JP4651835B2 - How to store and take out pre-made rolls in roll three-dimensional warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The invention of the present application can dramatically improve the storage efficiency of the plate-making roll, and it is possible to identify the roll placed on the pallet when taking out the roll for plate making, printing, or shipping. It can be picked up when it is applicable, high work efficiency can be obtained, and plate making rolls with different sizes and processing steps can be handled so as not to be confused. The present invention relates to a method for storing and taking out a roll.
[0002]
[Prior art]
In the conventional roll three-dimensional warehouse, the plate making rolls are stored and taken out by placing a plurality of plate making rolls horizontally on a pallet that can be put in and out by a fork, and the storage position number in the pallet warehouse and the position of the pallet. If the roll is taken out for plate making, printing or shipping, the corresponding pallet is taken out and then the both ends of the corresponding plate making roll are registered. The both ends of the roll were chucked and taken out by the robot hand of an industrial robot for handling so as not to block the chucked hole.
The number of storage rolls in a three-dimensional warehouse of a converter (film processor) is 200 million for a large company and thousands for a small company, and the storage efficiency of the plate-making roll is very low.
[0003]
On the other hand, there are rolls for gravure printing in which the circumferential length is 400 mm to 900 mm, and there are different rolls by 10 mm. There are seventy types, and along with the variety of gravure rotary presses, the length for gravure printing is also finely different in the range of 1000 mm to 1800 mm, and the sizes of chuck holes and key grooves are also different.
As described above, roll production for various sizes of gravure printing, plating treatment, polishing treatment, recycle plate making treatment, and new roll plate making treatment requires roll processing with 10 to 20 kinds of different processing steps. The
In conventional roll three-dimensional warehouses, if the data stored in the roll storage array in the computer is destroyed, there is a risk that it will be confused, and if there is a data input error to the computer, the picked-up roll is different from the desired roll. Picking up becomes difficult, and even when data input to a computer is neglected, picking up becomes impossible.
Therefore, there is a demand for a method that can identify a roll placed on the pallet and pick it up when the roll is applicable, instead of identifying the roll after picking up the roll from the pallet.
[0004]
[Problems to be solved by the invention]
The invention of the present application can dramatically improve the storage efficiency of the plate-making roll, and it is possible to identify the roll placed on the pallet when taking out the roll for plate making, printing, or shipping. It can be picked up when it is applicable, high work efficiency can be obtained, and plate making rolls with different sizes and processing steps can be handled so as not to be confused. The object is to provide a method for storing and taking out a roll.
[0005]
[Means for Solving the Problems]
In the first invention of the present application ([Claim 1]), roll storage boxes 4a, 4b, 4c partitioned in a square grid shape as viewed from above are fixed on the fork pallet 5 and the plate making roll 6 is erected. Curing material 7 made of corrugated cardboard or the like is wound around this, and the plate making roll 6 is lifted, suspended and accommodated in one storage trough of the roll storage box 4, and stored in the roll three-dimensional warehouse 1, and plate making. When a roll is taken out for printing or shipping, the corresponding fork pallet 5 is taken out and then the corresponding plate-making roll 6 is lifted together with the curing material 7 and taken out. The method for storing / removing the plate-making roll in the method is provided.
[0006]
The second invention of the present application ([Claim 2]) is a roll in which the total number of plate-making rolls 6 stored in a three-dimensional warehouse is divided into several classes according to the size of the diameter, and is divided into square grids when viewed from above. The storage boxes 4a, 4b, 4c are fixedly mounted on a fork pallet 5 of a common size, and the roll making boxes 4a, 4b, 4c are classified according to the size of the diameter, and the rolls with the maximum diameter of each class are stored As a plurality of types of roll storage boxes 4 with the size of a single storage basket being set, the plate-making roll 6 is erected and wound with a curing material 7 made of corrugated cardboard, etc. 6 is suspended and stored in a roll storage box 1 in a storage box 4 of a corresponding class of roll storage box 4 in the size of the lifted diameter, and stored in the roll three-dimensional warehouse 1 for plate making, printing, or shipping. When you take out the roll Provides a method for storing and taking out the plate-making roll in a roll three-dimensional warehouse characterized by taking out the corresponding fork pallet 5 and then lifting up and taking out the corresponding plate-making roll 6 together with the curing material 7. .
