag 10 from a new base paper 20, the operator operates the position and posture adjusting device 7 of the flap unfolding device 6 to position the guides 60L, 61L, 61R, 60R at the optimal target positions on the new base paper 20 and set them to the target postures. That is, the base papers 20 differ in characteristics such as material, thickness, lot, and the recycling rate of waste paper. Therefore, it is necessary to operate the position and posture adjusting device 7 for each base paper 20 to adjust the positions and postures of the guides 60L, 61L, 61R, 60R.

[0099] Here, the operation of the position and posture adjusting device 7 includes the case where an operator operates it and the case where information stored in the storage unit 74 is retrieved.

[0100] During the manufacturing process of the bag making machine 1, the formed square bottom bag 10 is arbitrarily taken out to check the quality. If the square bottom bag 10 is formed as designed, the manufacturing process proceeds as it is. However, if the square bottom bag 10 is not formed as designed, it is necessary to operate the position and posture adjusting device 7 to adjust the positions and postures of the guides 60L, 61L, 61R, 60R again and position the guides 60L, 61L, 61R, 60R at the optimal target positions and set them to the target postures.

[0101] Also, during the manufacturing process of the bag-making machine 1, based on the information stored in the storage unit 74, for a predetermined number of bottom-corner bags 10, for example, every one hundred units or every one thousand units, the positions and postures of the guides 60L, 61L, 61R, and 60R are automatically adjusted to reposition the guides 60L, 61L, 61R, and 60R at the optimal target positions and in the target postures.

[0102] Furthermore, as a case of operating the position and posture adjustment device 7 to adjust the positions and postures of the guides 60L, 61L, 61R, and 60R, in addition to the above case, it is also performed depending on the environment and season when the bag-making machine 1 is operating, and also after the guides 60L, 61L, 61R, and 60R are replaced with separate guides 60L, 61L, 61R, and 60R.

[0103] Here, when the position and posture adjustment device 7 is operated, the robots 62L, 63, and 62R operate to adjust the guides 60L, 61L, 61R, and 60R to be positioned at the optimal target positions and in the optimal target postures. Also, until the position and posture adjustment device 7 is operated next, the robots 62L, 63, and 62R are in a stopped state, and the guides 60L, 61L, 61R, and 60R are maintained in the state of being positioned at the optimal target positions and in the optimal target postures.

[0104] (Description of the effects of the embodiment) Hereinafter, the flap deployment device 6, the bottom-corner forming device 5, and the bag-making machine 1 according to this embodiment have the above-described configurations and operations, and the effects thereof will be described below.

[0105] The flap deployment device 6 according to this embodiment includes a pair of left and right guide plates 60L and 60R, a pair of left and right guide plate robots 62L and 62R using the pair of left and right guide plates 60L and 60R as end effectors, a pair of left and right guide bars 61L and 61R disposed between the pair of left and right guide plates 60L and 60R, a guide bar robot 63 using the pair of left and right guide bars 61L and 61R as end effectors, and a position and posture adjustment device 7.

[0106] The position and orientation adjustment device 7 adjusts the positions and orientations of the pair of left and right guide plates 60L and 60R in the three-dimensional space to the target positions and target orientations through the operations of the pair of left and right guide plate robots 62L and 62R, and adjusts the positions and orientations of the pair of left and right guide bars 61L and 61R in the three-dimensional space to the target positions and target orientations through the operation of the guide bar robot 63.

[0107] As a result, in the flap deployment device 6 according to this embodiment, since the robots 62L, 63, and 62R can perform the adjustment work of the guides 60L, 61L, 61R, and 60R that the operator performs, the safety of the operator can be ensured.

