TW201410364A - Separation mechanism, handling robot, storage rack, and separation method for separating round blades and/or spacers - Google Patents

Abstract

An object of the present invention is to provide a separation mechanism, a handling robot, a storage rack; and a separation method for round blades and/or spacers, in which the desired number of round blades and spacers can be taken out with the handling robot and the round blades and spacers being unnecessary to be separated can be left securely on the storage rack. The separation mechanism comprises the handling robot having fingers F1 and F2 for holding a round blade C1, and a retaining means 4 for retaining a position of a round blade C2 adjoining the round blade C1 held by the fingers F1 and F2, and the handling robot slides the round blade C1 held by the fingers F1 and F2 along an end face CE2 of the adjoining round blade C2 retained by the retaining means 4 to separate the round blade C1.

Description

Separating mechanism for separating disc cutters and/or spacers, processing robot, storage table Separation method

The present invention relates to a separating mechanism for separating a disk cutter and/or a spacer, a processing robot, a storage table, and a separation method.

In order to store and separate the disc cutter and the spacer attached to the mandrel of the disk cutter shearing machine, the disc cutter separating apparatus 100 shown in Patent Document 1 is used (see FIG. 10). As shown in FIG. 10, the disc cutter separating apparatus 100 separates the required number of sheets from the plurality of disc cutters 103 or spacers (not shown) continuously arranged in the storage rack 102 by the processing robot 101. The disc cutter 103 or the spacer is attached to a spindle (not shown) of the disc cutter shearing machine. Specifically, the finger 105 provided at the tip end of the two finger holders 104 shown in FIG. 10 holds the disk cutter 103 from the inner diameter side of the disk cutter 103, and lifts the disk cutter 103 from the storage rack 102. Up to this, the removed disc cutter 103 is separated from the remaining disc cutter 103.

As shown in Fig. 10, in the storage rack 102, the adjacent disk cutters 103 are arranged to be continuous in the axial direction of the disk cutter 103, and the end faces of the disk cutters 103 are in contact with each other. In the disc cutter 103 or the spacer, from the processing robot 101, or The steel plate (not shown) cut by the disc cutter 103 or the like often adheres to rust preventive oil or the like, and the liquid such as rust preventive oil may enter a small number of disc cutters 103 or septa which are in contact with each other. gap. When the liquid such as the rust preventive oil enters between the two disk cutters 103, between the disk cutter 103 and the separator, and between the two separators, the adhesion between the two end faces increases.

In this case, the processing robot 101, for example, wants to separate one In the case of a disc cutter (the leftmost disc cutter 103a in Fig. 10), it is not only intended to have an increased adhesion between the first disc cutter 103a and the second disc cutter 103b. One of the disc cutters 103a is taken out, and the adjacent disc cutter 103b is lifted. Further, since the adjacent disc cutter 103b is held by the inner side of the disc cutter 103b without the finger 105 of the processing robot 101, it is also dropped or dropped to the processing robot after the disc cutter 103b is temporarily lifted up. Bad on the 101 side.

Also, in the case of a thin disk cutter 103 or a spacer, because The disc cutter 103 or the spacer itself becomes lighter, so that not only this problem is more likely to occur, but also it is easy to fall down when placed on the storage rack 102, and it also has a problem of poor stability.

[Prior patent documents] [Patent Literature]

[Patent Document 1] JP-A-2004-66427

Accordingly, it is an object of the present invention to provide a separation mechanism for a disk cutter and/or a spacer, a processing robot, a storage table, and a separation method in accordance with the above problems, and the separation mechanism can take only the desired removal of the robot The number of disc knives or spacers is such that the disc knives or spacers that do not have to be separated remain in the storage table in advance.

The separating mechanism of the present invention is from a supporting disc knife and/or a spacer The storage table separates one or more disc cutters and/or spacers, wherein the separating mechanism includes a disc cutter or a spacer for holding the disc knife or the spacer held by the processing robot. a means for holding the position of the sheet, and the processing robot has a finger holding the disc knife and/or the spacer: the disc cutter or the spacer held by the processing robot can be used along the holding means The end faces of the adjacent disc cutters or spacers are slid and separated.

The processing robot of the present invention is used to support a disc cutter and/or a storage table for the septum separating one or more disc knives and/or septa, wherein the processing robot comprises: a finger holding a disc knife and/or a septum; and a holding means for Holding the position of the disc knife or the spacer adjacent to the disc knife or the spacer held by the finger; the processing robot is configured such that the disc knife or the spacer held by the finger can be borrowed The end surface of the adjacent disc or the spacer held by the holding means slides and separates; the holding means pushes the adjacent disc or the spacer from the outer diameter side of the adjacent disc or the spacer Push the pusher.

The storage station of the present invention is for supporting a disc cutter and/or a spacer, and Separating one or more disc cutters and/or spacers, wherein the storage station includes a position for holding a disc knife or spacer adjacent to a disc knife or spacer held by the processing robot. Holding means, the processing robot having a finger holding a disc knife and/or a spacer: configured to be held by the processing robot The disc knife or the spacer can be slid and separated along the end surface of the adjacent disc knife or the spacer held by the holding means, and the holding means is fixed to the storage table and arranged to be adjacent to the circle A stopper member that faces the outer peripheral portion or the inner peripheral portion of the disc or the spacer.

Moreover, the storage station of the present invention is for supporting a disc cutter and/or a partition And separating the one or more disc cutters and/or the spacers, wherein the storage table includes a disc cutter or a spacer for holding the disc knife or the spacer held by the processing robot. a means for holding the position of the sheet, and the processing robot has a finger holding the disc knife and/or the spacer: the disc cutter or the spacer held by the processing robot can be used along the holding means The end surface of the adjacent disc or the spacer is slid and separated; the holding means is a movable stopper member of the storage table movable along the axial direction of the disc or the spacer.

The separation method of the present invention has a holding disc knife and/or partition The processing robot of the finger of the tablet separates one or more disc cutters and/or spacers from a storage table supporting the disc cutter and/or the spacer, wherein the separation method comprises: a) a holding step Holding the disc knife and/or the spacer by the finger; b) the holding step is to hold the position of the disc knife or the spacer adjacent to the disc knife or the spacer held by the finger Holding means for holding the position of the adjacent disc knife or spacer; and c) a separating step for the processing robot to hold the disc knife or the spacer held by the finger along the holding means The end surface of the disc knife or septum slides and separates.

Moreover, the holding means is provided to limit the adjacent disc knife or It is preferable that the spacer is moved to a position in the same direction as the sliding direction of the disc knife or the spacer held by the processing robot.

Moreover, the processing robot slides the disc knife or the spacer, and After reducing the contact area between the end faces of the disc or the spacer, it is preferable to separate the end faces of the gripping disc or the spacer from the end faces of the adjacent disc or spacer.

Moreover, after the processing robot slides the disc knife or the spacer, It is preferable to separate the end faces from each other by inclining the sliding disc or the spacer against the adjacent disc cutter or the spacer.

Moreover, it is preferable to provide a separation thruster to the processing robot, The separating thruster presses an end surface of the disc knife or the separator exposed by sliding the disc knife or the separator in a substantially vertical direction from the end surface of the adjacent disc or the spacer.

Moreover, the stop member is in the opposite direction to the disc knife or the spacer The shape of the shape is preferred.

Moreover, the mobile stop member is disposed within the disc knife or the spacer a radial stopper member having: a stopper portion opposed to the disc cutter or the spacer; and a pressed portion inserted into the finger when the finger is inserted into the disc cutter or the spacer The direction is pushed; the finger is inserted, and when the pressed portion is pushed, the movable stopping member moves on the inner diameter side of the disc knife or the spacer, the stopping portion and the adjacent disc The inner peripheral portion of the knife or the spacer is relatively preferred.

Further, it is preferable that the pressed portion is a finger contact portion pressed by the finger.

Further, it is preferable that the disc or the spacer is suspended from the inner diameter side of the disc or the spacer by the shaft provided on the storage table.

