JP6739127B1 - Sheet transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To change the position of a sheet thickness measuring device even when the type of a sheet group placed on a placing table is changed and the position of the end portion of the sheet is changed when the sheet is placed at the measuring position. Provided is a sheet transfer device capable of measuring the thickness of a sheet without using the sheet thickness measurement device. SOLUTION: An upper contact position where an upper contact portion 52 is fixed is set even when any one of a plurality of types of sheets SH forming a plurality of types of sheet groups SG is arranged at a measurement position PS. The position is such that it can contact the upper surface of the sheet SH. The arm portion 54 of the rotating member 56 moves downward to the lower contact position even when any one of the plurality of types of sheets SH forming the plurality of types of sheet groups SG is arranged at the measurement position PS. The portion 57 has a length that allows the sheet SH 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. [Selection diagram] Fig. 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 detection device. Specifically, Patent Documents 1 and 2 disclose a paper thickness detection device and a paper supply device in a printer that uses copy paper as a sheet material. The devices of Patent Documents 1 and 2 are provided with a reference roller and a displacement roller arranged so as to sandwich and convey the sheet material, and the displacement roller when the sheet material is sandwiched and conveyed between the reference roller and the displacement roller. The thickness of the sheet material is calculated based on the displacement amount of the rotating shaft.

JP, 2014-31275, A JP, 2017-21000, A

By the way, the inventor of the present application has devised the following sheet transfer device. Specifically, a mounting table for mounting a sheet group in which a plurality of rectangular sheets are vertically stacked, an adsorption device for adsorbing to the upper surface of the sheet on the mounting table to hold the sheet, and an adsorption device are provided. The sheet transfer device includes a moving device that moves in the vertical direction and a direction orthogonal to the vertical direction, and a sheet detection device that detects whether or not the number of sheets held by the suction device is one. As the sheet, for example, a thermoforming sheet which is a thermoplastic sheet and is formed by a thermoforming device is used. In this sheet transfer device, the suction device that suctions 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 set in advance. In the state in which the sheet is arranged at the measurement position, the sheet detection device detects whether or not the number of sheets is one.

The sheet detection device includes an upper contact portion fixed at an upper contact position that comes into contact with an end portion of the upper surface of the sheet arranged at the measurement position, and a rotating member that rotates around a rotation axis and is arranged at the measurement position. And a rotating member having a tip end portion having a lower contact portion capable of contacting the end portion of the lower surface of the formed sheet. The rotating member is located at the retracted position where the sheet held by the suction device moves upward toward the measurement position and does not hinder the movement of the sheet. By moving, the lower contact portion is moved to the lower contact position where it contacts 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 sucked 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). Utilizing this fact, the sheet transfer device is configured so that the lower contact position of the lower contact portion when the sheet is sandwiched between the upper contact portion and the lower contact portion (the lower contact portion moves from the retracted position to the lower contact position). Based on (rotational movement amount of the rotating member until moving), it is detected whether or not the number of sheets sucked by the suction device is one.

By the way, the sheet transfer device has been required to transfer a plurality of types of sheets having different vertical 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 that form the sheet group. It should be noted that 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 to perform molding. When the size of the target sheet is changed, the sheet group placed on the mounting table is a sheet group of another type selected from a plurality of types of sheet groups (sheets previously placed on the mounting table. Sheet group consisting of sheets having different vertical dimensions and horizontal dimensions).

By the way, one type of sheet group selected from a plurality of types of sheet groups is placed on the mounting table so that the position of the center line of the sheet group is constant regardless of the type of the selected sheet group. It is placed on the table. Specifically, the sheet group is placed on the placing table so that the center line of the sheet group passes through a certain position in the central region of the placing table. This is for stably mounting the sheet group on the mounting table. The mounting table is arranged at a fixed position regardless of the type of sheet 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 placed at the measurement position is changed. On the other hand, in the above-described sheet transfer device, whether the number of sheets adsorbed by the adsorption device is one 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 above-described sheet transfer device, when the type of the sheet group placed on the mounting table is changed, when the sheets forming the changed sheet group are arranged at the measurement position, It has been necessary to change the position of the sheet detection device so that the edge of the sheet can be sandwiched between the upper contact portion and the lower contact portion of the sheet detection device. It was troublesome to perform such work every time the type of the 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, the type of the sheet group placed on the placing table is changed, and the position of the end portion of the sheet when the sheet is placed at the measurement position is Even if the sheet thickness 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). An object is to provide a transfer device.

One aspect of the present invention is a mounting table for mounting a sheet group composed of a plurality of rectangular sheets having the same size and stacked vertically in the vertical direction, and the upper surface of the sheet located at the uppermost position on the mounting table. A suction device that holds the sheet by adsorbing to the sheet, a moving device that moves the suction device in a vertical direction and a direction orthogonal to this, and a sheet thickness measurement that measures the thickness of the sheet held by the suction device And a suction device that sucks and holds the sheet on the mounting table, and the sheet held by the suction device is preset by moving the suction device upward by the moving device. A sheet transfer device for measuring the thickness of the sheet by the sheet thickness measuring device in a state of being placed at the measurement position, wherein the sheet thickness measuring device contacts the upper surface of the sheet placed at the measuring position. An upper contact portion fixed to the upper contact position and a lower contact portion which is a rotating member that rotates around an axis of rotation and is capable of contacting the lower surface of the sheet arranged at the measurement position. And a contact displacement sensor having a sensor displacement portion, wherein the rotation member is a period in which the sheet held by the suction device moves upward toward the measurement position. Inside, the sheet is located at a retracted position that does not hinder the movement of the sheet, and when the sheet is placed at the measurement position, the rotational movement causes the downward contact portion to contact the lower surface of the sheet. A rotating member that is moved to a contact position and sandwiches the sheet between the upper contact portion and the lower contact portion, and is separated from the sensor displacement portion when the rotating member is located at the retracted position. When the lower contact portion moves to the lower contact position and sandwiches the sheet between the upper contact portion and the lower contact portion, the lower contact portion contacts the sensor displacement portion and the sensor displacement portion. A sensor contact portion that displaces the sensor contact portion that changes the amount of displacement of the sensor displacement portion 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 a thickness of the sheet based on a displacement amount of the sensor displacement unit when the sheet is sandwiched between the upper contact portion and the lower contact portion. A plurality of types of sheets having different sizes of the sheets that form the sheet group, as the sheet group that is mounted on the mounting table. There is a group, and one type of the sheet group selected from the plurality of types of sheet groups 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 sheet groups are placed on the mounting table, and the plurality of types of sheets include two or more types of sheet groups having different longitudinal and lateral dimensions of the sheets, and the upper contact The upper contact position where the part is fixed is the upper surface of the sheet even when any one of the plurality of types of sheets that configures the plurality of types of sheet groups is arranged at the measurement position. When the any one of the plurality of types of sheets forming the plurality of types of the sheet group is arranged at the measurement position, the arm portion of the rotating member is located at the measurement position. Also in the above, a sheet having a length such that the lower contact portion moved to the lower contact position contacts the lower surface of the sheet, and the sheet can be sandwiched between the lower contact portion and the upper contact portion. It is a transfer device.

