JP2021172452A - Sheet transfer device - Google Patents

Abstract

To provide a sheet transfer device capable of measuring a sheet thickness with a sheet thickness meter without changing a position of the sheet thickness meter, even when a position of an end portion of a sheet when arranging the sheet at a measurement position is changed by changing the kind of a sheet group placed on a placing table.SOLUTION: An upper contact position where an upper contact part 52 is fixed is made to be a position contactable with an upper surface of a sheet SH in a case where any sheet SH among plural kinds of sheets SH constituting plural kinds of sheet groups SG is arranged at a measurement position PS. An arm part 54 of a rotary member 56 has length capable of sandwiching the sheet SH between a lower contact part 57 and the upper contact part 52 when the lower contact part 57 moved to a lower contact position is brought into contact with a lower surface of the sheet SH in the case where any sheet SH among plural kinds of the sheets SH constituting plural kinds of the sheet groups SG is arranged at the measurement position PS.SELECTED DRAWING: Figure 5

Description

The present invention relates to a sheet transfer device.

Patent Documents 1 and 2 disclose a sheet material supply device including a sheet material thickness detecting device. Specifically, Patent Documents 1 and 2 disclose a paper thickness detection device and a paper supply device in a printer using copy paper as a sheet material. The devices of Patent Documents 1 and 2 include a reference roller and a displacement roller arranged so as to sandwich the sheet material and convey the displacement roller when the sheet material is sandwiched between the reference roller and the displacement roller. The thickness of the sheet material is calculated based on the amount of displacement of the rotating shaft.

Japanese Unexamined Patent Publication No. 2014-31275 Japanese Unexamined Patent Publication No. 2017-21000

By the way, the inventor of the present application has devised the following sheet transfer device. Specifically, a mounting table on which a group of sheets in which a plurality of rectangular sheets are stacked in the vertical direction is placed, a suction device that sucks the sheets on the upper surface of the sheets on the mounting table and holds the sheets, and a suction device. It is a sheet transfer device including a moving device for moving in a vertical direction and a direction orthogonal to the moving device, and a sheet detecting device for detecting whether or not one sheet is held by the suction device. As the sheet, for example, a thermoplastic sheet, which is a thermoforming sheet formed by a thermoforming apparatus, is used. In this sheet transfer device, the suction device that sucks and holds the sheet on the mounting table is moved upward (directly above) by the moving device, and the sheet held by the suction device is preset. With the sheet placed at the measurement position, the sheet detection device detects whether or not the sheet is one.

The sheet detection device is an upper contact portion fixed at an upper contact position that contacts the edge of the upper surface of the sheet arranged at the measurement position, and a rotating member that rotates and moves around a rotation axis, and is arranged at the measurement position. It has a rotating member having a lower contact portion at the tip portion, which is made contactable with the end portion of the lower surface of the sheet. The rotating member is located in a retracting position that does not hinder the movement of the sheet during the period in which the sheet held by the suction device moves upward toward the measurement position, and rotates when the sheet is placed in the measurement position. By moving, the lower contact portion is moved to the lower contact position in contact with the lower surface of the sheet, and the end portion of the sheet is sandwiched between the upper contact portion and the lower contact portion.

Therefore, the lower contact position of the lower contact portion when the sheet is sandwiched between the upper contact portion and the lower contact portion varies depending on the thickness of the sheet. That is, when the number of sheets adsorbed by the suction device is two or more, the lower contact position of the lower contact portion is lower (rotation) than when the number of sheets sucked by the suction device is one. The amount of rotational movement of the member becomes smaller). Taking advantage of this, in the sheet transfer device, when the sheet is sandwiched between the upper contact portion and the lower contact portion, the lower contact position of the lower contact portion (the lower contact portion is changed from the retreat position to the lower contact position). Based on the amount of rotational movement of the rotating member until it moves), it is detected whether or not one sheet is adsorbed by the suction device.

By the way, in the sheet transfer device, it has been required to transfer a plurality of types of sheets having different vertical dimensions and horizontal dimensions. Therefore, as the sheet group placed on the mounting table, there are a plurality of types of sheet groups having different vertical and horizontal dimensions of the sheets constituting the sheet group. One type of sheet group selected from a plurality of types of sheet groups is placed on the mounting table. Specifically, for example, when a sheet transfer device is used in combination with a thermoforming device to transfer a sheet to be supplied to the thermoforming device, the molding die of the thermoforming device is changed for molding. When the size of the target sheet is changed, the sheet group placed on the mounting table is changed to another type of sheet group selected from a plurality of types of sheet groups (sheets previously placed on the mounting table). (Sheet group consisting of sheets with different vertical and horizontal dimensions).

By the way, one type of seat group selected from a plurality of types of seat groups is placed on the mounting table so that the position of the center line of the seat group becomes a constant position regardless of the type of the selected seat group. It is placed on a stand. Specifically, the seats are placed on the mounting table so that the center line of the seat group passes through a fixed position in the central region of the mounting table. This is to stably place the seat group on the mounting table. The mounting table is arranged at a fixed position regardless of the type of seat group. Therefore, by changing the type of the sheet group placed on the mounting table, the position of the end portion of the sheet when the sheet is arranged at the measurement position is changed. On the other hand, in the above-mentioned sheet transfer device, is there one sheet adsorbed by the suction device by sandwiching the end portion of the sheet between the upper contact portion and the lower contact portion of the sheet detection device? Detect whether or not.

Therefore, in the sheet transfer device, when the type of the sheet group placed on the mounting table is changed, when the sheets constituting the changed sheet group are arranged at the measurement position, the said sheet transfer device is applicable. It was necessary to change the position of the sheet detection device so that the end portion of the sheet could be sandwiched between the upper contact portion and the lower contact portion of the sheet detection device. It was troublesome to do this every time the type of sheet group placed on the mounting table was changed. Further, in the sheet transfer device, it has been required to provide a sheet thickness measuring device capable of measuring the thickness of the sheet instead of the sheet detecting device.

The present invention has been made in view of the present situation, and the position of the end portion of the sheet when the sheet is arranged at the measurement position is changed by changing the type of the sheet group mounted on the mounting table. Even if it changes, the sheet thickness can be measured by the sheet thickness measuring device without changing the position of the sheet thickness measuring device (specifically, the position of the upper contact portion and the position of the rotating shaft of the rotating member). The purpose is to provide a transfer device.

One aspect of the present invention is a mounting table on which a group of sheets composed of a plurality of rectangular sheets of the same size stacked straight in the vertical direction is placed, and an upper surface of the sheet located at the uppermost position on the above-mentioned table. A suction device that sucks and holds the sheet, a moving device that moves the suction device in the vertical direction and a direction orthogonal to the suction device, and a sheet thickness measurement that measures the thickness of the sheet held by the suction device. The sheet held by the suction device is preset by moving the suction device provided with the device and sucking and holding the sheet on the above-mentioned table upward by the moving device. It is a sheet transfer device that measures the thickness of the sheet by the sheet thickness measuring device in a state of being arranged at the measuring position, and the sheet thickness measuring device contacts the upper surface of the sheet arranged at the measuring position. An upper contact portion fixed at an upper contact position and a lower contact portion that is a rotating member that rotates and moves around a rotation axis and is capable of contacting the lower surface of the sheet arranged at the measurement position on the tip side. The rotating member includes a rotating member having an arm portion and a contact type displacement sensor having a sensor displacement portion, and the rotating member is a period during which the sheet held by the suction device moves upward toward the measurement position. In the middle, it is located in a shelter position that does not hinder the movement of the sheet, and when the sheet is placed at the measurement position, the lower contact portion comes into contact with the lower surface of the sheet by performing the rotational movement. It is a rotating member that is moved to a contact position and sandwiches the sheet between the upper contact portion and the lower contact portion. When the lower contact portion moves to the lower contact position and the sheet is sandwiched between the upper contact portion and the lower contact portion, the lower contact portion comes into contact with the sensor displacement portion and the sensor displacement portion. It is a sensor contact portion that displaces the sensor contact portion, and has a sensor contact portion that makes the displacement amount of the sensor displacement portion different according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion. The sheet transfer device includes a thickness calculation unit that calculates the thickness of the sheet based on the displacement amount of the sensor displacement portion when the sheet is sandwiched between the upper contact portion and the lower contact portion. As the sheet group to be mounted on the above-mentioned table, a plurality of types of the sheets having different dimensions of the sheets constituting the sheet group are provided. There is a group, and one type of the sheet group selected from the plurality of types of the sheet group has a constant position of the center line of the sheet group regardless of the type of the selected sheet group. As described above, the plurality of types of the sheet group include two or more types of the sheet groups in which the vertical and horizontal dimensions of the sheets constituting the sheet group are different from each other, and the upper contact is made. The upper contact position to which the portion is fixed is the upper surface of the sheet even when any one of the plurality of types of the sheets constituting the plurality of types of the sheet group is arranged at the measurement position. The arm portion of the rotating member is positioned so as to be in contact with the above, and when any of the plurality of types of the sheets constituting the plurality of types of the sheet group is arranged at the measurement position. Also in the case, the sheet having a length that allows the lower contact portion moved to the lower contact position to come into contact with the lower surface of the sheet and sandwich the sheet between the lower contact portion and the upper contact portion. It is a transfer device.

