JPS59172338A - Method and device for separating load - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to the separation of loaded objects or sheets.

The stack of baffles is formed from sheets of cloth or other material, and the separated baffles can be removed as appropriate for use.

For example, when filling paper bags fed into a printing press, it is very difficult to separate the single sheet from the top of the load using a simple yet highly reliable machine. If no sheets are supplied, or if the supplied sheets are damaged or not aligned, subsequent steps cannot be carried out correctly.

It is an object of the invention to provide a device for automatically separating sheets from a load with high reliability.

In addition to highly reliable separation operation, the following are often required:
Transporting or arranging separated sheets in a particular direction or manner.

A second object of the invention is to provide a device for capturing a single leaf and, if necessary, transporting and positioning it in a specific manner.

According to the invention, a separating member is used, and the end of the separating member is arranged so as to extend over the edge of the uppermost sheet of the load at a predetermined distance from the surface of this sheet. , the uppermost leaf is vibrated and disturbed from above in a non-contact manner in order to move it from below the separating member onto the edge of the separating member; A method for separating a load is provided that separates the topmost sheet of the load from the next succeeding sheet in preparation for a removal operation.

According to one feature of the present invention, the transmittance of an object placed on the edge of the separation member is measured to determine whether the number of sheets placed on the edge of the separation member is 1 or 2 or more. This provides a method for detecting when two or more sheets are separated from the top of a load at a time.

Further in accordance with the invention, separation means movable to extend over the load at a predetermined distance from the top of the load; and adjacent to the separation means for disturbing and vibrating the uppermost branches and leaves of the load. means for sending a flow of air to the top of the load; means for detecting disturbance of the uppermost leaf; and means for bringing a separating means closer to the top of the load and the disturbed uppermost leaf; means for detecting displacement of the vibrating sheet from the top of the load in order to place the vibrating sheet on the extending separation means; Grasping means responsive to the detection of said displacement and a complete load separating device are provided for co-operating with the means to grip this sheet.

The inner ends of each of the separation means and the gripping means may be supported for relative movement within the housing.

The detection means may each be an assembly of a light emitting diode and a phototransistor.

The separation means may be controlled to be located at said predetermined distance by said detection means assembly actuated by reflected light from the top of the load. , the means for detecting disturbance of the uppermost sheet must be a distance detecting means. The detection means may detect this disturbance by changing in response to a variable component related to the continued disturbance of the uppermost leaf.

The separating means and the gripping means may include means for detecting the penetration depth of the leaf between said means in order to grip the leaf at a particular position. The separating means and the gripping means may include means for detecting leaf detail along the length of the gripping means.

The apparatus of the present invention may include means for detecting that two or more sheets are placed on the separating means, and for abandoning the sheet separating operation in response to the detection of the two or more sheets. The detection means may include means for assessing the permeability of the object placed on the separation means. The transmissivity assessment means may include filter means for rejecting non-specific radiation.

The apparatus of the invention may include separation aids for enhancing the disturbance of the uppermost sheet, which during operation are resiliently supported in a floating state in the air flow over the top of the load.

The device of the invention may be supported by a robot to perform at least some of the operations.

The device of the invention may include means for actuating appropriate drive means in response to the detection means.

The device of the invention may include means for transporting the gripped sheets to a predetermined position. Therefore, the sheets can be placed at predetermined positions in a desired positional relationship.

It is also possible to grip and stretch the sheets using two sets of gripping means. After being gripped and stretched, the sheets can be transferred.

According to one feature g of the invention, a pick-up member having a sensor means and a sheet capture means is used, the pink-up member is engaged with a sheet of the load, and the sensor means of the pick-up member is placed in the pick-up member. The pickup member is provided with a drive means to detect the presence or absence of the engaged leaf, output a signal indicating the presence of the engaged leaf, and move the single amplifier member relative to the engaged leaf; controlling the drive means to move the pick-up member to a position where the edge of the engaged leaf is detected in a predetermined relationship with the pick-up member due to a change in the temperature, and the leaf in the pick-up member is captured for transport or other purposes; A separation method can be provided for removing the single sheet f in a specific manner, consisting of: capturing it in a means;

Specific examples of the present invention will be described below with reference to the accompanying drawings.

