Sheet pulling system, sheet holding device, and sheet pulling method

Abstract

To provide a sheet drawal system, a sheet holding device, and a sheet drawal method, which enable stably drawing out the end of a sheet from an original fabric roll while reducing the preparation workload.SOLUTION: The sheet drawal system includes: a rod-shaped member 40; a sheet holding device 30 provided on the outer circumference of the rod-shaped member 40 and having a sheet holding member 41 to hold an edge Se of a sheet S; a work robot that moves the rod-shaped member 40 to a pressing position to press the edge Se of the sheet S located on the outer circumference of the original roll; a sheet adhesion sensor that detects that a predetermined load is applied to the rod-shaped member 40 that presses the edge Se of the sheet S; and a control unit that controls the work robot. After moving the rod-shaped member 40 to the pressing position to hold the edge Se of the sheet S on the holding member 41, the control unit controls the rod-shaped member 40 to move in the draw-out direction to draw out the edge Se of the sheet S when the predetermined load is detected by the sheet adhesion sensor.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a sheet drawing system, a sheet holding device, and a sheet drawing method, and more particularly, to a sheet drawing system, a sheet holding device, and a sheet drawing method for drawing the end of a sheet from a roll of raw material supported rotatably.

Background Art

[0002] Conventionally, when performing various processes on a sheet such as a nonwoven fabric or a film, a method has been adopted in which the sheet is continuously fed out from a roll of raw material around which the sheet is wound and supplied to a processing apparatus or the like.

[0003] In this type of apparatus, in order to continuously supply the sheet to a processing apparatus or the like, when the remaining amount of the sheet on the roll of raw material decreases, a splicing operation is performed.

[0004] Generally, such a splicing operation is performed when the remaining amount of the sheet on the roll of raw material from which the sheet is being fed out (hereinafter referred to as the "feeding-side roll of raw material") decreases, by the following procedure: (1) pulling out the end of the sheet from the next roll of raw material (hereinafter referred to as the "standby-side roll of raw material"), (2) connecting the end of the sheet of the pulled-out standby-side roll of raw material (hereinafter referred to as the "splicing end") to the middle part of the sheet of the feeding-side roll of raw material with an adhesive material such as tape or heat sealing, and (3) cutting the upstream side of the connection part to which the standby-side roll of raw material is connected in the feeding-side roll of raw material.

[0005] In recent years, various techniques have been proposed that can automatically perform such a splicing operation without stopping the supply of the sheet to a processing apparatus or the like. Examples of such techniques include those described in Patent Document 1 and Patent Document 2.

[0006] The technology described in Patent Document 1 comprises a suction roller for taking the end of a sheet from a standby roll of raw material, a work robot having gripping claws for gripping the sheet, and a joining part capable of joining sheets together. The apparatus described in Patent Document 2 comprises a work robot provided with a sheet end gripping part having a pair of holding pads capable of suctioning sheets, and a joining part capable of connecting sheets together.

[0007] The technologies described in Patent Document 1 and Patent Document 2 both involve performing the above-mentioned splicing operation using the following procedure: (1) pressing a mechanism having an adhesive surface (hereinafter referred to as the "adhesion mechanism") against the splice end to cause adhesion; (2) in the state of (1), moving the adhesion mechanism in a direction away from the standby raw material roll, for example, in the direction normal to the standby raw material roll, to separate the splice end from the standby raw material roll; (3) grasping the separated splice end with a sheet gripping mechanism (hereinafter referred to as the "gripping mechanism") and transporting it to the splice; and (4) connecting the splice end to the middle of the sheet on the feed-side raw material roll at the splice.

[0008] According to the technologies described in Patent Documents 1 and 2, the splicing process can be performed automatically, making it possible to continuously supply sheets to processing equipment and the like without interruption. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] Patent No. 6322284 [Patent Document 2] International Publication No. 2018 / 084078 [Overview of the project] [Problems that the invention aims to solve]

[0010] However, in the technologies described in Patent Documents 1 and 2, the splice end is first separated from the waiting raw material roll and then grasped by a separate gripping mechanism. Therefore, depending on the shape of the splice end, there is a high possibility that the gripping mechanism may not be able to grasp the splice end, which would lead to a decrease in the efficiency of the splicing work.

[0011] Therefore, in the apparatus described in Patent Documents 1 and 2, in order to increase the success rate of gripping the joint end by the gripping mechanism, it is necessary to pre-cut the shape of the joint end in a straight line along the axial direction of the raw material roll. However, such preparatory work requires careful attention, making the work complicated. In particular, when multiple such raw material rolls are stocked, after forming the shape of the joint end in a straight line, it becomes necessary to adhere the joint end to the outer surface of the raw material roll and then cure it to maintain that shape. Performing such preparatory work requires additional time and places an extremely heavy burden on the worker.

[0012] Furthermore, the apparatus described in Patent Documents 1 and 2 uses two mechanisms, an adsorption mechanism and a gripping mechanism, to pull out the joint end, which makes the apparatus configuration complex and increases the control burden for controlling each mechanism.

[0013] The present invention relates to providing a sheet dispensing system, a sheet holding device, and a sheet dispensing method that can overcome the drawbacks of the aforementioned prior art. [Means for solving the problem]

[0014] The present invention relates to a sheet extraction system that extracts sheets from a roll of raw material that is rotatably supported. The sheet pulling system preferably comprises: a sheet holding means having a rod-shaped member and a holding member provided on the outer circumference of the rod-shaped member and holding the end of the sheet located on the outer surface of the raw material roll; a moving means that supports the rod-shaped member so as to be rotatable in the circumferential direction and moves the rod-shaped member to a pressing position that presses the end of the sheet; a load detection means that detects when a predetermined load is applied to the rod-shaped member when pressing the end of the sheet; and a control means that controls the moving means. Preferably, the control means controls the moving means to move the rod-shaped member to the pressing position and hold the end of the sheet with the holding member, and then, when the predetermined load is detected by the load detection means, moves the rod-shaped member in a pulling direction to pull out the end of the sheet.

[0015] The present invention relates to a sheet holding device for drawing sheets from a roll of raw material that is rotatably supported. The sheet holding device preferably comprises a rod-shaped member, a sheet holding means provided on the outer circumference of the rod-shaped member for holding the end of the sheet located on the outer surface of the raw material roll, and a load detection means for detecting that a predetermined load has been applied to the rod-shaped member when pressing the end of the sheet.

[0016] The present invention relates to a sheet extraction method using a sheet extraction device that extracts sheets from a roll of raw material that is rotatably supported. The sheet extraction system preferably comprises a sheet holding means having a rod-shaped member and a holding member provided on the outer circumference of the rod-shaped member and holding the end of the sheet located on the outer surface of the raw material roll, a moving means that supports the rod-shaped member so as to be rotatable in the circumferential direction and moves the rod-shaped member to a pressing position that presses the end of the sheet, and a load detection means that detects when a predetermined load is applied to the rod-shaped member when pressing the end of the sheet. The sheet extraction method preferably comprises a sheet holding step of moving the rod-shaped member to the pressing position by operating the moving means and holding the end of the sheet with the holding member, When the predetermined load is detected by the load detection means, it is preferable to include a sheet pulling-out step of moving the rod-shaped member in the pulling-out direction for pulling out the end of the sheet by operating the moving means.