The above-described sheet transfer device includes a mounting table, a suction device, a moving device, and a sheet thickness measuring device. On the mounting table, a sheet group including a plurality of rectangular-shaped sheets of the same size stacked vertically is placed. In this sheet transfer device, the sheet held by the suction device is set in advance by moving the suction device that has sucked and held 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 includes an upper contact portion fixed at an upper contact position that contacts an upper surface of a sheet arranged at a measurement position, a rotary member that rotates around a rotation axis, and a contact displacement including a sensor displacement portion. And a sensor. The rotating member has an arm portion. The arm portion includes a lower contact portion capable of contacting the lower surface of the sheet arranged at the measurement position, on the tip side of the arm portion. The arm portion has, for example, a shape that extends 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 at the retracted position that does not hinder the movement of the sheet held by the suction device during the upward movement (directly above) toward 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 where it contacts the lower surface of the seat by the rotational movement, and the seat is placed between the upper contact portion and the lower contact portion. Sandwich.

Further, the rotating member has a sensor contact portion that is capable of contacting a sensor displacement portion (a portion that is displaced by a contact from outside) of the contact displacement sensor. The sensor contact portion is separated from the sensor displacement portion when the rotating member is located at the retracted position, and the lower contact portion moves to the lower contact position so that it is located between the upper contact portion and the lower contact portion. When sandwiching the sheet, the sensor displacement portion is displaced by contacting the sensor displacement portion.

Specifically, the sensor contact portion changes the amount of displacement of the sensor displacement portion according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion. Specifically, since the rotational movement amount of the rotating member changes according to the thickness of the sheet sandwiched between the upper contact portion and the lower contact portion, the rotational movement amount of the sensor contact portion also changes. Therefore, the position of the sensor contact portion with respect to the sensor displacement portion (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 same as the position of the upper contact portion and the lower contact portion. Fluctuates depending on the thickness of the sheet sandwiched between. Accordingly, the sensor contact portion can change the 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-described 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. Specifically, the thickness calculation unit inputs a previously calculated thickness calculation formula, and the sensor displacement when the sheet is sandwiched between the upper contact unit and the lower contact unit is input to this thickness calculation formula. The thickness of the sheet is calculated by inputting the value of the displacement amount of the portion. The thickness calculation formula can be obtained as follows, for example. Specifically, first, the displacement amount of the sensor displacement portion when the rotating member is rotationally moved to bring the upper contact portion and the lower contact portion into contact with each other in the absence of the sheet is 0 reference (sheet thickness=0). And 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 is obtained, the thickness calculation formula can be obtained.

By the way, the sheet transfer device described above is configured to transfer a plurality of types of sheets having different sizes. Therefore, as a group of sheets to be placed on the mounting table, there are a plurality of types of sheet groups having different sheet dimensions (at least one of the vertical dimension, the horizontal dimension, and the thickness dimension) that form the sheet group. To do. Here, "there are a plurality of types of sheet groups in which the dimensions of the sheets that form 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 that configure the sheet group. Means that there are a plurality of types of sheet groups different from other sheet 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 that form 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, the position of the center line of the sheet group (a line that extends straight in the up-down direction through the centers of the plurality of sheets that form the sheet group) is fixed regardless of the type of the selected sheet group. Then, it is mounted on the mounting table. For example, regardless of the type of sheet group, the sheet group is placed on the placing table so that the center line of the sheet group passes through a fixed position in the central region of the placing table. The mounting table is arranged at a fixed position regardless of the type of sheet group. As a result, any of the sheet groups is placed on the placing table such 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 in a top view.

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

On the other hand, in the above-described sheet transfer device, the upper contact position at which the upper contact portion is fixed is set to any one of a plurality of types of sheets (that is, sheets having different sizes) that form a plurality of types of sheet groups. Even when the sheet is arranged at the measurement position, the position is such that it can contact the upper surface of the sheet. That is, in the above-described sheet transfer device, the position of the end portion of the sheet when it is placed at the measurement position may change due to a change in the type of the transferred sheet, but the upper contact portion is It is fixed at a position (upper contact position) where it can contact the upper surface of any of the sheets arranged at that position.

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

Further, in the above-described sheet transfer device, the arm portion of the rotating member is arranged such that any one of a plurality of types of sheets (that is, sheets having different dimensions) forming a plurality of types of sheet groups is arranged at the measurement position. Even in such a case, the lower contact portion that has 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-described sheet transfer device, the position of the end portion of the sheet when the sheet is placed at the measurement position may change due to a change in the type of the transferred sheet, but the arm portion of the rotating member , The lower contact portion located on the leading end side is 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. Have

For example, for a sheet having the smallest lateral dimension, the lower contact portion comes into contact with the lower surface of the end portion (lateral end portion) of the sheet (a position facing the upper contact portion with the sheet interposed therebetween), For a sheet with a lateral dimension larger than that of the sheet, in the lateral direction of the sheet, rotation that touches the lower surface of the part closer to the center than the edge (the position facing the upper contact part with the sheet in between) The length of the arm of the member. In this case, the position of the lower contact portion in the vertical direction of the sheet may be a position where it contacts the lower surface of the central portion of the sheet (a position facing the upper contact portion with the sheet sandwiched therebetween). In the case of this example, the arm portion extends in the lateral direction of the seat when 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 of the seat). (Extending in the horizontal direction).

