Loosening system

Abstract

To provide a handling system and a handling method capable of shortening time required for handling work.SOLUTION: The handling system includes a handling means for handling a laminate in which a plurality of printed matters are laminated, a control means for controlling the handling means 1, a measuring means for measuring a blocking state of the laminate, and a determining means for determining an operation pattern of the handling means necessary for eliminating blocking of the laminate from the blocking state of the laminate measured by the measuring means. The control means controls the handling means according to the blocking state of the layered body measured by the measuring means.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a technology for separating stacked printed materials and the like to eliminate blocking, and more particularly to a system for separating printed materials that efficiently eliminates blocking. [Background technology]

[0002] By their very nature, printed materials such as banknotes, passports, securities, stamps, etc., are required to be resistant to counterfeiting and alteration, and aesthetic elements are also required. Such printed materials are printed using a variety of printing methods, including letterpress printing, gravure printing, offset printing, and intaglio printing. Among these, intaglio printing is often used for the above-mentioned printed materials because of its unique texture and the ability to produce fine, sharp lines. Since it is produced using a special printing machine, it is also effective from the perspective of preventing counterfeiting.

[0003] Typically, the thickness of the ink film formed on paper by intaglio printing is approximately 10 μm to 40 μm, which is much thicker than the ink films obtained by other printing methods such as offset printing. As a result, in the paper discharge section of the printing press, the ink on the printed materials stacked one after the other can not only not be completely dry, but also the weight of the stacked printed materials can cause a phenomenon known as "blocking," in which the stacked printed materials stick together.

[0004] Because the paper feed section of a printing press must feed each sheet of paper at high speed and stably, a stack that is experiencing blocking cannot be passed through the press. Therefore, the stack must be deblocked before being set in the paper feed section of the printing press. Furthermore, because the degree of blocking varies depending on factors such as the time elapsed since printing, the stacking position, the amount of paper loaded, and the amount of ink, deblocking work must be performed according to the blocking state of the stack. One example of deblocking work involves manual paper sorting. The paper sorting work involves grasping both ends of the stack and bending it with a specific action, thereby shifting the stacked sheets and introducing air, thereby eliminating the blocking.

[0005] One technique for eliminating blocking in a stack uses a robot (see, for example, Patent Document 1). Patent Document 1 describes a substrate handling system that includes a supply system that supplies stacked substrates and a processing machine that processes the stacked substrates, in particular a printing machine that prints on the stacked substrates. Patent Document 1 also describes a robot cell provided between the supply system and the processing machine. The robot cell has one or two gripper systems, each for handling multiple substrates, and is configured to sort and count the substrates. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Special Publication No. 2022-527669 Summary of the Invention [Problem to be solved by the invention]

[0007] However, the technology described in Patent Document 1 did not detect the blocking state of the stack. Therefore, in order to reliably eliminate the blocking of the stack, it was necessary to perform an operation according to the expected state of the stack that would take the longest time to eliminate the blocking. As a result, the technology described in Patent Document 1 required a long time for the sorting operation, reducing workability.

[0008] Therefore, the problem that the present invention aims to solve is to provide a sorting system and a sorting method that can shorten the time required for sorting work by performing sorting operations according to the blocking state of the stack. [Means for solving the problem]

[0009] The separating system of the present invention includes a separating means for separating a stack of multiple printed materials, a control means for controlling the separating means, and a measurement means for measuring the blocking state of the stack. The control means controls the separating means in accordance with the blocking state of the stack measured by the measurement means.

[0010] The processing method includes the following steps (1) and (3). (1) The process of sorting a stack of multiple printed materials. (2) A process of measuring the blocking state of the laminate using a measuring means. (3) A process of setting an operation for handling the stack according to the state of blocking of the stack measured by the measuring means. [Effects of the Invention]