Advantages of the Invention

[0017] According to the sheet pulling-out system, sheet holding device, and sheet pulling-out method of the present invention, while having a simple configuration, it is possible to stably pull out the end of the sheet from the raw material roll while reducing the burden of preparatory work.

Brief Description of the Drawings

[0018] [Figure 1] FIG. 1 is a schematic diagram for explaining the outline of the sheet pulling-out system according to the present embodiment. [Figure 2] FIG. 2 is a perspective view of the base portion of the sheet holding device constituting the sheet pulling-out system of FIG. 1. [Figure 3] FIG. 3 is a plan view of the base portion of FIG. 2. [Figure 4] FIG. 4 is a side view of the base portion of FIG. 2. [Figure 5] FIG. 5 is a view showing the rod-shaped member, holding member, and protrusion member of the sheet holding device, where (a) is a plan view and (b) is a side view. [Figure 6] FIG. 6 is an explanatory diagram for explaining the operation of the sheet holding device. [Figure 7] FIG. 7 is a view showing a modified example of the sheet holding device, where (a) is a plan view and (b) is a side view. [Figure 8] FIG. 8 is an enlarged view of the main part of the sheet holding device of FIG. 7, where (a) is a plan view and (b) is a side view.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, the sheet dispensing system, sheet holding device, and sheet dispensing method of the present invention will be described with reference to the drawings based on a preferred embodiment thereof. Figure 1 schematically shows the overall configuration of the sheet dispensing system 1 according to this embodiment.

[0020] [Sheet pull-out system 1] As shown in Figure 1, the sheet dispensing system 1 is a system for continuously dispensing sheets S from a raw material roll R in which the sheets S are wound in a roll shape. The sheet dispensing system 1 according to this embodiment includes a sheet dispensing device 10, a work robot 20, a sheet holding device 30, and a control device 50 that controls the sheet dispensing device 10 and the work robot 20. In this embodiment, the raw material roll R is a roll around which a nonwoven fabric sheet as a sheet S is wound, and is used, for example, in the manufacture of sanitary products such as diapers and feminine hygiene products.

[0021] [Sheet dispensing device 10] The sheet dispensing device 10 rotatably supports the raw material roll R and dispenses the sheet S wound around the raw material roll R to processing equipment for manufacturing sanitary products via a plurality of guide rollers (not shown). The sheet feeding device 10 according to this embodiment is configured to include a raw material roll holding section 11 and a joining section 12.

[0022] The raw material roll holding section 11 has a pair of roll holding shafts 11a and 11b that are rotatably supported with respect to the support wall 13, and holds the raw material rolls R1 and R2 so that the sheet S can be fed out. The pair of roll holding shafts 11a and 11b each have a cylindrical shape and support the raw material rolls R1 and R2 so that they can rotate by inserting the core members of the raw material rolls R1 and R2 into them. The roll holding shafts 11a and 11b extend from the support wall 13 in the direction in which the work robot 20 is installed, and are arranged at approximately the same height with a gap between them.

[0023] The splicing section 12 is a device that performs splicing work by connecting the end portion Se of the sheet S of the standby roll of raw material R to the middle portion of the sheet S of the raw material roll R from which the sheet S is being fed out. Figure 1 shows a raw material roll R1 from which a sheet S is being fed, and a standby raw material roll R2. In the example shown in Figure 1, when the remaining amount of sheet S on raw material roll R1 becomes low, the splicing section 12 connects the end portion Se of the sheet S on raw material roll R2 to the middle portion of the sheet S on raw material roll R1. At this time, when the end portion Se of the sheet S on raw material roll R1 is connected to the sheet S on raw material roll R2, the sheet S on raw material roll R1 is cut upstream of that middle portion. As a result, the raw material roll R from which the sheet S is fed to the processing equipment, etc., shifts from raw material roll R1 to raw material roll R2.

[0024] In this embodiment, the remaining amount of sheet material on the raw material roll R is detected by a sheet material detector (not shown). Since the sheet material detector itself is well known, a detailed explanation will be omitted, but for example, a sensor that detects the distance to the outer surface of the raw material roll R, as described in International Publication No. 2018 / 084078 (prior art document), can be used. In this case, the distance information detected by the sheet material detector is output to the control device 50, for example, and the control device 50 determines whether or not the remaining amount of sheet material on the raw material roll R has decreased. In the following explanation, for convenience of explanation, the raw material roll R on the side that is feeding the sheet S to the processing device, etc. will be described as raw material roll R1 (hereinafter also referred to as "feeding-side raw material roll R1"), and the raw material roll R on the standby side will be described as raw material roll R2 (hereinafter also referred to as "standby-side raw material roll R2"), but the reverse is also acceptable.

[0025] [Working robot 20] The work robot 20, in accordance with the control of the control device 50, (1) when the remaining amount of sheets on the raw material roll R1 becomes low, pulls out the end Se of the sheet S on the raw material roll R2 and transports it to the splice 12, and (2) after the splice operation, takes out the raw material roll R1 from which the sheet S has stopped being fed out and sets, for example, a new raw material roll R that has been stocked in advance onto the roll holding shaft 11a. The work (1) performed by the work robot 20 will be described later.

[0026] The work robot 20 according to this embodiment is positioned adjacent to the sheet feeding device 10 and comprises a base end portion 21, first arm portions 22 to fourth arm portions 25, and a head portion 26. Such a work robot 20 can be a so-called articulated robot.

[0027] The base end 21 is connected to the base end 21 in a manner that allows it to pivot about a first axis A1 extending in the vertical direction as the center of rotation. The first arm portion 22 is connected to the base end 21 in a manner that allows it to pivot about a second axis A2 extending in the horizontal direction as the center of rotation. The second arm portion 23 is connected to the first arm portion 22 in a manner that allows it to pivot about a third axis A3 extending in the horizontal direction as the center of rotation. The third arm portion 24 is connected to the second arm portion 23 in a manner that allows it to rotate about a fourth axis A4 extending in a direction perpendicular to the third axis A3 as the center of rotation. The fourth arm portion 25 is connected to the third arm portion 24 in a manner that allows it to rotate about a fifth axis A5 extending in a direction perpendicular to the fourth axis A4 as the center of rotation. The head portion 26 is connected to the fourth arm portion 25 in a manner that allows it to rotate about a sixth axis A6 extending in a direction perpendicular to the fifth axis A5 as the center of rotation.

[0028] The base portion 21, the first arm portions 22 to the fourth arm portions 25, and the head portion 26 are configured to rotate or swivel around the first axis A1 to the sixth axis A6 as the center of rotation, driven by a drive source such as a motor (not shown). In other words, in this embodiment, the head portion 26, which is the tip of the work robot 20, can move three-dimensionally in the horizontal and vertical directions by the swinging of the first arm portions 22 to the third arm portions 24, and can also swivel, bend, and rotate around the fourth axis A4 to the sixth axis A6 as the center of rotation.