The term "robot" as used in this text refers to a robot that supports a separating device, moves the separating device under full control to the position where sheets are to be separated, and in some cases uses separated sheets. It means a device that can be prepared and removed. The specific configuration of the robot is not included in the scope of the present invention. The control signals and other matters required to interface with a particular robot will be obvious to those skilled in the art and will not be discussed here. Apparatus according to embodiments of the invention need not necessarily be used attached to a "robot", but may be used, for example, in a simpler production line apparatus.

In the drawing, the interface between the robot and the separation device is a water type with a single chain 11JR8, and the interface is on the robot side eR1 separation device side? Indicated by S.

In the specific example shown in the figure, the separating device has a first S material, that is, a separating member 10, and a second all material, that is, a gripping member 20, both of which are supported by a housing 30 to which the separating device and the robot F40 are connected. It is formed into a par shape. The separation member 10 and the gripping member 20 are supported by a gripping member 30 so that sheets, bags or other flat shapes of paper, cloth, etc. can be gripped and captured between the two members. The separation member 10 has a ramp 14 to facilitate penetration under the uppermost leaf.

Preferably, the separating member 10 is fixed to the housing and the gripping member 20 is movable. The gripping member is mounted in the housing 30 by suitable means, such as an electric, hydraulic or pneumatic device 31.
driven by The separating member and the gripping member are constructed of plastic, metal or other suitable material.

The separating member io and the gripping member 20 are shown in a cross-sectional view, and each includes a plurality of sensor elements 1j, 12.13 and 21.22.
．． It is equipped with 23. These sensor elements will be described in detail below.

The pressurized fluid injection port 51 is attached to the arm 50 so that the relative position of the separating member IO with respect to the inclined portion 14 can be adjusted and kept constant. Preferably, the arm 50 is supported by a gripping member 20 having an internal or external pressurized fluid passageway extending from the pressurized fluid source 32 . The source of pressurized fluid is preferably a burst of pressure to form a jet, such as 1.5 to 3.5 par. The pressurized fluid is preferably injected through a 1.5 inch diameter nozzle at a flow rate of 5 liters per minute, although other values may be used depending on the material and size of the leaf.

The sensor element will be described below.

The sensor elements 11.21; 12.22; 13.23 are sensor pairs configured to detect the presence or absence of a sheet between the separating member 10 and the gripping member 20, respectively.

Specifically, each sensor element 11.12.13 is a light emitting diode (LED) that emits light.

The sensor element 13 is in fact a light emitting diode with a beveled envelope that can be fitted onto the end 14 of C1, approximately three fins thick. In order to increase the resolution of the sensor device, the light-emitting area portion and the adjacent end of the light-emitting diode 13 can be coated as shown by the shading of the light-emitting diode 13 (FIG. 2) of the separating member 10. The sensor elements 21.22 are each phototransistors that pick up the light from the light emitting diode 1.12. Sensor element 23 is preferably a photodiode. Sensor element 11.12.13.21.
23 preferably has the best sensitivity and interference of ambient light? This is an infrared device that cannot be used. The stack of sheets to be separated is indicated by 60. 62 for the top leaf, 61 for the upper surface
Indicated by Other aspects of the sensor element 23 will be described below.

A projection 7° (not shown in FIG. 1) extends laterally, i.e. rearwardly from the plane of FIG. In the event of an erroneous approach movement, for example when the sheets are not separated, the contact 43 engages the upper surface 61 and the downward drive of the sensor device is stopped. Preferably, the protrusion 70 is attached to the load 6
It is suspended by a leaf spring 71 via a hinge 72 in order to prevent it from being bent and damaged if it comes into improper contact with a leaf spring 71.

The microswitches and contacts on the protrusion 70 can be spaced apart from the airflow and the topmost leaf of the load. Preferably, the length of the protrusion is about 100.

The separation operation of the separation device will be described below.

The separation member IO is movably mounted on the load 60 at a position away from the side line and extends approximately inwardly from the leading edge of the load with a distance of approximately 5 positive distances between the ramp 14 and the surface of the load. 5 ~]
0 Silk is made to stretch out. The gripping member 20 is lowered simultaneously with the separation member 10 or separately towards the top surface 61 of the load and held in such a position that the air flow from the jet orifice 51 is directed onto the surface 6. The flow rate and direction of the air rush are selected such that when the airflow hits the topmost leaf of the load, this leaf vibrates violently. When the leaves are cloth, by selecting such a value, a sufficient frequency of vibration is obtained only for the uppermost leaf, and the lower leaves are not disturbed. This is an important feature since reliably separating the top sheets is a significant problem in the art.

