JPH06297684A - Automatic apparatus and method for attaching and detaching elastic plate - Google Patents

Abstract

PURPOSE:To automatically attach an elastic plate to a printing roll plate cylinder while the elastic plate is pulled so that prescribed tension is uniformly applied to the whole of the elastic plate. CONSTITUTION:A hand 5 consisting of a main hand body 1, the fixing chuck means 2 arranged to one end of the main hand body 1, the pulling chuck means 3 arranged to the other end of the main hand body 1 and the elastic plate tension automatical control means 4 annexed to the pulling chuck means 3 and controlling and distance between the fixing chuck means 2 and the pulling chuck means 3 is attached to the arm 60 of an articulated robot 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic elastic plate attachment / detachment capable of automatically attaching an elastic plate to a printing roll plate cylinder while pulling the elastic plate so that a predetermined tension is uniformly applied to the elastic plate. The present invention relates to a device, an elastic plate automatic attaching method, and an elastic plate automatic removing method.

As an apparatus for forming a polymer thin film pattern used for electronic parts such as a liquid crystal alignment film, for example, an intaglio roll having a large number of ink cells, an ink supply device for filling the ink in the ink cells, and the ink of the intaglio roll are transferred. A printing roll having an elastic plate on the plate cylinder, a printing table for fixing the printing material to which the ink of the printing roll is transferred, and a doctor blade for surely filling the ink in the ink cells of the intaglio roll. Although there is a thin film forming apparatus, the present invention is suitable for attaching and detaching the elastic plate to the printing roll plate cylinder in the thin film forming apparatus.

[0003]

2. Description of the Related Art In the thin film forming apparatus, in order to attach an elastic plate to a printing roll plate cylinder, first, positioning register marks provided at a plurality of positions on the elastic plate and a plurality of positions on the printing roll plate cylinder are provided. The fiducial mark is positioned by a human hand and eyes, and the elastic plate is pulled by a human hand and wound around the printing roll plate cylinder. After that, the plate holders attached to both ends of the elastic plate are fixed to the chuck means attached to the printing roll plate cylinder by a human hand. Further, in order to remove the elastic plate from the printing roll plate cylinder, the plate holders attached to both ends of the elastic plate are manually removed from the chuck means of the printing roll plate cylinder.

[0004]

The conventional technique has the following problems. (1) Since the positioning of the elastic plate and the printing roll plate cylinder, the tension of the elastic plate, the hooking on the chuck means, the attachment of the elastic plate to the printing roll plate cylinder, and / or the removal thereof are all performed manually. , Very inefficient.

(2) Since a person goes in and out to attach the elastic plate to the printing roll plate cylinder, dust, dust, and the like fly from the person himself, his clothes, and the ground, and the surrounding cleanliness is not good.
Also, since the elastic plate is held by a person's hand, the elastic plate will be grabbed by a hand with dust or oil. Therefore, dust, dust, dirt, and oil adhere to the elastic plate, and the elastic plate becomes dirty.

(3) When the elastic plate holder is hooked on or removed from the chuck means of the printing roll plate cylinder,
There is a risk of slipping the elastic plate from the hand of the person to the ground to stain the elastic plate, or the human hand being caught between the chuck means and the elastic plate.

(4) Since the elastic plate is wound around the printing roll plate cylinder while being pulled by a human hand, a predetermined size is determined over the entire width of the elastic plate while the elastic plate is wound around the printing roll plate cylinder. It is very difficult to have tension in the direction of. If the work is not done with extreme care, the elastic plate will be wound around the printing roll plate cylinder without being able to correct excessive tension and slack applied to the entire elastic plate to be wound. As a result, the elastic plate may be attached to the printing roll plate cylinder in a state in which excessive tension is applied, or the elastic plate may be attached to the printing roll plate cylinder in a wrinkled or wavy state.

(5) Since it is unavoidable that the size of the elastic plate varies during manufacturing, the mounting positions of the plate holders at both ends of the elastic plate are slightly deviated for each different elastic plate. Further, in order to fix the elastic plate to the printing roll plate cylinder, a printing roll chuck hole formed in the plate holder is formed. Since subtle variations are unavoidable, the formation position of the chuck holes for the printing rolls will differ slightly for different plate holders.

For this reason, (A) unless the first plate holder and the second plate holder are not parallel to each other, i.e., in a state where there is a slight inclination shift, the elastic plate will be slackened in part and will be taut. If there is no plate holder (see FIGS. 10 (a) and 10 (b)), or (B) the plate holder is not parallel to the plate holder in front of the plate holder even if the plate holders are parallel to each other, it must be pulled in a parallel misaligned state. When the slack is generated in a part of the plate and it is not taut (Fig. 10 (c) (d))
There is).

In the conventional method, a slight slack that occurs in the cases of (A) and (B) and a part of the elastic plate due to the shaking of a human hand during winding the elastic plate around the printing roll plate cylinder. A person feels the slight slack by hand while pulling the elastic plate, and tries to correct the uneven tension applied to the entire elastic plate. However, since the slack that occurs in a part of the elastic plate is subtle, it is not possible to adjust the tension direction of the elastic plate as appropriate to make the tension applied to the entire elastic plate uniform and to keep it taut. It's extremely difficult. If you do not work with the utmost care, position the other plate holder parallel to the front of one plate holder and pull it without tilting or parallel shifting one plate holder and the other. As a result, the tension applied to the entire elastic plate becomes non-uniform, and a part of the elastic plate is taut, but the rest is slack. As a result, in this state, the elastic plate is wound around the printing roll plate cylinder, and the elastic plate is attached to the printing roll plate cylinder in a wrinkled or wavy state.