Therefore, according to the above-described sheet transfer device, even when the type of the sheet group placed on the placing table is changed and the position of the end portion of the sheet when the sheet is placed at the measurement position is changed, The sheet thickness measuring device can measure the thickness of the sheet 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).

Note that, of the directions in which the suction device is moved by the moving device, the direction orthogonal to the vertical direction is, for example, the direction that matches the vertical or horizontal direction of the rectangular sheet placed on the mounting table.

Further, in the above-described 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 to be transferred. It is preferable that the sheet transfer apparatus includes a determination unit that determines whether or not the sheet transfer apparatus is provided.

In the above-described sheet transfer device, when the suction device sucks the upper surface of the sheet on the mounting table to hold the sheet, two or more sheets may be held by the suction device in an overlapping state. In addition, a sheet having a different thickness from the sheet determined as the transfer target (that is, the sheet determined as the sheet to be transferred) may be 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-described sheet transfer apparatus, the thickness of the sheet calculated by the thickness calculation unit (this is the calculated sheet thickness value) is the thickness of one sheet determined as the transfer target. A determination unit that determines whether or not it is provided. As a result, in the above-described sheet transfer device, the thickness of the sheet sucked and held by the suction device is equal to the thickness of one sheet determined as the transfer target (that is, the sheet to be transferred). It can be determined whether or not there is. In other words, it is possible to determine whether or not the sheet sucked and held by the suction device is the one sheet determined as the transfer target. Therefore, in the above-described sheet transfer device, when two or more sheets are held by the suction device in an overlapping state, or a sheet having a different thickness from the sheet determined as the transfer target is erroneously placed on the mounting table. It is possible to detect that one sheet determined as a transfer target is not adsorbed and held by the adsorbing device (abnormality), for example, when it is placed on.

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

Further, in the above-described sheet transfer device, when the determination unit determines that the calculated sheet thickness is not the thickness of one sheet, the sheet is sucked 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 mounting table, and then, again, The suction device holds the sheet by suctioning the upper surface of the uppermost sheet on the mounting table, and the suction device is moved upward by the moving device to be held by the suction device. The sheet transfer device may measure the thickness of the sheet with the sheet thickness measuring device in a state where the sheet is placed at the measurement position.

When the determination unit determines that the calculated sheet thickness is not the thickness of one sheet, the sheet transfer apparatus described above moves the suction apparatus, which holds the sheet by suction, downward (directly below the moving apparatus). ) The sheet is moved to release the sheet 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 suctions the upper surface of the uppermost sheet on the mounting table to hold the sheet, and the suction device moves upward (immediately above) by the moving device to hold it by the suction device. The thickness of the sheet is measured by the sheet thickness measuring device in a state where the sheet is placed at the measurement position.

In the above-described sheet transfer device, such a series of operations is performed until the determination unit determines that the calculated sheet thickness value is the thickness of one sheet. In addition, when the determination unit determines that the calculated sheet thickness value is the thickness of one sheet, the suction device that sucks and holds one sheet by the movement device moves The sheet is moved to the transfer place to release the sheet from adsorption by the adsorption device. As a result, the sheets placed on the placing table can be moved one by one to a 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 concerning an embodiment. It is explanatory drawing of the sheet transfer apparatus. It is another explanatory view of the sheet transfer device. It is another explanatory view of the sheet transfer device. It is another explanatory view of the sheet transfer device. It is another explanatory view of the sheet transfer device. It is another explanatory view of the sheet transfer device. It is another explanatory view of the sheet transfer device.

Next, embodiments 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, in which the vertical dimension Y (dimension in the vertical direction DA) and the horizontal direction of the sheet SH to be transferred by the sheet transfer device 1 are illustrated. It is explanatory drawing when the sheet|seat 5 with the largest dimension X (dimension of horizontal direction DB) is a transfer target. 2 to 5 are enlarged front views of the sheet transfer device 1. FIG. 6 is an enlarged top view of the sheet transfer device 1. However, in FIG. 6, the mounting table 20, the suction device 30, the moving device 40, and the like are omitted. 7 and 8 are explanatory diagrams of the sheet transfer device 1 according to the embodiment, and of the sheets SH to be transferred by the sheet transfer device 1, the sheet 105 having the smallest vertical dimension Y and horizontal dimension X. FIG. 3 is an explanatory diagram when is targeted for transfer. Of these, FIG. 7 is an enlarged front view of the sheet transfer device 1. FIG. 8 is an enlarged top view of the sheet transfer device 1. However, in FIG. 8, the mounting table 20, the suction device 30, the moving device 40, and the like are omitted.

Hereinafter, the sheet transfer device 1 of the present embodiment will be described in detail. Here, a case will be mainly described as an example where the sheet 5 having the largest vertical dimension Y and horizontal dimension X among the sheets SH to be transferred by the sheet transfer apparatus 1 is the transfer target. .. 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 of the same size (sheet SH, which are straightly stacked in the vertical direction D1 via the pallet 6). A sheet group 10 (sheet group SG) composed of () is placed. A sheet group consisting of a plurality of sheets SH 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 contacts the side surface 10c of the sheet group 10 mounted on the mounting surface 20b, and the sheet group 10 (a plurality of sheets forming the sheet group 10 is formed. Of the sheet 5) of FIG. Two support members 21 are provided for each of the four side surfaces 10c of the sheet group 10. These support members 21 are arranged in the left-right direction D2 (in the lateral direction DB of the sheet SH in accordance with the size (vertical dimension Y and lateral dimension X) of the sheet 5 placed on the placing surface 20b of the placing table 20. It can be moved in the same direction) or in the front-back direction D3 (direction orthogonal to the paper surface in FIGS. 2 and 3). Thereby, when the sheet transfer device 1 is operated, each support member 21 is arranged at a position in contact with the side surface of the sheet group SG placed on the placement surface 20b of the placement table 20, and The side surface of the sheet group SG is supported by the supporting member 21 of.

