JPH0769470A - Pickup device of sheet member - Google Patents

Abstract

PURPOSE:To make a sheet member shitable to a standby position by picking up this sheet member mounted on a mount in a state of being stacked from the topper in order. CONSTITUTION:This pickup device is provided with a mount 2 mounting a sheet member S such as a vinyl bag and suchlike, a grabbing means 3 grabbing the sheet member S on this mount 2, a mobile means driving an arm 4 installed in a tip of the grabbing means 3 and shifting this grabbing means 3 up to a preset standby position from the mount 2, and a detection means detecting whether the sheet member S is removed from the grabbing means 3 at the standby position or not, respectively. In this constitution, when a fact that the sheet member S is removed from the grabbing means 3 is detected, it is also provided with a mobile control means which controls the mobile means so as to shift the grabbing means 3 up to the mount 2 from the standby position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sheet member picking-up device for picking up a sheet member such as a vinyl bag or a paper bag placed on a mounting table and carrying it to an operator.

[0002]

2. Description of the Related Art Usually, when inserting vegetables into a bag-shaped sheet member such as a plastic bag or a paper bag and packaging the vegetables, the operator grasps the plastic bag with one hand and the other hand with the other hand. Open the opening of the plastic bag, and then grasp the vegetables with the other hand and put it in the plastic bag, or grasp the plastic bag with both hands to open the opening and remove one hand from the plastic bag. I grabbed vegetables and put them in a plastic bag through the opening. In order to perform the insertion operation quickly, the plastic bag or the like is picked up by one hand and the opening of the plastic bag or the like is opened while holding the vegetables or the like in the other hand.

[0003]

However, if the plastic bag is opened while holding vegetables and the like, the work is difficult and there is a problem that skill is required to carry out the work quickly. In addition, it is very troublesome to open the plastic bag and then pick up the vegetables and the like, and there is a problem that the insertion work is troublesome and the work efficiency is deteriorated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a device for picking up a sheet member that can easily perform work such as unfolding the sheet member.

[0005]

According to a first aspect of the present invention, there is provided a device for picking up a sheet member, a mounting table on which the sheet member is placed, a means for picking up and holding the sheet member, and the picking up means. It is characterized in that it comprises a moving means for reciprocating between the mounting table and a preset standby position.

According to a second aspect of the present invention, there is provided a sheet member pick-up device according to the first aspect, wherein the pick-up means has a pair of circumferential surfaces abutting each other by the biasing force of the biasing means. A pair of rollers are provided, and the pair of rollers are formed by a gripping means configured to separate from each other against the biasing force in a state of being pressed against the surface of the sheet member placed on the placing table. It is characterized by that.

According to a third aspect of the present invention, there is provided a sheet member pick-up device according to the first aspect, in which the pick-up means has their peripheral surfaces and side surfaces contact each other by the biasing force of the biasing means. A contacting roller and a pointer, wherein the roller and the pointer are separated from each other against the biasing force while being pressed against the surface of the sheet member mounted on the mounting table. It is characterized by being formed.

According to a fourth aspect of the present invention, there is provided a sheet member picking-up device according to the first aspect, wherein the picking-up means compresses by pressing to discharge the internal air. It is characterized in that it is formed by an adsorbing means provided with a telescopic pump that expands the volume when the above-mentioned pressing is released and introduces air into the interior, and a suction cup that communicates with this telescopic pump.

According to a fifth aspect of the present invention, there is provided a sheet member pick-up device according to the first aspect, in which the pick-up means has an adhesive body attached to the tip thereof for sticking the sheet member. It is characterized by being formed by means.

According to a sixth aspect of the present invention, there is provided a sheet member pick-up device according to any one of the first to fifth aspects, wherein the moving means holds the pick-up means at a front end portion thereof. An arm, a drive mechanism for moving the arm up and down between a mounting table and a preset standby position, and a chassis supporting the driving mechanism in the vicinity of the mounting table. is there.

According to a seventh aspect of the present invention, there is provided the apparatus for picking up a sheet member according to any one of the first to sixth aspects, wherein the sheet member held at the standby position is the lifting means. Detecting means for detecting whether or not the sheet member has been removed, and when the detecting means detects that the sheet member has been removed, the moving means for moving the gripping means from the standby position to the mounting table. And a movement control means for controlling.

[0012]

According to the apparatus for picking up a sheet member according to claim 1, the sheet member on the mounting table is moved by the picking-up means by reciprocating the picking-up means between the mounting table and a preset standby position. Since it is picked up and held in the waiting position, the waiting position is set to a position where it is easy to work, so that the operator does not have to perform a troublesome operation of picking up the sheet member from the placing table one by one. Also gets better.

According to another aspect of the present invention, there is provided a sheet member picking-up device, wherein the pick-up device has a pair of rollers whose peripheral surfaces are in contact with each other due to the urging force of the urging device. Since they are separated from each other against the biasing force while being pressed against the surface of the pair of rollers, the peripheral surfaces of the pair of rollers are pressed by pressing the pick-up means (grasping means) against the sheet member on the mounting table. The spaces are separated from each other, and the sheet member exists in the separated part. Therefore, when the pressing is released, the rollers separated by the urging force move in a direction in which they approach each other, and at the time of this approach, the sheet members are drawn in the traveling direction by the respective rollers, and as a result, between the rollers. The sheet member bulges upward. Then, when both rollers are separated from the sheet member, the sheet member is sandwiched between the peripheral surfaces of both rollers. Therefore, if the gripping means is moved to the standby position in this state, the sheet member moves to the predetermined standby position. It will be taken up.

According to the sheet member picking-up device of the third aspect, in the picking-up device, the roller and the pointer whose peripheral surface and side surface are in contact with each other by the urging force of the urging device are mounted on the mounting table. Since the sheets are separated from each other against the biasing force while being pressed against the surface of the sheet member, the roller of the roller is pressed by pressing the pick-up means (grasping means) against the sheet member on the mounting table. The peripheral surface and the side surface of the pointer are separated from each other, and the sheet member exists in the separated portion. Therefore, if the above pressure is released,
Since the roller and the pointer, which are separated by the biasing force, move in a direction of approaching each other, the sheet member is pulled in the traveling direction by the roller when approaching each other,
As a result, the sheet member existing between the roller and the pointer is in a state of bulging upward. When the roller separates from the sheet member, the sheet member is clamped between the peripheral surface of the roller and the side surface of the pointer. In this state, if the gripping means is moved to the standby position, the sheet member waits for a predetermined time. It is in a state where it is taken up by the position.

According to the sheet member lifting device of the fourth aspect, when the pressing means is pressed, it contracts to expel the air inside, and when the pressing is released, it expands. Telescopic pump that introduces air inside,
Since the suction pump of this suction means is formed against the surface of the sheet member, the suction pump is compressed, and the air inside is first discharged. It Then, if the above pressure is released, the telescopic pump expands and the inside becomes negative pressure.
The sheet member is in a state of being sucked by the suction cup. When the suction means is moved to the standby position in this state, the sheet member is picked up at the predetermined standby position.

