Sheet bundle splitting and gripping device

Abstract

The present invention provides a sheet bundle splitting and holding device that can hold a bundle of sheet materials, such as paper, and more efficiently convey it to a subsequent process. The sheet bundle splitting and holding device of the present invention comprises: a base body connected to a conveying mechanism that approaches or moves away from the sheet bundle; a separation rod having a front end pin for splitting the sheet bundle into a first sheet bundle and a second sheet bundle; a clamping unit having a clamping surface that contacts the main surface of the outermost sheet on the opposite side of the front end pin in the split first sheet bundle; and an ejection guide member that is located between the first sheet bundle and the separation rod and has a guide surface that aligns the side surfaces of the sheets by contacting a layer surface formed by the side surfaces of the sheets of the first sheet bundle.

Description

Technical Field

[0001] The present invention relates to a sheet bundle dividing and grasping device for dividing and grasping a predetermined number of sheet bundles from a plurality of stacked sheets (for example, a blank described below), and a sheet bundle dividing and conveying method using the same. Background Art

[0002] Conventionally, for example, paper cups are manufactured by transferring a sheet of paper (hereinafter also referred to as a "blank") punched into a fan shape by a known punching machine to a paper cup forming machine for forming. Such a blank is formed by punching a raw material paper, which is laminated with a polyethylene film and has a pattern printed thereon, into a substantially fan shape.

[0003] At this time, there is known a sheet bundle dividing device that concentrates the sheets (blanks) punched sequentially by the above-mentioned punching machine into a bundle of a predetermined amount (hereinafter also referred to as a "sheet bundle") and transfers the sheet bundle to the above-mentioned paper cup forming machine (refer to patent document 1 or patent document 2).

[0004] Furthermore, the above-mentioned Patent Document 2 shows an example of using a sheet bundle splitting device to transfer a sheet bundle to a subsequent process, that is, a forming machine, but there are many types of such subsequent processes depending on the manufacturing specifications. For example, sometimes it may be necessary to transfer the punched sheet (blank) to another factory. In this case, the above-mentioned subsequent process becomes a so-called boxing process, and the sheet bundle splitting device is required to have the function of storing the sheet bundle in a storage box.

[0005] [Background Technology Literature]

[0006] [Patent Document]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 6-143168

[0008] [Patent Document 2] Japanese Patent Application Publication No. 2018-16008 Summary of the invention

[0009] [Technical problem to be solved by the invention]

[0010] According to the above patent document, the conveyance of sheet bundles can be mechanically automated, thereby promoting efficiency. However, for example, in Patent Document 1, the division of sheet bundles is difficult in itself, and it can be said that there is not much difference in essence from the form of manual operation. On the other hand, according to Patent Document 2, although the conveyance of sheet bundles to subsequent processes can be made more efficient, further improvements such as reducing conveyance errors and increasing conveyance speed are required. In addition, Patent Document 2 does not specifically mention the storage in a storage box for storing sheet bundles, and also does not consider the stacking of sheet bundles.

[0011] The present invention has been made taking the above-mentioned technical problem as an example, and an object of the present invention is to provide a sheet bundle dividing and grasping device capable of grasping, for example, a bundle of paper sheets and conveying the bundle to a subsequent process more efficiently.

[0012] [Technical means to solve technical problems]

[0013] A sheet bundle dividing and holding device in one embodiment of the present invention (1) divides and holds at least a portion of a sheet bundle formed by stacking multiple sheets, and is characterized in that it includes: a base body connected to a conveying mechanism that approaches or moves away from the sheet bundle; a separation rod uprightly arranged on the base body and having a front end pin for dividing the sheet bundle into a first sheet bundle and a second sheet bundle; a clamping unit arranged on the base body and having a clamping surface that contacts the main surface of the outermost sheet on the side opposite to the front end pin in the divided first sheet bundle; and an ejection guide member that can be located between the first sheet bundle and the separation rod and has a guide surface that aligns the side surfaces of the sheets in the first sheet bundle by contacting a stacking surface formed by the side surfaces of the sheets.

[0014] Furthermore, in the sheet bundle dividing and gripping device described in (1) above, (2) preferably has a control device for controlling the drive of the clamping unit, and the control device performs the following control, i.e., moves at least one of the front end pin and the clamping surface toward the other, and clamps the sheets located at each end of the first sheet bundle using the front end pin and the clamping surface.

[0015] Furthermore, in the sheet bundle splitting and holding device described in (1) or (2) above, (3) it is preferred that the front end pin comprises: a front end protrusion which is inserted between the first sheet bundle and the second sheet bundle; a holding surface which contacts the outermost sheet on the side opposite to the clamping surface in the split first sheet bundle; and a connecting portion which is connected to the separation rod.

[0016] Furthermore, in the sheet bundle splitting and holding device described in any one of (1) to (3) above, (4) is preferably configured such that the sheet bundle is split into the first sheet bundle and the second sheet bundle by pushing the front end pin upward from the lower side in the vertical direction of the sheet bundle via the separation rod.

[0017] Furthermore, in the sheet bundle splitting and holding device described in any one of (1) to (3) above, (5) is preferably configured such that the sheet bundle is split into the first sheet bundle and the second sheet bundle by pressing the front end pin downward from the upper side in the vertical direction of the sheet bundle via the separation rod.

[0018] Furthermore, in the sheet bundle dividing and grasping device described in any one of (1) to (5) above, (6) preferably further comprises a weight measuring sensor for measuring the weight of the sheet bundle, wherein the sheet bundle is arranged in plurality with a predetermined gap in a direction intersecting the direction in which the plurality of sheets are stacked and are respectively placed on a holding portion, and the weight measuring sensor measures the weight of the sheet bundles respectively placed on the holding portion.