The suction device 30 has a plurality (eight in this embodiment) of suction pads 31 that suction the sheets SH (sheet 5 and the like). Of the eight suction pads 31, four suction pads 31b are located on the side close to the center line CL3 of the suction device 30, and in a top view, four corners of a rectangle whose diagonal lines intersect at the position of the center line CL3. It is fixed in position. The remaining four suction pads 31c are located outside the fixed four suction pads 31b with respect to the center line CL3 of the suction device 30, and the size of the sheet SH (vertical dimension Y and lateral dimension X). ), it is movable in the left-right direction D2 (direction matching the lateral direction DB of the sheet SH) and the front-rear direction D3 (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 lateral dimension X) of the sheet SH to be transferred so that the four suction pads 31c are attracted to the portions near the four corners of the sheet SH.

The adsorption device 30 adsorbs the sheet 5 on the uppermost surface (upward direction D11) 5b of the mounting table 20 and holds the sheet 5 (see FIG. 2). Specifically, in a state where the eight suction pads 31 are in contact with the upper surface 5b of the sheet 5 located on the uppermost position (upward direction D11) on the mounting table 20, a vacuum device (not shown) provides eight suction pads 31. The inside of 31 is decompressed. As a result, the eight suction pads 31 are sucked onto the upper surface 5b of the sheet 5 located on the uppermost position (upward direction D11) on the mounting table 20 (see FIG. 2). By maintaining the reduced pressure state in the eight suction pads 31, the suction device 30 can suction and hold the sheet 5 located on 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 up-down direction D1 and the direction orthogonal to this (in the present embodiment, the left-right direction D2). The moving device 40 includes a servo motor 41 for moving the suction device 30 in the vertical direction D1 and a servo motor 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 holds the sheet SH (sheet 5 or the like) on the mounting table 20 by suction is moved upward (directly above, 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) by the sheet thickness measuring device 50 in this state. The thickness of the sheet 5) is measured (see FIG. 3).

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

4 and 5 are enlarged views of the portion B of FIG. However, FIG. 4 illustrates a state in which the rotating member 56 is arranged at the retracted position that does not prevent the sheet 5 held by the suction device 30 from moving 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 where it contacts the lower surface 5c of the seat 5, and the lower contact portion 52 contacts the upper contact portion 52. The state where 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 portion (end portion in the left direction D22) of the fixed arm 51 extending in the left-right direction D2. The fixed arm 51 is fixed to the frame 80 of the sheet transfer device 1 via a bracket 81 (see FIGS. 4 and 5).

Further, the contact displacement sensor 58 has a housing 58c and a sensor displacement portion 58b (spindle) which is displaced by a 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 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 contact displacement sensor 58 is GT-H10 manufactured by Keyence Corporation.

The air cylinder 59 also includes a cylinder tube 59b and a piston rod 59c. The cylinder tube 59b is attached to the bracket 81 so as to be rotatable around the rotation shaft 82. The tip end of the piston rod 59c is attached to the rotating member 56. Accordingly, by rotating the piston rod 59c of the air cylinder 59 in the axial direction, the rotating member 56 can be rotated around the rotating shaft 53.

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

The rotating member 56 is configured such that the sheet 5 held by the suction device 30 (the sheet 5 placed on the placing table 20) moves in the upward direction D11 (directly above) toward the measurement position PS, The seat 5 is arranged at a retracted position (position shown in FIG. 4) that does not hinder the movement of the seat 5. The rotating member 56 can be arranged at the retracted position (the position shown in FIG. 4) by setting the air cylinder 59 to the shortest position. Then, while the sheet 5 held by the suction device 30 is placed at the measurement position PS, the air cylinder 59 is extended to rotate the rotary member 56 clockwise. 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 (the position shown in FIG. 5) in contact with the lower surface 5c of the seat 5, and the lower contact portion 52 is contacted with the upper contact portion 52. The sheet 5 is sandwiched between the sheet 57 and the portion 57.

Further, the rotating member 56 has a sensor contact portion 55b capable of contacting the tip (end portion in the left direction D22) of the sensor displacement portion 58b of the contact displacement sensor 58. The sensor contact portion 55b is the tip of the second arm portion 55. The sensor contact portion 55b is separated from the sensor displacement portion 58b when the rotary member 56 is located at the retracted position (position shown in FIG. 4), and the lower contact portion 57 is located at the lower contact position (see FIG. 5). When the sheet 5 is sandwiched between the upper contact portion 52 and the lower contact portion 57 by moving to the position (shown), the sensor displacement portion 58b is contacted (the sensor displacement portion 58b is pushed in the right direction D21) to cause the sensor displacement. The portion 58b is displaced rightward D21.

Specifically, the sensor contact portion 55b of the second arm portion 55 has a sensor displacement portion 58b of the sensor displacement portion 58b depending on the thickness of the sheet SH (sheet 5 or the like) sandwiched between the upper contact portion 52 and the lower contact portion 57. Different amount of displacement. Specifically, depending on the thickness of the sheet SH sandwiched between the upper contact portion 52 and the lower contact portion 57, the retracted position until the lower contact portion 57 moves to the lower contact position (the position shown in FIG. 5). Since the rotational movement amount of the rotating member 56 from the (position shown in FIG. 4) varies, the rotational movement amount of the second arm portion 55 having the sensor contact portion 55b also varies.

Therefore, when the sheet SH is sandwiched between the upper contact portion 52 and the lower contact portion 57, the position of the sensor contact portion 55b with respect to the sensor displacement portion 58b (the position in the displacement direction of the sensor displacement portion 58b) is the upper contact. It varies depending on the thickness of the sheet SH (sheet 5 or the like) sandwiched between the portion 52 and the lower contact portion 57. As a result, the sensor contact portion 55b can change the displacement amount of the sensor displacement portion 58b 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 pressure reduction inside the suction pad 31 of the suction device 30 connected to a vacuum device (not shown), and causes the suction pad 31 to suck the sheet SH. Further, the control device 60 controls the decompression inside the suction pad 31 (open to the atmosphere) to release the sheet SH from the suction pad 31.

The control device 60 also 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 servo motor 42 of the moving device 40 is performed to control the movement of the suction device 30 in the left-right direction D2. The control device 60 also controls the expansion and contraction of the air cylinder 59 to control the rotation of the rotating member 56.

Further, the control device 60 controls the 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 calculated (see FIG. 1). Specifically, the thickness calculation unit 61 stores a thickness calculation formula obtained in advance. 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 is input to this thickness calculation formula, so that the thickness calculator 61 calculates the sheet SH with respect to the sheet SH. The thickness is calculated.