The above-mentioned sheet transfer device includes a mounting table, a suction device, a moving device, and a sheet thickness measuring device. On the mounting table, a group of sheets composed of a plurality of rectangular sheets of the same size stacked straight in the vertical direction are placed. In this sheet transfer device, the sheet held by the suction device is preset by moving the suction device that sucks and holds the sheet on the mounting table upward (directly above) by the moving device. The thickness of the sheet is measured by the sheet thickness measuring device in the state of being arranged at the measurement position.

The sheet thickness measuring device is a contact type displacement having an upper contact portion fixed at an upper contact position that contacts the upper surface of the sheet arranged at the measurement position, a rotating member that rotates and moves around a rotation axis, and a sensor displacement portion. It is equipped with a sensor. The rotating member has an arm portion. This arm portion includes a lower contact portion that can contact the lower surface of the seat arranged at the measurement position on the tip end side of the arm portion. The arm portion has, for example, a shape extending from a position close to the rotation axis in a direction orthogonal to the rotation axis and away from the rotation axis.

The rotating member is located in a shelter position that does not hinder the movement of the sheet during the period in which the sheet held by the suction device moves upward (directly above) toward the measurement position, and the sheet is in the measurement position. When arranged, the lower contact portion located on the tip end side of the arm portion is moved to the lower contact position in contact with the lower surface of the seat by rotating, and the seat is placed between the upper contact portion and the lower contact portion. To sandwich.

Further, the rotating member has a sensor contact portion that can be brought into contact with the sensor displacement portion (a portion displaced by external contact) of the contact type displacement sensor. This sensor contact portion is separated from the sensor displacement portion when the rotating member is located in the retreat position, and the lower contact portion moves to the lower contact position and is between the upper contact portion and the lower contact portion. When sandwiching the sheet, it comes into contact with the sensor displacement portion to displace the sensor displacement portion.

Specifically, the sensor contact portion makes the displacement amount of the sensor displacement portion different according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion. Specifically, since the amount of rotational movement of the rotating member fluctuates according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion, the amount of rotational movement of the sensor contact portion also fluctuates. Therefore, the position of the sensor contact portion with respect to the sensor displacement portion (the position in the displacement direction of the sensor displacement portion) when the sheet is sandwiched between the upper contact portion and the lower contact portion is the position of the upper contact portion and the lower contact portion. It varies depending on the thickness of the sheet sandwiched between the two. As a result, the sensor contact portion can have a different displacement amount of the sensor displacement portion according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion.

Further, the above-mentioned sheet transfer device includes a thickness calculation unit that calculates the thickness of the sheet based on the displacement amount of the sensor displacement portion when the sheet is sandwiched between the upper contact portion and the lower contact portion. Specifically, a thickness calculation formula obtained in advance is input to the thickness calculation unit, and the sensor displacement when the sheet is sandwiched between the upper contact portion and the lower contact portion in this thickness calculation formula. The thickness of the sheet is calculated by inputting the value of the displacement amount of the part. The thickness calculation formula can be obtained, for example, as follows. Specifically, first, the displacement amount of the sensor displacement portion when the rotating member is rotationally moved in the absence of the sheet to bring the upper contact portion and the lower contact portion into contact with each other is set to 0 reference (sheet thickness = 0). The thickness calculation formula can be obtained by setting to and finding the correlation between the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion and the displacement amount of the sensor displacement portion.

By the way, the above-mentioned sheet transfer device is configured to be able to transfer a plurality of types of sheets having different dimensions. Therefore, as the sheet group to be mounted on the mounting table, there are a plurality of types of sheet groups in which the dimensions (at least one of the vertical dimension, the horizontal dimension, and the thickness dimension) of the sheets constituting the sheet group are different from each other. do. Here, "there are a plurality of types of sheet groups in which the dimensions of the sheets constituting the sheet group are different from each other" means that at least one of the vertical dimension, the horizontal dimension, and the thickness dimension of the sheets constituting the sheet group is present. However, it means that there are a plurality of types of seat groups different from other seat groups. Moreover, the plurality of types of sheet groups include two or more types of sheet groups (at least two types of sheet groups) in which the vertical and horizontal dimensions of the sheets constituting the sheet group are different from each other.

Then, one type of sheet group selected from a plurality of types of sheet groups is placed on the mounting table. Specifically, regardless of the type of seat group selected, the position of the center line of the seat group (a line extending straight in the vertical direction through the centers of a plurality of seats constituting the seat group) is set to a constant position. It is placed on the mounting table. For example, regardless of the type of seat group, the seat group is placed on the mounting table so that the center line of the seat group passes through a fixed position in the central region of the mounting table. The mounting table is arranged at a fixed position regardless of the type of seat group. As a result, all the sheet groups are placed on the mounting table so that the positions of the center lines of the sheet groups with respect to the upper contact portion of the sheet thickness measuring device are equal to each other in the top view.

Therefore, in the above-mentioned sheet transfer device, the sheet is arranged at the measurement position by changing the type of the sheet group placed on the mounting table (that is, by changing the type of the sheet to be transferred). The position of the edge of the sheet (for example, the position of the edge of the sheet with respect to the upper contact portion) may change. The reason is as follows. Specifically, in the above-mentioned sheet transfer device, regardless of the type of the sheet group, the sheet group is mounted on the mounting table so that the position of the center line of the sheet group is a constant position, and is mounted on the mounting table. Since the sheets are placed at the measurement position by moving them upward (directly above), the multiple types of sheets to be transferred are placed at the measurement positions so that the positions of their respective centers (center lines) are equal. Will be. Therefore, when two types of sheets having different vertical and horizontal dimensions are arranged at the measurement positions, the positions of the edges of the sheets are different from each other.

On the other hand, in the above-mentioned sheet transfer device, the upper contact position where the upper contact portion is fixed is any of a plurality of types of sheets (that is, sheets having different dimensions) constituting the plurality of types of sheet groups. Even when the sheet is placed at the measurement position, it is in a position where it can contact the upper surface of the sheet. That is, in the above-mentioned sheet transfer device, the position of the end portion of the sheet when placed at the measurement position may change due to the change in the type of sheet to be transferred, but the upper contact portion is measured. Any sheet placed at the position is fixed at a position where it can contact the upper surface (upper contact position).

For example, the upper contact portion contacts the upper surface of the end portion (horizontal end portion) of the sheet for the sheet having the smallest horizontal dimension, and for the sheet having a larger horizontal dimension than this, the upper contact portion of the sheet. In the lateral direction, it is fixed at a position (upper contact position) where it contacts the upper surface of a portion closer to the center than the end portion. In this case, the position of the upper contact portion in the vertical direction of the sheet may be a position that contacts the upper surface of the central portion of the sheet.

Further, in the above-mentioned sheet transfer device, any sheet of the plurality of types of sheets (that is, sheets having different dimensions) constituting the plurality of types of sheet groups is arranged at the measurement position in the arm portion of the rotating member. Even in this case, the lower contact portion moved to the lower contact position has a length that allows the lower contact portion to come into contact with the lower surface of the sheet and sandwich the sheet between the lower contact portion and the upper contact portion. That is, in the above-mentioned seat transfer device, the position of the end portion of the seat when placed at the measurement position may change due to the change in the type of the sheet to be transferred, but the arm portion of the rotating member is , The lower contact portion located on the tip side of the sheet can be in contact with the lower surface of any sheet arranged at the measurement position, and the sheet can be sandwiched between the lower contact portion and the upper contact portion. Has

For example, for a sheet having the smallest horizontal dimension, the lower contact portion contacts the lower surface of the end portion (lateral end portion) of the sheet (the position facing the upper contact portion with the sheet sandwiched between them). For a sheet with a larger lateral dimension, the sheet is rotated so as to contact the lower surface of the center side of the sheet (the position facing the upper contact portion with the sheet in between) in the lateral direction of the sheet. Set to the length of the arm part of the member. In this case, the position of the lower contact portion in the vertical direction of the sheet may be a position in contact with the lower surface of the central portion of the sheet (the position facing the upper contact portion with the sheet sandwiched between them). In the case of this example, the arm portion extends in the lateral direction of the seat in a top view in a state where the lower contact portion moves to the lower contact position and contacts the lower surface of the seat (the seat extends from the outside of the seat toward the center side). Has a shape (extending in the lateral direction).