[0011]

In order to achieve the above object, the elastic plate automatic attachment / detachment device of the present invention has a hand main body, a fixed chuck means arranged on one of the hand main bodies, and the other of the hand main bodies. The hand of the articulated robot is attached to the arm of the articulated robot, the hand consisting of the tension chuck means arranged on the arm and the elastic plate tension automatic adjustment means that is attached to the tension chuck means and adjusts the distance between the fixed chuck means and the tension chuck means. Configured as follows.

The elastic plate automatic mounting method of the present invention is the first
In an elastic plate mounting method of winding an elastic plate whose both ends are held by a plate holder and a second plate holder around a printing roll plate cylinder having a first chuck means and a second chuck means, The 1st plate holder and the 2nd plate holder are respectively held by the fixed chuck means and the tension chuck means of the elastic plate automatic attachment / detachment device according to any one of claims 1 to 3, and then the articulated robot By driving the arm, the first of the elastic plate is moved to the position where the first chuck means of the printing roll plate cylinder is provided.
By moving the plate holder, and then transferring the first plate holder of the elastic plate from the fixed chuck means of the hand to the first chuck means of the printing roll plate cylinder, and then driving the arm of the articulated robot. , The hand is separated from the printing roll plate cylinder, a predetermined tension is applied to the elastic plate between the first plate holder and the second plate holder, and then the printing plate cylinder is gradually rolled in the direction in which the elastic plate is wound. By rotating the rod and moving the rod back and forth with respect to the air cylinder body of the elastic plate tension automatic adjusting means, the arm of the articulated robot is driven while maintaining a state in which a predetermined tension is applied to the elastic plate. The hand is gradually brought close to the printing roll plate cylinder as the printing roll plate cylinder rotates, and the second plate plate of the elastic plate reaches the position where the second chuck means of the printing roll plate cylinder is provided. Then, the second plate holder of the elastic plate is transferred from the pulling chuck means of the hand to the second chuck means of the printing roll plate cylinder so that the mounting of the elastic plate to the printing roll plate cylinder is completed. Configured to.

The elastic plate automatic removing method of the present invention is a printing roll on which an elastic plate is wound after printing on an object to be printed using the elastic plate attached to the printing roll plate cylinder by the elastic plate automatic attaching method of the present invention. From the second chuck means of the plate cylinder to the pulling chuck means of the hand, the second plate holder of the elastic plate is transferred, and then the printing roll plate cylinder is rotated in the direction in which the elastic plate comes off, and at the same time, the arm of the articulated robot. Drive the fixed chuck means of the hand and the elastic plate of the first
Align with the position of the plate holder, then from the first chuck means of the printing roll plate cylinder to the fixed chuck means of the hand,
The first plate holder of the elastic plate was handed over to complete the removal of the elastic plate from the printing roll plate cylinder.

[0014]

According to the elastic plate automatic mounting / dismounting device and elastic plate automatic mounting / dismounting method of the present invention, since the elastic plate is mounted and dismounted using the hand mounted on the arm of the articulated robot, the elastic plate is mounted on the printing roll plate cylinder. Can be installed and removed automatically.

According to the elastic plate automatic attachment / detachment device of claim 2 and the elastic plate automatic attachment method of claim 4, the rod is automatically moved back and forth from the air cylinder body of the elastic plate tension automatic adjusting means. The size of the distance between the hand body and the tension chuck means is adjusted to automatically adjust the tension of the elastic plate. Therefore, even before the elastic plate is wound on the printing roll plate cylinder and during the winding process, even if the elastic plate is excessively tensioned, or the tension is not sufficient and the elastic plate becomes slack. Also, since the elastic plate tension automatic adjusting means automatically corrects the tension applied to the elastic plate to a predetermined value, a predetermined tension is always applied to the elastic plate.

Specifically, the following is done. That is, the tension applied to the elastic plate is a combined force of the force for pulling the elastic plate by the rotation of the printing roll plate cylinder and the force for pulling the elastic plate in the opposite direction by the rod of the air cylinder. The distance between the hand body of the elastic plate automatic attachment / detachment device of the present invention and the tension chuck means automatically changes according to the tension applied to the elastic plate. For example, while the elastic plate is being wound around the printing roll plate cylinder, if the movement of the hand is slightly slower than the rotation of the printing roll plate cylinder, the tension applied to the elastic plate exceeds a predetermined value, The rod retracts to the main body of the air cylinder to reduce the distance between the elastic plate tension automatic adjusting means and the tension chuck means. As a result, since the distance between the first plate holder and the second plate holder is kept constant, the tension applied to the elastic plate becomes a predetermined value. On the contrary, if the movement of the hand is slightly faster than the rotation of the printing roll plate cylinder while the elastic plate is being wound on the printing roll plate cylinder, the tension applied to the elastic plate is smaller than the predetermined value. In order to recover the reduced amount, the rod is further advanced from the air cylinder body, and the distance between the elastic plate tension automatic adjustment means and the tension chuck means is increased. As a result, since the distance between the first plate holder and the second plate holder is kept constant, the tension applied to the elastic plate becomes a predetermined value.

In the elastic plate automatic attachment / detachment device of the second aspect and the elastic plate automatic attachment method of the fifth aspect, the elastic plate tension automatic adjusting means and / or the tension chuck means are rotated with respect to the hand body. By adjusting the angle of pulling the elastic plate by the tension chuck means, the direction of pulling the elastic plate is automatically adjusted. Therefore, even when the elastic plate is slackened in a part of the elastic plate immediately before and during the winding of the elastic plate, the elastic plate tension automatic adjusting means allows the elastic plate to move. The direction of pulling is automatically corrected, and the elastic plate is maintained in a tensioned state so that tension is uniformly applied.

