JPH0777927B2 - How to supply a pallet for loading a copybook - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a pallet for loading a printed book for loading a printed book printed by a printing machine and bound in a predetermined quantity by a binding machine in a printing factory. Regarding the supply method.

[Conventional technology]

A long continuous printing paper is printed in the printing unit of the printing machine, folded and cut into a predetermined shape in the folding cutting unit, and a large number of continuously produced printing sheets are piled up as individual printing sheets. It is placed on a conveyor belt and discharged. Next, the discharged prints are bound by a predetermined amount in a stacker bundler with a band to form a print bundle, which is manually transferred to a pallet and conveyed to a copy warehouse by a forklift or the like. Alternatively, it is directly transferred to the bookbinding process. In the bookbinding process, processing such as page alignment, gluing, and three-way cutting is performed to complete a book as a product.

Conventionally, this type of apparatus employs a method of stacking empty pallets, lifting an upper pallet, taking out the lowest pallets one by one, and transferring them to a palletizing position. This is a method adopted by using a conveyor as a transfer means.

[Problems to be Solved by the Invention]

However, this method requires a means for lifting the empty pallet group and a means for transferring the lowermost pallet, and the apparatus configuration is complicated. Further, in the method of transferring and stopping the pallet placed on the conveyor, manual adjustment is necessary to ensure the positioning accuracy at the palletizing position. Furthermore, changing the palletizing position is not easy and involves a major change in equipment.

The present invention has been made in view of the above points, and an object of the present invention is to provide a method for supplying a pallet for palletizing a book, which can simplify the apparatus configuration, has high positioning accuracy of the palletizing position, and can easily change the palletizing position. To provide.

[Means for Solving the Problems]

The above object is achieved by the present invention described below. That is, according to the present invention, the printed books are bound by a stacker bundler, the bound printed books are loaded on a plurality of pallets arranged at a plurality of predetermined positions by a robot, and the number of loaded printed books reaches a predetermined value. The pallet is carried out by a forklift-like lifter traveling on the floor surface, and the uppermost pallet in the spare pallet group is sequentially transferred to the position after the carry-out of this pallet by the robot so that there is no pallet in the spare pallet group. And a method for supplying a pallet for stacking printed sheets in which a predetermined number of stacked pallets are placed at the position of the preliminary pallet group by the lifter.

[Action]

According to the method for supplying a pallet for loading a proof according to the present invention, the proof is bound by the stacker bundler, and a rectangular parallelepiped proof bundle having good handleability can be obtained.

In addition, a plurality of pallets are arranged at a plurality of predetermined positions, and when stacking the printed books bound by the stacker bundler on the pallet, unloading the loaded pallet, supplying the pallet, etc. It's smooth.

Further, since the robot stacks the printed books bound by the stacker bundler on the pallet, there is no collapse of the load and the reliability is high.

Also, with a forklift-shaped lifter that runs on the floor,
The pallet in which the number of stacked printed sheets has reached a predetermined value is unloaded, and the uppermost pallet in the preliminary pallet group is sequentially transferred to the position after the pallet is unloaded by the robot. At this time, since the stack of printing books is loaded on the pallet and also used by the robot, a complicated dedicated pallet transfer mechanism is not required and the pallet positioning accuracy is high.

Further, when there is no pallet in the spare pallet group by the lifter, a predetermined number of stacked pallets are placed at the position of the spare pallet group.

[Embodiment] The present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a diagram showing the configuration of a system for carrying out a method for supplying a pallet for loading a book according to the present invention. In this figure,
P1 to P4 are pallets arranged in a line. Pr arranged on the extension of these pallets P1 to P4 is a group of preliminary pallets, and a pallet to be replenished when any one of the pallets P1 to P4 is carried out is prepared. The presence or absence of each pallet is detected by a photoelectric detector (not shown).

