JP2020132381A - Booklet transfer device - Google Patents

Abstract

To provide a booklet transfer device that takes out a booklet from the stacked booklets and transfers the booklet to a predetermined position, and that can securely hold one booklet at a time from the stacked booklets and transfer the booklet.SOLUTION: A upper surface of a top booklet of stacked booklets is press-held by a booklet upper face pressing part 21 comprising a predetermined number of upper abutting bodies 31, 32 driven to reciprocate disposed on a booklet side of a booklet upper face pressing mechanism 12. A booklet lower surface pressing mechanism 13 causes a lower surface abutting body 51A to turn from below via an articulating mechanism to be arranged on a lower surface of the booklet pulled out with the booklet upper face pressing mechanism 21, so as to hold the booklet with the booklet upper surface pressing part 21, and then, the held booklet is moved to a predetermined position as a booklet transfer procedure.SELECTED DRAWING: Figure 1

Description

The present invention relates to a booklet transfer device that takes out stacked booklets one by one and transfers them to a predetermined position.

In recent years, for example, there is a business of enclosing a booklet such as a pamphlet or a contract in an envelope, and there is also an automatic device, but for lots with an extremely small number of lots, the device setting time for the device operating time increases and the cost increases. The reality is that it is done manually because it is not worth it. Since such work requires mistakes and education, automation is desired even in extremely small lots, and it is necessary to reliably take out the booklet at the highest position of the stacked booklets one by one.

Conventionally, for example, a technique of sucking stacked papers or the like with a suction head and taking out each leaf sheet is known in Patent Document 1 and the like, but when a booklet is targeted, it is applied in relation to the number of sheets and weight. Can't. Therefore, it is conceivable to apply the robot technology as described in Patent Document 2 and Patent Document 3.

Patent Document 2 is a technique relating to a robot arm mechanism provided with a bending / expanding mechanism, which includes a plurality of plate-shaped first connecting pieces and a plurality of second connecting groups having a U-shaped cross section. Is described as a mechanism that flexibly connects and extends in a curved shape by extrusion. Further, Patent Document 3 is a technique relating to a finger mechanism close to a human being and a humanoid hand incorporating the finger mechanism, and is a gripping object on the tip side when a bone member and a link member are combined and connected and driven by a driving member. A mechanism for gripping an object so as to wrap it is described.

Japanese Unexamined Patent Publication No. 2010-407334 Japanese Unexamined Patent Publication No. 2016-160962 JP-A-2018-167372

By the way, when grasping the stacked booklets, generally, only the uppermost booklet is pulled out with the index finger and the middle finger, and the thumb is crawled from the back surface of the booklet to the protruding part and sandwiched between three fingers. When carrying the booklet, the posture of the booklet is corrected by making the booklet convex or concave with three fingers so that the shape of the booklet is stable. When trying to do this with a robot hand, the positional relationship between the upper and lower fingers (preventing the booklet from coming off), the amount of contact between the thumb and the booklet (stable holding), and gripping near the center of the booklet (booklet when gripping) Attitude) requirements are required.

However, the technique of Patent Document 1 cannot be applied to a mechanism for pulling out and holding a booklet, for example, because the arm expands and contracts in the pushing direction, and the technique of Patent Document 3 wraps the gripping object. Since it is such a gripping mechanism, it is difficult to grip it with the back part of the bone member in order to apply it to a mechanism for holding a booklet. Therefore, a new mechanism that satisfies the above requirements as much as possible is required. Become.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a booklet transfer device for reliably holding and transferring each copy of a stacked booklet.

In order to solve the above problems, the invention of claim 1 is a booklet transfer device that holds the stacked booklets one by one and moves them to a predetermined position, and makes the top-level booklet of the stacked booklets. On the other hand, it is provided with a booklet upper surface pressing portion provided with a predetermined number of upper surface abutting bodies for pressing and holding the upper surface, and a booklet upper surface pressing mechanism for reciprocating the booklet upper surface pressing portion to the booklet side and a joint on the lower surface side of the booklet. The lower surface contact body is provided at least so as to be rotated from below by the mechanism, and the lower surface contact body is positioned on the lower surface side of the booklet pulled out by the booklet upper surface pressing portion by the booklet upper surface pressing mechanism. A booklet lower surface pressing mechanism that holds the booklet together with the booklet upper surface pressing portion, and at least the booklet upper surface pressing mechanism and the booklet lower surface pressing mechanism that hold the uppermost booklet by the upper surface contact body and the lower surface contact body. It is configured to have a transfer mechanism for moving to a predetermined position.

