JPH012946A - Transfer position correction method for automatic sheet feeder - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

(And Industrial Application Fields The present invention is applicable to veneer veneer, veneer plywood, paperboard, synthetic resin board,
The transfer position in an automatic thin plate feeder that is designed to stack relatively thin and wide sheets such as metal plates, and then transfer them one by one onto a conveyor at the supply location using a suction transfer robot and feed them out. This invention relates to improvements in correction methods. (b) Prior art Regarding automatic feeding machines for thin sheets such as veneer veneers using this type of suction transfer robot, for example, the earlier patent application No. 1983-2
As disclosed in No. 72611 for an automatic assembly method for laminated veneer material or the invention for a method for lifting and lowering a suction head in an automatic sheet feeder in a patent application filed on June 11, 1986, [first arm and 4-axis horizontal multi-joint type, consisting of the S-axis consisting of the first motor, the T-axis and the U-axis consisting of the second arm and second motor, the L-axis consisting of the two-head rotation motor and the lifting motor. A suction transfer robot comprising a suction head connected to an exhaust device such as a fan or blower attached to the head of the robot is incorporated into a production line to pick up thin sheets or sheets arriving on a conveyor immediately below. Automatic feeding machines for thin sheets such as veneer veneers using a suction and transfer robot that sucks up accumulated thin sheets each time, transfers them onto a conveyor system that serves as a supply location, and feeds them out are well known. . C\) Problems to be solved by the invention The automatic feeding machine for thin sheets such as veneer veneers using a suction transfer robot according to the prior art described above is a machine that feeds thin sheets such as veneer veneers directly below the suction transfer robot that makes up the production line. This type of suction transfer is widely used because it is a simple suction transfer operation in which incoming thin plates or piles of thin plates are sucked each time and transferred onto a conveyor system that will serve as the next supply location. During work, there are horizontal and angular deviations in the direction of conveyance of thin plates arriving on a conveyor, as well as lateral and angular deviations in the direction of conveyance of relatively disorderly thin plates that have been dropped and piled by automatic stackers, etc. This appears as it is in the transfer state and conveyance state on the conveyor at the supply location, so it was necessary to correct the left and right positional deviations and angular deviations each time during the conveyance process in the subsequent stage. It is very difficult to automatically correct the lateral positional and angular deviations of this type of relatively thin and wide thin plate in the conveying direction while the edges are brought into contact with a ruler conveyor etc. during the conveying process. In general, this type of thin plate is weak, so not only does it run over or get caught in a ruler conveyor, etc., making it almost impossible to perform correction, but it also has to stop its conveyance each time and correct it automatically or manually. This method also has serious drawbacks such as greatly reducing process efficiency and requiring extra equipment, so the present invention eliminates the negative impact on subsequent processes of automatic sheet feeding machines in the prior art. In order to eliminate this, in the process of the prior suction and transfer operation by the suction and transfer robot, the left and right positional and angular deviations in the conveyance direction of the suction thin plate are corrected by the rotation mechanism and the already idle movement mechanism of the suction and transfer robot. By reusing the mechanism, this is automatically corrected each time, and the thin plate is always supplied onto the conveyor, which is the feeding location, with the position and angle accurately aligned with the conveyance reference line. This is what I did. (g) Means for solving the problem The present invention aims to eliminate the drawbacks of the automatic feeding machine for thin sheets such as veneer veneers using the suction transfer robot according to the prior art, by: a) removing the thin sheet on the top surface of the pile; activating the lifting gate mechanism of the suction transfer robot to adsorb the suction head to the suction head; b) activating the movement mechanism and rotation mechanism of the suction transfer robot to cause the suction thin plate adsorbed to the suction head; (second step); C) erecting the left and right positional and angular deviations with respect to the conveyance direction of the suction thin plate that has been horizontally moved to the top of the conveyor on the conveyance reference line of the conveyor; (third step); d) detecting the detected left and right positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line; and The suction thin plate is sent to a rotating mechanism and is superimposed on the final step of lowering and transferring the suction thin plate onto the conveyor by the lifting mechanism of the suction transfer robot to check the left and right positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line. In the process of the final downward transfer operation of the suction thin plate onto the conveyor by the normal suction transfer robot, the left and right positional deviations in the conveyance direction of the suction thin plate and the This is a method for correcting the