Sheet material inversion / transfer device and sheet material inversion / transfer method

Abstract

To provide a sheet material inversion / transfer device and a sheet material inversion / transfer method capable of inverting a sheet arranged at a desired position by absorbing and fixing the sheet, and capable of accurately transferring the sheet to a predetermined position.SOLUTION: A sheet material inversion / transfer device includes: a support unit 20 supporting a placement plate 10; and a carrying-out unit 30 that carries out and inverts the placement plate 10. The carrying-out unit 30 includes a fixation member 31. The fixation member 31 includes a grip part 32 and a rotary vane 36. The carrying-out unit 30 moves the fixation member 31 to a vertical lower side of the placement plate 10 to fix the placement plate 10 by the grip part 32, rotates the rotary vane 36 and generates a negative pressure in a lower space of the placement plate 10 to absorb and fix a first fabric S1. The carrying-out unit 30 carries out the placement plate 10, inverts the placement plate 10, and, when the placement plate 10 moves to a second position R2, stops the rotary vane 36 to release the first fabric S1.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sheet material reverse transfer loading device and a sheet material reverse transfer loading method that move a flexible sheet material to a predetermined position and release it in an inverted state. [Background technology]

[0002] A conventional method for inverting a sheet material placed on a work table and transferring it to a predetermined position is a known inverting method using an apparatus with an inversion table. In this conventional technique, the placed sheet material is imaged with a camera, and position data is calculated from the image data. Next, a suction plate above is lowered to suction-fix the upper surface of the sheet material, and then lifted up to correct the position of the sheet material based on the calculated position data. The sheet material is then transferred to a predetermined position on the upper surface of the inversion table. Next, the sheet material transferred to the inversion table is suction-fixed, and the inversion table is inverted in this state, the suction fixation is released, and the sheet material is inverted and transferred to the predetermined position (see, for example, Patent Document 1).

[0003] For example, in garment manufacturing, when a first fabric is to be superimposed on a second fabric, a worker places the first and second fabrics in a predetermined position, then flips either the first or second fabric 180 degrees to overlap the fabrics. In this case, the fabric to be flipped is fixed in place by the suction force of a suction plate, and after the 180-degree rotation, the fabric is released and placed on top of the other fabric. However, when a randomly placed first fabric is to be superimposed on a second fabric placed in a predetermined position, the relative positions of the fabrics are not constant, and the above-mentioned method was unable to superimpose the fabrics in the predetermined position.

[0004] To address this issue, a known device uses a camera to capture an image of a second fabric placed randomly to calculate position data, and then provides a correction mechanism that corrects the position of one fabric based on the calculated data, and a separate mechanism that inverts the fabric whose position has been corrected, thereby inverting and stacking the fabrics (see, for example, Patent Document 1).However, with this type of transfer device, it is necessary to correct the position of each fabric when transferring it, which increases the number of times the fabric is handed over, making it difficult to improve productivity. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6033028 Summary of the Invention [Problem to be solved by the invention]

[0006] Furthermore, in order to reduce the number of times the fabric is handed over, the suction plate on which the first fabric is placed can be inverted and placed in a predetermined position based on the correction data; however, the suction force of the suction plate, which is connected to a blower or the like via a hose, is weak, which poses a problem of the first fabric falling off when the plate is inverted.

[0007] Flexible sheets, such as fabrics with low sheet rigidity, tend to bend in areas that are not being suctioned (or areas where suction is weak), which can cause the sheet to fall, so a stronger suction force is required compared to sheets with high sheet rigidity.However, if the blower or hose diameter is increased to increase the suction force, the size of the equipment will inevitably increase if the suction plate itself is removed and turned over by a robot or other device.Furthermore, the range of movement is limited due to restrictions imposed by the handling of the hoses connected to the suction plate, which creates the issue of reduced productivity for multi-product production.

[0008] Therefore, the present invention has been made in consideration of the above-mentioned circumstances, and has as its object to provide a sheet material reverse transfer loading device and a sheet material reverse transfer loading method that can adsorb, fix, and invert a sheet placed at any position, and transfer it to a predetermined position with high precision. [Means for solving the problem]

[0009] The problem to be solved by the present invention is as described above, and the means for solving this problem will now be described.

