JPH058260Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a palletizing device that palletizes a bundle of printed matter (printed books) onto a pallet.

[Conventional technology]

As a measure to prevent stacks from collapsing when multiple stacks of prints are stacked on a pallet, a robot dedicated to inserting interleaf sheets or manually is used to stack each stack of prints 5 on each layer as shown in Figure 9. Inserting a slip sheet 9 is performed.

[The problem that the idea aims to solve]

However, conventional dedicated robots have a complicated structure and require a large space, and using a dedicated robot solely for the purpose of inserting slip sheets is uneconomical because it operates infrequently.

In addition, even though the frequency of operation is low, it is difficult for one person to cover many palletizing devices, resulting in inefficiency.

The present invention attempts to solve the above-mentioned conventional problems, and aims to provide a palletizing device that can also automatically insert interleaf sheets.

[Means to solve the problem]

The present invention is a device used for palletizing, in which paper bundles are stacked in multiple stages on a pallet by inserting interleaf sheets between the tiers of book bundles. In a palletizing device that is capable of vertical movement, horizontal movement, and rotation and stacks book bundles on a pallet, the book bundle hand is provided with an interleaving paper hand that grasps one side end of the interleaving paper, and the interleaving paper hand grips one side end of the interleaving paper. The present invention is characterized in that the book bundle hand is horizontally moved above the stage of the book stack in close proximity to the book stack by grasping one side end of the interleaving paper, and the interleaving paper is released at a predetermined position. This is a book bundle palletizing device.

[Function] Since the palletizing device of the present invention is equipped with an interleaving paper hand in the book bundle hand, the palletizing device can automatically insert interleaving paper by simply incorporating interleaving paper insertion operation software. In this case, in this invention, the slip sheet hand grasps the edge of the slip paper on the position side, moves the print stack hand horizontally above the stack of print sheets, close to the print stack, and releases the slip paper at a predetermined position. Since the interleaving paper is inserted at least, the operation of the interleaving paper insertion process can be reduced, and there is no need to install multiple interleaving paper hands at large distances from each other according to the dimensions of the interleaving paper, which reduces the overall size of the device. It will not lead to deterioration.

〔Example〕

Embodiments of the present invention will be described with reference to the drawings.

In FIGS. 1 and 2, reference numeral 1 designates an automatic palletizing robot, which has a main body 2 rotatable around a vertical axis and an arm 3 movable up and down.
The arm 3 is provided to be extendable and retractable in the horizontal direction, and a book bundle hand 4 that holds a book bundle 5 is connected to the tip of the arm 3 so as to be rotatable around a vertical axis and a horizontal axis.

6 is a palletizing position, 7 is a supply position for the book bundle 5, and 8 is a supply position for interleaf sheets 9.

Next, the hand 4 will be explained using FIGS. 3 to 5.

Reference numeral 10 denotes a fixed guide plate, which is vertically disposed below the base 11 via a bracket 12 and a guide 13 having a U-shaped cross section. Reference numeral 14 denotes a movable guide plate that is paired with the fixed guide plate 10, and is sandwiched between six rollers 16 that are rotatably supported by holders 15, 15. It is provided in mesh with the driven pinion 19 and is movable up and down. Holder 15,1
5 is connected by a connecting plate 20, and a slide plate 2 provided on the outside of the holders 15, 15.
4 and 24 are fitted to the guide rails 25 and 25, and installed on the base 11, and the cylinder 2 is connected to the connecting plate 20 via the bracket 21 and the joint 22.
The movable guide plate 14 is horizontally movable with respect to the fixed guide plate 10 by connecting the three rods.

26 is an L-shaped claw, and the shaft 2 is rotatably supported by bearing holders 27, 27 on the base 11.
8 through holders 29 so as to rotate together with the shaft 28. The shaft 28 is connected to a rod of a cylinder 32 via an arm 30 and an end fitting 31, and is rotated by the cylinder 32. 5 bundles of printed books on the nail of a book
(Hereinafter, the part on which the book bundle 5 is placed will be referred to as the placing part, and the part perpendicular to the placing part will be referred to as the handle part), or the held book bundle 5 can be released.

In the figure, 33 is a bracket that connects the base 11 to the arm 3 of the palletizing robot 1, and 34 is a limit switch section.

An interleaf paper hand 35 selects appropriate members and positions for the book bundle hand 4 having the above-described structure and grasps the interleaf paper 9.
In this embodiment, the fixed guide plate 10 and the U-shaped guide 13 facing each other are provided.
13 and one at the same height.

An example of this is shown in FIG. 6. The paper hand 35 is composed of a pair of L-shaped claws 36, a claw mounting base 37, and a cylinder 38. The pawls 36, 36 are pivotally attached to a pawl mounting base 37 at their bent portions, and are engaged with a pin 39 at the tip of a rod of a cylinder 38 at one end, and are closed when the piston 40 moves through the air inlet/outlet 42 by air pressure. The piston 40 is opened by the return movement of the piston 40 due to the restoring force of the release and compression spring 41. The control section is provided so as to share the control section of the book stack hand 4.

Next, the operation will be described. FIGS. 7 and 8 show an example of a device for feeding the book bundle 5 to the supply position 7, which is suitable for the book book bundle hand 4 described above.

45 is a bell conveyor, 46 is a roller conveyor, and 47 is a lift-up table that can move up and down, the upper end of which protrudes from between the rollers to lift up the book bundle 5 placed on the roller conveyor 46, and lift the book stack 5 placed on the roller conveyor 46. 46 and the claw 2 of the book stack hand 4.
6, 26, and 26 are inserted into the space 49. 48 is a stopper.

As a result, the book bundle 5 is located at the supply position 7, floating from the roller conveyor 46, as shown in FIG.

