JPS61291322A - Method for palletizing printed matter - Google Patents

Abstract

PURPOSE:To shift printed matters fed from a plurality of supply lines, onto a plurality of pallets with the use of one robot, by shifting the printed matters one by one onto each palettes from the associated supply line. CONSTITUTION:In order to shift printed matters S from a conveyer onto a pallet, there is provided an over-head type robot 30 which enters into between the conveyer and the pallet with a carriage 31 being moved along a rail 41 in the direction of Dx and along a rail 42 in the direction of Dy. Further, an actuator 32 suspended from the carriage 31 is moved in the direction Dz by means of an elevating mechanism. With this arrangement the printed matters S on the conveyer are clamped by means of hands 33 on the actuator 32, and are raised, and after turning by 90 degrees, the printed matters S are transferred to a pallet position associated with the conveyer from which the printed matters are lifted, by moving the carriage 31, and then the actuator 32 is lowered to stack up the printed matters S onto the pallet.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a method of loading printed books bundled into predetermined amounts by printing in a printing factory onto a pallet in order to be carried out to the next process. Regarding.

[Technical background]

The continuous paper printed in the printing process is then folded to a predetermined size and bound with a band at predetermined intervals to make a printed book.Then, the paper is then folded to a predetermined size and bound with a band at predetermined times to make a printed book.Then, the paper goes through a bookbinding process such as page alignment, gluing, and cutting to become a product. be converted into The bundled books are transferred from the conveyor onto a pallet and transported to a book warehouse by a forklift or the like, or directly transferred to a bookbinding process.

Conventionally, this type of apparatus has been constructed so that the printing books from one printing book supply conveyor are transferred onto one pallet.

However, as the scale of a factory increases, it becomes necessary to transfer printed books supplied from a plurality of lines onto a plurality of pallets, and it is desirable that the transportation means for transfer be as simple as possible.

[Purpose of the invention]

The present invention has been made in consideration of the above points, and provides a method for transferring printed books from a plurality of supply lines onto a plurality of pallets using one robot.

[Summary of the invention]

To achieve this objective, the present invention counts the number of printed books on each of a plurality of pallets set at a predetermined position,
Prints are sequentially transferred to each pallet from the corresponding book supply line until this number reaches a predetermined value, and when the number reaches the predetermined value, the pallet is unloaded.

〔Example〕

The present invention will be described below by way of example with reference to the accompanying drawings.

FIG. 1 shows the configuration of a palletizing device to which the method of the present invention is applied. In the same figure, P1 to P
4 is a pallet which is arranged in a line. The pr arranged on the extension of these pallets P1 to P4 is a spare pallet group, and a pallet to be replenished when any of the pallets P1 to P4 is carried out is prepared. and,
The presence or absence of each pallet is detected by a photoelectric detector (not shown).

In order to form two book supply lines with this pallet row in between, the stacker Pandora 11゜12.13.14
and conveyors 21, 22, 23, 24 are arranged. That is, on the right side of the pallet row in the figure are the stacker Pandora 11 and conveyor 21, and the combination of the stacker Pandora 12 and conveyor 22, and on the left side are the stacker Pandora 13 and conveyor 23, and the combination of the stacker Pandora 14 and conveyor 24. Torture is provided.

Then, the printed books S are supplied from each stacker Pandora to the combined conveyor. In order to detect the presence or absence of this printed book S, each conveyor is provided with a photoelectric detector (not shown).

In order to transfer this printed book S from the conveyor to the pallet,
A ceiling traveling type robot 30 is provided. In this robot 30, when the direction perpendicular to the pallet arrangement direction of the pallet row is Dx, the pallet arrangement direction is 9, and the direction perpendicular to the floor is D7, the cart 31 moves along the rail 41 in the DX direction.
The actuator 32 also moves in the direction D2 along the rail 42 to move back and forth between the conveyor and the pallet, and is moved in the D2 direction by a lifting mechanism suspended from the cart 31. The actuator 32 has a pair of hands 33, and can hold the book S between these hands 33, 33, and can rotate the actuator 32 within a plane formed by the two hands 33 and 33.