[0010] That is, the sheet material reverse transfer loading device disclosed in the present application includes a loading plate having a loading surface on which a flexible sheet material is loaded and having suction holes formed thereon; a support unit that supports the mounting plate; a carry-out unit that carries out the mounting plate supported by the support unit from the support unit and inverts the mounting plate, the carrying-out unit has a fixing member that grips and fixes the loading plate, The fixing member fixes the mounting plate a gripping portion for gripping the fixed member and a rotary blade disposed at a central portion of the fixed member, the carrying-out unit moves the fixing member vertically downward of the loading plate supported by the support unit, and fixes the loading plate by gripping it with the gripping portion; rotating the rotary blades to generate a negative pressure in the space below the loading plate, thereby attracting and fixing the sheet material placed on the loading surface of the loading plate; The carrying-out unit carries out the placing plate from the supporting unit, turns over the placing plate, and moves the placing plate to a predetermined position. When the loading plate has moved to a predetermined position, the rotary blades are stopped to release the sheet material from the loading plate.

[0011] The sheet material reverse transfer device disclosed in the present application can take the following forms based on the above configuration.

[0012] The sheet material reverse transfer loading device disclosed in the present application includes a camera that captures an image of the sheet material placed on the loading plate supported by the support unit, It is preferable that the position of the sheet material is calculated from the image captured by the camera, and the carry-out path of the carry-out unit is determined from the calculated position and the predetermined position.

[0013] In the sheet material reverse transfer device disclosed in the present application, it is preferable that the predetermined position is calculated from the position where another sheet material is placed, and the sheet material is superimposed at the predetermined position on the other sheet material.

[0014] In the sheet material reverse transfer loading device disclosed in the present application, the loading plate has a loading board that forms the loading surface on an upper surface thereof, and a frame attached to the loading board so as to surround an end portion of a lower surface of the loading board, The suction holes provided in the mounting plate are preferably formed over an area wider than the outer shape of the sheet material in a plan view.

[0015] In the sheet material reverse transfer loading device disclosed in the present application, it is preferable that after the sheet material is released to the predetermined position, the loading plate is returned to the support unit by the carry-out unit.

[0016] In the sheet material reverse transfer loading device disclosed in the present application, the support unit has a support member that supports the loading plate, The support member preferably has a notch into which the discharge unit can be inserted.

[0017] The present application also provides a method for loading a sheet material in a reversed state, which involves moving a flexible sheet material to a predetermined position and releasing it in an inverted state, a step of placing a flexible sheet material on a mounting plate and fixing the sheet material by suction force from suction holes provided on the mounting surface; inverting the mounting plate on which the fixed sheet material is placed; a step of transporting the inverted mounting plate to a predetermined position; and releasing the sheet material at the predetermined position. In the fixing step, the rotary blade is rotated to generate a negative pressure in the space below the loading plate, and the sheet material placed on the loading surface of the loading plate is adsorbed and fixed; In the releasing step, the rotary blades are stopped to release the sheet material from the mounting plate. [Effects of the Invention]

[0018] The present invention has the following effects. That is, according to the present invention, a sheet placed at any position can be fixed by suction and turned over, and can be transferred to a predetermined position with high precision. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a side view showing a sheet material reverse transfer device according to an embodiment of the present invention; [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. 2 is a cross-sectional view taken along line AA showing the mounting plate, the support unit, and the fixing member. [Figure 5] FIG. 2 is a cross-sectional view taken along line AA showing the mounting plate, the support unit, and the fixing member fixed by the gripping portion. [Figure 6] FIG. 2 is a cross-sectional view taken along line AA showing the mounting plate, the support unit, and the fixing member separated from the support unit. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. 10 is a diagram showing a first step of a sheet material reverse transfer loading process using the sheet material reverse transfer loading device. [Figure 10] FIG. 10 is a diagram showing a second step of the sheet material reverse transfer loading step using the sheet material reverse transfer loading device. [Figure 11] FIG. 10 is a diagram showing a third step of the sheet material reverse transfer loading step using the sheet material reverse transfer loading device. [Figure 12] FIG. 10 is a diagram showing a first step of a sheet material reverse transfer loading process using the sheet material reverse transfer loading device. DETAILED DESCRIPTION OF THE INVENTION

