JPH07102680B2 - Automatic plate attachment / detachment device for rotary press - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION a) Field of Industrial Application The present invention relates to a large number of printing plates which are conveyed and distributed to respective fixed positions of a large number of printing units arranged in a rotary press chamber in which a rotary press is installed. (Hereinafter referred to as a printing plate) is automatically mounted at a predetermined position on the peripheral surface of each plate cylinder in the printing unit, and the used printing plate is automatically peeled off from the peripheral surface of the plate cylinder. Regarding the device.

b) Prior Art Regarding an automatic operation device of a mounting / demounting mechanism for mounting a plate at a predetermined position on a plate cylinder and peeling it from the plate cylinder, there is JP-A-58-140254 by the same applicant prior to the present application. From the outside, carry in and supply the printing plate toward a predetermined position on the peripheral surface of the plate cylinder,
Further, regarding an automatic plate feeding / discharging device that peels the printing plate from the peripheral surface of the plate cylinder and carries it out to the outside, JP-A-58-188657 and JP-A-60-073850 by the same applicant prior to the present application. Japanese Patent Laid-Open Publication No. Sho. 1-58242 filed by the same applicant prior to the present application as to an automatic device for sequentially distributing a printing plate from a plate making room to a predetermined position of a predetermined plate cylinder in a large number of printing units in a rotary press chamber. There is No. 60-052343.

c) Problems to be Solved by the Invention Among these disclosed techniques, a technique for automatically attaching and detaching a printing plate to and from the plate cylinder peripheral surface is disclosed in the above-mentioned JP-A-58-188657.
And JP-A-60-073850.

However, in these known techniques, the structure of the hand that directly holds the printing plate at the time of mounting and detaching the printing plate is too complicated, and not only is maintenance difficult, but it also causes frequent occurrence of failures, resulting in an increase in efficiency. It led to a decline.

A first object of the present invention is to obtain an automatic plate attaching / detaching device that solves the above-mentioned problems, and to reduce the weight of the hand portion corresponding to the operation end portion as much as possible to achieve a small size and light weight simplification. The aim is to develop a practical machine that is reliable and easy to handle.

In particular, the above-mentioned JP-A-60-073850 is a type in which various displacement mechanisms are dispersedly installed on a substrate composed of four layers.
There is a disadvantage that a minute displacement error that occurs when the four substrates are connected is compounded at the end.

A second object of the present invention is to solve the above disadvantages and to obtain an automatic plate attaching / detaching device capable of accurate positioning without displacement errors of each part being concentrated at the end.

d) Means for Solving the Problems In the automatic plate attaching / detaching device of the rotary press according to the present invention, the angular displacement mechanism having the vertical axis on the base as the rotation center and the angular displacement mechanism having the horizontal axis as the rotation center are interposed. An arm having a link mechanism arranged in such a manner, a hand provided with a substrate pierced with the tip of the arm biased in the direction of pressing the plate to the peripheral surface of the plate cylinder, and the hand On the other hand, an axis that moves in parallel with the surface of the substrate, and a plate holding mechanism fixed to each of the axes,
A mechanism for pressing the plate on the peripheral surface of the plate cylinder with a roller, and a mechanism for pressing the folded side of the plate into the groove of the plate cylinder.
A fine displacement mechanism in the thrust direction of the shaft with respect to the substrate,
Is provided, and the plate held by the plate holding mechanism is slightly displaced until it hits a stopper that determines the plate mounting position on the peripheral surface of the plate cylinder, and is positioned in the left-right direction. is there.

e) Action A relatively large displacement of the plate cylinder from the peripheral surface is
This is performed by a composite operation of the link mechanism in the arm and each angular displacement mechanism having the vertical axis and the horizontal axis as rotation centers.

Next, the hand holding the printing plate was pressed against the peripheral surface of the plate cylinder while pushing the holding edge of the printing plate into the holding groove of the plate cylinder, and On the other hand, an attempt is made to finely displace the shaft to the right or left in the thrust direction. Then, in time, the plate that is being held hits the stopper that determines the plate mounting position on the peripheral surface of the plate cylinder, and the reaction force generated by the hit is detected, and the fine displacement in the left-right direction is stopped, and the plate is stopped. The left and right mounting positions on the peripheral surface of the printing cylinder are determined.

