Pressing device

Abstract

This pressing device for a laminate (workpiece) comprises: a support means provided with a support member for supporting the laminate; a pressing means provided with a pressing member for pressing the laminate and a drive mechanism for vertically moving the pressing member; a control unit that controls the drive mechanism; and a distance detection means that moves integrally with the pressing member to detect a relative distance relative to the laminate during the movement. The control unit lowers the pressing member at a first speed by using the drive mechanism in a state where the relative distance is more than a prescribed distance, reduces a lowering speed from the first speed to a second speed when the relative distance becomes equal to or less than the prescribed distance, brings the pressing member into contact with the laminate at the second speed, and stops the drive mechanism.

Description

Presser device

[0001] This application claims priority from PCT / JP2024 / 012862 filed on March 28, 2024, the contents of which are incorporated herein by reference.

[0002] There is a document that discloses that when a package bound with wire is opened, the package is held down by a holding mechanism.

[0003] Japanese Unexamined Patent Publication No. 63-317437

[0004] The holding down of the package by the holding down mechanism is set at an appropriate predetermined pressure. Here, it is preferable that the operating time until the holding down mechanism holds down the package is as short as possible. However, if the holding down mechanism is brought into contact with the package at high speed, there is a risk that a pressure exceeding the predetermined pressure will be applied to the package. If the package is a laminated product, the height will change depending on the number of layers, and therefore the timing of contact will also change. Similar issues arise when packaging an unpackaged laminated product, as it is necessary to hold down the laminated product.

[0005] The present disclosure provides a presser device that can increase the descending speed during the process of pressing down a laminate (workpiece) without applying more pressure than necessary to the laminate (workpiece).

[0006] In order to solve the above problems, the present disclosure employs the following aspects: (1) A pressing device according to one aspect of the present disclosure is a pressing device that packs a stack of a plurality of single trays with a binding member or unpacks the stack of the stacked products packed with a binding member at an unpacking position, the pressing device including: a support means including a support member that supports the stack from below; a pressing member that presses the stack from above; and a pressing means including a drive mechanism that moves the pressing member; a control unit that controls the drive mechanism; and a distance detection means that moves integrally with the pressing member and detects the relative distance to the stack of the stack of the control device, wherein the control unit causes the drive mechanism to lower the pressing member at a first speed when the relative distance is greater than a predetermined distance, and when the relative distance becomes equal to or less than the predetermined distance, reduces the lowering speed from the first speed to a second speed, brings the pressing member into contact with the stack of the stack of the first tray at the second speed, and stops the drive mechanism.

[0007] According to this aspect, when the presser member of the presser means approaches from above a stack of products to be packaged with a binding member or a stack of products packaged with a binding member, which is supported from below by the support member of the support means, and the distance detection means detects that the relative distance between the presser member and the stack of products is equal to or less than a predetermined distance, the control unit controls the drive mechanism to reduce the descent speed of the presser member from a first speed to a second speed and to abut and press the stack of products at a low speed. Thus, the presser device according to this aspect can prevent the application of excessive pressure to the stack of products in both packaging and unpacking operations. This prevents problems such as damage to the stack of products due to pressure significantly exceeding the predetermined pressure. Furthermore, since the presser member can be lowered at high speed in a short time until the relative distance is equal to or less than the predetermined distance, the speed of the process of pressing the stack of products can be increased.

[0008] Another aspect of the present disclosure provides a workpiece holding device, comprising: a support means including a support member that supports the workpiece from below; a holding means including a holding member that holds down the workpiece from above and a drive mechanism that moves the holding member up and down; a control unit that controls the drive mechanism; and a distance detection means that moves integrally with the holding member and continuously detects the relative distance between the workpiece and the holding member during the movement. The control unit controls the drive mechanism to lower the holding member at a first speed when the relative distance is greater than a predetermined distance, and when the relative distance becomes equal to or less than the predetermined distance, reduces the descent speed from the first speed to a second speed, brings the holding member into contact with the workpiece at the second speed, and stops the drive mechanism. According to this aspect, when the distance detection means detects that the relative distance between the holding member and the workpiece is equal to or less than the predetermined distance, the control unit controls the drive mechanism to reduce the descent speed of the holding member from the first speed to the second speed and bring the holding member into contact with the workpiece at a low speed. Thus, the holding device according to this aspect can prevent the application of more pressure than necessary to the workpiece. This prevents problems such as damage to the workpiece caused by a pressure that is significantly higher than the predetermined pressure. Furthermore, the workpiece can be lowered at high speed in a short time until the relative distance becomes equal to or less than the predetermined distance, improving work efficiency. Effect of disclosure

[0009] According to the holding device according to the embodiment of the present disclosure, it is possible to increase the speed of the process of holding down the laminated product (workpiece) without applying more pressure than necessary.

[0010] 8 is a plan view showing the overall configuration of a packaging and unpacking device according to an embodiment; FIG. 9 is a perspective view showing a series of operations for stacking and packaging a plurality of individual trays to form a first laminate; FIG. 10 is a perspective view showing a series of operations for unpacking the packaged first laminate to form a plurality of individual trays; FIG. 11 is a perspective view showing the configuration of the packaging and unpacking device; FIG. 12 is a perspective view showing the configuration of a first conveying device; FIG. 13 is a perspective view showing the configuration of a collecting and separating section; FIG. 14 is a perspective view showing an input / output transfer mechanism of a laminate input / output section; FIG. 15 is a perspective view showing an input / output port of a laminate input / output section; FIG. 16 is a perspective view of the input / output port shown in FIG. 10 with the outer wall omitted; FIG. 17 is a perspective view of the packaging section as seen from the rear, opposite the second transfer device side; FIG. 18 is a perspective view of the packaging section as seen from the front; FIG. 19 is a perspective view showing the configuration of an unpacking section; FIG. 19 is a perspective view of the conveying means and supporting means of the unpacking section as seen obliquely from above; FIG. 19 is a perspective view of the supporting means as seen obliquely from below; FIG. 19 is a perspective view of the pressing means as seen obliquely from above; FIG. 19 is a perspective view of a pressing portion main body of the pressing means as seen obliquely from below; FIG. 19 is a plan view of the cutting means as seen from above; FIG. 19 is a perspective view of the holding means as seen obliquely from above; FIG. 19 is a side view of a pressing portion of the pressing means; FIG. 19 is a view showing the operation flow of the pressing means; FIG. 19 is a view showing the operation flow of the pressing means. 26A is a diagram showing the operation flow of the pressing means; FIG. 26B is a diagram showing the operation flow of the pressing means; FIG. 26C is a diagram showing the operation flow of the pressing means; FIG. 26D is an enlarged view of the pressing portion shown in parts I and II of FIG. 21B; FIG. 26E is an enlarged view of the main portion of parts III and IV shown in FIG. 22; FIG. 26F is a plan view seen from above for explaining the cutting position of the support means; FIG. 26G is a plan view showing a part of a first binding member bound in the short direction of the individual tray; FIG. 26H is a plan view showing a part of a second binding member bound in the longitudinal direction of the individual tray at the same height position as FIG. 25A; FIG. 26H is a cross-sectional view taken along line V-V of FIG. 25A, showing the configuration of the convex and concave portions of the individual tray; FIG. 26H is a diagram showing a configuration in which the heights of the convex and concave portions shown in FIG. 26A are different.

[0011] A presser device according to an embodiment of the present disclosure will be described with reference to the drawings. In the embodiments and modifications described below, corresponding components may be designated by the same reference numerals, and their description may be omitted. In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," not only strictly refer to such arrangements, but also refer to a state in which the two surfaces are relatively displaced by an angle or distance to a degree that allows tolerance or the same function to be obtained. In this embodiment, "facing" does not only refer to a case in which the orthogonal directions (normal directions) of the two surfaces are aligned with each other, but also includes a case in which the orthogonal directions intersect with each other.

[0012] FIG. 1 is a plan view showing the overall configuration of a packaging and unpacking apparatus 1. As shown in FIG. 1, the packaging and unpacking apparatus 1 is an apparatus that has both a packaging function and an unpacking function for laminated products 100 (100A, 100B). Here, the laminated product 100 includes a first laminated product 100A that is in a standalone state packaged with a strip-shaped binding member 11, and a second laminated product 100B that is in an unpackaged state and does not include the binding member 11 (see FIG. 2). In the following description, the laminated product 100 will be referred to as the first laminated product 100A or the second laminated product 100B as needed.

[0013] [Laminated Product 100] First, the laminated product 100 to be packaged and unpacked by the packaging and unpacking device 1 will be described. FIG. 2 is a perspective view showing a series of operations for stacking and packing a plurality of individual trays 10 to form a first laminated product 100A. FIG. 3 is a perspective view showing a series of operations for unpacking the packaged first laminated product 100A to form a plurality of individual trays 10 (target products). The laminated product 100 can also be simply referred to as a workpiece. The laminated product 100 (100A, 100B) is a state in which a plurality of individual trays 10 are stacked. The individual tray 10 includes a storage body 101 that stores electronic components (e.g., chips) having a rectangular shape in a plan view, a storage tray 102 equipped with the storage body 101, and a cover 103 that covers the storage body 101. Two types of covers 103 are used: a first cover 103A used during transportation within the storage case 12 described below, and a second cover 103B used during packaging. The first cover 103A is a sheet-like member. The second cover 103B is a cushioning member. When the individual trays 10 are stacked, the second cover member 103B is thicker than the gap between the upper surface of the storage body 101 of the individual tray 10 and the lower surface of the individual tray 10 stacked on the tray. Cushioning properties are exhibited when the individual trays 10 are stacked via the second cover member 103B.

[0014] In the following description, the direction along the short side of the individual tray 10 and the stacked product 100 is referred to as the short-side direction X1 (first direction), and the direction along the long-side direction is referred to as the long-side direction X2 (second direction). That is, the individual tray 10 (storage tray 102, stacked product 100) has a first length in the short-side direction X1 and a second length in the long-side direction X2 that is longer than the first length.

[0015] Before packaging, the plurality of individual trays 10 are stored in a storage case 12 in a state where they are arranged one above the other in the vertical direction. The storage case 12 has a cubic box shape having length, width, and depth, with an opening 12a formed on one side, which serves as an entrance and exit for the individual trays 10. A lid 121 can be attached and detached to the opening 12a. Inside the storage case 12, areas for storing each individual tray 10 are defined by a plurality of partitions 122 extending horizontally. The storage case 12 can be transported with the lid 121 closed.

[0016] Next, the operation of stacking and packaging a plurality of individual trays 10 stored in the storage case 12 to form a first stack 100A will be described with reference to Figure 2. First, in operation S11, the lid 121 of the storage case 12 is opened and the stored plurality of individual trays 10 are removed. Then, in operation S12, the first cover 103A is removed from the storage body 101 for each individual tray 10, and in operation S13, the second cover 103B is attached. That is, the first cover 103A of the individual tray 10 removed from the storage case 12 is replaced with the second cover 103B.

[0017] Thereafter, in operation S14, a plurality of individual trays 10 with the second covers 103B attached are stacked, and the stacked individual trays 10 (second stack 100B) are sandwiched between upper and lower base cover plates 104A, 104B. The base cover plates 104A, 104B each have a rectangular shape that is approximately the same as the shape of the individual trays 10 in a plan view. The upper cover plate 104A is disposed on top of the second stack 100B. The lower cover plate 104B is disposed below the second stack 100B. In the following description, the upper and lower base cover plates 104A, 104B may be referred to as the second stack 100B.

[0018] Thereafter, in operation S15, the second laminate 100B is bound with the binding member 11 to form the first laminate 100A, completing the series of operations. Here, the binding member 11 that binds in the short-side direction X1 is referred to as the first binding member 11A, and the binding member 11 that binds in the long-side direction X2 is referred to as the second binding member 11B. In this embodiment, the second laminate 100B is bound at three locations, the center and each end, in the long-side direction X2, with the binding member 11 (first binding member 11A), and at one location in the center in the short-side direction X1 with the binding member 11 (second binding member 11B).

[0019] Next, the operation of unpacking the first stack 100A and storing the separated individual trays 10 in the storage case 12 will be described with reference to FIG. 3 . First, in operation S21, the binding members 11 (11A, 11B) of the first stack 100A are cut and removed. Then, in operation S22, the plates 104A and 104B arranged above and below the stacked individual trays 10 are removed. Thereafter, in operation S23, the second cover 103B is removed from the storage body 101 for each individual tray 10, and in operation S24, the first cover 103A is attached. That is, the second cover 103B of each individual tray 10 separated from the first stack 100A is replaced with the first cover 103A. Thereafter, in operation S25, the multiple individual trays 10 are stored in the storage case 12, and the lid 121 is closed, completing the series of operations.