[0020] A sheet material reverse transfer device 100, an example of a sheet material reverse transfer device according to an embodiment of the present invention, will be described with reference to FIGS. 1 and 2. The sheet material reverse transfer device 100 moves a sheet material from a first position R1 to a predetermined second position R2 and places the sheet material in a predetermined position with its top and bottom inverted. The sheet material transferred by the sheet material reverse transfer device 100 according to the present invention is intended to be a flexible sheet material such as fabric. The flexible sheet material is not limited to fabric, and may be, for example, a resin sheet, a fiber sheet, or an elastic sheet such as rubber. In the following description, the up-down direction of the sheet material reverse transfer device 100 will be described with the loading surface of the loading plate 10 at the first position R1 as the upward direction. Furthermore, directions perpendicular to the up-down direction will be described as the left-right direction and the front-back direction. In the description of this embodiment, the sheet material reverse transfer device 100 and the like will be viewed from above as a planar view. A side view is a state in which the sheet material reverse transfer loading device 100 and the like are viewed from a direction perpendicular to the vertical direction. In this embodiment, the second position R2, which is a predetermined position, is defined as a position different from the first position R1, but this is not limited to this, and the first position R1 and the second position R2 may be the same position. In this case, the sheet material reverse transfer loading device 100 reverses the sheet material and transfers it to the same position.

[0021] [Sheet material reverse transfer device] As shown in Figures 1 and 2, the sheet material reverse transfer loading device 100 includes a loading plate 10 having suction holes 11 on a loading surface 10a on which a first fabric S1, which is a flexible first sheet material, is placed, a support unit 20 that supports the loading plate 10, and an unloading unit 30 that unloads the loading plate 10 supported by the support unit 20 from the support unit 20 and inverts the loading plate 10.

[0022] The first fabric S1 is a flexible cloth (thinly processed fibers such as knitted or woven fabrics) or other fiber sheet. The first fabric S1 is a material that forms clothing or the like by overlapping and bonding with the second fabric S2 (described later). While the first fabric S1 is used as the first sheet material in this embodiment, this is not limiting. For example, the first sheet material may be a flexible resin sheet that is inverted and transferred when processing is performed on the upper and lower surfaces of the resin sheet. In this case, the first sheet material and the second sheet material are not limited to being overlapped, and a separate processing device is placed at the second position R2. For example, the sheet material reverse transfer device 100 can be used when applying adhesive to both sides of a resin sheet.

[0023] [Mounting plate] The loading plate 10 is a plate on which the first dough S1 is placed, and has a loading surface 10a on which the first dough S1 is placed. The loading plate 10 is configured to be movable relative to the support unit 20 (it is not connected to the support unit 20 and can be removed or returned). As shown in FIGS. 2 and 3, the loading surface 10a of the loading plate 10 has suction holes 11 formed over an area wider than the outer shape of the first dough S1. With this configuration, when the first dough S1 is placed at any position on the loading surface 10a, the suction holes 11 can be arranged over the entire back surface of the first dough S1. As shown in FIGS. 3 and 4, the loading plate 10 has a loading plate 12 made of a metal plate and a frame 13 attached to the lower part of the loading plate 12. As shown in FIG. 3, the loading plate 12 is a rectangular plate in a plan view, and its surface is flat and smooth. As shown in FIG. 4, the frame 13 is provided along the outer periphery of the mounting plate 12 and is formed in a rectangular shape to match the shape of the mounting plate 12. The frame 13 is not limited to being formed in a rectangular shape; for example, if the mounting plate 12 is formed in a circular shape, it can also be formed in an annular shape. Furthermore, a part of the frame 13 has an engaged portion 14 for being gripped by the grip portion 32 of the fixing member 31. For example, if the grip portion 32 is provided with a pin, the engaged portion 14 is formed as a pin insertion hole. The engaged portion 14 is not limited to being a pin insertion hole; for example, if the grip portion 32 is provided with a claw, it can also be formed as an engagement groove.

