JP2020175999A - Sheet stack transfer device - Google Patents

Abstract

To transfer a to-be-transferred sheet stack to a desired position while keeping sheets stacked.SOLUTION: A sheet stack transfer device comprises two sheet holding units 100 separated at intervals corresponding to the number of to-be-transferred sheet stacks and disposed opposite to one another. Each sheet holding unit 100 has: two pairs of end frames arranged at ends in a lateral direction, each of which is a pair of frames 130 forming on inside thereof a flat surface extending rearward from a front end thereof and forming a pointed end in front thereof; a pair of intermediate frames arranged between the pairs of end frames; inside rollers 111, 121 freely rotatably held by respective pair of frames and projecting inside; outside rollers 111, 121 freely rotatably held by respective pair of frames and projecting outside; and a brake unit 150 configured to permit or regulate rotation of the inside roller 111 held by each pair of end frames.SELECTED DRAWING: Figure 2

Description

The present invention relates to a transfer device for transferring a sheet stack in which sheet-like objects are stacked.

Sheet-like objects (hereinafter simply referred to as "sheets") such as printing paper used for printing by a printing device, a corrugated cardboard sheet as a raw material for a corrugated cardboard box, and a pouch as a raw material for an airtight container are used in various fields. Used as a processing material in. In the processing step, these sheets are appropriately processed in a state of being separated into single leaves. Therefore, various means for transporting or transferring the individual sheets separated into the single leaves to be processed have been proposed according to the processing process.

On the other hand, in a specific situation such as a pre-stage of being put into a processing process, it is preferable to handle the sheets in a state where a plurality of sheets are stacked. Therefore, a means for transporting a plurality of sheets in a stacked state has been developed. For example, Patent Document 1 describes a separation device that separates laminated sheets carried into a supply end into a predetermined number of sheet bundles, and a transfer device that conveys the separated sheet bundles to a discharge end in a substantially horizontal state. A paper feed machine having the above is disclosed.

Japanese Unexamined Patent Publication No. 2000-118755

However, in the separation device and the transfer device as described in Patent Document 1, the separated sheet bundle is only transported in the transfer device close to the separation device, and the separated sheet bundle is transferred to a desired position. It's not easy.

An object of the present invention is to solve the problem in the above-mentioned transport device, to extract a sheet stack to be transferred from a sheet original stack in which sheet-shaped objects are stacked, and to keep the sheet stack in a stacked state. It is an object of the present invention to provide a technique for facilitating transfer to a desired position.

Of the present invention, the invention according to claim 1 is a transfer device for transferring sheet stacks in which sheet-like objects are stacked, and is separated and opposed at intervals according to the number of sheet stacks to be transferred. The first and second seat holding portions are provided so as to be provided, and the first and second seat holding portions are forward to the inside where the first and second seat holding portions face each other, respectively. A pair of frames having a flat surface extending from the edge to the rear and a tip formed in the front, which is perpendicular to both the separation direction and the front-rear direction of the first and second seat holding portions. Two end frame pairs arranged at the lateral ends, an intermediate frame pair arranged between the end frame pairs, and each frame pair of the end frame pair and the intermediate frame pair. A frame that is rotatably held and held by an inner roller that projects inward from the frame pair that is rotatably held and held by, and a frame pair that is rotatably held and held by the end frame pair and the intermediate frame pair. It is characterized by having an outer roller projecting outward from the pair and a braking portion configured to allow or regulate the rotation of the inner roller held by the end frame pair. ..

The invention according to claim 2 is characterized in that, in the invention according to claim 1, the inner roller and the outer roller are arranged at different positions in the front-rear direction.

The invention according to claim 3 is the invention according to claim 1 or 2, wherein the inner roller of the first sheet holding portion and the inner roller of the second sheet holding portion are in the front-rear direction. It is characterized by being arranged at different positions.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the first and second sheet holding portions are a group of inner rollers in which a plurality of the inner rollers are arranged in the front-rear direction. It is characterized by having an inner rotation synchronizing portion for synchronizing the rotation of the inner roller group held by the end frame pair.

The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the first and second sheet holding portions are a group of outer rollers in which a plurality of the outer rollers are arranged in the front-rear direction. It is characterized by having an outer rotation synchronizing portion for synchronizing the rotation of the outer roller group held by the end frame pair.

In the transfer device according to claim 1, the inner roller held by the end frame pair is set to be in a state where rotation is permitted, and the transfer device is moved forward to enter the sheet original stacking body, thereby causing the transfer target. The sheet stack is taken in between the two sheet holders. Then, the inner roller held by the end frame pair was placed in a state where the rotation was restricted, and the transfer device was moved backward, so that the sheet stack to be transferred was held between the two sheet holding portions. As it is, the remaining sheet stack is left in the original sheet stack. In this state, after the transfer device is moved to the desired transfer destination, the inner rollers held by the end frame pair are allowed to rotate, so that the sheet stack to be transferred is moved to the transfer destination. It is discharged. As described above, according to the transfer device according to claim 1, the rotation of the rollers is appropriately permitted or regulated, and the transfer device is moved to transfer the sheet stack to be transferred to a desired transfer destination. be able to. Further, by arranging the intermediate frame pair that holds the rollers between the end frame pairs, the sheet stacking body to be transferred and the sheet stacking body remaining in the sheet original stacking body are suppressed from bending, so that the sheet stacking is suppressed. It is possible to prevent the heavy body from being taken in and out properly. Therefore, according to the transfer device according to claim 1, the sheet stacking body to be transferred is extracted from the sheet original stacking body in which the sheet-like objects are stacked, and the sheet stacking body is desired in a state where the sheets are stacked. It will be easier to transfer to the location.