In addition, it is necessary to vibrate only a portion of the uppermost leaf without vibrating the entire leaf.

The separating member 10 is lowered towards the surface 61 until the vibrating uppermost leaf 62 has a 1-flip J above the end 14. When reaching the top of the end 14, the leaf 62
indicates that the sensor elements 13 and 23 have been separated. The separating member 1o moves a predetermined amount toward the load so that the uppermost sheet 62 can be maintained in a separated state.
For example, it can be lowered by three layers. As a result, the material is [polymerized (
double-over) J is not performed. In this way, the downward drive ends. The retainer 10 and the gripping member 20 are then advanced further towards the load in order to penetrate the sheets 62 deeper between the gripping jaws constituted by these members 10 and 20. . Sensor elements 12.22 and 11.21 determine the penetration depth of leaf 62. When the desired penetration depth is reached, the gripping member 20 descends toward the separation member 10 and grips the sheet 62 without removing it from the load 60;
The separation operation is complete.

(Left below) The above separation operation is a simplified overview. In practice, it is preferable to configure the movement of the separation member 10 to be more complex depending on the various changes that may occur in the load.

The separation member 10 thus moves in a search and e-turn over the top leading edge of the load during the action of the air stream. To start separating the load, move the load to the separation member 10
Place it under the 0-production m area.

If the separation member is constructed as part of a mechanical mechanism, this area can be predetermined, but if the separation member 10 is operated by a robot, it is limited to the reach of the robot operation. When air jetting starts, the separation member 10 moves toward the load while separating from the side line of the load. In general, the separating section 10 is moved in this manner so that it reaches the above-mentioned position without having previously approached the load significantly.

The separating member 10 then slowly moves outward from the load at a uniform speed until it has retreated approximately five steps outward from the load. Next, the separation member 1o descends by a predetermined amount, preferably 1 to 3 degrees, and returns inward toward the object until it has entered about 5 to 1 degrees inward from the MA7 edge. This cycle may be repeated until the sheet is "floated" and gripped as described above. In some cases, "floating" can be achieved simply by raising the separating member 10 before lowering it on the return stroke. Also, in some cases, the separating member may start from a position directly above the leading edge rather than inside the leading edge. When using a robot or mechanical mechanism, the control movements forming the search steps in the desired order are chosen accordingly, so that the exact movement sequence to use for a particular material can be determined by a few simple trials. . If one step of the downward movement of the separation member 1o is too large, the beveled end 14 will penetrate into the load below the "floating" position of the uppermost leaf on the beveled end 14, Since the next sheet may be picked up along with the sheet, care must be taken to ensure that the separating section does not move toward the loaded material after descending in large steps.

If the load is not a strictly regular shape, or if the dimensions of the sheets do not match perfectly, the search pattern should be approximately 5 fr from the nominal position! Corresponds to the difference in M. If "levitation" is not obtained after a small number of search movements, larger horizontal movements of about 10 or so are used to pick up sheets with large displacements. Therefore, the specific size of each step in the pattern is
It depends on the material of the load, its shape and the dimensions of each sheet. Of course, the porosity of the material can impede the effectiveness of the air jet. Generally, "floating" can be achieved in the shortest time when the separating member moves over the vibrating sheets both inward and outward of the load.

Additional control actions to vary the strength of the air jet injection have been found to be beneficial in achieving "levitation" in a relatively short period of time. First, the intensity is increased while the separation member 10 is moved to the position where the vibration of the uppermost sheet of the load is started, and then, when imaging starts, a jet of smaller intensity is used. Sustain vibration.

Figure 4 shows the auxiliary coefficient, Th, that can be added in the case of specific fibers.
It shows. When using certain lightweight materials such as polymer/cotton blends and shirt line, the vibrating portion 63 of the uppermost sheet 62 can be controlled by inserting an auxiliary par 28 into the air stream through the spout 51. Increase the amplitude of vibration. As a result, the end 14 can be easily inserted under the uppermost leaf.

Preferably, the auxiliary par 28 is supported by an arm 27 (only one is shown) connected to the pivot shaft 26 of the gripping member 20.

To determine the relative position of the auxiliary par 28 with respect to the payload 60 and the jet from the jet orifice 51, a lightweight spring 29 in the form of a leaf spring, coil spring or other preferred form is arranged.