In the invention of claim 2, the booklet lower surface pressing mechanism supports the lower surface support by locating the inner side of the lower surface of the booklet held by the upper surface pressing portion and the lower surface contact body in conjunction with the lower surface contact body. The configuration is provided with a contact body.

According to the invention of claim 1, the booklet upper surface pressing portion provided with a predetermined number of upper surface abutting bodies that reciprocate the upper surface of the booklet to the booklet side of the booklet upper surface pressing mechanism with respect to the uppermost booklet of the stacked booklets. The lower surface abutting body is rotated from below by the joint mechanism to be positioned on the lower surface side of the booklet pulled out by the booklet upper surface pressing part by the booklet lower surface pressing mechanism. By holding the booklet and moving the held booklet to a predetermined position to transfer the booklet, the stacked booklets can be reliably held and transferred one by one.

According to the second aspect of the present invention, the lower surface support contact body provided in the booklet lower surface pressing mechanism positions the inner side of the lower surface of the booklet held by the upper surface pressing portion and the lower surface contact body in conjunction with the lower surface contact body. The posture of the booklet held by the booklet upper surface pressing portion and the lower surface abutting body can be improved by adopting the structure to support the booklet.

It is a schematic block diagram of the booklet transfer apparatus which concerns on this invention. It is a configuration explanatory view of the booklet upper surface holding mechanism of FIG. It is a configuration explanatory view of the booklet lower surface pressing mechanism of FIG. It is explanatory drawing (1) of the booklet transfer by the booklet transfer apparatus of this invention. It is explanatory drawing (2) of the booklet transfer by the booklet transfer apparatus of this invention. It is explanatory drawing (3) of the booklet transfer by the booklet transfer apparatus of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a schematic configuration diagram of the booklet transfer device according to the present invention, FIG. 2 shows a configuration explanatory view of the booklet upper surface pressing mechanism of FIG. 1, and FIG. 3 shows a configuration explanatory diagram of the booklet lower surface pressing mechanism of FIG. In FIG. 1, the booklet transfer device 11 is roughly classified into a booklet upper surface pressing mechanism 12 described in detail in FIG. 2 and a booklet lower surface pressing mechanism 13 described in detail in FIG.

The drive unit of the booklet upper surface pressing mechanism 12 is fixed to the drive unit fixing plate 14, and the drive unit of the booklet lower surface pressing mechanism 13 is connected to the drive unit fixing plate 14 downward by the fixing plate connecting portion 15. It is fixed at 16. Then, the booklet upper surface pressing mechanism 12 and the booklet lower surface pressing mechanism 13 are integrally moved in the vertical and horizontal directions H and the horizontal direction X and the vertical and horizontal directions Y in the horizontal direction X by a transfer mechanism (not shown). .. As the transfer mechanism, a three-dimensional work movement mechanism that has been known conventionally is sufficient.

The booklet top surface pressing mechanism 12 is composed of a booklet top surface pressing unit 21, a slide mechanism unit 22, and a slide drive unit 23. The booklet top surface pressing portion 21 is reciprocated to the stacked booklet side, which will be described later, and is in contact with the upper surface of the top-level booklet to hold and hold the contacted booklet on the booklet bottom surface pressing mechanism 13 side. It is for pulling out.

Specifically, as shown in FIG. 2A, for example, two upper surface contact bodies 31 and 32 are arranged at predetermined intervals, and a booklet holding auxiliary portion 33 is arranged between the upper surface contact bodies 31 and 32. Will be done. For the upper surface contact bodies 31 and 32, for example, smooth silicone rubber is used. The upper surface contact bodies 31 and 32 are fixed to the upper surface contact body fixing portions 31A and 32A, respectively, and the upper surface contact body fixing portions 31A and 32A are fixed to the connecting body 34 together with the booklet holding auxiliary portion 33.