According to the transfer device according to claim 2, since the length of the portion of the frame that enters the sheet original product weight in the stacking direction can be made shorter, it is possible to allow the transfer device to enter the sheet original product weight. It will be easy.

According to the transfer device according to claim 3, since the amount of compression of the sheet stack taken in between the two sheet holding portions in the stacking direction is reduced, the hard sheet that is hard to be deformed in the stacking direction It becomes easier to transfer the stack.

According to the transfer device according to claim 4, it becomes easier to regulate the rotation of the rollers held by the end frame pair, and each roller in the inner roller group in contact with the sheet stack to be transferred It is possible to prevent the sheet on the surface layer of the sheet stack from becoming non-uniform in rotation and causing bending or wrinkling.

According to the transfer device according to claim 5, the rotation of each roller in the outer roller group in contact with the sheet stacking body left in the sheet stacking body becomes non-uniform, and the sheet on the surface layer of the sheet stacking body bends. It is possible to suppress the occurrence of wrinkles.

The present invention can be realized in various aspects. For example, a sheet stack transfer device, a transfer system using the transfer device, a transfer method of the sheet stack using those transfer devices and the transfer system, and a transfer device, a transfer system or a transfer method thereof. It can be realized by an aspect such as a processing device and a processing method for the sheets included in the sheet stack.

It is explanatory drawing which shows the structure of the transfer system of the sheet stack which applied the 1st Embodiment of this invention. It is a perspective view which shows the structure of the sheet holding mechanism. It is an exploded perspective view which shows the structure of a part of each member of a sheet holding mechanism. It is explanatory drawing which shows the state of operation of the transfer hand. It is explanatory drawing which shows the state of operation of the transfer hand. It is explanatory drawing which shows the state of operation of the transfer hand. It is explanatory drawing which shows the state of operation of the transfer hand. It is explanatory drawing which shows the state of operation of the transfer hand. It is explanatory drawing which shows the state of operation of the transfer hand. It is a perspective view which shows the structure of the transfer hand in 2nd Embodiment. It is an exploded perspective view which shows the structure of a part of each member of a sheet holding mechanism. It is explanatory drawing which shows the state of operation of the transfer hand of 2nd Embodiment.

Hereinafter, embodiments of the sheet stack transfer device according to the present invention will be described in detail with reference to the drawings.

<First Embodiment>
FIG. 1 is an explanatory diagram showing a configuration of a sheet stack transfer system 1 to which the first embodiment of the present invention is applied. Here, the sheet stacking body refers to a stack of sheets such as a bag-shaped pouch and a thin plate-shaped corrugated cardboard. The transfer system 1 is an industrial robot (hereinafter, simply "robot"), which is attached to a seat storage unit 50 for storing the sheet original stack STS, a transfer hand 10, and end faces of the transfer hand 10 in the −y direction (rear). ”). The transfer system according to the present invention can be used not only as having an industrial robot as in the present embodiment but also as having a transfer device, an industrial machine, or the like.

The sheet storage unit 50 is attached to a shelf board 51 on which the sheet original stack STS is placed on the upper surface and one end of the shelf board 51 (in the example of FIG. 1, the end in the −x direction), and is vertically upward (+ z direction). It has a side plate 52 that rises vertically, and a back plate 53 that is attached to the end of the shelf plate 51 in the back direction and rises vertically upward. The sheet stack (sheet original stack) STS including the sheet stack to be transferred is arranged so as to be in contact with the side plate 52 in a state where a load from the + x direction end to the −x direction is applied. As a result, the individual sheets of the sheet original stack STS are arranged so as to stand up vertically upward.

The transfer hand 10 has two sheet holding mechanisms 100 [1] and 100 [2] (seat holding portions) for holding the sheet stacks to be transferred. As shown in FIG. 1, the two seat holding mechanisms 100 [1] and 100 [2] are attached to the robot in a state of being separated in the x direction and facing each other, that is, in a state of being inverted in the x direction.

The details will be described later, but the robot is driven with the two seat holding mechanisms 100 [1] and 100 [2] attached to the robot, and the transfer hand 10 is moved as shown by the white arrow. By moving in the direction (front-back direction), the sheet stacking body to be transferred is extracted from the sheet original stacking body STS stored in the sheet storage unit 50.

In the first embodiment, the two sheet holding mechanisms 100 [1] and 100 [2] have the same configuration except that their arrangements are different. Therefore, in the following description, unless otherwise specified, the sheet holding mechanism 100 [1] on the + x direction side is treated as the sheet holding mechanism 100 representing the two sheet holding mechanisms 100 [1] and 100 [2]. Similarly, when there are a plurality of components having the same configuration, one of the components will be used for explanation, and if necessary, a number enclosed in parentheses will be added after the code to distinguish the plurality of components. .. Further, in the following description relating to the configuration of the sheet holding mechanism 100 itself, the opposite sides of the two sheet holding mechanisms 100 [1] and 100 [2], that is, the −x direction in the sheet holding mechanism 100 [1]. The side and the + x direction side of the sheet holding mechanism 100 [2] are called the inside, and the + x direction side of the sheet holding mechanism 100 [1] and the −x direction side of the sheet holding mechanism 100 [2] are called the outside. ..

