Bag making and filling device

Abstract

To provide a bag making and filling device that can efficiently perform film setting work.SOLUTION: In a bag making and filling device, film support means 7 supporting a starting end Fs of a film F pulled out from a film roll R is transported from the film roll R to film feeding means 3 by transport means 6. During this time, a hand section 7 moves while supporting the starting end Fs of the film F with its height and direction changed in accordance with positions of a guide roller 2 and the film feeding means 3. Thereby, the starting end Fs of the film F is sent to the film feeding means 3 via the guide roller 2. That is, the film support means 7 efficiently pulls out a set amount of the film F from the film roll R, and the pulled-out film F can be smoothly sent to the film feeding means 3 via the guide roller 2. Therefore, a work of setting the film F in the bag making and filling device can be performed efficiently.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a bag making and filling apparatus. [Background technology]

[0002] Conventionally, as a preparation work for film packaging using a packaging device, an operator pulls out a film from a film roll, guides the film along a predetermined path to various rollers, and then sets the film so that it reaches the packaging device. For example, Patent Document 1 discloses a film roll setting device for a packaging machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3721534 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in this film setting work, the work of unwinding the film from the heavy film roll requires a lot of strength from the worker. Furthermore, if an inexperienced worker performs the work, they may, for example, unwind too much film, making it difficult to handle, or they may have to be careful not to damage the film they have unwound, which can reduce work efficiency. In other words, there is a concern that the time required to set the film will vary depending on the worker's level of skill, which could hinder efficient production.

[0005] An object of the present invention is to provide a bag making and filling apparatus that can efficiently perform film setting operations. [Means for solving the problem]

[0006] In order to solve the above problems, the conveying device of the present invention takes the following measures. First, the invention according to claim 1 is a device for conveying a starting end (Fs) of a film (F) in a rotatably supported film roll (R) by a conveying device. Suction a guide roller (2, 52) that wraps around and guides the strip-shaped film (F) drawn out from the film roll (R) by the film support means (7, 56); a film forming means (5) that overlaps both side edges of the film (F) to form a tubular film; a film unwinding means (3, 53) that is disposed between the film roll (R) and the film forming means (5) and sandwiches the strip-shaped film (F) from the front and back and feeds it toward the film forming means (5); and a transport means that transports the film support means (7, 56) that supports the starting end (Fs) of the film (F). (6), which applies a vertical seal along the feeding direction of the tubular film at the overlapping points of the tubular film whose both side edges have been overlapped by the film forming means (5), and applies a horizontal seal to the tubular film in a direction intersecting the feeding direction of the tubular film, thereby enclosing articles in the tubular film, characterized in that the transfer means (6) transfers the film support means (7, 56), so that at least the starting end (Fs) of the film (F) is transferred from the film roll (R) past the position of the guide rollers (2, 52) and reaches the film unwinding means (3, 53).

[0007] According to the invention of claim 1, the starting end (Fs) of the film (F) pulled out from the film roll (R) is SuctionThe supported film support means (7, 56) is transported from the film roll (R) to the film unwinding means (3, 53) by the transport means (6). During this time, the film support means (7, 56) moves in accordance with the positions of the guide rollers (2, 52) and the film unwinding means (3, 53) while supporting the starting end (Fs) of the film (F). As a result, the starting end (Fs) of the film (F) is fed to the film unwinding means (3, 53) via the guide rollers (2, 52). In other words, the film support means (7, 56) efficiently unwinds a set amount of film (F) from the film roll (R), and the unwinding film (F) can be smoothly fed to the film unwinding means (3, 53) via the guide rollers (2, 52). This allows the film (F) to be set efficiently in the bag-making and filling apparatus.

[0008] Next, the invention according to claim 2, which is dependent on claim 1, has a driving means (12, 51) that drives the film roll (R) to rotate, and is characterized in that when the transport means (6) transports the film support means (7, 56) that supports the starting end (Fs) of the strip-shaped film (F), the driving means (12, 51) is driven to keep the film (F) slack up to the starting end (Fs) of the film (F). According to the invention of claim 2, the film roll (R) can be rotated in a direction that slackens the film (F) by the driving means (12, 51) being driven to rotate. This prevents the film (F) from being pulled by the heavy film roll (R) and separating from the film support means (7, 56) when the film support means (7, 56) supports the starting end (Fs) of the film (F) and transports it downstream. In other words, rotating the film roll (R) helps to ensure smooth unwinding of the film (F).

[0009] Next, the invention according to claim 3, which is dependent on claim 1 or claim 2, comprises a driving-side rotation means (15) that extends in the width direction of the film (F) and is driven to rotate, and a driven-side rotation means (16) that rotates following the driving-side rotation means (15) with the film (F) sandwiched between the driving-side rotation means (15). and is supported by a main body portion (14) provided on one side of the width direction of the film (F) so that the driving side rotation means (15) and the driven side rotation means (16) can move close to and away from each other and so that the film (F) can be passed between the driving side rotation means (15) and the driven side rotation means (16), The transport means (6) transports the film support means (7) The other side of the film (F) in the width direction facing away from the main body portion (14) When the gap between the driving side rotation means (15) and the driven side rotation means (16) becomes empty, the film (F) is passed through the gap to pass through the film feeding means (3).

[0010] According to the invention of claim 3, the film feeding means (3) is provided with a driving side rotation means (15) and a driven side rotation means (16), and these rotation means (15, 16) can clamp the film (F). When the film (F) supported by the film support means (7) is passed through, the driving side rotation means (15) and the driven side rotation means (16) are separated from each other, so that the other side of the film (F) in the width direction facing away from the main body portion (14) is rotated. A gap can be provided between the driving rotation means (15) and the driven rotation means (16). The film support means (7) passes through this gap, allowing the film (F) to pass through the film unwinding means (3).