transfer position in an automatic sheet feeder by means of reusing a moving mechanism and a rotating mechanism that are already in an idle state and simultaneously superimposing the angular deviation correction operation. (9) In the process of the final stage of lowering transfer operation of the suction thin plate onto the conveyor by a normal transfer robot consisting of the above-mentioned a) to d) of the present invention, the left and right position of the suction thin plate with respect to the conveyance direction 3A to 3D illustrate the automatic correction operation of the transfer position by means of reusing the moving mechanism and rotation mechanism that are already in an idle state and simultaneously superimposing the correction operation of the sliding and angular deviation. As shown in FIGS. 3A and 3B, in the first step, the suction head 2a attached to the head of the suction transfer robot 2 is moved to the lowering side and the upper side by the lifting mechanism 2b, as shown in FIGS. 3A and 3B. It is activated alternately to attract the thin plate 1a on the top surface. Next, in the second step, as shown in Fig. 3C, the suction sheet 1a that has been suctioned by the suction head 2a is transferred to the conveyor 3, which is the supply location, by simultaneously activating the moving mechanism 2C and the turning mechanism 2d of the suction transfer robot 2. Move it horizontally to the top. At this time, edge detectors 4a and 4b for detecting the edge line on one side of the thin suction plate 1a with respect to the conveying direction are placed on the side of the conveyor 3, which is the place where the thin suction plate 1a is supplied, on an arbitrarily set conveyance reference line. Since the edge detectors 4a and 4b are installed in a line, the third step in which the left and right positional and angular deviations of the suction thin plates [a] arriving directly below the conveyance reference line are respectively detected is carried out there. is formed. Then, the detection signals of the left and right positional deviation and angular deviation of the suction thin plate 1a with respect to the conveyance reference line detected in the third step are as follows:
As shown in FIG. 3D, the lifting mechanism 2b that is normally performed
is activated to the descending side to bring the suction head 2a directly close to the top of the conveyor 3, while cutting off the suction force and dropping the thin suction plate 1a onto the conveyor 3. The detection signal is sent again to the moving mechanism 2G and turning mechanism 2d of the suction transfer robot 2, which are already in an idle state, and is used again to correct the lateral positional and angular deviations of the suction thin plate 1a with respect to the conveyance reference line. Since it is activated,
The correction operation is carried out simultaneously as a fourth step by superimposing the left and right positional and angular deviations of the suction thin plate 1a with respect to the transport reference line in the process of the lowering and transferring operation of the lifting mechanism 2d at the final stage. As illustrated in FIG. 4, the thin plates transferred onto the conveyor 3 and supplied to the subsequent process are caused by left and right positional deviations 6a, 6b and angular deviations 7a, 7b with respect to the conveying direction of the initially existing suction thin plate 1a. This is corrected by diagonal movement as shown by the dashed arrow line at the stage of descent so that it is on a line centered on the conveyance reference line 5 or parallel to the arbitrarily set conveyance reference line. This allows the corrected thin plate to be supplied to subsequent processes as it is. 〜Example An automatic sheet feeder for carrying out the method for lifting and lowering a suction head according to the present invention is, for example, as shown in FIGS. Any device may be used as long as it is capable of delivering the sheets onto the conveyor 3 one by one.
Area 75cm x 75cm for adsorbing thin plate 1a of about cm
A suction head 2a of about 100 liters is attached. Although not shown in the drawings, the suction head 2a is equipped with an exhaust device such as a fan or blower, and an appropriate suction/exhaust control valve. The suction head 2a is moved to the moving machine groove 2C and the rotation mechanism 2d so that the suction head 2a is moved to a predetermined supply location 8 on the top of the moving machine groove 2C and the suction mechanism 2d is moved to a predetermined supply location 8 on the top of the suction device 3, and one transfer operation is completed by cutting off the suction, and the suction head 2a returns to the origin again. A suction transfer robot 2 attached to the head of the elevator @2b is equipped as an automatic thin plate feeding machine that is automatically controlled by a computer or the like. Next, various types of suction and transfer robots 2 can be used as the automatic thin plate feeder. For example, in the case of the four-axis horizontally articulated robot shown in the figure, the A turning machine consisting of an S axis constituted by a motor Sb, an L axis constituted by a second arm la and a second motor 1-b, a moving machine @2C consisting of the S axis and the L axis, a head turning motor, etc. It consists of a T-axis and a U-axis constituted by a groove 2d and a lifting mechanism 2b consisting of a motor or cylinder, etc., and the suction and transfer operation of the thin plates 1 and 1a is repeatedly carried out using a separately installed computer and built-in sensors. It is configured to do so. Therefore, the suction and transfer operation of the thin plate 1.1a by the suction and transfer robot 2 is performed by the U-axis lifting mechanism 2b.
