JPH0977287A - Paper feeding robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably support and transfer stacked paper sheets by interposing a first insert means between paper sheets at a designated depth from the upper surface of the centeral part of a long side of stacked paper sheets to clamp the paper sheet by a first grip, subsequently inserting a second insert means and opening the same, clamping both end parts of the long side by a second grip, and further inserting a paper receiving shelf. SOLUTION: When a first insert means 4 and a first grip are interposed between paper sheets put in the advanced position shown in a two-dot chain line to clamp by a first air cylinder 7, the thickness part forms a designated gap between stacked paper sheets. A pair of right and left second insert means 8, 8 and the second grip are advanced to a position shown in a two-dot chain line by a second air cylinder 13 to clamp the paper sheets of the upper layer part with an opening of about 30 deg.. A paper receiving shelf 16 inserted between the paper sheets of the upper layer part and the stacked paper sheets is a little wider than the opened second grip gap and a square plate, the longitudinal depth of which is a little smaller than the short side of the paper sheet. The shelf 16 is horizontally supported on columns, and displaced in the longitudinal direction by a motor. The clamping device is elevated and displaced with the paper receiving shelf 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sheet feeding robot, and more specifically, a stack of sheets printed by a large-sized printing machine, for example, having a height of 1000 mm to 1500 mm that requires realignment of about 1300 mm × 900 mm. , The upper layer, about 10 mm to 30 mm, is lifted while being stacked and transferred to the paper aligner, and while handling the paper, the paper is automatically placed on the preloaded paper on the paper aligner. The present invention relates to an unmanned paper feeding robot.

[0002]

2. Description of the Related Art In general, thin and flexible paper for books, which is about the size of all paper, easily slips off even if it is slightly inclined, and it is difficult to handle a large amount because it is heavy. In the past, workers did not have satisfactory paper feeders and carried it by hand, but the amount that one person can carry at one time is at most several tens, and several tens of times are required for one cutting process. It was a fact that I had to make a round trip.

[0003]

On the other hand, according to the present invention, the sheets stacked in a size as high as all the sheets are lifted from the first stage to the second stage (usually paper alignment) while the upper layers are stacked. The problem to be solved is to provide a paper feeding robot that repeatedly carries out an operation of transferring the paper to a machine and separating the paper there while stacking the paper on the second stage.

[0004]

Means for Solving the Problems A paper feeding robot according to the present invention lifts square paper, which is about the size of all paper, in a stacked state and transfers it from the first stage to the second stage, while separating the paper from the second stage. A device that can be placed on top of stacked sheets of paper, the first inserting tool penetrating between the sheets of paper having a predetermined depth from the upper surface of the center of one of the long sides of the square sheets stacked on the first stage. And a first grip for holding a paper having a predetermined depth from the upper surface in cooperation with the first insertion tool, and the first grip provided on both left and right sides of the first grip.
Second insertion tool that penetrates the paper later than the penetration of the insertion tool, and a second grip that cooperates with the second insertion tool to sandwich the paper of a predetermined depth from the upper surface, and the left and right pair Of the second inserting tool of the first inserting tool and the grip of the first inserting tool and the grip, and the second opening and closing apparatus of the second inserting tool for displacing the second inserting tool between a closed position close to the first inserting tool and a separated open position. A paper receiving shelf to be inserted into the lower surface of the paper having a predetermined depth, and the first and second insertion tools, first and second
Is characterized by having a column that holds the grip and the paper tray in a vertically movable manner.

The second insertion tool and the second grip of the present invention are supported by an air cylinder so as to be capable of advancing and retracting as well as rotatably, and the axis of the air cylinder has the above-mentioned second axis.
It is preferable that the inserting tool and the second grip are set higher than the center height of the paper when the laminated paper in the horizontal posture is sandwiched. This helps to carry out the paper-handling work efficiently.

[0006]

FIG. 1 shows a plan view of an embodiment of the present invention in use, and FIG. 2 shows an elevational view thereof. In this embodiment, the paper is transferred from the first stage to the second stage by rotating the column by 90 °.

In FIG. 1, a first stage is provided below the plane of paper centering on the paper feeding robot 1 of the present invention, and a second stage is provided to the left of the plane of paper. On the first stage, for example, a table (size, for example, 1300 mm × 900 mm) that can be raised and lowered by a pantograph mechanism is used to stack uneven paper printed by a large-sized printing machine up to a maximum height of 1500 mm. The table rises when there is little paper left to be processed, and the table descends when a large amount of paper is piled up. The upper layer portion of the paper thus laminated is separated and sandwiched by about 10 mm to 30 mm and transferred to the second stage. For that purpose, the clamping device 2 is connected to the column 3
While being supported by, the ascends and descends in a height range of 700 mm to 1800 mm above the floor surface.