Further, at the end portion of the shaft on the processing robot side, there is a fall prevention member for preventing the disc knife or the spacer from falling off, and the height is smaller than the sliding disc knife or the spacer It is preferable that the protrusion having a smaller amount of movement of the sheet is provided to the fall-off preventing member.

Further, the projection is configured to be freely ejected from the fall-preventing member by the elastic member.

According to the present invention, by processing the robot, only the disc knife or the spacer to be taken out can be taken out from the storage table, even if the liquid such as the rust preventive oil enters the separated disc knife or the spacer, and the disc cutter which does not have to be separated Between the separators, only the disc knife or the septum to be separated may be separated, and the disc or the septum which does not have to be separated may be surely left in the storage table in advance. Moreover, since the disc knives or the spacers which are not necessarily separated by the processing robot are not necessarily lifted from the storage table, the disc knives or the spacers can be prevented from being temporarily lifted up and then dropped. An accident such as injury or injury to the worker.

1‧‧‧Separation agency

2‧‧‧keeping desk

21‧‧‧ pole

22‧‧‧The storage platform body

23‧‧‧Anti-shedding members

23a‧‧‧Anti-shedding protrusion

23b‧‧ sales

23c‧‧‧ long hole

3‧‧‧Processing robot

31‧‧‧ base

32‧‧‧1st arm

33‧‧‧2nd arm

34‧‧‧Machine arm

34a, 34b‧‧‧ finger holder

4‧‧‧Retention means

41‧‧‧ propeller

41a‧‧‧Cylinder

41b‧‧‧ rod

42‧‧‧stop member

43‧‧‧Mobile stop members

43a‧‧‧stop member

43b‧‧‧ finger contact

5‧‧‧floor

6‧‧‧ posture holding member

61‧‧‧Cylinder block

7‧‧‧ propeller

8‧‧‧ biasing means

81, 82, 83 ‧ ‧ pole

9‧‧‧launch board

10‧‧‧Stop member biasing means

C, C1, C2, C3, Ca, Cb‧‧‧ disc cutter

CE1, CE2‧‧‧ end face

F1, F2‧‧‧ fingers

G‧‧‧ recess

S‧‧‧torsion spring

Figure 1 is a schematic illustration of the separation mechanism of the present invention.

Fig. 2 is a view for explaining a state in which a disc cutter is separated by the separating mechanism of the present invention, and shows a state before the disc cutter is lifted.

Fig. 3 is a view for explaining a state in which a disc cutter is separated by the separating mechanism of the present invention, and shows a state in which the disc cutter is lifted.

Fig. 4A is a front elevational view showing the processing robot according to the first embodiment of the present invention.

Fig. 4b is a top view of the processing robot according to the first embodiment of the present invention.

Fig. 5 is a schematic view for explaining a separation method according to the first embodiment of the present invention.

Figure 5b is a view for explaining the separation method of the first embodiment of the present invention. schematic diagram.

Fig. 5 is a schematic view for explaining a separation method according to the first embodiment of the present invention.

Fig. 5 is a schematic view for explaining a separation method according to the first embodiment of the present invention.

Fig. 5 is a schematic view for explaining a separation method according to the first embodiment of the present invention.

Fig. 6 is a front elevational view showing a storage table according to a second embodiment of the present invention.

Fig. 6 is a cross-sectional view showing a storage table according to a second embodiment of the present invention.

Fig. 6 is a partially enlarged view for explaining a stopper member used in the storage table according to the second embodiment of the present invention.

Fig. 7 is a schematic view for explaining a separation method according to a second embodiment of the present invention.

Fig. 7 is a schematic view for explaining a separation method according to a second embodiment of the present invention.

Fig. 7 is a schematic view for explaining a separation method according to a second embodiment of the present invention.

Fig. 7 is a schematic view for explaining a separation method according to a second embodiment of the present invention.

Fig. 8 is a front elevational view showing a storage table according to a third embodiment of the present invention.

Fig. 8 is a side view of a storage table according to a third embodiment of the present invention.

Fig. 8 is a top view of a storage table according to a third embodiment of the present invention.

Fig. 8 is a view for explaining a fall prevention member used in the storage table according to the third embodiment of the present invention.

Fig. 9 is a schematic view for explaining a separation method according to a third embodiment of the present invention.

Fig. 9 is a schematic view showing a separation method according to a third embodiment of the present invention.

Fig. 9 is a schematic view showing a separation method according to a third embodiment of the present invention.

Fig. 9 is a schematic view for explaining a separation method according to a third embodiment of the present invention.

Fig. 10 is a perspective view showing a conventional separation device for a disk knife.

Hereinafter, the separation mechanism, the processing robot, the storage table, and the separation method for separating the disk cutter and/or the separator of the present invention will be described in detail with reference to the attached drawings. Further, in the present specification, the case where only the disc cutter is separated is described, but in the case of separating the spacer, it is of course possible to use the same apparatus and method.

First, the concept of the present invention will be described using Figs. 1 to 3b. Fig. 1 is a view showing a schematic configuration of a separating mechanism 1 of the present invention. As shown in Fig. 1, the separating mechanism 1 is for separating one or a plurality of disc cutters C and/or spacers from the storage table 2 supporting the disc cutter and/or the spacer (not shown) (hereinafter simply referred to as Disc cutter C) used. The adjacent disc cutters C1 and C2 are arranged such that the end surface CE1 of the disc cutter C1 is in contact with the end surface CE2 of the disc cutter C2 adjacent to the disc cutter C1. The disc cutter C or the spacer is the same as the disc cutter shown in Fig. 10, and is a ring-shaped member having a through hole for inserting a mandrel of a disc cutter shearing cutter (not shown).

The separating mechanism 1 is as shown in FIG. 1 and includes: a processing robot 3, The fingers F1 and F2 holding the disc cutter C and the holding means 4 are held at positions of the disc cutter C2 adjacent to the disc cutter C1 held by the processing robot 3. Further, in Fig. 1, for example, the holding means 4 is provided on the processing robot 3 side. Hereinafter, in the present specification, a disc cutter that is held and separated by the processing robot 3 is referred to as a "separating disc cutter", and a disc cutter adjacent to the gripped disc cutter is referred to as an "adjacent disc". Knife". In addition, the term "separation" in this patent specification means an operation from the position where the separation disc knife and the adjacent disc cutter are separated from each other to the state in which they are separated, and the case of "separation" means that The action of contacting the separating disc cutter and the adjacent disc cutter in the axial direction of the plurality of disc cutters.

The processing robot 3 can handle the disc cutter C, as shown in Fig. 1, The base portion 31 is rotatable, the first arm 32 is provided to be rotatable to the base portion 31, the second arm 33 is provided to be rotatable to the first arm 32, and the robot arm 34 is attached to the tip end of the second arm 33. Each of the constituent elements of the processing robot 3 performs a processing operation controlled by a control device not shown. As shown in FIG. 1 and FIG. 2A, the robot arm 34 has two finger holders 34a and 34b, two fingers F1 and F1 are formed on the upper finger holder 34a, and one finger F2 is formed on the lower side of the finger holder 34. 34b. The lengths of the fingers F1, F2 can be appropriately selected in accordance with the number of pieces of the disc cutter C to be separated. In the case of holding the disc cutter C, after the three fingers F1, F1, F2 are inserted inside the disc cutter C, the lower finger holder 34b is moved to the lower side, and the three fingers F1, F1, F2 and the disc cutter are moved. The inner diameter of C abuts and the disc cutter C is held at 3 o'clock. After the disc cutter C is gripped by the fingers F1, F1, and F2, the base portion 31, the first arm 32, the second arm 33, and the like are driven to separate the disc cutter C, and are moved to be attached to the mandrel.

The processing robot 3 is shown in Figures 3 and a, and shows a separation of a circle. In the case of the disk cutter C, the insertion depth of the disc cutter C by the fingers F1 and F2 is controlled, or the lengths of the fingers F1 and F2 are stretched and contracted, and the plurality of disc cutters C can be separated and moved.