[0020] [Packaging and Unpacking Apparatus 1] As shown in Figure 1, the packaging and unpacking apparatus 1 includes a packing unit 20, an unpacking unit 30, a collecting and separating unit 40, and a stacked product input / output unit 50. The packaging and unpacking apparatus 1 also includes a first transfer device 60, a second transfer device 70, and a control unit 80. The packaging and unpacking apparatus 1 includes a base frame BF that integrally supports the packing unit 20, the unpacking unit 30, the collecting and separating unit 40, and the stacked product input / output unit 50. The base frame BF includes a packing placement unit BF2 in which the packaging unit 20 is disposed, an unpacking placement unit BF3 in which the unpacking unit 30 is disposed, a collecting and separating placement unit BF4 in which the collecting and separating unit 40 is disposed, and a stacked product input / output placement unit BF5 in which the stacked product input / output unit 50 is disposed. The base frame BF also integrally includes the first transfer device 60, the second transfer device 70, and the control unit 80. The base frame BF further includes a first transfer arrangement section BF6 in which the first transfer device 60 is disposed, a second transfer arrangement section BF7 in which the second transfer device 70 is disposed, and a control arrangement section BF8 in which the control section 80 is disposed. The base frame BF is formed by connecting a plurality of frame members with fastening members such as bolts or by welding.

[0021] The packing and unpacking apparatus 1 also includes a partition member SF that surrounds a work area A in which the packing section 20, the unpacking section 30, the collecting and separating section 40, the stacked product loading / unloading section 50, the first transfer device 60, and the second transfer device 70 are located. Surrounding the work area A with the partition member SF separates the work area from the outside. The partition member SF is attached to the base frame BF. A portion of the partition member SF is provided with an opening through which the stacked products 100 and the individual trays 10 can be transferred between the inside and outside of the work area. The openings in the partition member SF are provided, for example, in a portion corresponding to the inlet / outlet 50a of the stacked product loading / unloading section 50, and in a portion corresponding to the inlet / outlet area S, which serves as the inlet / outlet for the individual trays 10, as described below. The partition member SF also includes a work inlet / outlet section 76 that allows a maintenance worker to move between the inside and outside of the work area when performing maintenance on various devices located in the work area A. The work entrance / exit section 76 is provided at a position that allows easy access to the second transfer device 70. For example, an openable / closable door DS is provided at the work entrance / exit section 76. The packaging / unpacking device 1 performs either an unpacking operation or a packing operation for the laminated product 100.

[0022] 4 is a perspective view showing the configuration of the packaging and unpacking apparatus 1. As shown in FIGS. 1 and 4, the laminated products 100 can be transferred between the packing section 20 and the unpacking section 30. The packing section 20, the unpacking section 30, the collecting and separating section 40, and the laminated product input / output section 50 are each arranged so that they can be transferred via a second transfer device 70. The first transfer device 60 is arranged so that it can transfer one individual tray 10 between the collecting and separating section 40 and an input / output area S through which one individual tray 10 is input / output. The laminated product input / output section 50 is connected to the outside of the packaging and unpacking apparatus 1, and the laminated products 100 (first laminated products 100A in a state packaged with binding members 11) are input / output between the packaging and unpacking apparatus 1 and the outside.

[0023] [Collecting / Separating Unit 40] As shown in Fig. 4, the collecting / separating unit 40 stacks a plurality of individual trays 10. The collecting / separating unit 40 also separates one individual tray 10 from the stack 100. Fig. 5 is a perspective view showing the configuration of the first transfer device 60. Fig. 6 is a perspective view showing the configuration of the positioning mechanism 40i. As shown in Figs. 4 to 6, the collecting / separating unit 40 includes a collecting / transferring unit 41 and a conveying gripping unit 42.

[0024] The transport gripper 42 shown in FIG. 4 is configured to be able to hold one individual tray 10. The transport gripper 42 is attached to the first transfer device 60 and is moved between the collecting and transferring section 41 and the entrance / exit area S. As shown in FIG. 5, the transport gripper 42 has a holder 43 that holds one individual tray 10 in a horizontal position by clamping opposing outer peripheries of the individual tray 10 from both sides. The holder 43 is capable of attaching and detaching one individual tray 10 to and from the collecting and transferring section 41 and a predetermined position in the entrance / exit area S. The transport gripper 42 stacks the individual trays 10 in the collecting and transferring section 41 by using the holder 43 to release the individual tray 10 that has been transferred to the delivery position 41a (see FIG. 6) of the collecting and transferring section 41. The transport gripper 42 also separates one of the stacked individual trays 10 by gripping the uppermost individual tray 10 in the collecting and transferring section 41.

[0025] As shown in FIG. 6 , the collecting and transferring section 41 has a transfer position 41a where the individual trays 10 are transferred one by one between the collecting and transferring section 41 and the first transfer device 60 using the transfer gripper 42. The collecting and transferring section 41 includes a first transfer conveyor 44 on which a plurality of members 10 are stacked and a positioning mechanism 45 including positioning guides 45A and 45B that align the positions of the individual trays 10 on the first transfer conveyor 44 in one direction (here, the short-side direction X1) at the transfer position 41a. The collecting and transferring section 41 also includes a base section 41P that supports the positioning guides 45A and 45B (positioning mechanism 45). The base section 41P is supported by a support frame 41F (see FIG. 4 ) installed in the collecting and separating section BF4 of the base frame BF shown in FIG. 1 . As shown in FIG. 4 , the support frame 41F is a frame member of a predetermined length that supports and positions the base section 41P at a predetermined height from the base frame BF.

[0026] The positioning mechanism 45 includes a pair of positioning guides 45A, 45B on both sides in the short-side direction X1 of the area where the individual trays 10 are located, at positions on both sides in the long-side direction X2. The pair of positioning guides 45A, 45B are provided so as to protrude upward from the base portion 41P. The pair of positioning guides 45A, 45B move toward and away from each other in the short-side direction X1 by a cylinder 451 having a rod that extends and retracts in the short-side direction X1. The multiple individual trays 10 on the first transfer conveyor 44 are positioned at predetermined positions in the width direction (a direction perpendicular to the second transfer direction F2 described later) relative to the first transfer conveyor 44 by closing the pair of positioning guides 45A, 45B in the direction in which they move toward each other. These positioning guides 45A, 45B also function to guide each individual tray 10 of the stack 100 transported by the first transfer conveyor 44 so as not to shift in the short-side direction X1.

[0027] The transfer direction of the first transfer conveyor 44 is a direction (first transfer direction F1) perpendicular to the second transfer direction F2 (described later) of the second transfer device 70 in a plan view. The individual trays 10 stacked on the first transfer conveyor 44 are arranged with their longitudinal direction X2 facing the first transfer direction F1. The first transfer conveyor 44 is provided with a pair of conveyor sections 441, each of which includes a drive pulley and a driven pulley spaced apart on both sides of the width in the first transfer direction F1, an endless member (e.g., a belt) wound around the drive pulley and the driven pulley and operable, and a drive motor with a rotating shaft connected to the drive pulley. The individual trays 10 are placed with both ends of the short side direction X1 spanning the pair of conveyor sections 441. The first transfer conveyor 44 also includes a detection sensor for detecting the individual trays 10 placed on the pair of conveyor sections 441.

[0028] The first transfer conveyor 44 transfers the stack 100, which is a stack of multiple individual trays 10, in the first transfer direction F1. That is, the stack 100 collected and stacked on the first transfer conveyor 44 is transferred to the second transfer device 70 by the operation of the conveyor unit 441 (see FIG. 4). The stack 100 transferred from the second transfer device 70 is delivered to the first transfer conveyor 44 by the operation of the conveyor unit 441. In this way, during packaging, the individual trays 10 carried in one by one from the first transfer device 60 are stacked in multiple pieces in the collecting and transferring unit 41, and the stack 100, which is a stack of multiple individual trays 10, is delivered to the second transfer device 70. Meanwhile, during unpacking, the stack 100 delivered from the second transfer device 70 is transferred to the transfer position 41a of the collecting and separating unit 40 by the collecting and transferring unit 41. Then, the individual trays 10 are separated one by one from the stack 100 at the transfer position 41a by the first transfer device 60 and carried out to the entrance / exit area S1.

[0029] 4 and 5, the first transfer device 60 transfers a plurality of individual trays 10 one by one between the entrance / exit area S and the collecting / separating section 40. The first transfer device 60 includes a first horizontal guide rail 61 and an elevating mechanism 62 that moves while being guided by the first horizontal guide rail 61 and is equipped with a transport gripper 42. The first horizontal guide rail 61 is supported by a support frame 61F that is installed in the first transfer placement section BF6 of the base frame BF. The support frame 61F is a frame member of a predetermined length that positions and supports the first horizontal guide rail 61 at a predetermined height from the base frame BF.

[0030] The first horizontal guide rail 61 extends in a first transfer direction F1 so that the conveying gripper 42 is located above the transfer position 41a of the collecting and transferring section 41 and above a predetermined transfer section in the entrance / exit area S. In this embodiment, the extension direction of the first horizontal guide rail 61 (first transfer direction F1) is set to a direction that coincides with the movement direction of the first transfer conveyor 44 of the collecting and separating section 40 and the longitudinal direction X2 of the stacked product 100 positioned at the transfer position 41a.

[0031] The lifting mechanism 62 is movable along the first horizontal guide rail 61. The lifting mechanism 62 has a guide body 63 that is guided by the first horizontal guide rail 61, and a lifting shaft 64 that moves up and down relative to the guide body 63. The transport gripper 42 is attached to the lower end 64a of the lifting shaft 64. That is, the transport gripper 42 moves along the first horizontal guide rail 61 together with the lifting mechanism 62 between the delivery position 41a and the entrance / exit area S.

[0032] Here, the entrance / exit area S is an area where the storage cases 12 shown in Figures 2 and 3 described above are transported in and out of the packaging / unpacking device 1, and where the individual trays 10 are stored in or removed from the storage cases 12 one by one.

[0033] 1 and 4 , the laminated product input / output section 50 has an input / output transfer mechanism 50A that can transfer the first laminated product 100A, which is packaged with the binding member 11, in both directions between the second transfer device 70 and the outside (outside the work area) of the packaging and unpacking device 1. One end 50b of the laminated product input / output section 50 is positioned at a position where the first laminated product 100A can be delivered to and from the second transfer device 70.

[0034] FIG. 7 is a perspective view showing an input / output transfer mechanism 50A of the laminate input / output section 50. As shown in FIG. 7, the input / output transfer mechanism 50A has multiple conveyor belts 51 (see FIG. 9). The extension direction of the input / output transfer mechanism 50A coincides with the first transfer direction F1 of the second transfer device 70 in a plan view. The input / output transfer mechanism 50A transfers the first laminate 100A (see FIG. 4) on the conveyor belt 51 in the first transfer direction F1 while it is placed on the conveyor belt 51. That is, as shown in FIG. 4, the first laminate 100A carried into the laminate input / output section 50 is transferred by the input / output transfer mechanism 50A and delivered to the second transfer device 70. Meanwhile, the first laminate 100A delivered from the second transfer device 70 to the input / output transfer mechanism 50A is transferred to the outside of the laminate input / output section 50 by the input / output transfer mechanism 50A. In the input / output transfer mechanism 50A, the first laminate 100A is placed with its short side direction X1 facing in the direction that coincides with the first transfer direction F1.

[0035] The loading / unloading transfer mechanism 50A includes a conveyor base member 51BP extending in the first transfer direction F1, a plurality of motors 51m for operating the plurality of conveyor belts 51, and a plurality of pulleys 51p rotatably mounted on the conveyor base member 51BP and around which the conveyor belts 51 operated by the operating force of the motors 51m are wound. The plurality of conveyor belts 51 are arranged in pairs spaced apart in a width direction intersecting the first transfer direction F1 of the loading / unloading transfer mechanism 50A. The loading / unloading transfer mechanism 50A also includes a connecting member 51r connecting the opposing pulleys 51p, 51p, around which the pair of conveyor belts 51 are wound, thereby interlocking the operation of the pair of opposing conveyor belts 51. The input / output transfer mechanism 50A is configured as a single transport unit U by connecting conveyor belts 51, 51 arranged opposite to each other with a widthwise gap between them using connecting members 51r. A plurality of transport units U are arranged in the first transfer direction F1 to form a single transport track. The input / output transfer mechanism 50A also includes a pair of guide members 51G that guide the movement of the first stack 100A along the opposing conveyor belts 51, 51. The input / output transfer mechanism 50A is supported by a support frame 51F installed in the stack input / output placement section BF5 of the base frame BF. The support frame 51F is a frame member of a predetermined length that positions and supports the conveyor base member 51BP at a predetermined height from the base frame BF.