[0108] Moreover, the flap deployment device 6 according to this embodiment can adjust the guides 60L, 61L, 61R, and 60R to the optimal target positions and target orientations in a short time. As a result, the flap deployment device 6 according to this embodiment can suppress the manufacturing loss of the gusseted bottom bag 10 due to the lengthening of the adjustment time, and can improve the manufacturing efficiency of the bag-making machine 1. That is, the flap deployment device 6 according to this embodiment can suppress the manufacturing loss of the gusseted bottom bag 10 and the downtime of the bag-making machine 1.

[0109] In the flap deployment device 6 according to this embodiment, the position and orientation adjustment device 7 includes a first input unit 71, a second input unit 72, and a third input unit 73 having an operation operation unit for inputting information on the target positions and information on the target orientations of the guides 60L, 61L, 61R, and 60R, and based on the target position information and target orientation information input to the first input unit 71, the second input unit 72, and the third input unit 73 by the operation of the operation operation unit, a control unit 70 that controls the operations of the robots 62L, 63, and 62R.

[0110] As a result, the flap deployment device 6 according to this embodiment can position the guides 60L, 61L, 61R, and 60R at the target positions and attach the target orientations individually.

[0111] In the flap deployment device 6 according to this embodiment, when information on the target position and information on the target orientation are input to the input units 71, 72, 73 in order to adjust the positions and orientations of the guides 60L, 61L, 61R, 60R, the position and orientation adjustment device 7 performs control to operate the robots 62L, 63, 62R via the control unit 70, and performs control to stop the operation of the robots 62L, 63, 62R via the control unit 70 until new information on the target position and information on the target orientation are newly input to the input units 71, 72, 73 in order to maintain the adjusted positions and orientations of the guides 60L, 61L, 61R, 60R.

[0112] As a result, when the position and orientation adjustment device 7 is operated in the flap deployment device 6 according to this embodiment, the robots 62L, 63, 62R operate, and the guides 60L, 61L, 61R, 60R are adjusted to be located at the optimal target positions and to assume the optimal target orientations. Thereby, the flap deployment device 6 according to this embodiment can adjust the positions and orientations of the guides 60L, 61L, 61R, 60R by operating the robots 62L, 63, 62R on behalf of the operator without stopping the operation of the bag making machine 1, and can ensure the safety of the operator.

[0113] Moreover, since the flap deployment device 6 according to this embodiment can adjust the positions and orientations of the guides 60L, 61L, 61R, 60R through the operation of the robots 62L, 63, 62R on behalf of the operator while operating the bag making machine 1, it can grasp the delicate state and changes of the gusseted bottom 15 of the gusseted bottom bag 10. Thereby, the flap deployment device 6 according to this embodiment can shorten the adjustment work time of the guides 60L, 61L, 61R, 60R and improve the manufacturing efficiency of the gusseted bottom bag 10.

[0114] In addition, the flap deployment device 6 according to this embodiment stops the operations of the robots 62L, 63, and 62R until the position and orientation adjustment device 7 is next operated, and maintains the adjusted positions and orientations of the guides 60L, 61L, 61R, and 60R. Thereby, the flap deployment device 6 according to this embodiment can continue the operation of the bag-making machine 1 from the adjustment work of the positions and orientations of the guides 60L, 61L, 61R, and 60R, and can improve the manufacturing efficiency of the gusseted bag 10.

[0115] In the flap deployment device 6 according to this embodiment, the position and orientation adjustment device 7 has a storage unit 74 in which target position information and target orientation information are stored. The input units 71, 72, and 73 have an information extraction operation unit that extracts the target position information and target orientation information stored in the storage unit 74. The control unit 70 controls the operations of the robots 62L, 63, and 62R based on the target position information and target orientation information extracted from the storage unit 74 by the operation of the information extraction operation unit.

[0116] As a result, the flap deployment device 6 according to this embodiment can adjust the guides 60L, 61L, 61R, and 60R in a shorter time than the adjustment by the operation of the operation unit. Thereby, the flap deployment device 6 according to this embodiment can suppress the manufacturing loss of the gusseted bag 10 due to the increase in the adjustment time, and can improve the manufacturing efficiency of the bag-making machine 1.