According to the sheet member pick-up device of the fifth aspect, since the pick-up means is formed by the sticking means having the sticking member attached to the tip thereof for sticking the sheet member, the sticking means is formed. By pressing the sheet member, the sheet member is brought into a state of being adhered to the adhesive body. When the suction means is moved to the standby position in this state, the sheet member is picked up at the predetermined standby position.

According to the above-mentioned apparatus for picking up a sheet member, the moving means includes an arm for holding the picking-up means at its tip portion, and the arm between the mounting table and a preset standby position. It consists of a drive mechanism that raises and lowers and a chassis that supports this drive mechanism in the vicinity of the mounting table.Therefore, when the drive mechanism supported by the chassis is operated, the arm moves up and down, and when the arm descends, it moves to the tip. The provided pick-up means is in a state where the seat member can be picked up, and the seat member held by the pick-up means is carried to a predetermined standby position by raising the arm.

According to the apparatus for picking up a sheet member of the seventh aspect, the sheet member is picked up on the mounting table by the picking-up means and moved to the preset standby position by the moving means. Then, at the standby position, it is detected whether or not the sheet member has been removed from the pick-up means, and when it is detected that the sheet member has been removed from the pick-up means, the pick-up means is automatically moved from the standby position to the mounting table. Therefore, simply removing the sheet member from the pick-up means at the standby position automatically shifts to the next sheet member pick-up operation.

[0019]

1 to 14 show an example of a pick-up device according to the present invention, FIG. 1 is a perspective view showing the whole pick-up device, and FIGS. 2 and 3 are gripping means as pick-up means. FIG. 4 is a cross-sectional view showing the structure of FIG. 4, and FIG. 4 is a perspective view showing the structure of the arm.

The pick-up device is composed of a mounting table 2 on which a plurality of sheet members S made of an insulating material such as a vinyl bag and a paper bag are stacked, and an apparatus main body 1 standing upright on the side of the mounting table 2. ing. The above-mentioned sheet members S are stacked on the mounting table 2 in a state in which a plurality of sheets are stacked.

The apparatus main body 1 is provided with the gripping means 3 of the first embodiment for gripping the sheet members S stacked on the mounting table 2 one by one, and the gripping means 3 at the tip. The arm 4 is provided. The apparatus body 1 also includes a drive mechanism 5 (FIG. 5), which will be described later, that drives the arm 4 to move the gripping means 3 between the mounting table 2 and a preset standby position (position in FIG. 1). Built-in. Further, in the apparatus body 1, an operation unit 73 having a power switch 730, a start switch 731, etc. is arranged in an appropriate place.

The moving means of the present invention comprises an arm 4 for holding the above-mentioned gripping means (pickup means) 3 at its tip and a drive for raising and lowering this arm 4 between the mounting table 2 and a preset standby position. The mounting table 2 including the mechanism 5 and a chassis 1a that supports the drive mechanism 5 near the mounting table.
Are a plurality of positioning members 21 that perform positioning so as to surround the side surfaces of the stacked sheet members S, and a pressing member 22 that presses one end of the sheet member S with a needle 220.
It has and. The positioning member 21 is configured by an angle having a substantially L-shaped cross section, which is formed of a magnet or the like, and is detachably fixed to the mounting table 2 by magnetic force. The pressing member 22 includes the needle 220 and the needle 220.
And a support member 221 that supports the front end portion of the support member 221. The support member 221 is formed in a substantially L shape, and is fixed to the mounting table 2 with its front end facing the center of the mounting table 2. Further, the needle 220 is supported in a state of penetrating an elongated hole 222 formed in the longitudinal direction of the support member 221, and the position of the needle 220 is adjusted according to the size of the sheet member S. . The needle 220 is fixed to the long hole 222 with a screw or the like (not shown).

The arm 4 is formed in a tubular shape. As shown in FIG. 4, a support rod 42 is disposed orthogonally to the base end of the arm 4, and a support plate 43 is provided at the tip of the support rod 42. One end of the shaft 440 is connected to the other end of the support plate 43, and a guide roller 44 is arranged at the tip of the shaft 440.

A pair of notches 40, 40 are formed on both side surfaces of the tip of the arm 4, and the gripping means 3 is arranged between these notches 40. A support plate 41 having a guide hole 410 formed at the center is formed in the arm 4.

The gripping means 3 has rollers 31, 3 at the tip.
2, a substantially L-shaped claws 33 and 34 that pivotally support 2, and the support plate 4
1 and the urging means 35 arranged between the claws 33 and 34.
It has and. The claw 33 is rotatably supported at its base end by a shaft 330 arranged on the inner right side (the right side in FIG. 2 and the right side in FIG. 3) of the front wall 4a between the notches 40. . Further, the claw 34 is arranged symmetrically with the claw 33, and the base end of the claw 34 is attached to the shaft 340 arranged inside the rear wall 4b of the arm 4 (the left side in FIG. 2 and the left side in FIG. 3). It is rotatably supported. The roller 31 has a claw 33 via a shaft 331.
The roller 32 is pivotally supported by the claw 34 via a shaft 341 so as to be located on the same plane as the roller 31. The rollers 31 and 32 are each made of conductive rubber or the like, the shafts 331 and 341 are respectively made of metal, and lead wires from a control system 6 described later are connected to the shafts 331 and 341, respectively. There is. On the other hand, the claws 33 and 34 are formed of an insulating member, and thus the rollers 31 and 32 are insulated from the arm 4 and the like.

The urging means 35 comprises a contact plate 351, a guide rod 352, and a compression spring 353, and the contact plate 351 is arranged so as to contact the upper ends of the claws 33 and 34. The guide rod 352 is extended from the abutment plate 351 to the upper side in FIG.
Of the support plate 41.
A compression spring 353 is disposed between the contact plate 351 and the contact plate 351.

Claws 33, 34 and shafts 33 of rollers 31, 32
Known one-way clutches (not shown) each composed of, for example, a claw and a gear are arranged between the first and the second parts 341,
This allows the roller 31 and the roller 32 to rotate only in opposite directions.

An example of the drive mechanism 5 for driving the arm 4 will be described with reference to FIG. The drive mechanism 5 has guide rails 51 and 52, a drive plate 53, a drive motor 56, and a guide plate 58, and is fixed to the chassis 1 a of the apparatus body 1. The chassis 1a is covered with a main body cover 1b (FIG. 1).