When the horizontal positioning is completed, the plate is held and released, and the plate is pressed against the peripheral surface of the plate cylinder while interlocking with the rotation of the plate cylinder. Can be attached.

The plate is clamped on the peripheral surface of the plate cylinder by opening the plate tail edge attachment / detachment shaft of the plate cylinder, inserting the tail edge part of the plate into it, and then closing it.

The order of stripping the printing plate is generally as follows.

When the axis for attaching and detaching the plate edge of the plate cylinder is opened, the edge of the plate edge comes off the plate cylinder and rises from the surrounding area.

When the printing plate is held and lifted by the hand, the folding side bending part of the printing plate comes off the holding groove of the plate cylinder.

Hold the detached plate and move it to the disposal position.

f) Example As shown in FIG. 1 schematically showing the whole automatic plate attaching / detaching device of a rotary press according to the present invention, a hand 1 as an operation terminal and a desired position of the hand 1 are provided. The hand 1 is attached to the tip of the arm 5.

First, the overall configuration of the arm 5 is as shown in FIG.
A pillar that can be angularly displaced about the vertical axis Z on the base 56
55 is provided, and a support shaft 551 that is angularly displaceable about the horizontal axis Y is provided at the upper end of the support column 55. Further, four links 53 are pivotally supported at their ends with the support shaft 551 as a base point. , 53
A link mechanism composed of a combination of 1, 54, and 541 is provided, and a link 53 above the link mechanism is extended forward from the support shaft X, and a yoke-shaped wrist is provided at the tip end thereof via the support shaft W. Connected with department 51. In addition, it is easy to provide a self-propellable wheel (not shown) below the base 56.

Next, the plate mounting / demounting hand 1 is composed of a corner member on the substrate 10.

As shown in FIGS. 3 and 4, the substrate 10 is elastically mounted on the front surface of the wrist portion 51 of the arm 5 at a constant interval as follows. That is, screw holes are provided near the left and right ends of the front surface of the wrist portion 51, through holes are provided near the left and right ends of the corresponding substrate 10, and bolts 521 and 521 are respectively passed through the through holes. Furthermore, after inserting compression springs 52, 52 on the shafts of the bolts, respectively, and screwing and fixing the tip screw portions of the bolts into the screw holes, respectively, the action of the springs 52, 52 causes the substrate 10 to be bolted. The heads of 521 and 521 are pressed and supported.

Therefore, when the plate P is pressed against the peripheral surface of the plate cylinder A,
Due to the pressing force, the substrate 10 compresses the springs 52, 52 and shortens the gap with the wrist 51. Confirmation of the presser foot is performed by a limit switch 57 provided on the front surface of the wrist portion 51, as shown in FIG.

Next, a state in which the pair of shafts 16 and 16 are attached to the substrate 10 so as to freely perform thrust displacement in the direction parallel to the surface of the substrate will be described.

First, as shown in FIG. 3 and FIG. 4, a pair of brackets 10 are provided from the left and right ends of the front surface of the board 10 toward the front.
0 and 100 are provided in a projecting manner, and thrust bearings 24, 24, 24, and 24 are provided at the upper and lower ends of the brackets, respectively, and the pair of thrust bearings located on the upper side supports the upper shaft 16 freely in thrust displacement. , The lower shaft 16 is supported by a pair of thrust bearings located on the lower side in a freely displaceable manner (second
See figure).

L-shaped brackets 25, 25 are fixed to the right and left ends of the pair of shafts 16, 16, respectively, and these brackets both function as stoppers for preventing the shafts 16, 16 from falling off in the thrust direction. It is used as a mounting board for various mechanisms described later.

The means for giving the fine movement displacement in the thrust direction to the shafts 16 and 16 has the following configuration.