A slide rod sliding portion 35 having through holes corresponding to the slide rods 43A and 43B described later is mounted on the connecting body 34, and the belt engaging body 36 is positioned above the slide rod sliding portion 35 for fixing the belt engaging body. The portion 36A is attached to the slide rod sliding portion 35. The belt engaging body 36 is formed with an uneven portion that engages with an uneven portion formed inside the drive belt 46, which will be described later.

The slide mechanism portion 22 of the booklet upper surface pressing mechanism 12 reciprocates the booklet upper surface pressing portion 21 toward the booklet lower surface pressing mechanism 13 (the same direction as the horizontal direction X in FIG. 1 and the direction shown in FIG. 2C). A) It is to be made to do. Specifically, as shown in FIG. 2B, upper plate end portions 42A and 42B are provided below both end portions of the upper plate 41 according to the lengths of the slide rods 43A and 43B, and the upper plate ends Slide rods 43A and 43B are provided between the portions 42A and 42B. The slide rods 43A and 43B penetrate the through hole of the slide rod sliding portion 35 of the booklet holding portion 21 and serve as a sliding guide. Further, the upper plate 41 is formed with an opening for engaging the belt engaging body 36 of the booklet upper surface pressing portion 21 with the drive belt 46 described later and sliding the belt engaging body 36.

In the slide drive unit 23 of the booklet upper surface pressing mechanism 12, a belt drive pulley 44A is attached on the shaft of the rotation drive unit 44 provided on the drive unit fixing plate 14, and the upper plate end portion of the upper plate 41 is attached. It is located above the 42B side. The belt drive pulley 44A is formed with an uneven portion that engages with an uneven portion formed inside the drive belt 46.

On the other hand, a rotary pulley fixing portion 45 is provided on the upper plate end portion 42A side of the upper plate 41, and the rotary pulley 45A is mounted on the shaft of the rotary pulley 45. The rotary pulley 45A is formed with an uneven portion that engages with an uneven portion formed inside the drive belt 46. A drive belt 46 having an uneven portion engaged with the belt drive pulley 44A and the rotary pulley 45A is suspended.

Then, as shown in FIG. 2 (C), the slide rods 43A and 43B of the slide mechanism portion 23 are placed in the through holes of the slide rod sliding portion 35 in the booklet upper surface holding portion 21 of the slide mechanism portion 22 of FIG. 2 (B). The belt engaging body 36 in the booklet upper surface pressing portion 21 is penetrated and engaged with the inside of the drive belt 46 by matching the uneven portion, and the belt driving pulley 44A is rotated in the forward and reverse directions of the rotating driving portion 44. 21 rotates and the booklet upper surface pressing portion 21 slides on the slide rods 43A and 43B and is reciprocated in the above-mentioned horizontal direction A (X).

The booklet lower surface pressing mechanism 13 of the booklet transfer device 11 includes a lower surface contact body 51A located on the lower surface side of the booklet by rotating from below by a joint mechanism, and is provided by the booklet upper surface pressing mechanism 12 by the booklet upper surface pressing portion 21. The purpose is to position the lower surface contact body 51A on the lower surface side of the booklet pulled out to the booklet lower surface pressing mechanism 13 side and hold the booklet together with the booklet upper surface pressing portion 21.

Specifically, as shown in FIG. 3A, the booklet lower surface pressing mechanism 13 is composed of a lower surface pressing drive unit 52, a first joint mechanism 53, and a second joint mechanism 54. In the lower surface pressing drive unit 52, a belt drive pulley is provided on the drive shaft 62 on the drive unit fixing plate 16, and the lower surface contact body drive unit 61 located outside the drive unit fixing plate 16 is fixed. ..

On the other hand, the movable body moving rod 64 and the movable body moving rod 64 in which the end fixing plates 63A and 63B are provided on the lower side of both ends of the drive unit fixing plate 16 in the X direction and a tap groove is formed between the end fixing plates 63A and 63B. A guide rod 64A (see FIG. 3B) is suspended, an end portion of the movable body moving rod 64 penetrates the end fixing plate 63A to provide a belt drive pulley, and the lower surface contact body driving portion 61 is provided. It is arranged at the same position as the belt drive pulley provided on the drive shaft 62. The drive transmission belt 65 is suspended between the belt drive pulley of the lower surface contact body drive unit 61 and the belt drive pulley of the movable body moving rod 64.