[0011] next, Claim 4 The invention relates to: A film support means (7, 56) that supports the starting end (Fs) of a film (F) on a rotatably supported film roll (R), a guide roller (2, 52) that wraps around and guides the strip-shaped film (F) drawn out from the film roll (R) by the film support means (7, 56), a film forming means (5) that overlaps both side edges of the film (F) to form a tubular film, and a film forming means (5) that is disposed between the film roll (R) and the film forming means (5) and sandwiches the strip-shaped film (F) from the front and back. a bag making and filling apparatus including a film feeding means (3, 53) for feeding the film toward the film forming means (5) and a transport means (6) for transporting the film supporting means (7, 56) supporting the starting end (Fs) of the film (F), wherein the apparatus applies a vertical seal along the feeding direction of the tubular film at the overlapping portion of the tubular film whose both side edges have been overlapped by the film forming means (5), and applies a horizontal seal to the tubular film in a direction intersecting the feeding direction of the tubular film, thereby packaging articles in the tubular film,The film feeding means (3) includes a driving-side rotation means (15) that extends in the width direction of the film (F) and is driven to rotate, and a driven-side rotation means (16) that rotates following the driving-side rotation means (15) with the film (F) sandwiched between the driving-side rotation means (15), and a main body (14) that is fixed to one side of the width direction of the film (F) and rotates the driving-side rotation means (15) by rotating the driving-side rotation means (16). and a second support means (18) for rotatably supporting the driven-side rotation means (16) on both sides of the rotation axis direction of the driven-side rotation means (16), and the second support means (18) is configured to support the first support means (17) at a clamping position (P) where the driving-side rotation means (15) and the driven-side rotation means (16) can clamp the film (F) and at a separated position (P) where the driving-side rotation means (15) and the driven-side rotation means (16) can clamp the film (F). The second support means (18) is supported on the main body (14) so ​​as to be movable between a retracted position (Q) and a retracted position (Q), and the second support means (18) is configured such that a gap is created between the first support means (17) and the second support means (18) and between the drive-side rotation means (15) and the driven-side rotation means (16) so that the film (F) can be passed between the drive-side rotation means (15) and the driven-side rotation means (16) from the other side in the width direction of the film (F) that faces and moves away from the main body (14) when the second support means (18) is in the retracted position (Q), and the transfer means (6) passes the film (F) through the film unwinding means (3) by passing the film support means (7) between the first support means (17) and the second support means (18) and between the drive-side rotation means (15) and the driven-side rotation means (16) when these gaps are created. The transport means (6) transports the film support means (7, 56), so that at least the start end (Fs) of the film (F) is transported from the film roll (R) through the position of the guide roller (2, 52) and reaches the film unwinding means (3, 53). It is characterized by:

[0012] this Claim 4 According to the invention, The film support means (7, 56), which supports the starting end (Fs) of the film (F) pulled out from the film roll (R), is transported from the film roll (R) to the film unwinding means (3, 53) by the transport means (6). During this time, the film support means (7, 56) moves in accordance with the positions of the guide rollers (2, 52) and the film unwinding means (3, 53) while supporting the starting end (Fs) of the film (F). As a result, the starting end (Fs) of the film (F) is sent to the film unwinding means (3, 53) via the guide rollers (2, 52). In other words, the film support means (7, 56) efficiently pulls out a set amount of film (F) from the film roll (R), and smoothly sends the pulled film (F) to the film unwinding means (3, 53) via the guide rollers (2, 52). This allows the film support means (7, 56) to efficiently pull out a set amount of film (F) from the film roll (R), and to smoothly feed the pulled film (F) to the film unwinding means (3, 53) via the guide rollers (2, 52). This allows the film (F) to be set efficiently in the bag-making and filling device. Furthermore,The film unwinding means (3) is equipped with a driving-side rotation means (15) and a driven-side rotation means (16), and these rotation means (15, 16) can clamp the film (F). The driven-side rotation means (16) is configured to be movable between a clamping position (P) where the film (F) is clamped and a retracted position (Q) spaced apart from the clamping position (P). With this configuration, when the film (F) supported by the film support means (7) is to pass through, the driven-side rotation means (16) can be moved to the retracted position (Q) to create a gap between the driving-side rotation means (15) and the driven-side rotation means (16). The film support means (7) passes through this gap, allowing the film (F) to pass through the film unwinding means (3).

[0013] Next, the invention according to claim 5, which is dependent on claim 4, is characterized in that when the second support means (18) is located at the clamping position (P), the driven side rotation means (16) is supported at the clamping position (P) by the second support means (18) so that it can be separated from the drive side rotation means (15). this Claim 5 According to the invention, the driven-side rotation means (16) is supported by the second support means (18) so as to be able to move away from the driving-side rotation means (15) when the second support means (18) is located at the clamping position (P). That is, the driven-side rotation means (16) can move toward or away from the driving-side rotation means (15) when at the clamping position (P). This allows the driving-side rotation means (15) and the driven-side rotation means (16) to release the contact state in which they can clamp the film (F) while the second support means (18) and the driven-side rotation means (16) remain located at the clamping position (P). [Effects of the Invention]

[0014] The present invention can provide a bag making and filling apparatus that can efficiently perform film setting operations. [Brief explanation of the drawings]