[0117] Here, since the target position information and target orientation information are digitized and stored in a database based on the adjustments made by skilled workers, it is possible to reproduce the adjustments of the highly skilled techniques acquired by the skilled workers over the years, and improve the manufacturing efficiency. Moreover, by associating the adjustment information of the skilled workers with information such as the characteristics and properties of the base paper 20, and information such as the environment and season in which the bag-making machine 1 is operated, it is possible to obtain even more accurate adjustments and improve the manufacturing efficiency.

[0118] In the flap deployment device 6 according to this embodiment, the first input unit 71, the second input unit 72, and the third input unit 73 have an offset operation unit that inputs offset position information for positioning the guides 60L, 61L, 61R, 60R that are located at the target position and in the target posture to an offset position offset from the target position. The control unit 70, through the operation of the offset operation unit, positions the guides 60L, 61L, 61R, 60R at the offset position shown in FIG. 15, which is offset from the target position shown in FIGS. 12 to 14, via the operations of the robots 62L, 63, 62R.

[0119] As a result, in the flap deployment device 6 according to this embodiment, when the base paper 20, the round string handle 34, or the corner-bottom bag 10 gets jammed, or when changing the mold of the corner-bottom bag 10, the guides 60L, 61L, 61R, 60R can be offset far from the production line A as shown in FIG. 15. Thereby, the flap deployment device 6 according to this embodiment can easily perform the clogging removal work or the mold change work.

[0120] The flap deployment device 6 according to this embodiment attaches the pair of left and right guide plates 60L, 60 to the pair of left and right guide plate robots 62L, 62R via the joints 64 and the buffer materials 644. As a result, in the flap deployment device 6 according to this embodiment, when the pair of left and right guide plates 60L, 60 press the flat cylindrical body 22 against the outer peripheral surface of the bottom folding drum 52, the buffer material 644 buffers, allowing the flat cylindrical body 22 to conform to the outer peripheral surface of the bottom folding drum 52, and a high-precision corner-bottom bag 10 can be manufactured.

[0121] The flap deployment device 6 according to this embodiment attaches a guide bar attachment member 65 to the robot 63 for guide bars, and attaches a pair of left and right guide bars 61L and 61R to the guide bar attachment member 65 so as to be movable in the conveyance direction (front-rear direction) of the bottom folding drum 52 and in a direction (left-right direction) intersecting the conveyance direction of the bottom folding drum 52. As a result, in the flap deployment device 6 according to this embodiment, the positions of the pair of left and right guide bars 61L and 61R can be manually adjusted in the left-right direction and the front-rear direction separately with respect to one robot 63 for guide bars.

[0122] Since the flap deployment device 6 according to this embodiment attaches a pair of left and right guide bars 61L and 61R to one robot 63 for guide bars via a guide bar attachment member 65, only one expensive robot is required, so the manufacturing cost of the device can be suppressed.

[0123] The flap deployment device 6 according to this embodiment attaches the guide bar attachment member 65 to the robot 63 for guide bars via a cushioning material 644. As a result, in the flap deployment device 6 according to this embodiment, when the pair of left and right guide bars 61L and 61R press the flat cylindrical body 22 against the outer peripheral surface of the bottom folding drum 52, the cushioning material 644 cushions, and the flat cylindrical body 22 conforms to the outer peripheral surface of the bottom folding drum 52, and a high-precision gusseted bag 10 can be manufactured.

[0124] Since the gusseted bottom forming device 5 according to this embodiment includes the flap deployment device 6 according to this embodiment, the same effects as those of the flap deployment device 6 according to this embodiment can be achieved.

[0125] Since the bag-making machine 1 according to this embodiment includes the gusseted bottom forming device 5 according to this embodiment, the same effects as those of the gusseted bottom forming device 5 according to this embodiment and the flap deployment device 6 according to this embodiment can be achieved.