[0036] The inlet / outlet transfer mechanism 50A includes a plurality of detection sensors 51s spaced at predetermined intervals in the first transfer direction F1 to detect the first laminate 100A being conveyed. The plurality of detection sensors 51s are provided for each of the conveying units U that form the conveying track. The plurality of detection sensors 51s are provided as a first detection sensor 51s1 and a second detection sensor 51s2 that detect the first laminate 100A being conveyed. The first detection sensor 51s1 is used as a detection signal to stop the conveying unit U at a first position during operation (unpacking operation) of the first laminate 100A being conveyed toward the inlet / outlet 50a, as described below. The second detection sensor 51s2 is used as a detection signal to stop the conveying unit U at a second position during operation (packing operation) of the first laminate 100A being conveyed from the inlet / outlet 50a side toward the second transfer device 70 side.

[0037] FIG. 8 is a perspective view showing the entrance / exit 50a of the laminated product entrance / exit section 50. FIG. 9 is a perspective view of the entrance / exit 50a shown in FIG. 8 , with the partition member SF omitted. As shown in FIG. 8 , the entrance / exit 50a of the laminated product entrance / exit section 50 is set at a height that allows a worker M to easily load and unload the first laminated product 100A while standing. That is, the length of the support frame 51F supporting the entrance / exit transfer mechanism 50A is set to a length that makes the entrance / exit transfer mechanism 50A the same height as the entrance / exit 50a, thereby aligning the height of the entrance / exit transfer mechanism 50A. As shown in FIG. 9 , the entrance / exit 50a of the laminated product entrance / exit section 50 is provided with stoppers 52, 52 that stop the laminated product 100 being transferred toward the entrance / exit 50a. The entrance / exit 50a of the laminated product entrance / exit section 50 is also provided with an alignment member 52a used to align the laminated product 100 when setting it into the entrance / exit 50a. When the laminated product 100 is set in the inlet / outlet 50a of the laminated product inlet / outlet section 50, the stoppers 52, 52 define a first opposing side of the laminated product 100, and the alignment member 52a defines a second opposing side of the laminated product 100.

[0038] As shown in FIG. 8 , a height detector 52s is provided at the entrance 50a of the stack entrance / exit section 50 to detect the height of the first laminate 100A placed on the entrance / exit transfer mechanism 50A. In this embodiment, a laser sensor is used as the height detector 52s, which is provided above the entrance 50a. By providing the height detector 52s above the entrance 50a, height information of the first laminate 100A that can be handled by the packaging / unpacking apparatus 1 can be confirmed. Height information of the first laminate 100A at the entrance 50a can be obtained by detecting the first laminate 100A present at the entrance 50a with the height detector 52s. The packaging / unpacking apparatus 1 then calculates the number of individual trays 10 to be stacked on the first laminate 100A based on the obtained height information of the first laminate 100A and height (thickness) information of one individual tray 10 previously set in the control unit 80.

[0039] The entrance / exit 50a of the laminated product entrance / exit section 50 is provided with a reader R that acquires identification information (such as a two-dimensional code: not shown) attached to the individual trays 10 of the first laminated product 100A. The reader R may include an IC card reader, a barcode reader, a QR Code (registered trademark) reader, or the like. By acquiring the identification information attached to the individual trays 10 of the first laminated product 100A with the reader R, it is possible to associate and manage information on the individual trays 10 of the laminated product 100 processed by the packaging / unpacking device 1 with information on the electronic components stored in the individual trays 10.

[0040] As shown in FIG. 8 , a switching operation unit 81 for setting the operation of the packing and unpacking device 1 to either a packing operation or an unpacking operation is provided near the entrance 50a of the stacked product entrance / exit section 50. While the switching operation unit 81 is a touch panel type in FIG. 8 , it may also be, for example, a switching lever or a switching button. The operation of the packing and unpacking device 1 may also be set based on a switching signal from a host computer. A work completion switch CS may also be provided near the entrance 50a of the stacked product entrance / exit section 50, and used by the control unit 80 to confirm that the worker has completed the removal of the first laminate 100A or the insertion of the first laminate 100A. Operation of the work completion switch CS causes the control unit 80 to execute a work completion process at the entrance / exit 50a.

[0041] 1 and 4 , the second transfer device 70 transfers the stacked products 100 between the collecting / separating section 40 and the packing section 20, and between the collecting / separating section 40 and the unpacking section 30. The second transfer device 70 includes a second horizontal guide rail 71 (transfer path section) extending in the second transfer direction F2, a transfer platform 72 (first conveying section) that moves while being guided by the second horizontal guide rail 71, and a delivery mechanism 73 (second conveying section) that is supported by the transfer platform 72 and delivers the stacked products 100 in the first transfer direction F1 to the collecting / separating section 40 and the input / output transfer mechanism 50A of the stacked product input / output section 50. The second horizontal guide rail 71 is supported by a support frame 71F installed in the second transfer placement section BF7 of the base frame BF. The support frame 71F is a frame member of a predetermined length, and positions and supports the second horizontal guide rail 71 at a predetermined height from the base frame BF.

[0042] The second horizontal guide rail 71 extends in the second transfer direction F2 so that the transfer platform 72 can be positioned adjacent to both the collecting and transferring section 41 in the collecting and separating section 40 and the end 50b of the input / output transfer mechanism 50A.

[0043] 4, the transfer platform 72 is movable in a second transfer direction F2 along a second horizontal guide rail 71. The delivery mechanism 73 is supported by the transfer platform 72 and includes a second transfer conveyor 74 on which the laminated product 100 is placed. The transfer platform 72 may also include a rotation mechanism (not shown) that horizontally rotates the laminated product 100 placed on the second transfer conveyor 74 by 90 degrees.

[0044] The second transfer conveyor 74 moves the laminated products 100 in a first transfer direction F1. The second transfer conveyor 74 is provided with a pair of conveyor belts movable in the first transfer direction F1 on both sides of the width direction, which is the second transfer direction F2. The pair of conveyor belts are spaced apart to support both ends of the laminated products 100 in the short direction X1 as they are transferred in the first transfer direction F1. The second transfer conveyor 74 also has a pair of guide portions 74G that guide the movement of the laminated products 100. The pair of guide portions 74G are provided along each of the pair of conveyor belts. The pair of guide portions 74G are spaced apart to guide both ends of the laminated products 100 as they are transferred in the first transfer direction F1 with the longitudinal direction X2 of the laminated products 100 parallel to the second transfer direction F2. The second transfer conveyor 74 also has a detection sensor 74S that detects the laminated products 100 placed on the conveyor belts. The detection sensor 74S includes a first detection sensor 74S1 that detects one side of the first transfer direction F1 of the stacked products 100, and a second detection sensor 74S2 that detects the other side of the first transfer direction F1 of the stacked products 100. The operation of the pair of conveyor belts of the second transfer conveyor 74 is stopped when the first detection sensor 74S1 detects the stacked products 100 being transferred in one side of the first transfer direction F1. The operation of the pair of conveyor belts of the second transfer conveyor 74 is stopped when the second detection sensor 74S2 detects the stacked products 100 being transferred in the other side of the first transfer direction F1.

[0045] The stack 100 on the second transfer conveyor 74 is transferred to the collecting / separating section 40 by the movement of the conveyor belt in one direction. The stack 100 on the second transfer conveyor 74 is transferred to the stack input / output section 50 by the movement of the conveyor belt in the opposite direction. That is, during packaging, the stack 100, which is a stack of multiple individual trays 10, is transferred to the second transfer conveyor 74 in the collecting / separating section 40, and the second transfer conveyor 74 transfers the stack 100 to the packaging section 20 along the second horizontal guide rail 71. Meanwhile, during unpacking, the stack 100 transferred from the unpacking section 30 by the second transfer device 70 is transferred from the second transfer conveyor 74 to the collecting / separating section 40.

[0046] As shown in FIG. 1 , the second horizontal guide rail 71 and the unpacking section 30 are disposed on the base frame BF with a predetermined gap therebetween. Similarly, the second horizontal guide rail 71 and the stacked product loading / unloading section 50 are disposed on the base frame BF with a predetermined gap therebetween. The gap between the second horizontal guide rail 71 and the unpacking section 30 and the stacked product loading / unloading section 50 defines a movement space MS in which a second transfer conveyor 74 supported by a transfer platform 72 can move along the second horizontal guide rail 71. The movement space MS includes a work path 75 as well as a space between a work entry / exit section 76 and the movement space MS. The work path 75 is formed to connect the work entry / exit section 76 to the stacked product loading / unloading section 50. The work path 75 leads to the work entry / exit section 76, which allows workers to move between the work area of ​​the packaging / unpacking device 1 and outside the work area. The work path 75 is used as a maintenance passageway.

[0047] 1 and 4, the packaging unit 20 is provided on one side of the second transfer device 70. That is, the packaging unit 20 is disposed on one side 71a (upper side in FIG. 1) of the second horizontal guide rail 71 of the second transfer device 70. Specifically, the packaging unit 20 is disposed on one side where the second transfer conveyor 74 moving on the second horizontal guide rail 71 transfers the laminated product 100.

[0048] Fig. 10 is a perspective view of the packing unit 20 as seen from the rear, opposite the second transfer device 70. Fig. 11 is a perspective view of the packing unit 20 as seen from the front. As shown in Figs. 10 and 11, the packing unit 20 includes a packing mechanism 21 that packs (binds) the unpackaged (unbound) second laminate 100B with the binding members 11 to form the first laminate 100A.

[0049] The packaging mechanism 21 can transfer the laminated product 100 to and from the second transfer conveyor 74 of the second transfer device 70. The packaging mechanism 21 includes a support frame 22, a press guide unit 23, and an alignment unit 26. The support frame 22 has a packaging position P1 inside which the laminated product 100B is bound with the binding members 11. The support frame 22 is formed in a gate shape spanning above the conveying path 24 along the first transfer direction F1. Various devices are mounted on the support frame 22 for binding the laminated product 100 with the binding members 11. The packaging mechanism 21 binds the laminated product 100 placed at the packaging position P1 with the binding members 11 in a direction parallel to the second transfer direction F2. At the packaging position P1, when the longitudinal direction X2 of the laminated product 100 is oriented in the second transfer direction F2, a predetermined binding portion extending in the longitudinal direction X2 is bound with the second binding members 11B. Furthermore, at the packaging position P1, when the widthwise direction X1 of the laminated product 100 is oriented in the second transfer direction F2, the predetermined bundling portions extending in the widthwise direction X1 are bound by the first bundling members 11A. In this embodiment, the predetermined bundling portions extending in the widthwise direction X1 of the laminated product 100 are provided at three locations at predetermined intervals in the lengthwise direction X2 of the laminated product 100.

[0050] In the packaging section 20, transfer conveyors 25 (support members, support means) that move the stacked products 100 in the first transfer direction F1 are provided on both sides of the support frame 22. The transfer conveyors 25 support the stacked products 100 from below. The support frame 22 and the transfer conveyor 25 are supported by a support base frame 20F installed in the packaging placement section BF2 of the base frame BF. The support base frame 20F is formed of multiple frame members formed to predetermined dimensions and positions and supports the support frame 22 and the transfer conveyor 25 at a predetermined height from the base frame BF. The conveying surfaces of the transfer conveyor 25 and the second transfer conveyor 74 are aligned so that they are at the same height. The operation of the transfer conveyor 25 aligns the binding points of the stacked products 100 with the packaging position P. The transfer conveyor 25 also moves the stacked products 100 between the second transfer conveyor 74 of the second transfer device 70 and the second transfer conveyor 74.

[0051] The pressure guide unit 23 includes a plate-shaped pressure member 23a that moves toward and away from the upper part of the laminated product 100, and a pressure operation mechanism 23b (drive mechanism) that moves the pressure member 23a toward and away from the upper part of the laminated product 100. The pressure guide unit 23 is supported by a support member 23f provided in the packaging section 20. The lower surface of the pressure member 23a forms a pressure surface that presses against the upper surface of the laminated product 100. The lower surface of the pressure member 23a is arranged parallel to the upper surface of the laminated product 100. The pressure guide unit 23 operates the pressure operation mechanism 23b to move the pressure member 23a from above the laminated product 100 for the laminated product 100 transferred to the packaging position P1. The pressure member 23a then abuts against the upper part of the laminated product 100, thereby pressing down the laminated product 100. Furthermore, the pressing guide unit 23 operates the pressing operation mechanism 23b to move the pressing member 23a away from the stacked product 100 that it is pressing down, thereby releasing the pressing down of the stacked product 100.

