JPH01299125A - Physical distribution system for binding - Google Patents

Abstract

PURPOSE:To improve working efficiency, by a method wherein a finish book feed part, two loading parts, a guard sheet feed part, and a pallet feed part are arranged approximately in a circle in an arbitray position in the working range of a robot having an oscillating movable and radially expandable arm. CONSTITUTION:In a finish book binding material feed part 42 to feed a finish book binding material 6 in an arbitrary position in the working range of a robot 41 and a guard sheet feed part 44 to feed a guard sheet, the robot 1 holds the finish book binding material 6 and the guard sheet 8. The binding material 6 and the guard sheet 8 are placed in a given pattern on a pallet 7 conveyed from a pallet feed part 45 and placed on either of two loading parts 43 and 43. While the pallet 7 loading of the binding material 6 on which is completed is carried out from the loading part 43, the robot 41 loads the binding material 6 and the guard sheet 8 on the pallet 7, placed on the other loading part 43, through repetition of the same operation as that described above.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a logistics system for bookbinding.

[Conventional technology]

The finished books that have been bound in the bookbinding machine are tied into a predetermined number of copies by the binding machine, and the finished book bundles are loaded onto pallets and transported to the finished book warehouse, but in the past, the above work was done manually. .

However, mechanization and automation are being promoted with the aim of increasing work efficiency and reducing labor costs, and as part of this mechanization and automation, the use of robots to load finished products onto pallets has been promoted in recent years. There is.

[Problem to be solved by the invention]

However, when loading finished products onto pallets using conventional robots, it is not possible to stack multiple finished products at the same time, and interleaving sheets are installed at each loading stage of finished products to prevent the stack from collapsing. The reason for this is that it must be carried out manually, that equipment such as a pallet magazine is required, and that the next loading operation must be stopped until the pallet that has been loaded with completed bundles is taken out, resulting in low work efficiency. There are other problems.

An object of the present invention is to solve the above-mentioned problems and provide a bookbinding logistics system that has extremely high working efficiency and can reduce personnel costs.

[Means to solve the problem]

The present invention provides a distribution system for loading finished book bundles supplied from a bookbinding machine onto a pallet in a predetermined pattern, the distribution system comprising: a robot equipped with an arm capable of oscillating movement and extendable in the radial direction; a finished product supply unit that supplies finished product bundles arranged at an arbitrary position within the operating range of the robot; at least two loading units that load the finished product bundles onto pallets; and the finished product bundles. An interleaving paper supply unit that supplies interleaving paper to be inserted in between and a pallet supply unit that supplies pallets are arranged in a substantially circular manner,
The robot loads bundles of finished products and interleaving sheets in a predetermined pattern on a pallet that is transferred from the pallet supplying section to any one of the stacking sections from the finished work supplying section and the interleaving paper supplying section. Then, while unloading the pallet on which finished product bundles have been loaded from the loading section, the same operation as above is repeated on the pallet that has been transferred from the pallet supply section to the other loading section. The structure is such that finished book bundles and interleaf sheets can be loaded.

[Effect]

The robot separates finished bundles and interleaving sheets at a finished bundle supply unit that supplies finished bundles and an interleaving paper supply unit that supplies interleaving sheets, which are located at any position within the robot's operating range. a predetermined pattern on a pallet being held and transferred from a pallet supply unit disposed within the operating range to any one of at least two loading units disposed at other positions within the operating range; Load finished books and interleaved paper. While unloading the pallet on which the finished product bundles have been loaded from the loading section, the robot repeats the same operation as above on the pallet placed in the other loading section to remove the finished product bundles and the combined products. Load paper.

〔Example〕

Figures 1 to 12 regarding the bookbinding logistics system of the present invention
This will be explained with reference to the figures.

FIG. 1 is a diagram showing the logistics in the bookbinding process, in which printed matter for bookbinding is sent from a printed matter safe 1 to a bookbinding machine 2, and the finished books that have been bound in the bookbinding machine 2 are bundled in a binding machine 3. This finished book bundle 6 is transferred to a robot 41 capable of swinging motion in the bookbinding logistics system 4.
The products are loaded onto a valet and transported to the finished product warehouse 5.