[0126] (Comparison and explanation between the embodiment and the comparative example) Hereinafter, the adjustment of the positions and postures of the guides 60L, 61L, 61R, and 60R in the three-dimensional space by the flap deployment device 6 according to this embodiment and the adjustment of the positions and postures of the guides 60L, 61L, 61R, and 60R in the three-dimensional space by the flap deployment device of the comparative example will be described by comparison. Note that, among the components of the flap deployment device of the comparative example, the same reference numerals are given to the components similar to those of the flap deployment device 6 according to this embodiment.

[0127] In the flap deployment device 6 according to this embodiment, when an operator operates the position and posture adjustment device 7, the robots 62L, 63, and 62R adjust the positions and postures of the guides 60L, 61L, 61R, and 60R in the three-dimensional space on behalf of the operator. In contrast, in the flap deployment device of the comparative example, the operator manually adjusts the positions and postures of the guides 60L, 61L, 61R, and 60R in the three-dimensional space.

[0128] Therefore, in the flap deployment device of the comparative example, when adjusting the guides 60L, 61L, 61R, and 60R, it is necessary to stop the operation of the entire bag-making machine 1 in order to ensure the safety of the operator. As a result, in the flap deployment device of the comparative example, as the adjustment of the guides 60L, 61L, 61R, and 60R increases, the loss of the gusseted bottom bag 10 and the downtime of the bag-making machine 1 increase.

[0129] Moreover, since the adjustment of the guides 60L, 61L, 61R, and 60R needs to be performed for the position in the X-axis direction, the position in the Y-axis direction, the position in the Z-axis direction, and the postures around the X-axis, the Y-axis, and the Z-axis in the three-dimensional space, the adjustment work is complicated. When the operator performs this complicated adjustment work, it takes a long time, and there are variations in the adjustment accuracy among operators, resulting in variations in the quality of the gusseted bottom bags 10 produced.

[0130] On the one hand, the flap deployment device 6 according to this embodiment allows an operator to operate the position and orientation adjustment device 7 to adjust the position and orientation of the guides 60L, 61L, 61R, 60R in the three-dimensional space by the robots 62L, 63, 62R. Therefore, the flap deployment device 6 according to this embodiment can perform the adjustment work by the robots 62L, 63, 62R without stopping the operation of the entire bag-making machine 1, and can suppress the loss of the gusseted bag 10 and the downtime of the bag-making machine 1. Moreover, in the flap deployment device 6 according to this embodiment, the robots 62L, 63, 62R perform the adjustment work based on the control of the position and orientation adjustment device 7 only by the operator operating the position and orientation adjustment device 7. Therefore, compared with the flap deployment device of the comparative example, the working time can be shortened, and the variation in the adjustment accuracy by the operator and the variation in the quality of the gusseted bag 10 can be suppressed.

[0131] (Description of examples other than the embodiment) The bag-making machine 1, the gusseted bottom forming device 5, and the flap deployment device 6 of the present invention are not limited to the above-described embodiment.

[0132] In the above-described embodiment, an example is described in which a pair of left and right guide plates 60L and 60R, a pair of left and right robots 62L and 62R for the guide plates, and a pair of left and right guide bars 61L and 61R and a robot 63 for the guide bars are provided. However, in the present invention, it may be configured without the pair of left and right guide bars 61L and 61R and the robot 63 for the guide bars, and with only the pair of left and right guide plates 60L and 60R and the pair of left and right robots 62L and 62R for the guide plates. Further, in the present invention, it may be configured without the robot 63 for the guide bars, and with the pair of left and right guide plates 60L and 60R, the pair of left and right robots 62L and 62R for the guide plates, and the pair of left and right guide bars 61L and 61R. That is, in the present invention, it is sufficient as long as at least the positions and postures of the pair of left and right guide plates 60L and 60R can be adjusted by the pair of left and right robots 62L and 62R for the guide plates. The bag-making machine, the square-bottom forming device, and the flap unfolding device in examples other than this embodiment can achieve substantially the same effects as those of the bag-making machine 1, the square-bottom forming device 5, and the flap unfolding device 6 in the above-described embodiment.