[0007]
In the third invention of the present application ([Claim 3]), roll storage boxes 4a, 4b, 4c partitioned in a square grid shape as viewed from above are fixed on the fork pallet 5 and the plate making roll 6 is erected. Then, 20% or more chuck claws of the robot hand of the industrial robot 8 for handling are put into the chucked hole at the upper end, and the flange is hooked and the plate making roll 6 is wound by the curing material pressing plate of the robot hand. The curing material 7 made of corrugated paper or the like is integrally held, the plate making roll 6 and the curing material 7 are lifted together, and are suspended and accommodated in one accommodation basket of the roll storage box 4 to the roll three-dimensional warehouse 1. When storing and registering the storage position of the fork pallet 5 in the warehouse in the computer and taking out the roll for plate making, printing or shipping, it is applicable. When the pallet 5 is taken out and then the roll identification number is read from the information stored in the wireless IC tag attached to the inside of the plate-making roll with the receiving and transmitting antenna, the industrial robot 8 for handling corresponds to the corresponding roll. The plate-making roll 6 and the curing material 7 are integrally held by holding the curing material 7 made of corrugated cardboard paper or the like around which the flange is hooked by the chuck claw of the robot hand and the plate-making roll 6 is wound by the curing material pressing plate of the robot hand. It is intended to provide a method for storing and taking out a plate-making roll in a roll three-dimensional warehouse characterized by lifting and taking out the roll integrally.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
A method for storing / removing a plate-making roll in a roll three-dimensional warehouse according to the present invention will be described with reference to the drawings.
FIG. 1A schematically shows a front view of the roll three-dimensional warehouse 1. The roll three-dimensional warehouse 1 is configured to store and take out a fork pallet 5 in which roll storage boxes 4 a, 4 b, 4 c are fixed by a fork provided on a vertical movement slider 3 of a pickup device 2.
[0009]
As shown in FIG. 2, the fork pallet 5 taken out from the roll three-dimensional warehouse is transported on a transport conveyor (not shown) and is stopped in the work area of the industrial robot 8.
The industrial robot 8 lifts the plate-making roll 6 and suspends it in one of the storage bins of the roll storage boxes 4a, 4b, 4c, or in one desired storage bin of the roll storage boxes 4a, 4b, 4c. The accommodated plate-making roll 6 is lifted and taken out.
The fork pallet 5 and the roll storage boxes 4a, 4b, and 4c are made of wood or plastic and are partitioned into square grids when viewed from above.
[0010]
FIG.1 (b) shows the top view of three types of roll storage boxes used in this roll three-dimensional warehouse. The three types of roll storage boxes 4a, 4b, and 4c have different sizes of storage baskets.
The fork pallet 5 has a common size and can be handled by a fork provided on the vertical movement slider 3 of the pickup device 2.
[0011]
The reason why the roll storage boxes 4a, 4b, 4c are fixed on the fork pallet 5 and that the roll storage boxes are not one type but a plurality of types having different sizes of the storage troughs is to increase the roll storage efficiency. It is.
That is, when the plate-making roll 6 is placed on the fork pallet 5, the roll storage efficiency is significantly increased as compared with the case where 3 to 5 rolls are placed horizontally. Accordingly, in order to prevent the plate-making roll 6 from falling down, roll storage boxes 4a, 4b, 4c are fixed on the fork pallet 5 to surround the rolls one by one. Furthermore, the total number of plate-making rolls 6 to be stored in the three-dimensional warehouse is divided into several classes according to the size of the diameter, and the size of one container is accommodated corresponding to the classification, and the plate-making rolls of the maximum diameter of each class are accommodated. A plurality of types (three types in this embodiment) of roll storage boxes 4a, 4b, and 4c determined so as to be provided, and the plate-making roll 6 is stored in one of the roll storage boxes corresponding to the classification. The storage efficiency of the roll was further increased by storing it in the basket.
[0012]
As shown in FIG. 3, even if the plate making roll 6 is surrounded by the roll storage boxes 4a, 4b, 4c, it is rubbed when the plate making roll 6 is put in and out to prevent the plate making roll 6 from falling over and being damaged. In order to avoid scratches, the plate-making roll 6 rolled up with the curing material 7 is housed in the housing bowl as the material to be wound up with the curing material 7 such as cardboard paper, or It was decided to remove it from the container.
[0013]
In particular, as shown in FIG. 3, the plate making roll handled in the present embodiment has a wireless IC tag 12 attached to the central coupling portion of the groove bracket 11, and the outer surfaces of the two parallel portions of the groove bracket 11. The plate-making roll 6 is formed by applying an adhesive on the side, folding the groove-shaped bracket 11 through the chucked hole 6 a of the plate-making roll 6, inserting the groove-shaped bracket 11 into the groove shape, and bonding and fixing to the inner surface of the roll. is there. The wireless IC tag 12 is located inward of the chucked hole 6a and at a fixed distance from the roll end face.