In the case of the above material, the diameter of the auxiliary pars 28 is approximately 8 points and lies directly above the upper surface 61 during operation. These dimensions can be changed depending on conditions.

During operation, the auxiliary nozzle ζ-28 responds to the air flow from the jet orifice 51 and floats directly above the surface 61 while being supported by the spring 29. The auxiliary par 28 is considered to have the function of a wing in the airflow that is injected from the injection port 51 and sent more to the lower part than the upper part of the auxiliary par.

A description of the control circuits for obtaining the above operations has been omitted, but the specific form of these circuits naturally depends on the robot or other connection device, and suitable techniques can be easily conceived by those skilled in the art. .

For example, a simple combination of a pressurized fluid actuator and an electrical fluid pressure control device may provide the control behavior needed for many repetitive motions, but it may also vary significantly from time to time and thus require significant changes in control behavior. In the case of motion, robots can be used.

Furthermore, the drawing schematically shows the control logic for performing the operations described above. The logic device uses a conventional AND gate-straddle OR gate and an inverter. It is assumed that a logical number 1 is formed by the sensor means when a sheet is present.

The operation of the logical control unit is shown below. Each separation device is mounted on a robot that can be controlled via drive means 41 for moving this separation device in the desired direction and distance;
It is assumed that it is initially placed on the load 60.

If there is no sheet between the sensors 11.21 or 12.22, the output of the inverter 2 is input to the AND gate AG1 together with the departure control manual SC via the inverter 4, which activates it.

AND day) When AGI is activated, AND gate AG2
, AC3, input 1 is applied to one input of each of them. A
Since 1 is applied from the innomator 11 to the other input of the ND gate AG3, the AND gate AG3 is activated, generates the signal DN, and moves the housing 30 and therefore the separating member 10 and the gripping member 20 downward toward the load 60. The driving means 41 of the robot R is commanded to drive. The output of the AND gate AG2 is on the one hand sent via the AND gate AG6'ir to the air valve AV, so that an air flow is sent to the injection port 51. The downward drive and airflow continues until the sensor 42 detects the top of the load, at which point the sensor 42 outputs a signal that activates AND Gate AG3 is not activated, thus stopping the downward drive.The output of activated AND gate AG2 is also applied to one input of AND'?-)AC3. Sensor 13.23 is the separation member 1
Upon detection of the presence of a leaf on the end 14 of o, a signal SP is added to AND'F'-) AC3. Thus AN
D'? - AG4 operates and passes through Impertae 3 to AN.
DP-) AC3 is not activated and air flow supply is stopped. Also, AND'r'-) When AC3 is activated, AND'
y'-t AG5 is activated and forward drive is invoked by signal FWD to complete the separation of the top sheet 62 from the load 60. Sensor pair 11.21 or 1 as desired
AND'F'-to AG5 is in operation only until any of 2.22 and 22 is actuated by the sheet 62. Like this AND'? - When AG5 is activated, P-)AG1 is not activated.

If AND date) AC3 is not activated, the forward drive is stopped, and if AND '7'-AGI is not activated, the downward drive is stopped via AND dates AG2 and AC3, and the separation cycle is completed. In this way, the sheet 62 is connected to the sensor pair 11.
21 or 12. In response to the generation signal GR of 22, the device 3
1 and can be grasped and removed in any suitable manner.

FIG. 5 shows a modification of the circuit used in the device of FIG. 1,
This modified circuit is capable of checking by picking up two or more sheets at the same time.

The sensor 13.23 outputs an output signal MP (SP) when two or more sheets are detected between the separation member 10 and the gripping member 20.
) is arranged as follows to occur. 2
It is also possible to detect one folded leaf at the same time as two leaves, resulting in a signal AB. The operation of the modified circuit shown in FIG. 5 will be described below. In this case as well, the separating device is attached to a robot that can be controlled via a drive means 41 to move the separating device in a desired direction and distance, and is initially placed on a load 62 (FIG. 1). shall be carried out. The same reference numerals are used for the parts corresponding to the parts shown in the cylinder 1 in the modified circuit shown in FIG. Sensor pair 11.21 or'
If there is no leaf between 12 and 22, inverter I53
The output of the start control input SC1 and the inverter I are outputted as a signal SC5 via the inverter I55i.
AND'? with the lower output MP of sensor 13.23 after 52'li? -) The signal is input to AC51 and this cell is operated.