[0133] In the above-described embodiment, the bag-making machine 1 for manufacturing the square-bottom bag 10 with the round string handle 34 shown in FIG. 3 is described. However, in the present invention, the bag-making machine may be a bag-making machine other than the bag-making machine 1 for manufacturing the square-bottom bag 10 with the round string handle 34 shown in FIG. 3. For example, a bag-making machine for manufacturing the square-bottom bag 10A with the protruding flat string handle 34A (the square-bottom bag 10A provided with the protruding flat string handle 34A) shown in FIG. 25, or a bag-making machine for manufacturing a square-bottom bag with an inwardly folded flat string handle (a square-bottom bag provided with an inwardly folded flat string handle) not shown in the drawings, or a bag-making machine for manufacturing a square-bottom bag without a handle (a raw square-bottom bag) not shown in the drawings may be used.

[0134] Here, a bag-making machine for manufacturing a gusseted bottom bag 10A with an external flat string handle 34A and a bag-making machine for manufacturing a gusseted bottom bag with an internal folded flat string handle need to be equipped with a handle forming device for forming a flat string handle 32A instead of the handle forming device 30 for forming a round string handle 34. In addition, a bag-making machine for manufacturing a gusseted bottom bag without a handle does not require a handle forming device and a handle attaching device.

[0135] In the above embodiment, an example is described in which a pair of left and right guide bars 61L and 61R are attached to a single guide bar robot 63 via a guide bar attachment member 65. However, in the present invention, a pair of left and right guide bars 61L and 61R may be attached to a pair of left and right guide bar robots via a guide bar attachment member or joint 64. In this case, a pair of left and right guide bars 61L and 61R can be adjusted individually and more finely. Thereby, it is possible to cope with the case where finer adjustment of a pair of left and right guide bars 61L and 61R is required.

[0136] In the above embodiment, it has a storage unit 74. However, in the present invention, it may not have a storage unit 74.

Explanation of Reference Numerals

[0137] 1 Bag-making machine 10 Gusseted bottom bag 11 Crotch portion 12 Crotch rib 13 Mouth portion 14 Opening edge 15 Gusseted bottom 2 Paper feeding device 20 Base paper 21 Continuous flat cylinder 22 Flat cylinder 23 Bottom portion 24 Bottom folding line 25 Bottom folding-in line 26 Front flap 27 Back flap 28 Adhesive 3 Handle device 30 Handle forming device 31 Handle pasting device 32 Round string handle part 33 Pasting paper 34 Round string handle 4 Flat cylinder forming device 40 Crotch rib attaching device 41 Crotch pasting device 42 Cutting device 5 Corner bottom forming device 50 Feeding device 51 Bottom fold line attaching device 52 Bottom folding drum 53 Opening device 54 Adhesive coating device 55 Lifting device 56 Pasting device 57 Pressing device 6 Flap unfolding device 60L, 60R Pair of left and right guide plates 600 Horizontal plate part 601 Curved part 602 Upright plate part 603 Mounting part 61L, 61R Pair of left and right guide bars 610 Central part 611 One end part 612 The other end part 62L, 62R Pair of left and right guide plate robots 620L, 620R Fixed arms 621L, 621R First arms 622L, 622R Second arms 623L, 623R Third arms 624L, 624R Fourth arms 625L, 625R Fifth arms 626L, 626R Sixth arms 63 Guide bar robot 630 Fixed arm 631 First arm 632 Second arm 633 Third arm 634 Fourth Arm 635 Fifth Arm 636 Sixth Arm 64 Joint 640 Body Part 641 Mounting Part 642 Bolt Nut 643 Bolt 644 Buffer Material 65 Guide Bar Mounting Member 650 Body Part 651 First Mounting Part 652 Mounting Shaft Part 653L, 653R Pair of Left and Right Slide Parts 654L, 654R Pair of Left and Right Second Mounting Parts 655 Bolt 656 Bolt Nut 657 Bolt Nut 7 Position and Posture Adjustment Device 70 Control Unit 71 First Input Unit 72 Second Input Unit 73 Third Input Unit 74 Memory Unit 10A Gusseted Bottom Bag 32A Flat String Handle Part 34A Flat String Handle A Flow Direction of the Manufacturing Line for Base Paper, Flat Cylindrical Body, and Gusseted Bottom Bag B Rear Side C Rotational Conveying Direction of the Bottom Folding Drum 52 D Lower Side F Front Side L Left Side R Right Side U Upper Side W1 Width of the Gusseted Bottom Bag 10 W2 Width of the Base Paper 20