A paper aligning machine is installed on the second stage. As disclosed in, for example, Japanese Patent Publication No. 3-43185, this paper aligning machine first puts a laminated paper on a table in a horizontal state, tilts the table, and aligns the papers without vibrating them to finish the alignment. And then returned to the horizontal state,
This is a device in which the table moves and is transferred to the stage of the next cutting process when the amount suitable for cutting, for example, the thickness of 80 mm to 150 mm is reached. 10 mm to 30 m on the second stage
When m sheets of laminated paper are transferred, the pinching device 2 and the paper receiving shelf of the present invention are removed, the column 3 is rotated in the reverse direction and is directed to the first stage, and the same operation can be repeated.

FIG. 3 shows a plan view of the holding device 2, FIG. 4 shows an AA end view of FIG. 3, and FIG. 5 shows a BB end view of FIG. When viewed from the side, the central first insertion member 4 has a tip on the lower side of the U-shaped member that protrudes sharply forward and is connected to the inner thick portion via the inclined surface. First on the upper side of the U-shaped member
The grip cylinder 5 is provided, and the piston shaft is provided with the first grip 6 which is vertically displaced. The first plug 4 and the first grip 6 are displaced in the front-rear direction by the first air cylinder 7. The solid line in FIG. 3 indicates the return (reverse) position, and the chain double-dashed line indicates the forward position. When the first insertion tool 4 is inserted into the space between the sheets, the thick portion forms a predetermined gap between the sandwiched upper layer sheet and the remaining stacked sheets.

The pair of left and right second inserts 8 and 8 are symmetrical with respect to the axis of the first insert 4 described above. The arms 10 and 10 which rotate around the pin shafts 9 and 9 are V-shaped by the links 12 and 12 driven by the opening / closing cylinder 11.
Open and close the glyph range. 2nd on this arm 10, 10
The air cylinders 13 and 13 are mounted and the piston shafts thereof are provided with the second plugs 8 and 8. As shown in FIG. 5, this second insertion tool 8 is also a U-shaped member when viewed from the side, and the second grip cylinder 14,
14 is provided, and second grips 15, 15 that are vertically displaced are provided on the piston shaft. The second air cylinders 13, 13 advance from the return position shown by the solid line in FIG. 3 to the position shown by the chain double-dashed line, and then hold the paper of the upper layer portion in a state of opening about 30 °.

The paper tray 16 is a rectangle whose width is slightly wider than the distance between the second grips 15 and 15 whose width is wide, and whose depth in the front and rear is slightly smaller than the short side of the full-sized paper to be transferred. For example, it is a flat plate having a width of 1100 mm and a depth of 800 mm, an edge is formed at the front edge, is horizontally supported by the column 3, and is displaced vertically by engaging with a feed screw provided along the column 3. , It is displaced in the front-back direction by the motor. The solid line in FIG. 2 represents the most retracted return state, and the two-dot chain line represents the most advanced state. The holding device 2 described above is mounted on the paper receiving shelf 16, and therefore the holding device 2 is displaced up and down together with the paper receiving shelf 16.

The piston axis of the second air cylinder 13 expands and contracts in the axial direction, and the axis rotates. This rotation is useful when separating the sandwiched paper. Explaining this rotation axis, as shown in FIG. 5, even when the second insertion tool 8 and the second grip 15 sandwich the upper layer of paper, the thickness of the paper is maximum, The average height h ₁ of the sandwiched upper layer paper is lower than the height h ₂ of the axial center of the second air cylinder 13, and there is a deviation of Δh therebetween.

FIG. 6 illustrates the operation of the paper separating process. This paper handling process is usually executed immediately before placing the transported paper on the paper aligning machine. First, as shown in FIG. 6 (A), both end portions of the long side of the rectangular whole paper are light enough to cause slippage between the rectangular paper and the paper by the holding device including the second inserting tool 8 and the second grip 15. From the state of sandwiching,
As shown in (B), the piston shaft is rotated in the direction in which the lower side of the insertion tool 8 is swung outward. Here, when the second grip 15 is driven to firmly hold the paper and then the piston shaft is returned to the original posture, as shown in FIG. 6 (C), the central portion bulges and a gap is formed between the paper. Here, air is blown from the nozzle between the bulging paper in the central part to separate the paper,
The grip 15 is loosened to return the bulge of the paper, the holding device 2 and the paper receiving rack 16 are retracted, and the paper is placed on the paper aligning machine. In the paper feeding robot of the present invention, all actuators such as motors and air cylinders are controlled by a sequence controller equipped with a digital computer.