The output of the AND gate AG51 is
) Add input 1 to one input of each of AG52 and AG54. The other input of AND'7'-IAG52 is the input 1'fr from the inverter 151: Since the input is taken, this AN
D'7'-) AG 52 is actuated and therefore sends the signal input 0 at input 1 to air valve AV, which sends air flow to injection port 51 (FIG. 1). The output of the activated AND gate AG52 is then applied to the AND gate AG53. ANDP-)
Since the other input of AG53 is the output 1 of the inverter I54 connected to the sensor 42, AND P-toAG
53 is actuated and sends a signal DN to command the driving means 41 of the robot)H to drive the housing 30 and therefore the separating member 10 and the gripping member 20t-3 downwardly towards the load 60.
is generated. This downward drive continues until the sensor 42 detects the top of the loaded object. When the top of the loaded object is detected, the signal LS is output, so the output of the inverter I54 becomes 0, and therefore the AND data) AG53 not working,
Only the downward drive will stop as a warning of excessive movement. When the sensor pair 13.23 detects the presence of a leaf on the end 14 of the separating member 10, 0 is output from I51, so AND
D) AG52 is inactive, thus stopping air flow supply and downward drive. AND gate AG54 is AG5
1 output and sensor 13.23 output SP (1 leaf 62
signal FWD is generated and an upward drive is activated to complete the operation of separating the uppermost sheet 62 from the consolidated load 60. Either sensor pair 11.21 or 12.22 can be attached to sheet 62 as desired.
Activated by ANDP-Tom G51 and AG 54 minutes signal IJf:, AND until generated.
Game) AG54 is working. AND P-)AG5
If 1 does not work, AND date AG52 and AG53
is also not activated and the separation cycle ends.

Next, the sheet 62 is connected to the sensor pair 11.21 or 12.22.
and input 1 from inverter I55.
Under the control of the signal GR5 formed by the output of the D game) AG55, the insects can be grasped and removed as appropriate. The repulsion cycle signal AB is provided by AND'7'-)AG56. AND date AG56 can operate only when AND'r
'-) The output of AG55 is 0, the input 1 is supplied from the inverter I56, and the output MP of the sensor pair 13.23
This is only when input 1 is supplied from (detection of two leaves).

The truth table of FIG. 6 shows how the circuit of FIG. 5 is adapted to ensure reliable operation under a combination of possible operating conditions.

Even conditions that should not occur during proper operation, such as columns 2.4 and 10 of FIG. 6, are controlled.

FIG. 3 details a circuit capable of generating the output MPTh.

This circuit discriminates with high reliability whether the number of sheets existing between the pair of sensors 13 and 23 is one layer or two or more layers. As shown in the circuit diagram of FIG.
) The triggers STI, ST2 form a master clock generator that supplies signals to a series of D-type flip-flops F1, F2, F3. The clock waveform after inversion at inverter I7 is shown as t-To. flip flop F1
, F2 and F3 are connected to the first flip-flop F1
is ANDed with (P-)Gl. The outputs Q1 and Q3 of the flip-flops F1 and F3, respectively, have non-overlapping waveforms as shown in the figure, e-system T1. T2t'' is used to form an infrared light emitting diode drive circuit between the light emitting diode 313, which can be the light emitting diode 13 in FIG. The other light emitting diodes and associated sensors can be supplied at different times than T1, so that no interference or interaction occurs between them.

The infrared pulses emitted by light emitting diode 313 are received by photodiode 323 along with noise and interference from ambient light. The output of photodiode 323 is buffered by differential integrated circuit amplifier A1. Photodiode 323 may be sensor element 23 of FIG. Circuit part B constitutes a variable filter of the output of differential integrated circuit amplifier A1. The buffer on the output side of variable filter B is constituted by differential integrated circuit amplifier A2. The output of buffer amplifier A2 is applied to one input of differential integrated circuit amplifier A3. The signal applied to the input of filter B is applied to the other input of differential integrated circuit amplifier A3.

Filter B is tuned to filter out the infrared derivative, Q-wave, and P-wave interference to be added to the comparator, which is generated by integrated circuit amplifier A3. This amplifier outputs an infrared derivative, Q Lux, by acting as a comparator. Diode D1 removes the negative part of the output of differential amplifier A3,
This output is then inverted (8chmitt) Riga ST3
is made to match the logical TTL. Reverse Sahmit
t) The output of rigger ST3 is applied to D-type flip-flop F4.