[0029] In addition to articulated robots, other types of robots can be used for the work robot 20. In this case, provided that (1) the end portion Se of the sheet S pulled out from the raw material roll R can be transported to the joint portion 12, and (2) the tip portion is rotatable, as in the head portion 26 of this embodiment, then for example, a serial type cylindrical coordinate robot or a polar coordinate robot can be used. The reason for (2) above will be explained later.

[0030] [Sheet holding device 30] As shown in Figures 1, 2, and 5, the sheet holding device 30 is composed of a base portion 31, a rod-shaped member 40, a holding member 41, and a plurality of protruding members 42.

[0031] [Base portion 31] As shown in Figures 2 to 4, the base portion 31 is composed of a base 32, first plates 33 to third plates 35, a first biasing spring 36A and a second biasing spring 36B, a sheet contact sensor 37, and a paper resistance sensor 38. The base 32 and the first plates 33 to third plates 35 can be made of metal materials such as aluminum, stainless steel, and iron. For the purposes of the following description of the base portion 31, the side to which the rod-shaped member 40 is attached will be referred to as the upper side, and the side to which it is attached to the head portion 26 of the work robot 20 will be referred to as the lower side.

[0032] [Base 32] The base 32 has a roughly circular plate shape and is a component that is fastened and fixed to the head portion 26 of the work robot 20. A commercially available hand changer or the like may be used.

[0033] [Plate 1, page 33] The first plate 33 has a roughly rectangular shape and is a component fixed on the base 32. A pair of first slide rails 33A, 33A, a paper resistance sensor mounting member 33B, a first stopper member 33C, and a pair of first biasing spring mounting shafts 33D, 33D are attached to the upper surface of the first plate 33.

[0034] The first slide rails 33A, 33A each have a substantially H-shaped cross-section and are arranged parallel to each other at a predetermined distance along the longitudinal direction of the first plate 33. Grooves 33Aa, 33Aa are formed on both sides of the first slide rail 33A in the short direction, along the extension direction. The grooves 33Aa have a shape that allows them to engage with the protrusions 34Aa of the first mating rail 34A which is attached to the second plate 34. As will be described in detail later, in this embodiment, with the first slide rail 33A and the first mating rail 34A engaged, the second plate 34 is able to slide on the first plate 33 along the extension direction of the first slide rail 33A.

[0035] The paper resistance sensor mounting member 33B has a rectangular shape and is positioned on one end of the first slide rail 33A in the extension direction (hereinafter, this direction is referred to as the "second load detection direction") (see Figure 3). The paper resistance sensor mounting member 33B has a hole 33Ba that penetrates through it along the second load detection direction (see Figure 3). The hole 33Ba is for mounting the paper resistance sensor 38 with the hole penetrating it. As will be described in detail later, in this embodiment, with the paper resistance sensor 38 mounted in the hole 33Ba, when the second plate 34 slides in the second load detection direction and presses against the paper resistance sensor 38, the paper resistance sensor 38 enters a detection state (ON), and a second load detection signal indicating this is output to the control device 50 (see Figure 1).

[0036] The first stopper member 33C has a rectangular shape and is positioned between the first slide rails 33A, 33A at its end in the direction opposite to the second load detection direction (hereinafter referred to as the "anti-second load detection direction"). The first stopper member 33C functions as a member that restricts further movement of the second plate 34 in the anti-second load detection direction when the first plate 33 and the second plate 34 are assembled.

[0037] The first biasing spring mounting shafts 33D, 33D are made of long bolts or the like and are components for mounting the first biasing spring 36A. The first biasing spring mounting shafts 33D, 33D are located on the end side of the second plate 34 opposite to the second load detection direction and are erected on both sides of the first slide rails 33A, 33A, respectively.

[0038] [Plate 2, page 34] The second plate 34 has a roughly rectangular shape, and a pair of first mating rails 34A, 34A are fixed to its lower surface along a direction intersecting the longitudinal direction, which can mate with the first slide rails 33A, 33A of the first plate 33 (see Figure 4). The first mating rails 34A have a C-shaped cross-section, and protrusions 34Aa, 34Aa are provided on both ends of the open side from the inner surface. The second plate 34 can slide relative to the first plate 33 when the grooves 33Aa, 33Aa of the first slide rails 33A and the protrusions 34Aa, 34Aa are mated with each other.

[0039] Furthermore, the protrusion 34Aa is not limited to being formed integrally with the first mating rail 34A, but may be a separate component. In this case, for example, a known ball bearing can be used as the protrusion 34Aa. With this configuration, the frictional resistance generated between the groove 33Aa of the first slide rail 33A and the protrusion 34Aa of the first mating rail 34A can be reduced, making it possible to smoothly slide the second plate 34 relative to the first plate 33.

[0040] A second slide rail 34B, a seat contact sensor mounting member 34C, a second stopper member 34D, a pair of first biasing spring mounting shafts 34E, 34E, and a pair of second biasing spring mounting shafts 34F, 34F are attached to the upper surface of the second plate 34.

[0041] The second slide rail 34B, like the first slide rail 33A, is made of a member with a substantially H-shaped cross-section and is arranged along a direction intersecting the first slide rail 33A. On both sides of the short side of the second slide rail 34B, grooves 34Ba, 34Ba are formed along the extension direction (see Figure 4). The grooves 34Ba have a shape that allows them to engage with the protrusions (not shown) of the second mating rail 35A attached to the third plate 35. As will be described in detail later, in this embodiment, with the second slide rail 34B and the second mating rail 35A assembled, the third plate 35 is slidable on the second plate 34 along the extension direction of the second slide rail 34B.

[0042] The sheet contact sensor mounting member 34C has a rectangular shape and is positioned at one end of the second slide rail 34B in the extension direction (hereinafter, this direction is referred to as the "first load detection direction") (see Figure 3). The sheet contact sensor mounting member 34C has a hole 34Ca that penetrates along the first load detection direction (see Figure 3). The hole 34Ca is for mounting the sheet contact sensor 37 with the hole penetrating it. As will be described in detail later, in this embodiment, with the sheet contact sensor 37 mounted in the hole 34Ca, when the third plate 35 slides in the first load detection direction and presses against the sheet contact sensor 37, the sheet contact sensor 37 turns ON, and a first load detection signal indicating this is output to the control device 50 (see Figure 1).

[0043] The second stopper member 34D has a rectangular shape and is fixed to the end opposite to the first load detection direction (hereinafter referred to as the "opposite first load detection direction") so as to protrude upward. Stopper shafts 34Da, 34Da that protrude toward the first load detection direction are attached to the upper end side of the second stopper member 34D. The second stopper member 34D, to which the stopper shafts 34Da, 34Da are attached, functions as a member that restricts further movement of the third plate 35 toward the opposite first load detection direction when the second plate 34 and the third plate 35 are assembled.