The processing robot 3 is as follows, after holding the disc cutter C, Instead of being pulled out in the X direction of the disc cutter C (in the first drawing, the left and right direction), it is controlled and driven so that the disc cutter C slides along the end surface of the disc cutter C, and then the disc cutter is made C moves in the direction of the axis X.

Further, the configuration of the processing robot 3 described above is entirely an example. The configuration of the disc cutter C is not particularly limited as long as it can hold the disc cutter C, and it is a matter of course that the modification of the discriminator is included in the present invention. For example, the number of fingers holding the disc cutter C is not particularly limited to three as long as the disc cutter C can be held. Further, the number of the finger holders is not limited to two, and may be appropriately changed in accordance with the number of fingers, or the finger holder itself may not be provided. Further, as a method of holding the disc cutter C by a finger or a finger holder, for example, the lower finger holder 34b is moved to the lower side, but the upper finger holder 34a may be driven, or each finger F1 may be driven separately. F1 and F2 are configured to hold the inner diameter side of the disc cutter C. Further, the base portion 31, the first arm 32, the second arm 33, and the like are also required to be separated and moved by the disc cutter C held according to the present invention, and these members are not necessarily required, and other arms may be provided. Those who constitute components.

The storage station 2 is shown in Figure 1 and Figure 2a. A plurality of disc cutters C. In the first diagram and the second diagram a, the lower side of the disc cutter C that is vertically erected on the storage table 2 is held. However, the storage table 2 can support the plurality of disc cutters C so that the end faces thereof are in contact with each other. Composed, for example, The rod-shaped member can be suspended through the through hole of the disc cutter C. The storage table 2 is not only arranged in a row of disc cutters C, but also as shown in Fig. 1, a plurality of disc cutters C are arranged in the vertical direction, or a plurality of disc cutters C are arranged in the left and right direction. By.

Next, the separation mechanism 1 and the separation method of the present invention will be described. The holding means 4 used. The holding means 4 is for holding the position of the adjacent disc cutter C2 adjacent to the separating disc cutter C1 held by the borrowing robot 3 so as to be adjacent to the disc cutter C2 as shown in Figs. 2 to 3b. The relative separation disc cutter C1 is not moving. Specifically, when the separation disk cutter C1 slides, the processing robot 3 holds the adjacent disk cutter C2 so as not to follow the sliding operation of the separation disk cutter C1. Therefore, in the case where it is desired to separate the disc cutter C1 on the leftmost side of the first figure, it is only necessary to hold the disc cutter C2 from the left second disc adjacent to the disc cutter C1. Further, the holding means 4 may hold at least the adjacent disk cutter C2 adjacent to the separation disk cutter C1 to be separated, or may hold a plurality of disk cutters C such as C3 adjacent to the disk cutter C2. Further, the holding means 4 is provided on the processing robot 3 side in the first drawing, but may be provided on the storage table 2 side or may be attached to other members than the processing robot 3 and the storage table 2.

The holding means 4 is arranged to limit the holding of the processing robot 3 The position of the separation disc cutter C1 in the sliding direction. Therefore, in the case where the separated disc cutter C1 held and separated is slid in the upper direction in Fig. 2a, the holding means 4 is provided at a position which prevents the force which moves the adjacent disc cutter C2 upward. Just fine. Further, "the operation of restricting the sliding direction of the separated disc cutter C1 held by the gripper" means that the retaining means 4 can be applied by the holding means 4 in the opposite direction to the sliding direction of the separating disc cutter C1. The force is sufficient, and the holding means 4 is not required to be disposed in the same direction as the sliding direction.

The holding means 4 is shown in Fig. 1 to Fig. 3b, and is shown in Fig. 1 to Fig. 3b. The pusher of the processing robot 3 that protrudes toward the outer peripheral portion of the disc cutter C2 is stretchable. As the holding means 4, in addition to the pusher that protrudes from the outer peripheral portion of the adjacent disc cutter C2 as shown in Figs. 1 to 3, the thruster can be protruded toward the inner peripheral portion of the adjacent disc cutter C2. When the separation disc cutter C1 held by the processing robot 3 slides, in order to avoid tracking of the adjacent disc cutter C2, it is possible to abut against the outer peripheral portion or the inner peripheral portion of the adjacent disc cutter C2, or to abut the disc cutter C2. A stop member that is slightly separated from the outer circumference or the inner circumference. Here, "slightly separated" means to include a distance that is only separated by at least a smaller amount than the sliding amount of the separation disc cutter C1, so as to avoid the separation of the disc cutter C1 adjacent to the disc cutter C2 and take out two sheets, the specific separation distance thereof. There is no particular limitation on the system.

Moreover, the holding means 4 can also be held by the processing robot 3 and When the plurality of disc cutters C are separated, the holding means 4 is moved in the direction of the axis X of the plurality of disc cutters C.

Next, using the second figure a to the third figure b, the disc cutter C is explained. The outline of the separation method. In Figs. 2 to 3b, a method of separating one disk cutter C will be described for convenience of explanation, but the separation method of the present invention can be applied similarly in the case of separating a plurality of disk cutters C. In addition, the second figure a and the third figure a are a view of the disk cutter C viewed from the side of the processing robot 3 (the view seen from the left side in Fig. 1), and the first disk cutter C1 is shown as In the paper front direction, the finger holders 34a and 34b of the processing robot 3 are indicated by two-dot chain lines for convenience of explanation, and are shown as a part of which is omitted.

As shown in Figure 2 a and b, first, in order to hold and borrow The position of the adjacent disc cutter C2 adjacent to the disc cutter C1 held by the robot 3 is held by the holding means 4 to the adjacent disc cutter C2 (adjacent disc cutter holding step). Further, the fingers F1 and F2 of the processing robot 3 are inserted into the through holes of the disk cutter C1 before or after the adjacent disk cutter holding step (see FIG. 2A). Then, the lower finger holder 34b is driven downward, and the disc cutter C1 is held from the inner diameter side of the disc cutter C1 by the three fingers F1, F1, F2 (the disc knife holding step). Further, in the present embodiment, as shown in FIG. 2A, when the fingers F1, F1, and F2 are inserted so as not to come into contact with the through holes of the disk cutter C1, the processing robot 3 as a whole is raised, and the finger F1 is raised. When F1 abuts against the inner peripheral portion of the disc cutter C1, the lower finger holder 34b is lowered. With this configuration, it is not necessary to correctly control the insertion positions of the fingers F1, F1, and F2.

In addition, the adjacent disc cutter holding step of holding the adjacent disc cutter C2 The step of holding the disc knife holding the disc cutter C1 may be reversed in the order, or may be simultaneous. By the disc cutter holding step and the adjacent disc cutter holding step, the separation disc cutter C1 and the adjacent disc cutter C2 are in a state as shown in FIGS. 2 and a, and the second sheet is held by the holding means 4 In the state of the disc cutter C2, the separation disc cutter C1 is held by the fingers F1, F1, and F2.

Next, as shown in FIGS. 3A and b, the processing robot 3 is driven to move the separation disc C1 held by the fingers F1, F1, and F2 of the processing robot 3 along the adjacent circle held by the holding means 4. The end surface CE2 of the disc cutter C2 slides. After the separation disk cutter C1 is slid along the end surface CE2 of the adjacent disk cutter C2, from the state of FIG. 3b, the processing robot 3 causes the separation disk cutter C1 to follow the axis X of the disk cutter C. The direction is moved in the direction from which the adjacent disk cutter C2 is separated (in the third drawing, the left direction) (separation step). Thereby, the separation disc can be separated The cutter C1 can move the separation disc cutter C1 separated from the spindle or the like by the processing robot 3. Further, the disk cutter holding step is as described above, and after the fingers F1 and F1 are brought into contact with the inner peripheral portion of the disk cutter C1, the lower finger holder 34b is lowered, and the fingers F1 and F1 are separated. The disc cutter C1 is raised and slid, or after the fingers F1 and F1 are slid, the finger holder 34b provided on the lower side of the finger F2 is lowered, and the disc cutter C1 can be separated and separated. Therefore, the disc cutter holding step is such that, before the separation disc cutter C1 is moved in the direction of separating the adjacent disc cutter C2 in the separating step, before the sliding operation of the separation disc cutter C1, during the sliding motion, sliding Any timing after the action can be performed.