[0024] As shown in FIGS. 2 and 3 , the suction holes 11 are small holes provided in the support surface 10a, and multiple holes are arranged regularly. In this embodiment, the suction holes 11 are arranged in a rectangular shape to match the shape of the support surface 10a. The arrangement of the suction holes 11 is not limited to a rectangular shape. For example, if the support plate 12 is formed in a circular shape, the suction holes 11 can also be arranged in a circular shape. The suction holes 11 are formed, for example, by punching the metal support plate 12. The diameter of the suction holes 11 is preferably large enough not to impair the generated negative pressure. However, if the hole diameter is too large, the flexible sheet is easily sucked into the holes. Therefore, the suction holes 11 can be designed appropriately, taking into account the rigidity of the flexible sheet, etc. The number, shape, size, arrangement, regularity, etc. of the suction holes 11 are not limited to those shown in the figures.

[0025] [Support unit] As shown in FIGS. 1, 4, and 7, the support unit 20 supports the mounting plate 10 and supports the mounting plate 10 so that the mounting surface 10a of the mounting plate 10 faces upward at the first position R1. The support unit 20 includes a support member 21 that abuts against the back surface of the mounting plate 10 to support the mounting plate 10. The support member 21 is formed, for example, by four rectangular pieces arranged opposite each other and shaped into a rectangular shape in a plan view. A notch 21a is formed in the rectangular piece of support member 21 on the side facing the unloading unit 30 (the removal side or return side). The notch 21a is a cut-out portion so as not to abut against a part of the unloading unit 30 (for example, the fixing member 31, the arm of a multi-axis robot, etc.). As shown in FIG. 4, the support member 21 supports the lower surface of the frame 13 (or part of the frame 13) of the mounting plate 10 at the first position R1.

[0026] Because the support member 21 abuts against the back surface of the mounting plate 10 to support it, the mounting plate 10 can be easily removed from the support member 21 by simply lifting it up. That is, by supporting the mounting plate 10 from below with another member and lifting it, the mounting plate 10 can be removed from the support member 21 and carried out. Furthermore, by lowering the mounting plate 10 supported by another member from above the support member 21 and abutting it against the support member 21, the mounting plate 10 can be placed on the support member 21 again.

[0027] [Export unit] The carry-out unit 30 is a unit that carries out the loading plate 10 supported by the support unit 20. As shown in FIGS. 1 and 2, the carry-out unit 30 is formed by a multi-axis robot that can move the arm tip to any position in three dimensions. In this embodiment, the multi-axis robot has five axes (the axes are not shown), and the arm tip has a fixing member 31 that grips and fixes the loading plate 10. The configuration of the multi-axis robot that forms the carry-out unit 30 is not limited to this embodiment, and for example, a six-axis vertical articulated robot can also be used. The carry-out unit 30 is not limited to a multi-axis robot, and is not particularly limited as long as it has a mechanism that removes (or returns), inverts, and moves the loading plate 10 to a predetermined position.

[0028] As shown in Figures 2, 3, 4 and 8, the fixing member 31 includes a gripping portion 32 that grips the mounting plate 10, a rotor blade 36 and a rotor blade storage portion 37 that stores the rotor blade 36, and an inversion mechanism 38 that is connected to the rotor blade storage portion 37 and inverts the rotor blade storage portion 37 and the gripping portion 32.

[0029] The gripping unit 32 includes a frame body 33 formed of four opposing square members in a rectangular shape in a plan view, an engaging portion 34, and an abutting member 35. As shown in FIGS. 4 to 6 , the gripping unit 32 grips the mounting plate 10 by bringing the abutting member 35 into contact with a portion of the lower surface of the frame 13 of the mounting plate 10 and engaging the engaging portion 34 with the engaged portion 14 of the mounting plate 10. If the engaging portion 34 is configured as an engaging pin, the engaging portion 34 is engaged with the engaged portion 14 by sliding the engaging pin with an actuator (not shown), thereby fixing the relative position of the mounting plate 10 with respect to the fixing member 31. The frame body 33 of the gripping unit 32 is configured to fit within the frame 13 of the mounting plate 10, and there is a small gap between the inner surface of the mounting plate 10 (the back surface of the mounting surface) and the outer surface of the frame body 33 (the surface facing the mounting surface).

[0030] A rotary blade 36 is disposed below the center of the fixed member 31. The rotary blade 36 is fixed to a rotary blade storage section 37 below the fixed member 31. The rotary blade 36 has multiple blades, and when rotated, generates an airflow from the surface side of the placement surface 10a into the rotary blade storage section 37. An opening 37a is provided in the rotary blade storage section 37, and by generating an airflow through the opening 37a into the rotary blade storage section 37, negative pressure is generated above the rotary blade storage section 37. As a result, the first dough S1 is fixed to the placement surface 10a, and is carried out of the support unit 20 by moving the carry-out unit 30.