[0044] The first biasing spring mounting shafts 34E, 34E are made of short bolts or the like and are components for mounting the first biasing spring 36A. The first biasing spring mounting shafts 34E, 34E are provided at predetermined intervals on the end side of the second plate 34 in the direction opposite to the second load detection direction. The second biasing spring mounting shafts 34F, 34F are made of long bolts or the like and are components for mounting the second biasing spring 36B. The second biasing spring mounting shafts 34F, 34F are positioned on the end side of the second plate 34 in the direction opposite to the first load detection direction and are erected at predetermined intervals.

[0045] [Plate 3, page 35] The third plate 35 has a roughly rectangular shape, and on its lower surface, along its longitudinal direction, a second mating rail 35A is attached via support members 35a, 35a, which can mate with the second slide rail 34B of the second plate 34 (see Figure 4). The second mating rail 35A has a C-shaped cross-section, similar to the first mating rail 34A of the second plate 34, and both ends on the open side are provided with protrusions (not shown) that project from the inner surface. The third plate 35 can slide relative to the second plate 34 when the grooves 34Ba, 34Ba of the second slide rail 34B and the protrusions are mated with each other.

[0046] A pair of second biasing spring mounting shafts 35B, 35B are attached to the upper surface of the end of the third plate 35 in the direction opposite to the first load detection direction, spaced apart in the direction of the second load detection. The second biasing spring mounting shafts 35B, 35B are made of short bolts or the like and are components for attaching the second biasing spring 36B.

[0047] A rod-shaped member 40 is fastened and fixed to the center of the upper surface of the third plate 35 by bolts or the like. As will be described in detail later, in this embodiment, in this state, the retaining member 41 and the projection member 42 attached to the rod-shaped member 40 are positioned on the side of the rod-shaped member 40 opposite the first load detection direction and the side opposite the second load detection direction, respectively (see Figure 3).

[0048] [First biasing spring 36A] The first biasing spring 36A is a tension spring and is hooked onto the first biasing spring mounting shaft 33D of the first plate 33 and the first biasing spring mounting shaft 34E of the second plate 34, respectively, and biases the second plate 34 to pull in the direction opposite to the second load detection direction.

[0049] In this embodiment, in a normal state where no load is acting on the rod-shaped member 40, the second plate 34 is biased by the first biasing springs 36A, 36A in the direction opposite to the second load detection, and is positioned to rest at a position where it contacts the first stopper member 33C of the first plate 33. When a load is applied to the rod-shaped member 40 in the direction of the second load detection, the second plate 34 slides in the direction of the second load detection against the biasing force of the first biasing spring 36A. In this embodiment, when the second plate 34 slides by a predetermined amount in the direction of the second load detection, this is detected by the conductive paper resistance sensor 38, and a second load detection signal is output to the control device 50 (see Figure 1).

[0050] By the way, in this embodiment, as shown in Figure 6(c), the end portion Se of the sheet S can be pulled out from the raw material roll R by moving the rod-shaped member 40 that holds the end portion Se of the sheet S downward (hereinafter referred to as the "pulling direction"). At this time, while the rod-shaped member 40 is moving in the pulling direction, the peeling force when peeling the sheet S from the raw material roll R may increase, and a load may be applied to the rod-shaped member 40. In such cases, it may cause the sheet S to break, the rod-shaped member 40 to break, or the work robot 20 to malfunction.

[0051] Therefore, in this embodiment, in order to suppress such a situation, if a load in the second load detection direction is applied to the rod-shaped member 40 while the end Se of the sheet S is being pulled out, the following sequence of operations is performed as shown in Figures 2 to 4: (1) The second plate 34 slides in the second load detection direction against the biasing force of the first biasing springs 36A, 36A; (2) When the paper resistance sensor 38 detects the movement of the second plate 34, it outputs a second load detection signal to the control device 50 (see Figure 1); (3) When the control device 50 receives the second load detection signal, it performs control to stop the rod-shaped member 40.

[0052] In this embodiment, because of the configuration, if the spring constants of the first biasing springs 36A, 36A are too small, the sheet S pulling operation by the rod-shaped member 40 will be frequently interrupted, leading to a decrease in the efficiency of operations such as joining. On the other hand, if the spring constants of the first biasing springs 36A, 36A are too large, even if a predetermined load (second predetermined load) is applied to the rod-shaped member 40 while it is moving in the pulling direction, it will continue to move, which could lead to the sheet S breaking, the rod-shaped member 40 breaking, or the work robot 20 malfunctioning. Therefore, from the viewpoint of preventing such situations, the spring constants of the first biasing springs 36A, 36A are preferably 0.1 N / mm or more and 2.0 N / mm or less, and more preferably 0.5 N / mm or more and 1.5 N / mm or less.

[0053] [Second biasing spring 36B] The second biasing spring 36B, like the first biasing spring 36A, is a tension spring and is hooked onto the second biasing spring mounting shaft 34F of the second plate 34 and the second biasing spring mounting shaft 35B of the third plate 35, respectively, and constantly biases the third plate 35 to pull in the direction opposite to the first load detection direction.

[0054] In this embodiment, in the normal state where no load is acting on the rod-shaped member 40, the third plate 35 is biased in the opposite direction to the first load detection by the second biasing springs 36B, 36B and is positioned to rest at a location where it contacts the stopper shafts 34Da, 34Da of the second plate 34. When a load is applied to the rod-shaped member 40 in the direction of the first load detection, the third plate 35 slides in the direction of the first load detection against the biasing force of the first biasing spring 36A. In this embodiment, when the third plate 35 slides in the direction of the first load detection, it is detected by the sheet contact sensor 37, and a first load detection signal is output to the control device 50 (see Figure 1).

[0055] By the way, as will be explained in more detail later, in this embodiment, the pulling operation to pull out the end Se of the sheet S from the raw material roll R is performed by the following steps: (1) moving the rod-shaped member 40 toward the raw material roll R and having the holding member 41 hold the end Se of the sheet S, and (2) after the operation in (1), moving the rod-shaped member 40 in the pulling direction (see Figures 6(a) to (c)).

[0056] In other words, in this embodiment, when pulling out the end portion Se of the sheet S from the raw material roll R, it is necessary that the end portion Se of the sheet S (nonwoven fabric) is held by the holding member 41 (male mechanical tape) as a prerequisite. To put it another way, in this embodiment, it is important to press the rod-shaped member 40 to which the holding member 41 is attached against the end portion Se of the sheet S with a predetermined pressing force so that the holding member 41 holds (engages) the end portion Se of the sheet S.

[0057] Therefore, in this embodiment, when the rod-shaped member 40 is pressed against the end Se of the sheet S with a predetermined pressing force, the following operations occur in the order described above: (1) the third plate 35 slides in the first load detection direction against the biasing force of the second biasing springs 36B, 36B; (2) when the sheet contact sensor 37 is pressed by the third plate 35, it outputs a first load detection signal to the control device 50 (see Figure 1); and (3) when the control device 50 receives the first load detection signal, it controls the rod-shaped member 40 to move in the withdrawal direction.

