Sheet bundle replenishing device and sheet bundle replenishing system

Abstract

To suppress problems that may occur due to the addition of sheet bundles by inexperienced workers into a sheet bundle storage part of an image forming device.SOLUTION: A sheet bundle replenishing device that adds sheet bundles to an image forming device 100 that forms images on a sheet fed from a sheet bundle 201 that is stored in a sheet bundle storage part 101 has a holding part 20 that can be switched between a holding state in which the sheet bundle is held and a holding release state in which the holding state is released, a drive part 10 that drives the holding part to move between a holding position for the sheet bundle and a replenishment position in the sheet bundle storage part, and a control part 60 which, after the holding part is brought into the holding state at the holding position, moves the holding part to the replenishment position, places the holding part in the holding release state at the replenishment position, and executes sheet bundle replenishment control for adding the sheet bundle into the sheet bundle storage part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sheet bundle replenishing device and a sheet bundle replenishing system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a sheet bundle replenishing device is known that replenishing a sheet bundle stored in a sheet bundle storage section of an image forming apparatus that forms an image on a sheet fed from the sheet bundle.

[0003] For example, Patent Document 1 discloses an apparatus for performing an attachment durability test on a sheet feed cassette (sheet stack storage section) for storing a sheet stack in a copier (image forming apparatus) to which the sheet feed cassette is detachably attached. This apparatus performs an attachment durability test on the sheet feed cassette by repeatedly selecting and removing a desired sheet feed cassette from a sheet feed cassette shelf where multiple sheet feed cassettes are lined up using a robot hand and attaching it to the copier. Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventionally, sheet bundles are replenished in the sheet bundle storage section of an image forming device by an operator manually. Therefore, if the operator is inexperienced, the sheet bundles are not stored in the sheet bundle storage section in the proper state, which can easily result in problems such as sheet damage and sheet transport failure. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems, the present invention provides a sheet bundle replenishing device that replenishing a sheet bundle to an image forming apparatus that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, the sheet bundle replenishing device including: a holding section that can be switched between a holding state that holds the sheet bundle and a holding release state that releases the holding state; a drive section that drives the holding section to move between a holding position of the sheet bundle and a replenishing position for the sheet bundle storage section; and a control section that executes sheet bundle replenishing control to replenishing the sheet bundle to the sheet bundle storage section by putting the holding section in the holding state at the holding position, and then moving the holding section to the replenishing position and putting the holding section in the holding release state at the replenishing position. The sheet bundle storage section includes a guide member having a guide surface that guides one side of the replenished sheet bundle so that it is parallel to a sheet surface normal direction, and the holding section holds the sheet bundle at the replenishment position so that the sheet surface normal direction of the held sheet bundle is not parallel to the guide surface and the one side of the held sheet bundle is parallel to the guide surface. It is characterized by: [Effects of the Invention]

[0006] According to the present invention, it is possible to prevent problems that may occur when an inexperienced worker replenishes sheet stacks. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a paper stack refill system according to an embodiment. [Figure 2] FIG. 2 is an external perspective view of the robot arm in the paper stack refill system, seen obliquely from above. [Figure 3] FIG. 2 is a perspective view showing a schematic configuration of a hand unit of the robot arm. [Figure 4] FIG. 2 is a side view showing a schematic configuration of the hand unit. [Figure 5] FIG. 2 is a perspective view showing an example of a paper bundle storage shelf in the paper bundle refill system. [Figure 6] FIG. 2 is a perspective view showing an example of a paper stack stacker supported on the paper stack storage shelf. [Figure 7] 10 is a cross-sectional view of the internal structure of the paper stack stacker as viewed from the lateral direction perpendicular to the paper stack removal direction from the paper stack stacker. FIG. [Figure 8] 4 is a cross-sectional view of the internal structure of the paper stack stacker as viewed from the paper stack removal direction. FIG. [Figure 9]10A to 10D are explanatory diagrams illustrating an example of the operation of grasping a refill paper stack held in a paper stack stacker of a paper stack storage shelf using the hand portion of a robot arm and removing it from the paper stack storage shelf. [Figure 10] 10A to 10C are explanatory diagrams illustrating an example of an operation in which a stack of sheets held by a hand portion is replenished into a paper feed cassette of an image forming apparatus using the hand portion of a robot arm. DETAILED DESCRIPTION OF THE INVENTION

[0008] Below, we will explain one embodiment in which the present invention is applied to a paper stack replenishment system (sheet stack replenishment system) that replenishes paper stacks (sheet stacks) into the paper feed cassette (sheet stack storage section) of an image forming device when performing a continuous paper feed test of the image forming device that involves continuous paper (sheet) feed. In this embodiment, an example of replenishing a stack of paper into the paper feed cassette of an image forming device that is the subject of a continuous paper feed test will be described. However, the test content is not limited to this as long as it involves continuous paper feed that requires replenishing a stack of paper during the test. Furthermore, the test is not limited to a continuous paper feed test, and may be, for example, replenishing a stack of paper into the paper feed cassette of an image forming device being used by a user. Furthermore, the image forming device is not limited to a specific image formation method, and may be an electrophotographic type, an inkjet type, or another type.

[0009] FIG. 1 is an explanatory diagram showing a schematic configuration of a paper bundle refill system 1 according to this embodiment. The paper bundle refilling system 1 of this embodiment has a robot arm 10 as a sheet bundle refilling device, and a paper bundle storage shelf 30 as a sheet bundle storage section that holds a plurality of paper bundles 201 to be replenished. The paper bundle refilling system 1 of this embodiment also has an output paper bundle storage shelf 40 as a sheet bundle receiving section that holds paper bundles 202 of image-formed sheets that have been discharged to a paper discharge tray 102 that serves as a sheet discharge section of the image forming apparatus 100. The paper bundle refilling system 1 of this embodiment also has an automatic cassette loading / unloading section 50 as a moving section that moves a paper feed cassette 101 as a sheet bundle storage section of the image forming apparatus 100 between an installation position where the paper feed cassette 101 is installed in the apparatus body of the image forming apparatus 100 and a replenishment position where the paper bundle 201 is replenished. The robot arm 10, hand section 20, and automatic cassette loading / unloading section 50 in the paper bundle refilling system 1 of this embodiment are controlled by a control section 60.