At this time, as shown in Fig. 3, by separating the disc cutter C1 When sliding, the contact area of the end face CE1 of the separation disc cutter C1 and the end face CE2 of the adjacent disc cutter C2 is reduced by only the slip amount. Since the contact area between the separation disc cutter C1 and the adjacent disc cutter C2 is only reduced, since the adhesion between the end surface CE1 of the separation disc cutter C1 and the end surface CE2 adjacent to the disc cutter C2 can be made small, separation can be achieved. The force required for the disc cutter C1 to separate from the adjacent disc cutter C2 becomes small, and the disc cutter C1 can be smoothly separated. Further, the sliding amount of the separation disk cutter C1 is as shown in Figs. 3a and b, but the sliding amount is smaller than the width of the annular portion of the end surface of the disk cutter C, and the present invention can be sufficiently obtained. The effect.

Therefore, according to the present invention, by providing the holding means 4 and The separating disc cutter C1 slides relative to the adjacent disc cutter C2, which can prevent the lifting or moving of the adjacent disc cutter C2 which does not have to be separated due to the adhesion between the separating disc cutter C1 and the adjacent disc cutter C2, and can It is used to reduce the peeling force of the separation disc cutter C1 from the adjacent disc cutter C2 in the direction of the axis X of the disc cutter C. That is, the separation disc knife is peeled off in the direction of the axis X of the disc cutter C adjacent to the disc cutter C2. In the case of C1 (in the case of no sliding operation) or in the case where only the separation disc cutter C1 is slid (in the case where the holding means 4 is not provided), it is moved together with the disc cutter C2 when the separation disc cutter C1 is peeled off, or is adjacent to The disc cutter C2 fell after being temporarily tracked. However, by providing the holding means 4 and sliding the separation disk cutter C1 adjacent to the disk cutter C2, only the separation disk cutter C1 or the separator to be separated can be separated from the storage table 2, and it is not necessary to separate in advance. The adjacent disk cutter C2 or the spacer is surely left on the storage table 2. Further, since the adjacent disc cutter C2 which is not necessarily separated by the processing robot 3 and is not separated from each other is not lifted from the storage table 2, it is possible to prevent the adjacent disc cutter C2 or the spacer from being temporarily lifted and then dropped. An accident such as damage to the storage table 2 or injury to the worker.

On the other hand, it is not necessary to separate neighbors by some kind of holding means. After the disk cutter C2 is attached, when the separation disk cutter C1 is not slid, the adjacent disk cutter C2 is peeled off along the axis X direction of the disk cutter C (in the case of no sliding operation), and the disc cutter C1 is separated. The adhesion between the end surface CE1 and the end surface CE2 adjacent to the disc cutter C2 is large, and if it is desired to simply peel in the direction of the axis X, the peeling needs to be vigorous. Therefore, when the separation disc cutter C1 is peeled off, the separation disc cutter C1 to which a large peeling force is applied and the adjacent disc cutter C2 held by a strong force at the time of peeling may be deformed (especially, the disc cutter is thin Case). However, as shown in the present invention, the adjacent disc cutter C2 is held by the holding means 4, and the separating disc cutter C1 is slid relative to the adjacent disc cutter C2, because the separation of the disc cutter C does not require a large force, so It is possible to prevent deformation of the separation disk cutter C1 and the adjacent disk cutter C2.

Moreover, in the case where only the separation disc cutter C1 is slid and removed, When separating and separating the disc cutter C1, in the case where the shaft X direction is not separated, it is necessary to slide the separation disc cutter C1 to separate the length of the outer diameter of the disc cutter C1 in the separation circle. A large space is required for the sliding direction such as above the disk cutter C1. However, when the separation disk cutter C1 is slid with respect to the adjacent disk cutter C2, the separation disk cutter C1 is separated from the adjacent disk cutter C2 in the direction of the axis X of the disk cutter C, for example, as shown in Fig. 1, for example. When the plurality of stages of the storage table 2 are provided above and below, the space above the separation disk cutter C1 can be minimized, and space can be saved.

Hereinafter, embodiments of the present invention will be described using Figs. 4 to 9D.

(First embodiment)

4A to 5E are processing robots 3 according to the first embodiment of the present invention, and the propeller 41 is provided in the processing robot 3 as a holding means (see FIGS. 4A and 4b). In the present embodiment, the disk cutter C (indicated by a two-dot chain line in FIGS. 4A and 5B) is stored in a state in which it is placed on the storage table 2 below. In Fig. 4A, a robot arm 34 attached to the tip end of the second arm 33 (see Fig. 1) of the processing robot 3 is shown. The robot arm 34 includes an upper finger holder 34a and a lower finger holder 34b, each of which is attached to the bottom plate 5 of the robot arm 34. The lower finger holder 34b is attached to the bottom plate 5 so as to be movable up and down. Since the configuration required for the up and down movement is not essential in the present invention, the description thereof will be omitted. The two fingers F1, F1 for holding the separation disc cutter C1 are disposed on the upper finger holder 34a, and the finger F2 for holding the separation disc cutter C1 is disposed on the lower finger holder 34b.

In the robot arm 34, a pusher (a disc cutter outer peripheral pressing pusher) 41 as a holding means is further mounted. The pusher 41 and the finger holders 34a and 34b are configured to integrally move when the fingers F1 and F2 are inserted into the through holes of the separation disc cutter C1. However, when the disc cutter C1 is separated and separated, the pusher 41 and the finger holder are separated. The 34a, 34b can move independently of each other. Further, the robot arm 34 is configured as a whole robot arm 34 or a finger holder 34a, 34b so that the end surface CE1 of the separated disc cutter C1 can be inclined to the end surface CE2 adjacent to the disc cutter C2 as will be described later. Rotatable.

The pusher 41 is configured as shown in FIG. 4 and FIG. 4b. The outer peripheral portion of the adjacent disc cutter C2 is pressed from the oblique upper side of the adjacent disc cutter C2, but the adjacent disc cutter C2 may be pressed from directly above the adjacent disc cutter C2. The pusher 41 can be a telescopic type that protrudes from the cylinder 41a by oil pressure, air pressure, or the like using the rod 41b inserted into the cylinder 41a. At the tip end of the rod 41b, a soft member such as rubber may be provided in order to avoid damage to the outer peripheral portion of the disc cutter C2 adjacent to the peripheral portion of the adjacent disc cutter C2.

In Fig. 4 and Fig. 4b, the symbol shown in reference numeral 6 is The free end surface of the disc cutter C1 abuts and stably supports the posture holding member of the disc cutter C1, and has an inverted U shape in order to avoid interference with the fingers F1 and F2. The posture holding member 6 has an inverted U shape in Fig. 4a, but the shape thereof is not particularly limited. The posture holding member 6 is configured such that the cylinder 61 provided behind the posture holding member 6 can move in the direction of the axis X of the disk cutter C (in the vertical direction in FIG. 4b).

Also, as shown in Fig. 4 and Fig. 4b, in the hand with the upper side A pair of pushers (disc blade end pushers) 7 which are expandable and contractible along the axis X direction of the disk cutter C are provided at positions adjacent to the fingers F1 of the finger holder 34a. The pusher 7 presses the end surface CE2 of the disc cutter C2 which is exposed by sliding the separation disc cutter C1 in a substantially vertical direction (see FIG. 3A). In Fig. 4a and Fig. 4b, the pusher 7 indicates the finger holder 34a fixed to the upper side, but as long as it is The end surface CE2 adjacent to the disc cutter C2 exposed by sliding the separation disc cutter C1 may be pushed at any position of the processing robot 3, and the configuration thereof is not limited to the telescopic type.

