JPH0811282A - Automatic supply apparatus for delivery label of printing paper bundle - Google Patents

Abstract

PURPOSE:To accurately and efficiently perform the attaching work of a delivery label by automatically attaching the delivery label to a successively fed printing paper bundle. CONSTITUTION:A feed conveyor C equipped with a string bundling means B on the downstream side of a feed direction and feeding a printing paper bundle P, a arm 2 supported at the tip part of an X-Y-Z three-dimensional orthogonal coordinates type robot arm 1 movable in a conveyor width direction X, a printing paper bundle feeding direction Y and a height direction Z (vertical direction) and a sheet suction pad 3 attached to the rear surface of the arm 2 are provided and a stocker loaded with delivery labels is provided so as to straddle the conveyor C.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a printing paper bundle for supplying and loading a delivery tag in which a delivery address and the like are displayed on a printing paper bundle in which a predetermined number of printing papers printed by a printing machine are accumulated. The present invention relates to a delivery tag automatic supply device.

[0002]

2. Description of the Related Art Generally, printing paper printed by a rotary printing machine for printing web paper (long paper) or a printing machine for printing sheet-fed sheets is cut into sheets of a required size after printing. And, if necessary, it is folded by a folding machine to form a signature.

The printing paper thus printed and cut into sheets and the printing paper folded and formed as a signature are
For example, a set of printing paper bundles such as 100 to 500 copies are stacked (stacked), and each of the stacked sets of printing paper bundles is a strapping binding machine (bundle).
It is a one-letter or ten-letter bundle that is delivered by using a binding cord, and then delivered to another place where necessary.The above-mentioned bundle of printed paper bundles has a delivery tag (paper strip) on which the addressee of the delivery destination is displayed. Is attached and delivered.

[0004]

However, the above-mentioned work of attaching the delivery tag is performed manually at the time of strapping and binding, and both the strapping and binding work and the attachment of the delivery tag are troublesome. As a result, the work becomes complicated and there is a problem in the accuracy and efficiency of the attachment work such as a mistake in attaching the delivery tag.

An object of the present invention is to accurately and efficiently perform the work of attaching a delivery tag by automatically supplying the delivery tag to the printed paper bundle.

[0006]

DISCLOSURE OF THE INVENTION The present invention relates to a cord binding means B.
Which is provided on the downstream side in the transport direction, and which transports the print sheet bundle P, is movable in the conveyor width direction X, the print sheet bundle transport direction Y, and the height direction Z (vertical direction). −
The robot arm 1 includes a Z three-dimensional Cartesian coordinate robot arm 1, an arm 2 attached to and supported by the arm 1, and a sheet suction plate 3 attached to a lower portion of the arm 2. Delivery of a printing paper bundle, which is supported by the vertical column 4 across the transportation conveyor C, and a delivery tag stocker S is installed above the transportation path of the printing paper bundle P across the horizontal transportation conveyor C. It is an automatic bill feeder.

[0007]

[Example] An automatic delivery tag supply device for a bundle of printed paper according to the present invention,
A detailed description is given below according to an embodiment.

First, as shown in FIG. 1, an automatic delivery tag feeder for a bundle of printing papers according to the first aspect of the present invention comprises a horizontal transporting conveyor C for transporting a printing paper bundle P with a string binding means B provided on the downstream side in the transporting direction. . The string bundling means B is commonly called a bundler, and a group of sheets in which about 500 printing papers and signatures are horizontally stacked and stacked is used as a bundling string (a string made of synthetic resin for packing). It is possible to use a conventionally known string binding machine B for automatically binding by using.

As shown in FIG. 1, the horizontal conveyor C is
Conveyor belts 11 (endless belts) wound around guide rolls 11a and 11b (one of the rolls is a drive roll and the other roll is a freely rotating roll), and a smooth horizontal table plate 12 that holds the belt 11 on the upper side. With. In addition, the horizontal transport conveyor C may be a roll conveyor in which a plurality of drive rolls are arranged in parallel in the horizontal direction, or the guide rolls 11a and 11a.
The chain conveyor may be an endless chain in which a portion corresponding to b is made into a sprocket, and pushing lugs are attached to the sprocket at equal intervals.