[0010] In a continuous paper feed test, the replenishing of the paper stack 201 in the paper feed cassette 101 of the image forming apparatus 100 has conventionally been performed manually by an operator (human). Therefore, if the operator is inexperienced, the paper stack 201 may not be stored in the paper feed cassette 101 in the proper state, causing problems such as the paper being damaged by being folded or torn when stored, or paper feeding failure or paper transport failure due to the improper storage state of the paper stack 201.

[0011] Furthermore, if the sheet feed cassette 101 is manually replenished with the stack of sheets 201 by an operator (human), the continuous sheet feed test can only be performed during the period when the operator is available at the image forming apparatus (for example, only during the daytime). Therefore, the continuous sheet feed test must be performed intermittently, which increases the time required to complete the continuous sheet feed test.

[0012] The paper stack replenishment system 1 of this embodiment prepares a plurality of paper stacks 201 for replenishment on the paper stack storage shelf 30, and uses the robot arm 10 to replenish the paper stacks 201 on the paper stack storage shelf 30 to the paper feed cassette 101 of the image forming apparatus 100. Therefore, the replenishment of the paper stacks 201 to the paper feed cassette 101 can be completed by the robot arm 10 without manual work by an operator (human). This makes it possible to prevent the above-mentioned problems that may occur when an inexperienced operator replenishes sheet stacks.

[0013] Moreover, the paper stack refill system 1 of this embodiment is equipped with an automatic cassette loading / unloading unit 50. This eliminates the need for an operator to manually move the paper feed cassette 101 of the image forming apparatus 100 between the installation position (the position where it is set in the apparatus body) and the replenishment position (the position where it is pulled out from the apparatus body) (the operation of loading and unloading the paper feed cassette 101). As a result, the operation of loading and unloading the paper feed cassette 101, which required manual work by an operator in conventional continuous paper feed tests, can be completed by the automatic cassette loading / unloading unit 50 without manual work by an operator (human). As a result, it is possible to eliminate the process requiring manual work by an operator during the continuous paper feed test, and it becomes possible to complete the continuous paper feed test even without an operator present.

[0014] The paper feed cassette 101 of this embodiment is a drawer type that is pulled out horizontally from the main body of the image forming apparatus 100. The automatic cassette loading / unloading unit 50 may be, for example, arranged at a position facing the paper feed cassette 101 of the image forming apparatus 100, and may include a handle gripping unit that grips the handle of the paper feed cassette 101, and a drive unit that moves the handle gripping unit in the vertical direction and in the direction in which the paper feed cassette 101 is loaded or unloaded.

[0015] Note that the image forming apparatus 100 itself may have a function as a moving unit that moves the sheet cassette 101 of the image forming apparatus 100 between the installed position and the replenished position. In such an image forming apparatus 100, for example, when it is detected that the sheet cassette 101 is empty, the moving unit moves the sheet cassette 101 to the replenished position, and when it is detected at the replenished position that the stack of sheets 201 has been replenished in the sheet cassette 101, the moving unit moves the sheet cassette 101 to the installed position. In this case, even if the automatic cassette loading / unloading unit 50 is not provided, it is possible to complete the continuous paper feed test without an operator present.

[0016] Furthermore, the paper stack replenishing system 1 of this embodiment uses the robot arm 10 to remove the paper stack 202 of image-formed sheets discharged to the paper output tray 102 of the image forming apparatus 100 from the paper output tray 102 to the paper stack storage shelf 40. Therefore, the task of removing the paper stack 202 of image-formed sheets discharged to the paper output tray 102 of the image forming apparatus 100 from the paper output tray 102 does not need to be performed manually by an operator. As a result, the task of removing the paper stack 202 of image-formed sheets, which required manual work by an operator in conventional continuous paper feed tests, can now be completed without the manual work of an operator (human). As a result, it is possible to eliminate the process requiring manual work by an operator during the continuous paper feed test, and it becomes possible to complete the continuous paper feed test even without an operator present.

[0017] Note that the image forming apparatus 100 itself may have a function of removing the image-formed sheet stack 202 from the image forming apparatus 100 (for example, a function of transporting the image-formed sheet stack 202 to a post-processing device, etc.). With such an image forming apparatus 100, even if the robot arm 10 does not have a function of removing the image-formed sheet stack 202, it is possible to complete the continuous paper feed test without the presence of an operator.

[0018] FIG. 2 is a perspective view of the robot arm 10 as seen obliquely from above. The robot arm 10 has a base 11, an arm support 12, an arm 13, a hand 14, and a tip 15, and functions as a drive unit that drives the movement of a hand unit (described below) that serves as a holding unit. The base 11 is fixed to a base, for example, by bolts.

[0019] Arm support section 12 is supported by base section 11 so as to be rotatable 360° in the direction indicated by arrow A in the figure around a vertical axis passing through the center of base section 11. Arm section 13 has upper arm section 13a and forearm section 13b. The base end of upper arm section 13a is supported by arm support section 12 so as to be rotatable in the direction indicated by arrow B in the figure around first axis 13c extending horizontally. The base end of forearm section 13b is supported by the tip end of upper arm section 13a so as to be rotatable in the direction indicated by arrow C in the figure around second axis 13d extending horizontally.