As shown in FIG. 2 and FIG. 3, the piece 18 has a pair of shafts 16, 16.
It is slidably inserted and supported in each central part of the
A vertical hole 181 is provided at the center of the disk, and a pin 20 is rotatably inserted into the hole 181. Further, the pin 20 is provided on the eccentric part of the disk 182, while the disk 182 is projected. 182
Is fixed to a drive shaft of a motor 21 capable of rotating in the forward and reverse directions, and the motor 21 is fixed to the substrate 10.
Therefore, the disc 182 is driven by the fine rotation of the motor 21.
When the driven angle is displaced, since the pin 20 is eccentrically attached, the pin 20 moves in the turning direction, and the pin 20 slightly moves the long hole 181 to the left or right or the left, and the displacement is
8 is transmitted to 8, and the piece 18 is finely displaced rightward or leftward in the thrust direction along the shafts 16, 16. Collars 17 and 17 are fixedly mounted on the shafts 16 and 16 between the center piece 18 and the left and right thrust bearings 24 and 24, respectively. , 16 is finely displaced to the right or left. As shown in FIG. 2, between the piece 18 and the pair of collars 17, 17, pressure detecting load cells 19, 19 having substantially the same thickness as the gap are provided to measure a reaction force against a minute displacement. To do. In short, the reaction force is caused by the plate P coming into contact with a plate positioning stopper (not shown) of the plate cylinder A, while the micro displacement is continued to the left or right. When the reaction force is detected in any of the load cells 19 and 19, the drive of the motor 21 is stopped according to the detected value.

In the present invention, the plate P is held by the suction cups 11, 11, 11, 11 and / or the claws 12, 12. Both of these mechanisms, in this embodiment, as shown in FIGS.
It is constructed on the basis of a pair of L-shaped brackets 25, 25 fixed to the shafts 16, 16 in a state of being bridged between both ends of 6, 16.

First, four suction cups 11 and 1 which should hold the surface of the printing plate P by suction.
Reference numerals 1, 11, 11 denote support rods 111, 111, 111, 111 fixed to the positions of the upper and lower ends of the pair of L-shaped brackets 25, 25 so as to be adjustable to the same length toward the front. It is attached to each tip.

Next, the claws 12, 12 for holding the left and right side edges of the plate P
Is the L-shaped bracket 25, indirectly via the pressing plates 221 and 221 in the mechanism for pressing the plate P against the peripheral surface of the plate cylinder.
It is attached to 25.

Therefore, as a sequence, the structure of the mechanism for pressing the printing plate P against the peripheral surface of the plate cylinder will be described. Of the L-shaped brackets 25, 25, the central portions of the plates on the side extending in the left-right direction are respectively arranged. Two holes are formed (see FIG. 2), and pressing plate driving air cylinders 22, 22 for driving the pressing plates 221 and 221 to displace in the front-rear direction are fixed to one hole, and the rods of those air cylinders are fixed. Press plate on each tip
221 and 221 are fixed. As shown in the lower end of FIG. 3, rods 222, 222 for controlling the posture are projected from the pressing plates 221, 221 rearward in parallel with the rods, while L-shaped brackets 25, 25 are provided. Thrust bearings 223, 223 are respectively fixed to the other holes of the above, and the tip end portions of the attitude control rods 222, 222 are held by these bearings, respectively.

Now, as shown in FIG. 2, FIG. 3, and FIG. 5, the pair of claws 12, 12 are arranged inward at the leftmost and rightmost positions of the hand according to the present invention so that they can be displaced laterally freely. To be done. An example of the configuration will be described below. Brackets 122 and 122 are provided so as to project rearward from the outer end of each pressing plate 221, and two holes are made in each of the brackets (see FIGS. 2 and 5). Claw driving air cylinders 121 and 1 for driving the claws 12 and 12 in one of the holes in the left-right direction.
21 are fixed, and the claws 12 are fixed to the tips of the rods of the air cylinders. As best shown in FIG. 2, parallel to the rod, the claws 12,
Posture control rods 123 and 123 from 12 to the inside
On the other hand, thrust bearings 124, 124 are fixedly provided in the other holes of the brackets 122, 122, respectively, and the tip end portions of the attitude control rods 123, 123 are held by these bearings, respectively.

In the illustrated embodiment, both the means using the suction cup 11 and the means using the claws 12 are shown as the plate holding mechanism to ensure the handling of the plate P, but it is a simple type in which either one is omitted. It is also possible to hold the printing plate.

