WO2019116854A1 - グラビア製版用ロボットの把持部構造 - Google Patents
グラビア製版用ロボットの把持部構造 Download PDFInfo
- Publication number
- WO2019116854A1 WO2019116854A1 PCT/JP2018/043193 JP2018043193W WO2019116854A1 WO 2019116854 A1 WO2019116854 A1 WO 2019116854A1 JP 2018043193 W JP2018043193 W JP 2018043193W WO 2019116854 A1 WO2019116854 A1 WO 2019116854A1
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- WO
- WIPO (PCT)
- Prior art keywords
- plate
- roll
- gravure
- gripping
- holding
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41C—PROCESSES FOR THE MANUFACTURE OR REPRODUCTION OF PRINTING SURFACES
- B41C1/00—Forme preparation
- B41C1/10—Forme preparation for lithographic printing; Master sheets for transferring a lithographic image to the forme
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
- B05C1/08—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length using a roller or other rotating member which contacts the work along a generating line
- B05C1/0808—Details thereof, e.g. surface characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/08—Cylinders
- B41F13/10—Forme cylinders
- B41F13/11—Gravure cylinders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F27/00—Devices for attaching printing elements or formes to supports
- B41F27/10—Devices for attaching printing elements or formes to supports for attaching non-deformable curved printing formes to forme cylinders
- B41F27/105—Devices for attaching printing elements or formes to supports for attaching non-deformable curved printing formes to forme cylinders for attaching cylindrical printing formes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F9/00—Rotary intaglio printing presses
- B41F9/06—Details
- B41F9/18—Auxiliary devices for exchanging forme cylinders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
Definitions
- the present invention relates to a holding unit structure of a gravure plate making robot used for a fully automatic gravure plate processing system for manufacturing a gravure plate making roller by holding the plate making roller which is a hollow cylinder roll and transferring it to each processing device. About.
- a copper for forming a printing plate on the surface of a plate base material is a hollow cylinder roll made of metal such as aluminum or iron or a hollow cylinder roll made of plastic such as CFRP (carbon fiber reinforced plastics).
- a plating layer (plate material) is provided, and a large number of minute recesses (gravure cells) are formed in the copper plating layer according to the plate making information by etching or electronic engraving, and then the printing durability of the gravure plate roll is increased.
- a hard layer is formed by a chromium plating layer or a DLC (diamond-like carbon) layer or the like to form a surface reinforcing coating layer, and plate making (production of a plate surface) is completed.
- Patent Document 1 discloses a method of remotely managing plate-making consumables in a fully automatic gravure plate-making processing system.
- the weight of the hollow cylinder roll which is a plate base material is various, and there are about 7 kg to about 140 kg, which is the weight of the plate-making roll.
- the length of the hollow cylinder roll also ranges from about 400 mm to about 1400 mm, which is the length of the plate-making roll.
- the core of the chuck cone and the core of the plate-making roll can not be rotated well. Therefore, since the plate-making roll needs to be accurately set in the processing apparatus, the positioning accuracy and the like become important.
- the present invention has been made in view of the above-described problems of the prior art.
- a gravure plate-making robot by exerting a high gripping force, reliable gripping of the plate-making roll and the plate-making roll are achieved. It is an object of the present invention to provide a holding unit structure of a gravure plate making robot capable of improving the positioning accuracy when transferring a plate making roll to each processing device.
- the grasping part structure of the robot for gravure making concerning the present invention grasps the plate making roll which is a hollow cylinder roll, transfers all to a processing apparatus, and manufactures a gravure making roll altogether.
- the holding unit structure of a gravure printing robot used in a processing system for automatic gravure printing which is attached to an end of an arm of the gravure printing robot, and the distance between the two is freely wide, and both ends of the printing plate roll
- the holding surface constituting member is made of rubber or synthetic resin.
- the holding surface forming member is a plurality of holding surface forming members, and the plurality of holding surface forming members form a holding surface.
- the holding plate has a holding plate cutout opened downward, and the holding surface constituting member is also formed with a holding surface constituting member cutout corresponding to the holding plate cutout. It is.
- the present invention when gripping the plate-making roll with the gravure plate making robot, by exerting a high gripping force, reliable gripping of the plate-making roll and positioning accuracy when transferring the plate-making roll to each processing device It is possible to provide a great advantage in that it is possible to provide a holding unit structure of a gravure plate making robot that can improve the
- FIG. 1 It is a schematic schematic plan view which shows one Embodiment of the holding part structure of the robot for gravures of this invention. It is a typical side view which shows the holding surface structure member seen from the II-II line direction of FIG. It is a schematic schematic plan view which shows another embodiment of the holding part structure of the robot for gravures of this invention. It is a typical side view which shows the holding surface structure member seen from the IV-IV line
- the other embodiment of a holding surface structure member is shown, (a) is a schematic schematic side view, (b) is principal part sectional drawing. It is a perspective view which shows a mode that the to-be-made roll is hold
- FIGS. 10A is an embodiment of the holding portion structure of the gravure printing robot according to the present invention.