[0020] The base end of hand 14 is supported by the distal end of forearm 13b so as to be rotatable in the direction indicated by arrow D in the figure around central axis 14a extending in the longitudinal direction of forearm 13b. Furthermore, end portion 15 is supported by the distal end of hand 14 so as to be rotatable in the direction indicated by arrow E in the figure around third axis 15a extending horizontally. Various types of end effectors can be attached and detached to end portion 15, and in this embodiment, a hand portion (gripping portion) is attached.

[0021] FIG. 3 is a perspective view showing a schematic configuration of the hand unit 20 used as an end effector of the robot arm 10. As shown in FIG. FIG. 4 is a side view showing a schematic configuration of the hand unit 20. As shown in FIG. The hand unit 20 includes two stay members 21a and 21b as second clamping members, a paper sheet pressing member 22 as a first clamping member, a clamping drive mechanism 23, a stay drive mechanism 24, and a rear end regulating unit 25 as a regulating member. Note that the drive mechanisms 23 and 24 are not shown in FIG. 3.

[0022] The two stay members 21a, 21b function as second clamping members that come into contact with the underside of the paper stack 201 when the paper stack 201 is clamped and held by the hand unit 20 from the direction normal to the paper surface. The stay members 21a, 21b in this embodiment are formed from long members each having a shape in which the side edge of a long plate member is bent at a right angle, as shown in Fig. 3, but may also be members of other shapes, such as cylindrical or columnar members or members with a rectangular cross section.

[0023] The length (length) L1 of the stay members 21a and 21b in the longitudinal direction is shorter than the length of the stack of sheets 201 in the same direction, and is preferably, for example, 2 / 3 or more of the length of the stack of sheets 201 in the same direction. If the length of the stay members 21a and 21b is longer than the length of the stack of sheets 201, there is a risk that the tips of the stay members 21a and 21b may interfere with the sheet feed cassette 101, for example, when the held stack of sheets 201 is being refilled into the sheet feed cassette 101. Furthermore, if the length of the stay members 21a and 21b is shorter than 2 / 3 of the length of the stack of sheets 201, the stack of sheets 201 may hang down from the tips of the stay members 21a and 21b when the stack of sheets 201 is held, which may interfere with the refilling of the stack of sheets 201 into the sheet feed cassette 101.

[0024] Furthermore, it is preferable that the short-side length (width) L2 of each stay member 21a, 21b is, for example, 1 / 8 to 1 / 6 of the width of the paper-sheet stack 201. In this embodiment, L2 is set to, for example, 30 mm. It is also preferable that the distance L3 between the two stay members 21a, 21b is, for example, 1 / 3 to 1 / 2 of the width of the paper-sheet stack 201. In this embodiment, L3 is set to, for example, 80 mm.

[0025] Paper sheet pressing member 22 functions as a first clamping member that contacts the upper surface of paper sheet stack 201 when hand unit 20 pinches and grips paper sheet stack 201 from the direction normal to the paper sheet surface. As shown in Fig. 3, paper sheet pressing member 22 in this embodiment is configured as a member whose contact surface that contacts the upper surface of paper sheet stack 201 is rectangular, but the contact surface may be a member of another shape, such as a circular or polygonal member.

[0026] It is preferable that the width L4 of the paper sheet pressing member 22 is, for example, 1 / 2 or more and 1 / 1 or less of the width of the paper sheet stack 201. In this embodiment, L4 is set to, for example, 140 mm. It is also preferable that the length L5 of the paper sheet pressing member 22 is, for example, 1 / 10 or more and 1 / 5 or less of the length of the paper sheet stack 201. In this embodiment, L5 is set to, for example, 30 mm.

[0027] The clamp drive mechanism 23 is a drive mechanism that moves the paper pressure member 21 in the direction G normal to the paper surface of the paper stack 201. The clamp drive mechanism 23 allows the paper pressure member 21 to move toward and away from the two stay members 21a, 21b. There are no particular restrictions on the clamp drive mechanism 23 as long as it is a drive mechanism that can move the paper pressure member 21 in the direction G normal to the paper surface of the paper stack 201, and an electric cylinder that can move linearly back and forth can be used. The clamp drive mechanism 23 of this embodiment is supported on the fixed portion 24a of the stay drive mechanism 24, as shown in FIG. 4.

[0028] When the clamp drive mechanism 23 moves the paper sheet pressing member 21 in a direction away from the two stay members 21a, 21b, the distance between the paper sheet pressing member 21 and the two stay members 21a, 21b increases, allowing the stack of paper sheets 201 to be inserted between them. Then, with the stack of paper sheets 201 inserted between the paper sheet pressing member 21 and the two stay members 21a, 21b, the clamp drive mechanism 23 moves the paper sheet pressing member 21 in a direction approaching the two stay members 21a, 21b, causing the paper sheet pressing member 21 to contact the top surface of the stack of paper sheets 201. This allows the stack of paper sheets 201 to be clamped (gripped) between the two stay members 21a, 21b and the paper sheet pressing member 21.

[0029] In the clamping drive mechanism 23, the clamping force (load W1 with which the paper sheet pressing member 21 presses down on the paper sheet stack 201) when clamping the paper sheet stack 201 between the paper sheet pressing member 21 and the two stay members 21a, 21b is preferably, for example, 50 N or more and 200 N or less. In this embodiment, W1 is set to, for example, 150 N.

[0030] Stay drive mechanism 24 is a drive mechanism that moves two stay members 21a, 21b in the longitudinal direction H of stay members 21a, 21b along the sheet surfaces of the sheet stack. There are no particular limitations on stay drive mechanism 24 as long as it is a drive mechanism that can move paper pressure member 21 in the direction G normal to the paper surface of paper stack 201, and a slide drive mechanism that can move back and forth in a straight line can be used.

[0031] The stay drive mechanism 24 of this embodiment includes a fixed part 24a attached to the hand end 15 of the robot arm 10, and a movable part 24b that is movable relative to the fixed part 24a along the longitudinal direction H of the stay members 21a, 21b. The base ends of the two stay members 21a, 21b are fixed to the movable part 24b.