Specifically, the following is done. That is, the direction in which the elastic plate is pulled by the tension chuck means is automatically adjusted according to the slack generated in a part of the elastic plate. For example, if the elastic plate is the (A) elastic plate and the first plate holder and the second plate holder are not delicately parallel to each other, that is, if the plate is not pulled in a tilted state, slackening occurs in a part of the elastic plate. When it is not taut (see FIG. 10A), the tension chuck means is rotated rightward with respect to the hand main body about the rotation axis of the tension chuck means by the amount of the tilt deviation, and the elastic plate is taut. (See FIG. 10 (b)). Or, in the case where the elastic plate (B) is not located in front of the first plate holder and is not pulled in a state where the second plate holder is in a so-called parallel misalignment state, a part of the elastic plate is slackened and cannot be stretched. (Fig. 10
In (c), the elastic plate tension automatic adjusting means is rotated to the left by a required angle with respect to the hand body about the attaching means rotating shaft. Further, the tension chuck means is rotated to the right by a necessary angle about the rotation axis of the tension chuck means with respect to the bearing body of the elastic plate tension automatic adjusting means, and the first plate holder and the second plate holder become parallel to each other. (See FIG. 8), the elastic plate becomes taut (FIG. 10 (d)).
reference).

[0019]

Embodiments of the present invention will be described below with reference to the drawings. First, the elastic plate automatic attachment / detachment device of the present invention will be described. In the elastic plate automatic attachment / detachment device of the present invention, as shown in FIG. 1, the hand 5 is attached to the arm 60 of the articulated robot 6. Articulated robot 6
Is a general-purpose industrial robot, in which a plurality of arms 60 are connected via joints 61 so as to be bent horizontally and vertically. That is, the articulated robot 6 may be a horizontal articulated robot, a vertical articulated robot, or an orthogonal robot. The hand 5 is attached to one end of an arm group in which a plurality of arms 60 are gathered, and the robot base 6 is attached to the other end.
It is supported by 2. The joint 61 is a multistage or stepless arm 60 using hydraulic pressure, water pressure or a motor.
Is a part that bends and drives. Robot base 62
Is a portion for driving the arm group in the vertical direction in multiple stages or infinitely by hydraulic pressure, water pressure or a motor.

The hand 5 comprises a hand body 1, a fixed chuck means 2, a tension chuck means 3 and an elastic plate tension automatic adjustment means 4 (see FIG. 1).

The hand body 1 is fixed to the arm 60 of the articulated robot 6, and the arm 6 of the articulated robot 6 is fixed.
By driving 0, the hand 5 can move freely.

The elastic plate 7 is a soft plate made of rubber or nylon resin, and may be a relief plate having convex portions formed in a desired pattern on the surface, or an intaglio plate or a planographic plate. The elastic plate 7 has the first plate holder 70 and the second plate 70 at both ends thereof.
It is grasped by the plate holder 71. In the first plate holder 70 and the second plate holder 71, a hand chuck hole 700, a print roll chuck hole 701, and a positioning chuck hole 702 are formed symmetrically with respect to the horizontal center line of the plate holder. It is a member (see FIG. 9). The elastic plate 7 is wound around a cylindrical printing roll plate cylinder 8, printing ink is adhered to the top of the convex portion, and the convex portion comes into contact with the surface of the printing medium to transfer the ink. It is a printing plate for printing.

The fixed chuck means 2 is provided with a mechanism capable of holding and releasing the first plate holder 70 of the elastic plate 7. Fixed chuck means 2
May be fixed to the hand body 1 (see FIGS. 1 to 5), or may be fixed to the attachment means 40 which is a component of the elastic plate tension automatic adjustment means 4 (described later) ( 6 to 8).

As the fixed chuck means 2, there is one provided with a chuck type holding mechanism including a chuck body 21 and a hook-shaped chuck claw that can be moved back and forth from the chuck body 21 (not shown). In this chuck type fixing mechanism, the chuck main body 21 is brought into contact with the plate holder of the elastic plate 7, and a part of the chuck main body 21 and the chuck claws are projected into the hand chuck hole 700 (see FIG. 9) of the plate holder, In this state, the inner wall of the chuck hole 700 for the hand is hooked by the hook portion of the chuck claw, and the plate holder is sandwiched between the hook portion of the chuck claw and the chuck body 21.
The plate holder is held by the fixed chuck means 2. To release the holding, the hook portion of the chuck claw is removed from the inner wall of the hand chuck hole 700.

Further, as another fixed chuck means 2,
Some have a magnetic force type fixing mechanism including a chuck body 21 and an electromagnet exposed on the surface (not shown). In this magnetic holding mechanism, the chuck body 21 of the fixed chuck means 2 is brought into contact with a metal plate holder to generate magnetic force in the electromagnet, and the fixed chuck means 2 holds the plate holder. When releasing the holding, the magnetic force of the electromagnet is extinguished. Further, as another fixed chuck means 2, there is one provided with a vacuum suction type fixing mechanism in which a vacuum suction hole is provided on a surface of the chuck body 21 which is in contact with the plate holder (not shown).
In this vacuum suction type fixing mechanism, the chuck body 21 of the fixed chuck means 2 is brought into contact with the plate holder and vacuum suction is performed from the vacuum suction hole to hold the plate holder on the chuck body 21. When releasing the hold, stop the vacuum suction.

Like the fixed chuck means 2, the tension chuck means 3 is provided with a mechanism capable of holding or releasing the second plate holder 71 of the elastic plate 7. The tension chuck means 3 is a rod 4 of an air cylinder which is a component of the elastic plate tension automatic adjustment means 4 described later so that the distance to the hand body 1 can be adjusted appropriately.
It may be directly fixed to the tip of No. 2 (see FIGS. 1 to 5). Alternatively, it may be provided via a rotating means such as an appropriate bearing body 43 described later (see FIGS. 6 to 8).