The moving guide plate 14 of the book bundle hand 4 is raised at a position separated from the fixed guide plate 10. The claws 26, 26, 26 of the book bundle hand 4 keep the placing portion horizontal.

The book bundle hand 4 is moved to the supply position 7, and the mounting portions of the claws 26, 26, 26 are inserted into the space 49 until the side surface of the book bundle 5 comes into contact with the fixed guide plate 10. Next, the movable guide plate 14 that has been raised is lowered, and then moved horizontally in a direction approaching the fixed guide plate 10, so that both sides of the book bundle 5 are completely covered by the fixed guide plate 10 and the movable guide plate 14. The stack of printed books 5 is correctly positioned by bringing it into contact with the paper.

If the book bundle hand 4 is raised as it is, the book bundle 5 will be placed on the placement portion of the claws 26, 26, 26.

The book bundle hand 4 holding the book bundle 5 moves above the loading position of the book bundle 5 at the palletizing position 6 . The loading position and loading direction of the book bundle 5 are set in advance by, for example, a self-teaching method.

After the book bundle hand 4 is lowered all at once to a certain height, it is lowered little by little, and the descent is stopped when the limit switch parts 34, 34 come into contact with the lower book bundle 5 (more precisely, the interleaf sheet 9). , claw 26,
26, 26 are rotated to release the book bundle 5. The book bundle 5 falls a short distance and is loaded at a predetermined position.

Each time a stack of printed book bundles 5 is stacked on the pallet, a slip sheet 9 is placed (inserted). At this time, the claws 26, 26, 26 of the printed book bundle hand 4 are pressed until the stacking section becomes horizontal. The claws 36, 36 of the interleaving paper hands 35, 35 are made to project outward from between the handles of the claws 26, 26, 26 by rotating. Then, the tip portions 43, 43 of one sheet of interleaf paper 9, which is being fed to the supply position 8 with the tip horizontally at an appropriate height, are held by the interleaf paper hand 35,
35 with claws 36, 36, and move the book bundle hand 4 horizontally to above the palletizing position 6. Then, it moves horizontally at a height as close as possible to the top surface of the stack of prints 5, and automatically moves the claw 36 at a position where the other end of the interleaved paper 9 that has been dragged matches the edge 44 of the top surface of the stack of prints 5. , 36, the interleaf paper 9 can be accurately placed (see FIGS. 2 and 4).

Thereafter, the bundle of printed books 5 is successively stacked on the interleaf paper 9, and palletizing is continued.

As described above, the paper hand 35 has claws 36, 3 that can be opened and closed.
Since the structure is such that the end of the interleaving paper 9 is grasped at step 6, at the supplying position 8 of the interleaving paper 9, the interleaving paper 9 is completely separated one by one using appropriate means or placement, or is stacked and placed on standby. It is necessary to feed the interleaving paper with at least the leading edge protruding from the other interleaving papers, but if the interleaving paper hand 35 is held by vacuum suction, the interleaving paper 9 should be overlapped at the supply position 8. Ok,
It is possible to separate the sheets one by one from the top and take them out and transport them.

[Effect of idea]

Since the palletizing device of the present invention is equipped with an interleaving paper hand in the book bundle hand, the palletizing device can automatically insert interleaving paper by simply incorporating interleaving paper insertion operation software. Therefore, there is no need to insert paper by hand or by a robot dedicated to inserting paper, which has a complicated structure and requires a large space.
Palletizing can be made more efficient.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the palletizing robot 1.
2 is an explanatory diagram of the state of use, FIG. 3 is a plan view of the book bundle hand 4, FIG. 4 is a partially cutaway front view thereof, FIG. 5 is a side view thereof, and FIG. 6 is a slip sheet hand 35. FIG. 7 is a plan view of the device that supplies the stack of printed books 5 to the supply position 7, FIG. 8 is a front view illustrating its operation, and FIG. 9 is a palletizing process in which slip sheets 9 are inserted. FIG. 1... Palletizing robot, 2... Main body,
3... Arm, 4... Book bundle hand, 5... Book bundle, 6... Palletizing device, 7... Print book bundle 5
supply position, 8... supply position of interleaving paper 9, 9... interleaving paper, 10... fixed guide plate, 11... base, 1
2...Bracket, 13...Guide, 14...Movement guide plate, 15...Holder, 16...Roller,
17...Rack, 18...Rotary actuator, 19...Pinion, 20...Connection plate,
21...Bracket, 22...Joint, 23
...Cylinder, 24...Slide plate, 25
... Guide rail, 26 ... Claw, 27 ... Bearing holder, 28 ... Shaft, 29 ... Holder, 30
... Arm, 31 ... End fitting, 32 ... Cylinder, 33 ... Bracket, 34 ... Limit switch, 35 ... Interleaf hand, 36 ... Claw, 37 ...
...Claw mounting base, 38...Cylinder, 39...Pin,
40... Piston, 41... Compression spring, 42...
Air inlet/outlet, 43...Tip, 44...Top edge, 45...Belt conveyor, 46...Roller conveyor, 47...Pushing table, 48...Stopper, 49...Space.

Claims (1)

[Scope of utility model registration request] This is a device used for palletizing, in which sheets of paper are inserted between the tiers of stacks of copies, and the stacks of copies are stacked on a pallet in multiple stages. Prepared for movement and rotation,
In a palletizing device for stacking book bundles on a pallet, the book bundle hand is provided with an interleaving paper hand that grasps one side end of the interleaving paper, and the interleaving paper hand grips one side end of the interleaving paper to A book bundle palletizing device characterized in that the book bundle hand is horizontally moved above the tier of the book book bundles and close to the book book bundles, and the interleaf paper is released at a predetermined position.