Although the above embodiment has been described with respect to the type in which the holding device 2 mounted on the column 3 and the paper tray 16 rotate, the present invention also applies to the type in which the column 3 reciprocates along the track. It can be implemented similarly.

[0015]

EFFECTS OF THE INVENTION According to the present invention, first of all, between the papers of a predetermined depth from the upper surface of the central part of the long sides of the stacked rectangular papers,
After inserting the second insertion tool between the papers generated by the insertion of the first insertion tool after inserting the second insertion tool between the papers created by the insertion of the first insertion tool, The two grips hold both ends of the long side, and then insert the paper tray to support the paper of the specified depth from the bottom, so even if the paper is flexible and slippery, it is always supported stably. This can be transferred.

Further, a paper receiving shelf is supported on the column so that it can be moved up and down, and the first and second paper receiving shelves are placed on the paper receiving shelf.
Since the paper holding device and the like are mounted, the lifting mechanism such as the paper holding device is omitted, and the entire configuration is simplified.

Further, the second insertion tool and the second grip for holding the both ends of the square paper are made rotatable about the axis of the air cylinder, and the air cylinder of the air cylinder is higher than the center height of the sandwiched laminated paper. Since the axis is set to be raised by Δh, the paper separating process can be performed easily and reliably.

Further, a pin shaft having an interval of about half of the open position of the second pinching device for pinching both ends of the square paper is provided, and the pin shaft is opened and closed in a V shape. Since a symmetrical opening / closing arm is provided and the opening / closing arm is configured to be opened / closed by a link mechanism driven by one actuator, the opening / closing mechanism is simplified and its control is also simplified.

[Brief description of drawings]

FIG. 1 is a plan view of a working example of the present invention.

FIG. 2 is an elevational view of an embodiment of the present invention.

FIG. 3 is a plan view of a holding device according to an embodiment of the present invention.

4 is an AA end view of FIG. 3. FIG.

5 is a BB end view of FIG. 3. FIG.

[Fig. 6] is an operation explanatory view of the embodiment of the present invention.

[Explanation of Codes] 1 ... ・ Paper feeding robot 2 ・ ・ ・ ・ ・ ・ Clamping device 3 ・ ・ ・ ・ Column 4 ・ ・ ・ ・ First insertion tool 5 ・ ・ ・ ・ ・ ・ First grip cylinder 6 ・ ・・ ・ First grip 7 ・ ・ ・ ・ First air cylinder 8 ・ ・ ・ ・ Second insertion tool 9 ・ ・ ・ ・ Pin shaft 10 ・ ・ ・ ・ ・ ・ Arm 11 ・ ・ ・ ・ ・ ・ Opening / closing cylinder 12 ・ ・..Link 13 ... second air cylinder 14 ... second grip cylinder 15 ... second grip 16 ... paper tray

Claims (3)

[Claims] 1. A device capable of lifting square-shaped papers of about the size of all papers in a stacked state, transferring them from the first stage to the second stage, and stacking them on the papers stacked in the second stage while separating the papers. Then, in cooperation with the first inserting tool that penetrates into the paper having a predetermined depth from the upper surface of the central part of one of the long sides of the rectangular paper stacked on the first stage, First to hold a paper with a predetermined depth from the top
Of the first grip, a second insertion tool which is disposed on both left and right sides of the first grip and which penetrates into the space between the sheets later than the penetration of the first insertion tool, and in cooperation with the second insertion tool. A second grip for holding a paper having a predetermined depth from the upper surface and the pair of left and right second insertion tools are displaced between a closed position close to the first insertion tool and a separated open position. An insertion device opening / closing device, a paper receiving shelf inserted into the lower surface between the papers of a predetermined depth held by the first and second insertion devices and the grip, the first insertion device, the second insertion device, and the second insertion device. A paper feeding robot having first and second grips and a column that holds a paper tray in a vertically movable manner. 2. The second insert and the second grip are supported by an air cylinder so as to be able to move forward and backward as well as rotatably, and the axial center of the air cylinder has the second insert and the second grip. The grip is set higher than the center height of the paper when sandwiching the laminated paper in the horizontal position,
The paper feeding robot according to claim 1. 3. The air cylinder is supported on an opening / closing arm which opens and closes a V-shaped range around an opening / closing pin, and a pair of left and right opening / closing arms are configured to open / close symmetrically by a link mechanism operated by an actuator. The paper feeding robot according to claim 1.