[0019] Furthermore, in the sheet bundle dividing and grasping device described in any one of (1) to (6) above, (7) preferably further comprises a specification measuring sensor for measuring the specifications of the sheets constituting the sheet bundle, wherein the specification measuring sensor is mounted on the base body and measures a specification pattern provided on a holding portion for holding the sheet bundle to determine the specifications of the sheets.

[0020] [Effects of the Invention]

[0021] According to the present invention, a sheet bundle can be quickly divided and held, and conveying errors such as accidental dropping of a portion of the held sheet bundle can be suppressed, so that the sheet bundle can be conveyed to a subsequent process more efficiently. In addition, according to the present invention, a sheet bundle can also be stacked in a storage box, or another sheet bundle can be stacked on a sheet bundle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of a sheet bundle splitting and conveying system including a sheet bundle splitting and gripping device according to the present embodiment;

[0023] Figure 2 It is a schematic diagram of the sheet bundle splitting and holding device of this embodiment when viewed from obliquely above;

[0024] Figure 3 It is a schematic diagram of the sheet bundle splitting and holding device of this embodiment when viewed from the side;

[0025] Figure 4 is a schematic diagram showing the detailed structure of a front end pin mounted on a release lever;

[0026] Figure 5 This is a flowchart for explaining the sheet bundle splitting and conveying method of this embodiment;

[0027] Figure 6 It is a schematic diagram showing a state where sheets punched out by a previous process are stacked and placed on a holding mechanism;

[0028] Figure 7 Yes Figure 5 A flowchart for explaining the details of the sheet bundle removal process in the flowchart shown;

[0029] Figure 81 is a schematic diagram showing a state when a dividing point in a stacked sheet (sheet bundle) placed on a blank holding portion is detected;

[0030] Fig. 9 Schematic diagram showing a state when the lower end of a stacked sheet (sheet bundle) placed on a blank holding portion is detected;

[0031] Fig.10 Schematic diagram showing a state in which a blank support wall in a blank holding portion is retracted;

[0032] Fig.11 It is a schematic diagram showing the state and its transition when a predetermined amount of the first sheet bundle is divided from the stacked sheets (sheet bundle) held by the blank holding portion;

[0033] Fig.12 is a schematic diagram showing a state and transition thereof when the first sheet bundle separated from the sheet bundle is rearranged in order;

[0034] Fig.13 is a schematic diagram showing a state when holding the first sheet bundle separated from the sheet bundle;

[0035] Fig.14 Schematic diagram showing the state when the held first sheet bundle is conveyed to a subsequent process;

[0036] Fig.15 It is a schematic diagram showing the state and transition thereof when the first sheet bundle arriving at the subsequent process is released and placed;

[0037] Fig.16 1. It is a schematic diagram showing a state in which a blank support wall in a blank holding portion is retracted in a modified example (lower side division);

[0038] Fig.17 1 is a schematic diagram showing a state and transition thereof when a predetermined amount of a first sheet bundle is divided from a sheet bundle held by a blank holding portion in a modified example (lower side division);

[0039] Fig.18 1 is a schematic diagram showing a state and transition thereof when the first sheet bundle divided from the sheet bundle is rearranged in a modified example (lower side division);

[0040] Fig.19 1 is a schematic diagram showing a state when holding the first sheet bundle divided from the sheet bundle in a modified example (lower side division);

[0041] Fig. 20 1 is a schematic diagram showing a state when the first sheet bundle separated from the sheet bundle is re-grasped in a modified example (lower side division);

[0042] Fig.21This is a schematic diagram showing a state when the gripped first sheet bundle is conveyed to a subsequent step in a modified example (lower side division).

[0043] Description of Reference Numerals

[0044] 1: Sheet bundle

[0045] 1A: 1st sheet bundle

[0046] 1B: Second sheet bundle

[0047] 10: Base body

[0048] 20: Separation lever

[0049] 21: Front end pin

[0050] 21a: Front end protrusion

[0051] 21b: Holding surface

[0052] 21c: Outer back

[0053] 21d: Connection part

[0054] 22: Pillar

[0055] 30: Clamping unit

[0056] 31: Clamping plate

[0057] 31a: Clamping surface

[0058] 32: Clamping plate moving mechanism

[0059] 40: Launching an organization

[0060] 41: Guide plate

[0061] 41a: Guide surface

[0062] 42: Connecting plate

[0063] 43: Guide plate driving mechanism

[0064] 50: Split point detection sensor

[0065] 60: Specifications Measurement Sensor

[0066] 100: Sheet bundle splitting and holding device

[0067] 200: Pre-process means (stamping machine)

[0068] 300: Post-process means (storage box)

[0069] 400: Sheet bundle splitting and conveying system

[0070] A: Split point

[0071] B: Coordinate origin

[0072] CTL: Control Device

[0073] Mk: Specification mark

[0074] RM,RM1,RM2,RM3,RM4,RM5: Holding mechanism

[0075] SFa,SFb: Guide rod

[0076] SW: Support wall

[0077] TM:Transfer mechanism. DETAILED DESCRIPTION

[0078] Hereinafter, the sheet bundle splitting and holding device and the sheet bundle splitting and conveying method of the present invention will be specifically described with appropriate reference to the accompanying drawings. Furthermore, the following embodiment is an example of the present invention and is not intended to limit the present invention, and other known structures may be appropriately supplemented. For example, with respect to the device structure other than the structure described in detail below, known conveying mechanisms such as those included in the above-mentioned patent document 2 may also be cited within the scope that does not hinder the main purpose of the present invention.

[0079] [Sheet bundle splitting and conveying system]

[0080] Figure 1 (a) and (b) show a sheet bundle splitting and conveying system 400 in this embodiment. As shown in the figure, the sheet bundle splitting and conveying system 400 in this embodiment includes the following sheet bundle splitting and grasping device 100, conveying mechanism TM, front process means 200 and back process means 300, etc.