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

By the way, the sheet transfer apparatus 1 of the present embodiment is configured to transfer a plurality of types of sheets SH having different dimensions (at least one of the vertical dimension Y, the horizontal dimension X, and the thickness dimension). It is configured. Therefore, as the sheet group SG to be placed on the placing surface 20b of the placing table 20, the dimensions (at least one of the dimension of the vertical dimension Y, the lateral dimension X, and the thickness dimension) of the sheets SH forming the sheet group SG. ), there are a plurality of types of sheet groups SG different from each other. Here, "there is a plurality of types of sheet groups SG having mutually different sizes of the sheets SH forming the sheet group SG" means that the sheet SH forming the sheet group SG has a vertical dimension Y, a horizontal dimension X, and a thickness dimension. It means that there are a plurality of types of sheet groups SG in which at least one of the dimensions is different from the other sheet groups SG. Therefore, each sheet group SG is different from the other sheet groups SG in at least one of the vertical dimension Y, the horizontal dimension X, and the thickness dimension of the sheets SH forming the sheet group SG.

Moreover, in the plurality of types of sheet groups SG, the vertical dimension Y (the dimension in the vertical direction DA, see FIG. 6) and the horizontal dimension X (the dimension in the horizontal direction DB, see FIG. 6) of the sheets SH that make up the sheet group SG are provided. Two or more types of sheet groups SG different from each other (at least two types of sheet groups SG) are included. Specifically, the sheet group SG includes a sheet group 10 (see FIGS. 1 to 6) including a sheet 5 having the largest vertical dimension Y and lateral dimension X, and a sheet 105 having the smallest vertical dimension Y and lateral dimension X. There are sheet groups 110 (see FIGS. 7 and 8) and the like. The sheet group 10 and the sheet group 110 are two types of sheet groups SG having different vertical dimensions Y and horizontal dimensions X of the sheets SH that form the sheet group SG.

Then, on the mounting surface 20b of the mounting table 20, one type of sheet group SG (sheet group 10, sheet group 110, etc.) selected from a plurality of types of sheet groups SG is placed. Specifically, regardless of the type of the selected sheet group SG, the position of the center line CL1 of the sheet group SG (a line that extends straight through in the vertical direction D1 through the centers of the plurality of sheets SH forming the sheet group SG) is determined. It is mounted on the mounting surface 20b of the mounting table 20 so as to be at a fixed position. For example, the sheet group 10 or 110 is mounted on the mounting table 20 so that the position of the center line CL1 of the sheet group 10 shown in FIG. 3 and the position of the center line CL1 of the sheet group 110 shown in FIG. It is placed on the surface 20b.

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

Note that FIG. 6 is a top view of the sheet transfer device 1 in which the sheet group 10 as the sheet group SG is placed on the placing surface 20b of the placing table 20. FIG. 8 is a top view of the sheet transfer device 1 in which the sheet group 110 as the sheet group SG is placed on the placing surface 20b of the placing table 20. However, in FIGS. 6 and 8, illustration of the mounting table 20, the suction device 30, the moving device 40, and the like is omitted. As shown in FIGS. 6 and 8, for both the sheet groups 10 and 110, the center of the sheet groups 10 and 110 with respect to the upper contact portion 52 in the center line CL1 of the sheet groups 10 and 110 is the same in a top view. It is placed on the placing surface 20b (see FIGS. 6 and 8).

In the embodiment, 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 (direction orthogonal to the up-down direction D1 and the left-right direction D2) regardless of the type of the seat group SG. The sheet groups SG are placed on the placing surface 20b of the placing table 20 so as to be equal (see FIGS. 6 and 8). Further, in the present embodiment, the lateral direction DB of the sheet SH is equal to the lateral direction D2 of the sheet transfer device 1, and the longitudinal direction 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 placing surface 20b of the placing table 20 (see FIGS. 6 and 8).

Therefore, in the sheet transfer apparatus 1 of the present embodiment, the type of the sheet group SG placed on the placing table 20 is changed (that is, the type of the sheet SH to be transferred is changed. ), the position of the edge of the sheet SH when the sheet SH is placed at the measurement position PS (for example, the position of the edge 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 group SG is placed on the mounting table 20 so that the position of the center line CL1 of the sheet group SG is a fixed position. In addition, since the sheet SH on the mounting table 20 is arranged at the measurement position PS by moving in the upward direction D11 (directly above), the plurality of types of sheets SH to be transferred have respective center lines CL2. The measurement positions PS are arranged so that the positions are equal. Therefore, when two types of sheets SH having different vertical dimensions Y and horizontal dimensions X are arranged at the measurement position PS, the positions of the end portions of the sheets SH are different from each other. For example, as can be seen by comparing FIG. 3 and FIG. 7, the position of the right end portion 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 located on the left side (the position in the left direction D22) of the position of the right end portion of the sheet 5 when the sheet 5 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 at a plurality of types of sheets SH (that is, the vertical dimension Y, which constitutes the plurality of types of sheet groups SG). Even when any of the sheets SH of which at least one of the lateral dimension X and the thickness dimension is different) is arranged at the measurement position PS, it is set to a position where it can come into 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 edge of the sheet SH when placed at the measurement position PS may change due to the change of the type of the sheet SH to be transferred, The upper contact portion 52 is fixed to a position (upper contact position) that can contact the upper surface of any of the sheets 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 for the sheet 105 having the smallest lateral dimension X (see FIGS. 7 and 8). ), for a sheet SH (such as the sheet 5) having a lateral dimension X larger than this, the center line CL2 (center of the sheet SH) in the left-right direction D2 (corresponding to the lateral direction DB of the sheet SH) rather than the right end portion. It is fixed at a position (upper contact position) that comes into contact with the upper surface of the portion on the side of line CL2) (see FIGS. 3 and 6).

