JP2006255801A - Sheet body transfer device and transfer method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a sheet body transfer device capable of easily achieving space-saving, and also, capable of efficiently transferring a plurality of sheet bodies to a desired position, and a transfer method. <P>SOLUTION: A protective cover 14 is sucked by a robot hand 50 of a first transfer robot 38. A protection film P loaded on a protection film loading stand 36 is sucked in a state that a suction position is shifted by a prescribed amount. The protective cover 14 and protection film P are positioned and loaded on a sheet film F in a laminated state which is held by a robot hand 90 of a second transfer robot 42. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a sheet body transfer apparatus and a transfer method for transferring a plurality of sheet bodies.

  For example, an X-ray film can be obtained by cutting a web of photosensitive material wound in a roll shape into a photosensitive sheet body every predetermined length, then laminating the photosensitive sheet body and mounting a protective cover, The product is sealed in a light shielding bag and shipped as a package. In this case, a protective sheet that is not used as a product is interposed between the protective cover and the photosensitive sheet member in order to avoid deterioration of the quality of the photosensitive sheet member due to the contact.

  By the way, in the case where the protective sheet is laminated on the laminate of the photosensitive sheet body and further the operation of attaching the protective cover is performed, in order to arrange the robot for laminating the protective sheet and the robot for attaching the protective cover, The installation space for the two robots must be secured.

  On the other hand, an apparatus capable of handling different workpieces by one robot has been developed (see Patent Document 1). This apparatus is provided with a plurality of suction pads for sucking and transporting workpieces, and the position of each suction pad is configured to be adjustable according to the workpiece shape. It is possible to perform the work of attaching the protective cover.

  However, since the protective sheet and the protective cover cannot be processed at the same time, there is a disadvantage that the processing time becomes longer than when two robots are used. Although it is possible to efficiently handle multiple workpieces by providing multiple hands according to the shape of the workpiece in one robot, there is a problem that the space occupied by multiple hands increases. End up.

JP-A-3-142188

  The present invention has been made to solve the above-described problems, and can easily achieve space saving, and can efficiently transfer a plurality of sheet bodies to desired positions. An object is to provide a transfer device and a transfer method.

The present invention relates to a sheet body transfer device for transferring a plurality of sheet bodies,
First holding means for holding the first sheet body;
A second holding means for holding the second sheet body;
Moving means for moving the first holding means and the second holding means to a predetermined site;
The first holding means superimposes the held first sheet body on a part of the second sheet body, and the second holding means does not overlap the first sheet body. A part of the sheet body is held.

In the sheet body transfer method for transferring a plurality of sheet bodies,
Holding the first sheet body by the first holding means;
Superimposing the first sheet held by the first holding means on a part of the second sheet;
Holding a part of the second sheet body not superimposed on the first sheet body by a second holding means;
The second sheet body held by the second holding means is moved together with the first sheet body to a predetermined portion, the holding state of the second sheet body is released, and the second sheet body is moved to the predetermined portion. A step of placing in
Moving the first sheet body held by the first holding means by a predetermined amount, releasing the holding state of the first sheet body, and laminating the first sheet body on the second sheet body;
It is characterized by comprising.

  In the sheet transfer apparatus and transfer method of the present invention, since the first sheet and the second sheet can be held simultaneously in a partially overlapped state, the first holding means and the second holding means Occupied space can be minimized. In addition, since the first sheet body and the second sheet body are held in an overlapped state, the operation range for placing a plurality of sheet bodies on a predetermined portion is only a range that does not overlap, and the placement process Can be performed efficiently.

  FIG. 1 is an overall configuration diagram of a film production system 10 to which a sheet transfer apparatus and transfer method of the present invention are applied. In this film production system 10, as shown in FIG. 2, a laminated film of sheet film F produced by cutting a roll film 12 (FIG. 1), which is a photosensitive material, is provided with a protective film P (second sheet). After the protective cover 14 (first sheet body) is attached, the protective cover 14 is folded into a booklet 16, and the booklet 16 is stored in a light shielding bag 18 and folded back and forth to produce the film package 20. Is done. The protective cover 14 is made of a breathable member such as cardboard. Further, the protective film P is a member for avoiding deterioration in quality due to the protective cover 14 coming into contact with the uppermost sheet film F which is a product.

  The film production system 10 manufactures a book 16 by attaching a protective cover 14 via a protective film P to a laminate of the sheet film F, and a film supply device 22 for cutting the roll film 12 and supplying the sheet film F. A book manufacturing device 24, a package manufacturing device 26 for manufacturing the film package 20 by storing the book 16 in the light-shielding bag 18, and a packaging volume loading device 28 for loading the manufactured film package 20 are provided.