The conveyor belt 11 of the horizontal conveyor C is rotating counterclockwise (counterclockwise) in FIG. 1, and a bundle of printing paper P (previous stage printing machine not shown) is placed on the upper belt of the belt 11. (Printed paper that has been printed and cut by the above method, or printed paper that has folded signatures p ₁ stacked)
Is placed and conveyed from right to left as viewed in FIG.

As shown in FIG. 1, a cord binding unit B is installed at the downstream end of the horizontal conveyer C in the conveying direction, and a known cord binding machine (bundler) as described above can be used. it can. As shown in the embodiment of FIG. 1, the cord bundling means B is a guide roll 1 of the horizontal conveyor C.
1b coaxially rotating at the same speed, or alternately inserted into the guide roll 11b and driven and rotating synchronously at the same speed, or synchronously rotating at the same speed on an axis different from the guide roll 11b. A guide roll 1 provided with a guide roll 13a that is driven and rotated, a horizontal conveyor belt 13 that is wound around the guide roll 13b, and a space portion 17 that is separated from the conveyor belt 13 by a predetermined distance.
5a and a horizontal conveyor belt 15 wound around a guide roll 15b. The upper belt of the horizontal conveyor belt 13 is supported by a smooth horizontal table plate 14, and the upper belt of the horizontal conveyor belt 15 is supported by a smooth horizontal table plate 16. Guide roll 13a of the horizontal conveyor belt 13
And the guide roll 15a of the horizontal conveyor belt 15
The power is appropriately transmitted by a gear, a timing belt or the like (not shown) to rotate in conjunction with each other so that they are synchronously driven and rotated at the same speed. In the present invention, the horizontal conveyor 13 can be omitted by extending the end of the horizontal conveyor C on the downstream side in the conveying direction into the string binding means B.

The horizontal conveyor 13 of the string binding means B is
The printing paper bundle P that has been conveyed to the end of the conveyor C on the downstream side in the conveyance direction by the horizontal conveyance conveyor C is continuously received and conveyed to the front side to be horizontally conveyed into the string binding means B. At the time when the front end portion of the print paper bundle P is carried into the horizontal conveyor 15, the horizontal conveyors 13 and 15 stop the transfer line to temporarily stop the conveyance of the print paper bundle P, and the horizontal conveyor 1
The printing paper bundle P is stopped so as to straddle the space 17 having a predetermined space between the sheets 3 and 15. As shown in FIG. 1, the timing of the stop operation of the printing paper bundle P is such that the printing paper bundle P is located at a predetermined portion in the string binding means B (the intermediate portion of the printing paper bundle P in the transport direction is directly above the space 17). ), A reflective or transmissive optical sensor 28 (photocell, photodiode) is installed outside the horizontal conveyor 15 in the width direction, and the front end of the printing paper stack P is attached to the optical sensor 28.
And the horizontal conveyors 13 and 15 or the horizontal conveyors 13 and 15 and the horizontal transfer conveyor C are turned off or a part of the connection of the drive system is turned off based on the detection signal. To stop.

Further, as shown in FIG. 1, the cord binding means B described above.
Is a space portion 17 at a predetermined interval between the horizontal conveyors 13 and 15 in a direction orthogonal to the transport direction of the horizontal conveyors 13 and 15.
A ring-shaped bundling guide rail 40 surrounding the upper and lower sides and the left and right sides in the width direction of the horizontal conveyors 13 and 15 at a portion corresponding to the above is provided, and a string end 42a of a bundling string 42 (winding string) is grasped. A moving body 41 that moves along the rail 40 is provided.

FIG. 2 is a schematic front view of the device of the first invention as seen from the side of the cord binding means B.
Is a substantially ring shape such as a quadrangular shape, a circular shape, an elliptical shape, etc., and the moving body 41 holds the tip end portion 42a of the binding cord 42 once or several times along the guide rail 40 in the arrow direction shown in the figure. After wrapping the binding string 42 around the printing paper bundle P carried into the string binding means B once or several times, the knot is formed by the knot forming means (not shown), The rear end portion of the binding cord 42 wound by the string cutting means is cut to end the binding, and subsequently, the leading end portion of the binding cord 42 at the cutting position is gripped again by the moving body 41 to prepare for the next binding operation. Is.