The output of the master clock generator is Innotae 7.
The output of this inverter is AND game)AG
Added to one input of IO, AND '7'・-)A
A signal T1 is applied to the other input of GIO. A
The output of ACIO is applied as a clock signal to flip-flop F4. Norse T1 and inversion Sc
hmltt) When a match is made with the output of trigger ST3, flip-flop F4 generates a low level logic output indicating that infrared light has been transmitted from light emitting diode 313 to photodiode 323. Inverted Sehmitt)
When the infrared light generating the signal from Riga ST3 is attenuated by the leaf, the output Q is at a high level. Therefore, the output of the seven lip-flop F4 is the signal SP of FIG.

The phases of the clock signal TO and the q pulse T1 are adjusted so that the leading edge of the clock signal TO is located in the middle of the pulse T1. As a result, the flip-flop F4 is Qsis Tl
An undesirable response during conduction of the light emitting diode 313, which may respond in the initial part of the light emitting diode 313, is avoided.

Circuit part C can be repeated, again connected to the output of the differential amplifier A1 and the output of ANDAGIO. The filter B of this iterative circuit can be adjusted to define the sensitivity of this circuit, so that two or more leaves are connected to the light emitting diode 3.
13 to photodiode 323), the output gain of each flip-flop is at a low logic level. In this way, the signal MP of FIG. 1 is generated.

Materials such as woven or knitted fabrics allow some of the infrared light to pass through, allowing discrimination between sheets located in the path of the infrared light.

Variable filter B allows the circuit to be easily adjusted depending on the material.

Another important feature of the invention is described below with respect to FIG. The separation member lO has an optoelectronic element 11 along one edge.
1.112.113. These optoelectronic elements detect the presence or absence of a sheet in the gripping means constituted by the separating member 10 and the gripping member 20.

For this purpose, optoelectronic devices are light-emitting devices activated by reflected light.
The gripping member 20 may be formed with a cooperating part (not shown), which can be configured as a light-receiving element or can be actuated by transmitted light.

By arranging the optoelectronic element on the gripping member, the sheet can be gripped at a specific planar position of its plate shape. The penetration depth of the leaf into the gripping member is set as desired by optoelectronic elements 111, 112, 113, as described above.

Next, by laterally moving the slightly open separating member 10 and the gripping member 20 until all of the optoelectronic elements 111, 112, 113 detect the absence of a leaf, the gripping member The remaining thickness not occupied by can be used to engage one edge of the leaf.

The relative positions of the two adjacent edges of the sheet relative to the gripping member are then determined, and when the gripping member is moved in a predetermined manner to the release point of the sheet, the sheet is uniformly released at a particular release point.

The sheets can thus be assembled or attached with other attachments. For example, labels are automatically sewn. Such automatic operation can be achieved by the robots described above or by simpler pick and place devices.

If necessary, a small amount of air flow at the ends of the separating member 10 as it enters the load beneath the separated sheets.
You can make 'Ft fire. This action assists in separation and at the same time prevents displacement of the sheets.

Instead of the limit switch 42, other types of sensors may be attached to the lower side of the separating member 10 forming the lower jaw. That is, elements such as pressure sensors, low drive force switches, light reflective elements, etc. can be used at this location to accurately detect the position of the load.

According to another configuration, the protrusion 70 and the microswitch 4
2, an optoelectronic element 24, 25 is attached to the gripping member 20. An assembly of these optoelectronic elements and the sensor element 23 is shown at 123.

Modulated light may be used to facilitate discrimination from ambient light.

Furthermore, by using a second set of gripping members in combination with the first set of gripping members, it is possible to pick up, capture, and shelve a single leaf. In this case, the gripping member set is configured to pick up a sheet at two spaced apart positions and move the sheet further a distance sufficient to grip and shelve the sheet. The opposite edges of the leaf are as described above for the first side edge.
Each can be detected and grasped before tensioning. For this purpose, it is desirable to arrange the optoelectronic elements 111, 112, 113 at the outer edge of each gripping member set. The gripped and stretched sheet can then be placed at a predetermined release point as described above.