[0052] The pressure guide unit 23 is provided with a first laser sensor 231 (distance detection means) that moves integrally with the pressure member 23a and detects the relative distance to the laminated product 100 supported from below by the transfer conveyor 25. The first laser sensor 231 is arranged above the pressure member 23a with a gap therebetween. The pressure member 23a has a through-hole 23c formed therein that allows laser light emitted from the first laser sensor 231 or reflected light of the laser light to pass through. That is, the first laser sensor 231 detects the reflected light when laser light is irradiated through the through-hole 23c toward the laminated product 100 including the binding member 11 arranged below the pressure member 23a, thereby detecting the relative distance to the laminated product 100. The first laser sensor 231 outputs the detected value of the relative distance to the laminated product 100 to a packaging control unit (not shown).

[0053] The pressing operation mechanism 23b is controlled by a packaging control unit to press down from above the stacked products 100 supported from below by the transfer conveyor 25. This packaging control unit controls the pressing operation mechanism 23b to lower the pressing member 23a at a first speed V1 when the relative distance in the up-down direction between the pressing member 23a and the stacked products 100 is greater than a predetermined distance, and controls the pressing operation mechanism 23b to reduce the lowering speed from the first speed V1 to a second speed V2 when the relative distance becomes equal to or less than the predetermined distance, bring the pressing member 23a into contact with the stacked products 100 at the second speed V2, and stop the pressing operation mechanism 23b. That is, during packaging, the pressing member 23a descends at the first speed V1 until it reaches a position where the relative distance is equal to or less than the predetermined distance, and then descends at a second speed V2 slower than the first speed V1 from a speed switching position T4 (a position where the relative distance is equal to or less than the predetermined distance), so that it can press down from above against the stacked products 100 with a pressure within a set predetermined range. When switching from the first speed V1 to the second speed V2, it is preferable that the pressing member 23a moves continuously, but it may be temporarily stopped. Also, while the pressing operation mechanism 23b is lowering the pressing member 23a, the first laser sensor 231 continues to detect the relative distance from the stacked product 100 and continues to output the detected value to the packing control unit.

[0054] The alignment unit 26 includes a pair of side abutment members 26 a, 26 a spaced a predetermined distance apart in a direction intersecting the first transfer direction F1, which is the transfer direction of the laminated products 100, and a side movement mechanism 26 b that moves the pair of side abutment members 26 a, 26 a toward and away from each other. The alignment unit 26 is supported by a support member 26 f provided in the packaging section 20. The alignment unit 26 operates the side movement mechanism 26 b with respect to the laminated products 100 transferred to the packaging position P1, thereby causing the pair of side abutment members 26 a, 26 a to approach and abut against the sides of the laminated products 100 from one side and the other side in a direction intersecting the first transfer direction F1. The pair of side abutment members 26 a, 26 a then abut against the laminated products 100, thereby aligning the laminated products 100 at the packaging position P1 in a direction intersecting the conveyance direction of the transfer conveyor 25.

[0055] 1 and 4, the unpacking unit 30 is disposed on the other side 71b (the lower side of the paper in FIG. 1) of the second horizontal guide rail 71 of the second transfer device 70. Specifically, the unpacking unit 30 is disposed on the other side where the second transfer conveyor 74 moving on the second horizontal guide rail 71 transfers the laminated product 100.

[0056] Fig. 12 is a perspective view showing the configuration of the unpacking unit 30. Fig. 13 is a perspective view of the conveying means 31 and supporting means 32 of the unpacking unit 30, seen obliquely from above. Fig. 14 is a perspective view of the supporting means 32, seen obliquely from below. The unpacking unit 30 unpacks the laminated product 100A, which is packaged with the binding members 11, by removing the binding members 11. As shown in Fig. 12, the unpacking unit 30 includes the conveying means 31, the supporting means 32, the pressing means 33, the cutting means 34, the holding means 35, and the collecting means 36. The unpacking unit 30 also includes an unpacking control unit 37 (see Fig. 1) that controls the various means of the unpacking unit 30.

[0057] As shown in FIGS. 12 and 13 , the conveying means 31 transports the stack 100 to the unpacking position P2 and includes a pair of conveyor belts 311 arranged in a second transfer direction F2. The distance between the pair of conveyor belts 311 is set to be at least smaller than the length of the stack 100 in the short-side direction X1. The pair of conveyor belts 311 are operably wound around a plurality of pulleys 311a, respectively. The plurality of pulleys 311a are rotatably mounted opposite each other at predetermined, line-symmetrical positions on a base frame 311f. One of the plurality of pulleys 311a is connected to the drive shaft of a motor 311m and is used to drive the pair of conveyor belts 311. The pair of pulleys 311a, which are arranged differently from the pulley 311a to which the drive shaft of the motor 311m is connected and which are arranged opposite each other, are connected by a connecting member 311r. The pair of conveyor belts 311 are operated by rotation of drive pulleys 311a caused by operation of motors 311m and transmission of the rotational motion by connecting members 311r, thereby enabling the transport of the laminated products 100. The transport means 31 transports the laminated products 100 in a first transport direction F1 while the laminated products 100 are placed on the transport surface 31a of the conveyor belts 311.

[0058] The conveying means 31 includes a first transfer section M1 where the laminated product 100 is transferred, a second transfer section M2 where the laminated product 100 is transferred, and a storage section SP1 where a portion of the support means 32 (described later) is waiting below the transfer surface. The first transfer section M1 is provided on the second transfer device 70 side and transfers the laminated product 100. The second transfer section M2 is provided on the side of the first transfer section M1 that is separated from the second transfer device 70 and transfers the laminated product 100. The storage section SP1 is provided between the first transfer section M1 and the second transfer section M2 and receives a portion of the support means 32 (described later). In this embodiment, the first transfer section M1, the second transfer section M2, and the storage section SP1 are formed by the arrangement of multiple pulleys 311a that wind around a pair of conveyor belts 311. In addition, the part corresponding to the first transfer section M1 may be replaced with a first conveyor unit, and the part corresponding to the second transfer section M2 may be replaced with a second conveyor unit, and the storage section SP1 may be formed by separating the first conveyor unit and the second conveyor unit.

[0059] The conveying means 31 is equipped with a plurality of detection sensors 311s that detect the stacked products 100. The plurality of detection sensors 311s includes a first detection sensor 311s1 that detects the stacked products 100 at a first stop position where the stacked products 100 transferred to one side in the first transfer direction F1 by the conveying means 31 are stopped, and a second detection sensor 311s2 that detects the stacked products 100 at a second stop position different from the first stop position. That is, the stacked products 100 transferred by the second transfer device 70 (see FIG. 12) are handed over to the conveying means 31 and moved to a predetermined unpacking position P2 by a pair of conveyor belts 311. The stacked products 100 transferred from the second transfer device 70 to the unpacking position P2 are first detected by the first detection sensor 311s1 and then detected by the second detection sensor 311s2. When the longitudinal direction X2 of the stacked products 100 being transferred from the second transfer device 70 side to the unpacking position P2 is the same as the first transfer direction F1, the position detected by the second detection sensor 311s2 becomes the stop position of the unpacking position P2. When the lateral direction X1 of the stacked products 100 being transferred from the second transfer device 70 side to the unpacking position P2 is the same as the first transfer direction F1, the position detected by the first detection sensor 311s1 becomes the stop position of the unpacking position P2.

[0060] The conveying means 31 also includes a pair of support rollers 311n that support the ends of the laminate 100 in the longitudinal direction X2 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1. The pair of support rollers 311n are provided on the sides of the pair of conveyor belts 311 in portions that correspond to the storage section SP1. The pair of support rollers 311n assist the laminate 100 in transferring between the first conveying section M1 and the second conveying section M2 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1. The conveying means 31 also includes a guide section 311g that guides the movement of the laminate 100 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1.

[0061] 13 and 14 , the support means 32 supports the laminated product 100 from below and includes a laminated product receiving member 320 (support member) that is vertically movable. The laminated product receiving member 320 includes a plate-shaped receiving portion 321 (support portion) on which the laminated product 100 is placed and supported, and a lower guide portion 322 that is provided on an upper surface 321a (lower abutment portion) of the receiving portion 321 and corresponds to a portion of the binding member 11 located below the laminated product 100, guiding the movement of the binding member 11. The upper surface 321a of the receiving portion 321 can abut against the lower surface 100b (see FIG. 12 ) of the laminated product 100. In this embodiment, the lower guide portion 322 is formed in a groove shape extending from one side to the other in the short-side direction X1. That is, the lower guide portion 322 has a plurality of first lower guide portions 322A corresponding to the first binding member 11A that binds the laminate 100 in the short direction X1, and a second lower guide portion 322B corresponding to the second binding member 11B that binds the laminate 100 in the long direction X2.

[0062] As shown in Figures 2 and 3, the laminated product 100 in this embodiment is bound by three first binding members 11A and one second binding member 11B. The first lower guide portion 322A is provided at a position corresponding to the three first binding members 11A. The second binding member 11B is provided at a position corresponding to the one second binding member 11B. The first lower guide portion 322A and the second lower guide portion 322B are spaced apart by a distance greater than the width of the binding member 11 and include a pair of guide walls of a predetermined height to guide the movement of the binding member 11. The first lower guide portion 322A is provided on the laminated product support member 320 (support member, support means) along one end to the other end of each of the three first binding members 11A that bind the laminated product 100 in the short-side direction X1. The laminated product support member 320 supports the laminated product 100 from below. The second lower guide portion 322B is provided on the laminated product receiving member 320 along from one end to the other end of one second bundling member 11B that binds the laminated product 100 in the longitudinal direction X2.

[0063] The receiving portion 321 includes a first receiving portion 321A (first support portion) corresponding to the length of the laminate 100 in the short-side direction X1, and a second receiving portion 321B (second support portion) corresponding to the length of the laminate 100 in the long-side direction X2. The conveying means 31 includes a storage portion 31b (see FIG. 13) in which the receiving portion 321 is arranged so as to be able to wait at a position below the conveying surface 31a of the conveying means 31. As shown in FIG. 12, the laminate 100 supported from below by the receiving portion 321 can be changed in direction by a rotation drive mechanism 323 (described later) between a first support position where the long-side direction X2 of the laminate 100 is oriented in the second transfer direction F2, and a second support position where the short-side direction X1 of the laminate 100 is oriented in the second transfer direction F2. The first receiving portion 321A waits in the storage portion 31b. The second receiving portion 321B waits in the storage portion 31b, or in both the storage portion 31b and the storage portion SP1. When the receiving portion 321 is oriented such that the longitudinal direction X2 of the stack 100 faces the second transfer direction F2, the second receiving portion 321B waits in the storage portion SP1 (see FIG. 13).

[0064] 13 and 14 , the support means 32 includes a rotation drive mechanism 323 that rotatably supports the stacked product receiving member 320, and an elevating mechanism 325 that raises and lowers the rotation drive mechanism 323. The rotation drive mechanism 323 includes a motor 323m for rotation drive, a transmission mechanism 323n that transmits power from the motor 323m, and the stacked product receiving member 320 that is rotated by the transmission mechanism 323n. The stacked product receiving member 320 is rotated about a vertically extending rotation axis by the drive of the rotation drive mechanism 323. The elevating mechanism 325 includes an elevating body 325p on which the rotation drive mechanism 323 is mounted, and an elevating drive mechanism 326 that raises and lowers the elevating body 325p. The elevating mechanism 325 is supported by a support column 324 to which the elevating drive mechanism 326 is attached and which is installed in the unpacking and placement section BF3 of the base frame BF. The support pillars 324 are frame members of a predetermined length, and position the support means 32 at a predetermined height from the base frame BF.

[0065] The support means 32 also includes a detection sensor 323s that detects the rotational position of the stacked product receiving member 320. The detection sensor 323s may be, for example, a proximity switch that detects metal. The detection sensor 323s detects the second receiving section 321B waiting in the storage section SP1. The unpacking control unit 37 determines the orientation of the stacked product receiving member 320 in its standby position based on the detection state of the detection sensor 323s, and controls the operation of the support means 32 to change the posture of the stacked product receiving member 320. The support means 32 uses the lifting mechanism 325 to raise the stacked product receiving member 320 together with the rotation drive mechanism 323, thereby separating the stacked products 100 from the conveyor belt 311. After separating the stacked products 100 from the conveyor belt 311, the rotation drive mechanism 323 rotates the stacked product receiving member 320 by a predetermined angle (90° in plan view), completing the change in the orientation of the stacked products 100. Thereafter, the laminate receiving member 320 is lowered to place the changed direction laminate 100 onto the conveyor belt 311 .

[0066] The receiving portion 321 is capable of abutting against the lower portion of the laminate 100. The lower guide portions 322 (322A, 322B) are formed with a width greater than that of the binding member 11 along the binding member 11 at positions corresponding to the binding member 11, and guide the movement of the binding member 11 to be removed. The laminate receiving member 320 supports and lifts the first laminate 100A, and changes its orientation, thereby enabling the binding member 11 to be positioned at positions corresponding to a first cutting position Q1 (see FIGS. 13 and 14) and a second cutting position Q2 (see FIGS. 13 and 14) where the binding member 11 is cut.