As shown in the side view of FIG. 1 and the front view of FIG. 2, the first invention device has a conveyor width direction X of a horizontal transfer conveyor C, a transfer direction Y of a printing paper stack P, and a height. An XYZ three-dimensional Cartesian robot arm 1 that can move in the direction Z is provided.

As shown in FIG. 1, the three-dimensional Cartesian coordinate type robot arm 1 is mounted and supported on a vertical support column 4 installed outside one side in the width direction X of the horizontal conveyor C, and the support column 4 side. The rack gear 4a is provided in the vertical direction.

Further, as shown in FIG. 1, a Z-direction moving bracket 20 which can be moved along the column 4 in the Z direction (vertical direction) by a servomotor 20a (or a pulse motor), and the bracket 20 in the X direction. (Horizontal width direction)
Mounted on and supported by two guide shafts 21, an X-direction moving bracket 22 that can be moved along the shafts 21 in the X direction by a servomotor 22a (or a pulse motor), and both sides of the bracket 22 in the conveyance width direction. A support plate 23 (see FIGS. 1 and 2) that is attached and supported and is movable along the shaft 21 in the X direction.

As shown in FIG. 1, the support plate 23 is fixedly attached to the movable bracket 22 over the front and rear of the vertical support 4 in the carrying direction, and the front end of the support plate 23 is fixed. Both ends of the horizontal guide shaft 23a are attached and supported to the section and the rear end portion, and a rodless air cylinder 23b that moves along the shaft 23a by air supply control is provided.

The cylinder 23b has a movable frame 2
5, the movable frame 25 is horizontally movable back and forth along the shaft 23a by the cylinder 23b. The movable frame 25 is provided with rodless air cylinders 26b which are attached and supported at both ends of a horizontal guide shaft 26a by support plates 25a and 25b provided at the front and rear thereof and which are moved along the shaft 26a by air supply control. ing. The rodless air cylinder 23
Either or both of b and 26b may be rod air cylinders.

The arm 2 is provided below the cylinder 26b.
Is attached, the arm 2 is horizontally movable in the Y direction of the conveyance direction, and the lower part of the arm 2 is provided with a suction plate 3 for sucking a sheet by air suction.

In this way, the moving arm 2 is movable in the Y direction, which is the front and rear of the carrying direction, and by the moving bracket 20 and the moving bracket 22,
It is a tip arm portion of the robot arm 1 of a three-dimensional Cartesian coordinate type that is movable in the Z direction in the vertical direction and the X direction in the transport width direction.

In FIG. 1, the Z-direction moving bracket 20 is driven and rotated by engaging a pinion gear 20b of a servomotor 20a attached to the bracket 20 with a rack gear 4a provided on the side of the column 4. , Ascend / descend along the column 4.

Further, in FIG. 1, the X-direction moving bracket 22 includes a pinion gear 22b of a servomotor 22a attached to the bracket 22 and a shaft 21.
It is moved in the X direction along the shaft 21 by meshing with a rack gear (not shown) provided on the side of and rotating the drive gear.

As shown in the front view of FIG. 2, in one embodiment of the apparatus of the present invention, the vertical columns 4 are provided on opposite sides of the conveyor C with the conveyor C interposed therebetween. In order to support the three-dimensional Cartesian robot arm 1, the horizontal direction X of the horizontal conveyor C
The pillars 4 installed on both outer sides of the device may be fixed to the equipment installation floor surface, or may be installed on the equipment installation floor surface along the conveyance direction.
(Or, on the movable carriage 4c (with the fixing mechanism 4e) equipped with the rolls 4d (or wheels), which can be guided and moved by the guide rails installed along both sides of the horizontal conveyor C in the width direction), the mounting portion 4b. You may make it attach and fix via.

As shown in FIG. 1, the apparatus of the present invention straddles the upper side of the bundle of printing paper P conveyed by the horizontal conveyer C so that the sheet-like delivery tag s ₁ indicating the delivery destination is displayed. The stacked delivery ticket stocker S is installed.