Claims

1. In a corner-bottom forming device of a bag-making machine, a flap unfolding device that turns the front flap of the bottom part of a flat cylinder being conveyed by a bottom folding drum inside out with respect to the back flap, and unfolds the front flap and the back flap flat along the outer peripheral surface of the bottom folding drum, comprising: a pair of guide plates that guide both side portions of the flat cylinder along the conveying direction of the bottom folding drum, and unfold the front flap and the back flap flat; a pair of robots having the pair of guide plates as end effectors; a position and orientation adjustment device that adjusts the position and orientation of the pair of guide plates in a three-dimensional space to a target position and a target orientation via the operation of the pair of robots; and a flap unfolding device in a corner-bottom forming device of a bag-making machine, characterized by the above.

2. The position and orientation adjustment device comprises an input unit having an operation operation unit for inputting information on the target position and information on the target orientation of the pair of guide plates, and a control unit that controls the operation of the pair of robots based on the information on the target position and the information on the target orientation input to the input unit by the operation of the operation operation unit; and a flap unfolding device in a corner-bottom forming device of a bag-making machine according to Claim 1, characterized by the above.

3. The position and orientation adjustment device performs control to operate the pair of robots via the control unit when information on the target position and information on the target orientation are input to the input unit in order to adjust the position and orientation of the pair of guide plates, and performs control to stop the operation of the pair of robots via the control unit until new information on the target position and information on the target orientation are input to the input unit in order to maintain the adjusted position and orientation of the pair of guide plates; and a flap unfolding device in a corner-bottom forming device of a bag-making machine according to Claim 2, characterized by the above.

4. The input unit has an offset operation unit for inputting offset position information for positioning a pair of guide plates located at the target position and in the target orientation to an offset position offset from the target position, and the control unit positions the pair of guide plates at an offset position offset from the target position via the operation of the pair of robots by the operation of the offset operation unit. The flap unfolding device in the corner bottom forming device of the bag making machine according to claim 2, characterized in that.

5. The position and orientation adjustment device has a storage unit in which the target position information and the target orientation information are stored, The input unit has an information extraction operation unit that extracts the target position information and the target orientation information stored in the storage unit, The control unit controls the operations of the pair of robots based on the target position information and the target orientation information retrieved from the storage unit by the operation of the information extraction operation unit. The flap unfolding device in the corner bottom forming device of the bag making machine according to claim 2, characterized in that.

6. The input unit has an offset operation unit that inputs offset position information for positioning a pair of the guide plates located at the target position and having the target orientation to an offset position offset from the target position, The control unit positions a pair of the guide plates at an offset position offset from the target position through the operations of the pair of robots by the operation of the offset operation unit. The flap unfolding device in the corner bottom forming device of the bag making machine according to claim 5, characterized in that.

7. A pair of the guide plates are attached to a pair of the robots via joints and buffers. The flap unfolding device in the corner bottom forming device of the bag making machine according to claim 1, characterized in that.