[0011] According to the sorting system and sorting method configured as described above, the time required for sorting work can be reduced by performing the sorting operation according to the blocking state of the stack. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic configuration diagram showing a handling means of a handling system according to a first embodiment. FIG. [Figure 2] FIG. 2 is a plan view showing a handling means of the handling system according to the first embodiment. [Figure 3] 1 is a schematic configuration diagram showing an example of a work table of a handling means of a handling system according to a first embodiment. FIG. [Figure 4] FIG. 2 is a schematic configuration diagram showing an example of a measuring means in the handling system according to the first embodiment. [Figure 5] FIG. 4 is a schematic configuration diagram showing another example of the measuring means in the sorting system according to the first embodiment. [Figure 6] FIG. 2 is a block diagram showing a control system of the handling system according to the first embodiment. [Figure 7] 3 is a diagram showing an example of a handling operation in a handling means of the handling system according to the first embodiment; FIG. [Figure 8] 4 is a flowchart showing a first operation example of a handling operation using the handling system according to the first embodiment. [Figure 9] 3 is a diagram showing a state during a handling operation in a handling means of the handling system according to the first embodiment. FIG. [Figure 10] 4 is a graph showing an example of information measured by a measuring means of the handling system according to the first embodiment. [Figure 11] FIG. 3 is a diagram showing an example of a handling operation table in the handling system according to the first embodiment. [Figure 12] 10 is a flowchart showing a second operation example of the handling operation using the handling system according to the first embodiment. [Figure 13] 10 is a graph showing another example of information measured by the measuring means of the handling system according to the first embodiment. [Figure 14] 10 is a graph showing another example of information measured by the measuring means of the handling system according to the first embodiment. [Figure 15] 15A to 15C are schematic configuration diagrams showing a handling means of a handling system according to a second embodiment, and show handling operations of the handling means. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the handling system and handling method will be described with reference to Figures 1 to 15. Note that common members in each figure are given the same reference numerals.

[0014] (First embodiment) The configuration of a handling system 100 according to a first embodiment will be described. First, the configuration of the handling means 1 of the handling system 100 will be described with reference to Figs. 1 to 5. Figs. 1 and 2 are schematic diagrams showing the handling means of the first embodiment, Fig. 1 is a perspective view of the handling system 100, and Fig. 2 is a plan view of the handling system 100.

[0015] As shown in Figures 1 and 2, the handling means (1) has a first handling arm (2A), a second handling arm (2B), a first handling hand (3A), a second handling hand (3B), a work table (4) on which a stack (10) consisting of multiple printed materials is placed, and a support part (5).

[0016] The first handling arm (2A) and the second handling arm (2B) are supported by a support part (5). The first handling arm (2A) and the second handling arm (2B) are, for example, articulated robots having multiple joints. A first handling hand (3A) is connected to the tip of the first handling arm (2A), and a second handling hand (3B) is connected to the tip of the second handling arm (2B).

[0017] The first handling hand (3A) is supported by the first handling arm (2A) and is arranged on one side of the work table (4). The second handling hand (3B) is supported by the second handling arm (2B) and is arranged on the other side of the work table (4). The first handling hand (3A) and the second handling hand (3B) have the function of supporting and gripping a stack (10) made up of multiple printed materials. Here, supporting the stack (10) refers to a state in which the first handling hand (3A) or the second handling hand (3B) supports but does not grip the stack (10), so that the multiple printed materials making up the stack (10) are misaligned with each other. The state in which the stack (10) is grasped refers to a state in which the stack (10) is grasped by the first handling hand (3A) and the second handling hand (3B), so that the multiple printed materials that make up the stack (10) do not shift.

[0018] Although the laminate (10) has been described as being made up of multiple printed materials, any laminate of two or more printed materials is included in the laminate (10) of the present invention. For example, the number of printed materials may be any number, such as 100 sheets, 200 sheets, or 500 sheets.

[0019] As shown in Figure 1, the first handling arm (2A) and the first handling hand (3A) constitute the first handling section (R1), and the second handling arm (2B) and the second handling hand (3B) constitute the second handling section (R2).

[0020] FIG. 3 is a schematic diagram showing an example of a workbench (4). As shown in FIG. 3, the workbench (4) has a mounting portion (41) on which the laminate (10) is placed. A movable portion (42) may be provided in part of the mounting portion (41). For example, two movable portions (42, 42) are connected to both longitudinal ends of the mounting portion (41). The movable portion (42) is supported so as to be rotatable in the vertical direction. The movable portion (42) is rotated by a drive unit (not shown) between a state where it is horizontal with the mounting surface of the mounting portion (41) and a state where it hangs downward in the vertical direction from the end of the mounting portion (41). Note that the configuration of the workbench (4) is merely an example, and the movable portion (42) is not essential to the configuration of the present invention.