The elastic plate tension automatic adjusting means 4 is provided with a mechanism capable of expanding and contracting such as an air cylinder and a spring in order to lengthen or shorten the distance between the hand body 1 and the tension chuck means 3. One end of the elastic plate tension automatic adjusting means 4 is fixed to the fixed chuck means 2 and the other end is fixed to the tension chuck means 3.

As another specific construction of the elastic plate tension automatic adjusting means 4, there is a construction comprising a mounting means 40, an air cylinder body 41, a rod 42 and a bearing body 43, as shown in FIG.

In this case, the mounting means 40 comprises the rotating shaft portion 4
00 and mounting portion 401, and the rotary shaft portion 40
0 is fitted into a bearing portion 10 formed inside the hand body 1, rotates axially along a rotation guide 11, and is horizontally rotatable with respect to the lower surface of the hand body 1. Therefore, the attachment means 40 rotates at any time so that the elastic plate 7 can be pulled in the direction in which the elastic plate 7 is in a tensioned state (see FIG. 8). A linear slide guide may be formed inside the hand main body 1, and the mounting means 40 may be linearly slid along the linear slide guide.

The air cylinder body 41 is constructed by inhaling and blowing air into the air cylinder body 41.
It has a rod 42 that moves back and forth with respect to the air cylinder body 41, and is fixed to the lower surface of the mounting portion 401 of the mounting means 40.

The bearing body 43 comprises a cam follower 431 and a bearing portion 432, and is fixed to the tip of the rod 42. The cam follower 431 is a cam follower 4.
It is inserted into the cam follower guide groove 12 formed in the hand body 1 so as to be wider than the diameter of 31 (see FIG. 7).

The bearing 43 is interlocked with the front-rear movement of the rod 42 of the air cylinder, and is engaged with the cam follower guide groove 1.
Within the range of 2 in the lengthwise direction (corresponding to the distance in the left-right direction in FIGS. 6 and 7), the linear movement is performed with respect to the fixed chuck means 2 and the attachment means 40 in the direction away from and toward the fixed chuck means 2. It has become. In addition, the bearing body 43
Is integrated with the attaching means 40 when the attaching means 40 rotates about the attaching means rotating shaft 402, and is within the widthwise range of the cam follower guide 12 (corresponding to the vertical distance in FIG. 7). ), The shaft is rotated with respect to the hand body 1. The bearing body 43 can perform linear movement and axial rotation separately or simultaneously. Further, the rod 42 is retracted toward the air cylinder body 41 side, and the cam follower 431 is fitted into the V-shaped portion 13 of the cam follower guide groove 12, whereby the cam follower 4 is inserted.
It is also possible to prevent 31 from moving in the length direction and the width direction of the cam follower guide groove 12 and, as a result, to prevent the bearing body 43 from rotating about the mounting means rotating shaft 402.

The pulling chuck means 3 comprises a rotary shaft portion 30 and a chuck body 31, and the rotary shaft portion 30 is fitted into the bearing portion 432 of the bearing body 43 to rotate axially.
It can rotate horizontally with respect to the lower surface of the bearing body 43.
Therefore, the tension chuck means 3 rotates at any time so that the elastic plate 7 can be pulled in a direction in which the elastic plate 7 is in a tensioned state (see FIG. 8).

The wiper holder means 90 for wiping the intaglio roll and / or the doctor blade is wiped at another position of the hand body 1 to which the fixed chuck means 2, the tension chuck means 3 and the elastic plate tension automatic adjusting means 4 are attached. The wiper holder means 91 for may be attached. Wiper holder means 90 for wiping the intaglio roll
Is, for example, as shown in FIGS. 7 and 8, the hand body 1 via the repulsion pressing means 91 on a line orthogonal to the line connecting the fixed chuck means 2 and the tension chuck means 3.
Alternatively, it is attached to the attachment means 40. When it becomes necessary to remove unnecessary ink remaining in the ink cells of the intaglio roll, wiper holder means 9 for wiping the intaglio roll
The wiper 8 made of a non-woven fabric impregnated with a solvent or the like is held at 0, and the hand body 1 or the attachment means 40
Is rotated 90 ° to drive the arm 60 of the articulated robot 6 to wipe the surface of the intaglio roll. The repulsion pressing unit 91 is a unit that allows the wiper to be pressed against the plate cylinder of the intaglio roll with a predetermined contact pressure by using the repulsive force of a spring or an air cylinder.

Further, the wiper holder means 92 for wiping the doctor blade is, for example, as shown in FIGS. Wiper holder means 90 for wiping the intaglio roll
Are attached to the hand body 1 or the attachment means 4 via the repulsion pressing means 93 at the opposite positions. When it becomes necessary to remove unnecessary ink remaining on the doctor blade, wiper holder means 9 for the doctor blade
A wiper made of non-woven fabric impregnated with a solvent is held in 2, and the hand body 1 or the attachment means 40 is rotated 90 °, and the arm 60 of the articulated robot 6 is driven to wipe the surface of the doctor blade. . The repulsion pressing means 93 utilizes the repulsive force of a spring or an air cylinder to bring the wiper into contact with the tip of the doctor blade with a predetermined contact pressure, and sandwiches the upper and lower surfaces of the doctor blade with a predetermined clamping pressure. Means

The elastic plate automatic mounting method of the present invention will be described. According to the elastic plate automatic mounting method of the present invention, the elastic plate 7 whose both ends are held by the first plate holder 70 and the second plate holder 71 has a printing roll plate cylinder having a first chuck means 80 and a second chuck means 81. It is a method of winding around 8. The first plate holder 70 and the second plate holder 71 are members in which a hand chuck hole 700, a print roll chuck hole 701, and a positioning chuck hole 702 are formed symmetrically aligned with respect to the center of the plate holder. (See FIG. 9). As the first chuck means 80 and the second chuck means 81, the same chuck type holding mechanism and magnetic type holding mechanism as those described for the fixed chuck means 2 and the tension chuck means 3 of the elastic plate automatic attachment / detachment device of the present invention. , Vacuum suction type holding mechanism.