Each of the guide rails 51 and 52 is composed of a pair of members having a substantially U-shaped cross section, which are erected in the vertical direction at a predetermined interval. The recesses of these members face each other, and the recesses between these recesses are opposed to each other. A drive plate 53 is vertically movable. A loose fitting hole 59 is formed in the center of the drive plate 53,
On the other hand, a long hole 10a extending vertically is formed in the chassis 1a, and the support rod 42 of the arm 4 is formed in the long hole 10a.
It penetrates through the loose fitting hole 59 of the drive plate 53 through a. The drive plate 53 is connected to a wire 54 wound around a plurality of pulleys 551 to 554, and a drive motor 56 is connected to the wire 54. The drive motor 56 drives the drive plate 53 to move up and down. Is configured.

A support plate 43 connected to the support rod 42 is disposed between the drive plate 53 and the guide plate 58, and a guide roller 44 pivotally supported by the support plate 43 is mounted on the guide plate 58. One guide groove 57 is formed in which is loosely fitted. The guide groove 57 is provided continuously with a straight line portion 571 extending in the vertical direction and above the straight line portion 571.
It is formed by an arc portion 572 that is curved to the right in FIG.

The structure of the control system for controlling the drive of the drive motor 56 will be described with reference to FIG. The control system 6 includes protective resistors R1 and R2, a collector resistor R3, a transistor Q1, an upper limit switch 71, a lower limit switch 72, and a control unit 74. One end of the protective resistor R1 is described above via the lead wire L1. It is connected to the shaft 331 of the roller 31, and the other end is connected to a low-voltage power source V. One end of the protection resistor R2 is connected to the shaft 341 of the roller 32 via the lead wire L2, and the other end is connected to the base of the transistor Q1. The collector of the transistor Q1 is connected to the control unit 74 and the collector resistance R
It is connected to the power source of the predetermined voltage B via 3.

The control section 74 is composed of a microcomputer, a memory and the like, and controls the drive motor 56 by receiving a signal from the transistor Q1 and signals from the upper limit switch 71 and the lower limit switch 72. The upper limit switch 71 is disposed above the drive plate 53 (FIG. 5), and is turned on when the drive plate 53 reaches the position where the drive plate 53 is disposed (hereinafter, referred to as the upper end position), and the ON signal is sent to the control unit 74. It is what is output. The lower limit switch 72 is arranged below the drive plate 53, and is turned on when the drive plate 53 reaches the position (hereinafter, referred to as the lower end position), and outputs the ON signal to the control section 74. Is.

Next, the operation of the pick-up device will be described with reference to the flowchart of FIG. Before the operation is started, the arm 4 is in a substantially horizontal state as shown in FIG. 8, and the guide roller 44 has the upper end of the arc portion 572 of the guide groove 57 of the guide plate 58 as shown in FIG. Located in the department.

In the state of FIG. 8 in which the arm 4 is in the horizontal posture, the bending portions 33a and 34a of the claws 33 and 34 are urged by the urging means 35 as shown in FIG. 2 has a counterclockwise moment about the shaft 330 (see FIG. 2) and a claw 34 has a clockwise moment about the shaft 340, so that the claws 33 and 34 are closed and the roller 31 and the roller 32 are closed. Are in contact with each other. The contact between the roller 31 and the roller 32 brings the roller 31 and the roller 32 into conduction.

Then, the start switch 7 of the operation unit 73
When 31 is turned on and the operation of the flowchart shown in FIG. 7 is started, the count value N and the like are initialized (reset),
The drive motor 56 is normally rotated (steps S1 and S2).
As a result, the drive plate 53 descends and the support rod 4 of the arm 4
2 descends, and as the support rod 42 descends, the support plate 43
Moves down while rotating counterclockwise in FIG. 4 about the shaft 440. As the support plate 43 descends, the guide rollers 44
Moves along the arcuate portion 572 of the guide groove 57 of the guide plate 58, and the support plate 43 further rotates counterclockwise in FIG. As a result, the arm 4 fixed to the support plate 43 rotates simultaneously with the support plate 43, and as shown in FIG.
The tip of the arm 4 faces downward.

Thereafter, when the drive plate 53 further descends and the guide roller 44 moves downward in the linear portion 571 of the guide groove 57, the arm 4 descends with its tip facing downward. Then, when the rollers 31 and 32 come into contact with the upper surface of the sheet member S and the arm 4 further descends, the arm 4 causes the claw 3 to move.
The shafts 330 and 340 of the rollers 3 and 34 are pushed downward, and this force is transmitted to the sheet member S via the claws 33 and 34 and the rollers 31 and 32, and the reaction force from the sheet member S is applied to the rollers 31 and 3.
Join 2

Due to this reaction force, a moment (clockwise (FIG. 10)) about the shaft 330 in the claw 33 is generated in the claw 33.
Produces a counterclockwise moment about axis 340. Due to these moments, the bent portions 33a and 34a of the claws 33 and 34 push up the contact plate 351 against the downward force of the compression spring 353, the claw 33 rotates clockwise around the shaft 330, and the claw 34 is rotated. Rotate counterclockwise about axis 340. Therefore, the roller 31 and the roller 32 roll on the sheet member S and separate from each other, and the claws 33 and 34 open to the left and right as shown by the solid line in FIG. This roller 3
When the roller 1 and the roller 32 are separated from each other, the roller 31 and the roller 32 are not electrically connected to each other.

Then, in step S3, the lower limit switch 72
It is determined whether the drive plate 53 has reached the lower end position on the basis of the signal from, and when the drive plate 53 reaches the lower end position (YES in step S3), the drive motor 56 is reversely driven (step S4). As a result, the drive plate 53 rises, the arm 4 rises, and the shafts 330, 34
When 0 is raised, the bent portions 33 of the claws 33 and 34 are
a and 34a are pushed by the contact plate 351, the claw 33 rotates counterclockwise around the shaft 330 in FIG.
Each of them rotates clockwise about 0 in FIG. 10, and the roller 31 and the roller 32 approach each other. When the rollers 31 and 32 are approaching each other, the rotation of the rollers 31 and 32 is restricted by the one-way clutch. Therefore, the friction between the rollers 31 and 32 and the sheet member S causes the uppermost sheet member S to move to the rollers 31 and 32. Attracted to. As a result, as shown in FIG. 11, the sheet member S is gripped between the rollers 31 and 32 with the front side sheet S ₁ and the back side sheet S ₂ being sandwiched together near the openings. In this case, one end of the sheet member S is pressed by the needle 220 of the pressing member 22, but only the uppermost sheet member S is pressed by the roller 31 and the roller 32.
It is torn off from 0 and grabbed.

When the sheet member S, which is an insulating member, is held between the roller 31 and the roller 32, the roller 31
And roller 32 remain non-conducting and transistor Q
No voltage is applied to the base of No. 1, the transistor Q1 is turned off, the predetermined voltage B is output as a high level signal to the control unit 74, and the control unit 74 determines that the roller 31 and the roller 32 are non-conductive. Is performed (NO in step S5).