[0021] The sorting system (100) also has a measuring means for measuring the blocking state of the stack (10). Fig. 4 is a schematic diagram showing an example of the measuring means (7). As shown in Fig. 4, the measuring means (7) is disposed above the workbench (4) in the vertical direction. The measuring means (7) shown in Fig. 4 is a sound sensor that detects sounds emitted from the stack (10) during the sorting operation.

[0022] Fig. 5 is a schematic diagram showing another example of the measuring means. As shown in Fig. 5, the measuring means (7) is arranged near the workbench (4). In the example shown in Fig. 5, the measuring means (7) is arranged in a part of the workbench (4). The measuring means (7) is a vibrometer that detects vibrations generated from the stack (10) during the sorting operation via the workbench (4).

[0023] The measuring means (7) for measuring the blocking state of the laminate (10) is not limited to the above-mentioned sound sensor or vibration meter, but various other measuring devices such as an optical sensor or an imaging device can be applied. The location of the measuring means (7) is not particularly limited, but it is preferable that it is located near the separating means (1) in order to measure an accurate value.

[0024] A load detector that detects the load applied to the first handling arm (2A), the second handling arm (2B), the first handling hand (3A), and the second handling hand (3B) may be used as the measuring means for measuring the blocking state of the stack (10). In the following explanation, the measuring means (7) will be explained in a form in which the sound sensor shown in Figure 4 is applied.

[0025] Fig. 6 is a block diagram showing the configuration of the control system of the processing system 100. As shown in Fig. 6, the processing system 100 has a processing means 1, a measuring means 7, a control means 101, a determining means 102, and a storage means 103. The processing means 1, the measuring means 7, the control means 101, the determining means 102, and the storage means 103 are connected so as to be able to send and receive information.

[0026] The determination means (102) is connected to the control means (101) and the measurement means (7). Measurement information measured by the measurement means (7) is output to the determination means (102). The determination means (102) then determines the blocking state of the stack (10) based on the measurement information and outputs the determination result to the control means (101).

[0027] The storage means (103) is a volatile memory such as RAM or a large-capacity nonvolatile memory, and stores programs executed by the control means (101) and is also used as a work area for the control means (101). The storage means (103) also stores a processing operation table that includes the operation details and operation order of the processing means (1).

[0028] The control means (101) has, for example, a CPU (Central Processing Unit). It controls the operation of the handling means (1) based on the handling operation table and programs stored in the storage means (103) and the determination results from the determination means (102). Note that the control means (101) may use an MPU (a processor, memory, etc. implemented on one chip) instead of a CPU.

[0029] Figure 7 is a diagram showing an example of the handling operation performed by the handling means (1). The white arrows in Figure 7 show the state in which the handling hands (3A, 3B) support the end of the stack (10), and the black arrows show the state in which the handling hands (3A, 3B) grip the end of the stack (10). The handling operation shown in Figure 7 shows the operation on the side of the first handling unit (R1).

[0030] The first operation (D1) shown in Fig. 7 is a first bending / shifting operation. The first operation (D1) is an operation in which one end (T1) of the laminate (10) is supported, the other end (T2) is gripped, and the one end (T1) of the laminate (10) is lifted to bend the laminate (10). In this first operation (D1), the one end (T1) of the laminate (10) is shifted.

[0031] The second operation (D2) is a second bending / shifting operation. The second operation (D2) is an operation in which one end (T1) of the laminate (10) is grasped and the other end (T2) of the laminate (10) is supported, and the one end (T1) of the laminate (10) is lifted to bend the laminate (10). In this second operation (D2), the other end (T2) of the laminate (10) is shifted.

[0032] The third action (D3) is a undulating action. The third action (D3) is an action in which both ends (T1, T2) of the laminate (10) are brought closer together while both ends (T1, T2) of the laminate (10) are held. In this third action (D3), the middle part (T3) of the laminate (10) is shifted.

[0033] The fourth action (D4) is a crushing action. In the fourth action (D4), the movable part (42) on the one end (T1) side of the two movable parts (42, 42) of the work table (4) is rotated downward. Then, the other end (T2) of the stack (10) is grasped, and the one end (T1) of the stack (10) is pressed against the movable part (42) that has rotated downward. In this fourth action (D4), the one end (T1) of the stack (10) is displaced.