On the other hand, the mechanism for pushing the holding side bent portion p1 (see FIG. 8A) of the printing plate P into the holding side a1 (see FIGS. 8C and 8D) of the plate cylinder A is also the upper end of the hand according to the present invention. Mounted along the edge, an example of the mechanism will be described below.

As shown in FIGS. 2 and 5, pushing plates 13, 13 for pushing the holding side bent portion of the plate into the holding groove of the plate cylinder are attached to the free end portion of the lever 131. The base of the lever is supported by pins 23, 23, and the pins are respectively connected to the rods of the air cylinder 231.
Shafts fixed to L-shaped brackets 25, 25 integrated with shafts 16 and 16
It is attached to holders 232 and 232, which respectively project from 251 and 251. Therefore, the pushing plate is swingably displaced by the air cylinder with the pin as a fulcrum. The push-in plates 13 and 13 are provided with approach switches 14 and 14 (see FIG. 2) for confirming push-in.

The left and right L-shaped brackets 25, 25 have base shafts 251, 251, 251, 251 independently fixed to their upper and lower ends, respectively. Although the pushing plates 13 and 13 are supported, other than that,
A pair of rollers 15, 15 and 15, 15 for pressing the printing plate against the plate cylinder are attached to the four base shafts, respectively. An endless belt or the like can be used instead of the above rollers.

In order to effectively operate the automatic plate plate attaching / detaching device according to the present invention, it is desirable to provide the plate F with the plate edge A / D attachment / detachment shaft operating mechanism 6 or 7 on the frame F to which the plate cylinder A is attached, and to perform the related operation. The mechanism will be described below.

First, the embodiment of FIG. 6 will be described in detail. The tail edge attachment / detachment shaft 64 of the printing plate is provided along the longitudinal direction of the peripheral surface of the plate cylinder A.
The printing plate is mounted in the phase indicated by the solid line on the axis and is peeled off in the phase indicated by the two-dot chain line.

An arm 65 is provided so as to project from the shaft 64, and the arm 68 constantly urges the arm counterclockwise in the figure by a spring 68,
Stop the free end of the arm with a stopper 66. Therefore, by pushing the arm 65 inward from the outside against the force of the spring 68, the shaft 64 is displaced in each clockwise direction, and at the angular displacement position, the tail edge device of the plate and the exfoliation are removed. Is executed.

As an example of a means for pushing the free end of the arm 65 inward, one-letter levers, each of which has an intermediate portion pivotally supported by pins 61, 61 ', are provided, and one end of each lever is provided as a drive unit such as an air cylinder 63, 63'. When connected to the rods of ′, the other ends of the levers can push the free ends of the arms 65 inward in the mounting phase and the peeling phase, respectively.

In the case of the W-wide rotary press, the plate edge-attaching / removing shaft 64 has a double structure, and the arm 65 has two sheets on the front side and the rear side in the drawing. Then, the pair of levers 62 and 62 'are shifted.

Next, also in the embodiment shown in FIG.
Is provided along the longitudinal direction of the peripheral surface of the plate cylinder A ', and that the printing plate is mounted in the phase shown by the solid line of the axis and peeled off at the phase shown by the chain double-dashed line in FIG. Same as the embodiment. However, in this embodiment, the plate edge is mounted and removed at the open position (broken line position) where the arm 75 protruding from the shaft 74 is angularly displaced counterclockwise, and the plate edge is mounted in the clockwise direction. At the closed position (solid line position) where the displacement is restored, the printing plate is clamped, and printing or pausing is performed.

As an example of the means for operating the angular displacement of the arm 75, the middle portion of the bell crank lever 72 is pivotally supported by the bracket 71 with the pin 71, and one end of the lever is connected to the rod of the air cylinder 73 while the other end is connected. The base of the beak material 76 is pivotally supported, and the free end of the arm 75 is clamped between the beak materials 76. Therefore, the action of the air cylinder 73 causes the bell crank lever 72 to move.
Is displaced between the solid line position and the broken line position with pin 71 as the fulcrum,
In conjunction with the displacement, the arm 75 is also displaced between the solid line position and the broken line position via the beak material 76. 761 has arm 75 and beak 7
It is a guide surface that ensures connection with 6. In addition, this axis 74
Is provided with the dead points of the two poles, that is, the angular displacement between the plate tightening position (solid line position) and the open position (broken line position), so that unless an external force capable of exceeding the dead point is applied, the shaft 74 There is no angular displacement without permission.