[0032] In a gripping state in which the stack of paper sheets 201 is sandwiched (gripped) between the paper sheet pressing member 21 and the two stay members 21a, 21b, the two stay members 21a, 21b are moved toward the base ends of the stay members 21a, 21b by the stay drive mechanism 24. As a result, the two stay members 21a, 21b retreat from the gripping region in which the stack of paper sheets 201 is sandwiched between the paper sheet pressing member 21 and the two stay members 21a, 21b, and the gripping state in which the stack of paper sheets 201 is sandwiched (gripped) between the two stay members 21a, 21b and the paper sheet pressing member 21 is released, and a grip-released state is entered.

[0033] When the two stay members 21a, 21b are moved toward the base ends of the stay members 21a, 21b by the stay drive mechanism 24 in the state where the paper stack 201 is being gripped, the rear end regulating portion 25 functions as a regulating member that regulates the paper stack 201 from moving toward the base ends in association with this movement. By providing this rear end regulating portion 25, it is possible to prevent the shape of the paper stack 201 from being distorted from the shape it had in the gripped state in association with the movement of the two stay members 21a, 21b when switching from the gripped state to the released grip state, making it easier to properly replenish the paper stack 201.

[0034] FIG. 5 is a perspective view showing an example of the paper stack storage shelf 30 in this embodiment. The paper bundle storage shelf 30 is equipped with a plurality of paper bundle stackers 31 that respectively store replenishment paper bundles 201. The paper bundle storage shelf 30 supports the paper bundle stackers 31 so that they can be removed from the shelf frame 32, to facilitate the task of setting replenishment paper bundles 201 in the paper bundle stackers 31. The paper bundle storage shelf 30 is arranged so that the plurality of paper bundle stackers 31 that it supports are located within the operating range of the robot arm 10 (the range in which the hand unit 20 of the robot arm 10 can grasp the paper bundles 201).

[0035] Fig. 6 is a perspective view showing an example of a paper-bundle stacker 31 supported on the paper-bundle storage shelf 30. Note that Fig. 6 illustrates a state in which a side panel on the front side of the drawing provided on the paper-bundle stacker 31 has been removed. 7 is a cross-sectional view of the internal structure of the paper-sheet stacker 31 as viewed from the side perpendicular to the direction in which the paper-sheet stack 201 is taken out of the paper-sheet stack stacker 31 by the hand unit 20 (paper-sheet stack take-out direction I). FIG. 8 is a cross-sectional view of the internal structure of the paper stack stacker 31 as viewed from the paper stack removal direction I.

[0036] The paper stack stacker 31 has a paper stack storage section on a base section 31d that stores a refill paper stack 201. This paper stack storage section is formed by side plates 31a, 31a that guide the paper stack 201 from the lateral direction (sheet width direction) perpendicular to the paper stack removal direction I, a plurality of (three in the illustrated example) bottom plate stays 31b on which the paper stack 201 is placed, and a rear plate 31c that guides the paper stack 201 from the rear end side in the paper stack removal direction I.

[0037] In this embodiment, the sheet stack placement surface (bottom surface of the sheet stack storage section) formed by the bottom plate stay 31b is inclined with respect to the horizontal plane so that the rear end side in the sheet stack removal direction I is lower, as shown in FIGS. 6 and 7 . The rear plate 31c is provided so that its inner wall surface is parallel to the vertical direction. As a result, when the sheet stack 201 is set in the sheet stack storage section of the sheet stack stacker 31 so that the rear end side of the sheet stack 201 in the sheet stack removal direction I abuts the inner wall surface of the rear plate 31c, the cross section of the sheet stack 201 along the sheet stack removal direction I becomes a parallelogram, as shown in FIG. 7 . Furthermore, because the sheet stack placement surface formed by the bottom plate stay 31b is inclined as described above, the set sheet stack 201 is urged toward the rear plate 31c by its own weight. As a result, the set sheet stack 201 is less likely to fall from the front end side in the sheet stack removal direction I, and is stably stored in the sheet stack stacker 31.

[0038] The angle θ1 between the sheet stack placement surface (sheet surface of the sheet stack 201) of the bottom plate stay 31b and the horizontal plane is set to an angle θ1′ such that, for example, when the sheet stack 201 stored in the sheet stack stacker 31 is gripped by the hand unit 20 of the robot arm 10 in its original shape, one side of the sheet stack 201 becomes parallel to the guide surface of the end guide 101a of the sheet cassette 101 when the robot arm 10 inserts the gripped sheet stack 201 into the sheet cassette 101 of the image forming apparatus 100 in such a position that the normal direction of the sheet surface of the sheet stack 201 is not parallel to the guide surface of the end guide 101a of the sheet cassette 101 (when the hand unit 20 is located at the refill position). A specific angle θ1 is preferably within a range of, for example, 10° to 45°. In this embodiment, the angle θ1 is set to, for example, 20°.

[0039] The amount of refill paper stack 201 set in paper stack stacker 31 matches the amount of paper stack 201 gripped by hand unit 20 of robot arm 10, and is set to be equal to or less than the amount that can be accommodated in paper feed cassette 101 of image forming apparatus 100. A typical refill paper stack 201 is a bundle of 500 sheets of paper, so in this embodiment it is set to 500 sheets, but as long as it is equal to or less than the amount that can be accommodated in paper feed cassette 101 of image forming apparatus 100, it is preferable that it be within the range of, for example, 100 to 1000 sheets.

[0040] The side plates 31a, 31a of the paper stack stacker 31 function as two opposing members facing the lateral end faces of the paper stack 201 stored therein to restrict lateral displacement of the paper stack 201. However, it is preferable to configure the paper stack stacker 31 so that gaps α1, α2 are formed between the side plates 31a, 31a and the paper stack 201 stored therein. This configuration improves the ease of setting a refill paper stack 201 into the paper stack stacker 31. To achieve both restriction of lateral displacement of the paper stack 201 and ease of setting, the gaps α1, α2 between the side plates 31a, 31a and each lateral side of the paper stack 201 are preferably in the range of 0.3 mm to 2 mm. Furthermore, it is preferable that these gaps α1, α2 are approximately the same. In this embodiment, both the gaps α1, α2 are set to, for example, 1 mm.