Further, as shown in FIG. 1, the apparatus of the present invention is, as required, before the cord binding, on the front side of the cord binding means B facing the horizontal conveyor C or on the side avoiding the front side. The supply stocker 60 of the binding cover sheet (patch paper) 61 to be supplied to the upper surface of the printing paper bundle P of is provided, and the printing paper bundle P conveyed to the string binding means B one by one from the upper side of the supply stocker 60. X-Z direction or Y-Z direction or X-Y-Z direction moving type patch paper supply arm 50 for supplying to the upper surface (scalar type combining three-dimensional Cartesian coordinate type robot arm or vertical cylindrical coordinate type robot arm) Robot arm and a horizontal cylindrical coordinate type robot arm are combined), and the corresponding contact paper 61 is fed one by one by the sheet suction plate 51 of the paper supply arm 50. Supplied to the upper surface of the printed sheet bundle P by chromatography sucked and held.

Although not shown, it is possible to supply the backing paper to the lower surface of the printing paper bundle P by various methods. For example, there is a method in which a discontinuous space portion of the conveyor is provided in the middle of the horizontal transport conveyor C, and the patch paper is supplied to the lower surface of the printing paper bundle P from there. This is a horizontal conveyor C
A guide roll 13a, which is synchronously driven and rotated at the same speed on a shaft different from that of the guide roll 11b at the leading end (downstream in the transport direction), and a horizontal conveyor belt 13 wound around the guide roll 13b, are provided. A space portion with a slight gap is provided between the transport conveyor C and the horizontal conveyor 13, and the front end portion of the printing paper bundle P is carried into the string binding means B immediately before being introduced from the horizontal transport conveyor C to the horizontal conveyor 13. At some times, the patch paper is vertically upwardly projected and supplied from the lower side of the slight space between the conveyor C and the conveyor 13 onto the transport path, so that the patch paper is received by the front end portion of the printing paper bundle P and printed as it is. The backing sheet is supplied to the lower surface of the printing sheet bundle P by carrying the sheet bundle P forward.

The XYZ three-dimensional Cartesian coordinate type robot arm 1 which is movable in the printing sheet bundle conveying direction Y and the height direction Z (vertical direction) in the above-mentioned first invention device, and the arm 1 The position and direction of each movable part of the arm 2 provided at the tip of the moving bracket 20 and 22 can be controlled by, for example, expressing the position and direction by a mathematical expression using a preset coordinate conversion matrix. With linear encoders, rotary encoders, potentiometers, etc. attached to the movable parts of arm 1 and arm 2,
The position and direction can be detected and controlled in real time.

Next, the supply operation of the printing paper bundle delivery tag and the string binding operation after the supply of the first invention device will be described in detail. In FIG. 1, 5 is printed by the printing machine first.
The printing paper bundle P stacked in an appropriate number (or the number of copies) of about 00 sheets is horizontally conveyed from the right side to the left direction by the horizontal conveying conveyor C that transfers the number of times. To the horizontal conveyer 13 and the horizontal conveyer 15 in the string bundling means B, and the printing paper bundle P straddles the space portion 17, and then the horizontal conveyer 13 and the horizontal conveyer. 15 is stopped and the printing paper bundle P is stopped. It should be noted that, as the need arises, the backing paper supply arm 50 may be used to apply the backing paper 61 to the upper surface of the printing paper bundle P.
Supply.

Next, the arm 2 in the cord binding means B of the three-dimensional Cartesian coordinate type robot arm 1 in the state shown in FIG.
The movable frame 25 is similarly moved rightward in the drawing by the rodless air cylinder 26b while being moved rightward in the drawing by the rodless air cylinder 23b, and the arm 2 is opposite to the conveying direction Y of the printing paper bundle P. It is moved backward horizontally in the direction to be released from the cord binding means B, and is moved above the delivery ticket stocker S to make the suction plate 3 of the arm 2 stand still right above the delivery ticket s ₁ .

Subsequently, the Z-direction moving bracket 20 is moved down along the support column 4 to bring the suction plate 3 of the arm plate 2 into contact with the delivery tag s ₁ at the top of the delivery note stocker S, and subsequently. The suction board 3 is sucked by air to suck the delivery tag s ₁ , and then the Z-direction moving bracket 20 is moved upward to lift and hold the delivery tag s ₁ .

