JP2004209920A - Equipment and method for handling paper leaves - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide equipment and a method for handling paper leaves which enable a reliable and stable stamping, irrespective of a state of conveyance of the paper leaves. <P>SOLUTION: A machine for assorting and stamping mails has a conveyance passage for conveying the mails and a stamping hub for printing a postmark on postage marks given to the conveyed mails. The speed of conveyance of the mails and the position of conveyance thereof are monitored by an encoder and the rotation of an AC servomotor rotating the stamping hub is controlled. When the speed of conveyance is slower than usual, the acceleration at the rise time of the AC servomotor is lessened and the rotating speed of the AC servomotor is slowed down in conformity with the speed of conveyance of the mails. When this speed is faster than usual, the acceleration at the rise time of the AC servomotor is increased and the rotating speed of the AC servomotor is made fast in conformity with the speed of conveyance of the mails. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a paper sheet processing apparatus and a paper sheet processing method in which a stamp hub is rolled on a surface of a paper sheet to make a stamp.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a paper sheet processing device, a plurality of mails are taken out one by one on a conveyance path and conveyed, a postage stamp such as a stamp is detected from each postal mail, a postmark is stamped on the postage stamp, and classified. 2. Description of the Related Art A known stamping machine is known (for example, see Patent Document 1).
[0003]
This arrangement stamping machine has a stamping hub for stamping a postage stamp by rotating in contact with a postal matter and rotating. A disk having two types of notches is attached to the rotation shaft of the stamp hub. The two types of cutouts are detected by two different sensors to control the rotation of the stamping hub, and set the stamping hub at its initial rotation position.
[Patent Document 1]
JP-A-5-286220 (abstract, FIG. 1)
[0005]
[Problems to be solved by the invention]
However, in the conventional assembling and stamping machine described above, the rotation of the stamping hub is controlled at a constant rotational speed at the same timing. For this reason, for example, even if the transport speed of the postal matter is slowed down for some reason, there is a problem in that the imprint shrinks in the transporting direction of the postal mail because the stamp hub is rotated at a constant speed. Also, for example, even when the transport speed of mail is increased to increase processing efficiency, the imprint extends along the transport direction of the mail because the stamp hub is rotated at a constant speed. there were. Further, since the stamp hub is rotated at a constant timing, for example, when processing a relatively thick postal matter, if the transport speed of the postal matter suddenly decreases, there is a problem that the stamping position is shifted.
[0006]
The present invention has been made in view of the above points, and an object of the present invention is to provide a paper sheet processing apparatus and a paper sheet processing method capable of performing reliable and stable imprinting regardless of a paper sheet conveyance state. It is in.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, a paper sheet processing apparatus of the present invention includes a transport path that transports paper sheets, and an encoder that obtains a transport speed and a transport position of the paper sheets transported through the transport path. A stamping hub that stamps on the surface of a sheet conveyed through the conveyance path by rolling and contacting the surface, a servomotor that rotates the stamping hub, and a conveyance speed and conveyance obtained via the encoder. A rotation control unit that controls the servomotor based on the position.
[0008]
According to the invention, the paper sheet is transported, the transport speed and the transport position are acquired, and the servomotor for rotating the stamp hub is controlled based on the acquired transport speed and the transport position. Thereby, regardless of the transport state of the paper sheet, it is possible to prevent the displacement of the stamp position and the distortion of the imprint on the paper sheet, and it is possible to perform the reliable and stable stamping.
[0009]
Further, the paper sheet processing apparatus of the present invention includes a transport path for transporting the paper sheet, an encoder for acquiring a transport speed and a transport position of the paper sheet transported via the transport path, and the transport path. A thickness detecting unit for detecting the thickness of the paper sheet conveyed through the conveying path, an imprint hub for imprinting on the surface of the paper sheet conveyed via the conveying path by rolling and contacting the surface, A servo motor that rotates the hub, a transport speed and a transport position obtained via the encoder, and a rotation control unit that controls the servo motor based on the thickness detected via the thickness detection unit. Have.
[0010]
According to the above invention, the paper sheet is transported and the transport speed and the transport position are acquired, and the thickness of the paper sheet is detected, based on the acquired transport speed and the transport position, and the detected thickness. The servomotor that rotates the stamp hub is controlled. Accordingly, it is possible to prevent the displacement of the stamp position and the distortion of the imprint regardless of the transport state and thickness of the sheet, and to obtain a good stamp state regardless of the thickness of the sheet. And secure and stable stamping can be performed.