[0067] As shown in Figures 13 and 14, the first cutting position Q1 in this embodiment is set to correspond to the first binding member 11A that binds the laminate 100. The first cutting position Q1 in this embodiment is set to correspond to the second binding member 11B that binds the laminate 100. Specifically, the first cutting position Q1 is supported by the laminate receiving member 320 and is set on a tangent line CR1L that is tangent to a circular path CR1 through which the end of the rotated laminate 100 in the short direction X1 passes, as shown in Figure 24. The second cutting position Q2 is supported by the laminate receiving member 320 and is set on a tangent line CR2L that is tangent to a circular path CR2 through which the end of the rotated laminate 100 in the long direction X2 passes. In this embodiment, the first cutting position Q1 and the second cutting position Q2 are each set on one side intersecting with the first transfer direction F1, which is the transfer direction of the conveying means 31. The tangent lines CR1L and CR2L are set to extend in the first transfer direction F1, which is the transfer direction of the conveying means 31. The first cutting position Q1 is set at a predetermined position on the tangent line CR1L corresponding to the corresponding first binding member 11A when the longitudinal direction X2 of the laminate 100 is oriented in the same direction as the first transfer direction F1. The laminate 100 of this embodiment has three first binding members 11A arranged at predetermined intervals, so three first cutting positions Q1 are set. The second cutting position Q2 is set at a predetermined position on the tangent line CR2L when the short side direction X1 of the laminate 100 is oriented in the same direction as the first transfer direction F1. The laminate 100 of this embodiment has one second binding member 11B arranged therein, so one second cutting position Q2 is set.

[0068] FIG. 15 is a perspective view of the pressing means 33 as viewed obliquely from above. FIG. 16 is a perspective view of the pressing unit main body 331 of the pressing means 33 as viewed obliquely from below. As shown in FIG. 12, the pressing means 33 moves the pressing unit 330 (pressing member) toward the stacked product 100 from above to suppress turbulence during removal of the binding member 11. As shown in FIGS. 15 and 16, the pressing unit 330 is movable up and down by a vertical drive mechanism 339 (drive mechanism) to move toward and away from the stacked product 100. The pressing unit 330 includes a plate-shaped pressing unit main body 331 (pressing member) and an upper guide portion 332 provided on the lower surface 331a of the pressing unit main body 331 to guide the movement of the binding member 11. The pressing unit main body 331 has a rectangular outer shape similar to the planar shape of the stacked product 100, with the longitudinal direction X2 oriented in the first transfer direction F1, when viewed from above.

[0069] The holding unit 330 is provided with a second laser sensor 335 (distance detection means) that moves integrally with the holding unit main body 331 and detects the relative distance to the laminated product 100 (the upper surface of the laminated product 100) supported from below by the laminated product receiving member 320. The second laser sensor 335 is disposed above the holding unit main body 331 with a gap therebetween. The holding unit main body 331 is formed with a through-hole 336 that allows the laser light emitted from the second laser sensor 335 or the reflected light of the laser light to pass through. That is, the second laser sensor 335 detects the reflected light when the laser light is irradiated through the through-hole 336 toward the laminated product 100, including the binding member 11, disposed below the holding unit main body 331, thereby detecting the relative distance to the laminated product 100 (see FIG. 12 ). During unpacking, the laser light emitted from the second laser sensor 335 is irradiated onto the binding member 11. The position to which the laser light is irradiated may be a position away from the binding member 11, and may be the top surface of the stacked products 100. Furthermore, while the vertical drive mechanism 339 is lowering the pressing part 330, the second laser sensor 335 continues to detect the relative distance to the stacked products 100 and continues to output the detected value to the unpacking control part 37.

[0070] The unpacking control unit 37 controls the vertical drive mechanism 339 to press from above against the stacked products 100 supported from below by the stacked product receiving member 320. When the relative distance in the vertical direction between the pressing unit 330 and the stacked products 100 is greater than a preset predetermined distance, the unpacking control unit 37 controls the pressing unit 330 to be lowered at a first speed V1 by the pressing vertical drive mechanism 339, and when the relative distance reaches a position where it is equal to or less than the predetermined distance (speed switching position T4 shown in FIG. 20B ), the unpacking control unit 37 controls the lowering speed to be reduced from the first speed V1 to a second speed V2, bring the pressing unit 330 into contact with the stacked products 100 at the second speed V2, and stop the vertical drive mechanism 339 (see FIGS. 20A to 20C ). That is, during packaging, the pressing unit 330 descends at the first speed V1 until it reaches a position (speed switching position T4) where the relative distance is equal to or less than a predetermined distance, and then descends at the second speed V2 from the speed switching position T4, so that it can press the laminated product 100 from above with a pressure within a set predetermined range. Note that when switching from the first speed V1 to the second speed V2, it is preferable that the pressing unit 330 moves continuously, but it may also be temporarily stopped.

[0071] As shown in FIG. 16 , the upper guide portion 332 is provided to correspond to a portion of the binding member 11 located on the upper side of the stack 100. Specifically, the upper guide portion 332 includes an upper contact portion 333 that can contact the upper surface 100a (see FIG. 12 ) of the stack 100, and a groove-shaped upper guide path 334 that guides the movement of the binding member 11. The upper guide path 334 has a first upper guide path 334A that corresponds to the first binding member 11A in the short-side direction X1. The upper guide path 334 also has a second upper guide path 334B that corresponds to the second binding member 11B in the long-side direction X2. The upper guide path 334 is spaced apart at a distance greater than the width of the binding member 11 and is formed to include a pair of guide walls of a predetermined height, and is formed from one side of the pressing portion main body 331 along the binding member 11.

[0072] As described above, the movement of the pressing means 33's pressing unit main body 331 is controlled by the unpacking control unit 37 in response to changes in the detection state of the second laser sensor 335, and the pressing means 33's movement speed is switched from the first speed V1 to a second speed V2 slower than the first speed V1 and descends at a position where the relative distance from the stacked products 100 is a predetermined distance. The second laser sensor 335 monitors the detection state of the stacked products 100 from the standby position of the pressing unit main body 331 to the pressing stop position of the pressing unit main body 331.

[0073] The pressing means 33 is supported by a support frame 33F installed in the unpacking and placement section BF3 of the base frame BF. The support frame 33F is provided by combining a plurality of frame members of a predetermined length, and positions and supports the pressing means 33 at a predetermined height from the base frame BF.

[0074] 17 is a plan view of the cutting means 34 as viewed from above. As shown in FIGS. 12 and 17, the cutting means 34 includes a cutting member that can move toward and away from the side surface 100c (see FIGS. 2 and 3) of the laminate 100 and cuts the binding members 11. The cutting means 34 includes a cutting unit 340 that cuts the binding members 11, and a movement mechanism 341 that supports the cutting unit 340 and moves the cutting unit 340 relative to the binding members 11.

[0075] The cutting unit 340 includes a cutting blade 342 as a cutting member, and a guide mechanism 343 that contacts the laminate 100 and maintains a constant distance between the cutting blade 342 and the binding member 11. The cutting unit 340 also includes a mounting plate 347 on which the cutting blade 342 and the guide mechanism 343 are mounted. The cutting unit 340 is disposed on one side of the conveying means 31 (see FIGS. 1 and 4).

[0076] The moving mechanism 341 has a first moving mechanism 345 including a first guide rail extending along the second transfer direction F2 and a second moving mechanism 346 including a second guide rail extending along the first transfer direction F1. The cutting unit 340 is movably mounted on the second guide rail of the second moving mechanism 346 along the first transfer direction F1, and the second moving mechanism 346 is movably mounted on the first guide rail of the first moving mechanism 345 along the second transfer direction F2, so that the cutting unit 340 is movable toward and away from the side surface 100c of the stacked products 100 placed at the unpacking position P2. In other words, the moving mechanism 341 moves the cutting unit 340 so that the cutting blade 342 comes into contact with the binding members 11 that bind the stacked products 100 and cuts the binding members 11 by moving the cutting unit 340 along the first transfer direction F1.

[0077] 17 , the mounting plate 347 is attached to a sliding portion 348 that is provided so as to be movable in the first transfer direction F1 along the second guide rail of the second moving mechanism 346. A cutting blade 342 and a guide mechanism 343 are arranged on the upper surface of the mounting plate 347. In this embodiment, the cutting blade 342 is, for example, an ultrasonic cutter or the like that includes a blade portion and an operating mechanism for operating the blade portion.

[0078] The guide mechanism 343 includes a contact portion that contacts the side of the laminated product 100, a base 349 that is provided with the contact portion and is supported by a mounting plate 347 so as to be movable in the second transfer direction F2, a one-side restricting portion 347a that restricts movement of the base 349 in one direction and an other-side restricting portion 347b that restricts movement of the base 349 in the other direction, and a biasing member 349A that continuously applies a biasing force that moves the base 349 toward the laminated product 100 located on one side. In this embodiment, for example, a tension spring member is used as the biasing member 349A. The contact portion is a pair of pressing rollers 343a, 343b that are rotatably provided on a tip portion 349a of the base 349 that is located on the laminated product 100 side and is located on one side of the base 349. The pair of pressure rollers 343a, 343b are provided at a predetermined interval in the first transfer direction F1, and are provided on the base 349 so that the cutting blade 342 is disposed therebetween.

[0079] The guide mechanism 343 has an abutting portion abutting against one side surface 100c of the stack 100, and is further pressed to cause the cutting blade 342 to protrude from between the pair of pressure rollers 343a, 343b. The guide mechanism 343 also maintains the position of the cutting blade 342 relative to the side surface 100c required for cutting the binding members 11 of the stack 100, with the cutting blade 342 protruding from between the pair of pressure rollers 343a, 343b entering a space formed on the side surface of the stack 100. The cutting unit 340 is moved in the first transport direction F1 to align with the positions of the binding members 11 of the stack 100 arranged at the unpacking position P2, thereby cutting the binding members 11.

[0080] Figure 18 is a perspective view of the holding means 35 seen from diagonally above. As shown in Figures 12 and 18, the holding means 35 is disposed on the other side of the conveying means 31, i.e., on the opposite side of the cutting means 34 across the laminate 100 disposed at the unpacking position P2. The holding means 35 includes a holding unit 350 that holds the binding member 11, and a moving mechanism 351 that supports the holding unit 350 and moves the holding unit 350.

[0081] The holding unit 350 includes a holding portion 352 that holds the binding material 11 to be cut, a contact portion 353 that contacts the side surface 100c, and a detection portion 354 that detects the binding material 11 in the holding area of ​​the holding portion 352. The holding portion 352 includes one holding piece 352A and the other holding piece 352B that are spaced apart and can move toward and away from each other in the first transfer direction F1, and a holding piece moving mechanism 352M that moves the one holding piece 352A and the other holding piece 352B. The one holding piece 352A and the other holding piece 352B each have an extension of a predetermined length that extends in the second transfer direction F2. A recess is formed on the extension of the one holding piece 352A facing the other holding piece 352B. A protrusion is formed on the extension of the other holding piece 352B facing the one holding piece 352A.

[0082] The holding piece moving mechanism 352M employs an actuator including a drive mechanism for moving a first moving body to which one holding piece 352A is attached and a second moving body to which the other holding piece 352B is attached. Operation of the holding piece moving mechanism 352M moves the first holding piece 352A and the other holding piece 352B to their respective standby positions and holding positions. The holding positions are set as a first holding position H1 corresponding to the first binding member 11A binding the stacked product 100, and a second holding position H2 corresponding to the second binding member 11B binding the stacked product 100. In this embodiment, the stacked product 100 includes three first binding members 11A spaced a predetermined distance apart, resulting in three first holding positions H1. Also, since one second binding member 11B is provided, one second holding position H2 is set. Furthermore, the standby positions are set corresponding to the first holding position H1 and the second holding position H2. In this embodiment, three first preparation positions W1 are set corresponding to the three first holding positions H1, and one second preparation position W2 is set corresponding to one second holding position H1. The preparation positions may be combined into one preparation position. The holding piece moving mechanism 352M also includes a first detection sensor 352Sa that detects the position of one holding piece 352A and a second detection sensor 352Sb that detects the position of the other holding piece 352B. The first detection sensor 352Sa detects the standby position status of the one holding piece 352A. The second detection sensor 352Sb detects the standby position status of the other holding piece 352B. The holding portion 352 securely holds the binding member 11 between the first holding piece 342A and the other holding piece 342B by bringing the first holding piece 342A and the other holding piece 342B close to each other and abutting the protrusions and recesses formed on their respective extensions so that they fit together.