[0081] The transport mechanism TM is, for example, a known transport robot capable of six-axis control and having an arm mechanism at its front end that can be connected to the sheet bundle dividing and grasping device 100. The transport mechanism TM may also adopt a structure as shown in Patent Document 2, for example.

[0082] The pre-process means 200 is a known forming machine (punch press) that forms the sheet material of this embodiment into a predetermined shape. As an example, the pre-process means 200 of this embodiment can be exemplified by a known punch press disclosed in Patent Document 2, etc., that punches and forms a paper blank into a fan shape. In this case, the blank is finally transferred to a paper cup forming machine and formed into a paper cup.

[0083] The post-process means 300 is a well-known means for receiving the first sheet bundle 1A (described below) conveyed by the sheet bundle dividing and holding device 100. For example, when the post-process is a paper cup forming process, the post-process means 300 can be exemplified by a paper cup forming machine. On the other hand, when the post-process is located elsewhere (another production line or another factory that is physically far away), since the sheets need to be transported, the post-process means 300 becomes a storage box for transportation. For example Figure 1 As shown in (b) and the like, such a storage box can be exemplified by a rectangular parallelepiped box such as a known cardboard box having an opening surface through which the sheet bundle dividing and grasping device 100 can carry in or carry out the sheet bundle.

[0084] Hereinafter, as an example of the post-process means 300, the storage box for transporting the formed sheet to another place is further described. Also, below, as an example, although the fan-shaped paper sheet (blank) formed into a paper cup is described as an example, the present invention is not limited to the above content, and other shapes of sheets can also be used, and materials other than paper such as resin can also be used.

[0085] [Sheet bundle dividing and holding device]

[0086] Next, refer to Figure 1 to Figure 4 , while explaining the detailed structure of the sheet bundle splitting and holding device 100 in this embodiment. The sheet bundle splitting and holding device 100 is located between the above-mentioned front process means 200 and the back process means 300, and has the following functions, for example, similar to Patent Document 2: the sheet bundle 1 which is stacked in the horizontal direction and held by the holding mechanism RM and is formed by continuous punching of the punching machine is split into a first sheet bundle 1A and a second sheet bundle 1B and held.

[0087] More specifically, as in Figure 2 and Figure 3 As understood by others, the sheet bundle splitting and holding device 100 of the present embodiment has the function of splitting and holding at least a portion of a sheet bundle 1 formed by stacking a plurality of sheets (blanks), and is composed of a base body 10, a separation rod 20, a clamping unit 30, an ejection mechanism 40, a split point detection sensor 50, a specification measurement sensor 60 and a control device CTL.

[0088] The base body 10 is connected to a conveying mechanism TM that can approach or leave the sheet bundle 1 formed by the pre-process means 200 and held by the holding mechanism RM. Figure 2 As shown, one end side of the base body 10 is connected to the above-mentioned conveying mechanism TM, and on the other hand, the separation lever 20, the clamping unit 30, and the push-out mechanism 40 described below are mounted on the other end side.

[0089] The base body 10 of this embodiment has the function of carrying the following segmentation point detection sensor 50 and specification measurement sensor 60. Such base body 10 can be made of known materials such as metal materials without particular limitation, and can further have other known components or functions as long as it can exert the above functions.

[0090] As described above, the separation rod 20 is vertically arranged on the base body 10, and has the function of dividing the sheet bundle 1 into the first sheet bundle 1A and the second sheet bundle 1B. That is, the "first sheet bundle 1A" refers to the sheet bundle consisting of the amount that the sheet bundle dividing and holding device 100 of this embodiment can hold at one time. Moreover, the "second sheet bundle 1B" refers to the sheet bundle that is the remaining part after the first sheet bundle 1A is separated from the sheet bundle 1. Therefore, if the following embodiment of dividing and holding the sheet bundle is repeated, in the dividing process after the second time, the first sheet bundle 1A of a predetermined amount is continued to be divided from the second sheet bundle 1B.

[0091] Specifically, the separation lever 20 of the present embodiment includes a front end pin 21 and a support 22, the front end pin 21 contacts the arc surface of the sheet bundle 1 held by the holding mechanism RM (the side of the sheet bundle composed of the inner arc surface or the outer arc surface of each sheet, and can also refer to Patent Document 2 as appropriate) to perform the above-mentioned division, and the support 22 carries the front end pin 21 at the front end portion and is installed at the base end to the base body 10 to be vertically arranged. Furthermore, in the present embodiment, although the example in which the front end pin 21 contacts the above-mentioned arc surface of the sheet bundle 1 is described, it is also possible to implement the above-mentioned division by contacting the front end pin 21 with other side surfaces of the sheet bundle (for example, non-arc surfaces other than the inner arc surface or the outer arc surface).

[0092] <Detailed Structure of Front End Pin 21>

[0093] Next, refer to Figure 4 , while describing in detail the structure of the front end pin 21 of the release lever 20 in this embodiment.

[0094] As can be understood from the figure, the front end pin 21 of the present embodiment includes a front end protrusion 21a, a holding surface 21b, an outer back surface 21c and a connecting portion 21d. The above-mentioned front end protrusion 21a is inserted between the above-mentioned first sheet bundle 1A and the second sheet bundle 1B, the above-mentioned holding surface 21b is in contact with the main surface of the outermost sheet on the side opposite to the clamping surface 31a in the divided first sheet bundle 1A, the above-mentioned outer back surface 21c is formed with a recessed portion on the side opposite to the holding surface 21b, and the above-mentioned connecting portion 21d has a connecting hole connected to the separation rod 20.

[0095] The holding surface 21b is formed in parallel with the main surface of the first sheet bundle 1A (the surface opposite to the holding surface 21b) during the above-mentioned division. Therefore, when the first sheet bundle 1A is conveyed to the post-process means 300, the holding surface 21b can more reliably hold the main surface of the first sheet bundle 1A.