Normally, the beak material 76 is kept in a standby position at a distance from the plate cylinder A'during operation of the printing machine. The movement to the standby position is executed as follows, for example. That is, the bracket 77 is moved counterclockwise by the chain 80, that is, the beak material 76.
Is moved from the arm 75 to remove the beak material 76 from the arm 75, and then the rod of the air cylinder 73 is extended to separate the beak material 76 from the plate cylinder A ′ and return to the standby position.

When angularly displacing the attachment / detachment shaft 74, first, in the drawing, the chain 80 is moved counterclockwise to move and stop the bracket 77 and a set of members to be moved to a position where the bracket 75 has passed through the tip of the arm 75. , The rod of the air cylinder 73 is shortened, and the beak material 76 is brought into contact with the guide surface 761 of the plate cylinder via the bell crank lever, and then the chain 80 is moved clockwise in the drawing, and the beak material 76 is moved to the plate. Guided along the guide surface 761 of the cylinder, it holds the free end of the arm 75 in the plate clamp position.

If the rod of the air cylinder 73 is extended at that position, the arm 75 is angularly displaced to the position of the broken line, and the plate can be attached and detached, and the rod of the air cylinder 73 can be shortened at that position. For example, the arm 75 is angularly displaced to the solid line position, and printing or rest can be performed.

In the embodiment of FIG. 7, the beak material 76 is commonly used for both mounting (solid line phase) and exfoliation (two-dot chain line phase) of the printing plate. Therefore, the bracket 77 that supports the beak material 76 and the like is configured to be movable between the two phases. An example of the moving means is as follows. That is, the bell crank lever 72 and the air cylinder 73 are both supported by the bracket 77, which connects the bracket 77 to one point on the endless chain 80, while making the chain a circular arc concentric with the circumference of the plate cylinder. The chain is guided along the rail 79, and the chain is rotated by the output side sprocket of the drive unit 78 that can rotate both forward and backward.

Therefore, first, after moving the chain 80 in the direction in which the beak material 76 is removed from the arm 75, the rod of the air cylinder 73 is extended to position the beak material 76 outside the circumference of the plate cylinder A ′. By lowering the chain 80 along the rail 79 in that posture, the beak material 76 can be carried on the plate stripping phase (two-dot chain line).

In the case of the W width rotary press, the bottom edge attachment / detachment shaft 74 of the printing plate has a double structure, and the arm 75 has two front and rear sides in FIG. Two pieces of 72, an air cylinder 73, and a beak material 76 are arranged side by side, respectively.

Next, the operation of the plate automatic attachment / detachment device according to the present invention will be described.

Plate mounting procedure (see FIGS. 8A to 8G) 1. In order to bring the hand 1 standing by at a predetermined position closer to the plate P standing by at a predetermined position, a spindle W of an arm 5 is provided. Rotate X, horizontal axis Y, vertical axis Z as appropriate,
The height of the printing plate P is set to be approximately the same as the folding side p1 of the printing plate P, and the hand 1 is stopped at a close position where the substrate 10 is parallel to the printing plate p (see FIG. 8A).

2. The four suction cups 11, 11, 11, 11 are attracted to the outer surface of the printing plate P, and the left and right claws 12, 12 are operated to hold the left and right edges of the printing plate P to hold the printing plate P with the hand 1. Hold. The suction holding is confirmed by a vacuum detection switch (not shown) provided in the vacuum source section. (See Figure 8B).

3. The hand 1 that has completed holding the printing plate P again has the arm 5 again.
By the rotation operation of each axis, the holding edge bending part p1 of the plate P is moved to a position close to the holding groove a1 of the plate cylinder A and stopped (see FIG. 8C).

4. On the other hand, the bit number of the rotary encoder 002 (see FIG. 10) is detected so that the stop phase of the plate cylinder A coincides with the plate mounting position, and further, if necessary, up to the plate cylinder A mounting position. Rotate and stop. (See Figure 8C).