  The booklet manufacturing apparatus 24 to which the sheet body transfer apparatus and transfer method of the present invention are applied is configured as shown in FIG.

  That is, the book production apparatus 24 includes a protective cover stocker 30 in which the protective cover 14 is stocked in a laminated state, a protective film stocker 32 in which the protective film P is stocked in a laminated state, and a single protective film from the protective film stocker 32. A protective film take-out machine 34 for taking out P, a protective film placing table 36 on which the protective film P taken out by the protective film take-out machine 34 is temporarily placed, a protective cover 14 and the protective film P are held and transferred. A first transfer robot 38 (moving means), a flap folding machine 40 for folding the flaps 15a and 15b of the protective cover 14 held by the first transfer robot 38, and a supply base 41 of the film supply device 22. After the laminated sheet film F is taken out from the protective cover 14 and the protective film P, the first transfer robot Receiving from preparative 38, and a second transfer robot 42 for transferring the supply table 43 of the package manufacturing apparatus 26. In addition, the laminated body of the sheet | seat F with which the protective cover 14 and the protective film P were mounted | worn is bent by the folding apparatus which is not shown in figure, and the protective cover 14 is supplied to the package body manufacturing apparatus 26 as the booklet 16.

  The protective film take-out machine 34 includes an arm 46 that moves between the protective film stocker 32 and the protective film mounting table 36 along the guide column 44. The arm 46 adsorbs a portion on the end side of the protective film P. Suction disks 48a and 48b to be held are disposed.

  4 and 5 show the configuration of the robot hand 50 of the first transfer robot 38. FIG. The robot hand 50 includes a support plate 54 that is pivotably attached to the distal end portion of the arm 52, and three holding plates 58a to 58c that are connected to the support plate 54 via a plurality of connecting rods 56a to 56c. . As shown in the plan view of FIG. 5, the holding plates 58 a to 58 c are arranged in parallel along the longitudinal direction of the protective cover 14 in a state of being separated by a predetermined distance.

  At both ends of the holding plate 58a, suction mechanisms 62a and 62b having small-diameter suction plates 60a and 60b (second holding means) for sucking the side edges of the protective film P are disposed. Further, nozzles 64a and 64b (air blowing means) for blowing air to the side edge portion of the protective film P are disposed between the suction mechanisms 62a and 62b.

  At one end of each of the holding plates 58b and 58c, suction mechanisms 62c and 62d (second holding means) provided with small-diameter suction plates 60c and 60d for sucking the side edges of the protective film P, and the protective film P side Nozzles 64c and 64d (air blowing means) for blowing air to the edge are disposed. The holding plates 58b and 58c are provided with suction mechanisms 68a to 68g (first holding means) including large-diameter suction plates 66a to 66g that suck the protective cover 14 and the protective film P. Further, a separation cylinder 69 (vibration applying means) for separating the protective film P from the protective cover 14 sucked by the suction plates 66a to 66g is disposed between the suction plates 66e and 66f of the holding plate 58c. The cylinder rod 71 of the separation cylinder 69 can be advanced and retracted toward the protective cover 14 sucked by the suction disks 66a to 66g.

  6 and 7 show the configuration of the protective film mounting table 36. FIG. The protective film mounting table 36 is configured by arranging a box 74 on a table 72 supported by a support table 70. A panel 78 that holds the protective film P is disposed on the upper surface of the box 74. In addition, holes 80a to 80f are formed in the panel 78 corresponding to the positions of the suction plates 66a to 66c and 66e to 66g disposed in the first transfer robot 38, and these holes 80a to 80f are formed. 80 f is provided with pressing plates 82 a to 82 f that press the protective film P placed on the panel 78. The pressing plates 82 a to 82 f are configured to be movable up and down by elevating cylinders 84 a to 84 f fixed to the table 72. Further, positioning plates 86 a to 86 f for positioning the protective film P are disposed on the peripheral edge of the panel 78. Among these positioning plates 86a to 86f, the positioning plates 86e and 86f corresponding to the protective cover 14 protruding from the protective film P are fixed to the table 72 in order to avoid interference with the protective cover 14. The lift cylinders 88a and 88b are configured to be movable up and down.