In step S6, it is determined whether or not the drive plate 53 has reached the upper end position based on the signal from the upper limit switch 71. If the drive plate 53 has not reached the upper end position (NO in step S6), the step is performed. Returning to S5, the roller 31 and the roller 32 are not electrically connected, and the drive plate 53
As long as the condition that the upper end position has not been reached continues to step S
The processes of S5 and S6 are repeated.

Then, the drive plate 53 is raised to raise the support rod 42.
And the guide roller 44 ascends the linear portion 571 of the guide groove 57 as the support rod 42 ascends.
When guided to 72, the guide roller 44 is pushed by the shaft 440 and moves to the right side in FIG. 4 along the circular arc portion 572. The movement of the guide roller 44 and the elevation of the support rod 42 cause the support plate 43 to rotate clockwise in FIG.
Rotates.

When the drive plate 53 reaches the upper end position (YES in step S6), the drive motor 56 stops (step S7). At the time of this stop, as shown in FIG. 12, the arm 4 is in a substantially horizontal state with the sheet member S held between the roller 31 and the roller 32, and in this state, the arm 4 stands by. .

Next, it is judged whether or not the rollers 31 and 32 are electrically connected to each other (step S8), and when the sheet member S is held between the rollers 31 and 32 while waiting, The rollers 31 and 32 are not electrically connected (NO in step S8). The process of step S8 is repeated as long as the rollers 31 and 32 are not electrically connected.

Then, as shown in FIGS. 13 and 14,
When an operator picks the upper end of the back sheet S ₂ of the bag-shaped sheet member S with one hand H and pulls it in the horizontal direction, the roller 3
1 and the roller 32 between the front side sheet S ₁ of the sheet member S
The back side sheet S ₂ with the rollers 31,
The opening of the sheet member S widens away from 32. When the article B such as vegetables is inserted into the opening with the other hand, the weight of the article B causes the front sheet S ₁ to move the roller 31 and the roller 3 together.
It falls apart from between 2 and falls. This allows the roller 3
1 and the roller 32 come into contact with each other, and the low voltage V causes the protective resistance R1,
It is input to the base of the transistor Q1 through the route of the roller 31, the roller 32 and the protection resistor R2. Then, the transistor Q1 is turned on and a low level signal is output to the controller 74, and the controller 74 determines that the roller 31 and the roller 32 are electrically connected (YES in step S8), and returns to step S2. . Then, the operations of steps S2 to S8 described above are repeated. That is, the arm 4
From the substantially horizontal state to the downward direction, the tip is downwardly lowered to the mounting table 2, and the roller 31 and the roller 32 are
After rising while gripping the sheet member S between
2, the article B such as vegetables is inserted into the sheet member S by the worker, and the sheet member S moves to the roller 3
It waits until it falls apart from between 1 and the roller 32 and falls. The operations of steps S2 to S8 are repeated as long as the gripping means 3 normally grips the sheet member S.

On the other hand, when the arm 4 is lifted from the mounting table 2 without the sheet member S being gripped between the roller 31 and the roller 32, the roller 31 and the roller 32 come into contact with each other due to the lifting of the arm 4 and the roller 31. And the roller 32 are electrically connected (YES in step S5). Then, the count value N is incremented in step S9, and
At 10, it is determined whether or not the count value N is 5, and if the count value N is less than 5, (step S1
If NO at 0), the process returns to step S2, the drive motor 56 is normally rotated, the arm 4 is lowered, and the operation of gripping the sheet member S of the mounting table 2 is performed again.

However, when the sheet member S of the mounting table 2 is gone, the sheet member S may be caught between the roller 31 and the roller 32 even if the operation of grasping the sheet member S is performed again. When the arm 4 is raised, the roller 31 and the roller 32 come into contact with each other and become conductive (YES in step S5). Therefore, steps S9 and S10
And the operations of steps S2 to S5 are repeated again. Then, when these operations are repeated 5 times and the count value N reaches 5 in step S10 (step S10
YES), the drive motor 56 is stopped (step S1).
1) In addition, when a warning lamp is provided at a proper position of the pick-up device 1, this warning lamp is turned on and the operation of this flowchart ends. After this, the sheet member S is placed on the mounting table 2.
Is placed and the start switch 731 is turned on to restart the operation of this flowchart. In addition,
Although the count value N serving as the determination reference in step S10 is set to 5, a value other than 5 may be set as this count value.

In this manner, the sheet member S is gripped and stands by at the standby position on the operator's side, and the sheet member S is held at the standby position.
When it comes off, the next sheet member S is automatically grasped and carried to the standby position, so that it is not necessary to operate the switch to grasp the next sheet member S, and the labor of the work can be reduced. .

Further, conventionally, after the sheet member S is unfolded with both hands, the article B such as vegetables is inserted into the sheet member S with one hand, but in the present invention, instead of the hands of the operator. While holding the front side sheet S ₁ of the sheet member S by the grasping means 3, the back side sheet S ₂ of the sheet member S can be spread with one hand, whereby one hand can be used to hold an article B such as vegetables.
Can be used only for the work of inserting into the sheet member S. Therefore, the article B can be inserted into the sheet member S while unfolding the sheet member S, whereby the work can be performed quickly.

The arm 4 does not move and waits until the article B such as vegetables is inserted into the sheet member S and the sheet member S comes off between the roller 31 and the roller 32. You can work with.

In the above description, the contact between the roller 31 and the roller 32 is detected by using the transistor Q1 or the like, but the present invention is not limited to this, and a relay or the like may be used instead of the transistor Q1 and the roller 31 and the roller 32. Contact with 32 may be detected.

Although one end of the sheet member S is held by the needle 220, the sheet member S may be held by a roller or the like.

In the above embodiment, the arm 4 stands by in a horizontal state, but the arm 4 does not have to be in a standby posture.

The drive mechanism 5 for driving the arm 4 is not limited to the one described above, and for example, the swinging of the arm 4 and the vertical movement of the arm 4 may be performed by separate mechanisms.

In the above embodiment, the bag-shaped sheet member S is illustrated, but the sheet member S does not necessarily have to be bag-shaped.

FIG. 15 is a sectional view showing the gripping means of the second embodiment according to the present invention. (A) shows the gripping means facing the sheet member, and (b) shows the gripping means on the sheet. The state of being pressed by the member and the state of (c) holding the front side sheet respectively. As shown in these drawings, in the gripping means 3a of the present embodiment, the opening S of the sheet member S in the pair of rollers provided at the tip of the arm 4 is formed.
_The roller 31 provided in the direction in which ₀ exists has the shaft 33 at the tip of the claw 33 as in the gripping means 3 of the first embodiment.
The claw 3 provided with the roller 31 attached thereto
3 is rotatable about the shaft 330 via the claw 33, but the other roller 32 is attached to the arm 4 differently from the first embodiment.