[0011]
Further, the paper sheet processing method of the present invention includes a transporting step of transporting the paper sheet, an acquiring step of acquiring a transport speed and a transport position of the paper sheet transported in the transporting step, A stamping step of controlling a servomotor based on the transport speed and the transported position, and rolling and stamping a stamping hub rotated by the servomotor on the surface of the paper sheet.
[0012]
Further, the paper sheet processing method of the present invention includes a transport step of transporting the paper sheet, an acquisition step of acquiring a transport speed and a transport position of the paper sheet transported in the transport step, and a transport step of transporting the paper sheet in the transport step. A detection step of detecting the thickness of the paper sheet to be performed, and a conveyance speed and a conveyance position acquired in the acquisition step, and a servo motor are controlled based on the thickness detected in the detection step. And a stamping step of stamping the rolled stamp hub by rolling and contacting the surface of the sheet.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0014]
FIG. 1 is a schematic configuration of a sorting and stamping machine 1 as a sheet processing apparatus according to an embodiment of the present invention, which stamps a postage stamp such as a stamp attached to a postal matter P and stamps and sorts the sorting. Is shown.
[0015]
The arranging and stamping machine 1 includes an input unit 2 for inputting postal matter P (sheets) to be processed in an upright position, and a plurality of postal items P input in an accumulated state via the input unit 2 in the stacking direction end. A take-out roller 4 for taking out one mail at a time on the transport path 3 in order from the postal matter; A rejection stacking unit 6 that removes and accumulates postal matter judged to be foreign mail or non-standard-size mail by the inspection unit 5, and must be a normal mail that can pass through the inspection unit 5 and be processed. Detecting sections 7a and 7b (hereinafter collectively referred to as detecting section 7) for detecting a fee stamp (for example, a stamp, a post-separation stamp, a toll meter, etc.) attached to the surface of the postal matter P for which ), The top and bottom of the mail P is selectively inverted based on the detection result of the detection unit 7. The postal matter P based on the detection result of the reversing section 8, the postal stamp attached to the postal matter P passing through the reversing section 8, if necessary, and a postmark. Of the sorting boxes 10a to 10f.
[0016]
In addition, the assortment stamping machine 1 has an operation panel 11 that displays various operation guides for the operator and receives various operation inputs from the operator. The operation panel 11 is provided near the input unit 2.
[0017]
The input unit 2 accommodates a plurality of mails P in a state where the mails P are stacked in an upright position by abutting one side along the longitudinal direction. The postal matter P input through the input section 2 is input with the front and back and the top and bottom separated. The input unit 2 has a backup plate 2a that presses all the stored mail items P toward the take-out roller 4 along the stacking direction.
[0018]
The take-out roller 4 is rotated by rolling on the surface of the postal matter P at the end on the side away from the backup plate 2a among the plurality of postal matters P input to the input section 2, and rotates. Are taken out onto the transport path 3 one by one. That is, the mail P conveyed via the conveyance path 3 is in a state where the front and back and the top and bottom are separated.
[0019]
On the transport path 3 from the take-out roller 4 to the sorting / stacking section 10, a branch gate 12 for branching the transport path 3 to the rejection stacking section 6 and a mail P for passing the reversing section 8 in two directions. A branch gate 13 and five section gates 14 a to 14 e for branching the transport path 3 into six section boxes 10 a to 10 f of the section stacking unit 10 are provided.
[0020]
The detection unit 7a provided on one side of the transport path 3 downstream of the branch gate 12 is provided with a postage stamp attached to the first surface of the postal matter P conveyed upright through the transport path 3. Detects position, amount, etc. The detection unit 7b provided on the other side of the transport path 3 detects a postage mark attached to the second surface of the mail P. Here, the surface of the postal matter P on the side to which the take-out roller 4 comes into contact with is referred to as a second surface.
[0021]
At this time, the postal matter P, which has been detected to have a charge mark in the upper half area on each side of the postal matter P, is guided by the branch gate 13 to the reversing conveyance path 8a of the reversing unit 8, and is turned upside down. You. On the other hand, the postal matter P having the charge mark in the lower half area is passed through the straight traveling path 8b of the reversing section 8 as it is. In other words, at the merging section 8c at the end of the reversing section 8, all the mails P are aligned to have a postage stamp in the lower half area.