vertical movement and S-axis. The first motor 3b of the L axis, the upper shaft, the second motor Lb, and the turning mechanism 2d perform the transfer and cutting operations from the stacking place of the thin plate 1 to the supply place 8 of the thin plate 1a in a superimposed manner, and especially in this case, In the process of the final downward transfer operation of the thin suction plate 1a onto the conveyor 3 by the normal suction transfer robot 2, correction of the horizontal positional deviation and angular deviation of the thin suction plate 1a with respect to the conveyance direction is carried out according to the invention. The method for correcting the transfer position in the automatic supply number of thin plates of ``means for reusing the moving machine groove 2C and the turning mechanism 2d which are already in an idle state and simultaneously superimposing the operation'' is based on the elevating mechanism 2b of the UIjlil. During the final downward transfer operation of the suction thin plate 1a onto the conveyor 3, the S-axis and L-axis moving mechanisms 2C and the T-axis turning mechanism 2
d, the device is designed so that the re-operation of movement and rotation for accurately correcting left and right positional deviations and angular deviations in the conveyance direction can be performed simultaneously and superimposedly as the correction operation of the suction @ thin plate 1a. I'll go. Additionally, the edge detectors 4a and 4b of the suction thin plate 1a installed on the conveyance reference line arbitrarily set on the side of the conveyor 3 are usually equipped with an industrial television camera or a magnetic scale equipped with a thin plate detection sensor at the tip. Edge detection of thin plate 1a such as
(One device 4a, 4b is installed parallel to each other at two locations in the transport direction (in the case of a television camera, two windows may be provided for one camera), and the edge detector 4a, 4b
The left and right positional deviations 6a, 6b and angular deviations 7a, 7b of the suction thin plate 1a arriving directly below the conveyance reference line 5 as illustrated in FIG. It is sent again to the mechanism 2C and the T-axis rotating mechanism 2d, and instead of the initial stage suction and lateral movement, the left and right positional deviations 6a, 6b and angular deviation 7a of the suction thin plate 1a are detected. The device is designed so that the correction operation 7b is performed again. Reference numeral 9 in the figure is an elevating table that detects the accumulation level with an appropriate sensor according to the feeding operation of the thin plate 1a, and sequentially pushes up the stack of the thin plate 1 to keep the top surface constant. A similar function can also be provided to the elevating mechanism 2b. g) Effects of the Invention As described above, the present invention has the following advantages: [During the final stage of lowering transfer operation of a suction thin plate onto a conveyor by a normal suction transfer robot, the right and left positions of the suction thin plate with respect to the conveyance direction are adjusted. A means of simultaneously superimposing and reusing a moving mechanism and a turning mechanism that are already in an idle state to perform correction operations for deviations and angular deviations.
This is necessary in the method of correcting the transfer position in an automatic sheet feeder, so when using the present invention, even a thin sheet that is relatively thin, wide, and generally has a weak stiffness can be moved horizontally to the left and right in the conveying direction by a ruler conveyor, etc. in a subsequent process. It is no longer necessary to forcibly correct the positional or angular deviation of the sheet, and it is possible to completely eliminate the troubles caused by the thin plate riding on the ruler conveyor, etc., or the thin plate getting caught in the ruler conveyor, etc., which were caused by this type of conventional correction method. In addition, there is no need to stop the conveyance operation of the conveyor etc. each time for correction work, and the correction operation is performed vertically during the final step of downward transfer operation by the normal suction transfer robot. There is no wasted time for the correction operation, and the correction operation falls during the idle period of the L-axis and T-axis of the suction transfer robot, and the movement mechanism of the axis and T-axis and the rotation opening groove are reused. This is a remarkable implementation effect that has achieved results that definitely contribute to the maintenance and improvement of the correction function and process efficiency, and has been achieved extremely economically.