- Grasping part structure 10A of the gravure printing robot is used in a fully automatic gravure printing processing system for manufacturing a gravure printing roll by gripping and transferring the printing roll 12 as a hollow cylinder roll to each processing apparatus.
- a holding unit structure of a gravure printing robot which is attached to an arm tip 14 of the gravure printing robot, and a gap between the two is freely wide and narrow, and a pair for gripping both ends of the printing plate roll 12 Gripping surfaces 18a and 18b provided on the gripping plates 16a and 16b and the gripping plates 16a and 16b, and curved so as to be concave toward the center of the end 50 of the plate-making roll 12 to be gripped And a grip surface component 20a, 20b having a non-slip function.
- the grip plates 16a and 16b are attached to the arm tip 14 via the frame portion 22, and the frame portion 22 is expanded and contracted by the drive portion 24 to widen and narrow the gap between the grip plates 16a and 16b.
- the grip surface constituting members 20a and 20b having the non-slip function are made of rubber.
- synthetic resin such as silicon resin can also be used as long as it has anti-slip function.
- the gripping surface components 20a and 20b are attached to the gripping plates 16a and 16b via mounting members 26a and 26b.
- the gripping plates 16a and 16b are made of iron, and the mounting members 26a and 26b are made of titanium.
- the surfaces of the mounting members 26a and 26b are curved, and the gripping surface components 20a and 20b are attached to the curved surfaces. Since the surfaces of the mounting members 26a and 26b are curved in this manner, the gripping surface configuration members 20a and 20b are in a curved state.
- the gripping plates 16a and 16b have gripping plate cutouts 28 opened downward, and corresponding to the gripping plate cutouts 28 also to the gripping surface constituting members 20a and 20b.
- the notch 30 is formed.
- the grip plate notch 28 is opened downward corresponding to the flange 32. Further, it is preferable that the radius of curvature of the holding plate notch 28 be equal to the radius of curvature of the flange 32.
- the gripping surface constituting members 20a and 20b are curved so as to be concave toward the center of the end 50 of the plate-making roller 12 when the plate-making roller 12 is gripped by the gravure plate making robot. It has high anti-slip function because it is made to move. As a result, the reliable gripping of the plate-making roll 12 and the positioning accuracy when transferring the plate-making roll 12 to each processing device can be improved.
- FIG. 1 an example in the case of gripping the shorter plate-making roll 12 by narrowing the gap between the gripping plates 16 a and 16 b is also shown by imaginary lines.
- the surface of attachment member 26a, 26b is curving, the example which will be in the state which gripping surface structure member 20a, 20b curves is shown.
- the surfaces of the attachment members 26a and 26b may be flat, and the gripping surface components 20a and 20b having a non-slip function may be curved.
- the surfaces of the holding plates 16a, 16b are curved like the surfaces of the mounting members 26a, 26b shown, and the gripping surface components 20a, 20b are affixed to the curved surfaces By doing this, the gripping surface components 20a and 20b may be curved.
- FIGS. 10B is another embodiment of the holding portion structure of the gravure plate making robot according to the present invention.
- Grasping part structure 10B of the gravure printing robot is used in a fully automatic gravure processing system for manufacturing a gravure printing roll by gripping and transferring the printing roll 12 as a hollow cylinder roll to each processing apparatus.
- a holding unit structure of a gravure printing robot which is attached to an arm tip 14 of the gravure printing robot, and a gap between the two is freely wide and narrow, and a pair for gripping both ends of the printing plate roll 12 And a gripping surface 34a, 34b provided on the gripping plate 17a, 17b and the gripping plate 17a, 17b and curved so as to be concave toward the center of the end 50 of the plate-making roll 12 to be gripped And a gripping surface component 36a, 36b having a non-slip function.
- the grip plates 17a and 17b are attached to the arm tip 14 via the frame portion 22, and the frame portion 22 is expanded and contracted by the drive portion 24 to obtain the grip plate 17a,
- the interval of 17b is made wide and narrow.
- FIGS. 3 to 4 there is shown an example in which the grip surface components 36a and 36b having the non-slip function are made of rubber.