Therefore, according to the above-mentioned sheet transfer device, even if the type of the sheet group mounted on the mounting table is changed and the position of the end portion of the sheet is changed when the sheet is placed at the measurement position. The sheet thickness can be measured by the sheet thickness measuring device without changing the position of the sheet thickness measuring device (specifically, the position of the upper contact portion and the position of the rotating shaft of the rotating member).

Of the directions in which the suction device is moved by the moving device, the direction orthogonal to the vertical direction is, for example, a direction that coincides with the vertical direction or the horizontal direction of the rectangular sheet mounted on the mounting table.

Further, in the sheet transfer device, whether the sheet thickness calculation value, which is the thickness of the sheet calculated by the thickness calculation unit, is the thickness of one sheet determined as the transfer target. It is preferable to use a sheet transfer device provided with a determination unit for determining whether or not to use the sheet.

In the above-mentioned sheet transfer device, when the sheet is sucked onto the upper surface of the sheet on the mounting table by the suction device and the sheet is held, the suction device may hold the sheet in a state where two or more sheets are overlapped. Further, it is possible that a sheet having a thickness different from that of the sheet determined as the transfer target (that is, the sheet determined as the sheet to be transferred) is erroneously placed on the mounting table. Here, the sheet determined as the transfer target is the sheet determined as the transfer target of the sheet transfer device, and is determined as the sheet to be transferred to the target transfer location by the sheet transfer device. It is a sheet.

On the other hand, in the above-mentioned sheet transfer device, the sheet thickness calculated by the thickness calculation unit (this is used as the sheet thickness calculation value) is the thickness of one sheet determined as the transfer target. It is provided with a determination unit for determining whether or not. As a result, in the above-mentioned sheet transfer device, the thickness of the sheet adsorbed and held by the suction device is the thickness of one sheet determined as the transfer target (that is, the sheet to be transferred). It is possible to determine whether or not there is. In other words, it is possible to determine whether or not the sheet adsorbed and held by the adsorption device is one sheet determined as the transfer target. Therefore, in the above-mentioned sheet transfer device, when two or more sheets are held by the suction device in an overlapping state, or a sheet having a thickness different from that of the sheet determined as the transfer target is erroneously placed on the mounting table. It is possible to detect that one sheet determined to be transferred is not held by being adsorbed by the suction device (abnormality), such as when the sheet is placed on the surface.

As a method for determining whether or not the sheet thickness calculation value is the thickness of one sheet determined as the transfer target, for example, the following method can be mentioned. Specifically, the determination unit stores in advance the thickness of one sheet determined as the transfer target. The thickness (thickness dimension) of one sheet is preferably set to a dimensional range having a certain range in consideration of manufacturing errors and the like. Then, the determination unit determines whether or not the sheet thickness calculation value calculated by the thickness calculation unit is within the dimensional range, so that the sheet thickness calculation value is determined as one of the sheets to be transferred. It is possible to determine whether or not the thickness is equivalent to that of a sheet.

Further, in the sheet transfer device, when the determination unit determines that the sheet thickness calculation value is not the thickness of one sheet, the sheet is adsorbed and held. The suction device is moved downward by the moving device, the sheet is released from the suction by the suction device, the sheet held by the suction device is returned to the above-mentioned table, and then the sheet is returned to the above-mentioned table. It is held by the suction device by sucking the upper surface of the sheet located at the uppermost position on the above-mentioned table by the suction device to hold the sheet and moving the suction device upward by the moving device. It is preferable to use the sheet transfer device for measuring the thickness of the sheet by the sheet thickness measuring device in a state where the sheet is arranged at the measurement position.

In the above-mentioned sheet transfer device, when the determination unit determines that the sheet thickness calculation value is not the thickness of one sheet, the suction device that sucks and holds the sheet is moved downward (directly below) by the moving device. ) The sheet is moved, the sheet is released from the suction by the suction device, and the sheet held by the suction device is returned to the mounting table (sheet group on the mounting table). After that, the suction device again sucks the upper surface of the sheet located at the uppermost position on the mounting table to hold the sheet, and the suction device is moved upward (directly above) by the moving device to hold the sheet. With the sheet being placed at the measurement position, the thickness of the sheet is measured by the sheet thickness measuring device.

In the above-mentioned sheet transfer device, such a series of operations is performed until the determination unit determines that the sheet thickness calculation value is the thickness of one sheet. When the determination unit determines that the calculated sheet thickness is the thickness of one sheet, the target suction device is to suck and hold one sheet by moving with the moving device. Move to the transfer location and release the sheet from adsorption by the adsorption device. As a result, the sheets placed on the mounting table can be moved one by one to the target transfer location (for example, the upper surface of the conveyor that conveys the sheets to the thermoforming apparatus).

It is a front view of the sheet transfer device which concerns on embodiment. It is explanatory drawing of the sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus. It is another explanatory drawing of the same sheet transfer apparatus.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view of the sheet transfer device 1 according to the embodiment. 2 to 6 are explanatory views of the sheet transfer device 1 according to the embodiment, and have a vertical dimension Y (dimension of the vertical DA) and a horizontal dimension of the sheet SH to be transferred by the sheet transfer device 1. It is explanatory drawing when the sheet 5 which has the largest dimension X (the dimension of a lateral DB) is targeted for transfer. Of these, FIGS. 2 to 5 are enlarged front views of the seat transfer device 1. FIG. 6 is an enlarged top view of the seat transfer device 1. However, in FIG. 6, the mounting table 20, the suction device 30, the moving device 40, and the like are not shown. 7 and 8 are explanatory views of the sheet transfer device 1 according to the embodiment, and the sheet 105 having the smallest vertical dimension Y and horizontal dimension X among the sheet SHs to be transferred by the sheet transfer device 1. It is an explanatory diagram when is the subject of reprint. Of these, FIG. 7 is an enlarged front view of the seat transfer device 1. FIG. 8 is an enlarged top view of the seat transfer device 1. However, in FIG. 8, the mounting table 20, the suction device 30, the moving device 40, and the like are not shown.

Hereinafter, the sheet transfer device 1 of the present embodiment will be described in detail. Here, the case where the sheet 5 having the largest vertical dimension Y and the largest horizontal dimension X among the sheet SHs to be transferred by the sheet transfer device 1 is mainly described as an example will be described. .. As shown in FIG. 1, the sheet transfer device 1 of the present embodiment includes a mounting table 20, a suction device 30, a moving device 40, a sheet thickness measuring device 50, and a control device 60. As shown in FIGS. 2 and 3, on the mounting surface 20b of the mounting table 20, a plurality of rectangular sheets 5 (sheet SH) having the same size and vertically stacked in the vertical direction D1 via the pallet 6 are formed. ) Is placed on the sheet group 10 (seat group SG). A sheet group composed of a plurality of sheet SHs stacked straight in the vertical direction D1 is referred to as a sheet group SG.

Further, as shown in FIGS. 2 and 3, the mounting table 20 comes into contact with the side surface 10c of the seat group 10 mounted on the mounting surface 20b, and the seat group 10 (a plurality of seat groups 10 constituting the seat group 10) is in contact with the side surface 10c. It has a support member 21 for supporting the sheet 5) of the above. Two support members 21 are provided for each of the four side surfaces 10c of the seat group 10. These support members 21 are placed in the horizontal direction D2 (horizontal DB of the seat SH) according to the size (vertical dimension Y and horizontal dimension X) of the sheet 5 mounted on the mounting surface 20b of the mounting table 20. It is possible to move in the (matching direction) or the front-back direction D3 (the direction orthogonal to the paper surface in FIGS. 2 and 3). As a result, when the seat transfer device 1 is operated, each of the support members 21 is arranged at a position in contact with the side surface of the seat group SG mounted on the mounting surface 20b of the mounting table 20, respectively. The side surface of the seat group SG is supported by the support member 21 of the seat group SG.

The suction device 30 has a plurality of (8 in this embodiment) suction pads 31 for sucking the sheet SH (sheet 5, etc.). Of the eight suction pads 31, four suction pads 31b are located on the side closer to the center line CL3 of the suction device 30, and four corners of a rectangle whose diagonal lines intersect at the position of the center line CL3 in top view. It is fixed at the position of the part. The remaining four suction pads 31c are located outside the four suction pads 31b fixed to the center line CL3 of the suction device 30, and the size of the sheet SH (vertical dimension Y and horizontal dimension X). ), It is possible to move in the left-right direction D2 (the direction corresponding to the lateral direction DB of the sheet SH) and the front-back direction D3 (the direction orthogonal to the paper surface in FIGS. 2 and 3). The four suction pads 31c are positioned according to the size (vertical dimension Y and horizontal dimension X) of the sheet SH to be transferred so as to be attracted to the portions close to the four corners of the sheet SH.