[0034] The fifth action (D5) is a twisting action. In the fifth action (D5), both ends (T1, T2) of the laminate (10) are gripped and the laminate (10) is twisted. In this fifth action (D5), the middle part (T3) of the laminate (10) is shifted.

[0035] The sixth operation (D6) is a hanging operation. Both of the two movable parts (42, 42) of the work table (4) are rotated downward. Then, the stack (10) is placed on the placement part (41) of the work table (4) and hung downward while only the other end (T2) is held. As a result, both ends (T1, T2) of the stack (10) hang downward, but because the other end (T2) is held, the one end (T1) is shifted.

[0036] When the second handling section (R2) is operated, the locations where the handling hands (3A, 3B) support and grip in the first operation (D1) to the sixth operation (D6) described above are reversed.

[0037] Furthermore, the operations of the handling means (1) are not limited to the six examples of the first operation (D1) to the sixth operation (D6) described above. By moving the first handling arm (2A), the second handling arm (2B), the first handling hand (3A), the second handling hand (3B) and the work table (4), various other operations may be added.

[0038] Next, a method for handling the stack (10) using the handling system (100) having the above-described configuration will be described with reference to Figs. 8 to 14. First, a first operation example of the handling method will be described with reference to Figs. 8 to 11. Fig. 8 is a flowchart showing the first operation example. Fig. 9 is a diagram showing the state during the handling operation by the handling means (1).

[0039] First, as shown in Figures 8 and 9, the control means (101) controls the handling means (1) based on information stored in the memory means (103), and the first handling hand (3A) and the second handling hand (3B) grip both ends of the stack (10) placed on the work table (4) of the handling means (1). Then, the control means (101) controls the handling means (1) to execute a predetermined operation to handle the stack (10) (STEP 1). Then, during the operation of STEP 1, the measurement means (7) measures the sound emitted from the stack (10) and measures the blocking state of the stack (10) (STEP 2).

[0040] Fig. 10 is a graph showing an example of information measured by the sound sensor, which is the measuring means (7) in the first operation example. The sound sensor used was an RP-VC201 (manufactured by Panasonic Corporation). The horizontal axis shown in Fig. 10 indicates frequency (Hz), and the vertical axis shown in Fig. 10 indicates sound volume. By performing the process of STEP 2, for example, the measuring means (7) can obtain the information shown in Fig. 10.

[0041] Next, the measuring means (7) outputs the measured information, i.e., information indicating the blocking state of the stack (10), to the determining means (102). The determining means (102) then determines the pattern of the handling operation to be performed by the handling means (1) depending on the blocking state of the stack (10) (STEP 3). As an example, the blocking state of the stack (10) can be grasped by determining whether or not a peak due to blocking occurs near approximately 5000 Hz in the measurement results of FIG. 10, and if so, by determining the magnitude of the peak. Note that if it is determined that a peak due to blocking does not occur, it is also possible to determine that the handling means (1) does not perform the handling operation or that only the minimum handling operation is performed.

[0042] Fig. 11 is a handling action table showing an example of a handling action pattern. The storage means (103) stores, for example, a handling action table as shown in Fig. 11, which is made up of the action contents (first action (D1) to sixth action (D6)) and action order to be performed by the handling means (1) which is the first handling section (R1) and the second handling section (R2).

[0043] Then, in the processing of STEP 3, the determination means (102) determines up to which order of operations in the handling operation table stored in the storage means (103) to execute, for example, depending on the blocking state of the stack (10). For example, if the blocking state of the stack (10) exceeds a preset threshold, all of the operations in the handling operation table shown in Fig. 11 are executed. On the other hand, if the blocking state of the stack (10) does not exceed the preset threshold, it determines that the operations should end at, for example, the ninth operation in the handling operation table shown in Fig. 11.

[0044] The threshold for determining the handling operation pattern is not limited to one, and two or more thresholds may be set. For example, if the blocking state of the stack (10) does not exceed the first threshold, the operation is terminated at the fifth operation in the handling operation table shown in FIG. 11. If the blocking state of the stack (10) exceeds the first threshold but does not exceed the second threshold, the operation is terminated at the ninth operation in the handling operation table shown in FIG. 11. Furthermore, if the blocking state of the stack (10) exceeds the second threshold, all of the operations in the handling operation table shown in FIG. 11 are executed. In this way, multiple thresholds may be set, and the timing for ending the handling operation may be set in stages.