[0014]
As shown in FIGS. 2 and 3, the plate-making roll 6 wound with a curing material 7 such as corrugated cardboard accommodated in roll storage boxes 4a, 4b, 4c fixed to the fork pallet 5 is an industrial robot. 8 is handled. The robot hand 10 is provided with a component having functions described below on a turntable 10a that can turn a plane by a certain angle with respect to the robot arm 9 by a servo motor.
[0015]
As shown in FIGS. 3, 4 and 5, the robot hand 10 has a part of the robot hand inserted into the chucked hole 6a of the plate-making roll 6 and opened by the operation of the chuck opening / closing means 10k. 6 chuck chucks 10b for chucking the edge of the chucked hole 6a so as to be lifted (more than 20%), and a CCD camera 10c and a transmitting / receiving antenna 10e at the tip of each chuck claw 10b. And a distance sensor 10d.
[0016]
As shown in FIGS. 3, 5, and 6, the robot hand 10 includes a lateral shake suppressing unit that suppresses lateral vibration of the plate-making roll 6 in cooperation with the chuck claw 10 b.
As shown in FIG. 5, the lateral vibration suppressing means inserts the chuck claw 10b into the chucked hole 6a of the plate-making roll 6 and opens it to chuck the edge of the chucked hole 6a of the plate-making roll 6 so that it can be lifted. Then, the air cylinder device 10f is actuated to strongly press the end face pressing plate 10g against the end face of the plate making roll 6, compress the spring 10h, and hook the claw portion of the chuck claw 10b into the chucked hole 6a of the plate making roll 6. Accordingly, the end face pressing plate 10g and the chuck claw 10b are configured to sandwich the flange so as to suppress the lateral deflection of the plate making roll 6.
[0017]
As shown in FIG. 5 and FIG. 6, the robot hand 10 suppresses a curing material 7 that is wound around the plate-making roll 6 and raises the curing material 7 integrally with the plate-making roll 6. It has.
As described above, the curing tube restraining means operates the pair of actuators 10i by holding the flange between the end face pressing plate 10g and the chuck claw 10b and restraining the side roll of the plate-making roll 6 from operating. The curing material holding plate 7 is used to hold the curing material 7 and the curing material 7 is lifted together with the plate-making roll 6.
[0018]
When the industrial robot 8 moves the robot hand 10 to the storage box 2a at the required position of the roll storage boxes 4a, 4b, 4c fixed to the fork pallet 5, thereafter, the CCD provided at the tip of the chuck claw 10b. Based on the detection signal of the camera 10c, the chuck center of the robot hand 10 is positioned so as to be aligned with the center of the plate making roll 6.
The CCD camera 10c shoots the end surface of the plate-making roll 6 and transmits a video signal to a robot control computer (not shown). The robot control computer performs image processing and performs processing of the robot hand 10. The horizontal distance between the chuck center and the center of the plate making roll 6 is calculated, and the robot hand 10 is moved horizontally so that the chuck center of the robot hand 10 coincides with the center of the plate making roll 6.
[0019]
As described above, when the chuck center of the robot hand 10 coincides with the center of the plate making roll 6, the distance sensor 10 d provided at the tip of the chuck claw 10 b is positioned in front of the chucked hole 6 a of the plate making roll 6. The distance to the wireless IC tag 12 attached to the robot is detected and a distance detection signal is transmitted to a robot control computer (not shown). The robot control computer calculates the distance from the distance detection signal. By calculating and swinging the robot arm 9, as shown in FIG. 4, the chuck claw 10b of the robot hand 10 is inserted into the chucked hole 6a of the plate-making roll 6 at a high speed (shortening the time), and the wireless IC tag. The position is stopped with a certain deviation from 12.
[0020]
As described above, when the chuck claw 10 b of the robot hand 10 is inserted into the chucked hole 6 a of the plate-making roll 6, the information stored in the wireless IC tag 12 is stored in the wireless IC tag 12 by the transmitting / receiving antenna 10 e provided at the tip of the chuck claw 10 b. To read.
Information stored in the wireless IC tag 12 includes roll identification information, roll customer information, plate making information, printing information, and the like.
Reading the information stored in the wireless IC tag 12 with the transmitting / receiving antenna 10e means checking the roll identification number, what kind of plate making process is performed, what kind of design is made, or whether the plate is made. By storing in the wireless IC tag 12 the color and roll of the gravure rotary press, the type and amount of ink, the conditions after installation, the printing speed, etc., the wrong plate making process is not performed. As described above, the roll identification number stored in the wireless IC tag 12 and the delivery destination are compared with the design number so that the wrong color design is not formed, the wrong color is not printed, or the product is shipped. Can be useful in management.