[0041] Figures 9(a) to (d) are explanatory diagrams illustrating an example of the operation of grasping a refill paper stack 201 stored in the paper stack stacker 31 of the paper stack storage shelf 30 using the hand portion 20 of the robot arm 10 and removing it from the paper stack storage shelf 30. The control unit 60 of this embodiment is communicatively connected to the image forming apparatus 100 that is the test target of the continuous paper feed test. The image forming apparatus 100 of this embodiment is provided with a paper empty sensor that detects that the paper feed cassette 101 is empty. When the paper empty sensor detects that the paper feed cassette 101 is empty, the image forming apparatus 100 transmits a request to the control unit 60 to replenish the stack of paper 201.

[0042] When the control unit 60 receives a request to replenish the paper-bundle 201 from the image forming apparatus 100, the control unit 60 controls the robot arm 10 to move the hand unit 20 of the robot arm 10 to a gripping position for gripping the replenishment paper-bundle 201 stored in the paper-bundle storage shelf 30. In this embodiment, as shown in FIG. 9(a), the control unit 60 controls the robot arm 10 so that the respective tips of the stay members 21a, 21b of the hand unit 20 face the respective gaps between the three bottom plate stays 31b of the paper-bundle stacker 31. Also, as shown in FIG. 9(a), the control unit 60 controls the robot arm 10 so that the longitudinal direction of the stay members 21a, 21b of the hand unit 20 is parallel to the paper-bundle placement surface formed by the bottom plate stays 31b.

[0043] Thereafter, the control unit 60 controls the robot arm 10 so that the stay members 21a, 21b of the hand unit 20 enter into each gap between the three bottom plate stays 31b of the paper-sheet stacker 31, as shown by arrow I1 in Figure 9(a). Specifically, the stay members 21a, 21b enter toward the paper-sheet stack stacker 31 until the paper-sheet stack 201 stored in the paper-sheet stack stacker 31 abuts against the trailing end regulating unit 25 of the hand unit 20. Note that the hand unit 20 may be provided with a sensor that detects that the paper-sheet stack 201 has abutted against the trailing end regulating unit 25, and may be configured to notify the control unit 60 when the paper-sheet stack 201 has abutted against the trailing end regulating unit 25.

[0044] The control unit 60 controls the clamping drive mechanism 23 of the hand unit 20 so that the distance between the paper-sheet pressing member 21 of the hand unit 20 and the two stay members 21a, 21b is set in advance to be wider than the thickness of the paper-sheet stack 201. Therefore, as shown in Fig. 9(b), the paper-sheet stack 201 can be inserted between the paper-sheet pressing member 21 and the two stay members 21a, 21b.

[0045] Next, the control unit 60 controls the clamping drive mechanism 23 of the hand unit 20 to move the paper-sheet pressing member 21 in a direction approaching the two stay members 21a, 21b, as shown by the arrow G1 in Fig. 9(b). As a result, as shown in Fig. 9(c), the paper-sheet pressing member 21 comes into contact with the upper surface of the paper-sheet stack 201 with a predetermined load, and the paper-sheet stack 201 is placed in a clamped state in which it is clamped (gripped) between the two stay members 21a, 21b and the paper-sheet pressing member 21. The paper-sheet stack 201 held by the hand unit 20 is held while maintaining its parallelogram shape, the same as the shape of the paper-sheet stack 201 when it is stored in the paper-sheet stack stacker 31.

[0046] Thereafter, the control unit 60 controls the robot arm 10 so as to remove the paper-sheet stack 201 held by the hand unit 20 from the paper-sheet stack stacker 31. Specifically, the control unit 60 first controls the robot arm 10 so as to lift the paper-sheet stack 201 held by the hand unit 20 in the direction normal to the paper surface by about 5 mm to 20 mm from the bottom plate stay 31b of the paper-sheet stack stacker 31, as shown by arrow G2 in FIG. 9(d). Next, the control unit 60 controls the robot arm 10 so as to move the stay members 21a and 21b of the hand unit 20 in a direction parallel to the paper-sheet stack placement surface formed by the bottom plate stay 31b, as shown by arrow I2 in FIG. 9(d), and pull out the stay members 21a and 21b from the gaps in the bottom plate stay 31b of the paper-sheet stack stacker 31. As a result, the paper-sheet stack 201 held by the hand unit 20 is removed from the paper-sheet stack storage shelf 30.

[0047] Figures 10(a) to (c) are explanatory diagrams illustrating an example of an operation in which a stack of paper 201 held by the hand unit 20 is used to replenish a paper feed cassette 101 of an image forming device 100 using the hand unit 20 of the robot arm 10. When the control unit 60 receives a request to replenish the stack of sheets 201 from the image forming apparatus 100, it controls the automatic cassette loading / unloading unit 50 to pull out the sheet feed cassette 101, which is currently in the installed position, to the replenished position. Specifically, the control unit 60 sends a pull-out command to the automatic cassette loading / unloading unit 50. In response to this, the automatic cassette loading / unloading unit 50 causes the drive unit to move the handle gripping portion to a position facing the handle of the sheet feed cassette 101 that is the target of the pull-out command, and then moves the handle gripping portion in the direction of inserting the sheet feed cassette to a position where it grips the handle. Then, after gripping the handle of the sheet feed cassette 101 with the handle gripping portion, it moves the handle gripping portion in the direction of pulling out the sheet feed cassette. As a result, the sheet feed cassette 101 is pulled out from the main body of the image forming apparatus 100, and the sheet feed cassette 101 takes the replenished position. The automatic cassette loading / unloading unit 50 then sends a pull-out completion notification to the control unit 60.