[0058] In this embodiment, because of the configuration, if the spring constants of the second biasing springs 36B, 36B are too small, the rod-shaped member 40 may move in the pulling direction or the like at an early stage when the rod-shaped member 40 presses against the end Se of the sheet S, that is, before the holding member 41 has sufficiently held the end Se of the sheet S. On the other hand, if the spring constants of the second biasing springs 36B, 36B are too large, the rod-shaped member 40 may continue to press against the end Se of the sheet S even if an excessive load is applied to it, which could lead to damage to the rod-shaped member 40 or failure of the work robot 20. Therefore, from the viewpoint of preventing such a situation, the spring constants of the second biasing springs 36B, 36B are preferably 0.1 N / mm or more and 1.0 N / mm or less, and more preferably 0.2 N / mm or more and 0.7 N / mm or less.

[0059] [Sheet contact sensor 37] The sheet contact sensor 37 is a mechanical switch such as a limit switch or a microswitch, and is configured to turn ON when the third plate 35 moves in the first load detection direction and makes contact, and to output a first load detection signal to the control device 50. When the control device 50 receives the first load detection signal, it outputs a command signal to the work robot 20 to control the rod-shaped member 40 to move away from the raw material roll R (see Figures 6(b) and (c)).

[0060] In this embodiment, since a mechanical switch is used as the sheet contact sensor 37, it is possible to reliably detect that the third plate 35 has moved by a predetermined amount in the first load detection direction (that the rod-shaped member 40 has moved relative to the head portion 26 of the work robot 20), that is, that as a result of a predetermined load acting on the rod-shaped member 40 in the first load detection direction, the end portion Se of the sheet S is held by the holding member 41 (see Figure 6(b)).

[0061] [Paper Resistance Sensor 38] The paper resistance sensor 38, like the sheet contact sensor 37, is a mechanical switch that turns ON when the second plate 34 moves in the second load detection direction and makes contact, and is configured to output a second load detection signal to the control device 50. When the control device 50 receives the second load detection signal, it outputs a command signal to the work robot 20 to control the rod-shaped member 40 to stop it (see Figure 6(c)).

[0062] In this embodiment, since a mechanical switch is used as the paper resistance sensor 38, it is possible to reliably detect that the second plate 34 has moved by a predetermined amount in the second load detection direction, that is, that an overload (second predetermined load) in the second load detection direction has occurred on the rod-shaped member 40.

[0063] In this embodiment, the sheet contact sensor 37 and the paper resistance sensor 38 are configured as mechanical switches, but it is also possible to change either one or both to non-contact sensors such as proximity sensors. If non-contact sensors are used, they do not need to be installed on the base portion 31 as in this embodiment, and can be installed, for example, on the head portion 26 of the work robot 20 (see Figure 1) or on the rod-shaped member 40.

[0064] [Rod-shaped member 40] As shown in Figures 1, 2, and 5, the rod-shaped member 40 is made of a rod-shaped member having a rectangular cross-section and has a fixed end 40a that is fastened and fixed to the upper surface of the third plate 35 by bolts, etc., and a free end 40b. As will be described later, since the rod-shaped member 40 is a member for pressing against the outer surface of the raw material roll R and for pulling out the end Se of the sheet S from the raw material roll R, it is preferable to form it from a material with rigid strength that is resistant to bending deformation, such as a metal member such as aluminum, stainless steel, and iron, or a resin. Furthermore, the length of the long side in the cross-sectional view of the rod-shaped member 40 is preferably 10 mm to 50 mm, more preferably 20 mm to 40 mm, from the viewpoint of ensuring the rigid strength of the rod-shaped member 40.

[0065] In this embodiment, the base portion 31 and the rod-shaped member 40 are assembled to the head portion 26 of the work robot 20, and are positioned so that the axial direction of the sixth axis A6 of the head portion 26 coincides with the extending direction of the rod-shaped member 40.

[0066] [Holding member 41] The retaining member 41 has a rectangular shape and is attached to the side of the longer side in the cross-sectional view of the rod-shaped member 40, along the extension direction. In this embodiment, the retaining member 41 is a male-type mechanical tape that can engage with the nonwoven fabric sheet S when pressed against it. Note that the retaining member 41 is not limited to a male-type mechanical tape, but may be an adhesive tape, for example.

[0067] Here, we will explain the mounting range of the retaining member 41, which is attached to the side surface of the rod-shaped member 40. As will be described in more detail later, in this embodiment, the pulling out of the end portion Se of the sheet S of the raw material roll R is performed by the following steps: (1) moving the rod-shaped member 40 toward the raw material roll R (see Figures 6(a) and (b)), (2) pressing the rod-shaped member 40 against the end portion Se of the sheet S of the raw material roll R and holding the end portion Se in the holding member 41 (see Figure 6(b), etc.), and (3) moving the rod-shaped member 40 downward in the pulling direction (see Figure 6(c)).

[0068] Therefore, it is necessary for the holding member 41 to sufficiently hold the sheet S without separating it when the rod-shaped member 40 is moved in the pulling direction, etc., so it is important that it holds at least both sides of the end portion Se of the sheet S. From this viewpoint, when the roll width of the raw material roll R is W, and the widths of the holding member 41 attached to both sides of the end portion Se of the sheet S are W1 and W2 (see Figure 5), the sum of the widths W1 and W2 of the holding member 41 is 20% or more and 100% or less of the roll width W, more preferably 30% or more and 70% or less of the roll width W. Note that if the sum of the mounting widths W1 and W2 is less than 100%, these widths are not limited to being the same length, but can be different.

[0069] In this case, as a prerequisite, the rod-shaped member 40 must have an extended length that covers the mounting range for attaching the holding member 41 of the above-described width. Therefore, from the viewpoint of properly attaching the holding member 41 of the above-described width, the extended length for the mounting range of the holding member 41 is preferably 100% to 120% of the roll width W, or a length obtained by adding a value of 0 mm to 200 mm to the roll width W of the raw material roll R. Note that the extended length for the mounting range of the holding member 41 on the rod-shaped member 40 can also be less than 100%, for example, 95%.

[0070] [Protrusion material 42] The projection member 42 has a pin shape and, when it comes into contact with the end portion Se of the sheet S, penetrates the contact area and is a member for penetrating and holding the end portion Se. The projection member 42 protrudes from the short side of the rod-shaped member 40 in a cross-sectional view and multiple projection members 42 are attached along the extending direction of the rod-shaped member 40. In this embodiment, the projection member 42 is attached to a side of the rod-shaped member 40 in a cross-sectional view that is different from the holding member 41, that is, to the short side adjacent to the long side to which the holding member 41 is attached (see Figure 5).

[0071] As will be described in more detail later, in this embodiment, after pulling out the end Se of the sheet S while it is held by the holding member 41 (see Figure 6(c)), the rod-shaped member 40 is rotated 90 degrees in a predetermined direction (for example, counterclockwise) so that the projection member 42 penetrates the end Se of the sheet S (see Figure 6(d)).