[0022]
The stamping section 9 is provided on the stamping hub 9a for stamping the postage stamp provided on the first face of the postal matter P passing through the merging section 8c, if necessary, and on the second face. It has a stamp hub 9b for stamping a postmark. Each of the stamping hubs 9a and 9b (hereinafter, may be collectively referred to as the stamping hub 9) has an outer peripheral surface that is brought into rolling contact with a corresponding surface of the mail P conveyed through the conveying path 3 at a predetermined pressure. By rotating the postal matter P along the transport direction, the postmark is stamped with a postmark.
[0023]
The sorting and accumulating unit 10 has six sorting boxes 10a to 10f provided corresponding to the five sorting gates 14a to 14e. Thus, the postal matter P, which has been stamped as necessary after passing through the stamping section 9, is sorted and accumulated in predetermined sorting boxes 10a to 10f based on the detection result of the detecting section 7. I have. In the present embodiment, the mails P are sorted and collected in the sorting boxes 10a to 10f for each type of fee mark detected by the detecting unit 7.
[0024]
FIG. 2 is a perspective view of the stamp hub 9a described above. Since the two stamp hubs 9a and 9b have the same structure, the stamp hub 9a for stamping the first surface of the mail P will be described as a representative here.
[0025]
The stamp hub 9a has an outer peripheral surface 91 that rotates in the same direction as the transport direction of the postal matter P and is in contact with the surface of the postal matter P. The outer peripheral surface 91 of the stamp hub 9a has a length corresponding to about half of the total rotation angle (360 °) of the stamp hub 9a. Thus, a state in which the stamp hub 9a rotates once and a state in which the stamp hub 9a rotates in contact with the postal matter P can be created.
[0026]
A disk 92 having a notch 93 for detecting the initial rotation position of the stamp hub 9a is coaxially attached to the rotation shaft 90 of the stamp hub 9a. The notch 93 of the disk 92 is detected by the sensor 16 fixed at a predetermined position. The sensor 16 has a light-emitting unit 16a and a light-receiving unit 16b that is opposed to the light-emitting unit 16a at a predetermined distance, and is emitted in a gap where light emitted from the light-emitting unit 16a reaches the light-receiving unit 16b. The detection of the notch 93 (brightness of the sensor) from the state in which light is blocked by the disk 92 (darkness of the sensor) is used as a trigger to detect the initial rotation position of the stamp hub 9a.
[0027]
Thus, in the standby state, the stamp hub 9a is set to the rotation initial position, and is rotated by an AC servomotor 15 described later attached to the rotation shaft 90. Each time one postal matter P is conveyed, the AC servomotor 15 rotates the stamp hub 9a stopped at the initial rotation position by one rotation and again stops at the rotation initial position.
[0028]
More specifically, the AC servomotor 15 accelerates the stopped stamp hub 9a at a preset rotation start timing at a preset acceleration and at a preset rotational speed for a preset time. At this time, the outer peripheral surface 91 of the stamp hub 9 is brought into rolling contact with the surface of the mail P to stamp the postmark. After the stamping, the AC servomotor 15 decelerates the rotation of the stamping hub 9 and stops at the rotation initial position. That is, the rotation of the stamping hub 9 is controlled in accordance with, for example, a trapezoidal waveform described later, which is illustrated by a solid line in FIG.
[0029]
Next, a control system for controlling the operation of the assortment and stamping machine 1 will be described with reference to the block diagram shown in FIG.
[0030]
The control unit 20 of the assortment and stamping machine 1 is connected to a take-out control unit 21, a transport control unit 22, a sorting unit control unit 23, a panel control unit 24, and a stamp control unit 25. The take-out control section 21 moves the backup plate 2a in accordance with the state of taking out the mail P, and rotates the take-out roller 4 based on the carrying speed and the carrying pitch set and input via the operation panel 11.
[0031]
The transport control unit 22 controls the operation of the transport mechanism 26 that transports the postal matter P through the transport path 3, and operates the branch gates 12 and 13 according to the inspection result of the inspection unit 5 and the detection result of the detection unit 7. Let it. In addition, the transport control unit 22 monitors the transport speed of each mail P transported through the transport path 3 at each transport position, and outputs an encoder 27 for outputting the transport speed and transport position of the mail P. Is connected.