- the gripping surface components 36a and 36b are attached to the gripping plates 17a and 17b via mounting members 38a and 38b.
- the gripping surface configuration members 36a and 36b are a plurality of gripping surface configuration members.
- the gripping surface component members 36a and 36b four rubber plates are radially attached to the mounting members 38a and 38b.
- the holding plates 17a and 17b are made of iron, and the mounting members 38a and 38b are made of titanium.
- the surfaces of the mounting members 38a and 38b are curved, and the gripping surface components 36a and 36b are attached to the curved surfaces. Since the surfaces of the mounting members 38a and 38b are curved as described above, the gripping surface components 36a and 36b are in a curved state as shown in FIG.
- the holding plate 17a, 17b has a holding plate notch 40 opened downward, and the holding surface is also formed on the holding surface members 36a, 36b corresponding to the holding plate notch 40.
- a member notch 42 is formed.
- the grip plate notch 40 is opened downward corresponding to the flange 32. Further, it is preferable that the radius of curvature of the grip plate notch 40 be equal to the radius of curvature of the flange 32.
- the gripping surface constituting members 36a and 36b are curved so as to be concave toward the center of the end 50 of the plate-making roller 12 when the plate-making roller 12 is gripped by the gravure plate making robot. It has high anti-slip function because it is made to move. As a result, the reliable gripping of the plate-making roll 12 and the positioning accuracy when transferring the plate-making roll 12 to each processing device can be improved.
- a gripping surface component having a non-slip function in addition to the examples of the gripping surface components described above, for example, as shown in FIG. 5, it has a plurality of non-slip functions as a gripping surface component 44 It can also be comprised of gripping surface components.
- a plurality of rubber plates are attached to the mounting member 26a shown in FIGS. 1 and 2 so as to have a non-slip function and be concave toward the center of the end of the printing plate roll 12.
- An example is shown in which the gripping surface component 44 has a gripping surface 46 that is curved.
- FIG. 6 A state in which the plate-making roll 12 which is a hollow cylinder roll is gripped and transferred to each processing device using the gravure plate-making robot provided with the holding portion structure 10A of the gravure plate-making robot is shown in FIG.
- reference numeral 48 is an example of each processing apparatus in the processing system for full-automatic gravure plate making, for example, an example of a plating apparatus.
- the plate making roll 12 is securely held and transferred to the processing device 48, and the plate making roll 12 is It is accurately set at the predetermined position of the processing device 48.
- 10A, 10B Grasping part structure of a gravure printing robot
- 12 Plate making roll
- 14 Arm tip of a gravure printing robot
- 16a, 16b, 17a, 17b Gripping plate
- 18a, 18b, 34a, 34b, 46 Gripping surface 20a, 20b, 36a, 36b, 44: Gripping surface component having anti-slip function
- 22 Frame portion
- 24 Drive portion
- 28, 40 Gripping plate Notch part 30, 30, 42: gripping surface component part notched part
- 32 flange
- 48 processing device of processing system for fully automatic gravure plate making
- 50 end of plate making roll.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Manufacture Or Reproduction Of Printing Formes (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
- 中空シリンダロールである被製版ロールを把持して各処理装置に移送することでグラビア製版ロールを製造するための全自動グラビア製版用処理システムに用いられるグラビア製版用ロボットの把持部構造であって、
前記グラビア製版用ロボットのアーム先端に取り付けられ、互いの間隔が広狭自在とされてなり、前記被製版ロールの両端部を把持するための一対の把持プレートと、
前記把持プレートに設けられ、把持せしめられる前記被製版ロールの端部中心に向かって凹となるように湾曲せしめられてなる把持面を有し、且つ滑り止め機能を有する把持面構成部材と、