The suction device 30 sucks on the upper surface 5b of the sheet 5 located at the uppermost position (upward direction D11) on the mounting table 20 and holds the sheet 5 (see FIG. 2). Specifically, the eight suction pads 31 are brought into contact with the upper surface 5b of the sheet 5 located at the uppermost position (upward direction D11) on the mounting table 20, and the eight suction pads are brought into contact with a vacuum device (not shown). The inside of 31 is depressurized. As a result, the eight suction pads 31 are attracted to the upper surface 5b of the sheet 5 located at the uppermost position (upward direction D11) on the mounting table 20 (see FIG. 2). By maintaining the decompressed state in the eight suction pads 31, the suction device 30 can suck and hold the sheet 5 located at the uppermost position (upward direction D11) on the mounting table 20. Further, the suction device 30 has an air cylinder 33 for vibrating the four suction pads 31c in the vertical direction D1.

The moving device 40 moves the suction device 30 in the vertical direction D1 and the direction orthogonal to the vertical direction D1 (in the present embodiment, the horizontal direction D2). The moving device 40 includes a servomotor 41 for moving the suction device 30 in the vertical direction D1 and a servomotor 42 for moving the suction device 30 in the horizontal direction D2. The sheet thickness measuring device 50 measures the thickness (thickness dimension) of the sheet SH held by the suction device 30.

In such a sheet transfer device 1, the suction device 30 that sucks and holds the sheet SH (sheet 5 or the like) on the mounting table 20 is moved upward (directly above, upward D11) by the moving device 40. The sheet SH (sheet 5 or the like) held by the suction device 30 is arranged at a preset measurement position PS (position shown in FIG. 3), and in this state, the sheet SH (sheet SH) is placed by the sheet thickness measuring device 50. The thickness of the sheet 5 or the like) is measured (see FIG. 3).

Here, the sheet thickness measuring device 50 will be described in detail. The sheet thickness measuring device 50 rotates with an upper contact portion 52 fixed at an upper contact position in contact with the upper surface 5b of the sheet 5 arranged at the measurement position PS, a rotating member 56 rotating around the rotating shaft 53, and rotating. It includes an air cylinder 59 that rotationally moves the member 56 around the rotation shaft 53, and a contact displacement sensor 58 having a sensor displacement portion 58b (see FIGS. 4 and 5).

Note that FIGS. 4 and 5 are enlarged views of the portion B of FIG. However, FIG. 4 shows a state in which the rotating member 56 is arranged in a shelter position that does not hinder the movement of the sheet 5 held by the suction device 30 in the vertical direction D1. On the other hand, in FIG. 5, the lower contact portion 57 located at the tip of the first arm portion 54 of the rotating member 56 is arranged at the lower contact position in contact with the lower surface 5c of the seat 5, and is in downward contact with the upper contact portion 52. A state in which the sheet 5 is sandwiched between the portion 57 and the portion 57 is shown.

Of these, the upper contact portion 52 is provided at the tip end portion (end portion of the left direction D22) of the fixed arm 51 extending in the left-right direction D2. The fixing arm 51 is fixed to the frame 80 of the seat transfer device 1 via the bracket 81 (see FIGS. 4 and 5).

Further, the contact type displacement sensor 58 has a housing 58c and a sensor displacement portion 58b (spindle) that is displaced by contact from the outside. The housing 58c of the contact displacement sensor 58 is fixed to the bracket 81 fixed to the frame 80 via the bracket 83. Specifically, the contact type displacement sensor 58 is fixed in a direction in which the sensor displacement portion 58b is displaced in the left-right direction D2 (see FIGS. 4 and 5). In this embodiment, the GT-H10 manufactured by KEYENCE is used as the contact type displacement sensor 58.

Further, the air cylinder 59 includes a cylinder tube 59b and a piston rod 59c. The cylinder tube 59b is rotatably attached to the bracket 81 around the rotating shaft 82. The tip of the piston rod 59c is attached to the rotating member 56. As a result, the rotating member 56 can be rotationally moved around the rotating shaft 53 by moving the piston rod 59c of the air cylinder 59 in the axial direction.

The rotating member 56 has a substantially L-shaped front view, and has a first arm portion 54 extending in a certain direction and a second arm portion 55 extending in a direction orthogonal to the first arm portion 54. The first arm portion 54 has a shape that extends straight from a position close to the rotation axis 53 in a direction orthogonal to the rotation axis 53 and in a direction away from the rotation axis 53. A lower contact portion 57 capable of contacting the lower surface 5c of the seat 5 arranged at the measurement position PS is provided at the tip end portion (the portion most distant from the rotation shaft 53) of the first arm portion 54. The rotation axis 53 extends in the front-rear direction D3 (the direction orthogonal to the paper surface in FIGS. 4 and 5). A rotating member 56 (first arm portion 54) and a fixed arm 51 are provided so that the upper contact portion 52 and the lower contact portion 57 come into contact with each other in the state where the air cylinder 59 is most extended.

The rotating member 56 is used during a period in which the sheet 5 held by the suction device 30 (the sheet 5 mounted on the mounting table 20) moves upward (directly above) toward the measurement position PS toward the measurement position PS. It is arranged in a shelter position (position shown in FIG. 4) that does not hinder the movement of the sheet 5. By keeping the air cylinder 59 in the shortest state, the rotating member 56 can be arranged at the retreat position (position shown in FIG. 4). Then, the rotating member 56 is rotationally moved clockwise by extending the air cylinder 59 in a state where the sheet 5 held by the suction device 30 is arranged at the measurement position PS. As a result, the lower contact portion 57 located at the tip of the first arm portion 54 is moved to the lower contact position (position shown in FIG. 5) in contact with the lower surface 5c of the seat 5, and is in downward contact with the upper contact portion 52. The sheet 5 is sandwiched between the portion 57 and the portion 57.

Further, the rotating member 56 has a sensor contact portion 55b that can be brought into contact with the tip end (end portion of the left direction D22) of the sensor displacement portion 58b of the contact type displacement sensor 58. The sensor contact portion 55b is the tip end portion of the second arm portion 55. The sensor contact portion 55b is separated from the sensor displacement portion 58b when the rotating member 56 is located at the retreat position (position shown in FIG. 4), and the lower contact portion 57 is at the lower contact position (FIG. 5). When the sheet 5 is sandwiched between the upper contact portion 52 and the lower contact portion 57 by moving to the indicated position), it comes into contact with the sensor displacement portion 58b (pushing the sensor displacement portion 58b to the right D21) to displace the sensor. The portion 58b is displaced to the right D21.

Specifically, the sensor contact portion 55b of the second arm portion 55 is a sensor displacement portion 58b according to the thickness of the sheet SH (sheet 5, etc.) sandwiched between the upper contact portion 52 and the lower contact portion 57. Make the amount of displacement different. Specifically, a retreat position until the lower contact portion 57 moves to the lower contact position (position shown in FIG. 5) according to the thickness of the sheet SH sandwiched between the upper contact portion 52 and the lower contact portion 57. Since the amount of rotational movement of the rotating member 56 from (the position shown in FIG. 4) fluctuates, the amount of rotational movement of the second arm portion 55 having the sensor contact portion 55b also fluctuates.

Therefore, the position of the sensor contact portion 55b (the position in the displacement direction of the sensor displacement portion 58b) with respect to the sensor displacement portion 58b when the sheet SH is sandwiched between the upper contact portion 52 and the lower contact portion 57 is in upward contact. It varies depending on the thickness of the sheet SH (sheet 5, etc.) sandwiched between the portion 52 and the lower contact portion 57. As a result, the sensor contact portion 55b can make the displacement amount of the sensor displacement portion 58b different according to the thickness of the sheet SH sandwiched between the upper contact portion 52 and the lower contact portion 57.

The control device 60 is composed of a microcomputer or the like. The control device 60 controls the depressurization in the suction pad 31 of the suction device 30 connected to a vacuum device (not shown) to suck the sheet SH on the suction pad 31. Further, the control device 60 controls the decompression release (open to the atmosphere) in the suction pad 31 to release the sheet SH from the suction pad 31.

Further, the control device 60 controls the drive of the servomotor 41 of the moving device 40 to move the suction device 30 in the vertical direction D1. Further, the drive control of the servomotor 42 of the moving device 40 is performed to control the suction device 30 to move in the left-right direction D2. Further, the control device 60 controls the expansion and contraction of the air cylinder 59 to rotate the rotating member 56.