[0032]
The sorting unit control unit 23 selectively switches the five sorting gates 14a to 14e according to the detection result of the detecting unit 7, and sorts and collects each mail P into predetermined sorting boxes 10a to 10f. The panel control unit 24 displays the processing status of the postal matter P and the abnormal operation status of the arranging and stamping machine 1 through the operation panel 11, and also takes out the pickup pitch by the take-out roller 4 through the operation panel 11, that is, Accepts the setting input of the transport speed. Further, the panel control unit 24 receives setting inputs such as the rotation start timing of the stamp hub 9, the acceleration at the time of starting, the rotation speed, and the rotation torque.
[0033]
The stamp control unit 25 includes a drive control circuit 28 (rotation control unit) that controls the AC servomotor 15 that rotates the stamp hub 9, and monitors the output of the sensor 16 that detects the initial rotation position of the stamp hub 9 to monitor the stamp hub. A switch control circuit 29 for setting 9 to the initial position and a memory circuit 17 for storing various data such as control parameters of the AC servomotor 15 for rotating the stamp hub 9 are connected.
[0034]
By the way, in the above-described assorting and stamping machine 1, the transport speed of the mail P may be undesirably changed due to, for example, a functional deterioration of the transport mechanism 26 over time or a change in the thickness of the mail P. . In this case, if the rotation speed and the rotation start timing of the stamp hub 9 are controlled to be constant as in the related art, there arises a problem that the stamp position is displaced and the stamp is distorted (extended or contracted). For this reason, in the present embodiment, the transport state such as the transport position and the transport speed of each mail P is acquired via the encoder 27, and the AC servomotor 15 is controlled in accordance with the acquired transport state to ensure reliable and stable operation. Then, the postal matter P can be stamped.
[0035]
Hereinafter, the rotation control operation of the stamp hub 9 will be described with reference to FIG. 5 together with the flowchart shown in FIG.
[0036]
When the postal matter P to be processed is conveyed via the conveyance path 3, the conveying speed of the postal matter P is transmitted via the encoder 27 at a predetermined timing before the postal matter P reaches the stamp hub 9. , And the transfer position (the timing at which the mail P reaches the stamp hub 9) (FIG. 4; step 1).
[0037]
If the transport speed of the mail P obtained in step 1 is the same as the preset specified value (step 2; YES), the AC is calculated using the preset rotation start timing, acceleration at start-up, rotation speed, and rotation torque. The rotation of the servo motor 15 is controlled (step 3). The rotation start timing, startup acceleration, rotation speed, and rotation torque of the AC servomotor 15 are set in advance via the operation panel 11 and stored in the memory circuit 17. At this time, the trapezoidal waveform of the time-dependent change in the speed of the AC servomotor 15 is shown by a solid line in FIG.
[0038]
On the other hand, if the transport speed of the postal matter P obtained in step 1 is higher than a predetermined value (step 2; NO, step 4; YES), the stamp hub 9 is rotated at the same rotational speed as the transport speed of the postal matter P. The rotation of the AC servomotor 15 is controlled so as to rotate (step 5). For example, this corresponds to a case where the transport speed of the mail P is positively increased in order to increase the processing efficiency of the sorting and stamping machine 1.
[0039]
More specifically, the rotation of the AC servomotor 15 is controlled as shown by a dashed line in FIG. 5, and the leading end in the rotation direction of the outer peripheral surface 91 of the stamp hub 9 coincides with the stamp start end of the postal stamp of the mail P. The rotation of the AC servomotor 15 is started in synchronization with the timing (the timing indicated by the arrow T in FIG. 5). At this time, the acceleration at the time of rising until the outer peripheral surface 91 of the AC servomotor 15 comes into contact with the postal matter P is larger (the inclination angle is steeper) than during the normal control indicated by the solid line, and the rotational speed of the AC servomotor 15 is increased. Is increased in accordance with the actual transport speed of the mail P.
[0040]
If the transport speed of the postal matter P acquired in step 1 is lower than a predetermined value (step 2; NO, step 4; NO), the stamp hub 9 is rotated at the same rotational speed as the transport speed of the postal matter P. The rotation of the AC servomotor 15 is controlled so as to rotate (step 6). For example, a case where the mail P slips due to the deterioration of the transport mechanism 26 over time corresponds to this case.