[0021]
As described above, when the receiving / transmitting antenna 10e provided at the tip of the chuck claw 10b reads the information stored in the wireless IC tag 12, if it is the plate-making roll having the corresponding roll identification number, the transmitting / receiving is performed. The antenna 10e accesses the wireless IC tag 12 to write necessary information, or the plate making roll 6 is lifted.
As described above, as shown in FIG. 5, the operation of lifting the plate-making roll 6 can lift the edge of the chucked hole 6a by opening the chuck claw 10b inserted into the chucked hole 6a of the plate-making roll 6. After the chucking, as shown in FIG. 6, the flange is held between the end face pressing plate 10g and the chuck claw 10b to suppress the lateral shaking of the plate-making roll 6, and then the curing material 7 is attached to the pair of curing material pressing plates 10j. The curing material 7 is lifted together with the plate making roll 6 while being held down.
[0022]
In short, in the present invention, the plate-making roll 6 is erected, and the chuck claws 10b of the robot hand 10 of the industrial robot 8 are put into the chucked hole 6a at the upper end so as to spread and hook the flange. The curling material 7 made of corrugated paper or the like around which the plate-making roll 6 is wound is held together by the curing material pressing plate 10j, and the plate-making roll 6 and the curing material 7 are lifted together to roll the boxes 4a, 4b, 4c. The storage position of the fork pallet 5 in the warehouse is registered in the computer at that time, and is stored in the computer for stencil printing, printing, or When a roll is taken out for shipping, the corresponding fork pallet 5 is taken out, and then a wireless IC tag attached to the inside of the plate-making roll with a receiving / transmitting antenna 10e. The roll identification number is read from the information stored in 12 and if it is the corresponding roll, the flange is hooked by the chuck claw 10b of the robot hand 10 of the industrial robot 8 and the plate making roll 6 is wound by the curing material pressing plate 10j. The plate-making roll 6 and the curing material 7 are integrally lifted and taken out by holding the curing material 7 being integrated.
[0023]
The method for storing and taking out the plate making roll of the embodiment described above is as follows.
Roll storage boxes 4a, 4b, and 4c partitioned into a square grid when viewed from above are fixed on the fork pallet 5, and the plate making roll 6 is erected, and the industrial robot 8 for handling is placed in the chucked hole at the upper end. Holding the curing material 7 made of corrugated paper or the like around which the plate-making roll 6 is wound with the curing hand pressing plate of the robot hand by inserting and expanding the chuck claws of 20% or more of the robot hand. The plate-making roll 6 and the curing material 7 are lifted together, suspended and accommodated in one storage basket of the roll storage box 4 and stored in the roll three-dimensional warehouse 1. At that time, the fork pallet 5 is stored in the warehouse. The position is registered in the computer, and when the roll is taken out for plate making, printing or shipping, the corresponding fork pallet 5 is taken out. With the receiving / transmitting antenna, the roll identification number is read from the information stored in the wireless IC tag attached to the inside of the plate-making roll, and if it is the applicable roll, use the chuck claw of the robot hand of the industrial robot 8 for handling. Holding the curing material 7 made of corrugated paper or the like around which the plate-making roll 6 is wound by the curing material holding plate of the robot hand and lifting the plate-making roll 6 and the curing material 7 together and taking them out It is.
[0024]
【The invention's effect】
The method for storing / removing the plate-making roll in the roll three-dimensional warehouse of the first invention of the present application ([Claim 1)]
The storage efficiency of the plate-making roll in the roll three-dimensional warehouse is dramatically improved compared to the conventional one, and the plate-making roll can be stored and taken out with the curing material attached, and the plate-making roll is damaged. Can be avoided.
[0025]
The method for storing / removing the plate-making roll in the roll three-dimensional warehouse of the second invention of the present application ([Claim 2]),
Since the plate-making rolls that are classified according to the size of the diameter and have similar diameters are placed on one fork pallet, the storage efficiency of the plate-making rolls in the roll three-dimensional warehouse is further improved compared to the first invention of the present application. The plate making roll can be stored and taken out with the curing material attached, so that the plate making roll can be prevented from being damaged, and the balance of the fork pallet does not become extremely unbalanced.