<Structure of seat holding mechanism>
FIG. 2 is a perspective view showing the configuration of the seat holding mechanism 100, and FIG. 3 is an exploded perspective view showing a partial configuration of each member of the seat holding mechanism 100. As shown in FIG. 2, the seat holding mechanism 100 includes 27 roller rods 110 [1], 110 [2], 120, and six frames 130 [1] to 130 [6] separated in the z direction. A base plate 140 that holds the six frames 130 [1] to 130 [6] apart, two braking mechanisms 150 [1], 150 [2], and four belts 171 [1], 171 [ It has 2], 172 [1], and 172 [2]. The 27 roller rods 110 [1], 110 [2], 120, the six frames 130 [1] to 130 [6], and the base plate 140 are all metal members integrally formed.

As can be seen from FIGS. 2 and 3, the sheet holding mechanism 100 is symmetrical with respect to the xy plane located at the center in the z direction. Therefore, unless otherwise specified, the components symmetrical to the plane are designated by the same reference numerals, and only one of them will be described.

Further, the nine roller rods 110 (110a to 110i) arranged at the ends in the z direction have the same configuration. Therefore, in the description relating to the roller rods 110a to 110i, unless otherwise specified, any roller rod selected from the nine roller rods 110a to 110i is collectively referred to or represented by the nine roller rods 110a to 110i. Treat as a roller rod 110. Similarly, in the description relating to the nine roller rods 120a to 120i arranged in the central portion in the z direction, unless otherwise specified, any roller rod selected from the nine roller rods 120a to 120i is referred to as nine. The roller rods 120a to 120i of the book are collectively treated as a representative roller rod 120.

Further, the braking mechanisms 150 [1] and 150 [2] are attached to the frames 130 [1] and 130 [6] located at both ends in the z direction of the six frames 130 [1] to 130 [6], respectively. A braking mechanism mounting hole is formed for mounting the brake mechanism 150 [1] and 150 [2], and the braking mechanism 150 [1] and 150 [2] are fixed to the frame 130 [1] and 130 [6]. However, since the mounting structures of the braking mechanisms 150 [1] and 150 [2] do not have a direct relationship with the present invention, these frames 130 [1] and 130 [6] are other frames 130 [6]. 2] to 130 [5] will be described as the same.

As can be seen from FIG. 2, the six frames 130 [1] to 130 [6] are two end frame pairs 130 [1, 2], 130 [5, 6] arranged at the lateral ends. It constitutes an intermediate frame pair 130 [3, 4] arranged between two end frame pairs 130 [1, 2] and 130 [5, 6]. Here, the lateral direction is a direction perpendicular to both the front-rear direction (y direction) and the separation direction (x direction) of the two seat holding mechanisms 100 [1] and 100 [2] (FIG. 1), that is. , Z direction.

Further, as will be described later, of the 27 roller rods 110 [1], 110 [2], and 120, 9 roller rods 110 [1] have a pair of end frames 130 [1, 2] on the + z direction side. ], The nine roller rods 110 [2] are held by the end frame pairs 130 [5, 6] on the −z direction side, and the nine roller rods 120 are held by the intermediate frame pair 130 [3, 4] is held.

In the example of FIG. 2, of the nine roller rods 110 (110a to 110i) held by the end frame pairs 130 [1, 2] and 130 [5, 6], the five roller rods 110a to 110e are The remaining four roller rods 110f to 110i are arranged on the inside and are arranged on the outside. The outer roller rods 110f to 110i are arranged so as to be located between the inner roller rods 110a to 110e when viewed from the x direction. Further, nine roller rods 120 (120a to 120i) held by the intermediate frame pair 130 [3, 4] are also arranged in the same manner. Therefore, the inner roller rods 110a to 110e, 120a to 120e and the outer roller rods 110f to 110i, 120f to 120i are arranged at different positions in the y direction (front-back direction). However, the total number of roller rods held in each frame pair 130 [1,2], 130 [3,4], 130 [5,6], the number of inner roller rods, and the number of outer roller rods are It is appropriately changed according to the size of each sheet constituting the sheet stack.

As shown in FIG. 3, the roller rod 110 [1] held by the end frame pairs 130 [1, 2] is a rod-shaped member extending in the z direction, and has a large-diameter roller portion 111 and a roller portion 111. It has shafts 112 and 113 provided at both ends of the shaft. Of these shafts 112 and 113, the shaft 112 provided in the + z direction is set to have a sufficiently long length so as to protrude from the frame 130 [1] located in the direction. Further, the shaft 112 is provided with a belt groove 119 for hanging the belts 171 [1] and 172 [1] (FIG. 2). On the other hand, the shaft 113 provided in the −z direction does not need to protrude from the frame 130 [2] located in the direction, and therefore has a shorter length than the shaft 112 provided in the + z direction.

The roller rod 120 held by the intermediate frame pair 130 [3, 4] is a rod-shaped member extending in the z direction, and includes a large-diameter roller portion 121 and shafts 122, 123 provided at both ends of the roller portion 121. have. Since none of these shafts 112 and 113 need to protrude from the frames 130 [3] and 130 [4], the length of these shafts 112 and 113 is held by the end frame pairs 130 [1, 2]. It is set to be about the same as the shaft 113 in the −z direction of 110 [1].