Next, the movable frame 25 and the arm 2 shown in FIG.
Is horizontally moved along the guide shaft 23a (by operating the rodless air cylinders 23b and 26b) to the left in the drawing in the transport direction of the printing paper bundle P, and the arm holding the delivery tag s ₁ by suction is held. 2 is made to stand right above the printing paper bundle P.

Subsequently, the Z-direction moving bracket 20 is moved down to bring the delivery tag s ₁ close to the printing sheet bundle P surface,
The air suction operation of the suction plate 3 is stopped and the Z-direction moving bracket 20 is moved up to move the delivery tag s ₁ to the arm plate 2.
It is further opened and supplied to the upper surface of the printing paper bundle P web.

The delivery tag supply operation of the arm 2 and the horizontal conveying conveyor C for sequentially conveying the print paper bundle P into the string binding means B are carried out in synchronization with each other, and the printing paper into the string binding means B is carried out. By repeating the delivery bundle supply operation of the arm 2 every time the bundle P is carried in, the delivery tag s ₁ is sequentially supplied onto the printing paper bundle P conveyed into the string binding means B by the horizontal conveyor C. Is.

In the present invention, the number of repetitions of the supply operation of the delivery tag s ₁ by the arm 2 is counted by a counting counter (not shown) so that the delivery tag s ₁ is attached and bound. The set value preset for the number of bundles (paper bundle number) of the printing paper bundle P to be compared is compared with the count value, and the printing paper bundle P bound with the delivery tag s ₁ should be bound. It may be possible to detect whether the normal number of bindings has been reached or whether an excess or deficiency state has occurred.

As described above, the delivery tag s is placed on the printing paper bundle P.
After supplying the _1, 1, the moving body 41 which grasp the leading end portion 42a of the binding string 42 of tying means B shown in FIG. 2, is rotated circumferentially along the guide rail 40, and the binding string 42 The tension operation causes the binding string 42 to be wound on the outside of the printing paper bundle P (from the outside of the supplied reliance paper) and bound by the knot forming means (not shown) and the string cutting means (not shown). Form a knot.

Then, the other end of the binding cord 42 is cut to end the binding (single letter binding), and after the binding is completed, the horizontal conveyors 13 and 15 start the transfer line to be bound. The printing paper bundle P is carried out to the opposite side of the horizontal conveyor C,
Further, it is appropriately carried out separately by a carrying means (transfer means) to the side opposite to or lateral to the horizontal carrying conveyor C.

In the above-mentioned invention apparatus, it is confirmed that the printing paper bundle P has been introduced into the predetermined portion within the string binding means B (the position where the intermediate portion of the printing paper bundle P in the transport direction is directly above the space portion 17). An article passage detection sensor 28 (photocell, photodiode) such as a reflection type or transmission type optical sensor is installed on the outer side in the width direction of the horizontal conveyor 15, and is output by the detection operation of the front end portion of the print sheet bundle P by the sensor. The operation from the standby state in the control operation sequence of the three-dimensional Cartesian coordinate type robot arm 1 is started based on the detection signal. In the device of the present invention,
The standby position (or origin position) of the robot arm 1 is
As shown in FIG. 1, it is possible to appropriately set the state in which the arm 2 stands by at the raised position in the string binding means B.

Further, when the next printing paper bundle P (subsequent printing paper bundle P) is being conveyed by the horizontal conveying conveyor C toward the string binding means B in the middle of the string binding operation, the subsequent printing paper is conveyed. An article passage detection sensor 29 such as an optical sensor for stopping the bundle P immediately before the string binding means B is installed on the outer side in the width direction of the horizontal conveyor C to detect the subsequent printing paper bundle P and The transfer line of the horizontal conveyor C is stopped by the detection signal from the sensor 29 and the one-cycle unbinding signal of the string binding means B. And
After the one-cycle bundling operation unfinished signal of the string binding means B is switched to the end signal, the line transfer line of the horizontal conveyor C is restarted.

The re-transfer transfer operation of the horizontal conveyor C stopped by the one-cycle binding operation unfinished signal of the string binding means B and the print sheet bundle detection signal of the optical sensor 29 is as follows.
Through the on-delay timer or the like that operates at the start time of the one-cycle bundling operation of the string binding means B (or the end time of the one-cycle bundling operation of the string binding means B), the The transfer line may be restarted after a lapse of a predetermined time at such a timing as not to collide with the print sheet bundle P.

