JPH10279080A - Stacker of unbound stacked sheets - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the various stowage patterns corresponding to the kinds of stacked sheets or the like, and effectively stack the sheets by plurally installing one or both of supply parts and transfer devices. SOLUTION: A device 51 comprises two rows of supply parts 52, and two transfer devices 53, and a stacking robot 1 is mounted between the same. The robot 1 distributes the sheets, so that the stacked sheets A supplied to one of the supply parts 52 is transferred to one of the transfer devices 53, and the stacked sheets A supplied to the other supply part 52 is transferred to the other transfer device 53. As mentioned in the above, by plurally installing the supply parts 52 and the transfer devices 53, the stacked sheets A of the same kind and plural kinds can be distributed to be effectively stacked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for stacking a sheet material such as a corrugated cardboard sheet on a pallet or the like, and more particularly, to an apparatus for stacking sheets which have just been deposited and are not bound. The present invention relates to an apparatus for stacking unbundled laminated sheets for stacking laminated sheets.

[0002]

2. Description of the Related Art For example, a corrugated cardboard sheet (sheet material) for a wrap round case needs to be unbound due to the specialty of its packaging. For this reason, the sheet materials formed in a predetermined shape are grouped into a predetermined number of sheets, and are stacked as a unit. This stacking is performed by a robot. The sheet material is stacked on the pallet by repeating a series of operations in which the laminated sheet supplied with the ends aligned is held by a transfer hand of a robot, transferred to a predetermined transfer position and released.

[0003] However, this stacking device has one supply unit and one transfer position for one robot, so that, for example, it is not possible to stack a plurality of types of stacked sheets on each other, and the efficiency is low. Was not good.

Further, as shown in FIG. 20, the transfer hand is composed of two holding plates 101 which are L-shaped and move forward and backward in the horizontal direction. (The arrangement type of the binding laminated sheet) is also very small. That is, since the L-shaped holding plate 101 needs to be retracted when the laminated sheet 103 is lowered, when the stacking is to be performed side by side, at least the width W required for extracting the holding plate 101 as shown in FIG. Is an essential condition.

[0005]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a method for efficiently stacking unbundled laminated sheets, and various stacking patterns depending on the type of the laminated sheets. An object of the present invention is to provide an apparatus for stacking unbundled laminated sheets that can be obtained.

Means for that purpose are a stacking apparatus for unbundled laminated sheets fed to a supply unit, which is transferred to a predetermined transfer position by one stacking robot having a transfer hand and is stacked at the position. Wherein one or both of the supply section and the transfer position are arranged in a plurality, and the apparatus is a stacking apparatus for a non-bundled laminated sheet.

[0007] In order to achieve automation, the supply unit is
It is preferable to provide an alignment device for aligning the ends of the supplied laminated sheet.

In order to simplify the structure, the aligning device includes a first aligning portion for sandwiching the laminated sheet from both sides in order to align the width direction of the laminated sheet, and moving the laminated sheet back and forth in order to align the longitudinal direction of the laminated sheet. And a second aligning portion sandwiched between the transfer hands, and the second aligning portion may be set at a holding position of the transfer hand.

Further, in order to obtain various stacking patterns, the transfer hand of the stacking robot is provided on the hand body by an L-shaped plate which advances and retreats in a horizontal direction so as to support a lower portion of one end of the laminated sheet; An I-shaped plate opposed to the plate and in contact with the end face of the other end of the laminated sheet may be provided vertically, and the holding of the laminated sheet may be released by retreating only the L-shaped plate.

[0010]

According to the above construction, one or both of the supply unit and the transfer position are provided for one stacking robot, so that a plurality of types of laminated sheets can be provided as necessary. For efficient stacking.

Further, according to the second aspect of the present invention, since an aligning device is provided in the supply unit to align the ends of the supplied laminated sheet, automation can be achieved.

According to a third aspect of the present invention, the aligning device comprises a first aligning unit for aligning the width direction of the laminated sheet and a second aligning unit for aligning the longitudinal direction, and the second aligning unit includes a transfer hand. For example, if the second alignment unit is configured by a stopper for abutting the front end of the conveyed laminated sheet, and a pusher for pressing the rear end of the laminated sheet in contact with the stopper, Often, the configuration can be simplified.