The frame 130 is a member having a substantially constant thickness (length in the z direction), and has a tip portion 131, an intermediate portion 132, and a base portion 133. The tip portion 131 is formed in the shape of a right triangle whose width (length in the x direction) decreases toward the + y direction (forward). A rectangular plate-shaped intermediate portion 132 is provided at the rear (−y direction) end of the tip portion 131. The tip portion 131 and the intermediate portion 132 are formed so that the inside thereof is flat. Therefore, it can be said that a flat surface extending from the front end to the rear is formed inside the tip portion 131 and the intermediate portion 132.

Nine shaft holes 139a to 139i into which the respective shafts 112, 113, 122, and 123 are inserted are formed in the tip portion 131 and the intermediate portion 132 corresponding to the nine roller rods 110 and 120. .. The inner diameters of the nine shaft holes 139a to 139i penetrating in the z direction are set to be slightly larger than the outer diameters of the shafts 112, 113, 122, and 123 so that the roller rods 110 and 120 can rotate.

As shown in FIG. 2, the positions of the inner shaft holes 139a to 139e are such that the roller portions 111 and 121 of the inner roller rods 110a to 110e and 120a to 120e are located from the frame 130 (tip portion 131 and intermediate portion 132). The positions of the outer shaft holes 139f to 139i are set so as to project inward, and the roller portions 111 and 121 of the outer roller rods 110f to 110i and 120f to 120i are set to project outward from the frame 130. There is.

As shown in FIG. 3, the base portion 133 provided at the rear end (−y direction) end of the intermediate portion 132 is formed in a concave plate shape having a width (length in the x direction) wider than that of the intermediate portion 132. .. An assembly hole 138 penetrating in the y direction is provided in the central portion of the recess 137 of the base portion 133. The base portion 133 is arranged so as to project greatly outward from the intermediate portion 132 and project inward to the same extent as the inner roller rods 110a to 110e and 120a to 120e. By projecting the base portion 133 inward from the intermediate portion 132 in this way, the seat holding mechanism 100 is prevented from moving when the sheet holding mechanism 100 is placed with the inside side down, so that the seat holding mechanism 100 can be held. The mechanism 100 is easier to handle.

The base plate 140 is a substantially rectangular plate-shaped member extending in the z direction and the x direction. The base plate 140 has three recesses 147a to 147c formed at positions corresponding to the end frame pairs 130 [1, 2, 130 [5, 6] and the intermediate frame pair 130 [3, 4], and the recesses. Four robot mounting holes formed between the six assembly holes 148a to 148f formed outward from 147a to 147c and penetrating in the y direction and the region where the recesses 147a to 147c were formed and penetrating in the y direction. 149a to 149d are provided.

The robot mounting holes 149a to 149d are used for mounting the seat holding mechanism 100 (FIG. 2) to the robot. Specifically, the seat holding mechanism 100 is attached to the robot by attaching a set screw (not shown) to the tip of the robot through the robot attachment holes 149a to 149d.

In the region where the recesses 147a to 147c are formed, the width (length in the x direction) of the base plate 140 is set to be substantially the same as the width of the recesses 137 formed in the frame 130 in the x direction. Therefore, by fitting the region where the recesses 147a to 147c are formed into the recesses 137 of the frame 130, the positional relationship of the frame 130 with respect to the base plate 140 in the x direction is fixed. On the other hand, the distance between the adjacent recesses 147a to 147c is set to the length of the roller portions 111, 121 in the z direction so that the roller rods 110 [1], 110 [2], and 120 can rotate. The length is set to be slightly longer than the length obtained by adding twice the length in the z direction).

Then, after passing the shafts 112, 113, 122, 123 of the roller rods 110 [1], 110 [2], and 120 through the shaft holes 139a to 139i of the corresponding frame 130, respectively, the assembly holes 148a to 148f, respectively. By passing a set screw (not shown) through the assembly holes 138 of the corresponding frames 130 [1] to 130 [6] and tightening the set screw, the frame pairs 130 [1, 2], 130 [5, 6] ], 130 [3, 4] are fixedly assembled to the base plate 140 with the roller rods 110 [1], 110 [2], and 120 rotatably held, respectively.

After assembling the frame 130 to the base plate 140 in this way, as shown in FIG. 2, the inner roller rods 110a to 110e held by the end frame pairs 130 [1, 2,], 130 [5, 6]. The belt 171 is hung on the belt groove 119 (FIG. 3), and the belt 172 is hung on the belt grooves 119 of the outer roller rods 110f to 110i. As a result, the rotations of the inner roller rods 110a to 110e are synchronized, and the rotations of the outer roller rods 110f to 110i are synchronized. Since the belts 171 and 172 have a function of synchronizing the rotations of the roller rods 110a to 110i (roller portions 111) in this way, they can also be called rotation synchronization portions.

Further, the belts 171 hung on the inner roller rods 110a to 110e are each drawn into the braking mechanism 150 through the belt holes 159 provided in the braking mechanism 150. Then, the rotation of the inner roller rods 110a to 110e is allowed or regulated by allowing the rotation of the belt 171 or restricting the rotation of the belt 171 in the braking mechanism 150. The braking mechanism 150 can be configured by using, for example, a pulley for hanging the belt 171 and a brake that can electromagnetically or pneumatically regulate the rotation of the pulley.