[0072] The protruding material 42 can be made of metal such as aluminum, stainless steel, and iron, or of resin or other materials. Its tip can be formed into a pointed or curved shape, as long as it is shaped to penetrate the sheet S of the raw material roll R. Furthermore, from the viewpoint of facilitating penetration into the sheet S, the amount of protrusion of the protruding material 42 from the rod-shaped member 40 is preferably 3 mm to 10 mm, more preferably 4 mm to 7 mm, and its outer diameter is preferably 1 mm to 3 mm, more preferably 1.5 mm to 2 mm. Moreover, from a similar viewpoint, the spacing of the protruding materials 42 in the extending direction of the rod-shaped member 40 is preferably 5 mm to 30 mm, more preferably 10 mm to 20 mm.

[0073] In the above embodiment, the cross-sectional shape of the rod-shaped member 40 to which the retaining member 41 and the projection member 42 are attached is rectangular. However, provided that (1) the retaining member 41 and the projection member 42 are formed along the extending direction of the rod-shaped member 40, and (2) the retaining member 41 and the projection member 42 are spaced apart from each other in the circumferential direction of the rod-shaped member 40, it is possible to form them in other shapes, such as square or triangular polygonal shapes, or in non-polygonal shapes such as circular or elliptical shapes. Furthermore, the retaining member 41 and the projection member 42 are spaced apart from each other in the circumferential direction of the rod-shaped member 40, preferably at an angle of 45 degrees or more and 180 degrees or less, more preferably at an angle of 90 degrees or more and 120 degrees or less.

[0074] [Control device 50] As shown in Figure 1, the control device 50 consists of, for example, a known programmable logic controller and includes a central processing unit (CPU, not shown) and a memory unit (not shown). The central processing unit reads various programs stored in the memory unit and performs predetermined calculations to control the operation of various devices. Specifically, the central processing unit according to this embodiment controls the operation of the sheet feeding device 10 and the work robot 20, etc., based on detection results from sensors such as a sheet remaining amount detector (not shown), a sheet adhesion sensor 37, and a paper guide resistance sensor 38.

[0075] Specifically, when the control device 50 receives a first load detection signal from the sheet contact sensor 37, it performs control to the work robot 20, outputting the following commands: (1) a command signal to move the head unit 26 to which the rod-shaped member 40 is connected in a direction away from the raw material roll R (see "II" in Figure 6(b)); (2) a command signal to move the head unit 26 by a predetermined amount in the pulling direction after the rod-shaped member 40 has moved away from the raw material roll R (see Figure 6(c)); and (3) a command signal to rotate the head unit 26 in a predetermined direction after the rod-shaped member 40 has moved by a predetermined amount in the pulling direction. Furthermore, when the control device 50 receives a second load detection signal from the paper guide resistance sensor 38, it performs control to output a command signal to the work robot 20 to stop the movement of the head unit 26.

[0076] [Operation of Sheet Pull-Out System 1] Next, the operation of the sheet dispensing system 1 will be explained with reference to Figures 1 and 6. For the sake of convenience, the following explanation will be based on the assumptions that (1) the remaining amount of sheet on the dispensing roll R1 is low, (2) the standby roll R2 is set in the roll holder 11, and (3) the end Se of the sheet S on the standby roll R2 is formed in a generally straight shape.

[0077] Figure 6(a) shows the state just before the rod-shaped member 40 of the sheet holding device 30 contacts the end portion Se of the sheet S of the raw material roll R2. Specifically, in Figure 6(a), the axial direction of the rod-shaped member 40 is parallel to the axial direction of the roll holding axis 11b of the raw material roll R2, and the holding member 41 attached to the rod-shaped member 40 is positioned opposite the entire width of the end portion Se of the sheet S.

[0078] After the state shown in Figure 6(a), the work robot 20 performs an operation to move the head portion 26 to which the rod-shaped member 40 is connected in parallel toward the raw material roll R2, based on a command signal from the control device 50 (see "I" in Figure 6(b)). As a result, the rod-shaped member 40 is pressed against the end portion Se of the sheet S, and the holding member 41 comes into close contact with the end portion Se of the sheet S. As described above, the holding member 41 is made of a male mechanical tape, and the sheet S is a nonwoven fabric, so it is possible to easily engage the holding member 41 with the end portion Se of the sheet S with relatively little pressing force.

[0079] As described above, in this embodiment, the third plate 35 to which the rod-shaped member 40 is connected slides against the biasing force of the first biasing spring 36A, thereby pressing the sheet contact sensor 37, and a first load detection signal is output to the control device 50 (see Figures 3 and 6, etc.). At the stage when the first load detection signal is output from the sheet contact sensor 37, the rod-shaped member 40 is sufficiently pressed against the end Se of the sheet S, and the end Se of the sheet S is well held by the holding member 41. From this point of view, the first detection signal can be said to be a signal indicating that the end Se of the sheet S is being held by the holding member 41.

[0080] When the control device 50 receives the first load detection signal, it controls the work robot 20 by outputting a command signal to move the rod-shaped member 40 a predetermined amount in the pulling direction after separating it from the raw material roll R2. As a result, the rod-shaped member 40 moves a predetermined amount in the pulling direction after separating from the raw material roll R2 (see "II" in Figure 6(b)) (see Figure 6(c)).

[0081] Thus, in this embodiment, the end portion Se of the sheet S on the raw material roll R2 is held planarly by the holding member 41 and then pulled out. In other words, in this embodiment, it is possible to pull out the end portion Se of the sheet S from the raw material roll R while a shear force is acting between the end portion Se of the sheet S and the holding member 41, or in other words, while the holding force of the holding member 41 that holds the end portion Se of the sheet S is improved. Therefore, according to this embodiment, the holding member 41 can be easily engaged with the end portion Se of the sheet S with relatively little pressing force, and the sheet S can be pulled out stably without the sheet S separating from the holding member 41.

[0082] Furthermore, in this embodiment, the retaining member 41 can be held by the retaining member 41 simply by pressing one side of the rod-shaped member 40 (see Figure 5(b)) against the end Se of the sheet S with relatively little force. For this reason, in this embodiment, in the preparation work that must be done in advance for the raw material roll R, it is not necessary to cut in a straight line along the axial direction of the raw material roll as in the conventional technology described above, and it is sufficient to cut in a generally straight line. Therefore, in this embodiment, it is possible to reliably reduce the burden of such preparation work.

[0083] Furthermore, in this embodiment, since there is no power source for the sheet holding device 30, which is composed of rod-shaped members 40 and the like, the pulling operation to extract the end Se of the sheet S from the raw material roll R can be performed simply by controlling the work robot 20. For this reason, in this embodiment, the device configuration can be simplified and the control burden on the control device 50 can be reliably reduced.

[0084] Furthermore, in this embodiment, since the sheet holding device 30 can be used to hold and pull out the end portion Se of the sheet S simply by attaching it to the head portion 26 (see Figure 1) of the work robot 20, it can be made highly versatile.