Hereinafter, the present embodiment will be described using FIG. 5 to FIG. The separation method of the separation disc cutter C1. 5 to 5 are simplified views of the respective members, and the thickness of the disk cutter C, the length of the finger F1, the position at which the finger F1 holds the disk cutter C1, and the like are partially deformed.

Figure 5 a shows the holding of the separation disc knife by the fingers F1, F2 The state before C1. In this state, both the pusher 41 and the pusher 7 are still in an unstretched state.

From the state of Fig. 5a, the robot arm 34 is inserted into the separation disc knife. At substantially the same time as the through hole of C1, the pusher 41 is extended, and the outer peripheral surface of the disc cutter C2 is pressed by the pusher 41 (refer to Fig. 5b). Further, the posture holding member 6 is in contact with the separation disc cutter C1 and the end surface on the side adjacent to the disc cutter C2. At this point of time, as shown in Fig. 5b, the pusher 7 is in a state in which it has not been stretched.

Next, as shown in FIG. 5c, the pusher 41 pushes the abutment The state of the disc cutter C2 moves the robot arm 34 as a whole. Thereby, the separation disc cutter C1 slides along the end surface CE2 adjacent to the disc cutter C2. The sliding operation of the separation disc cutter C1 is such that the fingers F1 and F1 of the robot arm 34 abut against the inner peripheral portion of the separation disc cutter C1, and the separation disc cutter C1 is lifted and slid, and the sliding motion is substantially At the same time, the lower finger holder 34b is moved to the lower side, and the inner peripheral surface of the separation disc cutter C1 is held by the three fingers F1, F1, and F2. Further, the disk cutter holding step is as described above, and the timing system can be appropriately changed. Separating disc The knife C1 slightly slides relative to the adjacent disc cutter C2, and after the contact area of the end surface CE1 of the separating disc cutter C1 and the end surface CE2 of the adjacent disc cutter C2 is reduced, as shown in Fig. 5, the pusher 7 is extended. The tip end of the pusher 7 abuts against the end surface CE2 of the adjacent disk cutter C2 while tilting the robot arm 34 as a whole.

Then, as shown in Fig. 5e, the robot arm 34 is rotated as a whole to return to the original posture, and the separation disc cutter C1 is separated from the adjacent disc cutter C2.

In the present embodiment, in addition to the effects described above, the gripping disc cutter C1 is slid, and the contact area with the adjacent disc cutter C2 is reduced, and the processing robot 3 causes the separating disc cutter C1 to be adjacent to each other. The disc cutter C2 is inclined, whereby the peeling force from the adjacent disc cutter C2 can be made smaller.

Further, by pushing the pusher 41 and the disc cutter end face together with the disc cutter outer peripheral surface, the pusher 7 is pressed, because the force from both the circumferential direction and the force from the axis X direction acts on the adjacent disc cutter C2. Therefore, when the separation disc cutter C1 is peeled off from the adjacent disc cutter C2, the force for holding the separation disc cutter C1 can be further reduced, so that the strong grip force against the separation disc cutter C1 can be prevented. Deformation.

(Second embodiment)

In the second embodiment shown in FIGS. 6A to 7D, the disk cutter C is suspended from the storage table 2, and the holding means 4 fixed to the storage table 2 is provided. The embodiment of C. The configuration of the processing robot 3 and the robot arm 34 side is not necessary to provide the pusher 41 and the pusher 7 to the robot arm 34, and it is not necessary to rotate the gripping disc cutter C1 that is held by the disc cutter C2. The same is true, so the description is omitted.

In this embodiment, it is installed in the storage table 2, and borrows 2 poles 21 (at Fig. 6a is indicated by a broken line. The disc cutter C is suspended and stored. The rod 21 extends horizontally from the storage table main body 22, and is provided on the free end side of the rod 21 (the end portion on the left side in Fig. 6b), and is provided to abut against the end surface of the separation disc cutter C1 and prevent separation of the disc The falling prevention member 23 of the knife C1 is detached. The fall prevention member 23 has a contact preventing projection 23a that abuts against the end surface of the separation disc cutter C1. The height of the anti-drop projection 23a is set to be lower than the sliding height of the separation disc cutter C1.

As shown in Fig. 6a, the holding means 4 of the present embodiment is The stopper member 42 fixed to the storage table 2 and provided to face the outer peripheral portion of the adjacent disc cutter C2, and the portion facing the outer peripheral portion of the separated disc cutter C1 (separating the disc cutter C1) The sliding direction is not covered by the stopper member 42 in Fig. 6b (upward direction) (refer to Fig. 6c). Further, in FIGS. 6a and 6b, the stopper member 42 is provided to face the outer peripheral portion of the adjacent disc cutter C2, but may be provided to face the inner peripheral portion of the adjacent disc cutter C2.

The stopper member 42 abuts against the outer peripheral portion of the adjacent disc cutter C2. Or configured to be slightly separated from the outer circumference of the adjacent disc cutter C2. As described above, "slightly separated" means that the distance is only smaller than the sliding amount of the separating disc cutter C1, so as not to be adjacent to the disc cutter C2 to follow the separation disc C and take out two pieces, the specific separation thereof The distance system is not particularly limited.

The stopper member 42 is formed along the shape of the disc cutter C, and the stopper member The abutting portion of the disc 42 and the disc cutter C is formed in a circular arc shape. Therefore, in the case of facing the outer peripheral portion of the disk cutter C, a circular arc-shaped recessed portion is formed. However, the stopper member 42 is not limited as long as it is disposed at a position where the disc cutter C2 is not adjacent to the disc cutter C1 and can be held adjacent to the disc cutter C2. Further, the stopper member 42 is in contact with the disc cutter C2 and the stopper member 42. In order to avoid damage to the outer peripheral portion of the adjacent disc cutter C2, it is preferable to form a soft member, but it is possible to restrict the movement of the adjacent disc cutter C2 in the same direction as the moving direction of the separated disc cutter C1 to be held. The material is not particularly limited.

Further, in the present embodiment, the plurality of disc cutters C are supported by the rod 21 But, in order to move one of the plurality of disc cutters C to the disc cutter C slidable disc cutter separation position (the left side in Fig. 6b). In Fig. 6b, the separation disc cutter C1 is located Position) A biasing means 8 for biasing the disc cutter C to the side of the falling prevention member 23 and moving it is provided. As the biasing means 8, it is shown in Fig. 6b. The disc cutter C is biased to the side of the fall prevention member 23 by a pneumatic cylinder, but is not limited to a pneumatic cylinder. A biasing means such as a spring can also be used. In the biasing means 8, the push-out plate 9 as shown in Figs. 6a to 5c is coupled, and the disc cutter C is biased to the disc cutter separation position via the push-out plate 9.

Hereinafter, using FIG. 7 to FIG. 7D, the description will be made in this embodiment. Separation method of state. Further, Fig. 7a to d are schematic views which simplify the respective members, and the thickness of the disc cutter C, or the length of the fingers F1, F2, the position at which the finger F1 holds the disc cutter C1, etc., are partially deformed.

Figure 7 a shows the holding of the separation disc knife by the fingers F1, F2 The state before C1. In this state, the separation disc cutter C1 (the disc cutter on the left side in Fig. 7a) is abutted against the fall-off preventing member 23 by the biasing means 8, and is separated from the disc cutter C1. The stopper member 42 is not covered by the stopper member 42, and the stopper member 42 is disposed above the disc cutter C which is located on the right side of the second blade adjacent to the disc cutter C2.

From the state of Fig. 7a, the fingers F1, F2 of the robot arm 34 are inserted into the through holes of the separation disc cutter C1, and at substantially the same time, the posture holding member 6 abuts against the end surface of the disc cutter C1 (refer to Fig. 7b).