を含む、グラビア製版用ロボットの把持部構造。 - 前記把持面構成部材が、ゴム又は合成樹脂で構成されてなる、請求項1記載のグラビア製版用ロボットの把持部構造。
- 前記把持面構成部材が、複数の把持面構成部材であり、前記複数の把持面構成部材で把持面が形成されてなる、請求項1又は2記載のグラビア製版用ロボットの把持部構造。
- 前記把持プレートが、下方に開口した把持プレート切り欠き部を有し、前記把持プレート切り欠き部に対応して前記把持面構成部材にも把持面構成部材切り欠き部が形成されてなる、請求項1~3いずれか1項記載のグラビア製版用ロボットの把持部構造。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18887685.8A EP3725520B1 (en) | 2017-12-11 | 2018-11-22 | Grip part structure for gravure platemaking robot |
CN201880007331.4A CN110191807B (zh) | 2017-12-11 | 2018-11-22 | 凹版制版用机器人的把持部结构 |
ES18887685T ES2925240T3 (es) | 2017-12-11 | 2018-11-22 | Estructura de la parte de agarre para el robot de fabricación de placas de huecograbado |
US16/765,784 US10987914B2 (en) | 2017-12-11 | 2018-11-22 | Gripper of a robot for gravure plate-making roll |
JP2019528927A JP6550200B1 (ja) | 2017-12-11 | 2018-11-22 | グラビア製版用ロボットの把持部構造 |
KR1020197019094A KR102025668B1 (ko) | 2017-12-11 | 2018-11-22 | 그라비아 제판용 로봇의 파지부 구조 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017-237060 | 2017-12-11 | ||
JP2017237060 | 2017-12-11 |
Publications (1)
Publication Number | Publication Date |
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WO2019116854A1 true WO2019116854A1 (ja) | 2019-06-20 |
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ID=66819152
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2018/043193 WO2019116854A1 (ja) | 2017-12-11 | 2018-11-22 | グラビア製版用ロボットの把持部構造 |
Country Status (8)
Country | Link |
---|---|
US (1) | US10987914B2 (ja) |
EP (1) | EP3725520B1 (ja) |
JP (1) | JP6550200B1 (ja) |
KR (1) | KR102025668B1 (ja) |
CN (1) | CN110191807B (ja) |
ES (1) | ES2925240T3 (ja) |
TW (1) | TWI793220B (ja) |
WO (1) | WO2019116854A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111823262A (zh) * | 2020-07-27 | 2020-10-27 | 中煤科工集团重庆研究院有限公司 | 组合式伸缩油缸机械手 |
Families Citing this family (1)
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CN113977242B (zh) * | 2021-10-26 | 2023-04-14 | 特富特电磁科技(洛阳)有限公司 | 一种高频电子变压器接头生产组装设备 |
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US4878705A (en) * | 1988-03-18 | 1989-11-07 | Texas Instruments Incorporated | Robot gripper passively locked |
JPH04283089A (ja) * | 1991-03-06 | 1992-10-08 | Nippon Electric Glass Co Ltd | 板状物のハンドリング方法 |
JPH0516180U (ja) * | 1991-08-21 | 1993-03-02 | 株式会社シンク・ラボラトリー | 被製版ロールの吊り上げハンド |
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2018
- 2018-11-22 KR KR1020197019094A patent/KR102025668B1/ko active IP Right Grant
- 2018-11-22 JP JP2019528927A patent/JP6550200B1/ja active Active
- 2018-11-22 US US16/765,784 patent/US10987914B2/en active Active
- 2018-11-22 EP EP18887685.8A patent/EP3725520B1/en active Active
- 2018-11-22 ES ES18887685T patent/ES2925240T3/es active Active
- 2018-11-22 CN CN201880007331.4A patent/CN110191807B/zh active Active
- 2018-11-22 WO PCT/JP2018/043193 patent/WO2019116854A1/ja unknown
- 2018-11-30 TW TW107142906A patent/TWI793220B/zh active
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JPH04283089A (ja) * | 1991-03-06 | 1992-10-08 | Nippon Electric Glass Co Ltd | 板状物のハンドリング方法 |
JPH0516180U (ja) * | 1991-08-21 | 1993-03-02 | 株式会社シンク・ラボラトリー | 被製版ロールの吊り上げハンド |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111823262A (zh) * | 2020-07-27 | 2020-10-27 | 中煤科工集团重庆研究院有限公司 | 组合式伸缩油缸机械手 |
CN111823262B (zh) * | 2020-07-27 | 2023-12-08 | 中煤科工集团重庆研究院有限公司 | 组合式伸缩油缸机械手 |
Also Published As
Publication number | Publication date |
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CN110191807A (zh) | 2019-08-30 |
EP3725520A1 (en) | 2020-10-21 |
KR20190086026A (ko) | 2019-07-19 |
EP3725520B1 (en) | 2022-08-03 |
JPWO2019116854A1 (ja) | 2019-12-19 |
JP6550200B1 (ja) | 2019-07-24 |
TWI793220B (zh) | 2023-02-21 |
TW201927578A (zh) | 2019-07-16 |
CN110191807B (zh) | 2020-07-14 |
ES2925240T3 (es) | 2022-10-14 |
KR102025668B1 (ko) | 2019-09-26 |
EP3725520A4 (en) | 2021-08-18 |
US20200353744A1 (en) | 2020-11-12 |
US10987914B2 (en) | 2021-04-27 |
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