[Brief explanation of the drawing]

The figures show an example of the implementation of the present invention, and FIG. 1 is a side view of an apparatus for implementing the method, FIG. 2 is a plan view, and FIGS. 3A to 3D are transfer positions of the method. FIG. 4 is an explanatory diagram of the process order of the correction operation, and is an explanatory diagram of the left and right positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line. 1.1a... Thin plate, 2... Suction transfer robot, 2a
... Suction head, 2b... Lifting mechanism, 2C... Moving mechanism, 2d... Turning mechanism, 3... Conveyor, 4a
. 4b... Edge detector, 5... Conveyance reference line, 6a, 6
b... Left and right position misalignment, 7a, 7b... Angle shift. Patent Applicant Hashimoto Electric Industry Co., Ltd. 2d 2b \no2d 2b Figure 4 Procedural Official Letter (voluntarily submitted) June 15, 1988 1. Indication of the case 1988 Patent Application No. 156211 2. Title of the invention Method 3 of correcting the transfer position in an automatic sheet feeder, relationship with the case of the person making the correction Full text of the patent applicant's specification. 5. Contents of the amendment Amended specification 1 as attached, Name of the invention Method for correcting the transfer position in an automatic thin plate feeder 2, Claims Activating the elevating mechanism of the transfer robot to suction the topmost thin plate in the pile. a first step in which the thin suction plate is adsorbed on the suction head in the first step, and the suction and transfer robot moves the suction and transfer robot horizontally to the top of the conveyor at the supply location by activating the movement mechanism and the rotation mechanism; a second step, and a second step in which the left and right positional deviations and angular deviations in the conveyance direction of the suction thin plate, which has been moved laterally onto the conveyor in the second step, are respectively detected by edge detectors installed on the conveyance reference line of the conveyor; 3, and the detection signals of the left and right positional deviation and angular deviation of the suction thin plate with respect to the transport reference line detected in the third step are sent to the movement mechanism and rotation mechanism of the suction transfer robot, and the suction transfer robot a fourth step of correcting the left and right positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line, superimposed on the final step of lowering and transferring the suction thin plate onto the conveyor by the vertical opening groove of the suction thin plate; A method for correcting a transfer position in an automatic thin plate feeder, characterized in that: 3. Detailed description of the invention ((a) Industrial application field
The transfer position in an automatic thin plate feeder that is designed to stack relatively thin and wide sheets such as metal plates, and then transfer them one by one onto a conveyor at the supply location using a suction transfer robot and feed them out. This paper relates to improvements in correction methods. (D> Prior Art Regarding an automatic feeding machine for thin plates such as veneer veneers using this type of suction transfer port hot
U first arm as disclosed in No. 72611 for an automatic assembly method for laminated veneer material or invention for a method for lifting and lowering a suction head in an automatic sheet feeder of a patent application dated June 11, 1986. A 4-axis horizontal multi-joint type consisting of an S-axis composed of a first motor, a T-axis and a U-axis composed of a second arm and a second motor, an L-axis composed of a turning motor of one head, and a lifting motor. A suction transfer robot consisting of a robot and a suction head attached to the head of the robot that communicates with an exhaust device such as a fan or blower is incorporated into a production line to collect thin sheets or deposits that arrive on a conveyor directly below. An automatic feeder for thin sheets such as veneer veneers using a suction and transfer robot is well known in the art, which picks up thin sheets each time, transfers them onto a conveyor system serving as a supply location, and feeds them out. V\) Problems that Koukyo attempts to solve The above-mentioned conventional automatic feeder for thin sheets such as veneer veneers using a suction transfer robot is based on a system that is directly below the suction transfer robot that makes up the production line. This type of material used to flow by simple suction and transfer work, in which thin sheets or piles of thin sheets arriving on a conveyor are sucked