Then, as will be described later, the sheet stacking is performed by moving the transfer hand 10 (FIG. 1) in the front-rear direction while appropriately switching between the state in which the inner roller rods 110a to 110e are allowed to rotate and the state in which the inner roller rods 110a to 110e are restricted. A part of the heavy STS is taken into the transfer hand 10, and the taken-in sheet product is held in the transfer hand 10.

On the other hand, the rotation of the roller rod 120 held by the intermediate frame pair 130 [3, 4] is not restricted. Therefore, the roller rod 120 does not function in terms of holding the sheet stack taken into the transfer hand 10. However, the roller rod 120 held by the intermediate frame pair 130 [3, 4] has a central portion of the sheet stack in the z direction when the sheet stack is taken into the transfer hand 10 and the sheet stack is taken out. It functions to prevent bending and improper loading and unloading of the sheet stack to be transferred.

In the first embodiment, one intermediate frame pair 130 [3, 4] is provided between the two end frame pairs 130 [1, 2,] and 130 [5, 6], but the intermediate frame is provided. The number of pairs can be 2 or more according to the size of each sheet constituting the sheet stack.

<Operation of transfer hand>
4 to 9 are explanatory views showing the operation of the transfer hand 10, and the transfer target is transferred from the sheet original product STS stored in the sheet storage unit 50 (FIG. 1) in chronological order in this order. The process of extracting the sheet stack is schematically shown. Note that, in FIGS. 4 to 9, for convenience of illustration, the state of each part is shown from a fixed viewpoint of the transfer hand 10.

4 to 9 show a state in which the transfer hand 10 (that is, the two seat holding mechanisms 100 [1] and 100 [2]) is viewed from the + z direction. Therefore, the roller rod 120 held by the intermediate frame pair 130 [3] and 130 [4] of the seat holding mechanism 100 does not appear in the drawing. However, as described above, the roller rod 120 held by the intermediate frame pair 130 [3, 4] does not function in terms of holding the sheet stack. Therefore, in the following description with reference to FIGS. 4 to 9, the description of the roller rod 120 held by the intermediate frame pair 130 [3, 4] will be omitted. Further, as will be described later, the tip portion 131, the intermediate portion 132, and the roller rods 110a to 110i of each of the seat holding mechanisms 100 [1] and 100 [2] are constituent parts that enter the sheet original product weight STS. Therefore, they are also referred to as the approach portion EU1 [1] and EU1 [2].

When the transfer hand 10 is moved forward (in the + y direction) from the state shown in FIG. 1, the tip 131 of the frame 130 comes into contact with the sheet original product STS, as shown in FIG. The braking mechanism 150 is set to allow the belt 171 to rotate at a time before the transfer hand 10 moves forward.

As shown in FIG. 4, when the transfer hand 10 is further moved forward after the tip portion 131 comes into contact with the sheet original product STS, the back plate 53 (FIG. 1) of the sheet storage unit 50 causes the sheet original product STS. Since the movement to the front is restricted, the tip portion 131 enters the seat original volume STS.

When the tip portion 131 enters the sheet original product STS, as shown in FIG. 5, the sheet original product STS is the sheet product STX located between the tip 131 and ± x of the sheet product STX. It is divided into sheet stacks ST1 and ST2 located on each of the direction sides. Then, the sheet stack STX to be transferred is taken in between the tip portions 131. At this time, the number of sheets included in the sheet stacking body STX taken in between the tip portions 131 is the number of sheets corresponding to the interval of the tip portions 131.

As shown in FIG. 5, when the captured sheet stack STX comes into contact with the roller portion 111 of the roller rod 110a located at the foremost position, a force is applied to the roller portion 111 so as to move the inside thereof rearward. The roller rod 110a rotates. Then, as shown by the arrow, the belt 171 rotates so that the inside moves backward. Along with this, the inner roller rods 110b to 110e rotate in the same manner as the roller rods 110a with which the sheet stack STX is in contact.

When the transfer hand 10 is further moved forward from the state shown in FIG. 5, as shown in FIG. 6, between the divided sheet stacks ST1 and STX and between the sheet stacks STX and ST2, respectively. The approaching portions EU1 [1] and EU1 [2] enter. When the transfer hand 10 is moved forward in this way, the inner roller rods 110a to 110e rotate so that their inner sides move rearward, and the outer roller rods 110f to 110i have their outer sides rearward. Rotate to move to. Then, as the roller rods 110a to 110i rotate, the friction between the sheet stacking bodies ST1, STX, ST2 and the approaching portion EU1 is reduced, so that the approaching portion EU1 has the sheet stacking bodies ST1, STX, ST2. Enter smoothly between.

The transfer hand 10 is moved forward, and as shown in FIG. 7, when the approaching portion EU1 has entered sufficiently deeply, the forward movement of the transfer hand 10 is stopped. After the forward movement of the transfer hand 10 is stopped, the braking mechanism 150 is set to a state of restricting the rotation of the belt 171. By restricting the rotation of the belt 171, the rotation of the inner roller rods 110a to 110e is restricted, so that the sheet stacking body STX, which is the transfer target taken in between the approaching portions EU1, is transferred to the approaching portion EU1. On the other hand, the movement in the front-back direction is suppressed. Therefore, when the transfer hand 10 is moved backward from the state shown in FIG. 7, as shown in FIGS. 8 and 9, the seat stack STX moves rearward as the transfer hand 10 moves. The sheet stack STX extracted from the seat storage unit 50 (FIG. 1) in this way is carried to the transfer destination by the robot. Then, by setting the braking mechanism 150 in a state of allowing the belt 171 to rotate at the transfer destination, the seat stack STX is discharged from the transfer hand 10.