Furthermore, in the sheet transfer device 1 of the present embodiment, the first arm portion 54 of the rotating member 56 is one of the plurality of types of sheets SH (that is, sheets SH having different sizes) that form the plurality of types of sheet groups SG. Whichever sheet SH is placed at the measurement position PS, the lower contact portion 57 that has moved to the lower contact position comes into contact with the lower surface of the sheet SH, and the sheet is placed 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 edge of the sheet SH when placed at the measurement position PS may change due to the change of 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 of the sheets SH arranged at the measurement position PS, and the lower contact portion 57 is formed. The sheet SH has a length such that the sheet SH can 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 has the lower surface 105c (the upper contact portion with the sheet 105 interposed therebetween) at the right end portion (the end portion in the right direction D21) of the sheet 105. The sheet SH (sheet 5 or the like) having a lateral dimension X larger than that (see a position facing the sheet 52) (see FIG. 7 and FIG. 8) is aligned with the left-right direction D2 (the lateral direction DB of the sheet SH). The length of the first arm portion 54 of the rotating member 56 that makes contact with the lower surface of the portion closer to the center line CL2 than the right end portion (position facing the upper contact portion 52 with the sheet SH interposed therebetween). I am sorry. In the first arm portion 54, when the lower contact portion 57 is moved to the lower contact position and is in contact with the lower surface of the sheet SH arranged at the measurement position PS, the lateral direction DB of the sheet SH ( It has a shape extending in the left-right direction D2) (extending in the lateral direction DB of the sheet SH from the outside of the sheet SH toward the center line CL2 side) (see FIGS. 6 and 8).

Therefore, according to the sheet transfer apparatus 1 of the present embodiment, the type of the sheet group SG placed on the placing table 20 is changed, and the end of the sheet SH when the sheet SH is placed at the measurement position PS is changed. Even if the position of the sheet changes, 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). The SH thickness can be measured.

By the way, in the sheet transfer device 1 of the present embodiment, when the suction device 30 sucks onto the upper surface of the sheet SH on the mounting table 20 to hold the sheet SH, two or more sheets SH are suctioned in an overlapping state. It may be retained by the device 30. Further, the sheet group SG including the sheets SH having a different thickness from 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 may be placed. Here, the sheet SH determined as the transfer target is the sheet SH determined as the transfer target of the sheet transfer apparatus 1, and should be transferred by the sheet transfer apparatus 1 to a target transfer location. The sheet SH is determined as the 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 the sheet thickness calculated value) is the transfer target. It is determined whether or not the thickness of the formed sheet SH is one sheet” (see FIG. 1). As a result, in the sheet transfer device 1 of the present embodiment, the thickness of the sheet SH sucked and held by the suction device 30 is determined as the transfer target sheet SH (that is, the sheet SH to be transferred). It is possible to determine whether or not the thickness is one sheet. In other words, it is possible to determine whether or not the sheet SH sucked and held by the suction device 30 is the one sheet SH determined as the transfer target.

Therefore, in the sheet transfer device 1 of the present embodiment, two or more sheets SH are held by the suction device 30 in an overlapping state, or a sheet having a different thickness from 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 the one sheet SH determined as the transfer target (that is, Anomaly)" can be detected.

In the present embodiment, it is determined as follows whether or not the calculated sheet thickness 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 a transfer target. In addition, it is preferable that the thickness (thickness dimension) of one sheet SH is a dimension range having a certain range in consideration of manufacturing error and the like. Then, in the determination unit 62, whether or not the calculated sheet thickness value calculated by the thickness calculation unit 61 is the stored thickness of one sheet SH (for example, whether or not it is within the dimension range). It is determined whether or not the calculated sheet thickness is the thickness of one sheet SH determined as a transfer target.

Further, in the sheet transfer device 1 of the present embodiment, when the determination unit 62 determines that the calculated sheet thickness value is not the thickness of one sheet SH that is determined as the transfer target, the control device 60 of the control device 60 performs the following. By the 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 The sheet SH held by 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 suctions the upper surface of the sheet SH positioned on the mounting table 20 to hold the sheet SH, and the suction device 30 is moved upward by the moving device 40 (upward direction D11, directly above). The sheet SH held by the suction device 30 is placed at the measurement position PS by moving the sheet to 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, such a series of operations is determined by the determination unit 62 as the calculated sheet thickness value being the thickness of one sheet SH determined as the transfer target. Do it until When the determination unit 62 determines that the calculated sheet thickness value is the thickness of one sheet SH that has been determined as the transfer target, it is determined as the transfer target by the movement of the moving device 40. The suction device 30 that suctions and holds another single sheet SH is moved to the target transfer location, and the sheet SH is released from the suction by the suction device 30. As a result, the sheets SH placed on the placing table 20 can be moved one by one to the target transfer location.

In the present embodiment, the target transfer location is the upstream end of the conveyor 70 that conveys the sheet SH to the thermoforming device (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 device (not shown). The sheet SH conveyed to a thermoforming device (not shown) is thermoformed into a predetermined shape.

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

First, in a state where the sheet group SG (sheet group 10) including the plurality of sheets SH (sheet 5) is placed on the placing surface 20b of the placing table 20, the servo motor of the moving device 40 is controlled by the control device 60. 41 is controlled to move the suction device 30 in the downward direction D12, and the suction pad 31 of the suction device 30 is moved to the upper surface of the uppermost sheet SH on the mounting table 20 (the upper surface 5b of the sheet 5). (See FIG. 2).

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

Next, with the suction pad 31 of the suction device 30 in contact with the upper surface 5b of the uppermost sheet 5 on the mounting table 20, the pressure reduction in the suction pad 31 of the suction device 30 is performed by the control of the control device 60. (Evacuate). As a result, the sheet 5 is sucked and held by the suction pad 31 of the suction device 30.

Next, the servo motor 41 of the moving device 40 is driven by the control of the control device 60, the suction device 30 is moved in the upward direction D11 by a certain distance, and the driving of the servo motor 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, the expansion/contraction operation of the air cylinder 33 of the suction device 30 is continuously repeated under the control of the control device 60, and four of the five suction pads 31 of the eight suction pads 31 of the suction device 30 are provided. The four suction pads 31c that are suctioned to the parts close to one corner are vibrated in the vertical direction D1.

As a result, the peripheral portion of the sheet 5 adsorbed by the eight adsorption pads 31 of the adsorption 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 sheet 5 that is not directly sucked by the suction pad 31 (directly sucked by the suction pad 31). The other sheet 5 attached to the one sheet 5) is separated from the one sheet 5 directly sucked by the suction pad 31 and returned to the sheet group 10 on the mounting table 20 ( It is possible to drop).