5. The holding plates 13, 13 of the hand 1 are driven by the air cylinder 231 to push the holding side bent portion p1 of the printing plate P into the holding groove a1 of the plate cylinder A. Whether or not the bent portion p1 is pushed into the grip groove a1 is confirmed by the proximity switches 14 and 14 (see FIG. 8D).

6. When the motor 21 of the hand 1 is driven to finely move the piece 18 in the right direction or the left direction, the fine movement displacement of the pair of collars 17, 17 is transmitted through the load detecting load cells 19, 19. It is transmitted to and pushed by it, and the fine movement displacement is the axis.
It is transmitted to the L-shaped brackets 25 and 25 via 16 and 16, and the fine displacement is further supported on the L-shaped brackets 25 and 25.
The suction plate 11 installed via 1 and the L-shaped brackets 25, 25 are also transmitted to the claw 12 installed via the bracket 122 on the pressing plate 221, and are further supported by these plates. When the printing plate P is also slightly moved in the right direction or the left direction when it is transmitted to the printing plate P, the printing plate P eventually comes into contact with a printing plate positioning stopper (not shown) of the printing drum A. Then, the reaction force is detected by the pressure detection load cells 19, 19 interposed between the collars 17, 17 and the piece 18, and the motor 21 is stopped by the detection (see FIG. 8D).

7. While appropriately moving each spindle WXY of the arm 5 to displace the posture of the hand 1 from D to E in FIG. 8, the holding side bent portion p1 of the plate P is hooked on the edge of the groove a1. With plate P
Is pressed against the peripheral surface of the plate cylinder A by the roller 15, and the pressing is confirmed by the limit switch 57 (see FIG. 4), while the suction cup 11
Release the holding of the plate by the claw 12 and the
With the switch described in item (see FIG. 8E).

8. When the plate cylinder A is rotated in the clockwise direction, the holding side bent portion p1 of the printing plate P is brought along with the advance of the edge of the holding groove a1 of the printing drum A, and the roller 15 prints the printing plate P. Since it is pressed down on the peripheral surface of the torso A,
The plate P is bent in accordance with the curvature of the peripheral surface of the plate cylinder A, and the tail edge bent portion p2 of the plate P soon approaches the plate tail edge attachment / detachment shaft 64 of the plate cylinder A. The rotation of the plate cylinder A is stopped. The stop position is detected by the rotary encoder 00 described in the above item 4.
2 (see FIG. 10) (see FIG. 8F).

9. Plate edge-removing shaft 64 shown in FIG. 6 or 7 or
Rotate 74 to the open side. That is, in FIG.
When the rod of the air cylinder 63 is shortened, the one-character lever 62 is moved around the pin 61, and the free end of the lever 62 pushes the free end of the arm 65 against the force of the spring 68. It is opened by angular displacement in the clockwise direction. The confirmation is made by a limit switch (not shown) provided at the stroke end of the air cylinder 63.

In the case of FIG. 7, when the arm 75 is clamped by the beak material 76 and the rod of the air cylinder 73 is extended and the bell crank lever 72 is angularly displaced to the position shown by the broken line in the case of FIG.
As a result, the arm 75 is also angularly displaced to the position indicated by the broken line, so that the shaft 74 is angularly displaced counterclockwise to be in the open state.

10. Rotate the angular axis of the arm 5 to move the hand 1 toward the plate edge gripping / removing shaft 64, and the roller 15 on the lower side of the hand 1,
At 15, press the vicinity of the tail edge bending part p2 of the printing plate against the plate cylinder side,
Insert the plate edge tail bend p2 into the shaft 64 (Fig. 8G).
reference).

11. The plate P is tightened by closing the detachable shaft 64 or 74. That is, in FIG. 6, the air cylinder 63
The rod is shortened, the one-letter lever 62 is moved around the pin 61, and the free end of the lever is removed from the free end of the arm 65. The arm 65 returns to the position where it hits the stopper 66 by the force of the spring 68. And along with it axis 64
Is angularly displaced counterclockwise and the closing is completed.

In the case of FIG. 7, when the rod of the air cylinder 73 is extended and the arm 75 is angularly displaced to the solid line position, the shaft 74 is angularly displaced clockwise and reaches the dead point of the angular displacement, and is closed. It
Next, the beak material 76 is removed from the arm 75 and returned to the standby position by the method described above.