First, the first plate holder 70 and the second plate holder 71 of the elastic plate 7 in a slackened state are fixed by the fixed chuck means 2 and the tension chuck means 3 of the hand 5 of the elastic plate automatic attachment / detachment device of the present invention. Hold each (see FIG. 1). The elastic plate 7 is slackened so that the distance between the first plate holder 70 and the second plate holder 71 holding both ends thereof is the same as the distance between the fixed chuck means 2 and the tension chuck means 3 of the hand 5. In this state, the elastic plate is placed on a rack for standby.

Fixed chuck means 2 and tension chuck means 3
The first plate holder 70 and the second plate holder 71 may be held by the above-described chuck type holding mechanism, magnetic holding type mechanism, vacuum suction type holding mechanism, or the like.
When using the chuck type holding mechanism, the first plate holder 70
Also, part of the chuck bodies 21, 31 and the chuck claws are projected into the hand chuck holes 700 (see FIG. 9) formed in the second plate holder 71, and the chuck claws are drawn to the inner wall of the hand chuck hole 700. Hang, chuck body 2
By sandwiching the plate holder between 1, 31 and the chuck claw, the first plate holder 70 and the second plate holder 7 are held by the fixed chuck means 2 and the tension chuck means 3.
Holds 1.

Next, by driving the arm 60 of the articulated robot 6, the first plate holder 70 of the elastic plate 7 is moved to the position where the first chuck means 80 of the printing roll plate cylinder 8 is provided (FIG. 2). The arm 60 is driven by appropriately bending and extending the arm 60 via the joint 61 of the multi-joint robot 6 or by vertically moving the robot base 62.

Next, the first plate holder 70 of the elastic plate 7 is transferred from the fixed chuck means 2 of the hand 5 to the first chuck means 80 of the printing roll plate cylinder 8 (see FIG. 2).
Delivery when a chuck type holding mechanism is applied as the first chuck means 80 will be described. First, the first edition holder 7
0 and the first chuck means 80 are brought into contact with each other in a predetermined positional relationship, and positioning pins (not shown) provided at two positions of the printing roll plate cylinder 8 are connected to the positioning holes 7 of the first plate holder 70.
02, and the chuck claws of the first chuck means 80 are projected into the printing roll chuck holes 701 formed in the first plate holder 70. Next, the chuck claws of the fixed chuck means 2 of the hand 5 are removed from the hand chuck holes 700 of the first plate holder 70, and then the first chuck
The hook portion of the chuck claw of the chuck means 80 is provided with a printing roll chuck hole 701 formed in the first plate holder 70.
The first plate holder 70 and the first chuck means 80 are fixed by being hooked on the inner wall of the.

Next, the hand 5 is moved to the printing roll plate cylinder 8 by driving the arm 60 of the articulated robot 6.
Then, a predetermined tension is applied to the elastic plate 7 between the first plate holder 70 and the second plate holder 71 (see FIG. 3). The tension applied to the elastic plate 7 increases and the force with which the second plate holder 71 is pulled by the elastic plate 7 increases as the elastic plate 7 is gradually stretched and pulled apart. As the tension increases, the rod 42 is retracted by a predetermined length with respect to the cylinder body, and the elastic plate 7 is in a state in which a predetermined tension is applied. The tension of a predetermined value is a tension of an appropriate value such that the elastic plate 7 is not excessively tensioned, and the elastic plate 7 is not entirely or partially sagging.

With the elastic plate 7 under tension, the force of the chuck claws of the first chuck means 80 hooked on the inner wall of the printing roll chuck hole 701 of the first plate holder 70 is released, and the tension chuck means 3 is used. By the applied tension, the positioning pin abuts against the inner wall of the positioning hole 702 of the first plate holder 70 to complete the positioning, and the chuck claws of the first chuck means 80 again cause the printing roll of the first plate holder 70 to roll. The inner wall of the chuck hole 701 is hooked to fix the first plate holder 70 and the first chuck means 80.

At this point, of the two plate holders holding both ends of the elastic plate 7, the first plate holder 70 is fixed to the printing roll plate cylinder 8 and the second plate holder 71 is fixed to the hand 5. It becomes a state.

In the case where the elastic plate 7 cannot be placed in a taut state unless the first plate holder and the second plate holder of the elastic plate 7 (A) are slightly parallel, that is, so-called tilt displacement (FIG. 10A). (See), the tension chuck means 3 is rotated to the right or left with respect to the hand chuck 1 about the tension chuck means rotation shaft 433 by an amount of tilt deviation, the second plate holder 71 is tilted, and one of the elastic plates 7 is rotated. The slack in the section is removed,
It is in a taut state (see FIG. 10B). Or, if the elastic plate 7 is not pulled in the state where (B) the second plate holder is located in front of the first plate holder in a so-called parallel misalignment, the elastic plate 7 will be slackened in a part and cannot be stretched. In the case (see FIG. 10C), the mounting means 4
0 is rotated to the left by a required angle with respect to the hand body 1 about the mounting means rotating shaft 402, and the pulling chuck means 3 further receives the bearing body 43 of the elastic plate tension automatic adjusting means 4.
In contrast, the tension chuck means rotation shaft 433 is rotated to the right by a required angle, the first plate holder 70 and the second plate holder 71 are parallel to each other, and the slack of a part of the elastic plate 7 is removed, and the elastic plate 7 is tensioned. (See FIG. 8 and FIG. 10D).

At this time, the elastic plate 7 is attached to the printing roll plate cylinder 8.
Before winding, the elastic plate 7 is in a state without excessive tension and slack.