[0045] The number of handling action tables stored in the storage means (103) is not limited to the one handling action table shown in Fig. 11. For example, a plurality of handling action tables with different handling action patterns, such as action content, action order, and number of actions, may be stored in the storage means (103). Then, in the processing of STEP 3, the determination means (102) may select a predetermined handling action table from the plurality of handling action tables stored in the storage means (103) according to the blocking state.

[0046] A method for selecting a predetermined handling action table will be described. As an example, a handling action table with many handling actions is selected for a stack (10) with strong blocking according to the measurement value of the measuring means (7), and a handling action table with few handling actions is selected for a stack (10) with weak blocking. As another example, the measurement value of the measuring means (7) is used to identify the location of strong blocking, and if the location of strong blocking is the middle part, for example, a handling action table that selectively combines the third action (D3) and the fifth action (D5) that can focus on handling the middle part is selected. By selecting a predetermined handling action table, it is possible to select a handling action table that is effective in eliminating blocking.

[0047] Next, the determination means (102) outputs the handling movement pattern determined in STEP 3 to the control means (101). Then, the control means (101) acquires a handling movement table from the storage means (103) and causes the handling means (1) to execute the handling movement pattern determined by the determination means (102) (STEP 4).

[0048] Then, when the handling means (1) completes the series of handling operation patterns executed in the processing of STEP 4, the handling operation of the stack (10) using the handling system (100) is completed. In this way, in the handling method of the present invention, the measuring means (7) measures the blocking state of the stack (10) before executing the handling operation to eliminate blocking of the stack (10), i.e., the processing of STEP 4. This makes it possible to determine (select) an appropriate operation pattern in the processing of STEP 4. As a result, there is no need to execute excessive handling operations, and the time required for the stack (10) handling operation can be shortened.

[0049] After the separation operation in STEP 4 is completed, the control means (101) may again cause the separation means (1) to perform a separation operation for measurement, and the measurement means (7) may measure the state of blocking of the stack (10). If the determination means (102) determines that the blocking of the stack (10) has not been resolved, the control means (101) may again control the separation means (1) to perform the separation operation of the stack (10). This ensures that the blocking of the stack (10) is resolved. The separation operation pattern executed again may be a different operation pattern from the operation pattern executed in STEP 4.

[0050] Furthermore, the timing for measuring the blocking state of the stack (10) with the measuring means (7) is not limited to the beginning of the handling operation or after the handling operation for eliminating the blocking of the stack (10) is completed. For example, the measuring means (7) may measure the blocking state of the stack (10) during the handling operation for eliminating the blocking of the stack (10), i.e., during the processing of STEP 4. The determining means (102) resets the handling operation pattern depending on the blocking state. Then, the control means (101) controls the handling means (1) based on the reset handling operation pattern.

[0051] A second operation example in the processing method of the present invention will be described with reference to Fig. 12 to Fig. 14. Fig. 12 is a flowchart showing the second operation example of the processing operation. In the second operation example, before executing the processing of STEP 21, causing the processing means (1) to execute a predetermined processing operation means executing STEP 1 and STEP 2 of the first operation example in Fig. 8, and then executing STEP 21, which will be described later.

[0052] 12, the control means 101 controls the handling means 1 based on the information stored in the memory means 103, and the first handling hand 3A and the second handling hand 3B grip both ends of the stack 10 placed on the work table 4 of the handling means 1. Then, the control means 101 controls the handling means 1 to perform a predetermined operation to handle the stack 10 (STEP 21).

[0053] The operation pattern executed in the process of STEP 21 is, for example, the operation pattern shown in Fig. 11. The control means (101) then causes the operation patterns shown in Fig. 11 to be executed sequentially.

[0054] Furthermore, the control means (101) may change the operation pattern to be executed by the handling means (1) depending on the blocking state of the stack (10). That is, before executing the processing of STEP 21, the handling means (1) is caused to execute a predetermined handling operation, and the measuring means (7) measures the blocking state of the stack (10) before the handling operation. Then, the determining means (102) selects a predetermined operation table from a plurality of operation tables depending on the blocking state of the stack (10) measured by the measuring means (7), and outputs the selected operation table to the control means (101). The control means (101) obtains the selected operation table from the storage means (103) and causes the handling means (1) to execute the selected operation table.