Further, the control device 60 has a thickness (thickness dimension) of the sheet SH based on the displacement amount of the sensor displacement portion 58b when the sheet SH (sheet 5 or the like) is sandwiched between the upper contact portion 52 and the lower contact portion 57. ) Is provided (see FIG. 1). Specifically, the thickness calculation unit 61 stores a thickness calculation formula obtained in advance. By inputting the value of the displacement amount of the sensor displacement portion 58b when the sheet SH is sandwiched between the upper contact portion 52 and the lower contact portion 57 into this thickness calculation formula, the thickness calculation unit 61 of the sheet SH The thickness is calculated.

The thickness calculation formula can be obtained, for example, as follows. Specifically, first, the displacement amount of the sensor displacement portion 58b when the rotating member 56 is rotationally moved in the absence of the seat SH and the upper contact portion 52 and the lower contact portion 57 are brought into contact with each other (sensor contact portion). The displacement amount of the sensor displacement portion 58b pushed and moved by 55b) is set to 0 reference (sheet thickness = 0). Then, the thickness calculation formula can be obtained by obtaining the correlation between the thickness of the sheet SH sandwiched between the upper contact portion 52 and the lower contact portion 57 and the displacement amount of the sensor displacement portion 58b.

By the way, the sheet transfer device 1 of the present embodiment can transfer a plurality of types of sheet SH having different dimensions (vertical dimension Y, horizontal dimension X, and at least one of the thickness dimensions). It is configured. Therefore, as the sheet group SG mounted on the mounting surface 20b of the mounting table 20, at least one of the dimensions (vertical dimension Y, horizontal dimension X, and thickness dimension) of the sheet SH constituting the sheet group SG. ) Are different from each other, there are a plurality of types of sheet group SGs. Here, "there are a plurality of types of sheet group SGs having different dimensions of the sheet SHs constituting the sheet group SG" means that the vertical dimensions Y, the horizontal dimensions X, and the thickness dimensions of the sheet SHs constituting the sheet group SG are different. It means that there are a plurality of types of sheet group SGs in which at least one of the dimensions is different from the other sheet group SGs. Therefore, each sheet group SG is different from the other sheet group SGs in at least one of the vertical dimension Y, the horizontal dimension X, and the thickness dimension of the sheet SH constituting the sheet group SG.

Moreover, the plurality of types of sheet group SGs include the vertical dimension Y (dimension of vertical DA, see FIG. 6) and the horizontal dimension X (dimension of horizontal DB, see FIG. 6) of the sheet SH constituting the sheet group SG. Two or more types of seat group SGs (at least two types of seat group SGs) different from each other are included. Specifically, the sheet group SG includes a sheet group 10 (see FIGS. 1 to 6) having the largest vertical dimension Y and the largest horizontal dimension X, and a sheet 105 having the smallest vertical dimension Y and the horizontal dimension X. There is a seat group 110 (see FIGS. 7 and 8) and the like. The seat group 10 and the seat group 110 are two types of seat group SG in which the vertical dimension Y and the horizontal dimension X of the seat SH constituting the seat group SG are different from each other.

Then, one type of sheet group SG (seat group 10, sheet group 110, etc.) selected from a plurality of types of sheet group SG is placed on the mounting surface 20b of the mounting table 20. Specifically, regardless of the type of the selected seat group SG, the position of the center line CL1 of the seat group SG (a line extending straight in the vertical direction D1 through the centers of the plurality of seat SHs constituting the seat group SG) is located. It is placed on the mounting surface 20b of the mounting table 20 so as to be in a fixed position. For example, the seat group 10 or 110 is placed on the mounting table 20 so that the position of the center line CL1 of the seat group 10 shown in FIG. 3 and the position of the center line CL1 of the seat group 110 shown in FIG. 7 are equal to each other. It is placed on the surface 20b.

Specifically, regardless of the type of the seat group SG, the seat group SG is placed on the mounting surface 20b of the mounting table 20 so that the center line CL1 of the seat group SG passes through a fixed position in the central region of the mounting table 20. NS. The mounting table 20 is arranged at a fixed position (specified position) regardless of the type of seat group SG. As a result, for any of the sheet group SGs, on the mounting surface 20b of the mounting table 20 so that the positions of the center lines CL1 of the sheet group SG with respect to the upper contact portion 52 of the sheet thickness measuring device 50 are equal in the top view. (See FIGS. 6 and 8).

FIG. 6 is a top view of the seat transfer device 1 in which the seat group 10 is placed on the mounting surface 20b of the mounting table 20 as the seat group SG. Further, FIG. 8 is a top view of the seat transfer device 1 in which the seat group 110 is placed on the mounting surface 20b of the mounting table 20 as the seat group SG. However, in FIGS. 6 and 8, the mounting table 20, the suction device 30, the moving device 40, and the like are not shown. As shown in FIGS. 6 and 8, in each of the seat groups 10 and 110, the mounting table 20 is arranged so that the positions of the center lines CL1 of the seat groups 10 and 110 with respect to the upper contact portion 52 are the same in the top view. It is mounted on the mounting surface 20b (see FIGS. 6 and 8).

In the embodiment, regardless of the type of the seat group SG, the position of the center line CL1 of the seat group SG is the position of the upper contact portion 52 in the front-rear direction D3 (the direction orthogonal to the vertical direction D1 and the horizontal direction D2). The sheet group SG is placed on the mounting surface 20b of the mounting table 20 so as to be equal (see FIGS. 6 and 8). Further, in the present embodiment, the lateral DB of the sheet SH is equal to the horizontal direction D2 of the sheet transfer device 1, and the vertical DA of the sheet SH is equal to the front-rear direction D3 of the sheet transfer device 1. As described above, the sheet group SG is placed on the mounting surface 20b of the mounting table 20 (see FIGS. 6 and 8).

Therefore, in the sheet transfer device 1 of the present embodiment, the type of the sheet group SG mounted on the mounting table 20 is changed (that is, the type of the sheet SH to be transferred is changed). ), The position of the end of the sheet SH when the sheet SH is arranged at the measurement position PS (for example, the position of the end of the sheet SH with respect to the upper contact portion 52) may change. The reason is as follows.

Specifically, in the sheet transfer device 1 of the present embodiment, regardless of the type of the sheet group SG, the sheet transfer device 1 is placed on the mounting table 20 so that the position of the center line CL1 of the sheet group SG is a constant position. In addition, since the sheet SH on the mounting table 20 is moved to the measurement position PS by moving it in the upward direction D11 (directly above), the plurality of types of sheet SH to be transferred are located on the respective center lines CL2. It will be arranged at the measurement position PS so that the positions are equal. Therefore, when two types of sheet SHs having different vertical dimensions Y and horizontal dimensions X are arranged at the measurement position PS, the positions of the end portions of the sheet SHs are different from each other. For example, as can be seen by comparing FIGS. 3 and 7, the position of the right end of the sheet 105 when the sheet 105 having the smallest vertical dimension Y and horizontal dimension X is arranged at the measurement position PS is the vertical dimension Y and the horizontal dimension. The sheet 5 having the largest dimension X is on the left side (position in the left direction D22) of the position of the right end portion of the sheet 5 when it is arranged at the measurement position PS.

On the other hand, in the sheet transfer device 1 of the present embodiment, the upper contact position where the upper contact portion 52 is fixed is a plurality of types of sheet SH (that is, the vertical dimension Y, which constitutes a plurality of types of sheet group SG). Even when any of the sheet SHs of the horizontal dimension X and the sheet SH having at least one of the thickness dimensions different from each other is arranged at the measurement position PS, the position is set so as to be in contact with the upper surface of the sheet SH. ing. That is, in the sheet transfer device 1 of the present embodiment, the position of the end portion of the sheet SH when placed at the measurement position PS may change due to the change in the type of the sheet SH to be transferred. The upper contact portion 52 is fixed at a position (upper contact position) where it can contact the upper surface of any sheet SH arranged at the measurement position PS.

Specifically, the upper contact portion 52 contacts the upper surface 105b of the right end portion (end portion in the right direction D21) of the sheet 105 with respect to the sheet 105 having the smallest lateral dimension X (see FIGS. 7 and 8). ), For a sheet SH (seat 5, etc.) having a lateral dimension X larger than this, the center line CL2 (center of the sheet SH) is closer to the center line CL2 (center of the sheet SH) than the right end in the left-right direction D2 (corresponding to the lateral DB of the sheet SH). It is fixed at a position (upper contact position) in contact with the upper surface of the portion on the line CL2) side (see FIGS. 3 and 6).