[0048] When the control unit 60 receives a withdrawal completion notification from the automatic cassette loading / unloading unit 50, it controls the robot arm 10 to move the hand unit 20 to a replenishment position to replenish the paper stack 201 held by the hand unit 20 to the paper feed cassette 101 pulled out to the replenishment position. Specifically, as shown in FIG. 10(a), the control unit 60 controls the posture of the hand unit 20 so that the normal direction to the paper surface of the paper stack 201 held by the hand unit 20 is non-parallel (angle θ2′) to the guide surface of the end guide 101a and one side of the held paper stack 201 (the side guided by the guide surface of the end guide 101a) is parallel to the guide surface. Then, the control unit 60 moves the hand unit 20 to the replenishment position where one side of the held paper stack 201 comes into contact with the guide surface of the end guide 101a of the paper feed cassette 101.

[0049] After the hand unit 20 has been moved to the replenishment position in this manner, the control unit 60 controls the stay drive mechanism 24 of the hand unit 20 to move the stay members 21a and 21b in a direction to retract from the clamping area where the stack of sheets 201 is clamped between the stay members 21a and 21b and the sheet pressing member 22, as shown by the arrow H1 in Fig. 10(b). This releases the gripped state of the stack of sheets 201, causing the stack of sheets 201, which had been supported by the stay members 21a and 21b, to fall under its own weight and be replenished into the sheet feed cassette 101, as shown in Fig. 10(c).

[0050] According to this embodiment, by executing the control (sheet stack replenishment control) by the control unit 60 as described above, the replenishment of the paper stack 201 into the paper feed cassette 101 can be completed by the paper stack replenishment system 1 without manual work by an operator (human).

[0051] In this embodiment, as described above, the stack of sheets 202 of image-formed sheets discharged to the discharge tray 102 of the image forming apparatus 100 is removed from the discharge tray 102 to the discharged stack storage shelf 40 by using the robot arm 10. At this time, if the configuration of the hand unit 20 used to replenish the sheet stack 201 into the sheet cassette 101 of the image forming apparatus 100 is incompatible with the configuration for removing the stack of sheets 202 of image-formed sheets from the discharge tray 102 of the image forming apparatus 100 to the discharged stack storage shelf 40, the hand unit 20 of the robot arm 10 may be replaced with another hand unit that is compatible with this removal.

[0052] In this embodiment, an example has been described in which the sheet cassette 101 of one image forming apparatus 100 is replenished with the stack of sheets 201, but one robot arm 10 may replenish the sheet cassettes 101 of two or more image forming apparatuses 100 with the stack of sheets 201. In this case, these image forming apparatuses 100 are arranged so as to be located within the operating range of the robot arm 10.

[0053] The above description is merely an example, and each of the following aspects provides unique effects. [First aspect] The first aspect is a sheet bundle refilling device that refills a sheet bundle to an image forming apparatus 100 that forms images on sheets (e.g., paper) fed from a sheet bundle (e.g., a refill paper bundle 201) stored in a sheet bundle storage unit (e.g., a paper feed cassette 101), and is characterized by having a holding unit (e.g., a hand unit 20) that can be switched between a holding state that holds the sheet bundle and a holding release state that releases the holding state, a drive unit (e.g., a robot arm 10) that drives the holding unit to move between a holding position for the sheet bundle and a refill position for the sheet bundle storage unit, and a control unit 60 that executes sheet bundle refilling control to put the holding unit in the holding state at the holding position, move the holding unit to the refill position, and then put the holding unit in the holding release state at the refill position to refill the sheet bundle to the sheet bundle storage unit. Replenishing sheet bundles in the sheet bundle storage unit of an image forming apparatus has traditionally been done manually by an operator (human). This is also true in conventional apparatuses that replenish the image forming apparatus with the entire sheet bundle storage unit (conventional apparatuses that replenish the image forming apparatus with the sheet bundle stored in the sheet bundle storage unit). When replenishing sheet bundles in the sheet bundle storage unit manually by an operator, if the operator is inexperienced, the sheet bundles may not be stored in the sheet bundle storage unit in the proper state, resulting in damage such as folded or torn sheets during storage, or problems such as poor sheet feeding and conveyance due to improper sheet bundle storage. In this sheet-bundle replenishing device, the holding unit is configured to be switchable between a holding state in which the sheet bundle is held and a holding-release state in which the holding state is released. The control unit then executes sheet-bundle replenishing control, which realizes a series of sheet-bundle replenishing operations: the holding unit holds the sheet bundle at the holding position, enters the holding-release state, moves to a replenishment position for the sheet-bundle storage unit of the image forming apparatus, and replenishing the sheet bundle in the sheet-bundle storage unit. Therefore, this sheet-bundle replenishing device can complete the replenishing of sheet bundles in the sheet-bundle storage unit by itself, without the need for manual operation by an operator (human). This sheet-bundle replenishing device can thus prevent problems that may arise when an inexperienced operator replenishes sheet bundles.

[0054] [Second mode] A second aspect is the first aspect, characterized in that the holding portion pinches and grips the sheet stack from a normal direction to the sheet surfaces to be in the held state. This allows the sheet stack to be stably held by the holding portion.

[0055] [Third aspect] The third aspect is characterized in that, in the first or second aspect, the holding position is a position where the holding section holds a sheet bundle stored in a sheet bundle storage section (e.g., paper bundle storage shelf 30) that stores multiple sheet bundles. This allows a larger number of sheet bundles to be replenished to the image forming apparatus without the need for a worker (human).

[0056] [Fourth aspect] A fourth aspect is characterized in that, in any of the first and second aspects, the replenishment position is a position where sheet bundles are replenished to the sheet bundle storage section pulled out horizontally from the main body of the image forming device. This allows sheet bundles to be replenished in a general type image forming apparatus in which the sheet bundle storage section is pulled out horizontally.