[0083] The abutment portion 353 has one abutment portion 353a on one side and the other abutment portion 353b on the other side, sandwiching the one holding piece 342A and the other holding piece 342B therebetween. The one abutment portion 353a and the other abutment portion 353b are configured on the movement line of the one holding piece 342A and the other holding piece 342B. The one abutment portion 353a and the other abutment portion 353b each have an abutment surface that abuts against the side surface 100c. The abutment surface of the one abutment portion 353a and the abutment surface of the other abutment portion 353b are arranged to be on the same plane. The tips of the extensions of one retaining piece 342A and the other retaining piece 342B are arranged on the same plane as the abutment surface of one abutment portion 353a and the abutment surface of the other abutment portion 353b so as not to protrude toward the side surface 100c.

[0084] The holding means 35 moves the holding unit 350 so that the binding member 11 is disposed between the spaced apart holding pieces 342A and 342B, and abuts the abutting portion 353 against the side surface 100c. Thereafter, the cut binding member 11 is cut, bringing the pair of holding pieces 352A and 352B closer to each other, thereby enabling the binding member 11 to be held.

[0085] 18 , the holding unit 350 includes an attachment member 357 provided with a holding portion 352 and an abutment portion 353. The attachment member 357 is attached to a sliding portion 358 provided to be movable in the first transfer direction F1 along the second guide rail of the second movement mechanism 356.

[0086] 12 , the moving mechanism 351 includes a first moving mechanism 355 having a first guide rail extending along the second transfer direction F2, and a second moving mechanism 356 having a second guide rail extending along the first transfer direction F1. The holding unit 350 is attached to a sliding portion 358 that is movably mounted on the second guide rail of the second moving mechanism 356 along the first transfer direction F1, and the second moving mechanism 356 is movably mounted on the first guide rail of the first moving mechanism 355 along the second transfer direction F2, thereby being movable toward and away from the side surface 100c of the stacked products 100 placed at the unpacking position P2. That is, when the moving mechanism 351 moves the holding unit 350, the holding portion 352 and the abutting portion 353 come into proximity and abut against the binding member 11 that binds the stacked products 100, thereby holding the cut binding member 11.

[0087] The cutting means 34 and the holding means 35 are supported by a support frame 34F installed in the unpacking and placement section BF3 of the base frame BF. The support frame 34F is formed by combining a plurality of frame members of a predetermined length, and positions and supports the cutting means 34 and the holding means 35 at a predetermined height from the base frame BF.

[0088] As shown in FIG. 12 , the recovery means 36 recovers the binding members 11 cut by the cutting means 34. The recovery means 36 includes a storage section 361 that recovers the binding members 11 and a recovery guide section 362 that guides the binding members 11 to the storage section 361 immediately after cutting. The recovery guide section 362 is, for example, hopper-shaped. The recovery guide section 362 is located on the side of the conveying means 31, directly below the unpacking position P2. The recovery guide section 362 is located above the storage section 361. After the binding members 11 are cut, the holding means 35 is moved to a retracted position from the stack 100, and the holding means 35 releases its hold on the cut binding members 11. The cut binding members 11 fall downward and are guided by the recovery guide section 362 to the storage section 361 for recovery.

[0089] As shown in FIG. 1 , the unpacking control unit 37 in the unpacking section 30 controls the conveying means 31, the supporting means 32, the pressing means 33, the cutting means 34, and the holding means 35. The unpacking control unit 37 controls the movement and cutting operation of the cutting unit 340 relative to the cutting position of the binding member 11 binding the laminated product 100. The unpacking control unit 37 controls the movement of the holding unit 350 relative to the holding position of the binding member 11 to be cut, controls the holding operation of the holding unit 350 relative to the cut binding member 11, and controls the movement of the holding unit 350 while maintaining the held state of the cut binding member 11 to remove the cut binding member 11. The unpacking control unit 37 controls the movement of the laminated product receiving member 320 relative to the cutting position of the first binding member 11A and the second binding member 11B binding the laminated product 100 at the unpacking position P2.

[0090] [Operation of Pressing Means] Here, the operation of the pressing means 33 will be specifically described. Figure 19 is a side view of the pressing portion 330 of the pressing means 33. Figures 20A, 20B, and 20C are diagrams showing the operation flow of the pressing means 33. Figures 21A, 21B, and 21C are diagrams showing the operation flow of the pressing means 33. Figures 20A to 20C and 21A to 21C each show the operating state from left to right on the page. Figure 22 is an enlarged view of the pressing portion 330 shown in parts I and II of Figure 21B. Figure 23 is an enlarged view of the main parts of parts III and IV shown in Figure 22.

[0091] First, as shown in Figures 19 and 20A, the first laminate 100A bound by the binding member 11 is supplied to a supply position P0 on the conveying means 31 (left diagram in Figure 20A). At this time, the short side direction X1 of the first laminate 100A faces the first transfer direction F1. Thereafter, as shown in the right diagram in Figure 20A, the first laminate 100A is transferred from the supply position P0 to an unpacking position P2 by the conveying means 31. At this time, the pressing means 33 is waiting above the unpacking position P2 of the conveying means 31. That is, the line indicated by the symbol T1 in Figures 20A and 20B indicates the waiting position of the pressing means 33. The line indicated by the symbol T2 indicates the height (conveying position) of the conveying surface 31a.

[0092] Next, as shown in the left diagram of Fig. 20B, the first laminate 100A transferred to the unpacking position P2 is supported from below by the laminate receiving member 320 of the support means 32 and raised to a height position (unpacking height T3) spaced above the conveying surface 31a. The unpacking height T3 in Fig. 20B is the height of the upper surface 321a of the laminate receiving member 320 (the position of the lower surface 100b of the first laminate 100A). In this embodiment, the line indicated by the symbol T4 indicates the position where the relative distance between the second laser sensor 330 detected by the second laser sensor 335 and the laminate 100 is equal to or less than a predetermined distance (the speed switching position where the speed is switched from the first speed V1 to the second speed V2).

[0093] After the first laminate 100A is positioned at unpacking height T3, as shown in the right diagram of FIG. 20B , the presser 330 of the presser means 33 descends and approaches the upper surface 100a of the first laminate 100A. Specifically, the presser 330 is moved up and down by the vertical drive mechanism 339 (see FIG. 15 ) controlled by the unpacking control unit 37, moving toward a presser position T5 (see FIG. 20C ) based on the height of the first laminate 100A set as the target for the binding member 11 cutting operation. At this time, the second laser sensor 335 checks the detection state (presence or absence) of the upper surface 100a of the first laminate 100A. As shown in FIG. 12 , the second laser sensor 335 detects the reflected light when a laser beam is irradiated toward the first laminate 100A including the binding member 11 through the through-hole 336, thereby detecting the distance from the first laminate 100A. That is, the speed switching position T4 is also detected by the second laser sensor 335. The height of the speed switching position varies depending on the number of stacked products (which can also be considered the thickness of the workpieces). That is, even if the number of stacked products (thickness of the workpieces) changes, the speed switches when the relative distance becomes equal to or less than a predetermined distance. The operation of the vertical drive mechanism 339 is controlled so that it descends at a first speed V1 in the initial stage of movement in the direction (downward) toward the unpacking height T3, and then descends at a second speed V2 when the pressing unit 330 reaches the speed switching position T4.

[0094] 20C , the pressing position T5 in this embodiment is a position where the pressing unit 330 presses the upper surface 100a of the first stack 100A set as the work target with a predetermined range of pressure and stops. The pressing means 33 switches to a second speed V2, which is slower than the first speed V1, at speed switching position T4, and descends to pressing position T5 at second speed V2. The unpacking control unit 37 detects that the pressing unit 330 has come into contact with the stack 100 and stops the vertical drive mechanism 339. This stop position is pressing position T5.

[0095] 20C, if the operation continues, the holding unit 330 moves even closer to the first laminate 100A. Then, the second laser sensor 335 detects the first laminate 100A, causing the holding unit 330 to stop descending. The holding unit 330 stops at holding position T5, completing preparation for the holding operation. Since the first laminate 100A is positioned at the unpacking position P2 with its short side direction X1 facing the first transfer direction F1, the second binding member 11B, which binds the first laminate 100A along the longitudinal direction X2, is cut and removed.

[0096] The second binding member 11B is cut by cutting means 34 (see FIG. 17) on one side of the second binding member 11B, which is bound along the longitudinal direction X2 of the first laminate 100A, and holding means 35 on the other side. The second binding member 11B, which has been cut and separated, is removed by moving the holding means 35 away from the first laminate 100A while holding the cut second binding member 11B. During the removal operation, one cut end of the second binding member 11B moves along an upper guide portion 332 (see FIG. 16) formed on the lower surface 331a of the pressing portion 330, and the other cut end of the second binding member 11B moves along a lower guide portion 322 (see FIG. 13) formed on the upper surface 321a of the receiving portion 321. This limits the movement of the second binding member 11B and allows the second binding member 11B to be removed smoothly. As shown in the right diagram of FIG. 20C, when the cutting operation of the second binding member 11B in the longitudinal direction X2 is completed, the pressing portion 330 moves away from the first laminate 100A and moves to the standby position T1 to wait.

[0097] Next, as shown in the left diagram of Figure 21A, after the pressing portion 330 of the pressing means 33 waits at the standby position T1, the laminate receiving member 320 of the support means 32 is rotated 90 degrees around a vertical axis of rotation to change the orientation of the first laminate 100A. At this time, the longitudinal direction X2 of the first laminate 100A faces the first transport direction F1, and the first binding member 11A aligned along the lateral direction X1 is positioned in a severable position. Then, as shown in the right diagram of Figure 21A, after the orientation of the first laminate 100A is changed, the pressing portion 330 of the pressing means 33 is again lowered at the first speed V1 to approach the first laminate 100A. At the speed switching position T4, the speed of the pressing portion 330 is switched to a second speed V2, which is slower than the first speed V1, and the descent of the pressing portion 330 is stopped when the pressing portion 330 abuts against the upper surface of the first laminate 100A. The detection operation by the second laser sensor 335 performed after the direction change of the first laminate 100A can be omitted because the detection is also performed before the direction change.

[0098] Next, as shown in the left diagram of Fig. 21B, the second laser sensor 335 detects the first laminate 100A, causing the lowering of the holding unit 330 to stop, and the holding unit 330 stops at the holding position T5, which is the height position at which preparation for holding is complete, thereby completing preparation for the holding operation. Next, as shown in the right diagram of Fig. 21B, the three first binding members 11A bound along the short side direction X1 of the first laminate 100A are cut and removed.

[0099] The first binding member 11A is cut by cutting means 34 (see FIG. 17 ) on one side of the first binding member 11A, which is bound along the short-side direction X1 of the first laminate 100A, and holding means 35 on the other side. The first binding member 11A that has been cut and separated is removed by moving the holding means 35 away from the first laminate 100A while holding the cut first binding member 11A. During the removal operation, one cut end of the first binding member 11A moves along an upper guide portion 332 (see FIG. 16 ) formed on the lower surface 331 a of the pressing portion 330, and the other cut end of the first binding member 11A moves along a lower guide portion 322 (see FIG. 13 ) formed on the upper surface 321 a of the receiving portion 321. This limits the movement of the first binding member 11A and allows the first binding member 11A to be removed smoothly. The cutting and removal of the three first binding members 11A is carried out by repeatedly performing the cutting and removal operations on each of the first binding members 11A one by one.

[0100] 22 and 23 , in order to reduce the pressing load of the pressing unit 330, the stop position of the pressing unit 330 corresponding to the pressing position T5 may be set to a position slightly separated from the first laminate 100A (a position separated by the height of one individual tray 10). In such a case, when the last first binding member 11A is cut and the first laminate 100A is released from its restraint, the first laminate 100A expands in the stacking direction (vertical direction) due to distortion of each individual tray 10 constituting the first laminate 100A and the cushioning properties of the second cover member 103B, causing the upper surface 100a of the second laminate 100B to move upward. When the amount of movement due to expansion of the second laminate 100B is large, the upper surface 100a of the second laminate 100B abuts against the lower surface 331a of the pressing unit 330, restricting the expansion movement. In this way, the expansion of the second laminate 100B brings the upper surface 100a of the laminate 100B into close proximity to or into contact with the lower surface 331a of the pressing portion 330, thereby suppressing the turbulence of the cut end portion of the first binding member 11A even when the last first binding member 11A is removed (pulled out), and preventing the second laminate 100B (especially the topmost individual tray 10 (upper cover plate 104A)) from coming into contact and causing the stacked state to collapse.