FIG. 2 is a schematic diagram of the bookbinding distribution system 4 according to the present invention, which includes a robot 41 and the finished book bundles 6 disposed within the operating range of the robot 41. A finished product supplying section 42, and a first stacking section 43a and a second stacking section 43b located approximately on a diameter line centered on the robot 41, which load the finished product bundles 6 onto the pallet 7a or 7b. The completed book supply section 4
2, and a pallet supply section 4 located on the opposite side of the completed book supply section 42 with respect to the robot 41, which supplies the pallet 7.
5.

As shown in FIGS. 3, 4, and 5, the robot 41 includes a base 411 that can pivot about a vertical axis, and an arm support 412 that can slide vertically on the side surface of the base 411. , has a telescopic arm portion 413 that is extendable and retractable horizontally protruding from the arm support portion 412, and a hand portion 414 that is rotatably installed at the tip of the telescopic arm portion 413.

The base portion 411 has a mechanism for rotating around a vertical direction;
It has a mechanism for sliding the arm support part 412 in the vertical direction along its side surface. The arm support portion 412 supports a telescopic arm portion 413 that protrudes in the horizontal direction, and in the illustrated example, the telescopic arm portion 413 has a first step portion 413a and a second step portion 413a.
The stepped portion 413b has a two-stage expansion and contraction function. A hand portion 414 is rotatably installed at the tip of the extendable arm portion 413, and in the illustrated example, the hand portion 414 is rotatably installed.
14; a claw portion 414b that has four claws in the horizontal direction and is slidable in the axial direction of the claws;
The claw portion 4 is provided oppositely above the claw portion 414b.
14b and holding members 414C which are provided at four horizontally spaced locations to hold the finished bundle 6 and which are movable in the vertical direction; and a suction member 414C which is provided at the base of the claw portion 414b and which holds the interleaving paper 8 by suction. 414d, a back plate 414f fixed in the vertical direction to the horizontal frame f1 of the hand part, and a cylinder 414e for moving the presser member 414C in and out in the vertical direction. The claw portion 414b is supported by a vertical frame f2, and the vertical frame 2 can be moved laterally along the horizontal frame f1 by a ball screw mechanism (not shown), and the ball screw is driven by a motor M.

In such a robot 41, the base portion 411 can be rotated, the arm support portion 412 can be raised and lowered, the telescopic arm portion 413 can be extended and contracted, and the hand portion 41 can be rotated depending on the purpose of work.
4 rotation, the operation of the pressing member 414C, the suction part 4
14d is activated as appropriate.

The finished book supply section 42 supplies a finished book bundle 6, which is obtained by binding finished books completed by the bookbinding machine 2 and bound by the binding machine 3, into the operating range of the robot 41. As shown in FIGS. 6 to 8, the finished book supply section 42 includes a large number of rollers 421 having cutouts in the same direction at predetermined intervals in the axial direction.
(In the illustrated example, 421a, 421b, 421c, 421d
.

421e, 421f, 421g>, the binding machine 3
The bundled finished product 6 fed out from the finished product bundle 6 moves on the roller 421, and is moved to a stopper 424a installed at the tip of the bundled finished product supply section 42.

424b to lock it in place. Further, the finished product bundle supply section 42 has a guide plate 422 for laterally positioning the finished product bundles 6 that have moved on the rollers 421 in two rows near the tip thereof, and a guide plate 422 that moves in the horizontal direction. Board 423a.

423b. The finished product bundles 6 divided into right and left by the guide plate 422 are arranged by the alignment plate 423a,
423b to be pressed against the guide plate 422 and aligned.

The finished product bundles 6 arranged in this way are placed in the sixth
As shown in FIG. 8 and FIG. 8, the claw portion 414b and the pressing member 414 are inserted into the gap formed by the intermediate portion of the roller 421 and the finished product bundle 6.
It is held by C.

Further, the finished product bundle supply section 42 is shown in FIGS. 9 to 11.
In this case, the finished product bundle supply unit 42 may be configured as shown in FIG.
a, 425b.

