Self-propelled film roll replacing device, film roll replacing system, and film roll replacing method

Abstract

To improve the efficiency of automatically replacing film rolls in bag-making packaging machines.SOLUTION: A self-propelled film roll replacing device 10 includes: a support unit 40 that supports a replacement film roll FR2; a transfer mechanism 50 that transfers the replacement film roll FR2 from the support unit 40 to a bag-making packaging machine 1; a moving device 70 configured to be able to travel around the bag-making packaging machine 1; and a replacement control unit 80 that controls the operation of the moving device 70 and the transfer mechanism 50. The support unit 40 and the transfer mechanism 50 are integrally loaded on the moving device 70. The replacement control unit 80 causes the moving device 70 to travel so that the support unit 40 that supports the replacement film roll FR2 approaches the bag-making packaging machine 1, operates the transfer mechanism 50 to transfer the replacement film roll FR2 from the support unit 40 that is brought close to the bag-making packaging machine 1 to the bag-making packaging machine 1, and causes the moving device 70 to travel so that the support unit 40 that is not supporting the replacement film roll FR2 moves away from the bag-making packaging machine 1.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a self-propelled film roll changing device, a film roll changing system, and a film roll changing method. [Background technology]

[0002] An automatic consumable goods transport system is known that includes rolled film loading tables installed next to multiple vertical pillow packaging machines, and an automated guided vehicle that transports the rolled film consumed by the vertical pillow packaging machines, in which the automated guided vehicle automatically transports the rolled film to the rolled film loading table (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-173894 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described conventional technology, a roll film carrying-in table is installed next to each of the vertical pillow packaging machines, narrowing the space around the vertical pillow packaging machines, such as the aisles, etc. As a result, for example, an automated guided vehicle may avoid the roll film carrying-in table, which may hinder the efficiency of transportation.

[0005] An object of the present invention is to provide a self-propelled film roll changing device, a film roll changing system, and a film roll changing method that can improve the efficiency of automatically changing film rolls in a bag-making packaging machine. [Means for solving the problem]

[0006] (1) One aspect of the present invention is a self-propelled film roll changing device for changing a film roll in a bag-making and packaging machine that pulls out film from a film roll around which the film is wound to make bags, the device comprising: a support section that supports a replacement film roll, which is a replacement film roll; a transfer mechanism that transfers the replacement film roll from the support section to the bag-making and packaging machine; a moving device configured to be able to travel around the bag-making and packaging machine; and a control section that controls the operation of the moving device and the transfer mechanism, the moving device having the support section and the transfer mechanism integrally loaded thereon; the control section causing the moving device to move the support section that supports the replacement film roll closer to the bag-making and packaging machine, operating the transfer mechanism to transfer the replacement film roll from the support section that has been brought close to the bag-making and packaging machine to the bag-making and packaging machine, and causing the moving device to move the support section that is not supporting the replacement film roll away from the bag-making and packaging machine.

[0007] In a self-propelled film roll changing device according to one aspect of the present invention, the support unit and the transfer mechanism are integrally mounted on the moving device. The moving device is caused to travel so as to move the support unit not supporting the replacement film roll away from the form-fill-seal machine. Thus, once the replacement film roll has been transferred to the form-fill-seal machine, the moving device, along with the integrally mounted support unit and transfer mechanism, moves away from the form-fill-seal machine. This prevents the space around the form-fill-seal machine from being occupied and narrowed, compared to a configuration in which, for example, an exchange device that transfers the replacement film roll is located adjacent to the form-fill-seal machine. As a result, the space around the form-fill-seal machine can be utilized for purposes such as an aisle, and the movement of the self-propelled film roll changing device is less likely to be obstructed, thereby improving the efficiency of automatically changing film rolls in the form-fill-seal machine.

[0008] (2) In the above (1), the support unit and the transfer mechanism may be mounted on the moving device so as to be rotatable relative to the moving device around a vertical axis. In this case, the moving device can change direction while maintaining the orientation of the support unit and the transfer mechanism. As a result, it is possible to save the extra space required for changing the direction of the support unit and the transfer mechanism.

[0009] (3) In the above (1) or (2), the support section may include a support member that supports the replacement film roll from below so that the width direction of the replacement film roll intersects the vertical direction, and a rail section that supports the support member so that it can move along the width direction of the replacement film roll. In this case, movement of the support member allows the replacement film roll supported by the support member to move along a direction intersecting the vertical direction. This makes it possible to transfer the replacement film roll to a form-fill-seal machine located on either side of the direction in which the support member moves.

[0010] (4) Another aspect of the present invention is a film roll changing system including any one of the self-propelled film roll changing devices described above in (1) to (3) and a form-fill-seal machine, and may further include a guide unit that regulates the direction of movement of the support unit that supports the replacement film roll when the support unit moves closer to the form-fill-seal machine. In this case, the direction of movement of the replacement film roll supported by the support unit is regulated, thereby improving the accuracy of positioning the replacement film roll before transferring it to the form-fill-seal machine.