[0096] On the other hand, the outer back surface 21c is formed with a recessed portion so that a convex portion is formed at the front end. When the support wall SW described below is moved backward, the convex portion is caught by the holding mechanism RM, so that the support wall SW described above can be moved backward.

[0097] Furthermore, in this embodiment, the front pin 21 is connected to the support 22 by bolts or the like through the above-mentioned connection hole, but the connection method between the front pin 21 and the support 22 is not limited to the above-mentioned embodiment. For example, the front pin 21 and the support 22 may be fixed by other known fixing methods such as known adhesives or heat welding.

[0098] return Figure 2 Next, the respective components included in the sheet bundle dividing and grasping device 100 according to the present embodiment will be described.

[0099] The clamping unit 30 is disposed on the base body 10 and is configured to have a function of clamping the divided first sheet bundle 1A in cooperation with the front end pin 21 of the separation lever 20 .

[0100] More specifically, if Figure 2 and Figure 3 As will be understood by the above, the clamping unit 30 of the present embodiment includes a clamping plate 31 and a clamping plate moving mechanism 32. The clamping plate 31 can face the sheet bundle held by the holding mechanism RM, and the clamping plate moving mechanism 32 moves the clamping plate 31 toward the front end pin 21 side (i.e., the sheet bundle side facing when holding). The clamping plate 31 is mounted on the base body 10 in such a manner that its main surface (clamping surface 31a) is parallel to at least a portion of the holding surface 21b of the front end pin 21.

[0101] Then, the clamping plate moving mechanism 32 can clamp the first sheet bundle 1A using the holding surface 21b and the clamping surface 31a by moving the clamping plate 31 toward the front end pin 21 under the control of the control device CTL described below. That is, the clamping surface 31a contacts the main surface of the outermost sheet on the side opposite to the front end pin 21 side in the divided first sheet bundle 1A during the clamping.

[0102] As a specific example of the clamping plate moving mechanism 32, various known drive mechanisms such as compressed air, oil pressure, or a feed screw mechanism can be applied without particular limitation. In the present embodiment, a known cylinder mechanism using compressed air is used as an example of the drive mechanism.

[0103] The push-out mechanism 40 is configured to be located between the first sheet bundle 1A and the separation rod 20 during the clamping, and has a function of aligning the side surfaces of each sheet by contacting the stacking surface formed by the side surfaces of each sheet of the first sheet bundle 1A. In addition, the "stacking surface" refers to a surface formed by one side of each of the stacked sheets (blanks) (e.g., the inner arc or outer arc of the blank) (see Patent Document 2, etc. as needed).

[0104] More specifically, the push-out mechanism 40 of the present embodiment includes a guide plate 41 having a guide surface 41a extending along the axial direction of the support 22 of the separation rod 20 and in contact with the above-mentioned accumulation surface of the first sheet bundle 1A, a connecting plate 42 connected to the guide plate 41, and a guide plate driving mechanism 43 that moves the connecting plate 42 toward or away from the above-mentioned separation rod 20. Thus, by guiding the accumulation surface of the first sheet bundle 1A separated from the sheet bundle 1 using the guide surface 41a, the sheets (blanks) constituting the first sheet bundle 1A can be neatly arranged.

[0105] Furthermore, in this embodiment, Figure 3 As shown, the guide plates 41 arranged in parallel along the main axis (pillar 22) of the separation rod 20 only need to move parallel to or away from the separation rod 20, and the connecting plate 42 can be omitted as appropriate.

[0106] In this embodiment, the guide plate driving mechanism 43 moves the guide plate 41 through the connecting plate 42. As a specific example of such a guide plate driving mechanism 43, various known driving mechanisms such as compressed air, oil pressure, or a feed screw mechanism can be applied without particular limitation. In this embodiment, as with the above-mentioned clamping plate moving mechanism 32, a known cylinder mechanism using compressed air is used as an example of a driving mechanism.

[0107] like Figure 3 As shown, the dividing point detection sensor 50 is mounted on the base body 10, for example, and has a function of calculating the dividing point A in the sheet bundle 1 described below. For example, a known distance measuring sensor such as a laser displacement sensor can be exemplified as such a dividing point detection sensor 50. Furthermore, in this embodiment, although a laser displacement sensor is used as the dividing point detection sensor 50, it is not limited to such an optical sensor, and other distance measuring sensors such as an electric wave type or an ultrasonic type can also be used.

[0108] As described below, the segmentation point detection sensor 50 of the present embodiment has a distance measurement function, so it can also be used to measure the multiple holding mechanisms RM (RM1 to RM5, see Figure 6 ) is a function of the weight of each sheet bundle 1 maintained.

[0109] like Figure 3As shown, the specification measurement sensor 60 is mounted on the base body 10, for example, and has the function of detecting the plurality of holding mechanisms RM (RM1 to RM5, see Figure 6 ) has the function of the specification mark Mk. As such a specification measurement sensor 60, a well-known photographic means such as a CCD (charge coupled device) camera or a CMOS (complementary metal oxide semiconductor) sensor can be exemplified. In this way, the specifications related to the sheet (blank) held by the holding mechanism RM can be identified, thereby preventing the sheet (blank) of the wrong specification from being conveyed to the subsequent process means 300.

[0110] The control device CTL can be exemplified by a known computer having a memory or CPU not shown. Thus, for example, a programmed sheet bundle splitting and conveying method (described below) can be executed by the sheet bundle splitting and holding device 100. Furthermore, the control device CTL of the present embodiment has a function of controlling the drive of the clamping unit 30. As described below, the control device CTL performs the following control, i.e., at least one of the front end pin 21 and the clamping surface 31a is moved toward the other, and the main surface of the sheet (blank) located at each end of the split first sheet bundle 1A is clamped by the front end pin 21 and the clamping surface 31a.