each time and transferred onto a structured conveyor, etc., which will serve as the next supply location. In the suction transfer work, there is a possibility that the thin plate arriving on the conveyor may be misaligned horizontally or angularly with respect to the direction of conveyance, or the position of the thin plate in a relatively disordered manner relative to the direction of conveyance after it has been dropped and deposited by an automatic stacking machine, etc. Misalignment and angular deviation appear as they are in the transfer and transportation postures on the conveyor at the supply location, so it was necessary to correct left and right positional and angular deviations each time during the conveyance process in the subsequent process. It is something. It is very difficult to automatically correct the lateral positional and angular deviations of this type of relatively thin and wide thin plate in the conveying direction while the edges are brought into contact with a ruler conveyor etc. during the conveying process. In general, this type of thin plate is weak, so not only does it run over or get caught in the ruler conveyor, etc., making it almost impossible to perform the correction function, but the conveyance must be stopped each time to correct it automatically or manually. This method also has serious drawbacks, such as greatly reducing process efficiency and requiring extra equipment, so the present invention eliminates the negative impact on subsequent processes of automatic sheet feeding machines in the prior art. In order to eliminate this, in the process of the prior suction and transfer operation by the suction and transfer robot, the left and right positional and angular deviations of the suction thin plate with respect to the conveyance direction are checked with the movable groove of the suction and transfer robot that is already in an idle state. By reusing the rotation mechanism, this is automatically corrected each time, and the thin plate is always supplied onto the conveyor, which is the feeding location, with the position and angle accurately aligned with the conveyance reference line. It's an improved version. (2) Means for Solving the Problems The present invention aims to eliminate the drawbacks of the automatic feeding machine for thin sheets such as veneer veneers using a suction transfer robot according to the prior art. activating the elevating mechanism of the suction transfer robot to adsorb the suction head to the suction head; b) activating the movement mechanism of the suction transfer robot and the rotation DB4 to attach the suction thin plate adsorbed to the suction head; (2nd step); C) erecting the left and right positional and angular deviations with respect to the conveyance direction of the adsorption thin plate that has been horizontally moved to the top of the conveyor on the conveyance reference line of the conveyor; d) Detecting the detected left and right positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line by an edge detector (third step); and corrects the horizontal positional deviation and angular deviation of the suction thin plate with respect to the conveyance reference line by superimposing the final step of lowering and transferring the suction thin plate onto the conveyor by the lifting mechanism of the suction transfer robot. (4th step) [During the final stage of lowering transfer operation of the suction thin plate onto the conveyor by a normal suction transfer robot, there is a shift in the horizontal position of the suction thin plate with respect to the conveyance direction. This is a method for correcting the transfer position in an automatic thin plate feeder by reusing a moving mechanism and a rotating mechanism that are already in an idle state and simultaneously superimposing the correcting operation for an angular deviation. ``In the process of the final step of lowering the suction thin plate onto the conveyor by a normal transfer robot, which consists of a) to d) above, correction of the horizontal positional deviation and angular deviation of the suction thin plate with respect to the conveyance direction is performed. The automatic correction of the transfer position by the means J, which reuses the moving mechanism and the turning mechanism that are already in an idle state and simultaneously superimposes the operation, first involves the first operation, as illustrated in FIGS. 3A to 3D. In the process, as shown in FIGS. 3A and 3B, the suction head 2a attached to the head of the suction transfer robot 2 is moved alternately to the lower and upper sides by the lifting mechanism 2b against the top surface of the stack of thin