[0011] (5) In the above (4), the guide unit may include a long guide rail and a guide positioning unit that guides and positions the guide rail. The guide rail may be provided on a self-propelled film roll changer, and the guide positioning unit may be fixed to a film roll position adjustment mechanism provided on the bag-making packaging machine that adjusts the position of the film roll. In this case, the guide rail is guided by the guide positioning unit, thereby determining the movement direction of the support unit. The guide positioning unit positions the guide rail, thereby determining the position of the replacement film roll to be transferred to the bag-making packaging machine according to the position of the guide positioning unit. Here, if the position of the film roll has been adjusted in advance by the film roll position adjustment mechanism, the same adjustment is reflected in the position of the replacement film roll to be transferred to the bag-making packaging machine via the guide positioning unit fixed to the film roll position adjustment mechanism. Therefore, it is possible to avoid adjusting the position of the film roll to prevent film meandering, for example, by controlling the travel operation of the moving device.

[0012] (6) Another aspect of the present invention is a film roll changing method for changing a film roll in a make-fill-seal machine that pulls out film from a film roll around which the film is wound to make bags, the method comprising the steps of: using a self-propelled film roll changing device in which a support part that supports a replacement film roll, which is a replacement film roll, and a transfer mechanism that transfers the replacement film roll from the support part to the make-fill-seal machine are integrally loaded on a moving device; moving the moving device to a predetermined transfer position on a passageway around the make-fill-seal machine to position the support part and the transfer mechanism; transferring the replacement film roll from the positioned support part to the make-fill-seal machine by the transfer mechanism; and, after the transfer mechanism has finished transferring the replacement film roll to the make-fill-seal machine, moving the moving device so as to move away from the make-fill-seal machine.

[0013] In another aspect of the present invention, a film roll changing method uses a self-propelled film roll changing device in which a support unit and a transfer mechanism are integrally mounted on a moving device. The moving device is moved to a predetermined transfer position on an aisle around the form-fill-seal machine, and the transfer mechanism transfers a replacement film roll from the positioned support unit to the form-fill-seal machine. After the transfer mechanism has finished transferring the replacement film roll to the form-fill-seal machine, the moving device is moved away from the form-fill-seal machine. This prevents the space around the form-fill-seal machine from being occupied and narrowed, compared to a configuration in which, for example, an exchange device that transfers the replacement film roll is located adjacent to the form-fill-seal machine. As a result, the space around the form-fill-seal machine can be used for purposes such as an aisle, and the movement of the self-propelled film roll changing device is less likely to be obstructed, thereby improving the efficiency of automatically changing film rolls in the form-fill-seal machine. [Effects of the Invention]

[0014] According to various aspects of the present invention, it is possible to improve the efficiency of automatically replacing film rolls in a bag-making packaging machine. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic perspective view showing an example of a bag-making and packaging machine. [Figure 2] FIG. 2 is a schematic diagram of the bag-making and packaging machine. [Figure 3] FIG. 3 is a schematic perspective view showing an example of a self-propelled film roll changing device. [Figure 4] FIG. 4 is a schematic front view of the self-propelled film roll changing device of FIG. [Figure 5] FIG. 5 is a schematic side view of the self-propelled film roll changing device of FIG. [Figure 6] FIG. 6 is a schematic perspective view for explaining the positioning of the guide rail. [Figure 7] FIG. 7 is an enlarged side view of the guide rail. [Figure 8] FIG. 8 is a schematic view of the guide rail as seen from below. [Figure 9] FIG. 9 is a schematic perspective view showing an example of a guide positioning portion. [Figure 10] FIG. 10 is a schematic perspective view showing an example of the operation of the self-propelled film roll changing device, following FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following description, terms such as "front," "rear," "up," "down," "left," and "right" may be used to indicate directions. These directions are defined by the orientation of arrows in the drawings.

[0017] [Bag making and packaging machine] As shown in Figures 1 and 2, the form-fill-seal machine 1 is an apparatus that produces (makes) bags B containing items C supplied from a combination weighing device (not shown) or the like. The form-fill-seal machine 1 includes a bag-making and packaging unit 3, a film supply unit 5, and a bag-making control unit 6. As shown in Figure 2, the bag-making and packaging unit 3 forms a sheet-like film F into a cylindrical shape and seals the cylindrically formed film F to form a bag. The film supply unit 5 holds a film roll FR on which the sheet-like film F is wound into a cylindrical shape, and sequentially supplies the film F unwound from the film roll FR to the bag-making and packaging unit 3.

[0018] As shown in FIGS. 1 and 2, the film supply unit 5 has a film roll support mechanism 30, a joint unit 34, and a frame unit 35. The film roll support mechanism 30 has a first film roll support unit 31, a second film roll support unit 32, a support frame 33, and a payout mechanism (not shown). The first film roll support unit 31 and the second film roll support unit 32 rotatably support the film roll FR. The first and second film roll support units 31 and 32 have cores 31a and 32a, respectively. The cores 31a and 32a are cantilevered from the support frame 33 at positions symmetrical with respect to the rotation axis 33a of the support frame 33, and are parallel to the rotation axis 33a. The central tubes of the film rolls FR are attached to the cores 31a and 32a, respectively.

[0019] 2, the first film roll support section 31 supports a supply film roll FR1 (hereinafter simply referred to as "roll FR1"), which is a supply film roll FR that supplies film F to the bag making and packaging section 3. The second film roll support section 32 supports a replacement film roll FR2 (hereinafter simply referred to as "roll FR2") that is used after the roll FR1 held by the first film roll support section 31. The support frame 33 supports the first film roll support section 31 and the second film roll support section 32 rotatably about a rotation center axis 33a.