With this configuration, the printed book S on the conveyor is held between the hands 33 and 33 of the actuator 32, lifted to a certain height, rotated 90', and further rotated in the D direction of the trolley 31.
, the printed books S are carried to the pallet position corresponding to the picked up conveyor, the actuator 32 is lowered, the hands 33, 33 are opened, and the printed sheets S are stacked on the pallet. Thereafter, the actuator 32 is moved to the position of the conveyor where the next printed book is to be carried out, and is turned over 90'' so that it is ready to clamp the printed book S. This is done for each conveyor and its corresponding pallet.

On the other hand, the pallet is transferred using the beam lid 5 (for example, "Folk Robo" manufactured by Murata Machinery Co., Ltd. is used). In other words, the system transports a pallet full of printed books S to a warehouse (not shown) and, in imitation, transports pallets from a group of spare pallets, and runs under wireless control along guides embedded in the floor. do.

FIG. 2 is a schematic plan view of the device shown in FIG. The driving route is shown.

In the figure, a wider space is provided than on the left side in order to provide a travel path for the beam lid 5 (indicated by broken lines) on the right side of the pallet row.

Also, D indicates the movable range of the robot 3o.

FIG. 3 shows the control operation of the robot 30 and lifter 5 performed by the control panel 50 (FIG. 2) for controlling the devices shown in FIGS. 1 and 2, and this will be explained below. .

For convenience of explanation, it is assumed that a baren [. That is, the device is placed in the initial II state (Sl).

In this state, if the printed book S appears first on the No. 1 conveyor 21, a determination of No. 1 is made (S2). Then, it is determined whether there is a printed book S on the No. 1 conveyor (S3). If there is no printed copy, the process returns to step S2, and if there is, it is determined whether or not pallet P1 is at a predetermined position in the pallet row. S5). Also, if there is a pallet P1 (S4), the print S on the pallet P1
It is necessary to judge whether the loaded number has reached 9 (M'P1:9), which is the full load in the case of 3 stacks of 3 books (86).
, if the number of copies has not been reached, the copies are loaded on the pallet P1 in step s7, and the number of copies is set to 1 in step S8.
(MPI=MP1+1') and returns to step S2.

When the number of printed books S loaded reaches nine, a pallet P1 unloading command is issued in step S9. and step S
10, it is determined whether the P1 command is issued earlier than the P2 to P4 commands, and if it is later, it is placed on standby (512), and if it becomes the oldest due to the passage of time, it means that it was sent earliest, so in step S11, the pallet P1 is sent. Export will be carried out.

Similar operations are performed for pallets P2 to P4. Therefore, detailed description is omitted in the flowchart of FIG.

In this way, the control 150 (FIG. 2) controls the conveyor 21 to
When the prints S are sent out at step 24, the robot 30 is controlled to sequentially transfer the prints S to the corresponding pallets, and when the pallets P1 to P4 are full of prints S, the lifter 5 is controlled. Deliver the pallet to the warehouse.

〔Effect of the invention〕

As described above, the present invention counts the number of printed books on each of a plurality of pallets set at a predetermined position, and sequentially supplies each pallet from the corresponding printed book supply line until this number reaches a predetermined value. Since the printed books are transferred and the pallet is taken out when a predetermined value is reached, printed books from a plurality of supply lines can be loaded onto a plurality of pallets by one robot. Therefore, with a conventional device that transfers books from one book supply conveyor to one pallet, the cost of the device would increase proportionally if the number of book supply conveyors increases, but this is much cheaper and more compact. It is possible to provide the following equipment.

[Brief Description of the Drawings] Fig. 1 is an explanatory diagram showing the configuration of a palletizing device for carrying out the method of the present invention, Fig. 2 is a plan view of the same device, and Fig. 3
The figure is a flowchart showing the palletizing operation according to the method of the present invention. 5... Lifter, 11-14... Stacker Pandora,
21-24...conveyor, 3o...robot, 41
゜42...Rail. P... Palette. Applicant's agent Kiyoshi Inomata Figure 2

Claims (1)

[Scope of Claims] A plurality of printing book supply lines are arranged around a plurality of pallets arranged at predetermined positions in a corresponding relationship with the pallets, and the printing book is placed first in the printing book supply line. sequentially detects the lines to which the printed books are supplied, controls a printed book transfer means that transfers the printed books of the line to the corresponding pallet among the pallets, and when the number of printed books loaded on each pallet reaches a predetermined value, the corresponding line is A method for palletizing printed books, which controls a pallet unloading means to unload a pallet.