Further, in the seat transfer device 1 of the present embodiment, the first arm portion 54 of the rotating member 56 is among a plurality of types of seat SHs (that is, seat SHs having different dimensions) constituting the plurality of types of seat group SGs. Regardless of which sheet SH is arranged at the measurement position PS, the lower contact portion 57 moved to the lower contact position comes into contact with the lower surface of the sheet SH, and the sheet is between the lower contact portion 57 and the upper contact portion 52. It has a length that allows the SH to be sandwiched. That is, in the sheet transfer device 1 of the present embodiment, the position of the end portion of the sheet SH when placed at the measurement position PS may change due to the change in the type of the sheet SH to be transferred. In the first arm portion 54 of the rotating member 56, the lower contact portion 57 located on the tip end side thereof contacts the lower surface of any sheet SH arranged at the measurement position PS, and the lower contact portion 57 and the lower contact portion 57 It has a length that allows the sheet SH to be sandwiched between the upper contact portion 52 and the upper contact portion 52.

Specifically, for the sheet 105 having the smallest lateral dimension X, the lower contact portion 57 is the lower surface 105c of the right end portion (end portion in the right direction D21) of the sheet 105 (the upper contact portion with the sheet 105 sandwiched between them). For a sheet SH (seat 5, etc.) that comes into contact with the position facing the 52 (see FIGS. 7 and 8) and has a larger lateral dimension X than this, the lateral direction D2 (corresponds to the lateral direction DB of the sheet SH). The length of the first arm portion 54 of the rotating member 56 so as to come into contact with the lower surface of the portion on the center line CL2 side of the right end portion (the position facing the upper contact portion 52 with the seat SH in between). I'm sorry. In the first arm portion 54, in a state where the lower contact portion 57 moves to the lower contact position and is in contact with the lower surface of the seat SH arranged at the measurement position PS, the lateral DB of the seat SH is viewed from above. It has a shape extending in the left-right direction D2) (extending from the outside of the seat SH toward the center line CL2 side in the lateral direction DB of the seat SH) (see FIGS. 6 and 8).

Therefore, according to the sheet transfer device 1 of the present embodiment, the type of the sheet group SG mounted on the mounting table 20 is changed, and the edge of the sheet SH when the sheet SH is arranged at the measurement position PS is changed. Even if the position of the portion changes, the seat thickness measuring device 50 does not change the position of the sheet thickness measuring device 50 (specifically, the position of the upper contact portion 52 and the position of the rotating shaft 53 of the rotating member 56). The thickness of SH can be measured.

By the way, in the sheet transfer device 1 of the present embodiment, when the sheet SH is sucked on the upper surface of the sheet SH on the mounting table 20 by the suction device 30, the sheet SH is sucked in a state where two or more sheet SHs are overlapped. It may be held by the device 30. Further, a sheet group SG composed of a sheet SH having a thickness different from that of the sheet SH determined as the transfer target (that is, the sheet SH determined as the sheet SH to be transferred) is erroneously placed on the mounting table 20. It can be placed. Here, the sheet SH determined as the transfer target is the sheet SH determined as the transfer target of the sheet transfer device 1, and should be transferred to the target transfer location by the sheet transfer device 1. It is a sheet SH determined as a sheet SH.

On the other hand, in the sheet transfer device 1 of the present embodiment, the control device 60 determines that the thickness of the sheet SH calculated by the thickness calculation unit 61 (this is used as the sheet thickness calculation value) is determined as the transfer target. A determination unit 62 for determining whether or not the thickness is the thickness of one sheet SH is provided (see FIG. 1). As a result, in the sheet transfer device 1 of the present embodiment, the thickness of the sheet SH adsorbed and held by the suction device 30 is determined as the transfer target (that is, the sheet SH to be transferred). It is possible to determine whether or not the thickness is one sheet of. In other words, it can be determined whether or not the sheet SH adsorbed and held by the adsorption device 30 is one sheet SH determined as the transfer target.

Therefore, in the sheet transfer device 1 of the present embodiment, when two or more sheet SHs are held by the suction device 30 in an overlapping state, or a sheet having a thickness different from that of the sheet SH determined as the transfer target. When the SH is erroneously placed on the mounting table 20, "the sheet SH sucked and held by the suction device 30 is not one sheet SH determined to be transferred (that is,). Abnormality) ”can be detected.

In the present embodiment, it is determined as follows whether or not the sheet thickness calculation value is the thickness of one sheet SH determined as the transfer target. Specifically, the determination unit 62 stores in advance the thickness of one sheet SH determined as the transfer target. The thickness (thickness dimension) of one sheet SH is preferably set to a dimensional range having a certain range in consideration of manufacturing error and the like. Then, in the determination unit 62, whether or not the sheet thickness calculation value calculated by the thickness calculation unit 61 is the thickness of one sheet of the stored sheet SH (for example, whether or not it is within the dimensional range). By determining whether or not the calculated sheet thickness is the thickness of one sheet SH determined as the transfer target.

Further, in the sheet transfer device 1 of the present embodiment, when the determination unit 62 determines that the sheet thickness calculation value is not the thickness of one sheet SH determined as the transfer target, the control device 60 By control, the suction device 30 that sucks and holds the sheet SH is moved downward (downward D12, directly below) by the moving device 40 to release the sheet SH from the suction by the suction device 30, and the suction device 30 is released. The sheet SH held by the above device is returned to the mounting table 20 (on the sheet group SG mounted on the mounting table 20).

After that, the suction device 30 again sucks the upper surface of the sheet SH located at the uppermost position on the mounting table 20 to hold the sheet SH, and the suction device 30 is moved upward (upward D11, directly above) by the moving device 40. The sheet SH held by the suction device 30 is placed at the measurement position PS, and in this state, the thickness of the sheet SH is measured by the sheet thickness measuring device 50 as described above.

In the sheet transfer device 1 of the present embodiment, the determination unit 62 determines that the sheet thickness calculation value is the thickness of one sheet SH determined as the transfer target for such a series of operations. Do until. When the determination unit 62 determines that the sheet thickness calculation value is the thickness of one sheet SH determined as the transfer target, it is determined as the transfer target by the movement by the moving device 40. The suction device 30 that sucks and holds only one sheet SH is moved to a target transfer location, and the sheet SH is released from the suction by the suction device 30. As a result, the sheet SHs mounted on the mounting table 20 can be moved to the target transfer location one by one.

In the present embodiment, the target transfer location is the upstream end of the conveyor 70 that conveys the sheet SH to a thermoforming apparatus (not shown) (see FIG. 1). The sheet SH arranged at the upstream end of the conveyor 70 is conveyed by the conveyor 70 toward a thermoforming apparatus (not shown). The sheet SH conveyed to the thermoforming apparatus (not shown) is thermoformed into a predetermined shape.

Next, the method of transferring the sheet SH by the sheet transfer device 1 of the present embodiment will be described in detail. First, among the sheet SHs to be transferred by the sheet transfer device 1, the sheet 5 having the largest vertical dimension Y and horizontal dimension X is determined as a transfer target, and a plurality of sheets 5 are determined on the mounting surface 20b of the mounting table 20. A case where the sheet group 10 composed of the sheets 5 is placed will be described. That is, the case where the sheet SH to be transferred by the sheet transfer device 1 is the sheet 5 and the sheet group SG to be mounted on the mounting surface 20b of the mounting table 20 is the sheet group 10.

First, the servomotor of the moving device 40 is controlled by the control device 60 in a state where the seat group SG (seat group 10) composed of a plurality of seat SHs (seats 5) is mounted on the mounting surface 20b of the mounting table 20. By controlling the drive of 41, the suction device 30 is moved downward to D12, and the suction pad 31 of the suction device 30 is placed on the upper surface of the sheet SH located at the uppermost position on the mounting table 20 (upper surface 5b of the sheet 5). (See FIG. 2).

The mounting table 20 is arranged at a specified position, and the side surface 10c of the seat group 10 is supported by the support member 21 (see FIG. 2). As a result, the seat group 10 is placed on the mounting surface 20b of the mounting table 20 so that the center line CL1 of the seat group 10 passes through a fixed position in the central region of the mounting table 20. Further, at this time, the rotating member 56 is arranged at the above-mentioned shelter position (position shown in FIG. 2).

Next, in a state where the suction pad 31 of the suction device 30 is in contact with the upper surface 5b of the sheet 5 located at the uppermost position on the mounting table 20, the pressure in the suction pad 31 of the suction device 30 is reduced by the control of the control device 60. Perform (evacuation). As a result, the sheet 5 is sucked and held by the suction pad 31 of the suction device 30.