[0055] Next, during the operation of STEP 21, the measuring means (7) measures the vibrations and sounds emitted from the stack (10) and measures the blocking state of the stack (10) (STEP 22). The measuring means (7) then outputs the measured information to the determining means (102). Next, the determining means (102) determines whether or not the blocking of the stack (10) has been resolved based on the measurement information from the measuring means (7) (STEP 23).

[0056] FIG. 13 is a graph showing an example of information measured by the sound sensor, which is the measuring means (7), in the second operation example. The horizontal axis in FIG. 13 indicates frequency (Hz), and the vertical axis in FIG. 13 indicates sound volume. The graph shown in FIG. 13 shows an example in which blocking occurs in the laminate (10). As shown in FIG. 13, a peak due to blocking occurs, for example, near 5000 Hz. The determining means (102) determines, based on the measurement information from the measuring means (7), that blocking is still occurring in the laminate (10) if, for example, the volume at 5000 Hz exceeds a preset threshold.

[0057] Although the frequency used for the determination by the determination means (102) is 5000 Hz in the above example, the present invention is not limited to this. The region used for the determination by the determination means (102) can be changed as appropriate depending on the printed matter, ink, printing type, image layout, etc. that make up the laminate (10).

[0058] 13 and 14 are data that include noise other than the sound emitted from the stack (10) (such as ambient noise), but the noise may be removed by a predetermined process. A method for removing noise by a predetermined process involves storing the sound generated when a non-blocking stack is cut in the storage means (103) as reference measurement data in advance, and subtracting the reference measurement data from the measurement data of the sound generated when the stack whose blocking state is to be measured is cut. When the ambient noise around the cutting means (1) is loud, removing the noise allows the blocking state to be measured more accurately.

[0059] In the process of STEP 23, if the determination means (102) determines that blocking is still occurring in the stack (10) (NO determination in STEP 23), the process returns to the process of STEP 21, and the sorting operation by the sorting means (1) continues. Also, depending on the determination result of STEP 23 (blocking state), the process may return to the process of STEP 21 and change the sorting operation to be executed.

[0060] The graph shown in Fig. 14 shows an example of measured values ​​when blocking in the laminate (10) is eliminated. As shown in Fig. 14, for example, the peak due to blocking decreases around 5000 Hz. Therefore, based on the measurement information from the measuring means (7), the determining means (102) determines that blocking in the laminate (10) has been eliminated if, for example, the magnitude of 5000 Hz does not exceed a preset threshold.

[0061] Then, in the process of STEP 23, if the determination means (102) determines that the blocking of the stack (10) has been resolved (YES determination in STEP 23), the control means (101) terminates the sorting operation by the sorting means (1) (STEP 24), thereby completing the work of sorting the stack (10) using the sorting system (100).

[0062] In this way, according to the second operation example, the separating operation by the separating means (1) is completed at the timing when the blocking of the stack (10) is resolved. As a result, there is no need to perform the separating operation excessively, and the time required for separating the stack (10) can be reduced.

[0063] (Second embodiment) 15 is a diagram showing the handling means (1A) of the handling system according to the second embodiment. Note that parts common to the handling means (1) according to the first embodiment are given the same reference numerals and redundant explanations will be omitted.

[0064] As shown in Figures 15(a) to 15(c), the separating means (1A) according to the second embodiment has first separating rollers (51A, 51B), second separating rollers (52A, 52B), a first work table (53A), and a second work table (53B).

[0065] The stack (10) is placed on the first work table (53A) and the second work table (53B). The first work table (53A) and the second work table (53B) are arranged with a predetermined distance between them in the horizontal direction. As shown in FIGS. 15(a) to 15(c), the first work table (53A) and the second work table (53B) move toward and away from each other. Note that although the measuring means (7) is not shown in FIG. 15, it can be provided near the stack (10) as in the first embodiment.