[0015] [Figure 1] 2 is a schematic diagram showing a film supply path of the bag making and filling apparatus according to the first embodiment, viewed from the front. FIG. [Figure 2] FIG. 2 is a schematic front view of the feed roller unit according to the first embodiment. [Figure 3] FIG. 2 is a schematic plan view of the feed roller unit. [Figure 4]1, as viewed from the right side, showing the state in which the second support body of the pay-out roller unit has moved to the retracted position and the strip-shaped film has been wound around each roller. FIG. [Figure 5] 10 is a schematic view showing a state in which a film is passed through a film supply path of a bag making and filling apparatus according to a second embodiment. FIG. [Figure 6] FIG. 10 is a schematic view showing a film supply path of a bag making and filling apparatus according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] First Embodiment First, a first embodiment will be described with reference to the drawings. The bag form and fill apparatus according to this embodiment is a bag form and fill machine that forms a strip-shaped film F unwound from a film roll R into a tubular shape using a bag former 5 (film forming means), applies vertical seals along the feed direction of the tubular film at overlapping points on the film formed into a tubular shape by overlapping both side edges using the bag former 5, and applies horizontal seals to the tubular film in a direction intersecting the feed direction of the tubular film to enclose articles in the tubular film. This is a horizontal bag form and fill machine in which articles are supplied into the tubular film toward the bag former 5 by a supply conveyor 11. Note that in describing this embodiment with reference to Figures 1 to 4, the left-right direction shown in the figures is the conveying direction in which the supply conveyor 11 conveys articles and also the feed direction of the tubular film.

[0017] As shown in FIG. 1, the bag-making and filling apparatus has a film supply path 20 that transports film F from a film roll R toward a bag former 5. The film roll R, which is located at the most upstream position in the film supply path 20, is supported by a paper wrapper setting unit 1. The strip-shaped film F unwound from the film roll R is fed downstream, in this order, via a guide roller 2, a feed roller unit 3 (film feed means), and an approach angle adjustment unit 4. The bag-making and filling apparatus also includes a transfer robot 6 (transfer means) that can travel left and right. Referring to FIG. 4, the transfer robot 6 includes a hand unit 7 (film support means) that suction-holds a starting end Fs of the strip-shaped film F on the film roll R. The starting end Fs of the film F includes not only the peripheral edge at the leading edge but also the surface area extending inward from the peripheral edge of the leading edge. In other words, the starting end Fs of the film F is a supported area from the leading edge toward the film roll R that is long enough to be suctioned by a suction unit 8, which will be described later. Furthermore, the bag making and filling apparatus is equipped with a packaging control unit (not shown) that stores setting information related to the packaging operation and controls the packaging operation by issuing drive commands to servo motors, air cylinders, etc., which serve as drive sources for transporting items, transporting film, etc. The packaging control unit monitors the operating status of each of the drive sources mentioned above using status detection means such as an encoder, and also communicates with a transfer robot control unit (not shown) that controls the operation of the transfer robot 6 and a SCARA robot control unit (not shown) that controls the operation of the SCARA robot 9, which will be described later, to issue commands to the control units of each robot.

[0018] As shown in FIG. 1 , the paper wrapper setting unit 1 includes a disk-shaped rotor 10 rotatably supported on a frame FL and a cylindrical holder shaft 12 cantilevered on the rotor 10 and extending horizontally. The holder shaft 12 is driven to rotate by a motor controlled by the packaging control unit. That is, the holder shaft 12 rotatably supports the film roll R and functions as a drive means for rotating the film roll R. The film roll R is placed on a cart (not shown), such as an automated guided vehicle, and transported to the vicinity of the paper wrapper setting unit 1, where it is set on the holder shaft 12 by a robot (not shown). Once the film roll R is set, the holder shaft 12 rotates and stops so that the leading end Fs of the film F located at the outermost periphery of the film roll R is positioned at a predetermined position. The position of the leading end Fs of the film F on the film roll R can be detected by a known method, such as detecting the position of a mark (not shown) previously attached to the film using a sensor (not shown).

[0019] The guide roller 2 is cantilevered by a frame FL and extends horizontally downstream of the rotating body 10. The guide roller 2 wraps around and guides the strip-shaped film F pulled out from the film roll R by a hand unit 7 equipped with a suction unit 8.

[0020] The payout roller unit 3 includes a main body 14 located further back (on one side of the width of the strip-shaped film F) than the film supply path 20 that transports the film F, a drive roller 15 (drive side rotation means) and a driven roller 16 (driven side rotation means) that form a pair and extend in the width direction of the strip-shaped film F, and a first support 17 (first support means) and a second support 18 (second support means) that rotatably support these rollers 15 and 16, respectively.

[0021] As shown in Figures 2 and 3, the first support 17 is fixed to the main body 14 and rotatably supports the drive roller 15 on both sides in the direction of its rotation axis. Specifically, the first support 17 includes a fixed panel 21 fixed to the main body 14, a reinforcing stay (not shown) extending toward the front along the axis of the drive roller 15, and a sub-frame 23 connected to the extended end of the reinforcing stay. The drive roller 15 is rotatably supported at both ends by the fixed panel 21 and the sub-frame 23. On the side of the fixed panel 21 (rear side), one end of the drive roller 15 is drivingly connected through a hole provided in the fixed panel 21 to a drive motor (not shown), such as a servo motor, whose drive is controlled by the packaging control unit. Note that a guide roller 24, which can wrap around and guide the strip-shaped film F, is provided between the fixed panel 21 and the sub-frame 23 so as to be parallel to the drive roller 15.