On the other hand, since the outer roller rods 110f to 110i are maintained in a state where rotation is permitted, the friction between the sheet stacking bodies ST1 and ST2 located outside the approach portion EU1 and the approach portion EU1 is reduced. It is maintained in the same state as it was. Therefore, the seat stacks ST1 and ST2 located outside the approach portion EU1 are suppressed from moving in the front-rear direction due to friction between adjacent seats, so that even if the transfer hand 10 is moved rearward, the seat storage portion It is left in the sheet original product STS of 50 sheets.

In this way, by using the transfer hand 10 of the first embodiment, the sheet product STX to be transferred is extracted from the sheet original product STS stored in the sheet storage unit 50 only by the operation of moving the transfer hand 10. , The sheet stack STX can be transferred to the transfer destination. Since this transfer destination can be arbitrarily set within the operating range of the robot, according to the first embodiment, a sheet stacking body in which sheets such as a bag-shaped pouch and a thin plate-shaped corrugated cardboard are stacked is desired. It will be easier to transfer to the location of. As can be seen from the above description, since the transfer hand 10 has a main function for transferring the sheet stack, it can also be called a “seat stack transfer device”.

Further, in the transfer hand 10 of the first embodiment, the number of sheets included in the sheet stacking body STX taken in and transferred to the approach portion EU1 is the number of each of the two approach portions EU1 [1] and EU1 [2]. The number of sheets corresponds to the distance between the tip portions 131. Then, the sheet stacking body STX to be transferred is taken out from the sheet original stacking body STS in a state where the positional relationship between the two entry portions EU1 [1] and EU1 [2] is fixed. Therefore, according to the first embodiment, it is possible to suppress variations in the number of sheet stacking bodies STX to be transferred.

<Second Embodiment>
FIG. 10 is a perspective view showing the configuration of the transfer hand 20 of the second embodiment. The transfer hand 20 of the second embodiment has a seat holding mechanism 200 on the + x direction side and a seat holding mechanism 300 on the −x direction side having different configurations. Since each of these sheet holding mechanisms 200 and 300 has substantially the same configuration as the sheet holding mechanism 100 of the first embodiment, the parts mainly different from those of the first and second embodiments are described below. Will be described. Further, the members having the same configuration and arrangement as those of the first embodiment are designated by the same reference numerals as those of the first embodiment, and the corresponding members and parts are designated by changing the number of hundreds. I will explain.

In the seat holding mechanism 200 of the second embodiment, as shown in FIG. 10, four of the nine roller rods 210a to 210i held by the end frame pairs 230 [1, 2] are the four roller rods 210a to 210a. The 210d is arranged inside, and the remaining five roller rods 210e to 210i are arranged outside. Similarly, four of the nine roller rods 220a-220i held on the intermediate frame pair 230 [3,4] are arranged inside, and the remaining five roller rods 220e- The 220i is arranged on the outside.

FIG. 11 is an exploded perspective view showing a partial configuration of each member of the seat holding mechanism 200. As shown in FIG. 11, the configuration of the roller rod 210 itself held by the end frame pairs 230 [1, 2], 230 [5, 6] and the intermediate frame pair 230 [3, 4]. The configuration of the roller rod 220 itself is the same as that of the roller rods 110 and 120 (FIG. 3) of the first embodiment.

Further, also in the seat holding mechanism 200 of the second embodiment, similarly to the seat holding mechanism 100 of the first embodiment, the frame 230 corresponds to nine roller rods 210a to 210i and 220a to 220i, respectively. , Nine shaft holes 239a to 239i into which the respective shafts 212, 213, 222, 223 are inserted are formed. In the frame 230, in order to form the outermost frontmost shaft hole 239e, the intermediate portion 232 is extended forward and the tip portion 231 is contracted forward. Further, in accordance with changing the outer shapes of the tip portion 231 and the intermediate portion 232 of the frame 230 in this way, in the frame 330 of the seat holding mechanism 300 (FIG. 10), the outer shapes of the tip portion 331 and the intermediate portion 332 are formed. Is changed in the same way.

As shown in FIG. 10, as the arrangement of the roller rods 210a to 210i is changed, in the seat holding mechanism 200 of the second embodiment, the belt grooves 219 (FIG. 11) of the inner roller rods 210a to 210d are formed. A belt 271 having a shorter circumference than that of the first embodiment is hung. Further, a belt 272 having a longer peripheral length than that of the first embodiment is hung on the belt grooves 219 of the outer roller rods 210e to 210i.

FIG. 12 schematically shows a state in which the sheet product STX to be transferred is being taken into the transfer hands 10 and 20 in each of the first and second embodiments. FIG. 12A shows a state in which the rear end (−y direction) end of the seat stack STX reaches the center position of the roller rod 110c at the substantially center of the approach portion EU1. FIG. 12B shows a state in which the rear end of the sheet stacking body STX reaches the center position of the roller rods 210g and 110c located substantially in the center of the approach portions EU2 and EU3, as in FIG. 12A. ing.