According to the fourth aspect of the present invention, when the laminated sheets are stacked side by side, for example, the I-shaped plate is placed so that the I-shaped plate is located beside the previously laminated sheets.
The letter plate may be retracted. For this reason, various non-conventional stowage patterns can be obtained. In addition, since the gap between the stacked laminated sheets can be narrowed, it contributes to obtaining a good packing appearance.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a plan view of a non-bundled laminated sheet stacking device 51 (hereinafter, referred to as a device) for stacking discrete, unbundled laminated sheets A (hereinafter, referred to as a laminated sheet) which have been deposited only a predetermined number and not bound. It is. This device 51 has two rows of supply units 52 and two transfer positions 53 in order to improve the efficiency of the stacking operation, and the stacking robot 1 (hereinafter, referred to as a robot) is installed between them. That is, the robot 1 transfers the laminated sheet A supplied to one supply unit 52 to one transfer position 53 and transfers the laminated sheet A supplied to the other supply unit 52 to the other transfer position 53. , As shown in FIG.

The above-mentioned supply section 52 is constituted by a roller conveyor, and comprises a charging section 54, a first alignment section 55, and a second alignment section 56 in order along the transport direction. FIG. 3 shows a state in which the loading section 54 is viewed from the side, and a two-stage stacking device 57 is attached to the subsequent stage as necessary. As shown in FIG. 4, the two-stage stacking device 57 includes a regulating plate 58 which moves in a horizontal direction by an air cylinder 57a.
The fork claw plate 59 and the lifting frame 60
The lifting cylinder 61 holds half of a predetermined number of unbundled laminated sheets a which are vertically suspended and conveyed.
Then, when a similar unbound laminated sheet a is conveyed, it is released to form a two-tiered sheet.

The first alignment section 55 and the second alignment section 56
The alignment device 62 aligns the ends of the supplied laminated sheet A. The first aligning section 55 aligns the width direction of the laminated sheet A, and the second aligning section 56 aligns the longitudinal direction of the laminated sheet A. Therefore, in the first alignment section 55, as shown in FIG. 5, a guide wall 55a is provided upright on one side of the roller conveyor.
On the other side, a pressing wall 55b that moves forward and backward toward the guide wall 55a is mounted via a pressing cylinder 55c.

In the second aligning section 56, as shown in FIG. 6, the rear end of the roller
A stopper 56a for abutting the front end of the sheet A is mounted, and a pusher 56b for pressing the rear end of the laminated sheet A in contact with the stopper 56a is mounted on the front end in the transport direction so as to be able to move up and down and advance and retreat. In the drawing, reference numeral 56c denotes an elevating cylinder, 56d denotes an elevating plate, and 56e denotes an advancing / retracting cylinder.

The second aligning portion 56 is a holding position of the transfer hand 2 attached to the tip of the arm 3 of the robot 1, and the stacked sheet is placed on the stopper 56a so that the transfer hand 2 can be held. When A strikes, the lifting means 63 for raising the laminated sheet A to a predetermined height is mounted below the roller conveyor. This lifting means 6
Reference numeral 3 denotes a configuration in which four support rod members 63a are disposed between the rollers 56f along the length direction thereof, and these support rod members 63a are moved up and down by a lifting cylinder 63b.

The transfer hand 2 holds the stopper 56
The stacking sheet A hitting a is lifted by the lifting means 63, and the receiving portion 7a of the transfer hand 2 is inserted in synchronization with the vertical alignment by the pressing of the pusher 56b.

FIG. 7 shows the outer shape of the robot 1. The robot 1 is turned at the top, and the distal end of the arm 3 is moved back and forth and up and down in a predetermined range, and is fixed via the mounting member 4. Transfer the transferred hand 2 to the motor 5
To rotate in the horizontal direction. The release position at which the laminated sheet A is released when the laminated sheet A is stacked can be set so that necessary data such as the thickness of the sheet material and the stacking height are input to a computer and automatically calculated based on a program. I just need.