[0111] <Method for dividing and conveying sheet bundles>

[0112] Next, further refer to Figures 5 to 15 , while describing in detail the sheet bundle splitting and conveying method in this embodiment. The sheet bundle splitting and conveying method is, for example, a conveying method using the sheet bundle splitting and gripping device 100 having the separation lever 20, the gripping unit 30, and the push-out mechanism 40, which is stored in the memory as a program and can be executed by the control device CTL. In addition, the program for executing the sheet bundle splitting and conveying method can be downloaded by the control device CTL through a known network such as a cloud, in addition to being stored in the memory.

[0113] At Figure 5 In step 1-1 shown, first, it is determined whether the hand needs to be replaced. Here, when the sheet (blank) is used for a beverage container such as a paper cup, the shape is determined based on a variety of specifications according to its use or capacity. Therefore, first, in the sheet bundle splitting and conveying method of this embodiment, it is determined whether an appropriate hand (the sheet bundle splitting and gripping device 100 or other hand as described below) is selected according to the sheet (blank) supplied from the previous process means 200.

[0114] The determination in step 1 - 1 may be performed, for example, by an operator operating the sheet bundle dividing and grasping device 100 , or may be performed by the control device CTL based on a mark (not shown) or an input from an operator.

[0115] Then, if it is determined in step 1-1 that the hand does not need to be replaced, the process proceeds to step 2. On the other hand, if it is determined that the hand needs to be replaced, the hand is replaced in the next step 1-2. Furthermore, when replacing the hand, for example, from sheet bundle splitting and gripping devices with different shapes or specifications, such as sheet bundle splitting and gripping devices with different front end pins 21, the hand (sheet bundle splitting and gripping device) that best suits the conveyance of sheets of the specification is selected.

[0116] In the next step 2, the specification of the sheet (blank) to be transported is compared, and the order of taking out the sheet bundle to be divided and grasped is determined. Figure 6 As shown, in this embodiment, the sheet (blank) punched by the front process means 200 is held by guide rods SFa and SFb of five holding mechanisms RM arranged in parallel. The five holding mechanisms RM are arranged in a direction intersecting with the direction in which the plurality of sheets are stacked ( Figure 6 In addition, the detailed structure of the holding mechanism RM is the same as that of the above-mentioned patent document 2 except for the part which will be described in detail below, so the structure of the "holding part 100" disclosed in the patent document 2 is cited in this specification as needed.

[0117] In this embodiment, as described above, sheets (blanks) are supplied from the front process means 200 to the five holding mechanisms RM1 to RM5, respectively. Each sheet (blank) is piled up on the guide rods SFa and SFb in a state where its in-plane direction is parallel to the vertical direction (standing state). Furthermore, in this embodiment, the sheet (blank) located at the end of the guide rods SFa and SFb is also suppressed from accidentally falling due to the support wall SW. The specific structure of the support wall SW is the same as the "blank pressing unit 130" of Patent Document 2, so detailed description is omitted.

[0118] At this time, the specification mark Mk is added to the end of any guide rod (the guide rod SFa in this example). The specification mark Mk corresponds to the various sheet specifications, and the sheet specifications (shape, etc.) can be understood by detecting the specification mark Mk.

[0119] Thus, in the above-mentioned step 2, the control device CTL performs control to control the specification measurement sensor 60 of the sheet bundle dividing and gripping device 100 to detect the specification mark Mk provided in each of the plurality of holding mechanisms RM.

[0120] Furthermore, in step 2, after the comparison of the above specifications is completed, the order of taking out the sheet bundle is determined. More specifically, the control device CTL uses the above-mentioned dividing point detection sensor 50 as a weight measurement sensor to perform control to measure the weight of the sheet bundle 1 held by each of the above-mentioned multiple (5 in this example) holding mechanisms RM. As described above, the dividing point detection sensor 50 is a distance measurement sensor, so by scanning in the direction opposite to the multiple holding mechanisms RM arranged in parallel, the distance to the front of the sheet bundle 1 held by each holding mechanism RM (that is, the weight of each sheet, the stacking amount) can be determined.

[0121] Thus, the sheet bundle 1 of the present embodiment is arranged in a direction ( Figure 6 A plurality of the sheet bundles 1 are arranged with a predetermined gap in the Y direction and are placed on the holding portion (holding mechanism RM). Moreover, the sheet bundle splitting and holding device 100 of the present embodiment further includes a weight measuring sensor (split point detection sensor 50) for measuring the weight of the sheet bundle 1, and the weight measuring sensor has a function of measuring the weight of each sheet bundle placed on the holding portion.

[0122] Therefore, in step 2, the control device CTL can determine the removal order by, for example, taking out the sheet bundle in sequence from the holding mechanism RM with a larger stacking amount of the stacked sheets (blanks). Furthermore, the above-mentioned removal order is an example, and the control device CTL can also determine the removal order by, for example, taking out the sheet bundle in sequence from the holding mechanism RM with a smaller stacking amount. Furthermore, in the following description, an example of dividing and conveying the sheet bundle 1 held by the first holding mechanism RM1 located at the left end among the plurality of holding mechanisms RM is described.

[0123] In the next step 3, the position confirmation of the storage box 300 and the correction of the corresponding requirements are performed as the post-process means. That is, the storage box 300 in this embodiment is a rectangular parallelepiped carton as described above, and position detection marks (not shown) are attached to the four corners. Therefore, in this embodiment, the configuration inclination or the position of the storage box 300 is determined by using the specification measurement sensor 60 of the sheet bundle splitting and holding device 100 to photograph the position detection marks attached to the four corners of the storage box 300.

[0124] Furthermore, the position detection mark is not particularly limited as long as it can be recognized by the specification measurement sensor 60 as a photographing device, and various known measurement marks can be used. In step 3, by confirming the position of the storage box 300 using the above method and correcting the position information of the storage box 300 as needed, the first sheet bundle 1A described below can be neatly and efficiently stored in the storage box 300.