That is, a partition wall 45 is hung from the central portion of the support plate 41a provided inside the arm 4, and the first spring chamber partitioned by the partition wall 45 is provided on the tip side of the support plate 41a inside the arm 4. A1 and a second spring chamber A2 are formed. Support plate 4 above these spring chambers R1 and R2
Guide holes 410 and 411 are formed in 1a, respectively.

A guide rod 352 having a contact plate 351 at the lower end is mounted in the first spring chamber A1 as in the previous example, and a compression spring 353 is attached to the guide rod 352.
The upper end is inserted into the guide hole 410 in a state in which is attached, and the contact plate 351 at the lower end is the bent portion 3 of the claw 33.
It is stopped by 3a. Therefore, as in the previous example, since the contact plate 351 presses the bent portion 33a of the claw 33 downward by the urging force of the compression spring 353, the claw 33 has a shaft 33.
A counterclockwise moment is formed around 0.

On the other hand, in the second spring chamber A2, the sliding piece 3 having the roller 32 attached to the tip end thereof via the shaft 341 is provided.
The other end of 6 is slidably fitted. A guide rod 354 is extended on the other end surface of the sliding piece 36, and a long hole 3 extending in the longitudinal direction is formed in the central portion of the sliding piece 36.
61 is provided. The shaft 330 is fitted into the elongated hole 361. The upper end of the guide rod 354 is inserted into the guide hole 411 with the compression spring 355 fitted in the guide rod 354.

The dimension is set so that the amount of protrusion of the roller 31 from the arm 4 and the amount of protrusion of the roller 32 from the arm 4 are the same when the sliding piece 36 is fitted in the second spring chamber A2. Has been done. Therefore, when the gripping means 3a is not pressing the sheet member S, the roller 31 is rotated by the counterclockwise moment of the claw 33 by the urging force of the compression spring 353, as shown in FIG. Is in contact with.

Then, the arm 4 descends and the gripping means 3a
When the sheet member S presses the sheet member S, the roller 31 receives a reaction force from the sheet member S as shown in (b) of the figure and resists the urging force of the compression spring 353 to rotate clockwise around the shaft 330. When the claw 33 is rotated to the state where a part of the claw 33 is fitted in the notch 40, the roller 32 is also moved to the sheet member S.
The sliding piece 36 receives the reaction force from the compression spring 355.
It moves upward in the second spring chamber A2 against the urging force of.

At this time, the roller 32 presses one point of the sheet member S and does not move, whereas the roller 31 of the opening S ₀ of the sheet member S as shown by the arrow in FIG. In this state, the front side sheet S ₁ receives a force in the direction of the arrow from the outer peripheral surface of the roller 31 due to this movement, and as a result, the front side sheet S ₁ slightly expands and is slightly displaced from the back side sheet S ₂ in the opening S ₀ direction. become. Due to such deviation, the close contact state between the front side sheet S ₁ and the back side sheet S ₂ is eliminated.

After that, when the arm 4 is raised, the bending portion 33a of the claw 33 is pressed by the biasing force of the compression spring 353, and the claw 33 rotates counterclockwise around the shaft 330, and this rotation causes the roller 31 to rotate. Is the front side sheet S ₁ and roller 3
The sheet member S of the rollers 31 and 32 is pulled in the direction of 2.
When the pressing state against is released, as shown in FIG. 15C, the front side sheet S ₁ attracted by the roller 31 is folded and overlapped to be sandwiched by the roller 31 and the roller 32.

As described above, by using the gripping means 3a of the second embodiment, while one roller 32 is fixed on the sheet member S, only the other roller 31 first moves so that the front side sheet S ₁ is moved. Offset, front sheet S ₁ and back sheet S
_In order to release the close contact with the sheet ₂ , it becomes possible to easily pull only the front sheet S ₁ when the other roller 31 moves in the direction of the one roller 32, and the front sheet S ₁ becomes the back sheet S ₂ Both rollers 3 separated from
It is sandwiched between 1 and 32, and the opening S ₀ of the sheet member S is easily opened.

Therefore, by raising the arm 4 with both rollers 31 and 32 holding the front side sheet S ₁ therebetween, even if the opening S ₀ of the sheet member S is not manually opened, Since S ₀ has already been opened, the operation of inserting vegetables or the like into the sheet member S becomes easy.

FIG. 16 is a sectional view showing a modification of the holding means of the second embodiment according to the present invention. Grasping means 3 of this example
b is the same material (flexible material such as rubber having conductivity) at the lower end of the sliding piece 36 instead of the roller 32 of the previous example.
Pointer 32a is applied. The pointer 32a is formed of a cylindrical body having a hemispherical outer shape at its tip and has an opening on the other end surface. Grasping means 3b with the tip of the sliding piece 36 fitted in this opening.
Are formed.

Except for the pointer 32a of the gripping means 3b, the other structure is exactly the same as the gripping means 3a shown in FIG. Therefore, in the case of this example, when the arm 4 descends and the gripping means 3b presses the sheet member S, the pointer 32
The roller 31 separates from the pointer 32a with the tip of the a pressing the surface of the sheet member S.
The roller 31 returns to its original position by pulling up the sheet member S by pulling up the sheet member S, and the sheet member S is sandwiched by the roller 31 and the pointer 32a.

By using such a pointer 32a, it is possible to make the tip portion sharper than in the case of a roller, and by doing so, the pointer 32a
The contact area between the front end of the sheet member S and the sheet member S can be reduced, and the effect of pressing the sheet member S so as not to move is improved.

FIG. 17 is a side view showing an example of the suction means as the pickup means attached to the tip of the arm, and shows the state in which the suction means is located above the sheet member. In the case of this example, as a means for picking up the sheet member S, instead of the gripping means 3, 3a, 3b for mechanically gripping the sheet member S, a sheet member S as shown in FIG. The suction means 3c which is picked up is adopted. The suction means 3c includes a fixed plate 37a fixed to a connecting portion 730 fitted into the distal end of the cylindrical arm 4 and a movable plate 37 provided in parallel to face the fixed plate 37a.
b, and a suction device 38 that generates a suction force for sucking the sheet member S by the variation in the distance between the fixed plate 37a and the movable plate 37b.

The fixing plate 37a has a substantially square shape in a plan view, and the connecting portion 7 is welded to the central upper surface of the fixing plate 37a.
30 is fixed so as to extend vertically upward. The fixing plate 37a is fixed to the arm 4 in a right angle state by fitting the connecting portion 730 into the arm 4 through the front end opening.

Guide holes 37c are formed at the four corners of the fixing plate 37a, and connecting rods 39 are fitted in these guide holes 37c. This connecting rod 39
An annular projecting flange portion 39a having an outer diameter larger than the inner diameter of the guide hole 37c is provided on the upper part of the guide hole 37c, and the flange portion 39a is guided by the flange portion 39a with the connecting rod 39 inserted from the lower end portion into the guide hole 37c. It stops at the edge of the hole 37c so as not to move further. A male screw is screwed on the lower end of the connecting rod 39.