Next, the printing roll plate cylinder 8 is gradually rotated in the direction in which the elastic plate 7 is wound, and the rod 42 is moved back and forth with respect to the air cylinder body 41 of the elastic plate tension automatic adjusting means 4 to make the elastic plate elastic. While maintaining a state in which a predetermined tension is applied to the plate 7, the arm 60 of the articulated robot 6
The hand 5 is gradually brought closer to the printing roll plate cylinder 8 as the printing roll plate cylinder 8 is rotated by driving, and the elastic plate 7 is moved to the position where the second chuck means 81 of the printing roll plate cylinder 8 is provided. The second plate holder 71 is moved (see FIGS. 4 and 5). When the elastic plate 7 is wound, the rod 42 moves back and forth slightly more slowly than the rotation of the printing roll plate cylinder 8 during the winding of the elastic plate 7, so that excessive tension is applied to the entire elastic plate 7, Alternatively, this is performed when the movement of the hand 5 is slightly faster than the rotation of the printing roll plate cylinder 8 and thus the tension of the elastic plate 7 as a whole becomes insufficient. In the former case, since the rod 42 retracts with respect to the air cylinder body 41, the excessive tension is alleviated, so that the predetermined tension is maintained even while the elastic plate 7 is being wound. In the latter case, since the rod 42 moves forward from the air cylinder body 41, the tension of the elastic plate 7 is eliminated, so that the predetermined tension is maintained even while the elastic plate 7 is being wound.

While the elastic plate 7 is being wound, the elastic plate 7 is maintained in a state in which a predetermined tension is applied, and
The elastic plate tension automatic adjusting means 4 and / or the tension chuck means 3 may be rotated to adjust the pulling direction of the elastic plate 7 (see FIG. 8). The elastic plate tension automatic adjusting means 4 and / or the tension chuck means 3 is rotated by (A) the first plate holder 70 and the second plate holder due to a slight shake of the hand 5 while the elastic plate 7 is being wound. 71 is not parallel to the so-called subtle tilt displacement, or (B) the first plate holder 70 and the second plate holder 71 are parallel to each other due to a slight shake of the hand 5 or the like. This is performed at any time when a so-called parallel shift state occurs. (A)
Or / and and (B) when the deviation occurs,
The elastic plate tension automatic adjusting means 4 and / or the tension chuck means 3 are rotated in the same manner as when a predetermined tension is applied to the elastic plate 7 before winding the elastic plate 7.

Next, the second plate holder 71 of the elastic plate 7 is transferred from the pulling chuck means 3 of the hand 5 to the second chuck means 81 of the printing roll plate cylinder 8 and is transferred to the printing roll plate cylinder 8 of the elastic plate 7. Installation is completed (see FIG. 5). Second
Delivery when a chuck type holding mechanism is applied as the chuck means 81 will be described. First, the second plate holder 71 and the second chuck means 81 are brought into contact with each other in a predetermined positional relationship,
The chuck claws of the second chuck means 81 provided at two positions of the printing roll plate cylinder 8 are made to project into the printing roll chuck holes 701 formed in the second plate holder 71. Next, the chuck claws of the pulling chuck means 3 of the hand 5 are removed from the hand chuck holes 700 of the second plate holder 71,
After that, the hook portion of the chuck claw of the second chuck means 81 is hooked on the inner wall of the print roll chuck hole 701 formed in the second plate holder 71, so that the second plate holder 71 and the second chuck means 81. And are fixed, the chuck claws are pulled out from the hand chuck hole 700, and the delivery is completed.

When the chuck claw is pulled out from the hand chuck hole 700, the elastic plate tension automatic adjusting means 4 can move the position of the pulling chuck means 3 as follows. When the pulling chuck means 3 of the hand 5 is removed from the hand chuck hole 700 of the second plate holder 71 after the second plate holder 71 and the second chuck means 81 are fixed, normally, the air cylinder body 41 is removed. The force is still applied in the forward direction. In this state,
When the pulling chuck means 3 is pulled out from the hand chuck hole 700, the hand chuck hole 70 of the second plate holder 71.
The inner wall of 0 and the chuck claw of the pulling chuck means 3 inserted in the chuck hole 700 for the hand are pulled out while being strongly rubbed while being pressed against each other. Rod 4 attached to elastic plate tension automatic adjusting means 4
2 is the intake of air into the air cylinder body 41,
Due to the blowout, (1) a state in which a force is applied in a forward direction from the air cylinder body 41, (2) a state in which a force is applied in a backward direction on the air cylinder body 41, and (3) follow the force of the force applied from outside. Then, it is possible to take three states of a free state in which it can be moved in the forward direction or in the backward direction.

Therefore, when the pulling chuck means 3 of the hand 5 is pulled out from the hand chuck hole 700 of the second plate holder 71, the rod 42 of the air cylinder is set to the free state (3). By doing so, since the tension of the elastic plate 7 is applied as an external force, the rod 42 naturally retracts in the direction of the air cylinder body 41, and the inner wall of the hand chuck hole 700 and the chuck claw of the tension chuck means 3 are separated. The second plate holder 71 moves so as to remove the pressed state. As a result, the chuck holes 7 for the hand of the second plate holder 71 are not strongly rubbed with each other.
The pulling chuck means 3 of the hand 5 can be removed from 00, and the generation of dust due to rubbing can be suppressed.

The elastic plate automatic removing method of the present invention will be described. According to the elastic plate automatic removing method of the present invention, the elastic plate 7 attached to the printing roll plate cylinder 8 by the elastic plate automatic attaching method is used to print on the printing medium, and then the first plate holder 70 is used.
The second plate holder 71 and the second plate holder 71 transfer the elastic plates 7 fixed by the first chuck means 80 and the second chuck means 81 of the printing roll plate cylinder 8 to the hand 5.