425c, 425d, 425e), and the bundle l1
The finished product bundle 6 sent out from the roller 42
5, and is locked in a predetermined position by a stopper 426 installed at the tip of the finished product bundle supply section 42 and operable in the vertical direction. Further, the finished product bundle supply section 4
2 has a shear 427 and a guide plate 42 near its tip.
8a and an alignment plate 428b. Said pusher 4
27, the roller 425 is moved by a pusher elevator 429.
The claw portion 414 rises in the vertical direction from between and pushes up the finished product bundle 6 that is locked in a predetermined position as described above, and the claw portion 414 is moved between the finished product bundle 6 and the roller 425.
Create a gap large enough to insert b. That is, the robot 41 can rotate the hand portion 414 as appropriate and insert the claw portion 414b into the lower part of the finished product bundle 6 from the axial direction of the roller 425.

In addition, the finished product bundle 6 is removed by the pusher 427.
Before being pushed up, the finished bundles 6 are normally pressed against the guide plate 428a by the alignment plate 428b and aligned.

The loading section 43 may be located at any position within the operating range of the robot 41, and in FIG. 2 it consists of two loading sections, a first loading section 43a and a second loading section 43b.

Pallets 7a and 7b are transferred from the pallet supply unit 45 to the first stacking unit 43a and the second stacking unit 43b.6 The pallet supply unit 45 only needs to be loaded with pallets 7, and the pallets 7a and 7b may be placed in the first stacking unit 43a and the second stacking unit 43b. In the present invention, the transfer and arrangement of pallets from the pallet supply section 45 to the first loading section 43a and the second loading section 43b may be carried out manually; Transfer placement is also possible.

The interleaving paper supply unit 44 may be a stack of interleaving papers having approximately the same area as a pallet.

Relative positions of the finished product bundle supply section 42, stacking section 43, interleaving paper supply section 44, and pallet supply section 45 and the stacking section 4
The number of 3 etc. can be adjusted as appropriate.

Next, referring to FIGS. 2 and 12, the robot 41
An example of loading finished bundles 6 onto a pallet will be described below.

The robot 41 first holds a pallet from the pallet supply section 45 and transfers the pallet 7a to the first loading section 43a.
Next, the hand unit 414 holds a plurality of finished product bundles 6 (usually two or four) in the finished product bundle supply section 42, and the interleaf paper supply section 44 holds the finished product bundles 6. The robot 4 moves to the first stacking section 43a where the interleaving paper 8 is sucked and held by the suction section 414d of the hand section 414.
1 rotates, stops the suction of the suction part 414d, and sets the interleaving paper 8 on the pallet 7a, and then drives the motor M to move the claw part 414b in the axial direction while holding down the bundle 6 with the back plate 414f. After that, the finished product bundles 6 are placed in a predetermined position, and then the finished product bundles 6 are sequentially loaded from the finished product bundle supply unit 42 onto the pallet 7a according to a predetermined pattern, and the first Form steps. An example of this predetermined loading pattern is shown in FIG.
A finished product bundle 6 having a bottom surface of 297"" x 235° on a JIS standard pallet 7 of 0641 m x 940 Iul
The pattern for most effective loading is shown.

In Fig. 12, four finished bundles 6 are placed at position A (AI
, A2 , A3 and A4), B position (B, B, B
and B4), C position <c, C2, C3 and C4
) are loaded in order, and finally two finished products bundles 6 are loaded at positions (Dl and D2). In this case, as shown in the illustrated example, the longitudinal directions of the finished product bundles 6 are perpendicular to each other at positions A and B, and positions C and D.

When the first stage of loading is completed in this way, the same operation is repeated to repeat the installation of interleaf sheets 8 and the loading of finished product bundles 6 until the predetermined number of stages are reached. By carrying out the above-mentioned series of operations in the second stacking section 43b while being carried out from the first stacking section 43a, the stacking of finished product bundles 6 and the installation of slip sheets 8 on the pallet 7b are completed, and this pallet 7b The same operation is repeated again on the first stacking section 43a while the paper is being carried out from the second stacking section 43b, and thereafter, the loading work is performed alternately on the first stacking section 43a and the second stacking section 43b.