  8 and 9 show the configuration of the robot hand 90 of the second transfer robot 42. The robot hand 90 includes a support plate 94 that is pivotably attached to the distal end portion of the arm 92. Below the support plate 94, there are gaps 96a, 96b corresponding to the holding plates 58b, 58c constituting the robot hand 50 of the first transfer robot 38, and a film support plate 98a for supporting the laminate of the sheet film F. ~ 98c are linked. Positioning plates 99a to 99d for positioning the sheet film F are disposed on the film support plates 98a to 98c.

  At the upper part of the support plate 94, film presser plates 100a to 100c for pressing the sheet film F corresponding to the positions of the lower film support plates 98a to 98c are arranged via gaps 101a and 101b. The film holding plates 100a to 100c are connected to connecting plates 102a to 102c disposed at the upper portions of the respective positions via a shaft portion 104, and elastic support members 106a to 106f having coil springs. The intermediate part and the other end part are connected via The connecting plates 102a to 102c are connected to the support plate 94 in a state where they can be raised and lowered via guide rails 108a and 108b extending in the vertical direction. The elevating cylinder 110 is fixed to the connecting plates 102a to 102c, and the lower end portion of the cylinder rod 112 of the elevating cylinder 110 is fixed to the film support plates 98a to 98c.

  The film production system 10 of the present embodiment is basically configured as described above, and the operation thereof will be described next.

  First, the film supply device 22 cuts the roll film 12 into a sheet film F every predetermined length, and the sheet film F is laminated on the supply table 41. When a predetermined number of sheet films F are stacked on the supply table 41, the second transfer robot 42 constituting the book production apparatus 24 grips the stacked sheet films F, and the work position by the first transfer robot 38 is reached. Move to.

  That is, as shown in FIGS. 8 and 9, the robot hand 90 constituting the second transfer robot 42 supports the stacked sheet film F by the film support plates 98a to 98c, and then drives the lifting cylinder 110. By retracting the cylinder rod 112 downward, the film pressing plates 100a to 100c are lowered via the connecting plates 102a to 102c, and the sheet film F is gripped. Next, after moving the robot hand 90 to the working position of the first transfer robot 38, the lift cylinder 110 is driven again to raise the connecting plates 102a to 102c and the film pressing plates 100a to 100c, and the uppermost sheet film. A gap is formed between F and the film pressing plates 100a to 100c.

  The robot hand 90 of the second transfer robot 42 is arranged at the site of the supply table 41, and the sheet film F supplied from the film supply device 22 is directly laminated on the film support plates 98a to 98c of the robot hand 90. Also good.

  Next, the book manufacturing process in the book manufacturing apparatus 24 will be described based on the processing procedure explanatory diagram shown in FIG.

  First, the first transfer robot 38 moves to the protective cover stocker 30 and sucks one of the protective covers 14 stocked in a stacked state by the suction disks 66a to 66g constituting the suction mechanisms 68a to 68g. Next, the first transfer robot 38 conveys the sucked protective cover 14 to the flap folding machine 40 (path S1), and performs the folding process of the flaps 15a and 15b.

  On the other hand, the protective film take-out machine 34 sucks one piece of the protective film P stocked in a stacked state on the protective film stocker 32 by the suction disks 48a and 48b, and places it on the panel 78 of the protective film placing table 36. (Route S2). Positioning plates 86a to 86f protrude from the peripheral edge of the panel 78, and the protective film P is positioned by these positioning plates 86a to 86f (see FIG. 6). After the protective film P is positioned, the positioning plates 86e and 86f are lowered under the driving action of the elevating cylinders 88a and 88b.

  The first transfer robot 38 moves the protective cover 14 in which the flaps 15a and 15b are bent by the flap bending machine 40 onto the protective film mounting table 36 (path S3), and then the panel of the protective film mounting table 36. The protective cover 14 is superimposed on the protective film P positioned at 78. In this case, the protective cover 14 is overlapped with a side face facing the flaps 15a and 15b and a side face perpendicular to the side face shifted from the protective film P by a predetermined amount.

  When the protective cover 14 is superposed on the protective film P, the protective film P exposed from the two side surfaces of the protective cover 14 is adsorbed by the adsorbing plates 60a to 60d constituting the adsorbing mechanisms 62a to 62d, and the protective film P Other parts are adsorbed by adsorbing plates 66 a to 66 g adsorbing the protective cover 14. That is, since the protective cover 14 is made of a breathable member, the protective film P is adsorbed via the protective cover 14 by the adsorption plates 66a to 66g.