[0026]
In the third invention of the present application ([Claim 3]), the plate making rolls are stored and taken out in the three-dimensional warehouse, and the plate making rolls whose diameters are approximated by classifying the diameters are placed on one fork pallet. Therefore, the efficiency of storing the plate-making roll in the roll three-dimensional warehouse is further improved compared to the first invention of the present application, and the plate-making roll can be stored and taken out with the curing material attached. When the roll is taken out for plate making, printing, or shipping, the roll placed on the pallet can be quickly identified and the roll is applicable. Can be picked up immediately, high working efficiency can be obtained, and plate-making rolls of various sizes and processing steps can be handled so as not to be confused.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 relates to a method for storing and taking out a plate-making roll in a roll three-dimensional warehouse according to the present invention. FIG. 1 (a) is a front view of the roll three-dimensional warehouse showing the state of storing the plate-making roll, and FIG. The top view of the three types of roll storage boxes used in FIG.
FIG. 2 is a perspective view showing a method of storing and taking out a plate-making roll in a roll three-dimensional warehouse according to the present invention, and searching for a plate-making roll stored in a roll storage box by an industrial robot and picking it up when applicable. .
FIG. 3 shows a method for storing and taking out a plate-making roll in a roll three-dimensional warehouse according to the present invention, and an end surface of a plate-making roll stored in a roll storage box by a CCD camera attached to an end surface of a chuck claw of a robot hand. The longitudinal cross-sectional front view which shows the place which measures the distance with the distance sensor attached to the end surface of a chuck nail | claw, aligning the chuck | zipper center of a robot hand with the center of a plate-making roll.
4 shows a step subsequent to the step of FIG. 3, and is a longitudinal sectional front view showing a state in which a chuck claw of a robot hand is inserted into a chucked hole of a plate-making roll. FIG.
FIG. 5 is a longitudinal front view showing a state following the step of FIG. 4 and showing a state where the chuck claw of the robot hand is opened and the inner edge of the chucked hole of the plate-making roll is chucked.
FIG. 6 is a longitudinal front view showing a state following the step of FIG. 5 in which the plate-making roll can be chucked in a state in which the side roll is suppressed and the curing material can be lifted together with the plate-making roll.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Roll three-dimensional warehouse, 2 ... Pick-up apparatus, 3 ... Vertical motion slider, 4a, 4b, 4c ... Roll storage box, 5 ... Fork pallet, 6 ... Plate making roll, 6a ... hole to be chucked, 7 ... curing material, 8 ... industrial robot, 9 ... robot arm, 10 ... robot hand, 10a ... swivel, 10b ... chuck claw, 10c: CCD camera, 10d: Distance sensor, 10e: Transmission / reception antenna, 10f: Air cylinder device, 10g ... End face pressing plate, 10h ... Spring, 10i ... Actuator, 10j ... Curing material holding plate, 10k ... Chuck opening / closing means, 11 ... Groove bracket, 12 ... Wireless IC tag,

Claims (2)

A roll storage box that is partitioned into a square grid when viewed from above is fixed on the fork pallet, a plate-making roll for gravure printing is set up, and a robot hand of an industrial robot for handling is installed in the chucked hole at the upper end. One spread put split more chucking claws hooked flange and the same robot hand the plate-making roll to hold together the curing material made of cardboard or the like which is wound the plate-making roll by curing material holding plate Lift the curing material together and suspend it in one storage bin of the roll storage box and store it in a roll three-dimensional warehouse. At that time, register the storage position in the warehouse of the fork pallet in the computer, When removing rolls for plate making, printing, or shipping, take out the corresponding fork pallet and then receive it. Read the roll identification number from the information stored in the wireless IC tag attached to the inside of the plate-making roll with the communication antenna, and if it is the applicable roll, hook the flange with the chuck claw of the robot hand of the industrial robot for handling. and gravure printing in a roll warehouse to a curing material made of cardboard or the like which is wound the plate-making roll by curing material holding plate of the robot hand to hold together taken out lifting integrally curing material and the plate-making roll A method for storing and taking out a plate-making roll for use in the process , wherein the end surface of the plate-making roll stored in the roll storage box is centered on the chuck center of the robot hand by a CCD camera attached to the end surface of the chuck claw of the robot hand. Align with the center of the plate-making roll, then the chuck claw A method for storing / removing a plate-making roll for gravure printing in a roll three-dimensional warehouse, wherein a distance is measured by a distance sensor attached to an end face . The roll storage box divides the total number of rolls for gravure printing to be stored in a three-dimensional warehouse into several classes according to the size of the diameter, and a common roll storage box divided into a square square shape when viewed from above. A plurality of storage bins that are fixed on a fork pallet of a size and that have a maximum size for each class of roll storage boxes classified according to diameter. storage and retrieval method of the plate-making roll for gravure printing in a roll warehouse according to claim 1, characterized in that is the type of roll storage box.

Images