The through holes of the movable body 66 are engaged with the movable body moving rod 64 and the guide rod 64A, and an engaging tap is formed in the through holes corresponding to the movable body moving rod 64. The movable body 66 moves along the movable body moving rod 64 and the guide rod 64A by rotating the movable body moving rod 64 in the forward and reverse directions via the drive transmission belt 65 by the lower surface contact body driving unit 61. The moving direction is the X direction, which is the C direction shown in FIG. 3 (B). One ends of the link transmission portions 68A and 68B (the link transmission portion 68B is a target of the link transmission portion 68A and does not appear in the figure) are provided on both sides of the movable body 66.

The first joint portion 67 constituting the first joint mechanism 53 is fixed to the end fixing plate 63A, and the flexible first link portions 69A and 69B are connected to both sides of the first joint portion 67 by the support pins 69-1A and 69-1B, respectively. It is rotatably attached, and the other ends of the link transmission portions 68A and 68B are rotatably attached to each of the bent movable body side ends. Further, at the support pin portions of the first link portions 69A and 69B, one ends of the first support portions 70A and 70B that rotate integrally when the first link portions 69A and 69B rotate are fixed, respectively, and the first 1 The connecting auxiliary body 71 is fixed between the body portions of the support portions 70A and 70B.

Further, one end portions of the second support portions 72A and 72B are rotatably attached to the tip ends of the bent first link portions 69A and 69B, and the other end portions are each rotatably attached to the second joint mechanism 54. Is rotatably attached to the second joint portion 73 constituting the above. A lower surface contact body 51A is provided on the bottom surface of the second joint portion 73. The bottom surface contact body 51A is made of, for example, a resin material. On the other hand, the other ends of the first support portions 70A and 70B are rotatably attached to one end side of the second link portions 74A and 74B, respectively.

One end sides of the third support portions 75A and 75B are rotatably attached to both side surfaces of the second joint portion 73, and the other end sides of the second link portions 74A and 74B are attached to the third support portions 75A and 75B, respectively. Each can be mounted rotatably. Each of the other ends of the third support portions 75A and 75B is rotatably attached to the booklet lower surface support portion 76. A bottom surface support contact body 51B is provided on the bottom surface of the booklet bottom surface support portion 76. The bottom surface support contact body 51B is formed of, for example, a resin material. Then, for example, urging bodies 77A and 77B such as coil springs are suspended on both side surfaces of the third support portions 75A and 75B and the booklet lower surface support portion 76.

As shown in FIG. 3B, the above-mentioned booklet lower surface pressing mechanism 13 rotates the movable body moving rod 64 via the drive transmission belt 65 by rotating the lower surface contact body driving unit 61, for example, in the B direction. The movable body 66 moves in the C direction. In response to the movement of the movable body 66, the first link portions 69A and 69B rotate in the D direction around the support pins 69-1A and 69-1B via the link transmission portions 68A and 68B, and accordingly, the first link portions 69A and 69B rotate in the D direction. The first support portions 70A and 70B and the second support portions 72A and 72B rotate in an arc shape from below, so that the second joint portion 73 rotates in the arc shape E direction.

By rotating the first support portions 70A and 70B, the second support portions 72A and 72B, and the second joint portion 73, the third support portions 75A and 75B extend the biasing bodies 77A and 77B. The booklet lower surface support portion 76 is rotated in the F direction from below by force. That is, as shown in FIG. 3C, when the lower surface contact body 51A comes into contact with the lower surface of the booklet, which will be described later, the lower surface support contact body 51B interlocks with the lower surface and comes into contact with the inner side of the lower surface of the booklet. It is said to be on the line.