[0020] The joining section 34 performs a joining operation to join the trailing end of the film F on the roll FR1 to the leading end of the film F on the roll FR2.

[0021] The frame unit 35 is the skeleton of the film supply unit 5. The frame unit 35 has, for example, a fixed frame 36 and a movable frame 37 (film roll position adjustment mechanism). The fixed frame 36 is the main part of the skeleton of the film supply unit 5, and supports one end of the film roll support mechanism 30 on the far side of the paper surface in FIG. 1 and the joint unit 34.

[0022] Movable frame 37 adjusts the position of film roll FR provided in bag-making packaging machine 1. Adjusting the position of film roll FR means adjusting the axial position of film roll FR on core 31a or core 32a in advance so that the widthwise position of film F pulled out from film roll FR is constant relative to fixed frame 36 in order to prevent film F from meandering.

[0023] Movable frame 37 is part of the framework of film supply unit 5 and is a tracking frame configured to be movable relative to fixed frame 36. As shown in Figures 1, 6, and 10, movable frame 37 includes a sliding portion 37a that is slidably provided along the other end of fixed frame 36 on the front side of the paper in Figure 1, and a wall-like standing portion 37b that stands upright from sliding portion 37a on the front side of the paper in Figure 1. The position of the film roll FR is adjusted with respect to fixed frame 36 by moving movable frame 37 relative to fixed frame 36 in accordance with the width of the film roll FR.

[0024] The bag making control unit 6 controls the operation of the bag making and packaging machine 1. The bag making control unit 6 is composed of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The bag making control unit 6 functions as a transmitter that transmits, via wireless communication, for example, a replacement signal to the self-propelled film roll replacement device 10 (described below) to instruct it to replace the film roll FR.

[0025] [Self-propelled film roll changer] The self-propelled film roll changing device 10 (hereinafter simply referred to as "changing device 10") is a device for transporting a roll FR2 to replace a used roll FR1. The changing device 10, for example, transports the roll FR2 to a form-fill-seal machine 1 that has sent a change signal. As shown in FIGS. 3 to 5, the changing device 10 includes a support unit 40, a transfer mechanism 50, a housing 60, a moving device 70, and a change control unit 80 (control unit).

[0026] [Support part] The support section 40 supports the roll FR2 and is disposed on the front side of the housing 60. The support section 40 has a support member 41 and a rail section 47. The support member 41 supports the roll FR2 so that the width direction of the roll FR2 intersects with the vertical direction. The width of the roll FR2 corresponds to the width of the film F when the film F is unwound, and refers to the distance between the pair of bottom surfaces of the roll FR2. Taking into consideration the transfer of the roll FR2 to the bag-making packaging machine 1, the support member 41 supports the roll FR2 so that the axial direction of the roll FR2 is parallel to the cores 31a and 32a.

[0027] The support member 41 is, for example, a plate-like member whose longitudinal direction is the left-right direction (horizontal direction) when viewed from the front of the housing 60. The support member 41 includes a receiving portion 42 that supports the roll FR2, a pair of end plates 43 erected at both ends of the receiving portion 42, a partition plate 44 erected in the center of the receiving portion 42, and an extending portion 45 that is continuous with the receiving portion 42 on the housing 60 side of the receiving portion 42 and extends upward.

[0028] The receiving portion 42 is formed by bending a plate-shaped member so that its cross section is V-shaped when viewed from the left and right. When viewed from the left and right, the receiving portion 42 contacts the roll FR2 at two points, one at the front and one at the back, on the surface of the lower half of the roll FR2. In other words, the support member 41 supports the roll FR2 from below. A remaining amount sensor 46 may be provided on the plate-shaped member on the front side of the receiving portion 42. The remaining amount sensor 46 is a sensor that measures the remaining amount of the roll FR1 when the used roll FR1 held in the film supply unit 5 is collected. The remaining amount sensor 46 may be, for example, an optical sensor that uses laser light.

[0029] The end plates 43 are plate members provided at both left and right ends of the receiving portion 42 so as to stand vertically from the receiving portion 42. The end plates 43 and the surface of the receiving portion 42 are fixed together by L-shaped metal fittings 43b arranged on the end plates 43 near the ends of the receiving portion 42. A slit 43a is formed in the end plate 43 in a portion corresponding to the axis of the roll FR2 supported by the receiving portion 42 (for example, the center of the end plate 43 in the front-rear direction). The opening width of the slit 43a is larger than the outer diameter of the core 31a or the core 32a. The slit 43a opens at the upper end of the end plate 43, allowing the support portion 40 to be lowered with the roll FR2 attached to the core 31a or the core 32a.

[0030] The partition plate 44 is a plate member provided in the center of the receiving portion 42 in the left-right direction so as to stand vertically from the surface of the receiving portion 42. The receiving portion 42 and the end plate 43 are symmetrical with respect to the partition plate 44, so that, for example, by changing the orientation of the exchange device 10, both the left and right receiving portions 42 and end plates 43 can be used to collect or transfer the roll FR2.