Next, as shown in Fig. 7c, the separation arm is made by the robot arm 34. The disc cutter C1 slides to the top. At this time, since the stopper member 42 is not provided in the sliding direction of the separation disc cutter C1, the separation disc cutter C1 is slidable. The sliding operation of the separation disc cutter C1 is such that the fingers F1 and F1 of the robot arm 34 abut against the inner peripheral portion of the separation disc cutter C1, and the separation disc cutter C1 is lifted up and slid, substantially simultaneously with the sliding operation. The side finger holder 34b is moved to the lower side, and the inner peripheral surface of the separation disc cutter C1 is gripped by the three fingers F1, F1, and F2. Further, the disk cutter holding step is as described above, and the timing system can be appropriately changed. On the other hand, the upper side of the disc cutter C2 is covered by the stopper member 42, and since the movement to the upper side of the disc cutter C2 is restricted, the adjacent disc cutter C2 cannot be moved upward, but only The separate disc cutter C1 that is held can be moved to the top. At this point of time, the inner peripheral portion of the separation disc cutter C1 slides to a position exceeding the height of the fall prevention projection 23a of the fall prevention member 23.

Then, as shown in Fig. 7d, holding the separation disc cutter C1 In the state, the robot arm 34 is moved in the direction of the axis X of the disc cutter C, and the separation disc cutter C1 can be separated from the adjacent disc cutter C2. In other words, when the separation disk cutter C1 is moved in the direction of the axis X, since the adjacent disk cutter C2 is biased by the biasing means 8, it moves in the direction of the axis X together with the separation disk cutter C1, but the separation preventing member 23 The storage disk 2 is placed on the storage table 2 so as to be in contact with the separation preventing projection 23a of the falling prevention member 23 by the end surface of the adjacent disk cutter C2, whereby the separation disk cutter C1 can be separated from and separated from the adjacent disk cutter C2. When the separation disc cutter C1 is separated, the adjacent disc cutter C2 is moved to the disc cutter separation position by the biasing means 8, and the preparation of the continuous separation step is completed. By repeating this step, the disc cutter can be separated piece by piece.

In this embodiment, in addition to the effects already described, simple The disc cutter can be separated piece by piece. Further, since the detachment prevention member 23 is provided in the storage table 2, since the disc cutter C is biased to the disc knives separation position side by the biasing means 8, after the separation of the one separation disc cutter C1, the adjacent disc cutter is caused. C2 is automatically moved to the disc knives separating position, and the detachment prevention projection 23a of the detachment prevention member 23 acts as a stopper for separating the separation disc cutter C1 from the adjacent disc cutter C2 in the direction of the axis X, and can be performed. Separation operation of a continuous disc cutter.

(Third embodiment)

In the third embodiment shown in FIGS. 8A to 9D, the disc cutter C is suspended from the storage table 2, and the holding means 4 that is movably provided on the storage table 2 is suitable for separation from one piece to one. An embodiment of the disc cutter C of any number of the plurality of sheets. Since the configuration of the processing robot 3 side is the same as that of the second embodiment, the description thereof is omitted. Further, in the present embodiment, the separation disc cutter is referred to as Ca, and the adjacent disc cutter is referred to as Cb.

As shown in Figs. 8 and b, the disc cutter C is suspended by the two rods 21 provided on the storage table 2 and stored. The rod 21 extends horizontally from the storage table main body 22, and is provided on the free end side of the rod 21 (the end portion on the left side in Fig. 8b), and is provided to abut against the end surface of the separation disc cutter Ca and prevent separation of the disc The falling prevention member 23 from which the knife Ca is detached. The detachment preventing member 23 is basically the same as the detachment prevention member 23 of the second embodiment. However, in the present embodiment, as shown in FIG. 8D, the detachment preventing projection 23a is configured to be detachable from the detachment preventing member 23. In other words, the detachment prevention projection 23a is housed in the concave portion G formed in the detachment prevention member 23 as shown in Fig. 8 and is biased to the upper side by a spring, and is normally shown as Fig. 8D, from the detachment prevention member. 23 protruding, anti-drop protrusion 23a is attached to the side of the pin 23b On the surface, the pin 23b protrudes from the long hole 23c formed on the side surface of the fall prevention member 23 to the outside of the fall prevention member 23. The pin 23b is attached to the figure 8 and is biased to the upper side by the torsion spring S. Therefore, the pin 23b is moved upward and abuts against the upper end of the long hole 23c to stop, and the anti-drop projection 23a is formed to protrude from the fall prevention member 23. To the top. Further, the biasing means for projecting the fall prevention projection 23a from the fall prevention member 23 is not limited to the torsion spring S, and may be a coil spring or the like. By providing the anti-drop projection 23a, when a plurality of disc cutters C are stored in the storage table 2, one disc cutter C is placed above the anti-drop projection 23a because the anti-drop projection 23a is driven by the disc cutter C. Since the weight is shifted to the lower side, when the plurality of disc cutters C are temporarily accommodated in the storage table 2, the anti-drop projections 23a are not in trouble. Further, when the disc cutter C is housed in the storage table 2, it is automatically returned to the original position, and the disc cutter C can be prevented from coming off.

Further, this embodiment is also provided in the same manner as in the second embodiment. The biasing means 8 is configured to move the disk cutter C to the side of the fall prevention member 23, but in the present embodiment, the push-out plate 9 to which the biasing means 8 is coupled has substantially the same shape as the disk cutter C. Disc shape. By pushing the plate 9 into a disk shape, the disk cutter C can be stably pushed out. The push-out plate 9 is as shown in Figs. 8 and 8c, and is supported by a rod 81 which is a cylinder of the biasing means 8, and a rod 81 which is extended in parallel with the rod 81. 82, 83 push the disc cutter C to the side of the disc cutter separation position.

Further, in the present embodiment, as shown in Figs. 8 to 8 c, The movable stopper member 43 is disposed on the inner diameter side of the disc cutter C (in FIG. 8b, the movement to the disc cutter separation position side is indicated by a solid line, and the movable stopper member 43 is pushed, in the eighth Figure b shows the state of moving to the right side with a two-dot chain line). The mobile The stopper member 43 has a stopper portion 43a opposed to the inner peripheral portion of the adjacent disc cutter Cb, and a finger contact portion (pressed portion) 43b at the third position, when the separation disc cutter Ca is held (in When the fingers F1 and F2 are inserted into the through holes of the disc cutter C, they come into contact with the tips of the fingers F1 and F2 of the processing robot 3. When the finger F1, F2 of the processing robot 3 presses the finger contact portion 43b, the movable stopper member 43 moves the inside of the disk cutter C in the direction of the axis X of the disk cutter C, and the stopper portion 43a is configured to The inner peripheral portion of the adjacent disc cutter Cb is opposed to each other.

Further, in the present embodiment, the finger contact portion 43b is configured as The paper is moved in the through hole of the disc cutter C by abutting against the fingers F1 and F2, but the pressed portion of the movable stopper member 43b, which is attached to the fingers F1 and F2, can also be pushed by a rod or the like. Different members are provided, for example, in parallel with the fingers F1, F2, and have the same amount of protrusion as the fingers F1, F2. Further, in the present embodiment, the movable stopper member 43b is provided on the inner diameter side of the disc cutter C, but the movable stopper member 43b may be provided on the outer diameter side of the disc cutter C. In this case, the disk cutter C is held from the inner diameter side, and the movable stopper member 43b is provided on the outer diameter side, and on the outer diameter side, the pressing member having the same amount of protrusion as the fingers F1 and F2 is used. The movable stopper member 43b is pushed.

The movable stop member 43 is biased by the stop member biasing means 10 The axis X direction of the disc cutter C is biased to the processing robot 3 side (the disc cutter separation position side). As the stopper member biasing means 10, various biasing means such as a compression coil spring or a cylinder can be used. In the present embodiment, the movable stopper member 43 is attached to the rear surface thereof, and the three rods 11, 12, 13 biased by the stopper member biasing means 10 are connected, and the movable stopper member 43 is pushed out to the disc cutter. Separate the position side.