Next, FIGS. 4 to 6 show explanatory views of booklet transfer by the booklet transfer device of the present invention. In FIG. 4A, with respect to the stacked booklet 82 in which the handling gate 81 is provided on the booklet transfer device 11 side and stacked, the booklet upper surface pressing mechanism 12 of the booklet transfer device 11 moves the booklet upper surface pressing portion 21 in the moving direction X. Is aligned with the pull-out direction of the uppermost booklet 82A, and the booklet upper surface pressing portion 21 located at the tip of the slide mechanism portion 22 is arranged so as to be located slightly above the inner side of the booklet 82A.

Therefore, as shown in FIG. 4B, the booklet upper surface pressing mechanism 12 and the booklet lower surface pressing mechanism 13 are moved downward (in the H direction) so that the upper surface contact bodies 31 and 32 hit the upper surface of the uppermost booklet 82A. As shown in FIG. 4C, the rotary drive unit 44 is rotated to drive the drive belt 46 in the A direction, so that the booklet upper surface pressing portion 21 moves in the A direction and the upper surface contact body 31 , The highest-level booklet 82A abutting on 32 is pulled out to the booklet lower surface pressing mechanism 13 side by a predetermined length. At this time, only the top-level booklet 82A is pulled out by the judgment gate 81. The predetermined length is set so as to be at least the position of the second joint mechanism 54 when the booklet lower surface pressing mechanism 13 is rotated.

Subsequently, as shown in FIG. 5A, the movable body moving rod 64 is rotated via the drive transmission belt 65 by rotating the lower surface contact body driving unit 61 of the booklet lower surface pressing mechanism 13 in, for example, the B direction. And the movable body 66 move forward (on the stacking booklet 82 side and in the C1 direction). As a result, the first link portions 69A and 69B are rotated around the support pins 69-1A and 69-1B via the link transmission portions 68A and 68B, and the first support portions 70A and 70B and the second support portions 72A, 72B is rotated. At the same time, the drawer tip portion of the booklet 82A is supported from below by the second joint mechanism 54 portion near the second joint portion 73, which prevents the booklet 82A from falling when it is pulled out.

Further, as the second joint portion 73 rotates, the booklet lower surface support portion 76 rotates due to the urging force of the urging bodies 77A and 77B depending on the position of the third support portions 75A and 75B, but it hits the handling gate 81. It will be in contact. Therefore, as shown in FIG. 5B, the booklet upper surface pressing mechanism 12 and the booklet lower surface pressing mechanism 13 are moved in the X direction. As a result, the booklet lower surface support portion 76 rotates along the surface of the handling gate 81 with the urging force of the urging bodies 77A and 77B, and the urging bodies 77A and 77B are the booklet lower surface support portion 76 ( The lower surface support contact body 51B) is prevented from hanging down. Further, with the movement in the X direction, the lower surface contact body drive unit 61 is further rotated in the B direction to rotate the movable body moving rod 64 via the drive transmission belt 65, thereby moving the movable body 66 forward ( It is on the stacking booklet 82 side and is moved in the C2 direction).

Then, as shown in FIG. 6A, the booklet upper surface pressing mechanism 12 and the booklet lower surface pressing mechanism 13 are moved in the X direction until the booklet lower surface supporting portion 76 comes into contact with the lower surface of the booklet 82A. At this time, as the movable body 66 moves (in the C2 direction in FIG. 5B), the second support portions 72A and 72B sides of the first link portions 69A and 69B become substantially vertical, and the lower surface contact body 51A and the lower surface support The surface of the contact body 51B is in contact with the lower surface of the booklet 82A. By adopting such a movement form of the booklet lower surface support portion 76 (lower surface support contact body 51B) by the urging bodies 77A and 77B, it is possible to relax the adjustment of the positional relationship between the stacking booklet 81 and the booklet transfer device 11. It can be done. Then, in a state where the lower surface support contact body 51B is in contact with the lower surface of the booklet 82A, the booklet 82A is once sandwiched between the booklet upper surface pressing portion 21 and the lower surface support contact body 51B of the booklet lower surface support portion 76. Become.