[0022] The second support 18 rotatably supports the driven roller 16 on both sides in the direction of its rotation axis. Specifically, the second support 18 is formed into a box shape with an open bottom (recessed), with a pair of side walls 25 spaced apart in the film width direction and an outer wall 26 spanning the upper edges of these side walls 25. The second support 18 is formed with the outer wall 26 to prevent foreign matter from entering toward the first support 17. The driven roller 16 is rotatably supported on both sides in the direction of its rotation axis by the pair of side walls 25 so that its rotation axis extends horizontally.

[0023] At clamping position P where drive roller 15 and driven roller 16 can clamp strip-shaped film F, driven roller 16 is positioned so as to be aligned horizontally (left-right) with drive roller 15. As drive roller 15 is driven to rotate, driven roller 16 rotates following drive roller 15 with strip-shaped film F clamped between it and drive roller 15. With this configuration, strip-shaped film F is clamped from the front and back and sent out toward bag former 5. Furthermore, payout roller unit 3 is configured so that box-shaped second support 18 covers the upper side of the area where drive roller 15 and driven roller 16 face each other at clamping position P. This makes it possible to prevent foreign matter other than film from entering from the outside.

[0024] The second support 18 is connected to a servo motor or the like that is driven and controlled by the packaging control unit so that it can move from the clamping position P to a retracted position Q that is spaced upward relative to the first support 17, and is supported by the main body 14. This allows the second support 18 and the driven roller 16 to move up and down between the clamping position P and the retracted position Q. When the second support 18 moves to the retracted position Q together with the driven roller 16, the gap between the second support 18 and the first support 17 opens.

[0025] The payout roller unit 3 is configured so that, when the second support 18 is in the retracted position Q, a gap is created between the front sides of the first support 17 and the second support 18, and also between the front sides of the drive roller 15 and the driven roller 16, so that the transfer robot 6, which travels on the other widthwise side (front side) of the strip-shaped film F facing away from the main body 14, can pass the film F supported by the hand unit 7 between the drive roller 15 and the driven roller 16 (see FIGS. 2 and 4 ). As a result, when passing the film F, the hand unit 7, whose longitudinal direction always faces the depth direction perpendicular to the conveyance direction, passes through the gap created between the drive roller 15 and the driven roller 16, allowing the strip-shaped film F to pass through. After the film has been passed through, the second support 18 moves to the clamping position P, closing the payout roller unit 3 and allowing the drive roller 15 and the driven roller 16 to clamp the strip-shaped film F.

[0026] The driven roller 16 is supported at the clamping position P by the second support 18 so that, when the second support 18 is located at the clamping position P, the air cylinder 28 is activated to move the driven roller 16 horizontally away from the drive roller 15, i.e., so that the driven roller 16 can move horizontally toward and away from the drive roller 15. Specifically, both ends of the driven roller 16 are connected to springs 27, and the biasing force of the springs 27 acts on the drive roller 15, causing the driven roller 16 to press against the drive roller 15 and clamp the strip-shaped film F between the driven roller 16 and the drive roller 15. When a force opposing the biasing force of the springs 27 is generated by the air cylinder 28, which is driven and controlled by the packaging control unit, the driven roller 16 moves horizontally and moves away from the drive roller 15. This allows the drive roller 15 and the driven roller 16 to release their contact state so that they can clamp the film F, while the second support 18 remains located at the clamping position P. For the sake of convenience in the following explanation, the position of the driven roller 16 when the driven roller 16 and the drive roller 15 clamp the film F at the clamping position P will be defined as the first position, and the position horizontally spaced apart from the drive roller 15 will be defined as the second position.

[0027] As shown in FIG. 1, the approach angle adjustment unit 4 is disposed downstream of the feed roller unit 3 and includes a guide roller 30 and a SCARA robot 9. The SCARA robot 9 includes a first pivot arm 31 and a second pivot arm 32 that extend in the conveyance direction and pivot. The first pivot arm 31 rotates upon receiving a driving force from a servo motor (not shown) that is driven and controlled by the SCARA robot control unit. The second pivot arm 32 is rotatably supported by the first pivot arm 31 and rotates upon receiving a driving force from another servo motor (not shown) that is driven and controlled by the SCARA robot control unit. Two guide rollers 33 and 34 are cantilevered on the second pivot arm 32 and extend in the depth direction perpendicular to the conveyance direction. One of these two guide rollers functions as an approach angle adjustment roller 34 and can adjust the angle at which the strip-shaped film F enters the bag making machine 5. In this embodiment, the servo motor (not shown) of the SCARA robot 9 is configured to rotate when a SCARA robot control unit (not shown) issues a drive command, but the packaging control unit (not shown) may also issue the drive command directly.

[0028] The bag former 5 is disposed downstream of the approach angle adjustment unit 4, and forms a tubular film by overlapping both side edges of the fed strip-shaped film F. The bag former 5 is configured such that the upper part of the main body of the bag former 5 is moved by a driving means (not shown) to separate the main body of the bag former 5 into an upper and lower part, the film F is passed between them by a transfer robot 6, and then the upper part of the main body of the bag former 5 is returned to its original position, so that the film F is automatically set in the bag former 5; however, detailed explanation of this will be omitted in the present application.