[0066] As an example of the initial state of the separating means (1A), as shown in Fig. 15(a), the first separating rollers (51A, 51B) are arranged above the first work table (53A) and the second work table (53B) in the up-down direction. The second separating rollers (52A, 52B) are arranged below the first work table (53A) and the second work table (53B) in the up-down direction. As an example of the operation of the separating means (1A), Fig. 15(b) shows a state in which the second work table (53B) moves in the horizontal direction away from the first work table (53A), and the second separating roller (52B) moves in the horizontal direction away from the first work table (53A) and upward. Also, Figure 15(c) shows a state in which, from the state in Figure 15(b), the first work table (53A) has moved horizontally in a direction away from the second work table (53B), the first separating roller (51A) has moved downward, and the first separating roller (51B) has moved horizontally in a direction away from the second work table (53B) and upward.

[0067] As shown in Figures 15(a) to 15(c), the separating means (1A) having the above-mentioned configuration separates the stack (10) by moving the first separating rollers (51A, 51B), the second separating rollers (52A, 52B), the first work table (53A), and the second work table (53B).

[0068] Other configurations are the same as those of the handling system 100 according to the first embodiment, and therefore description thereof will be omitted. A handling system having such a handling means 1A can also obtain the same effects as those of the handling system 100 according to the first embodiment described above.

[0069] The present invention is not limited to the embodiments described above and shown in the drawings, and various modifications are possible within the scope of the invention as set forth in the claims.

[0070] In the above-described embodiment, the handling operation pattern set by the determination means 102 is described as the operation content, operation order, and number of operations of the handling means 1, 1A, but is not limited to this. The operation pattern set by the determination means 102 may also be the movement speed of the first handling arm 2A and the second handling arm 2B, the force with which the first handling hand 3A and the second handling hand 3B grip the stack 10, or various other operations of the handling means 1, 1A.

[0071] Furthermore, the storage means (103) may store in advance not only a handling operation table indicating the operation patterns of the handling means (1, 1A), but also information about the stack (10) and information about past operation patterns of the handling means (1, 1A). The information about the stack (10) includes storage information such as the temperature and humidity when storing the stack (10) and storage time, and information such as the number of printed materials constituting the stack (10). The determination means (102) may then determine the handling operation pattern from the blocking state of the stack (10) and the information about the stack (10).

[0072] Furthermore, the determination means (102) may determine the handling operation pattern based on the blocking state of the stack (10) and information on past operation patterns of the handling means (1, 1A). That is, the determination means (102) updates the basic handling operation pattern by machine learning, and determines the handling operation pattern to be performed this time based on the updated handling operation pattern and information measured by the measurement means (7).

[0073] The means for handling the stack in the handling system of the present invention is not limited to the example using a robot arm and a robot hand as in the first embodiment or the example using multiple handling rollers as in the second embodiment, and various other handling means can be applied. For example, the stack (10) may be handled manually. Then, depending on the blocking state of the stack (10) measured by the measuring means (7), a handling operation for the stack (10) performed by a person may be selected and executed.

[0074] Furthermore, some of the configurations of each embodiment may be added to, deleted from, or replaced with other configurations. Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be implemented in part or in whole in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function may be stored in memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0075] In this specification, the word "horizontal" is used, but this does not mean only "horizontal" in the strict sense, but also means a "substantially horizontal" state within a range in which the function can be exerted. [Explanation of symbols]

[0076] 1, 1A...Handling method 2A...First handling arm 2B...Second handling arm 3A…First handling hand 3B...Second handling hand 4. Workbench 5...Support part 7…Measurement means 10...Laminate 41...Placement section 42...Movable part 51A, 51B...First separating roller 52A, 52B...Second separating roller 53A...First workbench 53B...Second workbench 100...Handling system 101...Control means 102...Judgment means 103...Memory means R1...First handling section R2...Second handling section

Claims

1. a handling means for handling a stack of multiple printed materials; a control means for controlling the handling means; a measuring means for measuring the blocking state of the laminate; a memory unit that stores at least one operation pattern corresponding to a blocking state of the stack; a determining unit that determines the operation pattern stored in the storage unit based on the blocking state of the stack measured by the measuring unit, The processing system is characterized in that the control means controls the processing means based on the movement pattern determined by the determination means.

2. the measuring means measures a blocking state of the stack during the stack sorting operation by the sorting means, the determining means determines whether or not blocking in the laminate has been eliminated based on the measurement information from the measuring means; 2. The sorting system according to claim 1, wherein the control means terminates the sorting operation by the sorting means when the determination means determines that the blocking of the stack has been resolved.

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