[0031] The extension portion 45 is bent to follow the surface of the roll FR2 when viewed from the left-right direction, and extends in the up-down direction (vertical direction) between the roll FR2 and the housing 60. When the receiving portion 42 and the extension portion 45 are combined, they form a J-shaped cross section when viewed from the left-right direction. The rail portion 47 supports the support member 41 so that it can move along the width direction of the roll FR2. The rail portion 47 supports the support member 41 so that it can move relatively with respect to the housing 60 in the left-right direction when viewed from the front of the housing 60. The rail portion 47 includes, for example, a pair of base plates 47a and a pair of rails 47b attached to each of the pair of base plates 47a.

[0032] The base plate 47a is a flat plate extending with its longitudinal direction in the left-right direction when viewed from the front of the housing 60. The pair of base plates 47a are fixed to the housing 60 so as to extend along the receiving portion 42 and the extending portion 45. The pair of base plates 47a are arranged at the boundary between the receiving portion 42 and the extending portion 45 so that one base plate 47a corresponds to the receiving portion 42 and the other base plate 47a corresponds to the extending portion 45. The rail 47b is a guide member extending with its longitudinal direction in the left-right direction when viewed from the front of the housing 60. The pair of rails 47b are arranged on each of the pair of base plates 47a so that one rail 47b corresponds to the receiving portion 42 and the other rail 47b corresponds to the extending portion 45.

[0033] [Transfer mechanism] The transfer mechanism 50 is a mechanism that moves the support unit 40 up, down, left, and right so as to transfer the roll FR2 from the support unit 40 to the bag-making packaging machine 1. The transfer mechanism 50 includes a vertical drive unit (drive unit) 51 that moves the support unit 40 up and down, and a horizontal drive unit (drive unit) 54 that moves the support unit 40 left and right.

[0034] The vertical drive unit 51 includes, for example, a feed screw 52 that moves the rail portion 47 in the up-down direction, and a vertical drive motor 53 that rotates the feed screw 52. When the feed screw 52 is rotated, the rail portion 47 moves while being guided in the up-down direction. The horizontal drive unit 54 includes, for example, a rack 55a attached to the surface of the extension portion 45 of the support member 41 facing the housing 60, a pinion 55b that meshes with the rack 55a, and a horizontal drive motor 56 that rotates the pinion 55b. When the pinion 55b is rotated, the rack 55a and the support member 41 move while being guided in the left-right direction relative to the rail portion 47.

[0035] [Case] The housing 60 houses the vertical drive unit 51 and the exchange control unit 80. The housing 60 has, for example, a plurality of frames 61 forming each side of a rectangular parallelepiped, and an exterior plate 62. The frame 61 may be made of, for example, a metal block or the like so as to have rigidity taking into account the loads of the horizontal drive unit 54, the support unit 40, the roll FR2, etc. A touch panel 63 or the like that can be operated by an operator may be provided on the rear surface of the housing 60.

[0036] [Mobile device] The moving device 70 is a device configured to be able to travel around the bag-making packaging machine 1, and may be, for example, an AGV that can travel autonomously using image recognition using magnetic tape, two-dimensional barcodes, or a camera. The moving device 70 has, for example, a self-propelled unit 71 that travels autonomously, and a support table 72 that is configured to be able to move up and down relative to the self-propelled unit 71.

[0037] The support unit 40, the transfer mechanism 50, the exchange control unit 80, and the housing 60 are integrally mounted on the support table 72. That is, the support unit 40, the transfer mechanism 50, the exchange control unit 80, and the housing 60 are movable in the vertical direction relative to the self-propelled unit 71. The support table 72 is movable in the vertical direction at least to a first height position and a second height position lower than the first height position. The self-propelled unit 71 may be able to change direction while maintaining the orientation of the support table 72. That is, the support unit 40 and the transfer mechanism 50 are mounted on the moving device 70 so as to be rotatable relative to the moving device 70 about an axis in the vertical direction.

[0038] [Exchange control section] The exchange control unit 80 controls the operation of the moving device 70 and the transfer mechanism 50. The exchange control unit 80 is composed of a CPU, ROM, RAM, etc. The exchange control unit 80 functions as a receiving unit that receives an exchange signal from the bag making control unit 6, for example, via wireless communication.

[0039] The replacement control unit 80 causes the moving device 70 to travel so that the support unit 40 supporting the roll FR2 approaches the bag-making packaging machine 1, and operates the transfer mechanism 50 to transfer the roll FR2 from the support unit 40 to the bag-making packaging machine 1. The replacement control unit 80 causes the moving device 70 to travel so that the support unit 40 not supporting the roll FR2 moves away from the bag-making packaging machine 1.

[0040] Based on information received from the bag making control unit 6 and information input to the touch panel 63, the exchange control unit 80 sends signals to the transfer mechanism 50 and the moving device 70 to operate the vertical drive motor 53, the horizontal drive motor 56, the self-propelled unit 71, and the support table 72. When collecting a used roll FR1 held in the film supply unit 5, the exchange control unit 80 may calculate the amount of movement of the vertical drive motor 53 of the transfer mechanism 50 based on remaining amount information from the remaining amount sensor 46.

[0041] [Self-propelled film roll changer in operation] The exchanging device 10, together with the bag-making packaging machine 1, constitutes a film roll exchanging system 100. A passage 101 (see FIG. 6) is provided around the bag-making packaging machine 1, along which the exchanging device 10 can travel. A roll storage area for stocking rolls FR2 may be located around the bag-making packaging machine 1, at a position away from the bag-making packaging machine 1. When the exchange control unit 80 receives information about the roll type, roll diameter, and roll width of the next roll FR2 to be used from the bag-making control unit 6, it controls the moving device 70 to travel autonomously toward the roll storage area.