As shown in FIG. 12A, in the transfer hand 10 of the first embodiment, the arrangement of the roller rods 110a to 110i is the same in the two seat holding mechanisms 100 [1] and 100 [2]. At the positions where the inner roller rods 110a to 110e (FIG. 2) face each other, both the roller portions 111 of the two seat holding mechanisms 100 [1] and 100 [2] project inward. Therefore, the sheet stack STX taken into the transfer hand 10 is compressed in the stack direction (x direction) by a maximum of twice the protrusion of the roller portion 111.

On the other hand, as shown in FIG. 12B, in the transfer hand 20 of the second embodiment, the four roller rods 210a to 210d of the seat holding mechanism 200 on the + x direction side are arranged inside (−x direction side). Five roller rods 210e to 210i are arranged on the outside (+ x direction side) (see FIG. 10). On the other hand, in the sheet holding mechanism 300 on the −x direction side, the four roller rods 110f to 110i are arranged on the outside (−x direction side) as in the sheet holding mechanism 100 (FIG. 2) of the first embodiment. The five roller rods 110a to 110e are arranged inside (+ x direction side).

As described above, in the second embodiment, the roller rods 210a to 210d inside the seat holding mechanism 200 on the + x direction side and the roller rods 110a to 110e inside the seat holding mechanism 300 on the −x direction side are in the front-rear direction. They are arranged at different positions in (y direction). Therefore, at most one of the roller portion 211 of the seat holding mechanism 200 and the roller portion 111 of the seat holding mechanism 300 protrudes inward at an arbitrary position in the front-rear direction, and thus is incorporated into the transfer hand 20. The amount of compression of the sheet stack STX is at most only the protrusion of either one of the roller portions 111, 211.

As described above, in the second embodiment, since the amount of compression of the sheet stack STX taken into the transfer hand 20 is reduced, the hard sheet stack that is hard to be deformed in the stack direction is taken into the transfer hand 20. Alternatively, it can be easily removed from the transfer hand 20. On the other hand, in the first embodiment, the amount of compression of the sheet stack STX taken into the transfer hand 10 can be increased, so that when the rotation of the inner roller rods 110a to 110e is restricted, the sheet stack STX Is firmly held by the roller rods 110a to 110e. Therefore, when a soft sheet that is easily deformed in the stacking direction is transferred, it is possible to prevent the sheet stacking body STX from falling off during the transfer.

<Modification example>
The present invention is not limited to each of the above embodiments, and can be implemented in various embodiments without departing from the gist thereof. For example, a slide mechanism using a ball bearing (blocking a long rail) The widths of the two seat holding mechanisms may be freely changed, such as those that are slidable with respect to the body). The present invention can also be modified as follows, for example.

<Modification example 1>
In each of the above embodiments, the frames 130, 230, 330 have a right-angled triangular plate-shaped tip portion 131,231,331, a rectangular plate-shaped intermediate portion 132,232,332, and a concave plate-shaped base portion 133,233. , 333 are provided, but the structure of the frame can be changed in various ways. For example, it is possible to form the outer end faces of the tip portion and the intermediate portion on a gentle surface, or omit the intermediate portion. In general, the frame has a flat surface extending inward from the front end to the rear, a tip portion is formed in the front, and the roller portions (rollers) of the inner and outer roller rods are formed, respectively. It suffices if the rollers can be rotatably held so as to project inward and outward.

Further, for example, if the base of the frame is extended in the lateral direction and a robot mounting hole is provided in the extended portion, the frame can be directly mounted on the robot. In this case, it is possible to omit the base plate 140 for attaching the seat holding mechanism to the robot.

<Modification 2>
In each of the above embodiments, an inner roller (roller rods 110a to 110e, 120a to 120e, 210a to 210d, 210a to 210d roller portions 111, 211) and an outer roller (roller rods 110f to 110i, 120f to 120i, The roller portions 111,121,21,221) of 210e to 210i and 220e to 210i are arranged at different positions in the front-rear direction, but the inner roller and the outer roller are located at the same position in the front-rear direction. It is also possible to place it in. However, the inner roller and the outer side are in that the width of the tip and the middle part (the length in the stacking direction of the sheet) is narrowed to make it easier for the approaching part to enter the original sheet stacking body of the transfer source. It is preferable to arrange the rollers of the above at different positions in the front-rear direction.

<Modification example 3>
In each of the above embodiments, the roller portions 111, 121, 211,221 and the shafts 112, 113, 122, 123, 212, 213, 222, 223 are integrated with the roller rods 110, 120, 210, 220, but are hollow. The shaft portion extended from the shaft may be fitted into the roller portion of the above. Further, the roller portion can be composed of a shaft portion integrated with the shaft and a non-slip layer made of resin, rubber or the like formed on the outer peripheral surface of the shaft portion, and a knurl is formed on the outer peripheral surface of the roller portion. It is also possible to apply anti-slip processing such as processing.