Stacker bundlers 11, 12, 13, 14 and conveyors 21, 22, 23, 24 are arranged to form two printing book supply lines with the pallet row interposed therebetween. That is, on the right side of the pallet row in the figure, the stacker bundler 11 and the conveyor 21,
And the combination of stacker bundler 12 and conveyor 22
A combination of a stacker bundler 13 and a conveyor 23, and a combination of a stacker bundler 14 and a conveyor 24 are provided on the left side. Then, the print sheets S bound by each stacker bundler are supplied to the combined conveyor from each stacker bundler. In order to detect the presence or absence of the copy book S, each conveyor is provided with a photoelectric detector (not shown).

In order to transfer this copy S from the conveyor to the pallet,
A ceiling-running robot 30 is provided. This robot 30 is Dx in the direction orthogonal to the pallet array direction of the pallet row,
When the pallet arrangement direction is Dy and the vertical direction to the floor surface is Dz, the carriage 31 moves in the Dx direction along the rail 41, and also moves in the Dy direction along the rail 42 to move between the conveyor and the pallet. The actuator 32 moves in and out, and the actuator 32 is moved in the Dz direction by the lifting mechanism suspended from the carriage 31. Actuator 32
Has a pair of hands 33, and a copy book S is provided between the hands 33, 33.
The actuator 32 can be clamped and the actuator 32
It can rotate in the plane formed by x and Dy.

With this configuration, the copy book S on the conveyor is moved to the actuator.
The position of the pallet corresponding to the conveyor that picked up the printing plate S by gripping it between 32 hands 33, 33 and lifting it to a predetermined height, rotating it by 90 °, and moving the carriage 31 in the Dx direction and the Dy direction. Then, the actuator 32 is lowered and the hands 33, 33 are opened to stack the printing book S on the pallet. After this, the actuator 32 is moved to the position of the conveyor where the next copy sheet is to be carried out, and the actuator 32 is inverted by 90 ° so that the copy sheet S is clamped. This is done for each conveyor and its corresponding pallet.

When a predetermined number of the books S are piled up, the pallets are carried away by a forklift-like lifter 5 to a warehouse (not shown), and then an actuator 32 of the robot 30 transfers one pallet from the top of the spare pallet group Pr to an empty palletizing position. To be done. Eight pallets are stacked in the spare pallet group Pr, and when the eight pallets are transferred to the empty palletizing position and the spare pallet becomes 0, a new spare pallet group is carried by the lifter 5. The lifter 5 travels wirelessly along a guide embedded in the floor. Here, the pallets P1 to P4, the positions of the spare pallet group Pr, and the position of a warehouse (not shown) are moved as stations, and The pallet can be raised and lowered by raising and lowering the fork.

FIG. 2 is a schematic plan view of the apparatus shown in FIG. 1, in which pallets P1 to P4 and spare pallets Pr are arranged in a line, and are indicated by broken lines from the right side of the figure to the lower right of the drawing. The traveling path of the lifter 5 is between the stations, with the pallets P1 to P4, the spare pallet Pr and the warehouse 6 as the stations. The traveling control of the lifter 5 is performed by the control panel 50.

FIG. 3 shows the control operation of the control panel 50 of FIG. 2, and the operation content will be described based on this figure.

It is now assumed that the pallets P1 to P4 are arranged at predetermined positions. The book S may or may not be loaded on these pallets P1 to P4, and the spare pallet group Pr may or may not have a spare pallet.

In any of these states, at the start of operation, it is first determined whether the number of pallets in the preliminary pallet group Pr is 0 (S
If 1) or 0, the lifter 5 is moved and eight spare pallets are placed from the warehouse at the position of the spare pallet group Pr (S2).

If there is a spare pallet in the spare pallet group Pr, pallet P1
It is determined whether or not any one of P4 to P4 is full, that is, 9 sheets S are stacked (S3). Here, for convenience of explanation, it is assumed that the No. 1 pallet among the pallets P1 to P4 is full.