[0057] [Fifth mode] A fifth aspect is characterized in that, in any of the first to fourth aspects, the drive unit drives the holding unit to move between a receiving position for a sheet stack of image-formed sheets (e.g., image-formed paper stack 202) discharged to a sheet discharge unit (e.g., discharge tray 102) of the image forming device and a transfer position for transferring the sheet stack of image-formed sheets to a sheet bundle receiving unit (e.g., discharged paper bundle storage shelf 40), and the control unit executes sheet bundle removal control for causing the holding unit to put the holding unit in the holding state at the receiving position for the sheet stack of image-formed sheets, then moving the holding unit to the transfer position, and causing the holding unit to put in the holding release state at the transfer position, and transferring the sheet stack to the sheet bundle receiving unit. This allows the sheet bundle replenishing device to utilize a holding section and a drive section for replenishing the sheet bundle, and to complete the removal of the sheet bundle of image-formed sheets from the image forming device without manual work by an operator (human).

[0058] [Sixth aspect] A sixth aspect is the device according to any one of the first to fifth aspects, characterized in that the holding portion is configured to be replaceable with respect to the moving portion. With this, even if the holding part includes an incompatible configuration, it is possible to make it compatible with the incompatible configuration by replacing it with another holding part.

[0059] [Seventh aspect] A seventh aspect is characterized in that, in any of the first to sixth aspects, the sheet bundle storage section has a guide member (e.g., end guide 101a) with a guide surface that guides one side of the replenished sheet bundle so that it is parallel to the sheet surface normal direction, and the holding section holds the sheet bundle so that, at the replenishment position, the sheet surface normal direction of the held sheet bundle is not parallel to the guide surface and the one side of the held sheet bundle is parallel to the guide surface. According to this, when the holding state of the held sheet bundle is switched to the holding release state at the replenishment position, the sheet bundle can be replenished in the sheet bundle storage section of the image forming device in an appropriate state in which one side of the replenished sheet bundle is parallel to the guide surface of the guide member.

[0060] [Eighth aspect] The eighth aspect is characterized in that in the seventh aspect, the angle (for example, angle θ1') between the one side of the held sheet stack and the normal direction of the sheet surface of the sheet stack is greater than or equal to 10° and less than or equal to 45°. This allows sheet bundles to be replenished in an appropriate state in a sheet bundle storage unit of a general image forming apparatus.

[0061] [Ninth aspect] The ninth aspect is characterized in that, in the seventh or eighth aspect, the holding portion clamps the sheet stack between a first clamping member (e.g., paper pressure member 22) that abuts the upper surface of the sheet stack and a second clamping member (e.g., stay members 21a, 21b) that abuts the lower surface of the sheet stack to enter the held state, and moves the second clamping member along the sheet surface of the sheet stack to enter the released state. This makes it easy to replenish the sheet bundle into the sheet bundle storage unit of the image forming apparatus without disturbing the sheet bundle when switching from the holding state to the holding release state.

[0062] [Tenth aspect] The tenth aspect is characterized in that, in the ninth aspect, the holding portion has a regulating member (e.g., a trailing end regulating portion 25) that regulates the movement of the sheet stack in association with the movement of the second clamping member. This can prevent the held sheet stack from becoming disarrayed when switching from the held state to the released state.

[0063] [Eleventh aspect] The eleventh aspect is a sheet bundle replenishing system (e.g., paper bundle replenishing system 1) that replenishes sheet bundles to an image forming apparatus 100 that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, and is characterized by having a sheet bundle replenishing device of any of the first to tenth aspects, and a sheet bundle storage section (e.g., paper bundle storage shelf 30) that stores a plurality of sheet bundles (e.g., replenishing paper bundles 201) that are held in the holding section at the holding position. According to this sheet bundle replenishing system, it is possible to prevent problems that may occur when sheet bundles are replenished by an inexperienced worker.

[0064] [12th aspect] A twelfth aspect is the eleventh aspect, characterized in that the device has a sheet bundle replenishing device of any of the seventh to tenth aspects, and the sheet bundle storage section stores sheet bundles in the same shape as the sheet bundle held by the holding section. According to this, when the holding state of the held sheet bundle is switched to the holding release state at the replenishment position, the sheet bundle can be replenished in the sheet bundle storage section of the image forming device in an appropriate state in which one side of the replenished sheet bundle is parallel to the guide surface of the guide member.

[0065] [13th aspect] A thirteenth aspect is characterized in that, in the eleventh or twelfth aspect, the sheet bundle storage section has two opposing members (e.g., side plates 31a, 31a) facing both end faces of the sheet bundle in the sheet width direction so as to restrict displacement of the stored sheet bundle in the sheet width direction, which is a direction perpendicular to the direction in which the sheet bundle is removed by the holding section and parallel to the sheet surface, and the respective distances (e.g., gaps α1, α2) between the two opposing members and both end faces of the sheet bundle in the sheet width direction are in the range of 0.3 mm or more and 2 mm or less. This makes it possible to regulate the lateral displacement of the sheet bundle stored in the sheet bundle storage section and to facilitate setting of the sheet bundle in the sheet bundle storage section.