FIG. 8 is a perspective view of the transfer hand 2, FIG. 9 is a side view of the transfer hand 2, and FIG. The transfer hand 2 has a hand body 6 having a rectangular frame shape.
An L-shaped plate 7 which advances and retreats in a horizontal direction so as to support the lower part of one end of the laminated sheet A, and which faces the L-shaped plate 7 in a horizontal direction so as to contact an end face of the other end of the laminated sheet A. An I-shaped plate 8 that moves forward and backward is suspended. Further, the L-shaped plate 7 is moved up and down with respect to the held laminated sheet A at a position corresponding to the position above the receiving portion 7a,
Press plate 9 for pressing the upper surface of laminated sheet A when descending
Are also hanging.

The L-shaped plate 7 is provided with three receiving members 11 at a lower end of a plate body 10 having a hanging piece 10b formed from one side of a rectangular mounting piece 10a, with an appropriate width therebetween. It is fixed by leaving it open, and is formed in a substantially L-shape as a whole. The horizontal portion of the receiving member 11 (receiving portion 7
a) The length is the width (holding width) of the laminated sheet A to be held.
However, unlike the case of simply locking, for example, about one third to one half, the length is set to be longer so as to be supported. The spacing between the receiving members 11 is for holding the laminated sheet A at the supply position as described above (see FIG. 6).

The L-shaped plate 7 is used for the plate body 1
The runner 12 is fixed to the hand main body 6 via a runner 12 fixed to the mounting piece 10a at the upper end of the main body 0 and a guide rail 13 fixed to one side of the lower surface of the hand main body 6. The horizontal movement of the L-shaped plate 7 is performed by a first cylinder 14 for movement which is fixed inside the hand body 6.

The L-shaped plate 7 contacts the end face of one end of the laminated sheet A at the forward position of the L-shaped plate 7 and has only a horizontal receiving portion 7a at the lower end of the L-shaped plate 7. The restriction plate member 15 that allows the intrusion of the intrusion is subordinated.

This regulating plate member 15 is attached to the mounting piece 1 at the upper end.
A notch 15c is formed on the lower end edge of the restricting piece 15b so that only the receiving portion 7a of the L-shaped plate 7 can enter therethrough. The fixing may be performed directly on the lower surface of the hand body 6.

The I-shaped plate 8 is fixed to the mounting piece 8a in such a manner that a contact piece 8b that comes into contact with the end face of the other end of the laminated sheet A is vertically provided from one side of the rectangular mounting piece 8a. It is attached to the hand body 6 via a runner 16 and a guide rail 17 fixed to the other side of the lower surface of the hand body 6 so as to be able to advance and retreat. The reciprocation is performed by a reciprocating second cylinder 18 fixed inside the hand body 6.

The I-shaped plate 8 and the L
In order to advance and retreat the letter-shaped plate 7, a pulse motor or the like may be used instead of the air cylinder. Higher speed can be achieved.

The pressing plate 9 is provided with a guide-elevating first cylinder 19 fixed to both sides of the hand body 6.
Is provided vertically below the hand main body 6 through the base. The pressing plate 9 has a rectangular shape, and its thickness is set so as to have an appropriate weight. The material is preferably aluminum.

On both sides of the pressing plate 9 which descends to a predetermined position corresponding to the thickness of the laminated sheet A to be held, a pressing pad 20b as an auxiliary pressing means is further provided.
Is stored and held. This is because when the transfer hand 2 releases the laminated sheet A and rises, the upper surface of the laminated sheet A is pressed to prevent the alignment state of the laminated sheet A from being disturbed when the transfer hand 2 is raised. In the operation, the piston rod 20a of the second cylinder 20 for raising and lowering protrudes from the lower surface of the pressing plate 9 in synchronization with the raising of the pressing plate 9, and presses the upper surface of the laminated sheet A with the pressing pad 20b at the tip. . As the auxiliary pressing means, for example, jetting air may be used. In FIG. 8, as an example of fixing the mounting member 4 to a mounting plate 6a indicated by a virtual line, a transfer hand for stacking the laminated sheets A on the pallet P in two rows as shown in FIG. The operation of No. 2 will be described with reference to FIGS. The transfer position 53 is located on the pallet transfer conveyors 64 and 65 that transfer the pallets P in different directions. According to the layout, in FIG. 5, one pallet transport conveyor 64 is Z-shaped, and the other pallet transport conveyor 65 is shown in FIG.
Is bent in the conveyance direction so as to have a U-shape, and is conveyed toward the same unloading site.