Subsequently, as shown in FIGS. 6 (B) and 6 (C), the rotary drive unit 44 is rotated to drive the drive belt 46 in the A direction, whereby the booklet upper surface pressing portion 21 is moved in the A direction to move the upper surface. By pulling the uppermost booklet 82A that is in contact with the abutting bodies 31 and 32 toward the booklet lower surface pressing mechanism 13, the booklet 82A is brought into the booklet upper surface pressing portion 21 (upper surface abutting bodies 31 and 32 and the booklet holding auxiliary portion). 33) and the bottom surface contact body 51A will hold it. At this time, the lower surface support contact body 51B is in a state of supporting the inner side of the lower surface of the booklet 82A (further inside than the contact position of the lower surface contact body 51A).

As described above, the booklet transfer device 11 of the present invention realizes that the upper surface contact bodies 31 and 32 correspond to the index finger and the middle finger of the human hand, and the lower surface contact body 51A corresponds to the thumb. That is, the upper surface of the uppermost booklet 82A is pressed by the index finger and the middle finger (upper surface contact bodies 31 and 32), the thumb (lower surface contact body 51A) is positioned on the lower surface of the booklet, and the thumb (lower surface contact) on the lower surface of the booklet. By adopting a configuration for sandwiching the body 51A) with the index finger and the middle finger (upper surface contact bodies 31, 32) on the upper surface of the booklet, the stacked booklets 82A are reliably held and transferred one by one. It is something that can be done. Further, when the booklet 82A is held, the lower surface support contact body 51B supports the booklet 82A from the lower surface side, so that the posture of the booklet 82A to be held can be improved.

The booklet transfer device of the present invention can be used in the industrial fields of taking out stacked booklets, transferring them to the next process, and processing them, and using and selling the devices.

11 Booklet transfer device 12 Booklet top surface pressing mechanism 13 Booklet bottom surface pressing mechanism 14, 16 Drive unit fixing plate 15 Fixed plate connecting unit 21 Booklet top surface pressing unit 22 Slide mechanism unit 23 Slide drive unit 31, 32 Top surface contact body 31A, 31B Top surface Abutment body fixing part 33 Booklet holding auxiliary part 34 Connecting body 35 Slide rod sliding part 36 Belt engaging body 36A Belt engaging body fixing part 41 Upper plate 42A, 42B Upper plate end part 43A, 43B Slide rod 44 Rotation drive part 44A Belt drive pulley 45 Rotating pulley fixing part 45A Rotating pulley 46 Drive belt 51A Bottom contact body 51B Bottom support contact body 52 Bottom presser drive part 53 First joint mechanism 54 Second joint mechanism 61 Bottom contact body drive part 62 Drive shaft 63A, 63B End fixing plate 64 Movable body moving rod 64A Guide rod 65 Drive transmission belt 66 Movable body 67 1st joint part 68A, 68B Link transmission part 69A, 69B 1st link part 70A, 70B 1st support part 71 Connection assistance Body 72A, 72B 2nd support 73 2nd joint 74A, 74B 2nd link 75A, 75B 3rd support 76 Booklet Bottom support 77A, 77B Biasing body 81 Judgment gate 82 Stacked booklet 82A Top booklet

Claims (2)

A booklet transfer device that holds stacked booklets one by one and moves them to a predetermined position.
A booklet upper surface holding portion provided with a predetermined number of upper surface abutting bodies for pressing and holding the upper surface against the uppermost booklet of the stacked booklets is provided, and the booklet upper surface pressing portion is reciprocated to the booklet side. Presser mechanism and
The lower surface side of the booklet is provided with at least a lower surface abutting body that is positioned by rotating from below by a joint mechanism, and the lower surface contact body is placed on the lower surface side of the booklet pulled out by the booklet upper surface pressing portion by the booklet upper surface pressing mechanism. A booklet bottom presser mechanism that positions the contact body and holds the booklet together with the booklet top presser
At least, a transfer mechanism that moves the booklet upper surface pressing mechanism and the booklet lower surface pressing mechanism that hold the uppermost booklet by the upper surface contact body and the lower surface contact body to a predetermined position.
A booklet transfer device characterized by having. The booklet transfer device according to claim 1, wherein the booklet lower surface pressing mechanism positions the inner side of the lower surface of the booklet held by the upper surface pressing portion and the lower surface contact body in conjunction with the lower surface contact body. A booklet transfer device characterized by being provided with a bottom support contact body supported by.

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