[0029] As shown in Figure 1, the transfer robot 6 is supported as part of the frame FL by a pair of upper and lower guide rails 38 extending in the left-right direction so that it can move left and right, and is configured to move left and right (in the conveying direction) while changing the height and orientation of the hand unit 7 that supports the starting end Fs of the strip-shaped film F in response to a drive command from the transfer robot control unit. The transfer robot 6 is an articulated robot and includes an arm unit 36 ​​and the hand unit 7 attached to the tip of the arm unit 36. Referring to Figure 4, the arm unit 36 ​​has multiple arms connected in series that each rotate along the conveying direction when wrapping the film F around each roller.

[0030] The hand unit 7 has a suction unit 8 for suction-holding the starting end Fs of the film roll R, and is pivotally supported by the arm unit 36 ​​so that the longitudinal direction of the hand unit 7 always faces in the depth direction perpendicular to the conveyance direction. This allows the hand unit 7 to change the orientation of the suction unit 8 along a plane formed by the conveyance direction and the up-down direction.

[0031] The angle and movement speed of the arm unit 36 ​​when the hand unit 7 passes through each roller are stored in advance in the packaging control unit, and a series of operational information for passing the film F is sent to the transfer robot control unit. As a result, the starting end Fs of the film F supported by the suction unit 8 of the hand unit 7 passes from the film roll R to the position of the guide roller 2, and then passes through the payout roller unit 3 and multiple rollers arranged in the entry angle adjustment unit 4 to be transferred to the bag former 5. The hand unit 7 of the transfer robot 6 moves along the movement path indicated by the two-dot chain line in FIG. 1. As the hand unit 7 moves along the movement path, it rotates itself approximately 90 degrees so that the suction unit 8 faces forward in the movement direction to increase the contact area with the film F. By changing the orientation of the hand unit 7 in this way to increase the contact area (frictional resistance) with the film F, the film F is less likely to come off the suction unit 8.

[0032] When the transfer robot 6 winds the film F pulled out from the film roll R around a guide roller or the like, the hand unit 7 is loaded onto the arm unit 36, but after winding of the film F is completed, the hand unit 7 can be replaced with another hand to perform another task.

[0033] In the film supply path 20, gaps are provided between each roller, bag former 5, etc., so that the hand unit 7, which suction-holds the strip-shaped film F, can pass through. The transfer robot 6 can wind the strip-shaped film F around a designated roller while moving independently. By operating the transfer robot 6, which is equipped with the hand unit 7 that suctions the starting end Fs of the film F, along the movement path along which the film F passes, the film F comes into contact with the guide rollers 2, 24, the drive roller 15, and the guide rollers 30, 33, and 34 in a slackened state. This allows the starting end Fs of the film F to be supported without excessively increasing the suction force of the hand unit 7, and allows the robot to perform the same operations as a worker in setting the film F. After winding the film F is complete, the transfer robot 6 moves to a predetermined position and waits at any location that does not interfere with the packaging process.

[0034] The packaging control unit controls the drive units, such as the drive motors and air cylinders mentioned above. The packaging control unit issues drive commands based on activation signals (e.g., pulses) from encoders or other devices attached to these drive units. The robot's operation patterns, such as the movement trajectory, position, and movement speed of the suction unit 8 provided in the hand unit 7, are preset in the packaging control unit via the operation panel before operation. The transfer robot control unit and SCARA robot control unit receive information on the preset operation patterns from the packaging control unit and issue drive commands to their respective robots. The suction unit 8 of the hand unit 7 moves along its movement path based on a series of film threading movements that are preset and stored before operation. The packaging control unit also receives information on the angle and position of the robot's arm, the position of the hand unit 7, and other information through mutual communication with the transfer robot control unit and SCARA robot control unit, and controls the drive units that drive each roller.

[0035] The holding shaft 12 is set to rotate in accordance with the amount of film F being pulled out, and to feed out the strip-shaped film F. Specifically, the rotation speed and amount of rotation of the drive motor per unit time are programmed based on the relationship between the movement path and speed of the suction unit 8 of the hand unit 7. As a result, the rotation of the holding shaft 12 is controlled so that the film F is always in a slack state, and the film F is pulled out. By rotating the film roll R in this way so that slack is created in the film F, the resistance of the pulled-out film F increases, preventing the support of the starting end Fs of the film F by suction from being released.

[0036] The SCARA robot 9 is set so that the rotary arms 31, 32 can change the position of the approach angle adjustment roller 34 based on pre-stored operation information in response to a change in the type of packaging. Furthermore, when performing cleaning work, the operator can operate a touch panel or the like to retract the rotary arms 31, 32 to an upper position where they will not get in the way.

[0037] The setting of automatic mode, in which the transfer robot 6 automatically sets the film F pulled out from the film roll R onto a guide roller or the like, is switched on, for example, via the operation panel. When the operator sets the automatic mode via the operation panel, automatic setting of the film F begins when the conditions for allowing automatic setting are met. Here, the conditions for allowing automatic setting are met when, after setting the automatic mode, the film roll R is set on the holding shaft 12 of the paper roll setting unit 1 when the film roll R has not yet been set on the holding shaft 12. When the film roll R is set on the holding shaft 12, this state is detected and automatic operation begins. Note that various measures can be adopted for starting automatic setting, such as setting it so that the operator confirms that the film roll R is set on the holding shaft 12 and presses the start button.

[0038] The flow of film threading in automatic operation will be explained. After setting the automatic mode, the film roll R, which has been transported by a cart, is set by the robot on the holding shaft 12 of the paper roll setting unit 1. When the film roll R is set on the holding shaft 12, this state is detected and a signal is sent to the packaging control unit. The holding shaft 12 receives a drive command from the packaging control unit, rotates, and stops so that the mark on the film F of the film roll R is positioned at a predetermined position. In addition, the transfer robot 6 and SCARA robot 9 operate in response to commands from their respective control units. In addition, the payout roller unit 3 receives a drive command from the packaging control unit, and the second support 18 and driven roller 16 move to the retracted position Q.