[0031] The carry-out unit 30 also includes an inversion mechanism 38 that inverts the loading plate 10. The inversion mechanism 38 includes a rotation shaft 39 connected to the arm of the carry-out unit 30. The rotation shaft 39 is connected to a rotary blade storage section 37 of the fixed member 31. By rotating the rotary blade storage section 37 180 degrees around the axial direction of the rotation shaft 39, the gripping section 32 of the fixed member 31 and the loading plate 10 gripped by the gripping section 32 rotate, and the up-down direction is reversed.

[0032] [Imaging camera] Furthermore, the sheet material reverse transfer loading device 100 includes an imaging camera 40 that captures an image of the first fabric S1 placed on the loading plate 10 supported by the support unit 20. As shown in FIG. 1, the imaging camera 40 is positioned above the loading plate 10 so as to be able to capture the entire loading surface 10a of the loading plate 10. Image information captured by the imaging camera 40 is output to a control device (not shown), which calculates the position of the first fabric S1 placed on the loading plate 10 based on the image information. However, the relative positional relationship between the loading plate 10 and the fabric S1 may be calculated from image information captured in an upstream process before the fabric S1 is transferred to the support unit 20. In this case, the sheet material reverse device 100 does not necessarily need to include an imaging camera 40.

[0033] [Sheet material stacking unit] A sheet material superposing unit 50 is provided at the second position R2 where the sheet material is delivered by the delivery unit 30. As shown in Figs. 1 and 2, the sheet material superposing unit 50 includes a table 51 on which the second fabric S2 is placed.

[0034] Although the sheet superposition unit 50 is configured to be located at the second position R2, which is a predetermined position, this is not limiting. For example, the first position R1 where the support member 21 of the support unit 20 is located may be the second position R2, which is the predetermined position. In this case, after the loading plate 10 is carried out by the carry-out unit 30, another loading plate can be placed at the first position R1, and the loading plate 10 can be inverted by the inversion mechanism 38 and returned to the first position. Furthermore, although the second position R2, which is the predetermined position, is the position of the second fabric S2, this is not limiting and the second position R2 may be a position adjacent to the second fabric S2. This allows the first fabric S1 and the second fabric S2 to be arranged side by side.

[0035] [Second Imaging Camera] The system also includes a second imaging camera 41 that captures an image of the second fabric S2 placed on the mounting table 51. As shown in Fig. 1, the second imaging camera 41 is disposed above the mounting table 51 so as to be able to capture the entire mounting table 51. Image information captured by the second imaging camera 41 is output to a control device (not shown), which calculates the position of the second fabric S2 based on the image information. That is, the delivery path of the delivery unit 30 is determined from predetermined positions, which are the position of the first fabric S1 calculated based on the image information captured by the imaging camera 40 and the position of the second fabric S2 calculated based on the image information captured by the second imaging camera 41.

[0036] [Sheet material reverse transfer method] Next, a method for reversely transferring and loading the first fabric S1, which is a sheet material, using the sheet material reversely transferring and loading device 100 will be described.

[0037] First, as shown in FIGS. 1 and 2, the support unit 20 supports the mounting plate 10. The mounting plate 10 is supported so that the mounting surface 10a side faces upward. The support member 21 abuts against the back surface of the mounting plate 10 to support it, allowing the mounting plate 10 to be easily removed from the support member 21. The mounting plate 10 is positioned at a first position R1. The first dough S1 is placed on the mounting surface 10a. In FIG. 4, the frame 13 is illustrated as a rectangular parallelepiped (cross-sectional shape) for convenience, but in this embodiment, it is composed of a frame A supported by the support unit 20 (support member 21) and a frame B abutted by an abutment member 35. The frame B is rectangular and extends along the outer periphery of the mounting plate 12. The frame A is provided as a protrusion on two side surfaces of the rectangular frame B that face the discharge unit 30, and the underside of the protrusion of the frame A and the support member 21 are configured to slide. At this time, the position of the lower surface of the convex portion of frame A is set higher than the position of the lower surface of frame B in the vertical direction.