At the transfer position 53, the pallets P are sent out toward the robot 1 (lateral direction) in order from the lowest one of the stacked pallets P. And robot 1
At the point approaching, the transport belts 64a and 65a in the same direction (vertical direction) as the supply unit 52 rise and are transported in the vertical direction. The position slightly conveyed in this direction is the transfer position 53, where the pallet P stops and waits for the transfer of the laminated sheet A by the robot 1. In this state, the robot 1 is driven to perform the stacking operation by the following operation of the transfer hand 2. When the stacking of the laminated sheets A by the robot 1 is completed,
It is sent out to the unloading site.

First, the laminated sheet A conveyed to the holding position (the second alignment section 56) of the transfer hand 2 (FIG. 12) has its front end abutted against the stopper 56a as described above, and then the support rod member 63a. Is lifted by the lifting means 63 having a vertical direction, and then the vertical direction is aligned by pressing the pusher 56b. Then, in synchronization with this, the transfer hand 2
Descends with respect to the laminated sheet A having the aligned edges (FIG. 1).
3).

Next, the L-shaped plate 7 and the I-shaped plate 8 are respectively advanced in this order to sandwich the laminated sheet A, and in synchronization with this, the pressing plate 9 is lowered by the first cylinder 19 for elevating and lowering. Press the upper surface of sheet A (FIG. 1)
4).

The robot moves in this state (FIG. 15) and moves to the transfer position 5
The pallet P is lowered to a predetermined position on the pallet P waiting at the position 3 (FIG. 16). Then, in the release position, the L-shaped plate 7 is retracted (FIG. 17). At this time, although it depends on the setting of the first cylinder 19 for raising and lowering, it is difficult to pull out the receiving portion 7a while being pressed by the pressing plate 9, so that the solenoid valve of the first cylinder 19 for raising and lowering is temporarily turned off. It is preferable to press only with the weight of the pressing plate 9. Laminated sheet A
This is because they can be quickly removed without disturbing the alignment of the devices, and smooth and accurate work can be performed.

Thereafter, while the transfer hand 2 is raised, the pressing plate 9 is raised to release the pressing state on the laminated sheet A. Then, in synchronization with this, the pressing pad 20b is lowered to press the laminated sheet A. The pressing by the pressing pad 20b is performed until the regulating plate member 15 and the I-shaped plate 8 do not interfere with the laminated sheet A. Thereafter, the I-shaped plate 8 is retracted (FIG. 18) and returned to the original state.

Since the stacked sheets A are stacked on the pallet P in two rows as described above, the stacked sheets A are stacked farther from the robot 1 and then stacked closer to the robot 1. Since this operation is performed in order, as shown in FIG. 19, even if the L-shaped plate 7 is retracted, the stacked sheets A stacked earlier do not become an obstacle, and the stacked sheets A
Stacking can be performed with only a very small gap formed between the I-shaped plates 8.

As described above, since the plurality of supply units 52 and the plurality of transfer positions 53 are provided, the same type or a plurality of types of laminated sheets A can be sorted, and efficient stacking can be performed.

Further, since one of the I-shaped plates 8 is formed as described above, only the L-shaped plate 7 needs to be retracted when the laminated sheet A is lowered, and the retreating direction and the stacking order are controlled. By doing so, it is possible to obtain a stowage pattern that could not be obtained conventionally. In addition, since the gap between the laminated sheets A arranged side by side can be narrowed, it also contributes to obtaining a good packing appearance.