[0042] When the exchanging device 10 arrives at the roll storage area, the next roll FR2 to be used is loaded onto the support unit 40 either manually by an operator or automatically by a machine. The exchanging control unit 80 controls the moving device 70 to autonomously travel toward the bag making and packaging machine 1 associated with the bag making control unit 6 that sent the exchanging signal, with the next roll FR2 to be used being supported by the support unit 40.

[0043] [Guide and positioning operation] As shown in Figure 6, the replacement control unit 80 controls the moving device 70 to autonomously move toward the bag making and packaging machine 1 associated with the bag making control unit 6 that sent the replacement signal, while the next roll FR2 to be used is supported by the support unit 40.

[0044] The film roll changing system 100 includes a guide unit 90 that regulates the movement direction of the support unit 40, which supports the roll FR2, when the support unit 40 is brought closer to the form-fill-seal machine 1. The guide unit 90 is configured to position the changing device 10 relative to the form-fill-seal machine 1 with higher precision than the positioning precision achieved by the moving device 70 when it is self-propelled. The guide unit 90 includes, for example, a long guide unit (guide rail) 91 and a guide and positioning unit 95. The guide unit 91 may be provided on either the form-fill-seal machine 1 or the changing device 10, and here it is provided on the changing device 10. The guide and positioning unit 95 may be provided on the other of the form-fill-seal machine 1 or the changing device 10, and here it is provided on the form-fill-seal machine 1.

[0045] First, the moving device 70 autonomously travels along the passage 101 around the bag-making packaging machine 1 so that the guide unit 91 and the guide positioning unit 95 are at approximately the same position in the front-to-back direction when viewed from the housing 60. The exchange control unit 80 causes the moving device 70 to travel so that the support unit 40 that supports the roll FR2 approaches the bag-making packaging machine 1. At this time, the exchange control unit 80 controls the moving device 70 to raise the support table 72 to a first height position in preparation for positioning the guide unit 91.

[0046] As shown in FIGS. 3 to 8 , the guide unit 91 is provided below the support unit 40 on the front surface of the housing 60, for example. The guide unit 91 is fixed to the frame 61 of the housing 60 independently of the support unit 40 and the transfer mechanism 50. The guide unit 91 includes a rail main body 91a extending in the left-right direction and a stay 92 fixed to the frame 61 of the housing 60 and supporting the rail main body 91a. The rail main body 91a has a U-shaped cross section including a pair of side walls 91b and a bottom 91c. The pair of side walls 91b may be bent so that the distance between them gradually increases at both ends to facilitate reception of the guide positioning unit 95, which will be described later. The stay 92 includes a pair of left and right plate portions 92a extending in the front-rear direction and supports the rail main body 91a at the front end of the plate portions 92a. The plate portions 92a may have a shape that does not interfere with the support unit 40 when viewed from the left-right direction.

[0047] The guide portion 91 includes a positioning pin 93 provided at a predetermined position corresponding to the positioning of the guide portion 91 by the guide positioning portion 95. The positioning pin 93 is provided, for example, on a bottom portion 91c near both ends of the guide portion 91. The positioning pin 93 may be two cylindrical pins. Three or more positioning pins 93 may be provided. Optical sensor portions 94a are attached near both ends of the guide portion 91. The optical sensor portions 94a are used to position the guide portion 91 and detect light from a light-emitting portion 94b (see FIG. 6). When the optical sensor portion 94a detects light from the light-emitting portion 94b, the optical sensor portion 94a may transmit detection information of the optical sensor to the exchange control portion 80.

[0048] The guide positioning unit 95 guides and positions the guide unit 91. The guide positioning unit 95 guides the guide unit 91 that has approached together with the housing 60 due to the operation of the movement device 70 of the exchanging device 10. The guide positioning unit 95 here is fixed to the movable frame 37 of the bag-making packaging machine 1 via a plate member 95a and a block member 95b.

[0049] As shown in Fig. 9, the guide positioning unit 95 includes a guide roller 96, a pin receiving portion 97, a stopper 98, a light blocking plate 99a, and an optical sensor portion 99b. The guide roller 96 is disposed at least at the end of the guide positioning unit 95 that is closer to the end of the guide unit 91. In Fig. 8, two guide rollers 96 are disposed adjacent to the two pin receiving portions 97. The guide rollers 96 are rotatable, for example, around an axis in the vertical direction, and guide the end of the guide unit 91 so that it does not get caught on the corner of the adjacent pin receiving portion 97.

[0050] The pin receiving portion 97 is a metal member having a hole 97c into which the positioning pin 93 of the guide portion 91 is inserted. The pin receiving portion 97 includes a main body portion 97a and a lid portion 97b. The main body portion 97a may be a metal pipe having a rectangular prism shape and a length longer than the positioning pin 93. The lid portion 97b is a member fixed to the upper surface of the main body portion 97a so that the hole 97c into which the positioning pin 93 is inserted opens vertically upward. The lid portion 97b may be made, for example, by cutting out metal, and may have a lower portion stored in the main body portion 97a and an upper portion bolted to the upper surface of the main body portion 97a. The number of pin receiving portions 97 corresponding to the number of positioning pins 93 (for example, two) is provided in the guide positioning portion 95 fixed to the movable frame 37 along a direction parallel to the cores 31a and 32a. Three or more pin receiving portions 97 may be provided.