After that, by driving the servo motor 41 of the moving device 40, the suction device 30 that suctions and holds the sheet SH (sheet 5) is further moved in the upward direction D11, and the sheet SH held by the suction device 30 is moved. The (sheet 5) is arranged 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, while the sheet SH (sheet 5) held by the suction device 30 is placed at the measurement position PS, the air cylinder 59 is extended by the control of the control device 60 to be placed at the standby 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 (the position shown in FIG. 5) that contacts the lower surface of the sheet SH (the lower surface 5c of the sheet 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 end portion 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 in the right direction D21. The displacement portion 58b is displaced in the right direction 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 , And 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 displacement sensor 58 is displaced by a distance corresponding to the thickness of the sheet SH (sheet 5) sandwiched between the upper contact portion 52 and the lower contact portion 57.

Next, in the thickness calculator 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 calculated value) of the sheet SH (sheet 5) calculated by the thickness calculation unit 61. ) Is one sheet 5 determined as a transfer target. Specifically, in the determination unit 62, whether or not the calculated sheet thickness value is the thickness of one sheet 5 stored in the determination unit 62 (for example, preset as the thickness of one sheet 5 is set in advance). It is determined whether the calculated value of the sheet thickness is the thickness of one sheet 5 or not.

When the determination unit 62 determines that the calculated sheet thickness is not the thickness of one sheet 5, the suction device 30 holding the sheet SH (sheet 5) is moved downward by the moving device 40 in the downward direction D12. The sheet SH (sheet 5) is moved to release the sheet SH (sheet 5) from adsorption by the adsorption device 30, and the sheet SH (sheet 5) held by the adsorption device 30 is placed on the mounting table 20 (on the mounting table 20). Return to the sheet group SG). Then, the suction device 30 suctions the upper surface 5b of the uppermost sheet 5 on the mounting table 20 to hold the sheet 5 again.

Next, with the moving device 40 moving the suction device 30 holding the sheet 5 in the upward direction D11 by a certain distance, the expansion/contraction operation of the air cylinder 33 of the suction device 30 is continuously repeated to obtain the sheet 5 By vibrating the four suction pads 31c that are adsorbed on the four corners of the sheet 5 in the vertical direction D1, the peripheral portion 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 because the sheet 5 is separated from the existing sheet 5 and returned to the sheet group 10 on the mounting table 20.

After that, the suction device 30 holding the sheet 5 is further moved in the upward direction 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 thickness of the sheet 5 held by the suction device 30 is measured by the sheet thickness measuring device 50. In the present embodiment, such a series of processes is performed until the determination unit 62 determines that the calculated sheet thickness 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 that holds one sheet 5 is driven by the servo motor 42 of the moving device 40. 30 is moved in the left direction D22, and the sheet 5 held by the suction device 30 is arranged above the upstream end (target transfer location) of the conveyor 70. In this state, the reduced pressure in the suction pad 31 of the suction device 30 is released (opened 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 (target transfer location). In this way, the sheets 5 placed on the placing table 20 can be moved one by one to the upstream end of the conveyor 70 (target transfer place).

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 including the plurality of sheets 5 is placed on the placing surface 20b of the placing table 20 has been described. .. However, even though the sheet 5 is determined as the transfer target of the sheet transfer apparatus 1, the sheet group SG including the sheet SH having a different thickness from the sheet 5 on the mounting surface 20b of the mounting table 20. Even when the error is placed by mistake, the error (abnormality) can be detected by performing the series of processes (operations) described above.

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 is not the thickness of one sheet 5. .. In such a case, it can be determined that the sheet group SG including the sheet SH having a thickness different from that of the sheet 5 is erroneously placed on the placing surface 20b of the placing table 20.

Next, among the sheets SH to be transferred by the sheet transfer apparatus 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 are placed on the mounting surface 20b of the mounting table 20. A case in which the sheet group 110 including the sheets 105 is placed will be described. That is, in the case where the sheet SH to be transferred by the sheet transfer device 1 is changed to the sheet 105 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 vertically stacked in the vertical direction D1 is placed on the placing surface 20b of the placing table 20 via the pallet 106 (see FIG. 7). ). It should be noted that the mounting table 20 is arranged at the same prescribed position as when the sheet group 10 was mounted. Further, the support member 21 is moved so that the side surface 110c of the sheet group 110 is supported by the support member 21 (see FIG. 7).

As a result, similar to the case where the sheet group 10 is placed, the sheet group is placed on the placing surface 20b of the placing table 20 so that the center line CL1 of the sheet group 110 passes through a certain position in the central region of the placing table 20. 110 is placed. As described above, in the sheet transfer device 1 of the present embodiment, the placement table 20 is placed so that the position of the center line CL1 of the sheet group SG is constant regardless of the type of the selected sheet group SG. It is placed on the placing surface 20b. Specifically, the sheet group 110 is mounted on the mounting surface 20b of the mounting table 20 such that the position of the center line CL1 of the sheet group 110 is equal to the position of the center line CL1 of the sheet group 10.

Next, as in the case of transferring the sheet 5 described above, the suction device 30 (suction pad 31) sucks and holds the sheet 105 placed on the mounting table 20. 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 portions near the four corners of the sheet 105 placed on the mounting table 20. (See FIG. 7).

Next, as in the case of transferring the sheet 5 described above, the moving device 40 moves the suction device 30 holding the sheet 105 in the upward direction D11 by a predetermined distance, and then the air cylinder 33 of the suction device 30. By continuously repeating the expansion and contraction operation of 4 to vibrate the four suction pads 31c that are suctioned to the portions near the four corners of the sheet 105 in the vertical direction D1, the peripheral edge of the sheet 105 is moved 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 in the upward direction D11 by the moving device 40, so that the sheet 5 held by the suction device 30 is moved. It is placed at the measurement position PS. Then, in this state, similarly to the above-described sheet 5, the sheet thickness measuring device 50 measures the thickness of the sheet 105 held by the suction device 30.