Further, since the aligning device 62 is provided in the supply section 52 to align the ends of the supplied laminated sheets A, the stacking can be automated. Moreover, the aligning device 62 is composed of a first aligning section 55 for aligning the width direction of the laminated sheet A and a second aligning section 56 for aligning the longitudinal direction, and the second aligning section 56 is located at the holding position of the transfer hand 2. A stopper 56a for setting the second alignment section 56 against the front end of the conveyed laminated sheet A is set.
And the pusher 56b for pressing the rear end of the laminated sheet A in contact with the stopper 56a, so that the configuration can be simplified.

One end of the laminated sheet A has an L-shaped plate 7 on which a regulating plate member 15 is subordinate and a pressing plate 9
The I-shaped plate 8 abuts on the other end so as to maintain that state, so that the transfer without disturbing the alignment state is stable even with the unbound laminated sheet A. I can do it. In addition, since one of them is constituted by the I-shaped plate 8, the laminated sheet A falling from the release position
Is guided, so that it does not disturb the alignment even if dropped from a slightly higher position. For this reason, it is not necessary to strictly manage the release height, and the configuration can be simplified. Further, since the pressing pad 20b is provided, there is no possibility that the upper part of the laminated sheet A is peeled off due to frictional resistance or the like and the alignment state is not disturbed.

[Brief description of the drawings]

FIG. 1 is a plan view of a non-binding laminated sheet stacking apparatus.

FIG. 2 is an explanatory diagram of an operation state.

FIG. 3 is a side view of a charging section.

FIG. 4 is a front view of the two-stage stacking device.

FIG. 5 is a plan view of a first alignment unit.

FIG. 6 is a sectional view of a second alignment unit.

FIG. 7 is a side view of the robot.

FIG. 8 is a perspective view of a transfer hand.

FIG. 9 is a side view of the transfer hand.

FIG. 10 is a partially cutaway side view of a main part of the transfer hand.

FIG. 11 is a perspective view showing an example of a state in which unbound laminated sheets are stacked on a pallet.

FIG. 12 is an explanatory diagram of an operation state.

FIG. 13 is an explanatory diagram of an operation state.

FIG. 14 is an explanatory diagram of an operation state.

FIG. 15 is an explanatory diagram of an operation state.

FIG. 16 is an explanatory diagram of an operation state.

FIG. 17 is an explanatory diagram of an operation state.

FIG. 18 is an explanatory diagram of an operation state.

FIG. 19 is an explanatory diagram of an operation state.

FIG. 20 is a perspective view of a conventional technique.

FIG. 21 is a plan view of a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Stacking robot 2 ... Transfer hand 6 ... Hand main body 7 ... L-shaped plate 8 ... I-shaped plate 51 ... Unbundled laminated sheet stacking apparatus 52 ... Supply part 53 ... Transfer position 55 ... First alignment part 56 ... Second alignment part 62: Alignment device A: Unbundled laminated sheet

Claims (4)

[Claims] An unstacked unstacked sheet stacking device for transferring unstacked unstacked sheets supplied to a supply unit to a predetermined transfer position by one stacking robot having a transfer hand and stacking the unstacked unstacked sheets at the position. A stacking apparatus for a non-bundled laminated sheet, in which one or both of the supply unit and the transfer position are provided in plurality. 2. An apparatus according to claim 1, further comprising an aligning device for aligning an end portion of the supplied laminated sheet in the supply section. 3. A first aligning section for sandwiching the laminated sheet from both sides to align the width direction of the laminated sheet, and a second aligning section for sandwiching the laminated sheet from front and rear to align the laminated sheet in the longitudinal direction. 3. The stacking apparatus according to claim 1, wherein the second alignment section is set at a holding position of the transfer hand. 4. A transfer hand of the stacking robot is provided on a hand body by an L-shaped plate which advances and retreats in a horizontal direction so as to support a lower portion of one end of the stacked sheet, and an opposite end of the L-shaped plate and the other end of the stacked sheet. The I-shaped plate which abuts on the end face of the part is vertically provided, and the holding of the laminated sheet is released by retreating only the L-shaped plate. Stacking device for unbound laminated sheets.