[0051] 3 to 9 , the moving device 70 autonomously travels to the right as viewed from the housing 60, without changing the orientation (forward) of the front of the housing 60 relative to the passage 101, so that the guide unit 91 approaches the guide positioning unit 95, with the guide unit 91 and the guide positioning unit 95 at approximately the same position in the front-to-back direction as viewed from the housing 60. At this time, because the support table 72 is raised to the first height position, the side wall 91b of the guide unit 91 is guided by the guide positioning unit 95, with the positioning pin 93 of the guide unit 91 higher than the upper end of the guide positioning unit 95. The guide unit 91 is guided by the guide positioning unit 95 until the positioning pin 93 of the guide unit 91 reaches a predetermined position above the pin receiving portion 97 of the guide positioning unit 95.

[0052] The light-emitting unit 94b is a member for positioning the guide unit 91. The light-emitting unit 94b is configured to illuminate an optical sensor unit 94a provided on the guide unit 91 when, for example, the positioning pin 93 of the guide unit 91 guided by the guide positioning unit 95 reaches a predetermined position above the pin receiving portion 97 of the guide positioning unit 95. When the light-emitting unit 94b illuminates the optical sensor unit 94a, the optical sensor unit 94a transmits detection information of the optical sensor to the exchange control unit 80, thereby allowing the exchange control unit 80 to recognize that the guide unit 91 has reached the predetermined position. The stopper 98 functions as a physical stopper when the guide unit 91 passes the predetermined position to the right. The position on the passage 101 when the guide unit 91 reaches the predetermined position corresponds to the predetermined transfer position 102.

[0053] The exchange control unit 80, upon recognizing that the guide unit 91 has reached the predetermined position, controls the mover unit 70 to stop its movement and also controls the mover unit 70 to lower the support table 72 to the second height position. The light-shielding plate 99a is a member for stopping the descent of the support table 72. For example, when the mover unit 70 is controlled to lower the support table 72, the light-shielding plate 99a is provided to block light emitted by an optical sensor unit 99b provided on the guide unit 91 when the support table 72 reaches the second height position. When the light is blocked by the light-shielding plate 99a, the optical sensor unit 99b transmits detection information from the optical sensor to the exchange control unit 80, thereby recognizing that the second height position has been reached. As a result, the height of the guide unit 91 is lowered, and the two positioning pins 93 that had reached predetermined positions above the pin receivers 97 are inserted into the holes 97c of the two pin receivers 97, respectively. As a result, the extension direction of the guide unit 91 coincides with the arrangement direction of the pin receivers 97. The extending direction of the guide portion 91 is defined so as to be parallel to the cores 31a and 32a.

[0054] Here, the guide portion 91 extends in the left-right direction as viewed from the housing 60, similar to the support member 41, the rack 55a, and the rail portion 47. The extension direction of the guide portion 91 is determined by the guide positioning portion 95, so that the axial direction of the roll FR2 supported by the support member 41 is parallel to the cores 31a and 32a. In other words, the guide portion 91 is positioned, and the support portion 40 and the transfer mechanism 50 are also positioned. In other words, a step is performed in which the moving device 70 travels to a predetermined transfer position 102 on an aisle 101 around the bag-making packaging machine 1 to position the support portion 40 and the transfer mechanism 50. The guide portion 91 is guided by the guide positioning portion 95, so that the movement direction of the support portion 40 is determined. The positioning of the guide portion 91 by the guide positioning portion 95 determines the position of the roll FR2 to be transferred to the bag-making packaging machine 1 according to the position of the guide positioning portion 95.

[0055] Furthermore, because the guide positioning unit 95 is fixed to the movable frame 37 of the bag-making packaging machine 1, the position of the guide unit 91 relative to the movable frame 37 is maintained in a fixed positional relationship via the guide positioning unit 95. Therefore, if the position of the film roll FR has been adjusted in advance by the movable frame 37 to suppress meandering of the film F, once the guide unit 91 is positioned, the same adjustment is reflected in the position of the roll FR2 being transferred to the bag-making packaging machine 1 via the guide positioning unit 95 fixed to the movable frame 37.

[0056] 10, once the guide unit 91 is positioned, the exchange control unit 80 operates the transfer mechanism 50 to transfer the roll FR2 from the support unit 40, which has been moved closer to the bag-making packaging machine 1, to the bag-making packaging machine 1. The exchange control unit 80 controls the vertical drive unit 51 so that the axial direction of the roll FR2 is an extension of the core 31a or core 32a. For example, based on information about the roll diameter of the next roll FR2 to be used received from the bag-making control unit 6 and pre-stored height position information of the core 31a or core 32a, the exchange control unit 80 operates the vertical drive unit 51 to lift the support member 41 and the roll FR2 so that the axial direction of the roll FR2 is an extension of the core 31a or core 32a.