plates 1. The thin plate 1a on the top surface is suctioned.Next, in the second step, as shown in FIG. Then, the thin suction plate 1a is moved horizontally to directly above the conveyor 3, which is the supply place.At this time, an edge line on one side of the thin suction plate 1a in the conveying direction is detected on the side of the conveyor 3, which is the place where the thin suction plate 1a is supplied. Since the edge detectors 4a and 4b are installed in a line on an arbitrarily set conveyance reference line, the left and right positions of the thin plate 1a arriving directly below the edge detectors 4a and 4b with respect to the conveyance reference line are A third step is formed therein, in which a displacement and an angular displacement are respectively detected. Then, the detection signals of the left and right positional deviation and angular deviation of the suction thin plate 1a with respect to the conveyance reference line detected in the third step are as follows:
As shown in FIG. 3D, the lifting mechanism 2b that is normally performed
is activated to the descending side to bring the suction head 2a directly close to the top of the conveyor 3, while cutting off the suction force and dropping the thin suction plate 1a onto the conveyor 3. The detection signal is sent again to the moving mechanism 2C and the turning mechanism 2d of the suction transfer robot 2, which are already in an idle state, and is used again to correct the left and right positional and angular deviations of the suction thin plate 1a with respect to the conveyance reference line. Since it is activated,
The correction operation is carried out simultaneously as a fourth step by superimposing the left and right positional and angular deviations of the suction thin plate 1a with respect to the conveyance reference line in the process of the lowering and transferring operation of the lifting mechanism 2b at the final stage. As illustrated in FIG. 4, the thin plate transferred onto the conveyor 3 and then supplied to the subsequent process is affected by the horizontal positional deviations 6a, 6b and angular deviations of the initially existing suction thin plate 1a (7) relative to the conveying direction. 7a and 7b are each corrected by diagonal movement as shown by the broken arrow line at the stage of descent so that they are on a line centered on the conveyance reference line 5 or parallel to the arbitrarily set conveyance reference line. This can be directly supplied to the subsequent process as a corrected thin plate. (G) Embodiment An automatic thin plate feeding machine that implements the method for lifting and lowering a suction head of the present invention is used, for example, as shown in FIGS. Any device may be used as long as it is capable of delivering the sheets one by one onto the conveyor 3, and the head of the suction transfer robot 20 is equipped with a thin plate 1a on the top surface of the pile, for example, 1 to 3 m thick and 91 cm x 91 cm in area.
Area 75cm x 75cm for adsorbing thin plate 1a of about cm
A suction head 2a of about 100 liters is attached. Although not shown in the drawings, the suction head 2a is equipped with an exhaust device such as a fan and a proal, and an appropriate intake/exhaust 1til control valve, etc., and the thin plate 1a on the top surface of the pile is kept suctioned to the bottom surface by suction force. The suction head 2a is moved to the moving machine groove 2C and the rotating machine so that the suction head 2a is moved to a predetermined supply location 8 on the conveyor 3, the suction is cut off, one transfer operation is completed, and the suction head 2a returns to the origin again. A suction transfer robot 2 attached to the groove 2d and the head of the lifting mechanism 2b is equipped as an automatic thin plate feeder automatically controlled by a computer or the like. Next, various types of suction and transfer robots 2 can be used as the automatic feeder for the thin plate. An S axis constituted by a motor Sb, a U axis constituted by a second arm La and a second motor Lb, a moving mechanism 20 consisting of the SNI and the U axis, a turning mechanism 2d consisting of a head turning motor, etc., and a lifting motor. Alternatively, it consists of a T-axis and a U-axis constituted by an elevating mechanism 2b consisting of an elevating cylinder, etc., and the suction and transfer operation of the thin plates 1 and 1a is repeatedly carried out using a separately installed computer and built-in sensors. It is configured. Therefore, the suction and transfer operation of the thin plate 1.1a by the suction and transfer robot 2 is performed by the U-axis lifting mechanism 2b.