[0041]
At this time, the rotation of the AC servomotor 15 is controlled as shown by a two-dot chain line in FIG. That is, the AC servomotor 15 starts rotating at the timing T when the postage stamp of the mail P reaches the rotation start end of the stamp hub 9. At this time, the acceleration of the AC servomotor 15 at the time of rising is made smaller (the inclination is gentler) than in the normal control, and the rotation speed of the AC servomotor 15 is reduced in accordance with the transport speed of the mail P.
[0042]
Thereafter, if necessary, the control parameters changed in step 5 or step 6, that is, the rotation start timing, startup acceleration, and rotation speed of the AC servomotor 15 are stored in the memory circuit 17. This control parameter may be changed for each mail P. In this case, it is not necessary to store the control parameter. Further, when the transport speed of the postal matter P continuously increases (or decreases) for a predetermined number of times (predetermined number of sheets), the control parameter at that time is adopted and stored in the memory circuit 17, and the subsequent postal matter P is processed. Control based on the stored control parameters may be performed.
[0043]
Note that the above-described control parameters for controlling the rotation of the stamp hub 9 can also be set via the operation panel 11. In this case, the control parameters are stored in the memory circuit 17.
[0044]
As described above, according to the present embodiment, the transport speed and the transport position of each postal matter P are monitored, and the rotation of the AC servomotor 15 for rotating the stamp hub 9 is controlled based on the transport speed and the transport position. I did it. Specifically, when the transport speed of the mail P is low, the acceleration at the time of rising of the AC servomotor 15 is reduced, and the rotation speed of the AC servomotor 15 is reduced. Further, when the transport speed of the mail P is high, the acceleration at the time of rising of the AC servomotor 15 is increased, and the rotation speed of the AC servomotor 15 is increased.
[0045]
Therefore, even if the transport speed of the postal matter P changes for some reason, the stamping hub 9 can be rotated at an appropriate timing and at the same speed as the postal matter P. In addition to preventing displacement, the imprint can be prevented from extending or contracting along the transport direction, and reliable and stable stamping can be performed regardless of the transport state of the mail P.
[0046]
Further, when the thick postal matter P thicker than usual is conveyed by using the arrangement and stamping machine 1 of the above-described embodiment, the rotation of the stamping hub 9 can be controlled more appropriately.
[0047]
In general, it is known that when a thick postal matter passes through the stamping section 9, it easily slips with the stamping hub 9 and the imprint is easily distorted. For this reason, when it is acquired via the encoder 27 that the transport speed of the mail P has decreased immediately before reaching the stamp hub 9, the mail P is regarded as a thick mail and the above-described embodiment is used. In addition to the above rotation control, the rotation torque of the AC servomotor 15 is set to be higher than the normal rotation torque. Accordingly, it is possible to cope with a thick postal matter in which slippage occurs with a normal rotation torque, and it is possible to reliably and stably apply a postmark regardless of the thickness of the postal matter P.
[0048]
Note that the present invention is not limited to the above-described embodiment, and can be variously modified within the scope of the present invention. For example, in the above-described embodiment, a case has been described in which the transport speed of the postal matter P reaching the stamp hub 9 has been determined to be a thick postal matter, but the present invention is not limited to this. As shown, a thickness detector 30 for detecting the thickness of the mail P may be provided immediately before the stamp hub 9.
[0049]
In this case, similarly to the above-described embodiment, the transport speed and the transport position of the mail P are monitored to control the rotation of the AC servomotor 15, and the thickness of each mail P is detected via the thickness detection unit 30. If it is detected that the postal matter is thicker than a preset threshold, control is performed to increase the rotational torque of the AC servomotor 15.
[0050]
【The invention's effect】
As described above, the sheet processing apparatus of the present invention has the above-described configuration and operation, so that reliable and stable stamping can be performed irrespective of the transport state of the sheet.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a schematic structure of an assorting and stamping machine according to an embodiment of the present invention.