[0057] When the axial direction of the roll FR2 is aligned with the core 31a or 32a, the replacement control unit 80 stops the operation of the vertical drive unit 51 and controls the horizontal drive unit 54 to insert the roll FR2 onto the core 31a or 32a. For example, based on roll width information for the next roll FR2 received from the bag making control unit 6 and pre-stored length and position information for the core 31a or 32a, the horizontal drive unit 54 is operated to push the roll FR2 into a predetermined position on the core 31a or 32a, thereby pushing the roll FR2 in. In other words, a step is performed in which the transfer mechanism 50 transfers the roll FR2 from the positioned support unit 40 to the bag making and packaging machine 1. In addition, after inserting the roll FR2 into the core 31a or 32a, with the roll FR2 attached to the core 31a or 32a, the support part 40 may be lowered and moved to the left and raised, and the left end face of the roll FR2 may be pushed in with the right end plate 43 of the receiving part 42.

[0058] When the transfer of the roll FR2 to the bag-making packaging machine 1 is complete, the exchange control unit 80 causes the moving device 70 to travel so that the support unit 40 that is not supporting the roll FR2 moves away from the bag-making packaging machine 1. The exchange control unit 80 controls the vertical drive unit 51 to lower the support unit 40 so that the end plate 43 of the receiving unit 42 is lower than the transferred roll FR2. The exchange control unit 80 then controls the moving device 70 to raise the support table 72 to a first height position. As the height of the guide unit 91 increases, the two positioning pins 93 come out of the holes 97c of the two pin receiving units 97, and the positioning of the guide unit 91 is released. The exchange control unit 80 controls the moving device 70 to autonomously travel leftward as viewed from the housing 60, without changing the orientation of the front of the housing 60 relative to the passage 101. When the guide unit 91 moves away from the guide positioning unit 95, the exchange control unit 80 controls the moving device 70 to autonomously travel backward without changing the orientation of the front of the housing 60 relative to the passage 101. Alternatively, the exchange control unit 80 may change the orientation of the front of the housing 60 so that the front and rear directions are reversed, and control the moving device 70 to autonomously travel forward (backward from the original position). In other words, after the transfer mechanism 50 has finished transferring the roll FR2 to the bag-making packaging machine 1, a step is performed in which the moving device 70 is caused to travel away from the bag-making packaging machine 1.

[0059] Incidentally, the used roll FR1 may be collected before starting to transfer the roll FR2 to the bag-making packaging machine 1. The used roll FR1 may be collected using one of the support units 40 of the exchanging device 10 that has transported the roll FR2 to the other of the support units 40. The used roll FR1 may be collected in advance by an exchanging device 10 that is different from the exchanging device 10 that transports the roll FR2.

[0060] According to the changing device 10 and film roll changing method described above, the support unit 40 and the transfer mechanism 50 are integrally mounted on the moving device 70. The moving device 70 is caused to travel so as to move the support unit 40 that is not supporting the roll FR2 away from the form-fill-seal machine 1. Thus, once the transfer of the roll FR2 to the form-fill-seal machine 1 is complete, the moving device 70 moves away from the form-fill-seal machine 1 together with the support unit 40 and transfer mechanism 50 that are integrally mounted on it. This prevents the space around the form-fill-seal machine 1 from being occupied and narrowed, compared to, for example, a configuration in which an changing device that transfers a replacement film roll is provided adjacent to the form-fill-seal machine 1. As a result, the efficiency of automatically changing the roll FR2 in the form-fill-seal machine 1 can be improved.

[0061] The support unit 40 and the transfer mechanism 50 are mounted on the moving device 70 so as to be rotatable relative to the moving device 70 about a vertical axis. This allows the moving device 70 to change direction while maintaining the orientation of the support unit 40 and the transfer mechanism 50. As a result, it is possible to save the extra surrounding space required for changing the direction of the support unit 40 and the transfer mechanism 50.

[0062] The support section 40 has a support member 41 that supports the roll FR2 from below so that the width direction of the roll FR2 is a direction intersecting the vertical direction, and a rail section 47 that supports the support member 41 so that it can move along the width direction of the roll FR2. As a result, when the support member 41 moves, the roll FR2 supported by the support member 41 can move along a direction intersecting the vertical direction. This makes it possible to transfer the roll FR2 to a form-fill-seal machine 1 that is located on either side of the direction in which the support member 41 moves.

[0063] The film roll changing system 100 includes a guide unit 90 that regulates the movement direction of the support unit 40 that supports the roll FR2 when the support unit 40 is brought closer to the bag-making packaging machine 1. This regulates the movement direction of the roll FR2 supported by the support unit 40, thereby improving the accuracy of positioning the roll FR2 before transferring it to the bag-making packaging machine 1.

[0064] The guide unit 90 has a long guide portion 91 and a guide positioning portion 95 that guides and positions the guide portion 91. The guide portion 91 is provided in the exchanging device 10, and the guide positioning portion 95 is fixed to a movable frame 37 that adjusts the position of the film roll FR provided in the bag-making packaging machine 1. As a result, the guide portion 91 is guided by the guide positioning portion 95, thereby determining the movement direction of the support unit 40. As the guide portion 91 is positioned by the guide positioning portion 95, the position of the roll FR2 to be transferred to the bag-making packaging machine 1 is determined according to the position of the guide positioning portion 95. Here, if the position of the film roll FR has been adjusted in advance by the movable frame 37, the position of the roll FR2 to be transferred to the bag-making packaging machine 1 will also reflect this adjustment via the guide positioning portion 95 fixed to the movable frame 37. Therefore, it is possible to avoid adjusting the position of the film roll FR to prevent the film F from meandering, for example, by controlling the traveling operation of the moving device 70.