On the other hand, a screw hole 37d corresponding to the guide hole 37c is screwed in the movable plate 37b provided opposite to the fixed plate 37a, and the lower end portion of the connecting rod 39 inserted into the guide hole 37c. The male screw of the above to the screw hole 37
The fixed plate 37a and the movable plate 37b are joined by being screwed and fastened to d. The movable plate 37b is movable with respect to the fixed plate 37a while the connecting rod 39 is guided by the guide hole 37c in a state where both are coupled.

The adsorber 38 is an accordion type expansion / contraction pump 38a made of a flexible synthetic resin.
The telescopic pump 38a is composed of a trumpet suction cup 38b made of the same synthetic resin, which is provided at the lower end portion. The telescopic pump 38a has a function as a biasing means, and when the telescopic pump 38a is contracted in the vertical direction from the state shown in FIG. 17, a biasing force that restores the contracted state is generated. ing. A connecting pipe 38c is provided at the narrowed portion of the suction cup 38b, and the expansion pump 38a is connected via the connecting pipe 38c.
And the suction cup 38b are connected in a communicating state.

On the other hand, a connecting pipe 38 is provided at an appropriate position on the movable plate 37b.
A mounting hole 37e into which c is fitted is formed, a connecting pipe 38c is fitted into this mounting hole 37e, and a telescopic pump 38a is sandwiched between a fixed plate 37a and a movable plate 37b. The suction means 3c is formed with the suction cup 38b protruding. The thickness of the suction cup 38b is set so as to gradually decrease in the radial direction from the central portion, and an annular bulging portion 38d is formed in the central portion as shown in FIG. . A small diameter portion 38e having an inner diameter smaller than the inner diameter of the connecting pipe 38c is formed in the portion surrounded by the bulging portion 38d.

The bulging portion 38d is provided with a deaeration hole 38f communicating with the outside from the small diameter portion 38e, and
A valve 38g is provided on the outer surface of the suction cup 38b to close the deaeration hole 38f by its own biasing force.
Therefore, when the telescopic pump 38a contracts with the lower opening of the suction cup 38b closed, the valve 38g is pushed up by the air flow discharged to the outside from the telescopic pump 38a, and the air in the telescopic pump 38a is degassed. When the expandable pump 38a which has been once compressed is expanded, the valve 38g is discharged by its own urging force.
Closes the degassing hole 38f, and as a result, the inside of the telescopic pump 38a becomes negative pressure.

Since the suction means 3c in this example is constructed as described above, when the arm 4 is lowered from the state shown in FIG. 17 in which the suction means 3c is located above the sheet member S, the suction cup 38b is moved to the sheet member. Contact S. When the arm 4 is further lowered after this contact, the fixing plate 37a vertically descends while being guided by the connecting rod 39, and compresses the telescopic pump 38a, as shown in FIG. Then, the telescopic pump 38a is contracted in the vertical direction, and the opening of the trumpet-shaped suction cup 38b is expanded in the radial direction. Then, due to the contraction of the telescopic pump 38a, the internal air pushes up the valve 38g and is discharged to the outside through the degassing hole 38f as shown by the arrow.

When the arm 4 is lifted from the state shown in FIG. 19A, the suction state of the suction cup 38b against the sheet member S is released, and thus the vertical expansion occurs due to its own biasing force. Since the valve 38g is closed, the pressure inside the telescopic pump 38a is reduced. Due to this decrease in pressure, as shown in FIG. 19B, the front side sheet S ₁ of the sheet member S is adsorbed by the suction cup 38b. Therefore, the sheet member S sucker 38b is arm 4 is mounted on the mounting table 2 by increasing while adsorption of face sheet S ₁ is in a state which is taken up at a predetermined height.

In the suction means 3c of this example, since the sheet member S is sucked by the suction cup 38b as described above in detail, the laminated front side sheet S ₁ is the back side sheet S ₂
When the arm 4 reaches the predetermined height position, the opening S ₀ of the sheet member S is opened, which is convenient.

In the suction means 3c, the contactless proximity switch 75 is provided on the lower surface of the fixed plate 37a, and the detected piece corresponding to the proximity switch 75 is provided on the upper surface of the movable plate 37b. 76 is provided. The proximity switch 75 is turned on when the distance between the proximity switch 75 and the detected piece 76 becomes equal to or less than a predetermined distance. Therefore, if the switch-on signal of the proximity switch 75 prevents the electric power from being supplied to the protective resistor R2 as in the case where the roller 31 and the roller 32 shown in FIG. The automatic control described above can be adopted as it is.

FIG. 20 is a sectional view showing a modification of the telescopic pump. The telescopic pump 380 of this example includes the cylinder 38.
1 and a rod portion 382 slidably fitted in the cylinder 381. A connecting portion 385 having a small diameter is provided in the lower portion of the cylinder 381, and the connecting portion 385 is inserted into the connecting pipe 38c of the suction cup 38b to connect the suction cup 38b to the cylinder 381.

A coil spring 38 is provided in the cylinder 381.
3 is attached, and the rod portion 382 fitted in the cylinder 381 is biased by the coil spring 383 in a direction projecting from the cylinder 381. A seal member 384 is mounted on the upper inner peripheral surface of the cylinder 381, and the sealability between the cylinder 381 and the rod portion 382 is secured by this seal member 384. Then, the expansion pump 380 and the suction cup 38b as described above form a modified suction device 38x.

The expansion / contraction pump 380 of the adsorber 38x of such a modified example has the fixed plate 37a and the movable plate 3 shown in FIG.
It is mounted between 7b and 7b and used as a suction means. The operation of the adsorber 38x is the same as that of the above-described telescopic pump 38a except that the telescopic pump 380 is composed of the cylinder 381 and the rod portion 382 and the dedicated coil spring 383 is used as the urging means. .

FIG. 21 is a partially cutaway perspective view showing an example of an adhesion means as a pickup means attached to the tip of the arm. As shown in this figure, the adhesive means 3d is composed of a slide body 8 slidably fitted in the tip of the arm 4 and an adhesive body 81 fixed to the tip surface of the slide body 8. . A support rod 82 extends from the base end surface of the slide body 8, while a support plate 83 is provided inside the arm 4 so that it can slide in a guide hole 83a formed in the support plate 83. The support rod 82 is fitted.

A coil spring 84 is attached to the support rod 82 with the support rod 82 fitted in the guide hole 83a.
Is mounted, and the sliding body 8 is biased by the biasing force of the coil spring 84 so as to project toward the outside of the arm 4. Further, a long hole 46 extending in the longitudinal direction is bored on the side surface of the arm 4, and a projection 85 fitted into the long hole 46 is projected on the side face of the sliding body 8. Therefore, the slide body 8 is prevented from coming off from the inside of the arm 4 even by the biasing force of the coil spring 84 when the projection 85 abuts against the edge portion on the tip side of the projection 85.