12. Rotate each axis of the arm 5 to return the hand 1 to the initial standby position.

Plate stripping procedure (see FIGS. 9A to 9F) 1. Hand 1 waiting at the initial position (see FIG. 9A)
Is moved by each operation of the arm 5 to approach and stop the plate cylinder A (see FIG. 9B).

2. On the other hand, check whether the plate cylinder A is stopped at the plate stripping phase by the number of bits of the rotary encoder 002 (see Fig. 10). If not, rotate the plate cylinder A. Then, it is stopped at the exfoliation position (see FIG. 9B).

3. Rotate the plate tail edge attachment / detachment shaft 64 or 74 to the open side in the same manner as in item 9 of the plate mounting procedure.

However, the fixed stop position of the plate cylinder A when the plate is peeled off is in the phase indicated by the chain double-dashed line in both FIGS. 6 and 7.

Therefore, in the case shown in FIG. 6, the support shaft 61 'lever 62' and the air cylinder 63 'are used, and when the rod of the air cylinder 63' extends, the shaft 64 is opened and the plate edge `` p2 '' is released. It deviates from the plate cylinder A and floats up from its peripheral surface (see FIG. 9C).

In the case of FIG. 7, when the shaft 74 is released in the same manner as in step 9 of the plate mounting procedure, the plate tail edge p2 is disengaged from the plate cylinder A'and floats up from the peripheral surface thereof.

4. Rotate each axis of the arm 5 to move it so that the hand 1 contacts the plate P, and at the same time, sucker 11 and claw 12
The printing plate P is held by means of each detection switch described in item 2 of the printing plate mounting procedure (see FIG. 9D).

5. Further, by rotating each axis of the arm 5, the hand 1 is moved to remove the plate edge side bending portion a1 caught on the edge groove a1 of the plate cylinder A (see FIG. 9E). ).

6. Further, each axis of the arm 5 is rotated to stop the movement of the hand 1 holding the printing plate P to the printing plate discarding position (see FIG. 9F).

7. The plate tail edge attachment / detachment shaft 64 (in the case of FIG. 7, the plate edge tail attachment / detachment shaft 74) is angularly displaced toward the closing side.

8. The holding of the printing plate P by the suction cup 11 and the claw 12 is released, and the printing plate A is appropriately discarded. The corner detection switch is used to confirm the plate holding release.

9. Drive each axis of the arm 5 to return the hand 1 to the initial standby posture. All the above operations are controlled and executed by the CPU.

When the mother body 5 is of the self-propelled type, a control system for the self-propelled path and fixed stop position is added to the above.

g) Effects of the Invention In the plate automatic attachment / detachment device according to the present invention, first, the displacement of a relatively large approach and separation with respect to the peripheral surface of the plate cylinder is caused by the link mechanism in the arm and the vertical axis and the horizontal axis as rotation centers. Since it was done intensively by the complex operation with each angular displacement mechanism, we succeeded in greatly reducing the weight of the hand part corresponding to the operation terminal part, and the hand part was made compact and simplified. It made it possible to have the qualities of a practical machine that is reliable and easy to operate.