[0085] Thus, according to this embodiment, despite its simple configuration, the burden of preparation work is reduced, and the end portion Se of the sheet S can be stably pulled out from the raw material roll R.

[0086] Incidentally, if the rod-shaped member 40 is moved in the pulling direction while holding the end Se of the sheet S, the peeling force when peeling the sheet S from the raw material roll R may increase, and a predetermined load (second predetermined load) may be applied to the rod-shaped member 40. In such a case, forcibly moving the rod-shaped member 40 in the pulling direction is likely to cause the sheet S to break or damage to the rod-shaped member 40 or the work robot 20. Therefore, in this embodiment, as described above, if a load (second predetermined load) in the opposite direction to the pulling direction (second load detection direction, hereinafter also referred to as "anti-pulling direction") is applied to the rod-shaped member 40 while it is moving in the pulling direction, the movement of the rod-shaped member 40 in the pulling direction is stopped.

[0087] Specifically, in this embodiment, the second plate 34 slides against the biasing force of the second biasing spring 36B, pressing the paper resistance sensor 38, which in turn causes a second load detection signal to be output to the control device 50 (see Figures 3 and 6, etc.). Upon receiving the second load detection signal, the control device 50 controls the robot 20 to output a command signal to stop the movement of the rod-shaped member 40. This stops the movement of the rod-shaped member 40. From this perspective, the second load detection signal can be said to be a signal indicating that an overload (second predetermined load) is occurring on the rod-shaped member 40 in the second load detection direction.

[0088] As described above, in this embodiment, the rod-shaped member 40 is configured to stop its movement if a predetermined load in the opposite direction of pulling out is applied while it is pulling out the end Se of the sheet S. This effectively prevents the sheet S from breaking, the rod-shaped member 40 from breaking, and the work robot 20 from malfunctioning. In this embodiment, the rod-shaped member 40 is configured to stop moving when a predetermined load in the opposite direction of pulling out is applied, but for example, it is also possible to configure the rod-shaped member 40 to move a predetermined amount in the opposite direction of pulling out.

[0089] As shown in Figures 6(d) and (e), in this embodiment, after the sheet holding device 30 pulls out the end Se of the sheet by a predetermined amount, the rod-shaped member 40 is configured to be rotated 180 degrees in a predetermined direction, which in this embodiment is counterclockwise when viewed from the free end 40b (see Figure 5) of the rod-shaped member 40. This rotation of the rod-shaped member 40 is performed by the control device 50 outputting a predetermined command signal to the work robot 20, similar to the operation of the rod-shaped member 40 described above. In this embodiment, the rod-shaped member 40 is rotated 180 degrees (see Figures 6(c) to (e)), but as long as the projection material 42 can be passed through the end Se of the sheet S, the rotation may be less than 180 degrees or 360 degrees or more.

[0090] When the rod-shaped member 40 is rotated in this manner, the multiple protrusions 42 (see Figure 5) provided on the outer surface of the rod-shaped member 40 penetrate the end portion Se of the sheet S. This allows the end portion Se of the sheet S to be brought into close contact with the holding member 41, thereby further increasing the shear force acting between them. Moreover, in this state, in addition to the shear force provided by the holding member 41 as described above, the multiple protrusions 42 penetrate the end portion Se of the sheet S, allowing the end portion Se to be held with an even stronger holding force.

[0091] Therefore, according to this embodiment, even if the rod-shaped member 40 is subsequently moved to the joint 12 as shown in Figure 6(e), it is possible to reliably prevent the end portion Se of the sheet S from separating from the holding member 41. As a result, the end portion Se of the sheet S can be transported to the joint 12 more stably, thereby significantly improving the efficiency of the splicing work.

[0092] The end portion Se of the sheet S held by the rod-shaped member 40 is removed from the rod-shaped member 40 at the joint 12 and connected to the middle portion of the sheet S on the feed-side raw material roll R1. The removal of the end portion Se of the sheet S from the rod-shaped member 40 as described above can be performed by the reverse procedure of when the projection material 42 was passed through the end portion Se, that is, by rotating the rod-shaped member 40 in the opposite direction (for example, clockwise) to when the projection material 42 was passed through the end portion Se (see Figures 6(d) and (e)).

[0093] [Differentiation] In the above embodiment, nonwoven fabric was used as an example of the sheet S constituting the raw material roll R, but the present invention can also be applied to sheets of other materials, such as so-called cardboard or backing sheets, which have relatively smooth surfaces. If the sheet S is made of such a material, instead of the sheet holding device 30 described above, for example, the sheet holding device 130 shown in Figures 7 and 8 can be used. The sheet holding device 130 described below will be explained with reference to Figures 7 and 8. Note that the sheet holding device 130 shown in Figures 7 and 8 differs from the above embodiment only in the configuration of the rod-shaped member and the holding member; all other components are identical. Therefore, unless necessary, the same reference numerals are used in the drawings and their descriptions are omitted.

[0094] [Sheet holding device 130] As shown in Figures 7 and 8, the sheet holding device 130 is composed of a rod-shaped member 140 and a holding member 141.

[0095] [Rod-shaped member 140] The rod-shaped member 140 is a rod-shaped member having a hollow rectangular cross-section, and its fixed end 140a is fastened and fixed to the upper surface of the third plate 35 (see Figures 2 to 4) by bolts or the like. The rod-shaped member 140, like the rod-shaped member 40 (see Figure 5), can be formed from metal materials such as aluminum, stainless steel, and iron, or from resin, etc.

[0096] Inside the rod-shaped member 140, a suction air circulation channel 140c is formed along the extension direction through which suction air flows. The rod-shaped member 140 also has an external device connection member 140d and multiple holding member connection ports 140e on the long side surface in cross-sectional view. On the short side surface of the rod-shaped member 140 in cross-sectional view, multiple protrusions 42 are attached along the extension direction, similar to the rod-shaped member 40 (see Figure 5).

[0097] The external device connection member 140d is a member that connects to an external device (not shown), such as a vacuum pump that generates suction air, via piping material such as a pressure-resistant air tube. The external device connection member 140d is provided on the fixed end 140a side of the rod-shaped member 140 and communicates with the suction air flow pipeline 140c. The holding member connection port 140e is formed at predetermined intervals on the wall of the suction air flow pipeline 143 along the extending direction of the rod-shaped member 140.

[0098] [Holding member 141] The retaining member 141 is made of an elastically deformable material such as an elastomer and has a suction port 141a that widens towards the tip, a connecting end 141b that communicates with the suction port 141a and is connected to the retaining member connection port 140e of the rod-shaped member 140, and a cover member 141c. Multiple retaining members 141 are arranged along the extending direction of the rod-shaped member 140, corresponding to the retaining member connection port 140e. The suction port 141a is configured to draw in ambient air via the connecting end 141b when the suction air flow pipeline 140c is in a suction state by an external device. The cover member 141c is a member that covers the part other than the tip opening of the suction port 141a, which is exposed, and is attached to the rod-shaped member 140.