Naturally, the edges between the opposing edges of the sheets are
The edges can be detected in the same way as described above. Different penetration depths may be used where the sheets are irregularly shaped, as in many garments.

The gripper set is gently approached onto the leaf so that the leaf is pulled without falling off the gripper set. The optoelectronic elements 111, 112, 113 may be configured to increase the gripping force at the edges of the leaves moving away from these elements so that the leaves do not fall out of the gripping member. Instead of moving the two gripping member sets at the same time, one may be moved and then the other.

Various detection elements can be combined as required to provide a suitable check on the separation operation.

Use of the techniques described above provides a reliable payload separation method and apparatus that is particularly compatible with "robots" or other automated equipment.

The specific example described above is particularly suitable for cloth, for example, when cutting cloth is taken out one by one from a stack of cut cloth and assembled, but of course it can be easily modified depending on the material and purpose. .

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a single wafer separation device of the present invention configured to be used in a "robot," FIG. 2 is a schematic diagram of the device shown in FIG. 1, and FIG. 3 is a circuit diagram of an additional sensor device. Figure 4 is the first
FIG. 5 is a circuit diagram showing a modified circuit of the device shown in FIG. 1, and FIG. 6 is a diagram showing a truth table of the circuit shown in FIG. i@5. 10... Separation member, 20... Gripping member, 30.
...Housing, 40...Robot, 1], 12.
13.21.22.23...Sensor element, 24.25
．． 111.112.113...Optoelectronic device, 28...
- Auxiliary par, 29... Spring, 41... Driving means, 42... Micro switch, 51... Injection port.

Claims (1)

[Claims] (1) A separation member is used, and an end of the separation member is arranged so as to extend over the edge of the uppermost object of the load at a predetermined distance from the surface of the object. and disturb the uppermost object from above in a non-contact manner in order to vibrate and move the uppermost object from below onto the edge of the separation member, especially for the next removal operation. A load separation method that separates the topmost object of a load from the next object in preparation for (2) A pickup member having a sensor means and an object capturing means is used, the pickup member is engaged with one object of the load, and the sensor means of the pickup member determines whether or not there is an object to be held in the pickup member. is detected, and outputs a detection signal indicating the presence of the supporting object, and the pickup member is provided with a driving means for moving the pickup member relative to the object to be supported, and the pickup member is provided with a drive means for moving the pickup member relative to the object to be supported, and the change in the detection signal causes the detection signal to be output. controlling the drive means to move the pick-up member to a position where an edge of the bound object is detected in a predetermined relationship with the pick-up member; 2. A method as claimed in claim 1, in which the capturing means captures for other purposes. (3) The method according to claim 1, in which the object is disturbed by fluid jetting. (4) By measuring the permeability of objects placed on the edge of the separation member and determining whether the number of objects placed on the edge of the separation member is 1 or 2 or more; 2. The method of claim 1, wherein the method detects when two or more objects are separated from the top of an object at once. (5) Separation means movable to extend above the load at a predetermined distance from the top of the load, and a load proximate to the separation means for disturbing and vibrating the topmost object of the load. means for sending an air flow to the top of the load; means for detecting disturbance of the uppermost object and bringing the separation means closer to the top of the load and the disturbed uppermost object; A means for detecting the displacement of this object from the top of the loaded object in order to load it on the separating means during the outgoing operation, and a means for detecting the displacement of this object from the top of the loaded object in cooperation with the separating means to remove the entire uppermost object from the loaded object. and gripping means responsive to the detection of said displacement. (6) The device according to claim 5, wherein the gripping means includes means for detecting the position of the edge of the object in the gripping means. (7) The device according to claim 6, wherein the detection means detects the depth of penetration of the edge of the object in the gripping means. (8) The apparatus according to claim 6, wherein the detection means detects a lateral displacement of an edge of an object in the gripping means. (9) Separation [# Claims that include means for detecting that two or more objects are placed on the means and abandoning the object separation operation in response to the detection of the two or more objects Apparatus according to paragraph 5. 00) Apparatus according to claim 9, wherein the detection means comprises means for assessing the permeability of an object placed on the separation means. (11) The device according to claim 1O, wherein the permeability assessment means includes filter means for rejecting radiation other than intrinsic radiation. 02. Apparatus according to claim 5, which may include separation aids for enhancing the disturbance of the uppermost object, in operation n' being elastically supported in a floating state in the air flow above the top of the personal item.