Further, the plate automatic attachment / detachment device according to the present invention elastically supports the substrate of the hand corresponding to the operation terminal portion with respect to the arm, and at the same time attaches the shaft to the substrate so as to be displaceable in the thrust direction. A plate holding mechanism, a mechanism for pressing the plate-side bent portion of the plate into the plate-clamping groove and a mechanism for pressing the plate to the peripheral surface of the plate are fixed to the shaft.
Since a mechanism for finely displacing the above-mentioned mechanisms including the shaft in the left-right direction with respect to the board was provided, the displacement error that occurs in the terminal can be suppressed to a minimum by operating the shaft only in the left-right direction. At the same time, it is possible to reliably and easily determine the mounting position of the printing plate in the left-right direction, and in this way it is possible to mount the printing plate on the peripheral surface of the plate cylinder, and at the same time, by using these devices, the used It is also possible to remove the plate from the peripheral surface of the plate cylinder.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an embodiment of the whole automatic plate attaching / detaching device according to the present invention.
Shows the relationship between the and arm 5. 2 is a longitudinal sectional view of the hand 1 taken along the line A-A in FIG. 1 and FIG. 3, and FIG. 3 is a cross-sectional perspective view of the hand 1 taken along the line A-I in FIG. 4, FIG. 4 is a right side view in vertical section taken along line W-W of FIG. 2 and FIG. 3, and FIG. 5 is a left side surface along line A-E of FIG. 2 and FIG. FIG. 6 is a vertical sectional side view showing an embodiment of an auxiliary portion of the automatic plate attaching / detaching device according to the present invention, that is, a plate gripping edge attaching / detaching shaft rotating operation part of the plate cylinder, and FIG. FIG. 6 is a vertical sectional side view showing another embodiment of FIG. 6, FIG. 8 is an explanatory view showing a procedure of the plate making apparatus, FIG. 9 is an explanatory view showing a procedure of plate removing, and FIG. 7 is a control system diagram of an embodiment using the mechanism shown in FIG. P …… press plate, p1 …… the tail side bent part, p2 …… the tail edge bent part, A and A ′ …… plate cylinder, a1 …… the tail groove, W …… spindle , X ... Support axis, Y ... Horizontal axis, Z ... Vertical axis, F ... Frame, 1 ... Hand, 5 ... Arm, 6 and 7 ... Plate edge holding / removing axis rotation operation section , 10 ... Board, 100 ... Bracket, 11 ... Sucker, 111 ... Support rod, 12 ... Claw, 121 ... Claw driving air cylinder, 122 ... Bracket, 13 ... Push plate, 131 ... … Lever, 14 …… Proximity switch, 15 …… Roller, 16 …… Axis, 17 …… Collar, 18 …… Piece, 181… Slot, 182… Disc, 19… Load cell, 20… Pin, 21 …… Motor, 22 …… Air cylinder for pressing plate drive, 221 …… Pressing plate, 222 …… Posture control rod, 223 …… Thrust bearing, 23 …… Pin, 231 …… Air cylinder, 2 32 …… Holder, 24 …… Thrust bearing, 25 …… L-shaped bracket, 251 …… Basic shaft, 51 …… Wrist, 52 …… Compression spring, 521 …… Bolt, 53 …… Lower arm link, 54 …… Upper arm link, 531 …… Auxiliary link, 541 …… Auxiliary link, 55 …… Stand, 551 …… Spindle, 56 …… Base, 57 …… Limit switch, 61,61 ′ …… Pin, 62,62 ′ …… One-character lever, 63, 63 ′ …… Air cylinder, 64 …… Plate plate edge attachment / detachment shaft, 65 …… Arm, 66 …… Stopper 67 …… Shift means, 68 …… Spring 71 …… Pin, 72 …… Bell crank lever, 73 …… Air cylinder, 74 …… Plate plate bottom edge attachment / detachment shaft, 75 …… Arm, 76 …… Beak material, 761 …… Guide surface, 77 …… Bracket, 78 …… Drive unit , 79 …… rail, 80 …… chain, 001 …… control part, 002 …… rotary encoder, 003 …… plate cylinder drive part.

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-57-133070 (JP, A) JP-A-58-187355 (JP, A) JP-A-60-73850 (JP, A)

Claims (1)

[Claims] 1. An arm provided with a link mechanism in which an angular displacement mechanism having a vertical axis as a rotation center and a horizontal shaft having a horizontal axis as a rotation center is interposed between the arm and a tip end of the arm. On the other hand, a hand equipped with a substrate biased in the direction of pressing the plate against the peripheral surface of the plate cylinder, an axis that moves parallel to the surface of the substrate with respect to the substrate, and a printing device that is fixed to each of the axes. A plate holding mechanism, a mechanism for pressing the plate against the peripheral surface of the plate, and a mechanism for pressing the plate-side bent portion of the plate into the plate copper groove, and a slight displacement in the thrust direction of the shaft with respect to the substrate. A mechanism is provided, and the plate held by the plate holding mechanism is slightly displaced until it comes in contact with a stopper that determines the plate mounting position on the peripheral surface of the plate cylinder, and performs lateral positioning. Automatic plate attachment / detachment device for rotary presses.