[0099] [Operation of the sheet pull-out system 101] In the sheet pulling system 101 equipped with a sheet holding device 130, when pulling out the end Se of the sheet S from the raw material roll R, the same operations as those in the sheet pulling system 1 described above are performed, for example, the operations shown in Figures 6(a) to (e). Specifically, the pulling out of the end Se of the sheet S in the sheet pulling system 101 is performed in the following steps: (1) the rod-shaped member 140 is brought into contact with the end Se of the sheet S and the holding member 141 is made to attract the end (see Figure 6(b)); (2) the rod-shaped member 140 is then moved a predetermined amount in the pulling direction (see Figure 6(c)); (3) the rod-shaped member 140 is then rotated to allow the projection 42 to penetrate the end Se of the sheet S (see Figures 6(d) and (e)); and (4) the rod-shaped member 140 is then moved to the joint 12, etc.

[0100] From the viewpoint of ensuring that the retaining member 141 adequately holds the end portion Se of the sheet S, the spacing of the suction ports 141a along the extending direction of the rod-shaped member 140 is preferably 20 mm to 100 mm, more preferably 40 mm to 80 mm. Similarly, from the same viewpoint, the outer diameter of the tip opening of the suction port 141a is 10 mm to 50 mm, more preferably 20 mm to 30 mm.

[0101] Thus, in this embodiment, as with the sheet extraction system 1 described above, the end portion Se of the sheet S can be stably extracted from the raw material roll R while reducing the burden of preparation work, despite its simple configuration. Furthermore, in this embodiment, since the end portion Se of the sheet S is held by the holding member 141, the present invention can be applied to sheets of most materials depending on the suction amount of the suction port 141a. Therefore, this embodiment can be made highly versatile.

[0102] In the above embodiments, a protruding material was provided on the rod-shaped member, but this can be omitted. Although the present invention has been described above based on preferred embodiments and modifications, the present invention is not limited to the embodiments and modifications described above. [Explanation of symbols]

[0103] 1,101 Sheet Pull-Out System 10 Sheet feeding device 11. Raw material roll holding section 11a, 11b Roll holding shaft 12. Joint 13 Supporting wall 20. Work robots (means of transportation) 21 Proximal end 22 First Arm Section 23 Second Arm Section 24 Third Arm Section 25. Fourth Arm Section 26 Head section 30,130 Sheet holding device (sheet holding means) 31 Base 32 bases 33 First Plate 33A First slide rail 33Aa Groove 33B Mounting component for conductive paper resistance sensor 33Ba hole 33C First stopper member 33D First biasing spring mounting shaft 34. Second Plate 34A First coupling rail 34Aa protrusion 34B Second slide rail 34Ba Groove 34C Sheet contact sensor mounting component 34Ca hole 34D Second stopper member 34Da Stopper shaft 34E First biasing spring mounting shaft 34F Second biasing spring mounting shaft 35 Third Plate 35A Second coupling rail 35a Support member 35B Second biasing spring mounting shaft 36. Biasing spring 36A First biasing spring 36B Second biasing spring 37. Sheet contact sensor (load detection device) 38. Paper Resistance Sensor (Second Load Detection Device) 40,140 rod-shaped members 40a,140a fixed end 40b free end 140c suction air circulation conduit 140d External device connection member 140e Retaining member connection port 41 Retaining member 141 Holding member (suction member) 141a Suction port 141b Connection end 141c Cover component 42 Projection material 50 Control device (control means) R, R1, R2 raw material roll S Seat Se end A1~A6 1st axis~6th axis

Claims

1. A sheet extraction system for drawing sheets from a roll of raw material that is supported to rotate freely, A sheet holding means comprising a rod-shaped member and a holding member provided on the outer circumference of the rod-shaped member and holding the end of the sheet located on the outer surface of the raw material roll, A moving means for supporting the rod-shaped member so as to be rotatable in the circumferential direction and for moving the rod-shaped member to a pressing position that presses it against the end of the sheet, A load detection means for detecting that a predetermined load is applied to the rod-shaped member when the end of the sheet is pressed, The system includes a control means for controlling the aforementioned moving means, The sheet pulling system comprises a control means that controls the moving means to move the rod-shaped member to the pressing position, causing the holding member to hold the end of the sheet, and then, when the load detection means detects a predetermined load, moves the rod-shaped member in a pulling direction to pull out the end of the sheet.

2. The system further includes a second load detection means for detecting that a second predetermined load has been applied to the rod-shaped member when the end of the sheet is pulled out, The sheet pull-out system according to claim 1, wherein the control means controls the moving means to stop the movement of the rod-shaped member when the second load detection means detects the second predetermined load.

3. The sheet pulling system according to claim 1 or 2, wherein the retaining member is composed of a male mechanical tape.

4. The sheet dispensing system according to claim 3, wherein the sheet is formed of a nonwoven fabric that can engage with the male mechanical tape.

5. The sheet dispensing system according to claim 1 or 2, wherein the sheet is formed of a nonwoven fabric.

6. The sheet pulling system according to claim 1 or 2, wherein the holding member is composed of a suction member having a suction port for adsorbing and holding the end of the sheet.

7. Multiple protrusions capable of penetrating the sheet are formed on the outer surface of the rod-shaped member. The sheet pull-out system according to any one of claims 1 to 6, wherein the plurality of protrusions are arranged spaced apart from the holding member in the circumferential direction of the rod-shaped member.

8. The sheet pulling system according to any one of claims 1 to 7, wherein the control means controls the moving means to move the rod-shaped member by a predetermined amount in the pulling direction and then rotate the rod-shaped member.

9. The rod-shaped member is supported so as to be movable with respect to the moving means, The sheet pulling system according to any one of claims 1 to 8, wherein the load detection means is a sensor that detects when the end of the sheet is pressed, that the rod-shaped member has moved by a predetermined amount relative to the moving means.

10. The rod-shaped member is supported so as to be movable in the opposite direction to the moving means, The sheet pulling system according to claim 2, wherein the second load detection means is a sensor that detects that the rod-shaped member has moved by a predetermined amount relative to the moving means when the end of the sheet is pulled out.

11. A sheet extraction method using a sheet extraction system that extracts a sheet from a roll of raw material that is supported to rotate freely, The aforementioned sheet pull-out system is, A sheet holding means comprising a rod-shaped member and a holding member provided on the outer circumference of the rod-shaped member and holding the end of the sheet located on the outer surface of the raw material roll, A moving means for supporting the rod-shaped member so as to be rotatable in the circumferential direction and for moving the rod-shaped member to a pressing position that presses it against the end of the sheet, The system includes a load detection means for detecting when a predetermined load is applied to the rod-shaped member when the end of the sheet is pressed, The aforementioned sheet pulling method is, A sheet holding step in which the rod-shaped member is moved to the pressing position by operating the moving means, and the end of the sheet is held by the holding member, A sheet pulling method comprising: a sheet pulling step, in which, when the load detection means detects the predetermined load, the moving means is operated to move the rod-shaped member in a pulling direction to pull out the end of the sheet.

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