Note that the pallet loaded with finished bundles may be carried out manually, but automation using an unmanned carrier will further improve work efficiency and reduce production costs.

〔Effect of the invention〕

According to the bookbinding logistics system of the present invention, a plurality of finished book bundles can be simultaneously loaded onto a pallet by a robot, and interleaf sheets can also be supplied by the same hand section,
In addition, there is no need to pause the loading operation while the pallets that have been loaded with completed bundles are being removed from the loading section.
This results in extremely high work efficiency.

In addition, a robot transfers and places pallets to the loading section.
Alternatively, it becomes possible to automate the unloading of a pallet loaded with completed bundles using an unmanned carrier or the like, which can further improve work efficiency and reduce production costs.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the logistics in the bookbinding process, Fig. 2 is a schematic diagram showing one embodiment of the bookbinding logistics system of the present invention, Fig. 3 is a plan view of the robot used in the present invention, and Fig. 4 is a diagram showing the logistics system for bookbinding of the present invention. 5 is a front view of the hand section of the robot, FIG. 6 is a side view of the finished book bundle supply unit used in the bookbinding logistics system shown in FIG. 2, and FIG. 7 is a front view of the robot hand section. FIG. 8 is a front view of the book bundle supply section;
FIG. 9 is a side view of another finished book bundle supply unit used in the bookbinding distribution system shown in FIG. 2, FIG. 10 is a perspective view of the finished book bundle supply unit, and FIG. 11 is the same. FIG. 12, a front view of the finished product bundle supply unit, is a diagram showing an example of a loading pattern of finished products bundles onto a pallet. 4... Manufacturing logistics system, 41... Robot, 42
... Finished bundle supply section, 43... Loading section, 44.
... Interleaf paper supply section, 45... Pallet supply section, 6...
Finished bundle, 7...Pallet, 8...Slip paper. Applicant's agent Yasuo Ishikawa Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 1--470-. 1 Figure 12

Claims (1)

[Scope of Claims] 1. A distribution system for loading finished book bundles supplied from a bookbinding machine onto a pallet in a predetermined pattern, the distribution system comprising an arm that is capable of swinging motion and is extendable and retractable in the radial direction. a finished product supply unit disposed at an arbitrary position within the operating range of the robot for supplying finished product bundles, and at least two loading units that load the finished product bundles onto pallets; An interleaving sheet supply section that supplies interleaving sheets to be inserted between the finished product bundles and a pallet supply section that supplies pallets are arranged in a substantially circular arrangement, and the robot is configured to handle the interleaving paper supply section and the interleaving paper supply section that supplies pallets. The finished product bundles and interleaving paper are loaded in a predetermined pattern on the pallet that has been transferred from the pallet supply unit to any one of the loading units, and the loading of the finished product bundles is completed. While the pallet is being carried out from the loading section, the same operations as those described above are repeated on the pallet that has been transferred from the pallet supply section to the other loading section to load finished products and interleaving sheets. A bookbinding logistics system featuring: 2. A base part on which the robot can rotate around a vertical axis, an arm support part that can slide vertically on the side surface of this base part, and a telescoping arm part that protrudes horizontally from this arm support part and is extendable and retractable; 2. The bookbinding logistics system according to claim 1, further comprising a hand section rotatably installed at the tip of the telescoping arm section. 3. The bookbinding logistics system according to claim 2, wherein the hand section has a claw section and a pressing member for holding the finished book bundle. 4. The bookbinding logistics system according to claim 2 or 3, wherein the hand section has a suction section for holding interleaf paper. 5. The bookbinding logistics system according to claim 4, wherein the suction section has an air suction mechanism. 6. Claims 1 to 5, wherein the robot transfers pallets from the pallet supply section to the loading section.
The bookbinding logistics system according to any one of the above. 7. The bookbinding logistics system according to any one of claims 1 to 6, wherein the loading section is comprised of two loading sections, a first loading section and a second loading section.