Inserting the fingers F1, F2 by the stopper member biasing means 10 Before the disc cutter C, the movable stopper member 43 is moved to the processing robot 3 side (refer to the left side movable stopper member 43 shown by the solid line in Fig. 8b). On the other hand, when the fingers F1 and F2 are inserted into the thickness of the plurality of disc separation discs Ca to be held only, the movable stopper member 43 also retracts the plurality of disc separation discs that the fingers F1 and F2 should hold only. The thickness of Ca (refer to the movable stopper member 43 on the right side shown by the two-dot chain line in Fig. 8b). In other words, when the fingers F1 and F2 want to separate the two separation disc cutters Ca, the fingers F1 and F2 are inserted into the thickness of only two of the separation disc cutters Ca among the plurality of disc cutters C. Then, since the movable stopper member 43 retreats only the thickness of the two separation disc cutters Ca, the stopper portion 43a of the movable stopper member 43 retreats to the inner peripheral portion of the disc cutter Cb adjacent to the third sheet. Relative position. Therefore, when the movable stopper member 43 is inserted into the disc cutter C, the number of pieces of the separation disc cutter Ca held by the fingers F1 and F2 is n, and is held in the case where the number of the separation discs Ca held by the fingers F1 and F2 is n. A position facing the inner peripheral portion of the n+1th piece adjacent to the disc cutter Cb. Therefore, in the case of separating the plurality of disc separation discs Ca, after the relative positional relationship between the adjacent disc cutter Cb and the stopper portion 43a is automatically adjusted, the adjacent disc cutter Cb can be held, and only a plurality of sheets can be held. The separation disc cutter Ca is surely moved with respect to the adjacent disc cutter Cb.

In addition, the mobile stopping member 43 is only required to have a finger F1. The portion where the tip end of F2 abuts does not have to have a shape as shown in Fig. 8 and can be appropriately changed.

Hereinafter, using FIG. 9 to FIG. 9D, the description will be made in this embodiment. Separation method of state. Further, Fig. 9 to Fig. 9D are schematic diagrams for simplifying the respective members, and the thickness of the disc cutter C, or the lengths of the fingers F1 and F2, and the position at which the finger F1 holds the separation disc cutter Ca are expressed as deformation. In Figure 9 to Figure 9d, As an example, the case where two separation discs Ca1 and Ca2 are simultaneously separated is shown. However, in the case of separating three or more separation disc cutters Ca, the present separation method can be applied in the same manner.

Figure 9 a shows the holding of the separation disc cutter by the fingers F1, F2 The state before Ca1 and Ca2. In this state, the foremost separation disc cutter Ca1 (in the ninth diagram a, the leftmost separation disc cutter) is pushed out by the biasing means 8 and the push-out plate 9 to the separation side of the disc cutter, and is prevented. The falling member 23 abuts. Further, the movable stopper member 43 is also located on the inner diameter side of the leftmost separation disc cutter Ca1 by the stopper member biasing means 10.

From the state of Fig. 9a, the fingers F1 and F2 of the robot arm 34 are used. The through hole of the separation disc cutters Ca1 and Ca2 is inserted, and the posture holding member 6 is brought into contact with the end surface of the disc cutter C1 while holding the separation disc cutters Ca1 and Ca2 (see FIG. 9b). At the same time, the tips of the fingers F1, F2 abut against the finger contact portion 43b, the movable stopper member 43 is pushed in, and the stopper portion 43a is moved to and abuts against the biasing force of the stopper member biasing means 10. The position of the inner peripheral portion of the disc cutter Cb is opposite (refer to Fig. 9b).

Next, as shown in Fig. 9c, the robot arm 34 is moved to the top, The separation discs Ca1 and Ca2 are slid relative to the adjacent disc cutter Cb. At this time, the stopper portion 43a of the movable stopper member 43 is located at a position opposed to the inner peripheral portion of the adjacent disc cutter Cb, because the movement to the upper side of the adjacent disc cutter Cb is restricted, so the adjacent disc cutter The Cb system cannot be moved to the top, and only the separated disc cutters Ca1 and Ca2 held can be moved upward. At this point of time, the inner peripheral portion of the separation disc cutters Ca1, Ca2 slides to a position exceeding the height of the anti-drop projection 23a of the fall prevention member 23. The sliding action of the separation disc cutters Ca1 and Ca2 is a robot arm The fingers F1 and F1 of the 34 are in contact with the inner peripheral portions of the separation discs Ca1 and Ca2, and the separation discs Ca1 and Ca2 are lifted up and slid. At the same time as the sliding operation, the lower finger holder 34b is moved downward. And holding the inner peripheral surfaces of the disc cutters Ca1 and Ca2 by the three fingers F1, F1, and F2. Further, the disk cutter holding step is as described above, and the timing system can be appropriately changed.

Then, as shown in Fig. 9d, the robot arm 34 is placed on the disc cutter The axis C of C moves, and the disc cutters Ca1 and Ca2 can be separated from the adjacent disc cutter Cb. In other words, when the separation disk cutters Ca1 and Ca2 are moved in the direction of the axis X, the adjacent disk cutter Cb is biased by the biasing means 8, and thus moves in the direction of the axis X together with the separation disk cutters Ca1 and Ca2. The separation preventing member 23 is disposed on the storage table 2, and the separation disc cutters Ca1 and Ca2 are separated from the adjacent disc cutter Cb by the end surface adjacent to the disc cutter Cb abutting against the falling prevention projection 23a of the falling prevention member 23. Separation. When the separation disc cutters Ca1 and Ca2 are separated, the adjacent disc cutter Cb is moved to the disc cutter separation position by the biasing means 8, and the movable stopper member 43 is also moved by the stopper member biasing means 10 to After moving, the inner side of the disc cutter Cb is adjoined, and the preparation of the continuous separation step is completed. By repeating this step and operating once, the plurality of disc separation discs Ca can be separated.

In this embodiment, in addition to the effects already described, In the case of separating one disk knife or in the case of separating a plurality of disk blades, the movable stopper member 43 serving as a holding means is automatically moved by the insertion of the fingers F1, F2, so that it can be easily and surely performed. Separation of any number of disc knives. Further, since the fall prevention member 23 is provided in the storage table 2, since the disc cutter C is biased to the disc cutter separation position side by the bias means 8, the adjacent circle is formed after the separation of one or a plurality of disc cutters Ca The disc cutter Cb is automatically moved to the disc cutter separation position The detachment prevention projection 23a of the detachment prevention member 23 functions as a stopper for separating the separation disc cutter Ca from the adjacent disc cutter Cb in the direction of the axis X, and the separation operation of the continuous disc cutter can be performed.

1‧‧‧Separation agency

3‧‧‧Processing robot

4‧‧‧Retention means

31‧‧‧ base

32‧‧‧1st arm

33‧‧‧2nd arm

34‧‧‧Machine arm

34a, 34b‧‧‧ finger holder

CE1, CE2‧‧‧ end face

F1, F1, F2‧‧‧ fingers

2‧‧‧keeping desk

C, C1, C2, C3‧‧‧ disc cutter

Claims (28)