When the robot arm 1 of the three-dimensional Cartesian coordinate system of the above-mentioned device is not used (in the case of a binding operation in which the delivery tag s ₁ is not supplied, etc.), the carriage 4c of the support column 4 is guided along the guide rail 7 by a string. It can be moved in the direction away from the bundling means C (the upstream side of the conveyance of the printing paper bundle P) and retracted.

[0042]

The automatic delivery tag supply device for a bundle of printing papers according to the present invention is provided with the cord bundling means B on the downstream side in the conveying direction, the horizontal conveying conveyor C for conveying the printing paper bundle P, the conveyor width direction X, and the printing papers. An X-Y-Z three-dimensional Cartesian coordinate type robot arm 1 movable in a bundle conveying direction Y and a height direction Z (vertical direction) is provided, and is provided on the lower surface of the arm 2 supported by the tip of the arm 1. By attaching the sheet suction board 3, the delivery tag s
₁ can be taken out from the delivery tag stocker S one by one and automatically supplied onto the printing paper bundle P introduced into the string binding means B, and the printing paper bundle introduced into the string binding means B It becomes possible to bind P together with the delivery tag s ₁ .

The three-dimensional Cartesian coordinate robot arm 1 can be retracted along the horizontal conveyor C in the direction away from the cord binding means B, and the cord binding operation which does not require the delivery tag s _1. In, the robot arm 1
Can be kept in a position where it does not interfere with the binding.

[0044]

According to the automatic delivery tag feeder for printed paper bundles of the present invention, a delivery tag (a paper sheet or a plastic film on which a delivery destination is displayed) is repeatedly carried out by a robot arm on a printing paper bundle that is sequentially conveyed. It is possible to supply a sheet, a composite sheet thereof, or the like, or a sheet in which a pressure-sensitive adhesive is applied to the back surface of these sheets in a pattern or on the entire surface, and the work of attaching the delivery tag can be automatically performed. In addition, by automatically counting the number of repetitions (cycles) of the delivery tag supply by the robot arm using a counter, etc., it is possible to detect the occurrence of excess or deficiency of the delivery tag on the printing paper bundle and supply the delivery tag. This is effective in improving work accuracy and efficiency.

[Brief description of drawings]

FIG. 1 is an overall side view illustrating an automatic delivery tag supply device for a bundle of printing paper according to the present invention.

FIG. 2 is a front view for explaining an automatic delivery tag supply device for a bundle of printing paper according to the present invention.

[Explanation of symbols]

B ... tying means C ... horizontal conveyor P ... printed paper bundles p ₁ ... printing paper S ... shipping label Stocker
s ₁ ... Delivery tag 1 ... 3D Cartesian robot arm 2 ... Arm 3
… Sheet suction board 4… Vertical column 6… Upper frame 7… Guide rail 11… Conveyor belt 12… Horizontal table board 13…
Conveyor belt 14 ... Horizontal table plate 15 ... Conveyor belt 16 ...
Horizontal table plate 17 ... Space part 20 ... Z direction moving bracket 21 ... Guide shaft 22 ... X direction moving bracket 23 ... Support plate 25 ... Movable frame 26b ... Rodless cylinder 28 ... Article passage detection sensor 29 ... Article passage detection sensor 40 ... Binding guide rail 41 ... Moving body 42 ... Binding string 50 ... Patch paper supply arm 51 ... Sheet suction plate 60 ... Supply stocker 61 ... Patch paper

Claims (1)

[Claims] 1. A horizontal conveyor C having a string bundling means B on the downstream side in the conveying direction for conveying a print sheet bundle P, a conveyor width direction X, a print sheet bundle conveying direction Y, and a height direction Z (vertical direction). ) And an XYZ three-dimensional Cartesian coordinate type robot arm 1 and an arm 2 attached to and supported by the arm 1.
And a sheet suction plate 3 attached to the lower surface of the arm 2, the three-dimensional Cartesian coordinate robot arm 1 is supported by a vertical column 4 across a horizontal conveyor C, and across the horizontal conveyor C. The delivery tag stocker S is installed on the upper side of the conveyance path of the printing paper bundle P.