As described above, in the sheet transfer device 1 according to the present embodiment, the upper contact position where the upper contact portion 52 is fixed is determined by any one of the plurality of types of sheets SH forming the plurality of types of sheet groups SG. Even when SH is arranged at the measurement position PS, the position is such that it can contact the upper surface of the sheet SH. Further, the first arm portion 54 of the rotating member 56 has the lower contact position even when any one of the plurality of types of sheets SH forming the plurality of types of sheet groups SG is disposed at the measurement position PS. The lower contact portion 57 that has moved to contact the lower surface of the sheet SH, and has a length that enables the sheet SH to be sandwiched between the lower contact portion 57 and the upper contact portion 52.

As a result, even with respect to the sheet 105 having the smallest lateral dimension X among the plurality of types of sheets SH to be transferred by the sheet transfer apparatus 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 upper surface 105b (the end portion in the right direction D21), and the lower contact portion 57 is brought into contact with the lower surface 105c at the right end portion (the end portion in the right direction D21) to allow the upper contact portion 52 and the lower contact portion. By sandwiching the sheet 105 with the sheet 57, the thickness of the sheet 105 held by the suction device 30 can be measured.

As described above, according to the sheet transfer apparatus 1 of the present embodiment, the type of the sheet group SG placed on the placing table 20 is changed, and the sheet SH when the sheet SH is placed at the measurement position PS is obtained. Even when the position of the end portion of the sheet thickness measuring device 50 changes, the position of the sheet thickness measuring device 50 (specifically, the position of the upper contact part 52 and the position of the rotating shaft 53 of the rotating member 56) is not changed. Thus, the thickness of the sheet SH can be measured.

After that, similarly to the case of transferring the above-described sheet 5, it is determined whether the sheet 105 sucked and held by the suction device 30 is the one sheet 105 determined as the transfer target. To do. Specifically, in the determination unit 62 of the control device 60, whether or not the sheet thickness calculated value calculated by the thickness calculation unit 61 is the thickness of one sheet 105 (stored in the determination unit 62 in advance. It is determined whether or not the thickness dimension of one sheet 105 is present. When the determination unit 62 determines that the calculated sheet thickness is not the thickness of one sheet 105, the same processing as when transferring the above-described sheet 5 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 set to the same as in the case of transferring the sheet 5 described above. The sheet 105 held by the suction device 30 is moved to a position above the upstream end of the conveyer 70 (target transfer place), and the sheet 105 held on the suction device 30 is arranged at the upstream end (target transfer place) of the conveyor 70. To do. In this way, the sheets 105 placed on the placing table 20 can be moved one by one to the upstream end of the conveyor 70 (target transfer place).

Although the present invention has been described above according to the embodiment, it goes without saying that the present invention is not limited to the above embodiment and can be appropriately modified and applied without departing from the scope of the invention.

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 portion 53 rotating shaft 54 first arm portion 55b sensor contact portion 56 rotation Member 57 Lower contact portion 58 Contact displacement sensor 58b Sensor displacement portion 60 Control device 61 Thickness calculation portion 62 Judgment portion CL1 Sheet group center line 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 sheet group made up of a plurality of rectangular-shaped sheets stacked vertically in a vertical direction is mounted,
A suction device that holds the sheet by suction on the upper surface of the uppermost sheet on the mounting table,
A moving device for moving the suction device in the vertical direction and in a direction orthogonal to this;
A sheet thickness measuring device for measuring the thickness of the sheet held by the suction device,
By moving the suction device that sucked and held the sheet on the mounting table upward by the moving device, the sheet held by the suction device was placed at a preset measurement position. In the state, a sheet transfer device for measuring the thickness of the sheet by the sheet thickness measuring device,
The sheet thickness measuring device,
An upper contact portion fixed to an upper contact position that contacts the upper surface of the sheet arranged at the measurement position,
A rotating member that rotates around a rotating shaft, the rotating member having an arm portion provided on the tip side with a lower contact portion that is capable of contacting the lower surface of the sheet disposed at the measurement position,
A contact displacement sensor having a sensor displacement portion,
The rotating member is
During a period in which the sheet held by the suction device moves upward toward the measurement position, the sheet is located at a retracted position that does not hinder the movement of the sheet, and the sheet is arranged at the measurement position, By the rotational movement, the lower contact portion is moved to a lower contact position in contact with the lower surface of the sheet, a rotating member that sandwiches the sheet between the upper contact portion and the lower contact portion,
When the rotating member is located at the retracted 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 separated from each other. A sensor contact portion that displaces the sensor displacement portion by contacting the sensor displacement portion when the sheet is sandwiched between the sensor contact portion and the sheet sandwiched between the upper contact portion and the lower contact portion. A sensor contact portion for varying the displacement amount of the sensor displacement portion according to the thickness,
The sheet transfer device includes a thickness calculation unit that calculates a thickness of the sheet based on a 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 to be placed on the mounting table, there are a plurality of types of sheet groups having different sizes of the sheets forming the sheet group, and one type selected from the plurality of types of sheet groups. The sheet group of, regardless of the type of the selected sheet group, is placed on the mounting table so that the position of the center line of the sheet group is a constant position,
The plurality of types of sheet groups include two or more types of sheet groups having different vertical and horizontal dimensions of the sheets that form the sheet group,
The upper contact position where the upper contact portion is fixed, even when any of the sheets of the plurality of types of the sheet constituting the plurality of types of the sheet group is arranged at the measurement position, It is a position that can contact the upper surface of the seat,
The arm portion of the rotating member has moved to the lower contact position even when any one of the plurality of types of sheets forming the plurality of types of sheet groups is disposed at the measurement position. A sheet transfer device having a length such that the lower contact portion comes into contact with the lower surface of the sheet, and the sheet can be sandwiched between the lower contact portion and the upper contact portion. The sheet transfer device according to claim 1, wherein
Sheet transfer including a determination unit that determines whether or not the sheet thickness calculation value that is the thickness of the sheet calculated by the thickness calculation unit is the thickness of one sheet determined as the transfer target apparatus. 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 holding the sheet by suction is moved downward by the moving device to release the sheet from the suction by the suction device, and the sheet held by the suction device is moved forward. Put it back on the writing table,
After that, the suction device again suctions the upper surface of the sheet located on the uppermost position on the mounting table to hold the sheet, and the suction device is moved upward by the moving device to perform the suction. A sheet transfer device which 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 measurement position.

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