[0101] As shown in the left diagram of FIG. 21C , after the cutting operation of all the binding members 11 is completed, the holding unit 330 moves upward away from the second laminate 100B and moves to the standby position T1. The laminate receiving member 320 of the support means 32 also moves downward, and the second laminate 100B is placed on the conveying surface 31a of the conveying means 31. The movement of the holding unit 330 to the standby position T1 and the placement of the second laminate 100B on the conveying surface 31a may be performed in parallel or separately. Thereafter, as shown in the right diagram of FIG. 21C , the second laminate 100B is transferred from the unpacking unit 30 to the second transfer device 70 in an orientation (in which the longitudinal direction X2 is oriented in the first transfer direction F1) that is rotated 90° relative to the conveying orientation in which it was supplied to the conveying means 31 before the cutting operation (in which the transverse direction X1 is oriented in the first transfer direction F1) (see FIG. 12 ).

[0102] 1, the control unit 80 comprehensively controls the packaging and unpacking device 1. The control unit 80 is realized by a hardware processor such as a CPU executing a computer program (software) stored in a storage unit.

[0103] The control unit 80 includes, for example, an input unit (including a switching operation unit 81), a motion detection unit, a processing unit, and a memory unit. The input unit accepts input of various information for the packaging and unpacking device 1. As shown in FIG. 8 , the input unit is the switching operation unit 81 described above, and an operation signal is input to the control unit 80 based on the operation of the worker M. The input unit also accepts input (setting) of the first speed V1, the second speed V2, and the distance to be moved at the second speed V2 (a predetermined distance relative to the stacked products). Note that the input unit may be included in the control unit 80. The motion detection unit detects the motion of each unit and the position and posture of the stacked product 100 (target product 10). Various detection sensors are employed for the motion detection unit. The processing unit executes desired control based on information detected by the motion detection unit. The memory unit stores information necessary for processing performed by each unit. The memory unit stores tables of various setting values ​​that are set based on the detection results by the motion detection unit. The storage unit may be realized by an EEPROM, a ROM, a RAM, or the like, or may be realized by an HDD, a flash memory, or the like.

[0104] The control unit 80 comprehensively controls the operations of the packing unit 20, unpacking unit 30, collecting / separating unit 40, stacked product input / output unit 50, first transfer device 60, and second transfer device 70 included in the packing / unpacking apparatus 1, including packing control when the packing / unpacking apparatus 1 performs packing work and unpacking control when the packing / unpacking apparatus 1 performs unpacking work, as well as management control. The control unit 80 controls switching between the unpacking control and packing control operation modes performed by the packing / unpacking apparatus 1 based on a control operation switching signal. In this embodiment, the control operation switching signal switches the operation mode in response to a signal input by the switching operation unit 81 when either a packing input operation for packing control or an unpacking input operation for unpacking control is performed. Note that the switching operation unit 81 may also be controlled by a switching input signal from a host computer (not shown). Furthermore, after the control unit 80 has performed either of the switching control operations, switching from unpacking control to packing control, or switching from packing control to unpacking control, it checks whether or not there are stacked products 100 in the packing and unpacking device 1, and manages the completion of the switching of the operating mode by confirming that there are no stacked products 100. Specifically, it manages the presence or absence of stacked products 100 in the packing unit 20, unpacking unit 30, collecting and separating unit 40, stacked product input / output unit 50, first transfer device 60, and second transfer device 70, and manages the completion of the switching of the operating mode by confirming that there are no stacked products. The control unit 80 outputs a command corresponding to the control operation switching signal to the unpacking control unit 37 or the packing control unit. Upon receiving the command, the control unit performs the control.

[0105] As shown in Figure 1, when unpacking work is performed as an operation performed by the packaging and unpacking device 1, the unpacking control in the unpacking control unit 37 includes a first transfer control for transferring the laminated product 100 packaged with binding members 11 from the laminated product input / output unit 50 to the unpacking unit 30, a first unpacking control for releasing the binding members 11 binding the laminated product 100 in the short direction X1, a second unpacking control for releasing the binding members 11 binding the laminated product 100 in the long direction X2, and a second transfer control for transferring the unpacked laminated product 100 from the unpacking unit 30 to the collecting and separating unit 40.

[0106] The first and second transfer controls are performed by controlling the input / output transfer mechanism 50A of the stack input / output section 50, the second transfer device 70, the conveying means 31 of the unpacking section 30, the collecting and transferring section 41 of the collecting / separating section 40, and the first transfer device 60. The first and second unpacking controls are performed by controlling the support means 32, pressing means 33, cutting means 34, and holding means 35 of the unpacking section 30.

[0107] Furthermore, when a packing operation is performed as an operation performed by the packing and unpacking device 1, the packing control in the packing control section includes a third transfer control for transferring the laminated product 100 from the collecting and separating section 40 to the packing section 20, a first packing control for bundling the laminated product 100 in the short side direction X1, a second packing control for bundling the laminated product 100 in the long side direction X2, and a fourth transfer control for moving the packaged laminated product 100 by completing bundling in the short side direction X1 and the long side direction X2 toward the laminated product input / output section 50. Furthermore, the packing control includes a fifth transfer control for transferring the laminated product 100 from the packing section 20 to a direction changing position, and a sixth transfer control for transferring the direction-changed laminated product 100 from the direction changing position to the packing section 20.

[0108] The third transfer control is performed by controlling the collecting and transferring section 41 of the collecting and separating section 40, the second transfer device 70, and the transfer conveyor 25 of the packaging section 20. The first packaging control is performed by controlling the transfer conveyor 25, the pressure guide unit 23, the alignment unit 26, and the packaging mechanism 21, thereby performing bundling control at multiple locations set at predetermined intervals in the longitudinal direction X2 of the laminated product 100. The second packaging control is performed by controlling the pressure guide unit 23, the alignment unit 26, and the packaging mechanism 21. The fourth transfer control is performed by controlling the input / output transfer mechanism 50A of the laminated product input / output section 50, the second transfer device 70, and the transfer conveyor 25 of the packaging section 20. The fifth and sixth transfer controls are performed by controlling the transfer conveyor 25 of the packaging section 20, the second transfer device 70, and the conveying means 31 of the unpacking section 30.

[0109] The control unit 80 also includes a direction change control for changing the horizontal orientation of the stacked product 100. This direction change control changes the direction of the stacked product 100 from one of the short side direction X1 and the long side direction X2 to the other in a direction that rotates the stacked product 100 around a vertical rotation axis. The direction change control is performed by controlling the support means 32 of the unpacking unit 30.

[0110] [Packing and Unpacking Method] The packing and unpacking method using the above-described packing and unpacking device 1 includes a packing step of packing the stacked products 100 with the binding members 11 in the packing unit 20, an unpacking step of unpacking the stacked products 100 by removing the binding members 11 from the stacked products 100 in the unpacking unit 30, a shipping and transport step of transporting the stacked products 100 from the packing unit 20 to the stacked product input / output unit 50, an incoming and transport step of transporting the stacked products 100 from the stacked product input / output unit 50 to the unpacking unit 30, a stacking step of stacking a plurality of individual trays 10 as target products, a separation step of separating the individual trays 10 one by one from the stacked products 100, and an operation selection step of selecting either a packing operation or an unpacking operation of the packing and unpacking device 1. The packing operation includes the packing operation, the shipping and transport step, and the stacking step. The unpacking operation includes the unpacking process, the incoming and transport step, and the separation step.

[0111] As described above, with the unpacking section 30 of this embodiment, the pressing portion 330 of the pressing means 33 is moved from above to the pressing position T5 (see FIG. 20C ) on the stacked products 100 packaged with binding members 11 supported from below by the stacked product receiving member 320 of the support means 32, and then the cutting member is moved toward the side of the stacked products 100 to cut the binding members 11. At this time, the binding members 11 packaging the stacked products 100 are supported by the holding unit 350 and the pressing portion 330 of the holding means 35, so that the movement of the cut binding members 11 is suppressed, preventing irregular movement of the cut ends of the binding members 11. This prevents problems such as the cut ends of the binding members 11 becoming tangled in part of the device, making it impossible to remove the cut binding members 11 and causing the device to stop, or the cut ends of the binding members 11 becoming tangled in part of the stacked products 100, causing the stacked products to collapse, thereby improving work efficiency.

[0112] In addition, in this embodiment, when unpacking, the unpacking control unit 37 causes the vertical drive mechanism 390 to lower the presser 330 at a first speed V1 when the relative distance is greater than a predetermined distance. When the relative distance reaches a speed switching position T4 where the relative distance is equal to or less than the predetermined distance, the unpacking control unit 37 reduces the descent speed from the first speed V1 to a second speed V2, abuts the presser 330 against the stacked products 100 at the second speed V2, and stops the vertical drive mechanism 390. This configuration prevents the application of excessive pressure to the stacked products 100 during unpacking. This prevents problems such as damage to the stacked products 100 due to pressure significantly exceeding the predetermined pressure. Furthermore, because the stacked products 100 can be lowered at a high speed in a short time until the relative distance reaches the speed switching position T4 where the relative distance is equal to or less than the predetermined distance, work efficiency can be improved. In particular, the initial descent speed (first speed V1) and the relative distance (the distance lowered at the slower second speed V2) are important settings because they significantly affect work efficiency. In this embodiment, the lowering speed (first speed V1) and the position (predetermined distance) at which the lowering speed is reduced can be set and changed through the control unit 80, ensuring ease of tuning. This also applies to the pressing work during packaging.

[0113] In this embodiment, the holding portion 330 preferably includes an outer periphery and an upper guide portion 332 that is provided corresponding to the portion of the binding member 11 located on the upper side of the laminate 100 and that guides the movement of the binding member 11. Therefore, according to this embodiment, the movement of the binding member 11 cut by the cutting means 34 is guided by the upper guide portion 332, preventing disturbance of the binding member 11. Moreover, because the upper guide portion 332 is positioned in a position corresponding to the binding member 11, the cut binding member 11 can be reliably guided by the upper guide portion 332.

[0114] In this embodiment, the upper guide portion 332 includes an upper contact portion 333 that can contact the upper portion of the laminate 100, and an upper guide path 334 that is formed from one side of the outer periphery of the binding member 11 to the other with a width greater than the width of the binding member 11 and that guides the movement of the binding member 11. With this configuration, the movement of the binding member 11 cut by the cutting means 34 is guided by the upper guide path 334, thereby preventing disturbance of the binding member 11.

[0115] Furthermore, in this embodiment, while the pressing section 330 is pressing down on the laminated product 100, the cutting operation of the cutting means 34 is controlled on the binding members 11 binding the laminated product 100, and the holding operation of the holding unit 350 is controlled on the binding members 11 to be cut, thereby removing the cut binding members 11. Therefore, according to this embodiment, the cut binding members 11 can be moved smoothly and removed without any disturbance or entanglement with other parts.

[0116] In this embodiment, a second laser sensor 335 is provided to detect the upper end of the laminated product 100 and switch the descent speed of the pressing unit 330 from the first speed V1 to the second speed V2 at a speed switching position T4 where the relative distance from the laminated product 100 becomes a predetermined distance. With this configuration, the pressing unit 330 is brought into contact with the laminated product 100 at a low speed, thereby preventing impact on the laminated product 100.

[0117] In this embodiment, the support means 32 includes a receiving portion 321 on which the laminate 100 is placed and supported, and a lower guide portion 322 provided on the upper surface of the receiving portion 321, corresponding to the portion of the binding member 11 located below the laminate 100, for guiding the movement of the binding member 11. Therefore, according to this embodiment, the movement of the binding member 11 cut by the cutting means 34 is guided by the lower guide portion 322, preventing disturbance of the binding member 11. Moreover, because the lower guide portion 322 is positioned in a position corresponding to the binding member 11, the cut binding member 11 can be reliably guided by the lower guide portion 322.

[0118] In this embodiment, the lower guide portion 322 includes an upper surface 321a (lower contact portion) that can come into contact with the lower portion of the laminate 100, and an upper guide path 334 that is formed along the binding member 11 with a width greater than the width of the binding member 11 and that guides the movement of the binding member 11. Therefore, according to this embodiment, the movement of the binding member 11 cut by the cutting means 34 is guided by the upper guide path 334, thereby preventing disturbance of the binding member 11.

[0119] In this embodiment, the support means 32 includes a receiving portion 321 on which the laminate 100 is placed and supported, an elevating mechanism 325 that raises and lowers the receiving portion 321, and a rotation drive mechanism 326 that rotates the receiving portion 321 about a rotation axis extending in the vertical direction, and positions the support member at a position corresponding to a first cutting position for cutting the first binding member 11 binding the laminate 100 in the short-side direction X1 and a second cutting position for cutting the second binding member 11 binding the laminate 100 in the long-side direction X2 different from the short-side direction X1. Therefore, according to this embodiment, the laminate 100 placed on the conveying surface 31a of the conveying means 31 is raised by the elevating mechanism 325 to a height above the conveying surface 31a, and then rotated by the rotation drive mechanism 326, thereby changing the direction of the laminate 100 between the short-side direction X1 and the long-side direction X2. Therefore, without moving the cutting means 34 in accordance with the short direction X1 and the long direction X2 or providing multiple cutting means, the first binding member 11 bound in the short direction X1 and the second binding member 11 bound in the long direction X2 can be unpacked at the same unpacking position P2.