  In addition, in the box 74 below the panel 78 constituting the protective film mounting table 36, a hole 80a from which the pressing plates 82a to 82f protrude corresponding to the positions of the suction plates 66a to 66g of the first transfer robot 38. ~ 80f are formed. When the suction plates 66a to 66g are lowered together with the protective cover 14 to suck the protective film P, the pressing plates 82a to 82f are lifted by a predetermined amount by the lifting cylinders 84a to 84f to push up the protective film P, thereby protecting the protective film P. Is securely adsorbed to the suction plates 66a to 66g.

  Here, as shown in FIG. 11, the axes of the suction mechanisms 68a to 68g (only the suction mechanisms 68a and 68e are shown in FIG. 11) are orthogonal to the surfaces of the protective cover 14 and the protective film P and are parallel to each other. If set in such a manner, there is a concern that a sufficient adsorption state cannot be maintained due to the weight of the protective cover 14 and the protective film P. Therefore, as shown in FIG. 12, for example, the axis of the suction mechanism 68a and the axis of the suction mechanism 68e are set at predetermined angles + θ and −θ, respectively, with respect to the vertical direction so that the axes of the suction mechanisms 68a to 68g are not parallel. If the protective cover 14 and the protective film P are adsorbed in a curved state, the protective cover 14 and the protective film P can be reliably adsorbed and held without falling off.

  After the first transfer robot 38 having adsorbed the protective cover 14 and the protective film P as described above has moved to the second transfer robot 42 that holds the stacked sheet film F and stands by at a predetermined work position. (Paths S4 and S5), the protective film P and the protective cover 14 are placed on the sheet film F.

  In this case, first, the holding plates 58 b and 58 c of the first transfer robot 38 holding the protective cover 14 and the protective film P enter the gaps 101 a and 101 b of the film pressing plates 100 a to 100 c of the second transfer robot 42. (See FIGS. 8 and 13).

  Next, the robot hand 50 of the first transfer robot 38 is lowered, and the protective film P sucked and held on the lower surface portion of the protective cover 14 is positioned at the uppermost position with reference to the positioning plates 99a to 99d of the second transfer robot 42. It is positioned and placed on the sheet film F (see FIG. 14).

  When the protective film P is placed on the sheet film F, the suction operation of the protective film P by the suction mechanisms 62a to 62d is stopped to reduce the suction force to 0, and the suction force by the suction mechanisms 68a to 68g is reduced. Only the protective cover 14 is brought into a suckable state. In this case, since the protective cover 14 and the protective film P are in close contact with each other, the protective film P may not be detached from the protective cover 14 even if the suction force is zero. Therefore, air is blown to the protective film P from the nozzles 64a to 64d arranged in the vicinity of the suction plates 60a to 60d that adsorb the protective film P, and the separation cylinder 69 is driven to move the cylinder rod 71 forward and backward. Thus, vibration is applied to the protective cover 14 (see FIG. 15). As a result, the protective film P can be reliably detached from the protective cover 14 and placed on the sheet film F.

  After the protective film P is detached, the first transfer robot 38 is driven to position the protective cover 14 on the protective film P placed on the sheet film F (see FIG. 16). Subsequently, the protective cover 14 is placed on the protective film P by stopping the suction operation of the protective cover 14 by the suction mechanisms 68a to 68g and reducing the suction force to zero. In this case, the amount of movement for moving the protective cover 14 to the upper part of the protective film P is a slight shift amount between the protective cover 14 and the protective film P when the protective film P is adsorbed. The placement work of the protective film P and the protective cover 14 can be completed in a very short time.

  When the protective film P and the protective cover 14 are placed on the laminated sheet film F and the first transfer robot 38 is separated from the second transfer robot 42, the lifting cylinder 110 constituting the second transfer robot 42 is moved. When driven, the film pressing plates 100 a to 100 c are lowered to grip the sheet film F, the protective film P, and the protective cover 14. Next, the second transfer robot 42 moves to the supply table 43 and places the stacked sheet film F, protective film P, and protective cover 14 on the supply table 43.

  In the supply stand 43, the protective cover 14 is bent into a book 16 and supplied to the package manufacturing apparatus 26. In the packaging body manufacturing apparatus 26, the booklet 16 is stored in the light shielding bag 18, and the film packaging body 20 is manufactured by folding the front and back, and is conveyed to the packaging volume filling apparatus 28.