First, the second plate holder 71 of the elastic plate 7 is transferred from the second chuck device 81 of the printing roll plate cylinder 8 around which the elastic plate 7 is wound to the pulling chuck device 3 of the hand 5. Delivery when a chuck type holding mechanism is applied as the tension chuck means 3 will be described. First, the tension chuck means 3 and the second plate holder 71 are brought into contact with each other in a predetermined positional relationship, and the chuck claws of the tension chuck means 3 are projected into the hand chuck holes 700 of the second plate holder 71. Next, the hook portion of the chuck claw of the second chuck means 81 is hooked on the inner wall of the hand chuck hole 700 to bring the rod 52 of the air cylinder into the free state of the above (3), and the pull chuck means 3 And the second plate holder 71 are fixed. Thereafter, the chuck claws of the second chuck means 81 of the printing roll plate cylinder 8 are removed from the printing roll chuck holes 701 of the second plate holder 71, and the arm 60 of the articulated robot 6 is driven upward to print the chuck claws. The delivery is completed by withdrawing from the roll chuck hole 701.

Next, the printing roll plate cylinder 8 is rotated in a direction in which the elastic plate 7 is removed, and the arm 60 of the articulated robot 6 is driven to fix the fixed chuck means 2 of the hand 5.
And the position of the first plate holder 70 of the elastic plate 7,
Next, the first plate holder 70 of the elastic plate 7 is passed from the first chuck means 80 of the printing roll plate cylinder 8 to the fixed chuck means 2 of the hand 5 to remove the elastic plate 7 from the printing roll plate cylinder 8. Complete. Delivery when a chuck type holding mechanism is applied as the fixed chuck means 2 will be described. First, the fixed chuck means 2 and the first plate holder 70 are brought into contact with each other in a predetermined positional relationship, and the chuck claws of the fixed chuck means 2 are projected into the hand chuck holes 700 of the first plate holder 70. Next, the hook portion of the chuck claw of the first chuck means 80 is hooked on the inner wall of the hand chuck hole 700 to fix the fixed chuck means 2 and the first plate holder 70. Then, the chuck claws of the first chuck means 80 of the printing roll plate cylinder 8 are removed from the printing roll chuck holes 701 of the first plate holder 70,
The chuck claw is pulled out from the chuck hole 701 for the printing roll, and the delivery is completed.

[0054]

The elastic plate automatic mounting device, elastic plate automatic mounting method, and elastic plate automatic removing method of the present invention have the following effects because of the configuration and operation as described above. (1) Since all of the mounting and removal of the elastic plate to and from the printing roll plate cylinder are automatically performed by the hand attached to the robot, no labor is required and the efficiency of the mounting and removal is very good.

(2) Since the elastic plate is attached to the printing roll plate cylinder, no one goes in and out, so that dust and dirt do not rise and the cleanliness of the surrounding area is improved. In addition, since the hand automatically holds the elastic plate, dust, dust and dirt do not adhere to the elastic plate. Therefore, the elastic plate does not become dirty at all.

(3) Since the elastic plate holder is hooked on the chuck means of the printing roll plate cylinder automatically by the fixed chuck means and the tension chuck means of the hand, there is a risk of human injury. There is none.

(4) Since the elastic plate is wound around the printing roll plate cylinder while automatically adjusting the tension applied to the elastic plate by the hand attached to the robot, the elastic plate is wound around the printing roll plate cylinder. Meanwhile, it is possible to easily maintain a state in which a predetermined tension is applied over the entire width of the elastic plate. Therefore,
It can be wound around the printing roll plate cylinder without excessive tension or slack, and the elastic plate can be attached to the printing roll plate cylinder without wrinkles or waviness.

(5) The slack generated in a part of the elastic plate due to the subtle deviation of (A) and (B) described in the section of the problem to be solved by the invention is applied to the robot when the elastic plate is pulled. The attached hand automatically senses it, and the angle of the elastic plate tension automatic adjustment means and tension chuck means attached to the hand body can be adjusted automatically, so the pull direction of the elastic plate can be adjusted according to the slight slack. It becomes easy to adjust and equalize the tension applied to the entire elastic plate. Therefore, the elastic plate can be attached to the printing roll plate cylinder without causing slack in the elastic plate, and the elastic plate can be attached to the printing roll plate cylinder without wrinkles or waviness.

[Brief description of drawings]

FIG. 1 is a cross-sectional explanatory view showing an embodiment of an elastic plate automatic attachment / detachment device of the present invention.

FIG. 2 is an explanatory sectional view showing an embodiment of the elastic plate automatic attachment / detachment device of the present invention.

FIG. 3 is a cross-sectional explanatory view showing an embodiment of the elastic plate automatic attachment / detachment device of the present invention.

FIG. 4 is a sectional explanatory view showing an embodiment of the elastic plate automatic attachment / detachment device of the present invention.

FIG. 5 is an explanatory sectional view showing an embodiment of the elastic plate automatic attachment / detachment device of the present invention.

FIG. 6 is an enlarged cross-sectional explanatory view of a main part of another embodiment of the elastic plate automatic attachment / detachment device of the present invention.

FIG. 7 is a top view of FIG.

FIG. 8 is a top view of the elastic plate in FIG. 7 in which the tension direction is being adjusted.

FIG. 9 is an enlarged upper explanatory view of an elastic plate and a plate holder used in the elastic plate automatic attaching method and elastic plate automatic removing method of the present invention.