[0038] Next, as shown in FIG. 5, the fixing member 31 of the carry-out unit 30 is moved below the mounting plate 10 to couple with the mounting plate 10. The fixing member 31 is inserted from a position below the support member 21 of the support unit 20, and positioned below the mounting plate 10. The engaging portion 34 of the gripping portion 32 is inserted into the engaged portion 14 of the mounting plate 10 to fix the gripping portion 32 to the frame 13 of the mounting plate 10. In this way, the mounting plate 10 is fixed to the fixing member 31. There is a small gap between the back surface of the mounting surface of the mounting plate 10 and the upper surface of the frame 33 (the surface facing the mounting surface), and the mounting plate 10 is surrounded by the frame 13, which increases the suction force.

[0039] Next, negative pressure is generated by rotating the rotary blades 36 attached to the fixing member 31. The negative pressure generated by the rotary blades 36 fixes the first fabric S1 to the mounting surface 10a. Because the suction holes 11 are provided over a larger area than the outer dimensions of the first fabric S1, the edges of the first fabric S1 are also fixed to the mounting surface 10a, preventing the edges from coming loose and falling. When negative pressure is generated using a blower or other device to perform suction, air tends to leak from tiny gaps in the fabric itself (knitted fabric, woven fabric, etc.), reducing the suction force. In addition, if the suction holes 11 are wider than the outer dimensions of the fabric, air will leak from the open suction holes 11 (wider than the outer dimensions of the fabric), further reducing the suction force. In contrast, the method of rotating the rotary blades 36 to generate negative pressure results in less reduction in suction force and prevents the edges from coming loose.

[0040] Next, the position of the first fabric S1 on the placement surface 10a is detected as image information by the imaging camera 40. The image information captured by the imaging camera 40 is output to a control device (not shown), and the control device calculates the position of the first fabric S1 based on the image information.

[0041] The second imaging camera 41 detects the position of the second fabric S2 at a predetermined second position R2 as image information. The image information captured by the second imaging camera 41 is output to a control device (not shown), which calculates the position of the second fabric S2 based on the image information. Next, a delivery path for the delivery unit 30 is determined from the position of the first fabric S1 calculated based on the image information captured by the imaging camera 40 and the predetermined position, which is the position of the second fabric S2 calculated based on the image information captured by the second imaging camera 41.

[0042] Next, as shown in FIG. 6, the loading plate 10 fixed to the fixed member 31 of the discharge unit 30 is removed from the support unit 20 and moved along the conveying path. As shown in FIGS. 10 and 11, the fixing member 31 is turned over by the inversion mechanism 38 along the conveying path. The inversion mechanism 38 of the discharge unit 30 rotates the fixing member 31 180 degrees around the rotation axis 39. This turns over the loading plate 10 upside down, and the loading surface 10a is positioned downward. The first dough S1 fixed to the loading surface 10a does not fall because it is held in place by negative pressure.

[0043] Next, the discharge unit 30 moves the first fabric S1 to a predetermined position, that is, the mounting table 51 of the sheet superposing unit 50. As shown in FIG. 12, the mounting plate 10 to which the first fabric S1 is fixed is positioned above the mounting table 51. Based on the determined discharge path, the first fabric S1 can be superimposed at a predetermined position on the second fabric S2. Therefore, even if the second fabric S2 is positioned at an arbitrary position on the mounting table 51, the first fabric S1 can be positioned above the second fabric S2 and superimposed thereon without the operator having to correct its position.

[0044] Next, the first dough S1 is released above the second dough S2. That is, by stopping the rotary blades 36 and releasing the negative pressure, the first dough S1 is released by releasing it from the mounting surface 10a. The first dough S1 is released above the second dough S2 in a position close to the second dough S2. It is preferable that the first dough S1 is released above the second dough S2 in a position slightly separated from the second dough S2. However, depending on the materials to be layered, the first dough S1 and the second dough S2 may be released in a state of contact, and there are no particular limitations.

[0045] Note that by stopping the rotating blades 36 and releasing the negative pressure, the first dough S1 is released from its fixation to the placement surface 10a, but this is not limited to this. For example, the rotating blades 36 can be rotated in the reverse direction to send an airflow toward the placement surface 10a, thereby releasing the first dough S1.