1 is an overall configuration diagram of a film production system to which a sheet transfer apparatus and transfer method of the present invention are applied. It is explanatory drawing of the manufacture procedure of the film package manufactured with the film production system shown in FIG. It is a block diagram of the book production apparatus which comprises the film production system shown in FIG. It is a block diagram of the robot hand of the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. FIG. 5 is an explanatory plan view of the robot hand shown in FIG. 4. It is a block diagram of the protective film mounting base which comprises the book manufacturing apparatus shown in FIG. It is side surface explanatory drawing of the protective film mounting base shown in FIG. It is a block diagram of the robot hand of the 2nd transfer robot which comprises the book manufacturing apparatus shown in FIG. It is side surface explanatory drawing of the robot hand shown in FIG. It is explanatory drawing of the process sequence in the book manufacturing apparatus shown in FIG. It is explanatory drawing of the adsorption | suction state of the protective cover and protective film by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. It is explanatory drawing of the other adsorption | suction state of the protective cover and protective film by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. It is operation | movement explanatory drawing at the time of transferring a protective film and a protective cover to a 2nd transfer robot by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. It is operation | movement explanatory drawing at the time of transferring a protective film and a protective cover to a 2nd transfer robot by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. It is operation | movement explanatory drawing at the time of transferring a protective film and a protective cover to a 2nd transfer robot by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG. It is operation | movement explanatory drawing at the time of transferring a protective film and a protective cover to a 2nd transfer robot by the 1st transfer robot which comprises the book manufacturing apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Film production system 14 ... Protective cover 16 ... Book 18 ... Light-shielding bag 20 ... Film packaging body 22 ... Film supply apparatus 24 ... Book production apparatus 26 ... Packaging body production apparatus 28 ... Packaging volume filling apparatus 30 ... Protective cover stocker 32 ... Protective film stocker 34 ... Protective film take-out machine 36 ... Protective film mounting table 38 ... First transfer robot 40 ... Flap folding machine 42 ... Second transfer robots 48a, 48b, 60a-60d, 66a-66g ... Suction plate 50 90 ... Robot hands 64a to 64d ... Nozzles
69 ... Separation cylinder 82a-82f ... Pressing plate
98a-98c ... Film support plate 100a-100c ... Film holding plate F ... Sheet film P ... Protective film

Claims (10)

In the sheet body transfer device for transferring a plurality of sheet bodies,
First holding means for holding the first sheet body;
A second holding means for holding the second sheet body;
Moving means for moving the first holding means and the second holding means to a predetermined site;
The first holding means superimposes the held first sheet body on a part of the second sheet body, and the second holding means does not overlap the first sheet body. A sheet body transfer apparatus characterized by holding a part of a sheet body. The apparatus of claim 1.
The sheet holding apparatus according to claim 1, wherein the first holding means and the second holding means are constituted by suction means for sucking the first sheet body and the second sheet body. The apparatus of claim 2.
The first sheet body is made of a gas permeable member, and the first holding means sucks and holds the second sheet body via the first sheet body. The apparatus of claim 3.
The first holding unit includes a plurality of adsorption units that adsorb a plurality of portions of the first sheet body, and the plurality of adsorption units curve the second sheet body via the first sheet body. A sheet transfer apparatus configured to be sucked and held in a state. The apparatus of claim 1.
A sheet transfer apparatus comprising: a vibration applying unit that applies vibration to the first sheet held by the first holding unit. The apparatus of claim 1.
An apparatus for transferring a sheet body, comprising air blowing means for blowing air onto the second sheet body from the first sheet body side. In a sheet body transfer method for transferring a plurality of sheet bodies,
Holding the first sheet body by the first holding means;
Superimposing the first sheet held by the first holding means on a part of the second sheet;
Holding a part of the second sheet body not superimposed on the first sheet body by a second holding means;
The second sheet body held by the second holding means is moved together with the first sheet body to a predetermined portion, the holding state of the second sheet body is released, and the second sheet body is moved to the predetermined portion. A placing step;
Moving the first sheet body held by the first holding means by a predetermined amount, releasing the holding state of the first sheet body, and laminating the first sheet body on the second sheet body;
The sheet | seat body transfer method characterized by comprising. The method of claim 7, wherein
When placing the second sheet body on the predetermined portion, a vibration is imparted to the first sheet body. The method of claim 7, wherein
When placing the second sheet body on the predetermined part, air is blown onto the second sheet body from the first sheet body side. The method of claim 7, wherein
The first sheet body is made of a breathable member, and the first holding means sucks and holds the second sheet body through the first sheet body,
When the second sheet body is placed on the predetermined portion, the first holding means releases the suction holding state by the second holding means, and the first holding means holds only the first sheet body by suction. Decrease the adsorption holding force by the holding means by a predetermined amount,
Next, when the first sheet body is stacked on the second sheet body, the suction holding state by the first holding means is released, and the sheet body transfer method is characterized by:

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