Next, the servomotor 41 of the moving device 40 is driven by the control of the control device 60 to move the suction device 30 in the upward direction D11 by a certain distance, and the driving of the servomotor 41 is stopped. As a result, the sheet 5 sucked and held by the suction device 30 is separated from the sheet group 10 on the mounting table 20. In this state, under the control of the control device 60, the air cylinder 33 of the suction device 30 is continuously expanded and contracted, and of the eight suction pads 31 provided in the suction device 30, 4 of the sheet 5 is used. The four suction pads 31c that are sucked to the portions near the corners are vibrated in the vertical direction D1.

As a result, the peripheral edge of the sheet 5 sucked by the eight suction pads 31 of the suction device 30 is vibrated in the vertical direction D1. By doing so, when two or more sheets 5 are held by the suction device 30 in an overlapping state, the sheets 5 that are not directly sucked by the suction pad 31 (directly sucked by the suction pad 31). The other sheet 5) adhering to the one sheet 5 is separated from the one sheet 5 directly adsorbed by the suction pad 31 and returned to the sheet group 10 on the mounting table 20 ( It is possible to drop it).

After that, by driving the servomotor 41 of the moving device 40, the suction device 30 that sucks and holds the sheet SH (sheet 5) is further moved upward to D11, and the seat SH held by the suction device 30 is further moved. (Sheet 5) is placed at the measurement position PS (position shown in FIG. 3). In this state, the sheet thickness measuring device 50 measures the thickness of the sheet SH (sheet 5) held by the suction device 30 (see FIG. 3).

Specifically, in a state where the sheet SH (sheet 5) held by the suction device 30 is arranged at the measurement position PS, the air cylinder 59 is extended under the control of the control device 60 to be arranged at the relief position. The rotating member 56 is rotated clockwise. As a result, the lower contact portion 57 located at the tip of the first arm portion 54 of the rotating member 56 is moved to the lower contact position (position shown in FIG. 5) in contact with the lower surface of the seat SH (lower surface 5c of the seat 5). Then, the sheet SH (sheet 5) is sandwiched between the upper contact portion 52 and the lower contact portion 57 (see FIG. 5).

At this time, the sensor contact portion 55b, which is the tip of the second arm portion 55 of the rotating member 56, comes into contact with the sensor displacement portion 58b of the contact displacement sensor 58 and pushes the sensor displacement portion 58b to the right D21 to push the sensor. The displacement portion 58b is displaced to the right D21. The position of the sensor contact portion 55b with respect to the sensor displacement portion 58b when the sheet SH (sheet 5) is sandwiched between the upper contact portion 52 and the lower contact portion 57 (the position in the displacement direction of the sensor displacement portion 58b) is , It varies depending on the thickness of the sheet SH (sheet 5) sandwiched between the upper contact portion 52 and the lower contact portion 57. Therefore, the sensor displacement portion 58b of the contact type displacement sensor 58 is displaced by a distance corresponding to the thickness of the sheet SH (seat 5) sandwiched between the upper contact portion 52 and the lower contact portion 57.

Next, in the thickness calculation unit 61 of the control device 60, the suction device is based on the displacement amount of the sensor displacement portion 58b when the sheet SH (sheet 5) is sandwiched between the upper contact portion 52 and the lower contact portion 57. The thickness of the sheet SH (sheet 5) held by 30 is calculated. Next, in the determination unit 62 of the control device 60, the sheet SH (sheet 5) held by the suction device 30 based on the thickness (sheet thickness calculation value) of the sheet SH (sheet 5) calculated by the thickness calculation unit 61. ) Is a single sheet 5 determined as a transfer target. Specifically, in the determination unit 62, whether or not the sheet thickness calculation value is the thickness of one sheet 5 stored in the determination unit 62 (for example, set in advance as the thickness of one sheet 5). By determining (whether or not it is within the specified dimensional range), it is determined whether or not the calculated sheet thickness is the thickness of one sheet 5.

When the determination unit 62 determines that the calculated sheet thickness value is not the thickness of one sheet 5, the suction device 30 holding the sheet SH (sheet 5) is moved downward to D12 by the moving device 40. The sheet SH (sheet 5) is released from the suction by the suction device 30 by moving, and the sheet SH (sheet 5) held by the suction device 30 is placed on the mounting table 20 (mounted on the mounting table 20). Return to (above the seat group SG). After that, the suction device 30 again sucks the upper surface 5b of the sheet 5 located at the uppermost position on the mounting table 20 to hold the sheet 5.

Next, the moving device 40 continuously repeats the expansion and contraction operation of the air cylinder 33 of the suction device 30 in a state where the suction device 30 holding the sheet 5 is moved upward D11 by a certain distance, and the seat 5 By vibrating the four suction pads 31c that are sucked to the portions close to the four corners of the sheet 5 in the vertical direction D1, the peripheral edge of the sheet 5 is vibrated in the vertical direction D1. As described above, when two or more sheets 5 are held by the suction device 30 in an overlapping state, the sheets 5 that are not directly sucked by the suction pad 31 are directly sucked by the suction pad 31. This is to move it away from the single sheet 5 and return it to the sheet group 10 on the mounting table 20.

After that, the suction device 30 holding the sheet 5 is further moved upward to D11 by the moving device 40, so that the sheet 5 held by the suction device 30 is arranged at the measurement position PS. Then, in this state, as described above, the sheet thickness measuring device 50 measures the thickness of the sheet 5 held by the suction device 30. In the present embodiment, such a series of processes is performed until the determination unit 62 determines that the sheet thickness calculation value is the thickness of one sheet 5.

When the determination unit 62 determines that the calculated sheet thickness is the thickness of one sheet 5, the suction device holding the one sheet 5 by driving the servomotor 42 of the moving device 40. The 30 is moved to the left D22, and the sheet 5 held by the suction device 30 is placed above the upstream end (target transfer location) of the conveyor 70. In this state, the decompression in the suction pad 31 of the suction device 30 is released (open to the atmosphere), and the sheet 5 is released from the suction of the suction pad 31. As a result, the sheet 5 can be arranged at the upstream end of the conveyor 70 (the target transfer location). In this way, the sheets 5 mounted on the mounting table 20 can be moved one by one to the upstream end (target transfer location) of the conveyor 70.

In the example described above, the case where the sheet 5 is determined as the transfer target of the sheet transfer device 1 and the sheet group 10 composed of a plurality of sheets 5 is placed on the mounting surface 20b of the mounting table 20 has been described. .. However, although the sheet 5 is determined to be the transfer target of the sheet transfer device 1, the sheet group SG composed of the sheet SH having a thickness different from that of the sheet 5 on the mounting surface 20b of the mounting table 20. Even if is erroneously placed, this error (abnormality) can be detected by performing the above-mentioned series of processes (operations).

Specifically, in this case, no matter how many times the thickness of the sheet SH held by the suction device 30 is measured, it is determined that the calculated sheet thickness value is not the thickness of one sheet 5. .. In such a case, it can be determined that the sheet group SG composed of the sheet SH having a thickness different from that of the sheet 5 is erroneously placed on the mounting surface 20b of the mounting table 20.

Next, among the sheet SHs to be transferred by the sheet transfer device 1, the sheet 105 having the smallest vertical dimension Y and horizontal dimension X is determined again as a transfer target, and a plurality of sheets 105 are determined again on the mounting surface 20b of the mounting table 20. The case where the sheet group 110 composed of the sheet 105 of the above is placed will be described. That is, when the sheet SH to be transferred is changed to the sheet 105 by the sheet transfer device 1, and the sheet group SG to be mounted on the mounting surface 20b of the mounting table 20 is changed to the sheet group 110. explain.

First, instead of the sheet group 10, a sheet group 110 in which a plurality of sheets 105 are stacked straight in the vertical direction D1 is placed on the mounting surface 20b of the mounting table 20 via a pallet 106 (see FIG. 7). ). The mounting table 20 is arranged at the same specified position as when the seat group 10 is mounted. Further, the support member 21 is moved so that the side surface 110c of the seat group 110 is supported by the support member 21 (see FIG. 7).

As a result, the seat group is placed on the mounting surface 20b of the mounting table 20 so that the center line CL1 of the sheet group 110 passes through a fixed position in the central region of the mounting table 20 in the same manner as when the sheet group 10 is mounted. The 110 is placed in the mounted state. As described above, in the sheet transfer device 1 of the present embodiment, the mounting table 20 is mounted so that the position of the center line CL1 of the sheet group SG is a constant position regardless of the type of the selected sheet group SG. It is placed on the placement surface 20b. Specifically, the seat group 110 is placed on the mounting surface 20b of the mounting table 20 so that the position of the center line CL1 of the seat group 110 is equal to the position of the center line CL1 of the seat group 10.