A T-shaped holder 86 is formed at the tip of the sliding body 8, and the same T-shaped adhesive 81 as the holder 86 is fixed to the end surface of the holder 86 with screws. The T-shaped horizontal bar portion of the holder 86 is slightly curved inward, and the inclined portion 86 is formed by this curved portion.
a is formed.

A proximity switch 77 similar to the proximity switch 75 is provided on the outer surface of the support plate 83, and the rear surface of the sliding member 8 facing the proximity switch 77 is provided. A detected piece 78 similar to the detected piece 76 is provided, and the sliding body 8 is the coil spring 8
The state in which the arm 4 is recessed inside the arm 4 is detected against the biasing force of the arm 4.

In this embodiment, the adhesive 81 is made of an adhesive elastomer. As the elastomer, various natural rubbers and synthetic rubbers can be applied, but urethane rubber is preferable. The adhesive 81 is not limited to the elastomer made of natural rubber or synthetic rubber, and a sheet having various kinds of adhesive applied to the surface thereof can be used.

22A and 22B are explanatory views showing the operation of the adhesive means. FIG. 22A shows a state in which the adhesive means is positioned above the sheet member, and FIG. 22B shows a state in which the sheet member is pressed by the adhesive means. (C) shows a state in which the sheet member adheres to the sheet member and is pulled up. First, by lowering the arm 4 from the state shown in (a) of the same figure, the adhesive 81 provided on the holder 86 at the tip of the sheet member S is stopped against the surface of the sheet member S, and the arm is further moved. When the slider 4 descends, the sliding body 8 is set in the arm 4 as shown in FIG. Then, the adhesive body 81 is pressed and compressed by the urging force of the coil spring 84 due to the immersion, and the adhesive body 81 provided on the inclined portion 86a of the holder 86 also comes into contact with the sheet member S.

By pressing and holding the pressure sensitive adhesive body 81 against the sheet member S, the front side sheet S ₁ of the sheet member S is bonded to the pressure sensitive body 8
Stick to 1. Therefore, when the arm 4 is lifted, only the front side sheet S ₁ is lifted in a state of being peeled off from the back side sheet S ₂ , as shown in FIG. Then, with the front side sheet S ₁ being lifted, the inclined portion 86
Due to a, the front side sheet S ₁ is in a state in which the direction of the opening S ₀ of the sheet member S is raised upward, which is convenient for opening the opening S ₀ .

In this way, the sticking means 3 is used as the pickup means.
If d is applied, the pick-up means can be made to have a relatively simple structure, and in the taken-up sheet member S, only the front side sheet S ₁ is adhered to the adhesive 81, so that the arm 4 has a predetermined shape. When the sheet member S is raised to the fixed position, the opening of the sheet member S is open, which is convenient for inserting vegetables and the like.

[0090]

According to the first aspect of the present invention, there is provided a device for picking up a sheet member, a mounting table for mounting the sheet member, a picking-up means for picking up and holding the sheet member, and the picking-up means as the above-mentioned mounting table. It is characterized by comprising a moving means for reciprocating with respect to a preset standby position.

Therefore, by reciprocating the pick-up means between the mounting table and the preset standby position, the sheet member on the mounting table is picked up by the pick-up means and the state picked up at the standby position is maintained. Therefore, by setting the standby position at a position where it is easy to work, the operator does not have to perform a troublesome operation of picking up the sheet member from the mounting table.

When the sheet member is in the shape of a bag, the sheet member can be picked and unfolded with one hand while holding a part of the sheet member at the standby position. It can be used only for insertion work, and it is convenient because both hands can be used efficiently and quickly.

According to the sheet member lifting device of the second aspect of the present invention, in the lifting device, the pair of rollers whose peripheral surfaces are in contact with each other by the urging force of the urging device are mounted on the mounting table. Since they are separated from each other against the urging force while being pressed against the surface of the sheet member, the pair of rollers of the pair of rollers are pressed by pressing the pickup means (grasping means) against the sheet member on the mounting table. The peripheral surfaces are separated from each other, and the sheet member exists in the separated portion.

Therefore, when the pressing is released, the rollers separated by the urging force move in the direction of approaching each other, and at the time of approaching, the sheet members are drawn close to each other in the advancing direction. The sheet member between the rollers bulges upward. Then, when both rollers are separated from the sheet member, the sheet member is sandwiched between the peripheral surfaces of both rollers. Therefore, if the gripping means is moved to the standby position in this state, the sheet member moves to the predetermined standby position. It will be taken up.

Since the sheet member is sandwiched and picked up by the pair of rollers in this manner, the sheet is not damaged, which is convenient.

According to the sheet member lifting device of the third aspect of the present invention, in the lifting means, the roller and the pointer whose peripheral surface and side surface are in contact with each other by the urging force of the urging means are placed on the mounting table. Since the sheets are separated from each other against the biasing force in the state of being pressed against the surface of the placed sheet member, it is possible to press the pick-up means (grasping means) against the sheet member on the mounting table. The peripheral surface of the roller and the side surface of the pointer are separated from each other, and the sheet member exists in the separated portion. Therefore, when the pressing is released, the roller and the pointer, which are separated by the biasing force, move in a direction in which they approach each other, and at the time of this approach, the roller pulls the sheet member in the traveling direction, and as a result, The sheet member existing between the pointer and the pointer bulges upward. When the roller separates from the sheet member, the sheet member is clamped between the peripheral surface of the roller and the side surface of the pointer. In this state, if the gripping means is moved to the standby position, the sheet member waits for a predetermined time. It is in a state where it is taken up by the position.

As described above, since the pointer is used as one of the gripping means, the pressed state of the sheet member is stabilized by the pressing by the pointer, and the sheet member can be gripped more reliably.

According to the sheet member lifting device of the fourth aspect of the present invention, when the pressing means is pressed, the volume is reduced to discharge the internal air, and when the pressing is released, the volume is expanded. Since it is formed by the adsorbing means having a telescopic pump for introducing air into the inside and a suction cup communicating with the telescopic pump, the telescopic pump is pressed by pressing the suction cup of the adsorbing means against the surface of the sheet member. , And the air inside is first exhausted. Then, when the pressing is released, the expansion pump expands and the inside becomes negative pressure, so that the sheet member is adsorbed by the suction cup. When the suction means is moved to the standby position in this state, the sheet member is picked up at the predetermined standby position.

Thus, by adopting the suction means as the pickup means, only the front side sheet is sucked, for example, when the sheet member is a bag-shaped member, so that when the sheet member moves to the standby position, The opening of the bag is naturally open, which is extremely effective for bag packing operation.