[0039] The hand unit 7 of the transfer robot 6 operates based on a series of film threading information that has been set and stored in advance. With the rotation of the film roll R set on the holding shaft 12 stopped, the hand unit 7 sucks and holds the starting end Fs of the film F with the suction unit 8 of the hand unit 7, and then moves the transfer robot 6 and hand unit 7 while rotating the film roll R so that the film F wound around the film roll R becomes slack, and pulls out the film F from the film roll R.

[0040] As the transfer robot 6 travels horizontally, the rotating arms 31 and 32 rotate. Furthermore, the transfer robot 6 changes the orientation of the hand unit 7 and moves it past the guide roller 2, the open payout roller unit 3, the guide roller 30 of the entry angle adjustment unit 4, the guide roller 33 of the SCARA robot 9, and the entry angle adjustment roller 34, in that order. This causes the suction unit 8 of the hand unit 7 to move along the set movement path. Note that the packaging control unit is pre-programmed to rotate the holding shaft 12 in accordance with the movement path and speed of the hand unit 7 so that slack is always generated in the film F in the film supply path 20, and to send out the film F.

[0041] After the film F is automatically loaded (wrapped around) the guide rollers 33 and the approach angle adjustment rollers 34 in the film supply path 20, a drive command from the packaging control unit stops the rotation of the film roll R and moves the second support 18 of the payout roller unit 3 to the clamping position P. In this embodiment, the hand unit 7 of the transfer robot 6 is configured to carry the film F to the bag former 5 and the center sealer (not shown), and then is commanded to move the second support 18 to the clamping position P.

[0042] When the second support 18 moves to the clamping position P, the driven roller 16 moves toward a second position horizontally away from the drive roller 15 due to the operation of the air cylinder 28. Therefore, when the second support 18 reaches the clamping position P, the driven roller 16 is separated from the drive roller 15, and the film F is not pulled by the rollers 15, 16. Then, when the second support 18 reaches the clamping position P, the air cylinder 28 stops operating, and the driven roller 16 moves to the first position due to the biasing force of the spring 27, pressing against the drive roller 15 and clamping the film F. The holding shaft 12 and the film roll R are then rotated in the reverse direction to rewind the film F so that it is no longer loose, as shown by the solid line in FIG. 1 . At this time, it is also possible to employ a mode in which the drive roller 15 is rotationally driven to send the film F downstream, thereby eliminating any slack in the film F along its movement path.

[0043] Second Embodiment Next, a second embodiment will be described. The bag-making and filling apparatus according to this embodiment, as in the first embodiment, forms a strip-shaped film F unwound from a film roll R into a tubular shape using a bag former (film forming means), and then applies vertical seals along the feed direction of the tubular film at overlapping points on the film formed into a tubular shape by overlapping both side edges using the bag former, as well as horizontal seals to the tubular film in a direction intersecting the feed direction of the tubular film, thereby enclosing articles in the tubular film. This is a horizontal bag-making and filling machine in which articles are supplied into the tubular film toward the bag former by a supply conveyor (not shown). Regarding the second embodiment, detailed description of the structure common to the first embodiment will be omitted, and only differences from the first embodiment will be described in detail below.

[0044] As shown in Figures 5 and 6, in the bag making and filling apparatus according to this embodiment, a plurality of guide rollers 52 are arranged in a film supply path 50 from the film roll R to a pair of feed rollers 53 (film feed means). Each guide roller 52 includes a movable roller 52a and a fixed roller 52b that are rotatably supported. In this embodiment, three movable rollers 52a and four fixed rollers 52b are arranged. The movable rollers 52a are connected to a servo motor (not shown) that is driven and controlled by the packaging control unit so that they can move up and down. The movable rollers 52a are driven and controlled so that they move down as shown in Figure 6 after a support member 56 (film support means) described below passes between the movable rollers 52a and the fixed rollers 52b.

[0045] The support 56 that suctions and holds the film F can travel only horizontally on a guide rail (not shown) by a transport means, i.e., by driving and controlling a servo motor (not shown) in response to a drive command from the packaging control unit. Specifically, the support 56 suction-holds the starting end Fs of the film F on the film roll R, and can move horizontally between the movable roller 52a and the fixed roller 52b toward the pair of pay-out rollers 53 while maintaining a constant height position where it is suction-held. Note that the drive roller 53a (drive-side rotation means) and the driven roller 53b (driven-side rotation means) that make up the pay-out roller 53 (film pay-out means) are each supported in a position that does not change, and the support 56 moves so that the very tip of the starting end Fs of the film F is inserted between the drive roller 53a and the driven roller 53b.

[0046] When the leading edge of the starting end Fs of film F reaches the payout roller 53, the drive roller 53a rotates, and the payout roller 53 is driven and controlled to pull the film F downstream. While the support 56 moves from the film roll R to the payout roller 53, the holding shaft 51 of the film roll R is driven and rotated in a direction that slackens the film F. While the holding shaft 51 continues to rotate in the direction that slackens the film F, the movable roller 52a is lowered as shown in FIG. 6 , and the film F is wound around the guide roller 52. The holding shaft 51 is then driven and controlled to rotate so as to eliminate slack in the film F and then stopped, thereby completing the automatic setting of the film F in the film supply path 50. The driven roller 53b may be configured to be able to move back and forth vertically relative to the drive roller 53a, so that the support 56 can pass through the gap between the driven roller 53b and the drive roller 53a.