Next, the sheet 105 mounted on the mounting table 20 is sucked and held by the suction device 30 (suction pad 31) in the same manner as in the case of transferring the sheet 5 described above. The position of the suction pad 31 is changed (adjusted) in advance so that the suction pad 31c of the suction device 30 comes into contact with the four corners of the sheet 105 mounted on the mounting table 20. (See Fig. 7).

Next, as in the case of transferring the sheet 5 described above, the air cylinder 33 of the suction device 30 is moved in the upward direction D11 by a certain distance by the moving device 40. By continuously repeating the expansion and contraction operation of the four suction pads 31c adsorbed to the four corners of the sheet 105 in the vertical direction D1, the peripheral edge of the sheet 105 is vibrated in the vertical direction. Make D1 vibrate.

After that, as in the case of transferring the sheet 5 described above, the suction device 30 holding the sheet 5 is moved upward to D11 by the moving device 40, so that the sheet 5 held by the suction device 30 is moved. Place it at the measurement position PS. Then, in this state, the thickness of the sheet 105 held by the suction device 30 is measured by the sheet thickness measuring device 50 in the same manner as the sheet 5 described above.

As described above, in the sheet transfer device 1 of the present embodiment, the upper contact position to which the upper contact portion 52 is fixed is any sheet of the plurality of types of sheet SH constituting the plurality of types of sheet group SG. Even when the SH is arranged at the measurement position PS, it is in a position where it can come into contact with the upper surface of the sheet SH. Further, the first arm portion 54 of the rotating member 56 is in a downward contact position even when any of the plurality of types of seat SHs constituting the plurality of types of seat group SGs is arranged at the measurement position PS. The lower contact portion 57 that has moved to has a length that allows the lower contact portion 57 to come into contact with the lower surface of the sheet SH and sandwich the sheet SH between the lower contact portion 57 and the upper contact portion 52.

As a result, even for the sheet 105 having the smallest horizontal dimension X among the plurality of types of sheet SHs to be transferred by the sheet transfer device 1, the upper contact portion 52 is moved to the right end portion of the sheet 105 at the measurement position PS. The lower contact portion 57 is brought into contact with the lower surface 105c of the right end portion (end portion of the right direction D21) of the sheet 105 while being brought into contact with the upper surface 105b (the end portion of the right direction D21), and the upper contact portion 52 and the lower contact portion are brought into contact with each other. A sheet 105 can be sandwiched between the sheet 105 and the sheet 105, and the thickness of the sheet 105 held by the suction device 30 can be measured.

As described above, according to the sheet transfer device 1 of the present embodiment, the type of the sheet group SG mounted on the mounting table 20 is changed, and the sheet SH is arranged at the measurement position PS. The sheet thickness measuring device 50 does not change the position of the sheet thickness measuring device 50 (specifically, the position of the upper contact portion 52 and the position of the rotating shaft 53 of the rotating member 56) even when the position of the end portion of the sheet changes. The thickness of the sheet SH can be measured by.

After that, in the same manner as in the case of transferring the sheet 5 described above, it is determined whether or not the sheet 105 adsorbed and held by the suction device 30 is one sheet 105 determined as the transfer target. do. Specifically, in the determination unit 62 of the control device 60, whether or not the sheet thickness calculation value calculated by the thickness calculation unit 61 is the thickness of one sheet 105 (stored in advance in the determination unit 62). Whether or not it is the thickness dimension of one sheet 105) is determined. When the determination unit 62 determines that the calculated sheet thickness value is not the thickness of one sheet 105, the same process as in the case of transferring the sheet 5 described above is performed.

When the determination unit 62 determines that the calculated sheet thickness value is the thickness of one sheet 105, the suction device 30 holding the sheet 105 is moved in the same manner as in the case of transferring the sheet 5 described above. The sheet 105 held by the suction device 30 is placed at the upstream end (target transfer location) of the conveyor 70 by moving it above the upstream end (target transfer location) of the conveyor 70. do. In this way, the sheets 105 mounted on the mounting table 20 can be moved one by one to the upstream end (target transfer location) of the conveyor 70.

Although the present invention has been described above in accordance with the embodiment, it goes without saying that the present invention is not limited to the above-described embodiment and can be appropriately modified and applied without departing from the gist thereof.

1 Sheet transfer device 5,105, SH sheet 10,110, SG Sheet group 20 Mounting table 30 Suction device 40 Moving device 50 Sheet thickness measuring device 52 Upper contact part 53 Rotating shaft 54 First arm part 55b Sensor contact part 56 Rotation Member 57 Lower contact part 58 Contact type displacement sensor 58b Sensor displacement part 60 Control device 61 Thickness calculation unit 62 Judgment unit CL1 Center line of sheet group D1 Vertical direction D2 Horizontal direction D3 Front-back direction PS Measurement position X Horizontal dimension Y Vertical dimension

Claims (3)

A mounting table on which a group of sheets consisting of multiple rectangular sheets of the same size stacked straight in the vertical direction is placed.
A suction device that sucks on the upper surface of the sheet located at the uppermost position on the above-mentioned table and holds the sheet, and a suction device.
A moving device that moves the suction device in the vertical direction and in a direction orthogonal to the vertical direction, and
A sheet thickness measuring device for measuring the thickness of the sheet held by the suction device is provided.
By moving the suction device that sucks and holds the sheet on the above-mentioned table upward by the moving device, the sheet held by the suction device is arranged at a preset measurement position. A sheet transfer device that measures the thickness of the sheet by the sheet thickness measuring device in the state.
The sheet thickness measuring device is
An upper contact portion fixed at an upper contact position that contacts the upper surface of the sheet arranged at the measurement position, and an upper contact portion.
A rotating member that rotates around a rotating shaft and has an arm portion having a lower contact portion that can be contacted with the lower surface of the sheet arranged at the measurement position on the tip end side.
A contact type displacement sensor having a sensor displacement portion, and
The rotating member
During the period in which the sheet held by the suction device moves upward toward the measurement position, the sheet is located in a shelter position that does not hinder the movement of the sheet, and when the sheet is arranged at the measurement position, A rotating member that moves the lower contact portion to a lower contact position that contacts the lower surface of the sheet by performing the rotational movement, and sandwiches the sheet between the upper contact portion and the lower contact portion.
When the rotating member is located at the retreat position, it is separated from the sensor displacement portion, the lower contact portion moves to the lower contact position, and the upper contact portion and the lower contact portion are brought into contact with each other. A sensor contact portion that contacts the sensor displacement portion and displaces the sensor displacement portion when the sheet is sandwiched between them, and the sheet sandwiched between the upper contact portion and the lower contact portion. It has a sensor contact portion that changes the displacement amount of the sensor displacement portion according to the thickness.
The sheet transfer device includes a thickness calculation unit that calculates the thickness of the sheet based on the displacement amount of the sensor displacement unit when the sheet is sandwiched between the upper contact portion and the lower contact portion. ,
As the sheet group placed on the above-mentioned table, there are a plurality of types of the sheet groups having different dimensions of the sheets constituting the sheet group, and one type selected from the plurality of types of the sheet groups. The sheet group is placed on the above-mentioned table so that the position of the center line of the sheet group is a constant position regardless of the type of the selected sheet group.
The plurality of types of the sheet group include two or more types of the sheet groups in which the vertical dimensions and the horizontal dimensions of the sheets constituting the sheet group are different from each other.
The upper contact position to which the upper contact portion is fixed is the case where any of the plurality of types of the sheets constituting the plurality of types of the sheet group is arranged at the measurement position. It is positioned so that it can contact the upper surface of the seat.
The arm portion of the rotating member has moved to the downward contact position even when any of the plurality of types of the sheets constituting the plurality of types of the sheet group is arranged at the measurement position. A sheet transfer device having a length that allows the lower contact portion to come into contact with the lower surface of the sheet and sandwich the sheet between the lower contact portion and the upper contact portion. The sheet transfer device according to claim 1.
Sheet transfer including a determination unit for determining whether or not the sheet thickness calculation value, which is the thickness of the sheet calculated by the thickness calculation unit, is the thickness of one sheet determined as the transfer target. Device. The sheet transfer device according to claim 2.
When the determination unit determines that the calculated sheet thickness is not the thickness of one sheet,
The suction device that sucks and holds the sheet is moved downward by the moving device, the sheet is released from the suction by the suction device, and the sheet held by the suction device is moved forward. Put it back on the table
After that, the suction device again sucks the upper surface of the sheet located at the uppermost position on the above-mentioned table to hold the sheet, and the suction device is moved upward by the moving device to suck the sheet. A sheet transfer device that measures the thickness of the sheet by the sheet thickness measuring device in a state where the sheet held by the device is arranged at the measuring position.

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