FIG. 2 is a perspective view showing a schematic structure of a stamp hub incorporated in the assortment stamping machine of FIG. 1;
FIG. 3 is a block diagram showing a control system of the assortment stamping machine of FIG. 1;
FIG. 4 is a flowchart for explaining an operation by a stamp hub incorporated in the assortment stamping machine of FIG. 1;
FIG. 5 is a view for explaining the operation of the stamp hub together with FIG. 4;
FIG. 6 is a schematic view showing a modified example of the alignment stamping machine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Arrangement stamping machine, 2 ... Input part, 2a ... Backup plate, 3 ... Conveyance path, 4 ... Extraction roller, 5 ... Inspection part, 6 ... Rejection accumulation part, 7 ... Detection part, 8 ... Inversion part, 8a ... Inversion Conveying path, 8b: straight conveying path, 9: stamping section, 9a, 9b: stamping hub, 10: section stacking section, 10a to 10f: sectioning pocket, 11 ... operating panel, 12, 13 ... branch gate, 14a to 14e ... Division gate, 15: AC servomotor, 16: Sensor, 17: Memory circuit, 20: Control unit, 21: Extraction control unit, 22: Transport control unit, 23: Division unit control unit, 24: Panel control unit, 25 ... Stamping control unit, 26: transport mechanism, 27: encoder, 28: drive control circuit, 29: switch control circuit, 30: thickness detection unit, 90: rotating shaft, 91: outer peripheral surface, 92: disk, 93: cutting Missing, P ... mail.

Claims (10)

A transport path for transporting paper sheets,
An encoder for acquiring a transport speed and a transport position of the paper sheet transported through the transport path;
An imprint hub that imprints on the surface of the paper sheet conveyed through the conveyance path by rolling and contacting the surface;
A servo motor for rotating the imprint hub,
A rotation control unit that controls the servomotor based on the transport speed and the transport position obtained via the encoder,
A paper sheet processing apparatus comprising: The sheet processing apparatus according to claim 1, wherein the rotation control unit controls a rotation start timing, a rise acceleration, and a rotation speed of the servo motor. The rotation control unit, on condition that the transport speed of the paper sheet transported through the transport path is reduced before the imprint hub, the rotation start timing of the servo motor, acceleration at the time of startup, and 2. The paper sheet processing apparatus according to claim 1, wherein the rotation speed is controlled in accordance with the reduced conveyance speed of the paper sheets, and the rotation torque of the servomotor is increased. A transport path for transporting paper sheets,
An encoder for acquiring a transport speed and a transport position of the paper sheet transported through the transport path;
A thickness detection unit that detects the thickness of the paper sheet transported through the transport path,
An imprint hub that imprints on the surface of the paper sheet conveyed through the conveyance path by rolling and contacting the surface;
A servo motor for rotating the imprint hub,
A rotation control unit that controls the servomotor based on the transport speed and the transport position acquired via the encoder, and the thickness detected via the thickness detection unit,
A paper sheet processing apparatus comprising: The sheet processing apparatus according to claim 4, wherein the rotation control unit controls a rotation start timing, a rise acceleration, a rotation speed, and a rotation torque of the servo motor. A transport process of transporting paper sheets,
An acquisition step of acquiring a transport speed and a transport position of the paper sheet transported in the transport step;
A stamping step of controlling a servomotor based on the conveying speed and the conveying position acquired in the acquiring step, and stamping by rolling the stamping hub rotated by the servomotor onto the surface of the paper sheet,
A paper sheet processing method comprising: 7. The paper sheet processing method according to claim 6, wherein in the stamping step, a rotation start timing, a rise acceleration, and a rotation speed of the servomotor are controlled. In the stamping step, on the condition that the transport speed of the paper sheet transported in the transporting step is reduced before the stamping hub, the rotation start timing of the servo motor, the acceleration at startup, and the rotational speed are changed. 7. The paper sheet processing method according to claim 6, wherein the control is performed in accordance with the slowed transport speed of the paper sheets and the rotational torque of the servomotor is increased. A transport process of transporting paper sheets,
An acquisition step of acquiring a transport speed and a transport position of the paper sheet transported in the transport step;
A detection step of detecting the thickness of the paper sheet transported in the transport step,
A servomotor is controlled based on the transport speed and the transport position obtained in the above-mentioned obtaining step, and the thickness detected in the above-mentioned detecting step, and the stamp hub rotated by the servomotor is rolled and brought into contact with the surface of the paper sheet. Stamping process,
A paper sheet processing method comprising: 10. The sheet processing method according to claim 9, wherein, in the stamping step, the rotation start timing, the acceleration at the time of starting, the rotation speed, and the rotation torque of the servomotor are controlled.

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