[0065] Although the embodiments of the present invention have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention.

[0066] In the above embodiment, an example has been described in which the guide unit 90 includes the long guide portion 91 and the guide positioning portion 95. However, the guide unit is not limited to this. The guide unit may be configured in any way that determines the direction of movement of the support unit 40 that supports the roll FR2 when the support unit 40 approaches the bag-making packaging machine 1, such as by inserting a rod member parallel to the axial direction of the roll FR2 into holes that are parallel to the cores 31a and 32a.

[0067] In the above embodiment, the lead screw 52 is used as an example of the vertical drive unit 51, but the vertical drive unit 51 is not limited to this. The vertical drive unit 51 may have other configurations, such as a belt drive or a rack and pinion. The rack 55a and pinion 55b are used as an example of the lateral drive unit 54, but the lateral drive unit 54 is not limited to this. The lateral drive unit 54 may have other configurations, such as a belt drive or a lead screw.

[0068] In the above embodiment, the support unit 40 includes the support member 41 and the rail portion 47, but is not limited to this. For example, a configuration such as a robot arm that supports the roll FR2, which is a replacement film roll, may be used.

[0069] In the above embodiment, the moving device 70 is used in which the support table 72 can move up and down, but this function is not essential. This function may be omitted, and only the guide unit 90 may be configured to be movable up and down for inserting the pin receiving unit 97 and the positioning pin 93. Furthermore, the moving device 70 supports the support unit 40 and the transfer mechanism 50 so that they can rotate relatively to the moving device 70 around the vertical axis, but they do not need to be rotatable relatively.

[0070] In the above embodiment, the film roll changing system 100 is configured with one changing device 10 and one form-fill-seal machine 1, but a film roll changing system may also be configured with one changing device 10 and multiple form-fill-seal machines 1. In this case, for example, the changing device 10 may sequentially transport rolls FR2 to the form-fill-seal machine 1 that sent the change signal in response to change signals sequentially sent from each of the multiple form-fill-seal machines 1. Passages 101 along which the changing device 10 can travel may be provided around the multiple form-fill-seal machines 1 and between adjacent form-fill-seal machines 1. [Explanation of symbols]

[0071] 1...bag making and packaging machine, 10...exchange device (self-propelled film roll exchange device), 37...movable frame (film roll position adjustment mechanism), 40...support section, 41...support member, 47...rail section, 50...transfer mechanism, 70...moving device, 80...exchange control section (control section), 90...guide section, 91...guiding section (guide rail), 95...guiding and positioning section, 100...film roll exchange system, 102...transfer position, B...bag, F...film, FR...film roll, FR2...replacement film roll.

Claims

1. 1. A self-propelled film roll changing device for changing a film roll in a bag making and packaging machine that makes bags by pulling out a film from a film roll around which the film is wound, a support portion that supports a replacement film roll, which is a replacement film roll; a transfer mechanism that transfers the replacement film roll from the support portion to the bag-making packaging machine; a moving device configured to be able to travel around the bag-making packaging machine; a control unit that controls operations of the moving device and the transfer mechanism, the support unit and the transfer mechanism are integrally mounted on the moving device, The control unit the moving device is moved so that the support unit that supports the replacement film roll approaches the bag-making packaging machine; operating the transfer mechanism to transfer the replacement film roll from the support unit that has been moved closer to the bag-making packaging machine to the bag-making packaging machine; a self-propelled film roll changing device that causes the moving device to travel so as to move the support portion that is not supporting the replacement film roll away from the bag-making packaging machine;

2. 2. The self-propelled film roll changing device according to claim 1, wherein the support portion and the transfer mechanism are mounted on the moving device so as to be rotatable relative to the moving device about a vertical axis.

3. 3. The self-propelled film roll changing device according to claim 1, wherein the support portion includes a support member that supports the replacement film roll from below so that the width direction of the replacement film roll intersects the vertical direction, and a rail portion that supports the support member movably along the width direction of the replacement film roll.

4. A film roll changing system comprising the self-propelled film roll changing device according to claim 1 or 2 and the bag making and packaging machine, a guide section that defines a direction in which the support section, which supports the replacement film roll, moves when the support section moves closer to the bag-making packaging machine;

5. The guide portion includes a long guide rail and a guide and positioning portion that guides the guide rail and positions the guide rail, the guide rail is provided on the self-propelled film roll changing device, The film roll changing system according to claim 4 , wherein the guide and positioning portion is fixed to a film roll position adjusting mechanism that adjusts the position of the film roll and is provided in the bag making and packaging machine.

6. 1. A film roll changing method for changing a film roll in a bag making and packaging machine that makes bags by pulling out a film from a film roll around which the film is wound, comprising: a step of using a self-propelled film roll changing device in which a support part that supports a replacement film roll, which is the film roll to be replaced, and a transfer mechanism that transfers the replacement film roll from the support part to the bag-making packaging machine are integrally loaded on a moving device, and running the moving device to a predetermined transfer position on a passageway around the bag-making packaging machine to position the support part and the transfer mechanism; transferring the replacement film roll from the positioned support portion to the bag-making packaging machine by the transfer mechanism; and after the transfer mechanism has finished transferring the replacement film roll to the bag-making packaging machine, causing the moving device to travel away from the bag-making packaging machine.

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