When the pallet is full, a counter (not shown) provided in the control panel 50 (FIG. 2) is used to load the stacking book S for each pallet.
Are counted, and when the count value reaches 9, a full signal is output.

When the pallet P1 is full, the lifter 5 travels to the position of the pallet P1, lowers the fork, inserts it into the fork insertion portion of the pallet, and then lifts it. As a result, the pallet P1 is transported to the warehouse 6 by the lifter 5 (S4).

Since there is no pallet at the position of the pallet P1, it is necessary to supply one spare pallet from the spare pallet group Pr to the position of the pallet P1. Then, in the control panel 50, the robot 30 travels to the position of the preliminary pallet group Pr, grabs one uppermost pallet, then moves to the position of the pallet P1 and lowers it (S5).
When transportation is completed, the number of spare pallets in the control pallet counter in the control panel is decremented by 1, that is, (NPr
-1) is performed (S6), and it is further determined whether or not NPr = 0 (S1). If it is not 0, it waits for the next pallet to be full.

On the other hand, if there is no spare pallet in the spare pallet group Pr, the control panel 50 issues an empty pallet transport command (S8) and the lifter 5
Then, 8 empty pallets are carried from the warehouse 6 and placed at the position of the spare pallet group Pr (S9). In this state, the counter value NPr of the spare pallet number counter in the control panel 50 is 0, so this is set to NPr = 8 (S10).

Even when the No. 2 pallet P2 to the No. 4 pallet P4 are full, the same operation as above is performed.

〔The invention's effect〕

As described above, according to the method of supplying the pallet for loading the proofs of the present invention, the proofs are bound by the stacker bundler, and it is possible to obtain the cuboids of the tresses which are easy to handle.

In addition, a plurality of pallets are arranged at a plurality of predetermined positions, and when stacking the printed books bound by the stacker bundler on the pallet, unloading the loaded pallet, supplying the pallet, etc. It can be done smoothly.

Further, since the robot accurately loads the printed books bound by the stacker bundler on the pallet, the load is not collapsed and high reliability is obtained.

Also, with a forklift-shaped lifter that runs on the floor,
A pallet in which the number of stacked printed books reaches a predetermined value is unloaded, and the robot can sequentially transfer the uppermost pallet in the spare pallet group to a position after the pallet is unloaded. In this way, the same robot is used for loading the stack of printing books on the pallet and for transferring the uppermost pallet, so that a complicated exclusive pallet transfer mechanism is not required and the pallet positioning accuracy is high.

Further, when there is no pallet in the spare pallet group by the lifter, a predetermined number of stacked pallets can be placed at the position of the spare pallet group.

That is, according to the present invention, it is possible to prevent a complicated structural problem of the device such that the upper pallet of the spare pallet group is lifted and the lowermost stage is taken out as in the conventional case, the structure of the pallet supply device can be simplified, and The palletizing position can be positioned accurately because the same robot actuator loads and supplies the pallet to the pallet, and the robot can be used to easily change the palletizing position by changing the robot control program. .

[Brief description of drawings]

FIG. 1 is an explanatory view showing the configuration of a system for carrying out the method of the present invention, FIG. 2 is a plan view of the system, and FIG. 3 is a flow chart showing a palletizing operation by the method of the present invention. 5 ... Lifter, 11-14 ... Stacker bundler, 21-24 ...
… Conveyor, 30 …… Robot, 41,42 …… Rail. P ...
…palette.

Claims (1)

[Claims] 1. A bundle of printed books is bound by a stacker bundler, and the bundled printed books are loaded on a plurality of pallets arranged at a plurality of predetermined positions by a robot, and the number of loaded printed books reaches a predetermined value. The pallet is carried out by a lifter-like lifter traveling on the floor, and the uppermost pallet in the spare pallet group is sequentially transferred to the position after carrying out the pallet by the robot, and when there is no pallet in the spare pallet group. A method of supplying a pallet for loading a book, wherein a predetermined number of stacked pallets are placed at the position of a spare pallet group by the lifter.