A separating mechanism for separating one or a plurality of disc knives and/or slats from a storage table supporting a disc cutter and/or a spacer, the separating mechanism comprising: a holding robot for holding and holding the processing robot a holding means of a disc knife or a spacer adjacent to the disc knife or the spacer, and the processing robot has a finger holding the disc knife and/or the spacer: configured to be held by the processing robot The disc knife or septum can be slid and separated along the end faces of the adjacent disc cutter or septum held by the retaining means. The separating mechanism of claim 1, wherein the retaining means is disposed to restrict the adjacent disc knife or the spacer from sliding in the same direction as the disc or the spacer held by the processing robot. The position of the action of the direction. The separating mechanism of claim 1 or 2, wherein the separating mechanism has a processing robot; the processing robot slides the disc or the spacer to reduce the contact area between the end faces of the disc or the spacer Thereafter, the end face of the gripping disc or spacer is separated from the end face of the adjacent disc or spacer. A processing robot for separating one or a plurality of disc knives and/or spacers from a storage table supporting a disc cutter and/or a spacer, wherein the processing robot comprises: holding a disc cutter and / or the fingers of the septum; and The holding means is for holding the position of the disc knife or the spacer adjacent to the disc knife or the spacer held by the finger; the processing robot is configured to make the disc knife or the spacer held by the finger The sheet may slide and separate along an end surface of the adjacent disc knife or spacer held by the holding means; the holding means pushes the adjacent circle from the outer diameter side of the adjacent disc knife or spacer Pushing pusher for a disc cutter or septum. The processing robot of claim 4, wherein the processing robot tilts the sliding disc knife or the spacer relative to the adjacent disc knife or the spacer after sliding the disc or the spacer, The end faces are separated from each other. The processing robot of claim 5, wherein the separating thruster is disposed on the processing robot, and the separating thruster is pushed from a substantially vertical direction of an end surface of the adjacent disc cutter or the spacer by making the disc The end of the disc knife or septum that is exposed by the knife or septum. A storage table for supporting a disc cutter and/or a spacer and separating one or more disc cutters and/or spacers, wherein the storage table includes a holding mechanism for holding and holding the robot a disc cutter or a retaining means at the position of the spacer adjacent to the disc or the spacer, and the processing robot has a finger holding the disc cutter and/or the spacer: configured to be held by the processing robot The disc knife or the spacer can be slid and separated along the end surface of the adjacent disc knife or the spacer held by the holding means, and the holding means is fixed to the storage table and arranged to be adjacent to the circle A stopper member that faces the outer peripheral portion or the inner peripheral portion of the disc or the spacer. A storage station according to claim 7, wherein the stopper member has a shape along a shape of a disc cutter or a spacer facing the disc. A storage table for supporting a disc cutter and/or a spacer and separating one or more disc cutters and/or spacers, wherein the storage table includes a holding mechanism for holding and holding the robot a disc cutter or a retaining means at the position of the spacer adjacent to the disc or the spacer, and the processing robot has a finger holding the disc cutter and/or the spacer: configured to be held by the processing robot The disc knife or the spacer may slide and separate along the end surface of the adjacent disc knife or the spacer held by the holding means; the holding means may be disposed on the storage table along the disc cutter or A movable stop member that moves axially of the spacer. The storage table of claim 9, wherein the movable stopper member is disposed on an inner diameter side of the disc cutter or the spacer; the movable stopper member has: an inner circumference portion of the disc cutter or the spacer a pressing portion that is opposed to the pressing portion and a pressing portion that is pressed in the insertion direction of the finger when the finger is inserted into the disc knife or the spacer; the finger is inserted to push the pressed portion At this time, the movable stopper member moves on the inner diameter side of the disc knife or the spacer, and the stopper portion faces the inner peripheral portion of the adjacent disc knife or the spacer. The storage station of claim 10, wherein the pressed portion is a finger contact portion pressed by the finger. The storage table according to any one of claims 7 to 11, wherein the disc knife or the spacer is suspended from an inner diameter side of the disc cutter or the spacer by a shaft provided on the storage table. A storage table according to claim 12, wherein the end portion of the shaft on the processing robot side has an anti-drop member for preventing the disc knife or the separator from coming off, and the height is smaller than that of the disc knife or the spacer that slides. The protrusion having a smaller amount of movement is disposed on the fall-off preventing member. The storage table of claim 13, wherein the protrusion is configured to be free from the fall-off member by an elastic member. A separation method for separating one or more disc knives and/or spacers from a storage robot supporting a disc cutter and/or a spacer by a processing robot having a finger holding a disc cutter and/or a spacer The separation method comprises: a) a holding step of holding the adjacent disc by means of holding means for holding the position of the disc knife or the spacer adjacent to the disc knife or the spacer held by the finger The position of the knife or the spacer: b) the holding step by holding the disc knife and/or the spacer by the finger; and c) the separating step for the processing robot to hold the disc knife held by the finger or The spacer can be slid and separated along the end faces of the disc cutter or the spacer held by the holding means. The separation method of claim 15, wherein the holding means is disposed to restrict the adjacent disc knife or the spacer to be in the same direction as the sliding direction of the disc knife or the spacer held by the finger The location of the action. For example, in the separation method of claim 15 or 16, wherein The separating step is to slide the disc knife or the spacer to reduce the contact area between the end faces of the disc cutter or the spacer, and the end surface of the gripping disc or the spacer and the adjacent disc The end faces of the knife or septum are separated. A separation method for separating one or more disc knives and/or spacers from a storage robot supporting a disc cutter and/or a spacer by a processing robot having a finger holding a disc cutter and/or a spacer The method of separating comprises: a) a holding step of holding the position of the disc knife or the spacer adjacent to the disc knife or the spacer held by the finger, and holding the same The position of the adjacent disc knife or spacer: b) the holding step by holding the disc knife and/or the spacer by the finger; and c) the separating step, the processing robot is held by the finger The disc knife or the spacer may slide and separate along the end surface of the disc cutter or the spacer held by the holding means; the holding means in the holding step is from the outer diameter side of the adjacent disc cutter or the spacer Pushing the pusher of the adjacent disc knife or spacer. The separation method of claim 18, wherein in the separating step, the processing robot slides the disc or the spacer by a disc knife or a spacer adjacent to the disc cutter Or the spacers are inclined so that the end faces are separated from each other. The separation method of claim 19, wherein in the separating step, the separation propeller disposed on the processing robot is from the adjacent disc The end surface of the blade or the spacer is pressed in a substantially vertical direction and separated by the end surface of the disk knife or the separator exposed by sliding the disk knife or the spacer. A separation method for separating one or more disc knives and/or spacers from a storage robot supporting a disc cutter and/or a spacer by a processing robot having a finger holding a disc cutter and/or a spacer The method of separating comprises: a) holding the step of holding the disc knife and/or the spacer by the finger; b) holding the step by holding and holding the circle held by the finger Holding means of the disc knife or the spacer adjacent to the disc or the spacer, holding the position of the adjacent disc knife or spacer: and c) the separating step, the processing robot holding the finger held by the finger The disc knife or the spacer can be slid and separated along the end surface of the disc cutter or the spacer held by the holding means; the holding means in the holding step is fixed to the storage table, and is disposed adjacent to the circle A stopper member that faces the outer peripheral portion or the inner peripheral portion of the disc or the spacer. The separation method of claim 21, wherein the stopper member has a shape along a shape of the disc knife or the spacer facing the disc. A separation method for separating one or more disc knives and/or spacers from a storage robot supporting a disc cutter and/or a spacer by a processing robot having a finger holding a disc cutter and/or a spacer , characterized in that the separation method comprises: a) holding step by holding the disc knife and/or the spacer; b) holding step by holding a disc knife adjacent to the disc knife or septum held by the finger Or a holding means at the position of the spacer, holding the position of the adjacent disc knife or spacer: and c) a separating step for the processing robot to lend the disc knife or spacer held by the finger The end surface of the disc cutter or the spacer held by the holding means slides and separates; the holding means in the holding step is disposed on the storage table and is arranged to move along the axial direction of the disc cutter or the spacer Stop member. The separation method of claim 23, wherein the movable stopper member is disposed on an inner diameter side of the disc cutter or the spacer; the movable stopper member has: an inner peripheral portion with the disc cutter or the spacer a pressing portion that is opposed to the pressing portion and a pressing portion that is pressed in the insertion direction of the finger when the finger is inserted into the disc knife or the spacer; the finger is inserted to push the pressed portion At this time, the movable stopper member moves on the inner diameter side of the disc knife or the spacer, and the stopper portion faces the inner peripheral portion of the adjacent disc knife or the spacer. The separation method of claim 24, wherein the pressed portion is a finger contact portion pressed by the finger. The separation method according to any one of claims 21 to 25, wherein the disc knife or the spacer is suspended from an inner diameter side of the disc cutter or the spacer by a shaft provided on the storage table. The separation method of claim 26, wherein the end portion of the shaft on the processing robot side has an anti-falling structure for preventing the disc knife or the separator from falling off. And a protrusion having a height smaller than a moving amount of the sliding disc knife or the spacer is disposed on the falling prevention member. The separation method of claim 27, wherein the protrusion is configured to be free from the fall-off member by an elastic member.