[0046] Next, after the first dough S1 is released to the second position R2, the carrying-out unit 30 returns the loading plate 10 to the support unit 20. This allows the first dough S1 to be turned over and transferred again.

[0047] In a configuration where an external blower, vacuum pump, etc. is provided to create a negative pressure inside the fixing member 31 via a tube, the suction force is likely to decrease if the suction holes 11 are provided over an area wider than the outer shape of the first fabric S1. However, in the present invention, there is almost no decrease in suction force. It also reduces the number of parts. Furthermore, when flipping the loading plate 10, the number of long parts such as tubes and electric wires is reduced, making handling easier and reducing the difficulty of arranging the device.

[0048] As described above, the sheet material reverse transfer loading device of the present invention includes the loading plate 10 having the loading surface 10a on which the first fabric S1, which is a flexible sheet material, is placed and on which the suction holes 11 are provided, the support unit 20 that supports the loading plate 10, and the discharge unit 30 that carries the loading plate 10 supported by the support unit 20 out of the support unit 20 and turns over the loading plate 10, the discharge unit 30 having a fixing member 31 that grips and fixes the loading plate 10, the fixing member 31 having a gripping portion 32 that grips the loading plate 10 and a rotary blade 36 arranged in the center of the fixing member 31, The loading plate 10 supported by the holding unit 20 is moved vertically downward and the loading plate 10 is gripped and fixed by the gripping portion 32, the rotating blades 36 are rotated to generate negative pressure in the space below the loading plate 10, and the first dough S1 placed on the loading surface 10a of the loading plate 10 is adsorbed and fixed, the loading plate 10 is carried out from the support unit 20 by the carrying-out unit 30, the loading plate 10 is inverted, and the loading plate 10 is moved to a predetermined second position R2, and when the loading plate 10 has moved to the second position R2, the rotating blades 36 are stopped to release the first dough S1 from the loading plate 10. With this configuration, the first dough S1 placed at any position on the placement surface 10a can be turned over without dropping and transferred with high precision to the second position R2, which is a predetermined position.

[0049] It also includes an imaging camera 40 that captures an image of the first fabric S1 placed on the loading plate 10 supported by the support unit 20, and calculates the position of the first fabric S1 from the image captured by the imaging camera 40, and determines the discharge path of the discharge unit 30 from the calculated position and the second position R2. This configuration allows the position of the first fabric S1 placed at any position on the table 10a to be calculated, improving the degree of freedom in arranging the first fabric S1. By determining the delivery path from the calculated position and the second position R2, the first fabric S1 can be transferred to the second position R2 with high accuracy.

[0050] The second position R2 is calculated from the position where the second material S2, which is another sheet material, is placed, and the first material S1 is superimposed on the second position R2 on the second material S2. With this configuration, the second position R2 is calculated from the position where the second sheet material S2, which is another sheet material, is placed, improving the degree of freedom in placing the second sheet material S2. By determining the carry-out path from the calculated position and the second position R2, the second sheet material S2 can be transferred to the second position R2 with high accuracy.

[0051] In addition, the loading plate 10 has a loading plate 12 that forms a loading surface 10a on its upper surface, and a frame 13 attached to the loading plate 12 so as to surround the lower end of the loading plate 12, and the suction holes 11 provided in the loading plate 12 are formed in an area wider than the outer shape range of the first fabric S1 when viewed in a plane. By configuring it in this manner, when the first dough S1 is placed at any position on the loading plate 10, sufficient negative pressure can be generated for the first dough S1, thereby preventing the first dough S1 from falling due to its edge coming off.

[0052] After the first dough S1 is released to the second position R2, the carrying-out unit 30 returns the loading plate 10 to the support unit 20. With this configuration, the first dough S1 can be repeatedly and continuously turned over and transferred.

[0053] The support unit 20 has a support member 21 that supports the mounting plate 10, and the support member 21 has a notch 21a into which the gripper 32 of the carry-out unit 30 can be inserted. By configuring in this way, the carry-out unit 30 can be efficiently inserted into the support unit 20 without interfering with the support unit 20.