8. A pair of guide bars that are arranged between a pair of the guide plates, guide a central portion of the flat cylindrical body along the conveying direction of the bottom folding drum, and planarize and unfold the front flap and the back flap; A robot for guide bars having the pair of guide bars as end effectors; Comprising: The position and orientation adjustment device adjusts the position and orientation of the pair of guide bars in the three-dimensional space to the target position and the target orientation through the operation of the robot for guide bars. The flap unfolding device in the corner bottom forming device of the bag making machine according to claim 1, characterized in that.

9. The position and orientation adjustment device has an input unit having an operation operation unit for inputting information on the target position and information on the target orientation of the pair of guide bars; a control unit that controls the operation of the robot for guide bars based on the information on the target position and the information on the target orientation input to the input unit by the operation of the operation operation unit. having, a flap unfolding device in a gusset bottom forming device of a bag making machine according to claim 8, characterized in that.

10. The position and orientation adjusting device, in order to adjust the position and the orientation of the pair of guide bars, when information on the target position and information on the target orientation are input to the input unit, control for operating the robot for the guide bar via the control unit; in order to maintain the position and the orientation of the pair of adjusted guide bars, control for stopping the operation of the robot for the guide bar via the control unit until information on the target position and information on the target orientation are newly input to the input unit; performing a flap unfolding device in a gusset bottom forming device of a bag making machine according to claim 9, characterized in that.

11. a guide bar attachment member is attached to the robot for the guide bar, a pair of the guide bars are attached to the guide bar attachment member so as to be movable in at least one of the conveyance direction of the bottom folding drum or a direction intersecting the conveyance direction of the bottom folding drum. a flap unfolding device in a gusset bottom forming device of a bag making machine according to claim 8, characterized in that.

12. a guide bar attachment member is attached to the robot for the guide bar via a joint and a buffer member, a pair of the guide bars are attached to the guide bar attachment member so as to be movable in at least one of the conveyance direction of the bottom folding drum or a direction intersecting the conveyance direction of the bottom folding drum. a flap unfolding device in a gusset bottom forming device of a bag making machine according to claim 8, characterized in that.

13. In a bag making machine, a gusset bottom forming device for forming the bottom portion of a flat cylindrical body into a gusset bottom, a supply device for continuously supplying the flat cylindrical bodies at intervals; a bottom creasing device for forming a bottom folding line and a bottom folding-in line on the bottom portion of the flat cylindrical body in a direction perpendicular to the flow direction of the production line; a bottom folding drum for conveying the flat cylindrical body in the flow direction of the production line; an opening device for opening the front flap and the back flap of the bottom portion of the flat cylindrical body The flap unfolding device according to any one of claims 1 to 12, wherein the front flap is folded back inside out with respect to the back flap along the bottom folding line, and the front flap and the back flap are flattened along the outer peripheral surface of the bottom folding drum. An adhesive applicator for applying an adhesive to the front flap and the back flap that are flattened. A raising device for raising the front flap and the back flap to which the adhesive has been applied along the bottom folding line. A sticking device for folding the raised front flap and back flap along the bottom folding line and sticking them with the adhesive. A pressing device for pressing the front flap and the back flap stuck with the adhesive to form the corner bottom. Comprising A corner bottom forming device in a bag making machine, characterized in that.

14. A bag making machine for manufacturing a corner bottom bag, A paper feeding device for continuously feeding out a roll of base paper in the flow direction of the production line, A flat cylindrical body forming device for forming a flat cylindrical body from the base paper fed out from the paper feeding device, The corner bottom forming device according to claim 13 for forming a corner bottom from the bottom portion of the flat cylindrical body formed by the flat cylindrical body forming device, Comprising A bag making machine, characterized in that.

15. Comprising a handle device for forming a handle and attaching the handle to a predetermined position at the mouth portion of the corner bottom bag. The bag making machine according to claim 14, characterized in that.

Images