[0047] The device according to the above embodiment has the following advantages. (1) In the bag making and filling apparatus according to the first embodiment, a hand unit 7 (film supporting means) supporting a starting end Fs of film F unwound from a film roll R is transferred from the film roll R to a payout roller unit 3 (film unwinding means) by a transfer robot 6 (transfer means). During this time, the hand unit 7, while supporting the starting end Fs of film F, moves while changing its height and orientation to match the positions of the guide roller 2 and the payout roller unit 3 (film unwinding means). This causes the starting end Fs of film F to be fed to the payout roller unit 3 via the guide roller 2. That is, the hand unit 7 efficiently unwound a set amount of film F from the film roll R, and smoothly (efficiently) fed the unwound film F to the payout roller unit 3 via the guide roller 2, and then to the bag former 5. This allows the film F to be set efficiently in the bag making and filling apparatus. (2) In the roll paper setting unit 1, when the transfer robot 6 transfers the hand unit 7 supporting the starting end Fs of the film F, the holding shaft 12 is driven to rotate, maintaining slack in the strip-shaped film F up to the starting end Fs of the film F. In other words, the film roll R can rotate in a direction that slackens the film F by being driven to rotate the holding shaft 12 (drive means). This prevents the film F from being pulled by the heavy film roll R and being separated from the hand unit 7 when the hand unit 7 transfers the film F downstream while supporting the starting end Fs of the film F. In other words, rotating the film roll R helps to ensure that the film F is pulled out smoothly. (3) The payout roller unit 3 is equipped with a drive roller 15 (drive-side rotation means) and a driven roller 16 (driven-side rotation means), and these rollers can clamp the film F. The driven roller 16 is configured to be movable between a clamping position P where the film F is clamped and a retracted position Q spaced apart from the clamping position P. With this configuration, when the film F supported by the hand unit 7 is to pass through, the driven roller 16 can be moved to the retracted position Q to create a gap between the drive roller 15 and the driven roller 16. The hand unit 7 passes through this gap, allowing the film F to pass through the payout roller unit 3. (4) Driven roller 16 is supported by second support member 18 so as to be able to move away from drive roller 15 when second support member 18 (second support means) is located at clamping position P. That is, driven roller 16 can move toward and away from drive roller 15 when at clamping position P. This allows drive roller 15 and driven roller 16 to release the contact state in which they can clamp film F while second support member 18 and driven roller 16 remain located at clamping position P. Furthermore, when second support member 18 moves up and down to open and close payout roller unit 3, drive roller 15 and driven roller 16 can be prevented from colliding with each other. (5) The guide rollers 2, the payout roller unit 3, the entry angle adjustment unit 4, and the bag making machine 5, which are arranged along the film supply path 20, have gaps that allow the hand unit 7, which suction-holds the strip-shaped film F, to pass through. This allows the hand unit 7 to move along a predetermined movement path while the transfer robot 6 is self-propelled, winding the strip-shaped film F around each roller. The transfer robot 6, which is equipped with the hand unit 7 that suctions the starting end Fs of the film F, can be driven and controlled based on pre-set and stored operation information, allowing it to perform the same operations as a worker in setting the film F. (6) When the transfer robot 6 wraps the film F around each roller, the multiple arms rotate along the conveying direction, and the longitudinal direction of the hand unit 7 attached to the arm unit 36 ​​always faces the film direction (depth direction), thereby preventing the film F from meandering. (7) When setting the film F, the holding shaft 12 rotates in accordance with the movement path and speed of the hand unit 7, and the film F is fed out so that slack is created in the film F. This reduces the resistance when pulling packaging materials such as film. (8) When the hand unit 7 moves to wind the film F around the drive roller 15 of the payout roller unit 3, the second support 18 moves to the retracted position Q, and the drive roller 15 and the driven roller 16 are separated significantly. This allows the hand unit 7 of the transfer robot 6 to wind the film F around the drive roller 15 without interfering with the payout roller unit 3. After the film F has been set, the second support 18 moves to the clamping position P, and the film F is sandwiched between the drive roller 15 and the driven roller 16. This allows the film F to be passed through the payout roller unit 3 without the operator's help. (9) The holding shaft 51 according to the second embodiment is configured to rotate while the film F is being pulled out from the film roll R, thereby maintaining slack in the strip-shaped film F up to the starting end Fs of the film F. In other words, the film roll R can rotate in a direction that slackens the film F by the holding shaft 51 being driven to rotate. This prevents the film F from being pulled by the heavy film roll R and separating from the support 56 when the support 56 travels while supporting the starting end Fs of the film F. In other words, rotating the film roll R helps to ensure that the film F is pulled out smoothly.