[0125] Next, in step 4, the sheet bundle is taken out using the sheet bundle dividing and grasping device 100. Figure 7 to Figure 14 This is described in detail below.

[0126] Then, in step 4, after the removal of the sheet bundle is completed, in the next step 5, a process of loading the removed sheet bundle into the storage box 300 is executed. Fig.15 This is described in detail below.

[0127] As described above, after the loading process of step 5 is completed, it is determined in step 6 whether the loading of the specified number of sheets (blanks) has been completed. Then, if it is determined in step 6 that the specified number has not been reached, the process returns to step 4, the second sheet bundle 1B becomes a new sheet bundle 1, and the removal process to the loading process of the new first sheet bundle 1A are repeated. On the other hand, if it is determined in step 6 that the specified number of sheets (blanks) have been conveyed to the subsequent process, the conveying process is terminated.

[0128] <Sheet bundle removal process>

[0129] Next, use Figure 7 to Figure 14 The removal process of the sheet bundle in step 4 above is described in detail. Figure 7 As shown, in the sheet bundle taking-out process of the present embodiment, first, the control device CTL sets a separation location (division point A) in step 41 .

[0130] More specifically, if Figure 8 As shown, the control device CTL calculates the dividing point A in the sheet bundle 1 by the dividing point detection sensor 50. That is, since the position of the front end pin 21 of the separation lever 20 relative to the base body 10 is known, as long as the distance to the sheet bundle 1 is measured by the dividing point detection sensor 50, it is possible to calculate to what extent the sheet bundle dividing and holding device 100 needs to be brought close to the sheet bundle 1 so that the front end pin 21 can be positioned at the target dividing point A. For this purpose, in this embodiment, as an example, the detection light of the dividing point detection sensor 50 is irradiated to a position 15 mm above the lower end of the sheet bundle 1 in the Z direction, thereby measuring the distance to the sheet bundle 1.

[0131] Here, the "division point A" in the present embodiment refers to a point where the first sheet bundle 1A to be gripped and conveyed is separated from the remaining second sheet bundle 1B in the sheet bundle 1 held by the holding mechanism RM. Furthermore, the weight of the first sheet bundle 1A, such as several tens to several hundred, is determined based on the gripping capacity or conveying efficiency of the sheet bundle splitting and gripping device 100.

[0132] Next, in step 42, if Fig. 9 As shown, the control device CTL detects the position of the lower end of the sheet bundle 1 held by the holding mechanism RM. Fig.10 in the "B" position).

[0133] Furthermore, as described above, since the specifications of the sheet (blank) to be conveyed are known, the upper end position of the sheet bundle 1 held by the holding mechanism RM can also be calculated based on the above-mentioned coordinate origin. Alternatively, it can also be configured to use the above-mentioned dividing point detection sensor 50 to always monitor the distance from the front end pin to the sheet bundle.

[0134] In the next step 43, if Fig.10 As shown, the control device CTL releases the support of the sheet bundle 1 by the brake (support wall SW) by sliding the first holding mechanism RM1 through the front end pin 21 of the separation lever 20. More specifically, the control device CTL causes the front end protrusion 21a of the front end pin 21 to be caught in the recess of the first holding mechanism RM1, etc., so that the sheet bundle dividing and holding device 100 retreats (moves in the +X direction).

[0135] In the next step 44, if Fig.11 As shown in (a) to (c) of FIG. 1 , the control device CTL separates the sheet bundle 1 held by the first holding mechanism RM1 (guide rods SFa and SFb) into the first sheet bundle 1A and the second sheet bundle 1B by means of the separation rod 20. More specifically, the control device CTL moves the front end pin 21 of the separation rod 20 from the vertical direction ( Fig.12 The sheet bundle 1 held by the first holding mechanism RM1 is divided into a first sheet bundle 1A and a second sheet bundle 1B with the above-mentioned dividing point A as the boundary by controlling the upper side of the sheet bundle 1 to be pressed downward.

[0136] Furthermore, at this time Fig.11 As shown in (b), the control device CTL performs control such that when the front end protrusion 21a of the front end pin 21 is inserted into the sheet bundle 1, the front end of the front end protrusion 21a is inserted into the accumulated surface of the sheet bundle 1 in a manner that the front end of the front end protrusion 21a is rubbed along the surface direction of the sheet. More specifically, the control device CTL of this embodiment performs an action of moving the front end protrusion 21a along the curved surface (inner curved surface or outer curved surface) of the sheet constituting the sheet bundle 1 while inserting the front end protrusion 21a at the dividing point A. Thus, the process of dividing the sheet bundle 1 into the first sheet bundle 1A and the second sheet bundle 1B can be smoothly performed without accidentally disturbing the sheet bundle 1.

[0137] Again, if Fig.11As shown in (c), considering the thickness of the front end pin 21, while the front end protrusion 21a is inserted into the sheet bundle 1, the control device CTL causes the sheet bundle splitting and holding device 100 to retreat (move in the +X direction). Fig.11 As shown in (c) , the upper portion of the first sheet bundle 1A held by the first holding mechanism RM1 is pressed by the front end pin 21 and is in a state of being tilted rearward.

[0138] In this way, in the above-mentioned dividing process, since the upper part of the first sheet bundle 1A is pressed by the front end pin 21 and becomes inclined backward, if the holding operation is continued in this state, the first sheet bundle 1A may be held in a displaced state.

[0139] Therefore, in this embodiment, in the next step 45, as Fig.12 As shown, the control device CTL executes an alignment process for the divided first sheet bundle 1A.

[0140] More specifically, if Fig.12 As shown, the control device CTL moves the release rod 20 forward (in the direction opposite to the above-mentioned backward direction, i.e., Fig.12 The guide plate 41 moves in the -X direction) and descends until the accumulation surface of the first sheet bundle 1A contacts the guide plate 41. As a result, the upper portion of the first sheet bundle 1A tilted above can be restored to an upright position, and the accumulation surface can be rearranged by the guide surface 41a of the guide plate 41.