FIG. 10A is an explanatory view of a state of the elastic plate when the elastic plate is attached by the conventional elastic plate attachment method,
(B) is an explanatory view of a state in which the elastic plate is tensioned so as to eliminate slack by the elastic plate automatic mounting method of the present invention. Further, (c) is an explanatory view of a state of the elastic plate when the elastic plate is attached by the conventional elastic plate attachment method,
(D) is an explanatory view of a state in which the elastic plate is tensioned so as to eliminate slack by the elastic plate automatic mounting method of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hand body 10 Bearing part 11 Rotation guide 12 Cam follower guide groove 13 V-shaped part 2 Fixed chuck means 21 Chuck body 3 Pulling chuck means 30 Rotating shaft part 31 Chuck body 4 Elastic plate tension adjusting means 40 Mounting means 400 Rotating shaft part 401 Mounting Part 402 Attachment Means Rotating Shaft 41 Air Cylinder Main Body 42 Rod 43 Bearing Body 431 Cam Follower 432 Bearing Part 433 Tensile Chuck Means Rotating Shaft 5 Hand 6 Articulated Robot 60 Arm 61 Joint 62 Robot Base 7 Elastic Plate 70 First Edition Holder 71 1st 2 plate holder 700 chuck hole for hand 701 chuck hole for printing roll 702 positioning hole 8 printing roll plate cylinder 80 first chuck means 81 second chuck means 90 wiper holder means for wiping intaglio roll 91 repulsion Pushing means 92 Wiper holder means for wiping doctor blade 93 Repulsion pushing means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kenichi Masaki, 3 Mibu Hanai-cho, Nakagyo-ku, Kyoto City, Kyoto Prefecture, Nihon Photo Printing Co., Ltd. Nihon Photo Printing Co., Ltd. (72) Yoshio Nakabayashi, Inventor Yoshio Nakabayashi, No. 1 Izumiyama-cho, 320, Uroyama-nishi, Nishikikoji-dori, Nakagyo-ku, Kyoto, Kyoto

Claims (6)

[Claims] 1. A hand body, a fixed chuck means arranged on one side of the hand body, a tension chuck means arranged on the other side of the hand body, and a fixed chuck means and a tension chuck means attached to the tension chuck means. An elastic plate automatic attachment / detachment device, characterized in that a hand comprising elastic plate tension automatic adjusting means for adjusting a distance therebetween is attached to an arm of an articulated robot. 2. An elastic plate tension automatic adjusting means of the hand is attached to the lower surface of the hand main body so as to be horizontally rotatable or slidable, an air cylinder main body fixed to the lower surface of the attaching means, and an air. The tension chuck is composed of a rod that is moved back and forth with respect to the cylinder body to adjust the distance between the hand body and the tension chuck means, and a bearing body that is attached to the tip of the rod and bears the rotation of the tension chuck means. The elastic slab automatic attachment / detachment device according to claim 1, wherein the means is attached so as to be horizontally rotatable with respect to the bearing body. 3. The hand chuck to which the fixed chuck means, the tension chuck means, and the elastic plate tension automatic adjusting means are attached, at another location or at another location of the attachment means.
3. The elastic plate automatic attachment / detachment device according to claim 1, further comprising wiper holder means for wiping the intaglio roll or / and wiper holder means for wiping a doctor blade. 4. An elastic plate mounting method for winding an elastic plate, both ends of which are held by a first plate holder and a second plate holder, around a printing roll plate cylinder having a first chuck means and a second chuck means. First of the elastic version
The plate holder and the second plate holder are respectively held by the fixed chuck means and the tension chuck means of the elastic plate automatic attachment / detachment device according to any one of claims 1 to 3,
Next, by driving the arm of the articulated robot, the first plate holder of the elastic plate is moved to the position where the first chuck means of the printing roll plate cylinder is provided, and then the printing is performed from the fixed chuck means of the hand. The first plate holder of the elastic plate is transferred to the first chuck means of the roll plate cylinder, and then the arm of the articulated robot is driven to separate the hand from the printing roll plate cylinder and the first plate holder. A predetermined tension is applied to the elastic plate between the second plate holder and the second plate holder, and then the printing roll plate cylinder is gradually rotated in the winding direction of the elastic plate, and at the same time, the air cylinder body of the elastic plate tension automatic adjusting means is applied. Rotate the printing roll plate cylinder by driving the arm of the articulated robot while moving the rod back and forth to maintain a predetermined tension on the elastic plate. Along with this, the hand is gradually brought closer to the printing roll plate cylinder, the second plate holder of the elastic plate is moved to a position where the second chuck means of the printing roll plate cylinder is provided, and then printing is performed from the pulling chuck means of the hand. An elastic plate automatic mounting method, characterized in that a second plate holder of an elastic plate is passed to a second chuck means of the roll plate cylinder, and the mounting of the elastic plate to the printing roll plate cylinder is completed. 5. A predetermined tension is applied to the elastic plate between the first plate holder and the second plate holder, and then the rod is moved back and forth from the air cylinder body of the elastic plate tension automatic adjusting means to predetermined the elastic plate. Printing roll by driving the arm of the articulated robot while maintaining the tension applied to the elastic plate and rotating the elastic plate tension automatic adjusting means or / and the tension chuck means to adjust the tension direction of the elastic plate. The elasticity according to claim 4, wherein the hand is gradually brought closer to the printing roll plate cylinder as the plate cylinder rotates, and the second plate holder of the elastic plate is moved to a position where the second chuck means of the printing roll plate cylinder is provided. Version automatic installation method. 6. A printing roll plate cylinder on which an elastic plate is wound after printing on an object to be printed using the elastic plate attached to the printing roll plate cylinder by the elastic plate automatic mounting method according to claim 4 or 5. From the second chuck means to the pulling chuck means of the hand, the second plate holder of the elastic plate is transferred, and then the printing roll plate cylinder is rotated in the direction in which the elastic plate comes off and the arm of the articulated robot is driven. Then, the fixed chuck means of the hand is aligned with the position of the first plate holder of the elastic plate, and then the first chuck means of the printing roll plate cylinder is transferred to the fixed chuck means of the hand to move the first plate of the elastic plate.
An elastic plate automatic removing method, characterized in that the plate holder is delivered and the elastic plate is completely removed from the printing roll plate cylinder.