<Modification example 4>
In each of the above embodiments, the belt grooves 119 of the roller rods 110 and 210 held by the end frame pairs 130 [1, 2], 130 [5, 6], 230 [1, 2], 230 [5, 6]. , 219 with belts 171, 172, 271,272, inner roller group (roller rods 110a to 110e, 210a to 210d, roller portions 111, 211) and outer roller group (roller rods 110f to 110i, 210e to 210e). The rotation is synchronized with each of the roller portions 111, 211) of 210i, but the rotation of each roller group can also be synchronized by another method. For example, the shaft of each roller rod is provided with a gear instead of the belt groove, and each of the inner and outer roller groups is provided with a gear that meshes with the gear of the shaft between adjacent roller rods, so that the inner and outer rollers are provided. The rotation of each of the rollers can be synchronized. However, the mechanism for synchronizing the rotation becomes simpler, and a braking mechanism (braking unit) that regulates the rotation of the inner roller group (roller portions 111, 211 of the roller rods 110a to 110e and 210a to 210d) is provided. It is preferable to synchronize the rotation of each roller group with a belt in that it can be arranged more freely.

Further, in each of the above embodiments, the rotations of the inner roller group and the outer roller group are synchronized, but the rotation of at least one of the inner roller group and the outer roller group may not be synchronized. good. However, in the roller group, the rotation of each roller in contact with the sheet stacking body becomes non-uniform, and it is possible to suppress bending and wrinkling of the sheet on the surface layer of the sheet stacking body. It is preferable to synchronize the rotation with each of the outer roller groups. Further, for the inner roller group, it is more preferable to synchronize the rotation of the roller group in that it becomes easier to regulate the rotation of the roller.

<Modification 5>
In each of the upper embodiments, the sheet product to be transferred is extracted from the intermediate portion of the sheet original product STS stored in the sheet storage unit 50 (FIG. 1), but the sheet product to be transferred is stored. It is also possible to extract from the edge of the sheet original product STS. In this case, the stored sheet original weight STS is stored by applying a load toward the other end (+ x direction end) of the side plate in contact with one end (-x direction end) of the sheet original weight STS with an elastic body such as a spring. Each sheet may stand vertically upward, and the side plate may be pushed out (−x direction side) by contact with the tip of the sheet holding mechanism.

Since the sheet stacking device of the present invention exerts an excellent effect as described above, the sheet stacking target to be transferred is extracted from the sheet original stacking body in which sheet-shaped objects are stacked, and the sheet stacking to be transferred is performed. It can be suitably used as a transfer device for transferring a heavy body in a state where sheets are stacked.

1 Transfer system 10 Transfer hand 100 Seat holding mechanism 110, 110a to 110i Roller rod 111 Roller part 112, 113 Shaft 119 Belt groove 120, 120a to 120i Roller rod 121 Roller part 122, 123 Shaft 130 ‥ Frame 131 ‥ Tip 132 ‥ Middle part 133 ‥ Base 137 ‥ Recess 138 ‥ Assembly hole 139a ~ 139i ‥ Shaft hole 140 ‥ Base plate 147a ~ 147c ‥ Recess 148a ~ 148f ‥ Assembly hole 149a ~ 149d ‥ Robot Mounting hole 150 ... Braking mechanism 159 ... Belt hole 171 and 172 ... Belt 20 ... Transfer hand 200 ... Seat holding mechanism 210, 210a to 210i ... Roller rod 211 ... Roller part 212, 213 ... Shaft 219 ... Belt groove 220, 220a to 220i Roller rod 221 Roller part 222, 223 Shaft 230 Frame 231 Tip part 232 Intermediate part 239a to 239i Shaft hole 271,272 Belt 300 Seat holding mechanism 330 Frame 331 Tip end 332 Middle part 333 ‥ Base 50 ‥ Seat storage 51 ‥ Shelf board 52 ‥ Side plate 53 ‥ Back plate EU1 ‥ Entrance part EU2, EU3 ‥ Entrance part STS ‥ Sheet original product weight (seat product weight)
STX, ST1, ST2 ... Sheet product

Claims (5)

It is a transfer device that transfers a sheet-stacked body in which sheet-like objects are stacked.
It is provided with first and second seat holders that are spaced apart according to the number of sheet stacks to be transferred and are arranged so as to face each other.
The first and second sheet holding portions are respectively
A pair of frames in which a flat surface extending from the front end to the rear is formed inside the first and second seat holding portions facing each other and a tip portion is formed in the front, and the first and second seat holding portions are the same as the first. Two end frame pairs arranged at the lateral ends perpendicular to both the separation direction and the front-rear direction of the second seat holding portion, and an intermediate frame pair arranged between the end frame pairs.
An inner roller that is rotatably held by each frame pair of the end frame pair and the intermediate frame pair and projects inward from the holding frame pair.
An outer roller that is rotatably held by each frame pair of the end frame pair and the intermediate frame pair and projects outward from the holding frame pair.
A braking unit configured to allow or regulate the rotation of the inner roller held by the end frame pair.
Has a transfer device. The transfer device according to claim 1, wherein the inner roller and the outer roller are arranged at different positions in the front-rear direction. The transfer device according to claim 1 or 2, wherein the inner roller of the first seat holding portion and the inner roller of the second seat holding portion are arranged at different positions in the front-rear direction. The transfer device according to any one of claims 1 to 3.
The first and second seat holding portions include an inner roller group in which a plurality of the inner rollers are arranged in the front-rear direction, and an inner roller group.
An inner rotation synchronization unit that synchronizes the rotation of the inner roller group held by the end frame pair,
The transfer device that has. The transfer device according to any one of claims 1 to 4.
The first and second seat holding portions include a group of outer rollers in which a plurality of the outer rollers are arranged in the front-rear direction, and a group of outer rollers.
An outer rotation synchronization unit that synchronizes the rotation of the outer roller group held by the end frame pair,
The transfer device that has.

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