[0120] In this embodiment, a conveying means 31 is provided that transfers laminated products 100 having a first length and a second length longer than the first length to the unpacking position P2, and the receiving portion 321 includes a first receiving portion 321A corresponding to the first length and a second receiving portion 321B corresponding to the second length. The conveying means 31 includes a storage portion 31b having a width of the second length and in which the receiving portion 321 is arranged so as to be able to wait at a position below the conveying surface 31a of the conveying means 31. With this configuration, even if the receiving portion 321 has the first receiving portion 321A and the second receiving portion 321B corresponding to laminated products 100 of different vertical and horizontal lengths, it can be made to wait in the storage portion 31b below the conveying surface 31a of the conveying means 31. Therefore, the laminated products 100 arranged at the unpacking position P2 can be supported from below by the receiving portion 321, raised by the lifting mechanism 325, and rotated by the rotary drive mechanism 323, thereby efficiently changing the direction of the laminated products 100.

[0121] Furthermore, in this embodiment, the cutting means 34 includes a cutting unit 340 that cuts the binding members 11 and a moving mechanism 341 that moves the cutting unit 340 toward or away from the binding members 11. The cutting unit 340 includes a cutting blade 342, a guide mechanism 343 that contacts the laminated product 100 and maintains a constant distance between the cutting blade 342 and the binding members 11, and a storage section 344 that accommodates the cutting blade 342. Therefore, according to this embodiment, the guide mechanism 343 of the cutting means 34 allows the cutting blade 342 to cut the binding members 11 while the cutting blade 342 is in contact with the laminated product 100. In other words, the guide mechanism 343 maintains a constant distance between the binding members 11 and the cutting blade 342, so that the cutting blade 342 can accurately cut only the binding members 11 without damaging the laminated product 100. Furthermore, since the cutting blade 342 is housed in the housing portion 344, the cut binding member 11 does not interfere with the cutting blade 342, and the cutting blade 342 can be protected.

[0122] Furthermore, in this embodiment, the holding means 35 is movably disposed on the opposite side of the cutting means 34 across the laminate 100, and includes a holding portion 352 that holds a portion of the binding member 11 on a second side of the laminate 100 that is opposite the first side to be cut by the cutting means 34, a contact portion 353 that holds a portion of the binding member 11 located on the second side, and a detection portion 354 that detects the binding member 11 in the holding area of ​​the holding portion 352. With this configuration, the detection portion 354 of the holding means 35 detects the position of the binding member 11, while the holding portion 352 and the contact portion 353 hold the binding member 11 located on the second side of the laminate 100. Therefore, the holding means 35 can be positioned so as to maintain a constant distance from the cutting means 34 on the laminate 100, allowing the binding member 11 to be cut with precision.

[0123] Furthermore, this embodiment further includes recovery means 36 for recovering the cut binding members 11, and the recovery means 36 includes a storage section 361 for recovering the binding members 11 and a recovery guide section 362 for guiding the binding members 11 immediately after being cut to the storage section 361. Therefore, according to this embodiment, after the binding members 11 immediately after being cut at the unpacking position P2 are stored in the recovery guide section 362, the binding members 11 can be guided from the recovery guide section 362 to the storage section 361 and recovered efficiently.

[0124] According to the unpacking device and unpacking system of this embodiment, the operating speed of the process of transitioning to the pressing operation can be increased without applying more pressure than necessary when pressing down on stacked products (workpieces). Furthermore, because the descent speed of the pressing member is reduced based on the relative distance from the stacked products (workpieces), the above-mentioned effects can be achieved even when handling stacked products of different heights without the need to reset the deceleration position.

[0125] [Modifications] Next, modifications will be described with reference to Figures 25A, 25B, 26A, and 26B. Figure 25A is a plan view showing a portion of a first bundling member 11A bundling the individual tray 10 in the short-side direction X1 (first direction). Figure 25B is a plan view showing a portion of a second bundling member 11B bundling the individual tray 10 in the long-side direction X2 (second direction) at the same height position as in Figure 25A. Figure 26A is a cross-sectional view taken along line V-V shown in Figure 25A, illustrating the configuration of the convex portion 10a and the concave portion 10b of the individual tray 10. Figure 26B is a diagram illustrating a configuration in which the heights of the convex portion 10a and the concave portion 10b shown in Figure 26A are different.

[0126] The laminated product 100 of the modified example has a convex portion 10a and a concave portion 10b on the second end surface of the long side 100a and the first end surface of the short side 100b of the individual tray 10, respectively. As shown in Figures 25A and 26A, the second end surface of the long side 100a of the individual tray 10 has a stepped portion with a convex portion 10a formed on the upper level and a concave portion 10b formed on the lower level. As shown in Figures 25B and 26B, the first end surface of the short side 100b of the individual tray 10 has a stepped portion with a convex portion 10a formed on the lower level and a concave portion 10b formed on the upper level. In other words, the laminated product 100 has the convex portions 10a and the concave portions 10b alternately arranged in the vertical direction on the long side 100a and the short side 100b.

[0127] 26A and 26B , the convex portions 10a protrude horizontally outward from the concave portions 10b on the long sides 100a and short sides 100b. Horizontal gaps v1 and v2 are formed between the first binding member 11A and the second binding member 11B and the concave portions 10b, allowing the cutting means 34 to enter. In other words, the cutting means 34 can enter the gaps v1 and v2 between the concave portions 10b and the binding members 11A and 11B, allowing the cutting means 34 to easily cut the binding members 11A and 11B at positions of the concave portions 10b that are recessed further than the convex portions 10a.

[0128] The unpacking control unit 37 (see FIG. 1 ) executes a first cutting step in which the cutting means 34 cuts the first binding member 11A while the laminated product 100 is held down by the holding means 33; a second cutting step in which the cutting means 34 cuts the second binding member 11B while the laminated product 100 is held down by the holding means 33; and a switching step in which the unpacking control unit 37 switches from the first cutting step to the second cutting step. In the switching step, the unpacking control unit 37 releases the holding action of the holding means 33, raises or lowers the lifting mechanism 325, and rotates the support unit with the rotation drive mechanism. In the second cutting step, the second binding member 11B is cut while the laminated product receiving member 320 supports the laminated product 100 at a height position different from that in the first cutting step. That is, in this embodiment, the cutting position in the height direction is changed by changing the support height of the laminated product 100 while the height position of the cutting means 34 is fixed. Here, the positions at different heights cut by the cutting means 34 are the positions of the gaps v1 and v2 formed between the recessed portion 10b and the binding members 11A and 11B.

[0129] In addition, the unpacking control unit 37 performs the first cutting process so that the first binding member 11A is cut at a position that avoids the convex portion 10a of the long side 100a of the individual tray 10 (at the height of the concave portion 10b, at the position of the first gap v1), and in the second cutting process so that the second binding member 11B is cut at a position that avoids the convex portion 10a of the short side 100b of the individual tray 10 (at the height of the concave portion 10b, at the position of the second gap v2).

[0130] Although the embodiments of the present disclosure have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like are also included within the scope of the gist of the present disclosure. Furthermore, the components shown in the above-described embodiments and modifications can be appropriately combined to form a configuration. For example, the holding device can also be applied to workpieces other than stacked products. It is particularly advantageous as a device for holding workpieces of different heights.

[0131] Although preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. Addition, omission, substitution, and other modifications of the configuration are possible without departing from the spirit of the present disclosure. Furthermore, the present disclosure is not limited by the above description, but is limited only by the scope of the appended claims.

[0132] The present disclosure can be applied to unpacking devices and unpacking systems.

[0133] 1 Packing and unpacking device 10 Individual tray 10a Convex portion 10b Concave portion 100 Laminated product 100A First laminated product 100B Second laminated product 100a Long side 100b Short side 11 Binding member 11A First binding member 11B Second binding member 20 Packing section 23 Pressing guide unit 23a Pressing member 23b Pressing operation mechanism (driving mechanism) 23c Through hole 231 First laser sensor (distance detection means) 25 Transfer conveyor (support means, support member) 30 Unpacking section (pressing device) 31 Conveying means 32 Support means 320 Laminated product receiving member (support means, support member) 33 Pressing means 330 Pressing section (pressing member) 331 Pressing section main body (pressing member) 335 Second laser sensor (distance detection means) 336 Through hole 339 Vertical drive mechanism (drive mechanism) 34 Cutting means 35 Holding means 36 Recovery means 37 Unpacking control section 40 Gathering and separating section 50 Stacked product input / output section 50A Input / output transfer mechanism 50a Input / output opening 50b End section 60 First transfer device 70 Second transfer device 71 Second horizontal guide rail (transfer path section) 71a First side section 71b Second side section 72 Transfer platform (first transfer section) 73 Delivery mechanism (second transfer section) 75 Work path 76 Work input / output section 80 Control section 81 Switching operation section F1 First transfer direction F2 Second transfer direction X1 Short side direction (first direction) X2 Longitudinal direction (second direction)

Claims

1. A holding device for packaging a stack of multiple stacked individual trays with a binding member, or for unpacking the stack of stacked products packaged with a binding member at an unpacking position, comprising: support means having a support member that supports the stack from below; holding means having a holding member that holds the stack from above and a drive mechanism that moves the holding member up and down; a control unit that controls the drive mechanism; and distance detection means that moves integrally with the holding member and detects the relative distance to the stack of products, wherein the control unit causes the drive mechanism to lower the holding member at a first speed when the relative distance is greater than a predetermined distance, and reduces the descent speed from the first speed to a second speed when the relative distance becomes equal to or less than the predetermined distance, causes the holding member to abut against the stack of products at the second speed, and stops the drive mechanism.

2. A pressing device as described in claim 1, wherein the distance detection means is a laser sensor disposed above the pressing member and moves integrally with the pressing member, the pressing member has a through-hole at the laser irradiation point of the laser sensor, and the laser sensor detects the reflected light when laser light is irradiated toward the laminated product through the through-hole, thereby detecting the distance to the laminated product.

3. The presser device according to claim 1, further comprising an input unit that accepts the setting of the predetermined distance, wherein the setting of the predetermined distance is changeable.

4. The individual tray is rectangular in plan view, and a first end surface on one side of the individual tray and a second end surface on the other side have concave and convex shapes located at different heights from each other, the pressing device is a device for unpacking the laminated product packaged with the binding member at an unpacking position, and further comprises cutting means which moves toward and away from the side of the laminated product and has a cutting member which cuts the binding member, the support means comprises: a support section on which the laminated product is placed and supported, an elevating mechanism which raises and lowers the support section, and a rotation drive mechanism which rotates the support section about a rotation axis extending vertically, the binding member comprises: a first binding member which binds the first end surface of the laminated product in a first direction, and a second binding member which binds the second end surface of the laminated product in a second direction, the control section further controls the support means and the cutting means, and the control section 3. A pressing device as described in claim 1 or 2, which performs the following steps: a first cutting step in which the cutting means cuts the first binding member while the laminate is held down by the pressing means; a second cutting step in which the cutting means cuts the second binding member while the laminate is held down by the pressing means; and a switching step in which the first cutting step is switched to the second cutting step, wherein in the switching step, the control unit releases the pressing action of the pressing means, raises or lowers the lifting mechanism, and rotates the support unit with the rotation drive mechanism, and the cutting means performs the second cutting step on the laminate at a stacking height position that is relatively different from the cutting position of the first cutting step.

5. The holding device described in claim 4, wherein the control unit executes the first cutting process so that the first binding member is cut at a position that avoids the first convex-shaped portion on one side of the individual tray, and the second cutting process so that the second binding member is cut at a position that avoids the second convex-shaped portion on the other side of the individual tray.

6. A workpiece holding device comprising: a support means having a support member that supports the workpiece from below; a holding means having a holding member that holds down the workpiece from above and a drive mechanism that moves the holding member up and down; a control unit that controls the drive mechanism; and a distance detection means that moves integrally with the holding member and continues to detect the relative distance to the workpiece during said movement, wherein the control unit causes the drive mechanism to lower the holding member at a first speed when the relative distance is greater than a predetermined distance, reduces the descent speed from the first speed to a second speed when the relative distance becomes equal to or less than the predetermined distance, brings the holding member into contact with the workpiece at the second speed, and stops the drive mechanism.

Images