[0141] Then, in the following step 46, if Fig.13 As shown, the control device CTL performs the gripping process of the first sheet bundle 1A that has been divided and aligned. More specifically, the control device CTL controls the clamping plate 31 to move toward the front end pin 21 side (i.e., the sheet bundle side that is opposite during gripping) through the clamping plate moving mechanism 32 of the clamping unit 30. As a result, the divided first sheet bundle 1A is gripped (clamped) between the gripping surface 21b of the front end pin 21 in the separation lever 20 and the clamping surface 31a of the clamping plate 31 in the clamping unit 30.

[0142] Next, in step 47, if Fig.14 As shown, the control device CTL performs control such that the first sheet bundle 1A is conveyed to the subsequent process means 300 by retracting and ascending the sheet bundle dividing and grasping device 100. In this embodiment, although the sheet bundle dividing and grasping device 100 is retracted and ascended to leave in step 47, the present invention is not limited to this form. That is, the control device CTL may also perform control in a manner of at least one of retracting and ascending the sheet bundle dividing and grasping device 100.

[0143] Furthermore, as shown in the figure, it is preferred that the sheet bundle splitting and holding device 100 is maintained at a position close to the second sheet bundle 1B in a manner that at least a portion of the sheet bundle 1B faces the second sheet bundle 1B before the brake (support wall SW) of the first holding mechanism RM1 supports the second sheet bundle 1B. Thus, the sheet bundle splitting and holding device 100 (for example, the front end pin 21) temporarily functions as a brake, thereby preventing a portion of the second sheet bundle 1B from accidentally falling down before the support wall SW is used again for support.

[0144] <Sheet bundle loading process>

[0145] Next, use Fig.15 , the loading process of the sheet bundle in the above step 5 is described in detail. Fig.15 As shown, the control device CTL controls the first sheet bundle 1A to be placed after conveying it to the post-process means 300. In this embodiment, since the post-process means is the storage box 300, the control device CTL positions the first sheet bundle 1A by transferring the first sheet bundle 1A into the storage box 300 and pressing it against the side wall of the storage box 300.

[0146] After the first sheet bundle 1A is pressed against the side wall of the storage box 300, as shown in the figure, the control device CTL moves the guide plate 41 toward the side wall through the guide plate driving mechanism 43, and uses the guide plate 41 to press the first sheet bundle 1A against the above-mentioned side wall, thereby relatively detaching the front end pin 21 from the first sheet bundle 1A.

[0147] Through the above-described operation, the first sheet bundle 1A is released from the clamping between the front end pin 21 and the clamping plate 31 in the storage box 300 , and is placed on the bottom surface of the storage box 300 .

[0148] In this way, the control device CTL of the present embodiment controls the guide plate 41 to move toward the side wall of the storage box 300 through the guide plate driving mechanism 43. Thus, when the first sheet bundle 1A is stored in the storage box 300 in multiple portions, the distance between adjacent sheet bundles can be shortened and arranged in the storage box 300, so that the same sheet bundle can be stored more tightly than usual.

[0149] The above, although referring to the attached Figure 1 While the preferred embodiment of the present invention is described, the present invention is not limited to this example. Those skilled in the art of the present invention will naturally understand that further modifications can be made to the above embodiment within the scope of the technical concept described in the claims, and such modifications also belong to the technical scope of the present invention.

[0150] <Modification>

[0151] Below, use Figure 16 to Figure 21Modifications of the above-described embodiment will be described.

[0152] In the above embodiment, in the separation process of the sheet bundle 1 , the separation lever 20 presses the front end pin 21 downward from the upper side in the vertical direction of the sheet bundle 1 , thereby separating the sheet bundle 1 into the first sheet bundle 1A and the second sheet bundle 1B.

[0153] In contrast, in this modification, the sheet bundle 1 is divided into the first sheet bundle 1A and the second sheet bundle 1B by the separation lever 20 pushing the front end pin 21 upward from the lower side in the vertical direction of the sheet bundle 1. In the following modification, the same reference numerals are given to those having the same functions and effects as those in the above-mentioned configuration, and their descriptions are omitted as appropriate.

[0154] That is, Figure 7 In step 43, in this variation, as Fig.16 As shown in FIG. 1 , the control device CTL causes the root of the front end pin 21 (the end protruding on the opposite side of the front end protrusion 21a) and the like to be caught in the recess of the first holding mechanism RM1 and the like to move the sheet bundle dividing and grasping device 100 backward (toward the +X direction). Thus, similarly to the embodiment, the first holding mechanism RM1 is slidably moved by the front end pin 21 of the separation lever 20, and the support of the sheet bundle 1 by the brake (support wall SW) is released.

[0155] Furthermore, in the next step 44, in this variation, if Fig.17 As shown in (a), the control device CTL moves the separation rod 20 from the vertical direction ( Fig.17 The front end pin 21 is pushed upward from the lower side (in the Z direction) of the sheet holding mechanism RM1, thereby dividing the sheet bundle 1 held by the first holding mechanism RM1 into the first sheet bundle 1A and the second sheet bundle 1B with the above-mentioned dividing point A as the boundary.

[0156] Furthermore, at this time Fig.17 As shown in (b), it is also possible to assume that a portion of the divided first sheet bundle 1A is pushed upward and bulged. That is, it is also possible that during the above-mentioned division, a portion of the sheet on the front end pin 21 side of the first sheet bundle 1A is pushed upward due to friction or the like.

[0157] Therefore, in this variation, in the following step 45, Fig.18 As shown, the control device CTL executes an alignment process for the divided first sheet bundle 1A.