According to the sheet member pick-up device of the fifth aspect of the present invention, since the pick-up means is formed by the sticking means having the sticking member capable of sticking the sheet member attached to the tip thereof, the sticking means is By pressing the sheet member, the sheet member is in a state of being adhered to the adhesive body. If the suction means is moved to the standby position in this state,
The sheet member is picked up at a predetermined standby position.

When the adhesive means is adopted as the pick-up means in this way, the structure of the device can be simplified, which is convenient for manufacturing the device at low cost.

According to a sixth aspect of the present invention, there is provided a sheet member picking-up device, wherein the moving means includes an arm for holding the picking-up means at its tip, a mounting table for the arm, and a preset standby position. Since it consists of a drive mechanism that raises and lowers between them and a chassis that supports this drive mechanism in the vicinity of the mounting table, the arm is raised and lowered by operating the drive mechanism supported by the chassis, and when the arm descends the tip The pick-up means provided in the section becomes ready to pick up the sheet member, and the seat member held by the pick-up means is carried to a predetermined standby position by raising the arm.

As described above, if the sheet member is picked up from the mounting table and moved to the standby position by the raising and lowering operation of the arm, the drive mechanism can be made to have a relatively simple structure and the apparatus can be manufactured at low cost. It is convenient to do this.

According to the sheet member pick-up device of the seventh aspect of the present invention, the sheet member is picked up on the mounting table by the pick-up means and moved to the preset standby position by the moving means. Then, at the standby position, it is detected whether or not the sheet member is removed from the pickup means, and when it is detected that the sheet member is removed from the pickup means,
Since the pick-up means is automatically moved from the standby position to the mounting table, simply removing the sheet member from the pick-up means at the stand-by position automatically shifts to the next sheet member pick-up operation.

By performing such an operation under the control of the control means, it is not necessary to perform the switch operation one by one, and the labor of the work can be reduced and the work efficiency can be improved. Further, since the pick-up means waits until the sheet member is removed from the pick-up means, it is convenient that the work can be performed at the pace of the worker.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a pick-up device according to the present invention.

FIG. 2 is a cross-sectional view showing the structure of a holding means.

FIG. 3 is a sectional view taken along the line III-III in FIG. 2, showing the configuration of the gripping means.

FIG. 4 is a perspective view showing a configuration of an arm.

FIG. 5 is an exploded perspective view showing a configuration of a drive mechanism of an arm.

FIG. 6 is a circuit diagram showing a configuration of a control system.

FIG. 7 is a flowchart showing the operation of the pick-up device.

FIG. 8 is an explanatory view showing the operation of the arm and the gripping means, showing a state in which the gripping means is in the standby position.

FIG. 9 is an explanatory view showing the operation of the arm and the gripping means, and shows a state in which the arm is rotated counterclockwise.

FIG. 10 is a sectional view showing the operation of the arm and the gripping means,
The state where the holding means is opened on the mounting table is shown.

FIG. 11 is a sectional view showing the operation of the arm and the gripping means,
It shows a state in which the gripping means grips the sheet member and is elevated.

FIG. 12 is an explanatory view showing the operation of the arm and the gripping means,
The state in which the gripping means grips the sheet member and moves to the standby position is shown.

FIG. 13 is an explanatory view showing the operation of the arm and the gripping means,
The state where the sheet member is expanded by the operator is shown.

FIG. 14 is an explanatory view showing the operation of the arm and the gripping means,
The state where the sheet member in which the article is inserted is removed from the holding means is shown.

FIG. 15 is a cross-sectional view showing a holding means of a second embodiment according to the present invention, (a) shows a state where the holding means faces the sheet member, and (b) shows a sheet member pressed by the holding means. The opened state, (c), shows the state in which the gripping means grips the front sheet.

FIG. 16 is a sectional view showing a modified example of the holding means of the second embodiment according to the present invention.

FIG. 17 is a side view showing an example of a suction means as a pickup means attached to the tip of the arm, showing a state in which the suction means is located above the sheet member.

FIG. 18 is an enlarged sectional view of a suction cup.

FIG. 19 is a side view for explaining the action of the suction means, (a) shows a state where the telescopic pump is pressed, and (b) shows a state where the suction cup sucks the sheet member.

FIG. 20 is a cross-sectional view showing a modified example of the telescopic pump.

FIG. 21 is a partially cutaway perspective view showing an example of an adhesive means as a pick-up means attached to the tip of an arm.

FIG. 22 is an explanatory view showing the action of the adhesive means, (a)
Indicates that the adhesive means is located above the sheet member, (b)
Is a state in which the sheet member is pressed by the adhesive means,
(C) shows the state where the adhesive adheres to the sheet member and is pulled up.

[Explanation of symbols]

 1 Device Main Body 2 Mounting Table 3 Grasping Means 4 Arm 5 Drive Mechanism 6 Control System 31, 32 Rollers 33, 34 Claws S Sheet Member

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location // B65H 45/16 9245-3F

Claims (7)

[Claims] 1. A mounting table for mounting a sheet member, a pick-up means for picking up and holding the sheet member, and a moving means for reciprocating the pick-up means between the mounting table and a preset standby position. An apparatus for picking up a sheet member, comprising: 2. The pick-up means includes a pair of rollers whose peripheral surfaces are in contact with each other by the urging force of the urging means, and the pair of rollers are pressed against the surface of the sheet member placed on the placing table. 2. The device for picking up a sheet member according to claim 1, wherein the device is formed by holding means configured to separate from each other against the biasing force in the state. 3. The pick-up means includes a roller and a pointer whose peripheral surface and side surface come into contact with each other by the urging force of the urging means, and the roller and the pointer are the surface of a sheet member mounted on a mounting table. 2. The device for picking up a sheet member according to claim 1, wherein the device is formed by gripping means configured to be separated from each other against the biasing force in a state of being pressed by. 4. The telescopic pump for compressing and expelling the internal air by pressing, and the expansible pump for expanding and introducing air into the interior when the pressing is released, and the telescopic pump. 2. The device for picking up a sheet member according to claim 1, wherein the device is formed by a suction means having a suction cup communicating with a pump. 5. The apparatus for picking up a sheet member according to claim 1, wherein the pick-up means is formed by an adhering means having an adhesive body attached to the tip thereof for adhering the sheet member. 6. The moving means includes an arm for holding the pick-up means at its tip, a drive mechanism for moving the arm up and down between a mounting table and a preset standby position, and a mounting table for the driving mechanism. 6. The device for picking up a sheet member according to any one of claims 1 to 5, wherein the device is constituted by a chassis supported in the vicinity of. 7. A detecting means for detecting whether or not the sheet member held at the standby position has been removed from the pick-up means, and when the detecting means detects that the sheet member has been removed, 7. The device for picking up a sheet member according to claim 1, further comprising: movement control means for controlling the moving means so as to move the gripping means from the standby position to the mounting table. .