[0048] <Example of change> The present invention is not limited to the configurations described in the above-described embodiments, and various modifications, additions, and deletions are possible within the scope that does not change the gist of the present invention. (1) In the above embodiment, a horizontal form-fill-seal machine is used as an example of the bag-making and filling device. However, the horizontal form-fill-seal machine is not limited to a normal pillow packaging machine and may be an inverted pillow packaging machine. It may also be a horizontal three-side seal packaging machine, a four-side seal packaging machine, or a shrink packaging machine. A vertical form-fill-seal machine may also be used. (2) The position of the start end Fs of the film F in the film roll R may be detected at the time when the film F is set on the holding shaft of the paper roll setting section. (3) The film support means may be configured such that the leading end Fs of the film F held by suction from the film roll R is gripped by a chucking member, in which case the chucking member moves toward the film unwinding means. (4) The "film" according to the present invention includes packaging materials made of resin, paper, aluminum vapor deposition, etc. (5) In the first embodiment, an example is shown in which the second support 18 is moved up and down relative to the first support 17 to wrap the film F around it. However, the second support 18 may also be moved horizontally relative to the first support 17 to wrap the film F around it. (6) In the first embodiment described above, an example was shown in which the suction section 8 released the suction of the film F after the drive roller 15 and the driven roller 16 clamped the film F, but the suction may be released at various times after the film F has passed through. [Explanation of symbols]

[0049] F: Film Fs: Starting end P: Clamping position Q: Retracted position R: Film roll 1: Paper roll setting section 2: Guide roller 3: Feed-out roller unit (film feeding means) 4: Approach angle adjustment unit 5: Bag making machine (film forming means) 6: Transfer robot (transfer means) 7: Hand unit (film support means) 8: Suction unit (film support means) 9: SCARA robot 12: Holding shaft (driving means) 14: Main body 15: Drive roller (drive side rotation means) 16: Driven roller (driven side rotation means) 17: First support (first support means) 18: Second support (second support means) 20: Film supply path 50: Film supply path 51: Holding shaft 52: Guide roller 53: Feed roller (film feeding means) 53a: driving roller (driving side rotation means) 53b: driven roller (driven side rotation means) 56: Support (film support means)

Claims

1. a film support means for suction-supporting a leading end of a film in a rotatably supported film roll; a guide roller that wraps around and guides the strip-shaped film pulled out from the film roll by the film support means; a film forming means for overlapping both side edges of the film to form a tubular film; a film feeding means disposed between the film roll and the film forming means, for sandwiching the strip-shaped film from both sides and feeding it toward the film forming means; a transport means for transporting the film support means supporting the leading end of the film, A bag making and filling apparatus that applies a vertical seal along a feeding direction of the tubular film at a overlapping portion of the tubular film where both side edges have been overlapped by the film forming means, and also applies a horizontal seal to the tubular film in a direction intersecting the feeding direction of the tubular film, thereby enclosing articles in the tubular film, A bag making and filling apparatus characterized in that the transport means transports the film support means, thereby transporting at least the starting end of the film from the film roll, passing through the position of the guide roller, and reaching the film unwinding means.

2. The bag making and filling apparatus of claim 1, characterized in that it has a driving means for rotating the film roll, and when the transport means transports the film support means supporting the starting end of the film, it drives the driving means to keep the film slack up to the starting end of the film.

3. The film feeding means a driving-side rotating means extending in the width direction of the film and being driven to rotate; a driven-side rotation means that rotates in response to the driving-side rotation means while holding the film between the driven-side rotation means and the driven-side rotation means, the driving-side rotating means and the driven-side rotating means are supported by a main body provided on one side of the film in the width direction so that the film can be passed between the driving-side rotating means and the driven-side rotating means and can move close to and away from each other, The bag making and filling apparatus described in claim 1 or claim 2, characterized in that the transport means passes the film support means through the gap between the drive side rotation means and the driven side rotation means on the other side of the width direction of the film facing away from the main body portion when the gap becomes open, thereby passing the film through the film unwinding means.

4. A film support means for supporting a leading end of a film in a rotatably supported film roll; a guide roller that wraps around and guides the strip-shaped film pulled out from the film roll by the film support means; a film forming means for overlapping both side edges of the film to form a tubular film; a film feeding means disposed between the film roll and the film forming means, for sandwiching the strip-shaped film from both sides and feeding it toward the film forming means; a transport means for transporting the film support means supporting the leading end of the film, A bag making and filling apparatus that applies a vertical seal along a feeding direction of the tubular film at a overlapping portion of the tubular film where both side edges have been overlapped by the film forming means, and also applies a horizontal seal to the tubular film in a direction intersecting the feeding direction of the tubular film, thereby enclosing articles in the tubular film, The film feeding means a driving-side rotating means extending in the width direction of the film and being driven to rotate; a driven-side rotating means that rotates in response to the driving-side rotating means while holding the film between the driven-side rotating means and the driven-side rotating means; a first support means fixed to a main body provided on one side of the film in the width direction, and supporting the drive-side rotation means rotatably on both sides in the direction of a rotation axis of the drive-side rotation means; and second support means for rotatably supporting the driven-side rotation means on both sides in the rotation axis direction of the driven-side rotation means, the second support means is supported on the main body portion so that the second support means can move relative to the first support means between a clamping position where the drive-side rotation means and the driven-side rotation means can clamp the film and a retracted position where they are spaced apart, and a space is provided between the first support means and the second support means and between the drive-side rotation means and the driven-side rotation means so that the film can be passed between the drive-side rotation means and the driven-side rotation means from the other side of the film in the width direction that faces and is spaced apart from the main body portion when the second support means is in the retracted position, the transport means is configured to pass the film support means between the first support means and the second support means and between the drive-side rotation means and the driven-side rotation means when the spaces between the support means and the driven-side rotation means become empty, thereby passing the film through the film pay-out means; A bag making and filling apparatus characterized in that the transport means transports the film support means, thereby transporting at least the starting end of the film from the film roll, passing through the position of the guide roller, and reaching the film unwinding means.

5. 5. The bag making and filling apparatus according to claim 4, wherein when the second support means is positioned at the clamping position, the driven side rotation means is supported at the clamping position by the second support means so that it can be separated from the drive side rotation means.

Images