[0066] [14th aspect] The 14th aspect is characterized in that, in any of the 11th to 13th aspects, the image forming apparatus has a moving section (e.g., automatic cassette loading / unloading section 50) that moves the sheet bundle storage section between an installation position where the section is installed in the main body of the image forming apparatus and a replenished position where the sheet bundle is replenished, and the control section executes movement control to move the sheet bundle storage section to the replenished position before moving the holding section to the replenishment position, and to move the sheet bundle storage section to the installation position after the sheet bundle has been replenished in the sheet bundle storage section. With this, even when replenishing sheet bundles in the sheet bundle storage unit of a typical image forming device, which requires manual human labor to move the sheet bundle storage unit of the image forming device between the mounting position and the replenishment position, the movement of the sheet bundle storage unit can be completed by the moving unit without manual labor by an operator (human). [Explanation of symbols]

[0067] 1: Paper stack refill system 10: Robot arm 20: Hand part 21: Paper pressing member 21a, 21b: Stay members 22: Paper pressing member 23: Clamping drive mechanism 24: Stay drive mechanism 24a: Fixed part 24b: Moving part 25: Rear end regulation section 30: Paper stack storage shelf 31: Paper stacker 31a: Side plate 31b: Bottom plate stay 31c: Rear plate 31d: Base 32: Shelf frame 40: Output stack storage shelf 50: Automatic cassette loading / unloading section 60: Control section 100: Image forming device 101: Paper cassette 101a: Paper cassette 102: Paper output tray 201: Refill stack 202: Stack of paper on which images have been formed [Prior art documents] [Patent documents]

[0068] [Patent Document 1] Japanese Patent Publication No. 62-222139

Claims

1. 1. A sheet bundle replenishing device that replenishing a sheet bundle stored in a sheet bundle storage section with the sheet bundle for an image forming device that forms an image on a sheet fed from the sheet bundle, a holding section that is switchable between a holding state that holds the sheet bundle and a holding release state that releases the holding state; a drive unit that drives the holding unit to move between a holding position for the sheet bundle and a replenishing position for the sheet bundle storage unit; a control unit that executes sheet bundle replenishment control to move the holding unit to the replenishment position after placing the holding unit in the holding state at the holding position, and then place the holding unit in the holding release state at the replenishment position, thereby replenishing the sheet bundle in the sheet bundle storage unit, the sheet bundle storage section includes a guide member having a guide surface that guides one side of the loaded sheet bundle so that the side is parallel to a normal direction of the sheet surfaces; The sheet bundle refilling device is characterized in that the holding section holds the sheet bundle at the refill position so that the normal direction of the sheet surface of the held sheet bundle is non-parallel to the guide surface and the one side of the held sheet bundle is parallel to the guide surface.

2. 2. The sheet bundle replenishing device according to claim 1, The sheet bundle replenishing device is characterized in that the holding portion is in the held state by pinching and gripping the sheet bundle from a direction normal to the sheet surfaces.

3. 3. The sheet bundle replenishing device according to claim 1, The sheet bundle replenishing device according to claim 1, wherein the holding position is a position where the holding section holds the sheet bundle stored in a sheet bundle storage section that stores a plurality of the sheet bundles.

4. 4. The sheet stack replenishing device according to claim 1, The sheet bundle replenishing device according to claim 1, wherein the replenishing position is a position where the sheet bundle is replenished to the sheet bundle storage section that is pulled out horizontally from the main body of the image forming apparatus.

5. 5. The sheet bundle replenishing device according to claim 1, the drive unit drives the holding unit to move between a receiving position for receiving a sheet bundle of image-formed sheets discharged to a sheet discharge unit of the image forming apparatus and a delivery position for delivering the sheet bundle of image-formed sheets to a sheet bundle receiving unit, The control unit executes sheet bundle removal control for the sheet bundle of image-formed sheets by placing the holding unit in the holding state at the receiving position, then moving the holding unit to the delivery position, placing the holding unit in the release state at the delivery position, and delivering the sheet bundle to the sheet bundle receiving unit.

6. 6. The sheet bundle replenishing device according to claim 1, The sheet stack replenishing device is characterized in that the holding unit is configured to be replaceable with respect to the drive unit.

7. In the sheet bundle refilling device according to any one of claims 1 to 6, 10. A sheet stack replenishing device, wherein an angle formed between the one side surface of the sheet stack held and a normal direction of the sheet surface of the sheet stack is 10 degrees or more and 45 degrees or less.

8. 8. The sheet bundle replenishing device according to claim 1, The sheet bundle refilling device is characterized in that the holding section clamps the sheet bundle between a first clamping member that abuts the upper surface of the sheet bundle and a second clamping member that abuts the lower surface of the sheet bundle to enter the held state, and moves the second clamping member along the sheet surface of the sheet bundle to enter the held release state.

9. 9. The sheet bundle replenishing device according to claim 8, The sheet bundle replenishing device according to claim 1, wherein the holding portion has a regulating member that regulates the sheet bundle from moving in association with the movement of the second clamping member.

10. 1. A sheet bundle replenishing system that replenishing sheet bundles to an image forming apparatus that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, the system comprising: The sheet bundle replenishing device according to any one of claims 1 to 9, a sheet bundle storage section for storing a plurality of sheet bundles held by the holding section at the holding position.

11. 11. The sheet bundle refilling system according to claim 10, The sheet bundle replenishing system is characterized in that the sheet bundle storage section stores sheet bundles in a state of being shaped the same as the shape of the sheet bundle held by the holding section.

12. 12. The sheet bundle refilling system according to claim 10, the sheet bundle storage section has two opposing members facing both end surfaces of the sheet bundle in the sheet width direction so as to restrict displacement of the stored sheet bundle in the sheet width direction, which is a direction perpendicular to the direction in which the sheet bundle is taken out by the holding section and parallel to the sheet surface; A sheet bundle refilling system, characterized in that the distances between the two opposing members and both end faces of the sheet bundle in the sheet width direction are in the range of 0.3 mm to 2 mm.

13. 13. The sheet stack refilling system according to claim 10, a moving unit that moves the sheet bundle storage unit between a mounting position where the sheet bundle storage unit is mounted to the main body of the image forming apparatus and a replenishment position where the sheet bundle is replenished; The control unit executes movement control to move the sheet bundle storage unit to the replenished position before moving the holding unit to the replenishment position, and to move the sheet bundle storage unit to the installation position after replenishing the sheet bundle in the sheet bundle storage unit.

Images