[0054] Furthermore, the sheet material reverse transfer loading method of the present invention is a reverse transfer loading method in which a first dough S1, which is a flexible sheet material, is moved to a predetermined position and released in an inverted state, and includes the steps of placing the flexible first dough S1 on a loading plate 10 and fixing the first dough S1 by suction force from suction holes 11 provided in the loading surface 10a, inverting the loading plate 10 on which the fixed first dough S1 is placed, transporting the inverted loading plate 10 to a second position R2, which is a predetermined position, and releasing the first dough S1 at the second position R2. In the fixing step, the rotating blades 36 are rotated to generate negative pressure in the space below the loading plate 10, and the first dough S1 placed on the loading surface 10a of the loading plate 10 is adsorbed and fixed, and in the releasing step, the rotating blades 36 are stopped to release the first dough S1 from the loading plate 10. With this configuration, the first dough S1 placed at any position on the placement surface 10a can be turned over without dropping and transferred with high accuracy to the second position R2, which is a predetermined position. [Explanation of symbols]

[0055] 10 Mounting plate 10a Placement surface 11 Suction hole 12 Mounting plate 13 slots 14 Engaged part 20 Support Unit 21 Support member 21a Notch 30 Unloading unit 31 Fixing member 32 Gripping part 33 Frame 34 Engagement portion 35 Contact member 36 Rotating blades 37 Rotor blade storage section 38 Reversal mechanism 39 Rotating shaft 40 Imaging camera 41 Second Imaging Camera 50 Sheet material stacking unit 51 Mounting table

Claims

1. a mounting plate having a mounting surface on which a flexible sheet material is placed and having suction holes; a support unit that supports the mounting plate; a carry-out unit that carries out the mounting plate supported by the support unit from the support unit and inverts the mounting plate, the carrying-out unit has a fixing member that grips and fixes the loading plate, the fixing member has a gripping portion that grips the mounting plate and a rotary vane that is arranged in a central portion of the fixing member, the carrying-out unit moves the fixing member vertically downward of the loading plate supported by the support unit, and fixes the loading plate by gripping it with the gripping portion; rotating the rotary blades to generate a negative pressure in the space below the loading plate, thereby attracting and fixing the sheet material placed on the loading surface of the loading plate; The carrying-out unit carries out the placing plate from the supporting unit, turns over the placing plate, and moves the placing plate to a predetermined position. When the loading plate has moved to a predetermined position, the rotating blades are stopped to release the sheet material from the loading plate. Sheet material reverse transfer device.

2. a camera configured to capture an image of the sheet material placed on the loading plate supported by the support unit; calculating a position of the sheet material from the image captured by the camera, and determining a carry-out path of the carry-out unit from the calculated position and the predetermined position; 2. The sheet material reverse transfer device according to claim 1.

3. the predetermined position is calculated from a position where another sheet material is placed, and the sheet material is superimposed at the predetermined position on the other sheet material.

3. The sheet material reverse transfer device according to claim 1 or 2.

4. the mounting plate has a mounting plate on an upper surface of which the mounting surface is formed, and a frame attached to the mounting plate so as to surround an end portion of a lower surface of the mounting plate; The suction holes provided in the mounting plate are formed in an area wider than an outer shape of the sheet material in a plan view.

3. The sheet material reverse transfer device according to claim 1 or 2.

5. After the sheet material is released to the predetermined position, the carrying-out unit returns the loading plate to the support unit.

3. The sheet material reverse transfer device according to claim 1 or 2.

6. the support unit has a support member that supports the mounting plate, the support member has a notch into which a gripping portion of the carrying-out unit can be inserted; 3. The sheet material reverse transfer device according to claim 1 or 2.

7. A method for inverting and loading a flexible sheet material, which comprises moving the flexible sheet material to a predetermined position and releasing it in an inverted state, a step of placing a flexible sheet material on a mounting plate and fixing the sheet material by suction force from suction holes provided on the mounting surface; inverting the mounting plate on which the fixed sheet material is placed; a step of transporting the inverted mounting plate to a predetermined position; and releasing the sheet material at the predetermined position. In the fixing step, the rotary blade is rotated to generate a negative pressure in the space below the loading plate, and the sheet material placed on the loading surface of the loading plate is adsorbed and fixed; In the releasing step, the rotary blades are stopped to release the sheet material from the mounting plate. A method for reversely transferring and loading a sheet material, comprising:

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