vertical movement and S-axis. The operation of transferring the thin plate 1 from the stacking place of the thin plate 1 to the supplying place 8 of the thin plate 1a by the first motor Sb, the second motor Lb, and the turning mechanism 2d of the U-axis and T-axis is performed in a superimposed manner. In the process of the final step of lowering and transferring the suction thin plate 1a onto the conveyor 3 by the normal suction transfer robot 2, correction of the left and right positional deviation and angular deviation of the suction thin plate 1a with respect to the conveyance direction is performed. The method for correcting the transfer position in an automatic sheet feeder of "means for reusing the moving mechanism 2c and the rotating mechanism 2d which are already in an idle state and simultaneously superimposing the operation" is a method for correcting the transfer position in an automatic sheet feeding machine. When the suction thin plate 1a is lowered onto the conveyor 3, the S-axis and U-axis movement mechanisms 2C and the T-axis rotation mechanism 2d correct the left and right positional and angular deviations with respect to the conveyance direction. The device is designed so that the re-operation of movement and rotation for accurate correction can be carried out by simultaneously folding the suction thin plate 1a as a correction operation. Additionally, the edge detectors 4a and 4b of the suction thin plate 1a installed on the conveyance reference line arbitrarily set on the side of the conveyor 3 are usually equipped with an industrial television camera or a magnetic scale equipped with a thin plate detection sensor at the tip. Edge detectors 4a and 4b of the thin plate 1a, such as The left and right positional deviations 6a, 6b and angular deviations 7a, 7b of the suction thin plate 1a arriving directly below the edge detectors 4a, 4b with respect to the conveyance reference line 5 as illustrated in FIG. 4 are measured and used as detection signals. It is sent again to the S-axis and L-axis moving mechanisms 2C and the T-axis rotation mechanism 2d, and instead of the first stage of suction and lateral movement, the left and right positional deviations 6a, 6b and angular deviations of the suction thin plates 1a are detected. 7a. The device is arranged so that the correction operation of step 7b is performed again. In addition, 9 in the figure is an elevating table that detects the accumulation level with an appropriate sensor according to the feeding operation of the thin plate 1a and sequentially pushes up the stack of the thin plate 1 to keep the uppermost surface constant. It is also possible to provide a similar function to the elevator @2b. (g) Effects of the Invention As described above, the present invention has the following advantages: [During the final step of the downward transfer operation of the suction thin plate onto the conveyor by a normal suction transfer robot, the left and right side of the suction thin plate with respect to the conveyance direction is A means of simultaneously superimposing and reusing a moving mechanism and a turning mechanism that are already in an idle state to correct positional and angular deviations.
This is a method for correcting the transfer position in an automatic sheet feeder for thin sheets, so when using the present invention, even thin sheets that are relatively thin, wide, and generally have a weak stiffness can be moved in the later process by a ruler conveyor, etc., to the right and left sides in the conveying direction. It is no longer necessary to forcefully correct positional and angular deviations, and we have completely eliminated the troubles caused by conventional correction methods such as thin plates riding on ruler conveyors, etc., or getting caught in thin plates. In addition, there is no need to stop the conveyance operation of the conveyor, etc. each time for correction work, and the correction operation is performed superimposed on the final step of the descending transfer operation due to the normal suction transfer port being hot. There is no wasted time for operation, and the correction operation reuses the movement mechanism and rotation mechanism of the S-axis, L-axis, and T-axis of the suction transfer robot when the S-axis, L-axis, and T-axis are idle. Therefore, the correction is a remarkable implementation effect that has achieved results that definitely contribute to maintaining and improving performance and process efficiency.

[Brief explanation of the drawing]

The figures show an example of the implementation of the present invention, and Figure 1 is a side view of an apparatus for carrying out the method, Figure 2 is a plan view, and Figures 3A to 3D are transfer positions of the method. Figure 4 is an explanatory diagram of the process order of the correction operation. Shikou hot, 2a
... Suction head, 2b... Stomach disembarkation, 2G... Move to 11, 2d... Swivel mechanism, 3... Conveyor,
4 a. 4b... End, edge detector, 5... If & base sending line directrix a, 6b... Left and right positional deviation, 7a, 7b... Angular deviation. Patent applicant Hashimoto Electric Industry Co., Ltd.

Claims (1)

[Claims] a first step of activating the lifting mechanism of the suction transfer robot to adsorb the thin plate on the topmost surface of the pile to the suction head; and a moving mechanism of the suction transfer robot to move the suction thin plate adsorbed to the suction head in the first step. and a second step of activating a turning mechanism to move the suction thin plate laterally to the top of the conveyor at the supply location, and detecting the horizontal positional deviation and angular deviation of the suction thin plate that has been moved horizontally to the top of the conveyor by the second step with respect to the conveyance direction of the conveyor. a third step in which the detection signals of the left and right positional deviation and angular deviation of the suction thin plate with respect to the transport reference line detected in the third step are detected by the edge detectors installed on the transport reference line of the suction transfer; It is sent to the movement mechanism and rotation mechanism of the robot, and is superimposed on the final step of lowering and transferring the suction thin plate onto the conveyor by the lifting mechanism of the suction transfer robot, and the horizontal positional deviation of the suction thin plate with respect to the conveyance reference line is detected. A method for correcting a transfer position in an automatic sheet feeder, comprising a fourth step of correcting the and the angular deviation, respectively.