[0158] More specifically, if Fig.18 As shown in (a), the control device CTL first moves the release rod 20 forward (in the direction opposite to the above-mentioned backward direction, that is, Fig.18-X direction movement) and descend, and the first holding mechanism RM1 (guide rods SFa and SFb) temporarily holds the first sheet bundle 1A again.

[0159] Therefore, if Fig.18 As shown in (a), even if a portion of the divided first sheet bundle 1A bulges upward, the ends can be aligned and arranged in a regular pattern like the other sheets. Fig.18 As shown in (b), the control device CTL moves the release rod 20 upward ( Fig.18 The first sheet bundle 1A is moved in the +Z direction) to regain control of maintaining the aligned first sheet bundle 1A.

[0160] Then, in the following step 46, if Fig.19 More specifically, the control device CTL drives the clamping plate 31 of the clamping unit 30 to control the first sheet bundle 1A to be clamped in cooperation with the front end pin 21 of the separation lever 20 .

[0161] In addition, in this modification, after the above-mentioned holding, as Fig. 20 As shown, the following actions are performed: the clamping plate moving mechanism 32 (cylinder) is turned into an exhaust state to relax the clamping of the first sheet bundle 1A, and the separation rod 20 is raised to push the first sheet bundle 1A upward by the guide plate 41. Through this second aligning action, the sheets (blanks) constituting the first sheet bundle 1A can be aligned along the guide plate 41 by their own weight.

[0162] After the sheets (blanks) are aligned by their own weight, the control device CTL drives the clamping plate 31 of the clamping unit 30 again, and performs a second grip (clamping) of the first sheet bundle 1A by the front end pin 21 and the clamping plate 31. In this way, the present modification is configured as follows: by performing multiple gripping operations, the sheets (blanks) are aligned along the guide plate 41 under the action of their own weight, and then the first sheet bundle 1A is gripped.

[0163] Afterwards, if Fig.21 As shown, similarly to the above-mentioned embodiment, the control device CTL performs the following control in step 47, that is, by moving the sheet bundle splitting and grasping device 100 backward and upward, the first sheet bundle 1A is conveyed to the back process means 300. At this time, it is preferred that the sheet bundle splitting and grasping device 100 is maintained in a position close to the second sheet bundle 1B in advance in such a manner that at least a part of the sheet bundle 1B faces the second sheet bundle 1B before the brake (support wall SW) of the first holding mechanism RM1 supports the second sheet bundle 1B, which is the same as the above-mentioned embodiment.

[0164] The above-described modified examples can also produce the same effects as those of the above-described embodiment.

[0165] Furthermore, in the above-mentioned embodiments and modifications, the above-mentioned steps 1 to 3 may be omitted as appropriate.

[0166] Furthermore, in the above-mentioned embodiment and the modified example, the clamping plate 31 is moved toward the front end pin 21 under the control of the control device CTL, but the present invention is not limited to this example, and the front end pin 21 may be moved toward the clamping plate 31. That is, in the gripping of the first sheet bundle 1A, at least one of the front end pin 21 and the clamping plate 31 may be relatively close to the other.

[0167] [Industrial Applicability]

[0168] The present invention is suitable for realizing a sheet bundle conveyance that achieves a high degree of compatibility between improving the efficiency of the conveyance time from the division of sheets (blanks) to the arrival at a target location and suppressing the falling of the sheet bundle.

Claims

1. A sheet bundle splitting and holding device, which splits and holds at least a portion of a sheet bundle formed by stacking a plurality of sheets in a horizontal direction in an upright state, characterized in that Include: A base body connected to a conveying mechanism that approaches or moves away from the sheet bundle; A separation lever, which is vertically arranged on the base body and has a front end pin for dividing the sheet bundle into a first sheet bundle and a second sheet bundle; a clamping unit disposed on the base body and having a clamping surface that contacts a main surface of an outermost sheet on the side opposite to the front end pin side in the divided first sheet bundle; and The push-out guide member can be positioned between the first sheet bundle and the separation lever, and includes a guide surface that aligns the side surfaces of the sheets of the first sheet bundle by contacting with a layered surface formed by the side surfaces of the sheets.

2. The sheet bundle dividing and gripping device according to claim 1, comprising a control device for controlling the driving of the gripping unit, The control device performs control to move at least one of the front end pin and the clamping surface toward the other, and to clamp the sheets located at the respective ends of the first sheet bundle by the front end pin and the clamping surface.

3. The sheet bundle dividing and grasping device according to claim 1 or 2, wherein: The front end pin has: A front end protrusion inserted between the first sheet bundle and the second sheet bundle; a holding surface that contacts the outermost sheet on the side opposite to the clamping surface side in the divided first sheet bundle; and A connecting portion is connected to the release rod.

4. The sheet bundle dividing and grasping device according to claim 1 or 2, wherein: The separation lever pushes the front end pin upward from the lower side of the sheet bundle in the vertical direction, thereby dividing the sheet bundle into the first sheet bundle and the second sheet bundle.

5. The sheet bundle dividing and grasping device according to claim 1 or 2, wherein: The separation lever pushes the front end pin downward from the upper side of the sheet bundle in the vertical direction, thereby dividing the sheet bundle into the first sheet bundle and the second sheet bundle.

6. The sheet bundle dividing and gripping device according to claim 1 or 2, further comprising a weight measuring sensor for measuring the weight of the sheet bundle, The sheet bundle is arranged in a plurality of pieces with a predetermined gap in a direction intersecting the direction in which the plurality of sheets are stacked and is placed on a holding portion. The weight measuring sensor measures the weight of the sheet bundle respectively placed on the holding portion.

7. The sheet bundle dividing and gripping device according to claim 1 or 2, further comprising a size measuring sensor for measuring the size of the sheets constituting the sheet bundle, The gauge measurement sensor is mounted on the base body and measures a gauge pattern provided on a holding portion that holds the sheet bundle to determine the gauge of the sheet.

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